From 08f404d0017ee9e69e1a298d9d6bc41c9cd8f020 Mon Sep 17 00:00:00 2001 From: Elijah Price Date: Thu, 28 Jan 2021 17:23:29 -0700 Subject: [PATCH 01/30] Increased Storage Speed not tested compare accuracy later --- src/main/java/frc4388/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 1995efa..d1dd424 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -171,7 +171,7 @@ public final class Constants { public static final int STORAGE_CAN_ID = 11; public static final double STORAGE_PARTIAL_BALL = 2; public static final double STORAGE_FULL_BALL = 7; - public static final double STORAGE_SPEED = 0.5; + public static final double STORAGE_SPEED = 0.75; public static final double STORAGE_TIMEOUT = 3000; /* Storage Characteristics */ From 73a6bd975d5b963a2d545623396f3a90d4370a92 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 29 Jan 2021 14:58:10 -0700 Subject: [PATCH 02/30] Changed Double Negative Lol --- .../java/frc4388/robot/commands/drive/DriveWithJoystick.java | 2 +- src/main/java/frc4388/robot/subsystems/Drive.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java index b2aba9c..75ab279 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java @@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase { } */ - m_drive.driveWithInput(-moveOutput, steerOutput); + m_drive.driveWithInput(moveOutput, steerOutput); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 5860235..d73ad3e 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -349,7 +349,7 @@ public class Drive extends SubsystemBase { * using the Differential Drive class to manage the two inputs */ public void driveWithInput(double move, double steer) { - m_driveTrain.arcadeDrive(-move, steer); + m_driveTrain.arcadeDrive(move, steer); m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); } From 5d75b044cca352e759c7dc26ed446eb03a256c55 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 29 Jan 2021 15:43:38 -0700 Subject: [PATCH 03/30] Fixed the negative --- src/main/java/frc4388/robot/subsystems/Drive.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index d73ad3e..5860235 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -349,7 +349,7 @@ public class Drive extends SubsystemBase { * using the Differential Drive class to manage the two inputs */ public void driveWithInput(double move, double steer) { - m_driveTrain.arcadeDrive(move, steer); + m_driveTrain.arcadeDrive(-move, steer); m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); } From a7c41ebe2d990e7ad386d75aca0ef413eb521b5e Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 26 Feb 2021 12:36:28 -0700 Subject: [PATCH 04/30] Fixed the falcon for double falcons Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 5 +- .../java/frc4388/robot/RobotContainer.java | 2 +- .../shooter/ShooterVelocityControlPID.java | 2 +- .../java/frc4388/robot/subsystems/Drive.java | 2 +- .../frc4388/robot/subsystems/Shooter.java | 71 ++++++++++++------- 5 files changed, 52 insertions(+), 30 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index d1dd424..6521b27 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -112,7 +112,8 @@ public final class Constants { public static final class ShooterConstants { /* Motor IDs */ - public static final int SHOOTER_FALCON_ID = 8; + public static final int SHOOTER_FALCON_BALLER_ID = 8; + public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 15; public static final int SHOOTER_ANGLE_ADJUST_ID = 10; public static final int SHOOTER_ROTATE_ID = 9; @@ -156,7 +157,7 @@ public final class Constants { } public static final class LevelerConstants { - public static final int LEVELER_CAN_ID = 15; + public static final int LEVELER_CAN_ID = 30; } public static final class IntakeConstants {; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 940694c..925e2a4 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -163,7 +163,7 @@ public class RobotContainer { // runs the hood with joystick m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController())); // moves the drum not - m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(1500), m_robotShooter)); + m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.2), m_robotShooter)); // drives climber with input from triggers on the opperator controller m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController())); // drives the leveler with an axis input from the driver controller diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java index b3d3ac1..11ccd56 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterVelocityControlPID.java @@ -35,7 +35,7 @@ public class ShooterVelocityControlPID extends CommandBase { @Override public void execute() { //Tells whether the target velocity has been reached - m_actualVel = m_shooter.m_shooterFalcon.getSelectedSensorPosition(); + m_actualVel = m_shooter.m_shooterFalconLeft.getSelectedSensorPosition(); m_targetVel = m_shooter.addFireVel(); double error = m_actualVel - m_targetVel; if (Math.abs(error) < ShooterConstants.DRUM_VELOCITY_BOUND){ diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 5860235..6022832 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -312,7 +312,7 @@ public class Drive extends SubsystemBase { public void passRequiredSubsystem(Pneumatics subsystem, Shooter shooter) { m_pneumaticsSubsystem = subsystem; m_shooter = shooter; - m_orchestra.addInstrument(m_shooter.m_shooterFalcon); + m_orchestra.addInstrument(m_shooter.m_shooterFalconLeft); } public void updateTime() { diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index 890e0f7..a45894e 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -21,8 +21,8 @@ import frc4388.utility.controller.IHandController; public class Shooter extends SubsystemBase { - public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID); - + public WPI_TalonFX m_shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_ID); + public WPI_TalonFX m_shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_BALLER_FOLLOWER_ID); public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS; public static Shooter m_shooter; public static IHandController m_controller; @@ -50,24 +50,42 @@ public class Shooter extends SubsystemBase { //SmartDashboard.putNumber("Velocity Target", 10000); //SmartDashboard.putNumber("Angle Target", 3); - m_shooterFalcon.configFactoryDefault(); - m_shooterFalcon.setNeutralMode(NeutralMode.Coast); - m_shooterFalcon.setInverted(true); - m_shooterFalcon.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + //LEFT FALCON + m_shooterFalconLeft.configFactoryDefault(); + m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast); + m_shooterFalconLeft.setInverted(true); + m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); + + //RIGHT FALCON + m_shooterFalconRight.configFactoryDefault(); + m_shooterFalconRight.setNeutralMode(NeutralMode.Coast); + m_shooterFalconRight.setInverted(false); + m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); setShooterGains(); - m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); - - m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); - int closedLoopTimeMs = 1; - m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + //LEFT FALCON + m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); + + + //RIGHT FALCON + //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS); + + m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); m_shooterTable = new ShooterTables(); - - m_shooterFalcon.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); - //SmartDashboard.putNumber("CSV 10", m_shooterTable.getVelocity(10)); //SmartDashboard.putNumber("CSV 200", m_shooterTable.getVelocity(200)); //SmartDashboard.putNumber("CSV 250", m_shooterTable.getVelocity(250)); @@ -83,13 +101,13 @@ public class Shooter extends SubsystemBase { public void periodic() { // This method will be called once per scheduler run try{ - SmartDashboard.putNumber("Drum Velocity", m_shooterFalcon.getSelectedSensorVelocity()); + SmartDashboard.putNumber("Drum Velocity", m_shooterFalconLeft.getSelectedSensorVelocity()); SmartDashboard.putNumber("Drum Velocity CSV", m_fireVel); - SmartDashboard.putNumber("Shooter Temp C", m_shooterFalcon.getTemperature()); + SmartDashboard.putNumber("Shooter Temp C", m_shooterFalconLeft.getTemperature()); - SmartDashboard.putNumber("Shooter Current", m_shooterFalcon.getSupplyCurrent()); + SmartDashboard.putNumber("Shooter Current", m_shooterFalconLeft.getSupplyCurrent()); SmartDashboard.putBoolean("Drum Ready" , m_isDrumReady); } @@ -118,18 +136,20 @@ public class Shooter extends SubsystemBase { * @param speed Speed to set the motor at */ public void runDrumShooter(double speed) { - m_shooterFalcon.set(speed); + m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed); + m_shooterFalconRight.follow(m_shooterFalconLeft); + //m_shooterFalconRight.set(TalonFXControlMode.PercentOutput, speed); } /** * Configures gains for shooter PID. */ public void setShooterGains() { - m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); - m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); - m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX); + m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS); + m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS); } /** @@ -138,6 +158,7 @@ public class Shooter extends SubsystemBase { */ public void runDrumShooterVelocityPID(double targetVel) { //System.out.println("Target Velocity" + targetVel); - m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID + m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init PID + m_shooterFalconRight.follow(m_shooterFalconLeft); } } \ No newline at end of file From c274989aacc7e9a1ae6bdac476eae6e071ca822f Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 4 Mar 2021 17:26:04 -0700 Subject: [PATCH 05/30] Adjustments for shooter Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 10 ++++++---- .../frc4388/robot/commands/shooter/TrackTarget.java | 2 +- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6521b27..831163e 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -212,7 +212,7 @@ public final class Constants { public static final class VisionConstants { public static final double FOV = 29.8; //Field of view of limelight - public static final double TARGET_HEIGHT = 71.5; + public static final double TARGET_HEIGHT = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; public static final double X_ANGLE_ERROR = 1.3; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 925e2a4..f129ce7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -236,12 +236,14 @@ public class RobotContainer { // extends or retracts the extender new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) - .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) - .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) + //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.5), m_robotShooterHood)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) - .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) + //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.5), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 3f46e9f..05d652d 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -69,7 +69,7 @@ public class TrackTarget extends CommandBase { yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); // Finding Distance - distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); + distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); realDistance = (1.09 * distance) - 12.8; From 2f2a01e95de39db3af4842efbc2c68a34921428c Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 5 Mar 2021 12:24:11 -0700 Subject: [PATCH 06/30] adjusted drum PIDs Using a P loop with a feedforward value. Works well even when rapid shooting. TODO Recollect CSV data values Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 6 +++--- .../frc4388/robot/commands/shooter/CalibrateShooter.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 831163e..53037d1 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -121,7 +121,7 @@ public final class Constants { public static final int SHOOTER_SLOT_IDX = 0; public static final int SHOOTER_PID_LOOP_IDX = 1; public static final int SHOOTER_TIMEOUT_MS = 30; - public static final Gains DRUM_SHOOTER_GAINS = new Gains(1.5, 0.0, 100, 0.055, 0, 1.0); + public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.34, 0.0, 0.0, 0.055, 0, 1.0); //Ff was 0.055 //public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.55, 0.0, 100, 0.0, 0, 1.0); public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0); public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f129ce7..34a2360 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -238,12 +238,12 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.5), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.5), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) @@ -257,7 +257,7 @@ public class RobotContainer { //.whenPressed(new StoragePrep(m_robotStorage)) //.whenReleased(new InterruptSubystem(m_robotStorage)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); - //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000))); + //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000))); //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim)) //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30))); diff --git a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java index 5e28114..14e19ce 100644 --- a/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java +++ b/src/main/java/frc4388/robot/commands/shooter/CalibrateShooter.java @@ -61,7 +61,7 @@ public class CalibrateShooter extends CommandBase { @Override public boolean isFinished() { if (m_shooterAim.m_shooterRotateMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get() && - m_shooterHood.m_angleAdjustMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen).get()) { + m_shooterHood.m_hoodDownLimit.get()) { return true; } return false; From c5c38d3017b7dc75e147003d1d1442bcfa936d2d Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 9 Mar 2021 17:54:52 -0700 Subject: [PATCH 07/30] Adjustment of csv values --- src/main/deploy/Robot Data - Distances.csv | 4 +--- src/main/java/frc4388/robot/RobotContainer.java | 12 ++++++------ 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index e33cc7b..fa7b05c 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -2,6 +2,4 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) 70,20,7000,2.5, 127,27,8467,2, 223,31.25,10398,2.75, -272,32.4,11776,2.5, -342,33,13733,2, -458,30.5,17000,0, \ No newline at end of file +245,31,18000,1, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 34a2360..01e56ae 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -236,14 +236,14 @@ public class RobotContainer { // extends or retracts the extender new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) - //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) - //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) + .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.2), m_robotShooterHood)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) - //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); - .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood)); + .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) + .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.2), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) From 792388bdd5be03b6a43cadc107930f4afd915ee1 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 11 Mar 2021 17:54:27 -0700 Subject: [PATCH 08/30] Collected close data point *chefs kiss* --- src/main/deploy/Robot Data - Distances.csv | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index fa7b05c..89ac8c2 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,5 +1,7 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -70,20,7000,2.5, -127,27,8467,2, -223,31.25,10398,2.75, +0,16,6000,1, +65.9,16,6000,1, +127,27,8467,1, +223,31.25,10398,1, 245,31,18000,1, +999,31,18000,1, \ No newline at end of file From 8c9ae1d16e91347f30603cb318ac027ab78518a3 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 12 Mar 2021 11:34:35 -0700 Subject: [PATCH 09/30] Added new data --- src/main/deploy/Robot Data - Distances.csv | 10 +++--- src/main/deploy/Robot Data - DistancesOLD.csv | 35 +++++++++++++++---- 2 files changed, 34 insertions(+), 11 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 89ac8c2..7a1a1f4 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,7 +1,9 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) 0,16,6000,1, 65.9,16,6000,1, -127,27,8467,1, -223,31.25,10398,1, -245,31,18000,1, -999,31,18000,1, \ No newline at end of file +126.6,20.25,7000,0.95, +180,24,8000,1, +185.85,26.5, 9000,1.625, +245,28.9,9500,.98, +262,28.9,9500,.98, +999,28.9,9500,.98, \ No newline at end of file diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index a15874a..77b3cfb 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -1,8 +1,29 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -1,10,7769,0 -70,21,7769,0, check -100,24,8580,0 -145,28,9390,0 -230,31,11010,0,Add a 270 -397,33,14250,0 -415,33,14452,0 \ No newline at end of file +LOBING +0,16,6000,1, +65.9,16,6000,1, +126.6,20.25,7000,0.95, +180,21,7300,1, +185.85,23.5,7500,1.625, +245,26,9000,1, +262,28,9000,1.25, +999,28,9000,1.25, + +LASER +0,16,6000,1, +65.9,16,6000,1, +126.6,20.25,7000,0.95, +185.85,30,13000,1, +245,31,18000,1, +250,31,18000,1, +999,31,18000,1, + +IN BETWEEN +0,16,6000,1, +65.9,16,6000,1, +126.6,20.25,7000,0.95, +180,24,8000,1, +185.85,26.5, 9000,1.625, +245,27,11000,1, +262,27,11000,1.25, +999,27,11000,1.25, \ No newline at end of file From fcc91455ac2c08c061747e527e4f83d416baebbf Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 12 Mar 2021 12:37:06 -0700 Subject: [PATCH 10/30] Reduced Error --- src/main/deploy/Robot Data - Distances.csv | 16 ++++++++-------- src/main/deploy/Robot Data - DistancesOLD.csv | 12 +++++++++++- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- .../robot/commands/shooter/TrackTarget.java | 12 +++++++----- 5 files changed, 29 insertions(+), 17 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 7a1a1f4..dbe365d 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,9 +1,9 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -0,16,6000,1, -65.9,16,6000,1, -126.6,20.25,7000,0.95, -180,24,8000,1, -185.85,26.5, 9000,1.625, -245,28.9,9500,.98, -262,28.9,9500,.98, -999,28.9,9500,.98, \ No newline at end of file +0,16,6000,0, +65.9,16,6000,0, +126.6,20.25,7000,0, +180,24,8000,0, +185.85,26.5, 9000,1.1, +245,28.9,9500,0, +262,28.9,9500,0, +999,28.9,9500,0, \ No newline at end of file diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index 77b3cfb..a508fbc 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -26,4 +26,14 @@ IN BETWEEN 185.85,26.5, 9000,1.625, 245,27,11000,1, 262,27,11000,1.25, -999,27,11000,1.25, \ No newline at end of file +999,27,11000,1.25, + +HOLD +0,16,6000,1, +65.9,16,6000,1, +126.6,20.25,7000,0.95, +180,24,8000,1, +185.85,26.5, 9000,1.625, +245,28.9,9500,.98, +262,28.9,9500,.98, +999,28.9,9500,.98, \ 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 53037d1..59fbdef 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -215,7 +215,7 @@ public final class Constants { public static final double TARGET_HEIGHT = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; - public static final double X_ANGLE_ERROR = 1.3; + public static final double X_ANGLE_ERROR = 0.5; public static final double MOTOR_DEAD_ZONE = 0.2; public static final double DISTANCE_ERROR_EQUATION_M = 1.1279; public static final double DISTANCE_ERROR_EQUATION_B = -15.0684; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 01e56ae..080c646 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -254,9 +254,9 @@ public class RobotContainer { new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whileHeld(new TrackTarget(m_robotShooterAim)) .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle()))) - //.whenPressed(new StoragePrep(m_robotStorage)) - //.whenReleased(new InterruptSubystem(m_robotStorage)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); + + //.whileHeld(new RunCommand(() -> m_robotShooterAim.runshooterRotatePID())); //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(11000))); //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim)) //.whileHeld(new RunCommand(() -> m_robotShooter.runAngleAdjustPID(30))); diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 05d652d..598c317 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -76,17 +76,19 @@ public class TrackTarget extends CommandBase { if (target == 1.0) { // If target in view // Aiming Left/Right xAngle = xAngle + m_shooter.m_shooterTable.getCenterDisplacement(realDistance); - turnAmount = (xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE; + turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE); if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) { turnAmount = 0; } // Angle Error Zone // Deadzones - else if (turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE) { - turnAmount = VisionConstants.MOTOR_DEAD_ZONE; - } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) { - turnAmount = -VisionConstants.MOTOR_DEAD_ZONE; + else if (turnAmount > 0 && turnAmount < 0.1){// VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = 0.1;//VisionConstants.MOTOR_DEAD_ZONE; + } else if (turnAmount < 0 && turnAmount > -0.1){//-VisionConstants.MOTOR_DEAD_ZONE) { + turnAmount = -0.1;//-VisionConstants.MOTOR_DEAD_ZONE; } + m_shooterAim.runShooterWithInput(-turnAmount);// - m_shooter.shooterTrims.m_turretTrim); + //m_shooterAim.runshooterRotatePID(targetAngle); SmartDashboard.putNumber("Distance to Target", realDistance); SmartDashboard.putNumber("Center Displacement", m_shooter.m_shooterTable.getCenterDisplacement(realDistance)); From 289efc78d5688976968885f550a713585579cbde Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Tue, 23 Mar 2021 16:39:17 -0600 Subject: [PATCH 11/30] New points --- src/main/deploy/Robot Data - Distances.csv | 1 + src/main/java/frc4388/robot/RobotContainer.java | 9 ++++++--- .../robot/commands/shooter/ShooterTrenchPosition.java | 6 +++--- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index dbe365d..0ee5cca 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,6 +1,7 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) 0,16,6000,0, 65.9,16,6000,0, +103,19,6600,1, 126.6,20.25,7000,0, 180,24,8000,0, 185.85,26.5, 9000,1.1, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 080c646..97bd1e9 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -185,8 +185,10 @@ public class RobotContainer { private void configureButtonBindings() { /* Test Buttons */ // A driver test button - /*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));*/ + new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) + .whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim)) + .whenReleased(new InterruptSubystem(m_robotShooter)) + .whenReleased(new InterruptSubystem(m_robotShooterHood)); // B driver test button new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) @@ -231,7 +233,7 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.3), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender @@ -270,6 +272,7 @@ public class RobotContainer { .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood)); + //Run drum new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false) .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java index ba452b7..793f245 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java @@ -34,9 +34,9 @@ public class ShooterTrenchPosition extends CommandBase { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_shooter.runDrumShooterVelocityPID(5000); - m_hood.runAngleAdjustPID(3); - m_aim.runshooterRotatePID(-26.5); + m_shooter.runDrumShooterVelocityPID(5500); + m_hood.runAngleAdjustPID(11); + //m_aim.runshooterRotatePID(-28); } // Called once the command ends or is interrupted. From c25788454590c2bececea739cbb275216ea2919e Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Wed, 24 Mar 2021 16:37:19 -0600 Subject: [PATCH 12/30] tuning --- src/main/deploy/Robot Data - Distances.csv | 18 ++- .../driverStation/GOAT DRIVERSTATION.json | 146 +++++++++++++++++- .../java/frc4388/robot/RobotContainer.java | 4 +- .../commands/shooter/ShooterGoalPosition.java | 2 +- 4 files changed, 155 insertions(+), 15 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 0ee5cca..4f2fb07 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,10 +1,12 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -0,16,6000,0, -65.9,16,6000,0, +0,16,6000,1, +65.9,16,6000,1, 103,19,6600,1, -126.6,20.25,7000,0, -180,24,8000,0, -185.85,26.5, 9000,1.1, -245,28.9,9500,0, -262,28.9,9500,0, -999,28.9,9500,0, \ No newline at end of file +126.6,20.25,7000,1.5, +156.6,22,7500,1.5, +180,24,8000,2, +185.85,26.5,9000,2.5, +231,28.8,9500,1.8, +245,28.8,9500,1.8, +262,28.8,9500,1.8, +999,28.8,9500,1.8, \ No newline at end of file diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json index e61f688..5035189 100644 --- a/src/main/driverStation/GOAT DRIVERSTATION.json +++ b/src/main/driverStation/GOAT DRIVERSTATION.json @@ -624,6 +624,12 @@ "_title": "DigitalInput[12]/Value", "Colors/Color when true": "#7CFC00FF", "Colors/Color when false": "#8B0000FF" + }, + { + "_type": "Speed Controller", + "_source0": "network_table:///LiveWindow/Ungrouped/Talon FX [15]", + "_title": "Talon FX [15]", + "Visuals/Orientation": "HORIZONTAL" } ] } @@ -1003,12 +1009,144 @@ } } } + }, + { + "title": "Tab 5", + "autoPopulate": false, + "autoPopulatePrefix": "", + "widgetPane": { + "gridSize": 128.0, + "showGrid": true, + "hgap": 16.0, + "vgap": 16.0, + "tiles": { + "3,0": { + "size": [ + 3, + 3 + ], + "content": { + "_type": "Camera Stream", + "_source0": "camera_server://limelight", + "_title": "limelight", + "Crosshair/Show crosshair": true, + "Crosshair/Crosshair color": "#FFFFFFFF", + "Controls/Show controls": true, + "Controls/Rotation": "NONE", + "compression": -1.0, + "fps": -1, + "imageWidth": 0, + "imageHeight": 0 + } + }, + "7,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Fire Angle CSV", + "_title": "/SmartDashboard/Fire Angle CSV" + } + }, + "7,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Drum Velocity CSV", + "_title": "/SmartDashboard/Drum Velocity CSV" + } + }, + "6,1": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "3,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Distance to Target", + "_title": "/SmartDashboard/Distance to Target" + } + }, + "0,0": { + "size": [ + 2, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "6,2": { + "size": [ + 4, + 2 + ], + "content": { + "_type": "Graph", + "_source0": "network_table:///SmartDashboard/Drum Velocity", + "_title": "/SmartDashboard/Drum Velocity", + "Graph/Visible time": 30.0, + "Y-axis/Automatic bounds": true, + "Y-axis/Upper bound": 1.0, + "Y-axis/Lower bound": -1.0, + "Visible data/SmartDashboard/Drum Velocity": true + } + }, + "4,3": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Text View", + "_source0": "network_table:///SmartDashboard/Turret Angle Raw", + "_title": "/SmartDashboard/Turret Angle Raw" + } + }, + "6,0": { + "size": [ + 1, + 1 + ], + "content": { + "_type": "Boolean Box", + "_source0": "network_table:///SmartDashboard/Drum Ready", + "_title": "/SmartDashboard/Drum Ready", + "Colors/Color when true": "#7CFC00FF", + "Colors/Color when false": "#8B0000FF" + } + } + } + } } ], "windowGeometry": { - "x": -6.400000095367432, - "y": 1.600000023841858, - "width": 1547.199951171875, - "height": 828.7999877929688 + "x": -7.199999809265137, + "y": -7.199999809265137, + "width": 1550.4000244140625, + "height": 838.4000244140625 } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 97bd1e9..9578a71 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -191,8 +191,8 @@ public class RobotContainer { .whenReleased(new InterruptSubystem(m_robotShooterHood)); // B driver test button - new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new TurnDegrees(m_robotDrive, 90)); + /*new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) + .whenPressed(new TurnDegrees(m_robotDrive, 90));*/ // Y driver test button new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) .whenPressed(new Wait(m_robotDrive, 0, 0)); diff --git a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java index b750c66..100e077 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java @@ -35,7 +35,7 @@ public class ShooterGoalPosition extends CommandBase { @Override public void execute() { m_shooter.runDrumShooterVelocityPID(5000); - m_hood.runAngleAdjustPID(3); + m_hood.runAngleAdjustPID(4); m_aim.runshooterRotatePID(-26.5); } From 699dee33df2651b54c6100e99c3cc404de290c71 Mon Sep 17 00:00:00 2001 From: Kyra <101209@psdschools.org> Date: Wed, 24 Mar 2021 17:33:16 -0600 Subject: [PATCH 13/30] Added Syntax Revered Path Added reveresed syntax for the Bounce Path. Need to test and build paths. --- .../java/frc4388/robot/RobotContainer.java | 4 ++-- .../frc4388/robot/commands/auto/Bounce.java | 12 +++++++++-- .../java/frc4388/robot/subsystems/Drive.java | 20 ++++++++++++++++++- 3 files changed, 31 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2ab358d..d98ffeb 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -332,7 +332,7 @@ public class RobotContainer { "Bounce" }; - m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); + m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce)); String[] barrelMany = new String[]{ "BarrelManyWaypoints" @@ -406,7 +406,7 @@ public class RobotContainer { // new TankDriveVelocity(m_robotDrive, 1000, 1000, 1)); //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(1, 1)); //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1)); //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); diff --git a/src/main/java/frc4388/robot/commands/auto/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java index 905e3fc..0b80db1 100644 --- a/src/main/java/frc4388/robot/commands/auto/Bounce.java +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -7,8 +7,12 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; // NOTE: Consider using this command inline, rather than writing a subclass. For more @@ -18,10 +22,14 @@ public class Bounce extends SequentialCommandGroup { /** * Creates a new Bounce. */ - public Bounce(Drive drive, RamseteCommand[] paths) { + public Bounce(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); - addCommands(paths[0] + addCommands( + paths[0], + new InstantCommand(() -> drive.switchReversed(true)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), + paths[1] ); } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index fe96ca2..ba64beb 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -46,6 +46,7 @@ public class Drive extends SubsystemBase { public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID); public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID); public static GyroBase m_pigeonGyro; + public boolean m_isReversed; /* Drive objects to manage Drive Train */ public DifferentialDrive m_driveTrain; @@ -332,9 +333,26 @@ public class Drive extends SubsystemBase { m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks); m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks); - m_odometry.update(Rotation2d.fromDegrees( getHeading()), + updateOdometry(m_isReversed); + } + + public void updateOdometry(boolean reversed){ + if (reversed){ + m_odometry.update(Rotation2d.fromDegrees( getHeading() - 180), + -inchesToMeters(getDistanceInches(m_rightFrontMotor)), + inchesToMeters(getDistanceInches(m_leftFrontMotor))); + } + else + { + m_odometry.update(Rotation2d.fromDegrees( getHeading()), inchesToMeters(getDistanceInches(m_leftFrontMotor)), -inchesToMeters(getDistanceInches(m_rightFrontMotor))); + } + } + + public void switchReversed(boolean reversed) + { + m_isReversed = reversed; } /** From f3732e1747c741ab84e1f7bf3434dd874514fa06 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 24 Mar 2021 17:33:45 -0600 Subject: [PATCH 14/30] BarrelPog Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/commands/auto/BarrelStart.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 98d3460..9304fda 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -7,6 +7,7 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc4388.robot.RobotContainer; @@ -23,7 +24,9 @@ public class BarrelStart extends SequentialCommandGroup { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( - paths[0] + paths[0], + new InstantCommand(() -> drive.tankDriveVelocity(1, 1)) ); + } } From ab1a8a75641e85651cd46b95cfd2ae37bd4dd76b Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 25 Mar 2021 16:33:12 -0600 Subject: [PATCH 15/30] Paths Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/BarrelStart | 20 +++++++++---------- PathWeaver/Paths/Bounce1 | 3 +++ PathWeaver/Paths/Bounce2 | 5 +++++ PathWeaver/Paths/Bounce3 | 5 +++++ PathWeaver/Paths/Bounce4 | 3 +++ PathWeaver/Paths/Galactic Search ABLUE | 3 +++ src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/deploy/paths/Bounce1.wpilib.json | 1 + src/main/deploy/paths/Bounce2.wpilib.json | 1 + src/main/deploy/paths/Bounce3.wpilib.json | 1 + src/main/deploy/paths/Bounce4.wpilib.json | 1 + .../paths/Galactic Search ABLUE.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 16 ++++++--------- .../robot/commands/auto/BarrelStart.java | 5 ++++- .../frc4388/robot/commands/auto/Bounce.java | 10 +++++++++- 15 files changed, 54 insertions(+), 23 deletions(-) create mode 100644 PathWeaver/Paths/Bounce1 create mode 100644 PathWeaver/Paths/Bounce2 create mode 100644 PathWeaver/Paths/Bounce3 create mode 100644 PathWeaver/Paths/Bounce4 create mode 100644 PathWeaver/Paths/Galactic Search ABLUE create mode 100644 src/main/deploy/paths/Bounce1.wpilib.json create mode 100644 src/main/deploy/paths/Bounce2.wpilib.json create mode 100644 src/main/deploy/paths/Bounce3.wpilib.json create mode 100644 src/main/deploy/paths/Bounce4.wpilib.json create mode 100644 src/main/deploy/paths/Galactic Search ABLUE.wpilib.json diff --git a/PathWeaver/Paths/BarrelStart b/PathWeaver/Paths/BarrelStart index 8004513..7c04f9b 100644 --- a/PathWeaver/Paths/BarrelStart +++ b/PathWeaver/Paths/BarrelStart @@ -1,14 +1,14 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.1943219738452617,-2.286,1.0,0.0,true, 3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true, -4.602336661727758,-2.9818287702119433,0.15462861560265395,-1.1071408877150035,true, -3.656009534239515,-3.810638149842169,-1.2555843586935511,0.21029491721960936,true, -3.3714928815306315,-2.5241280680280873,1.2184734909489143,0.8226242350061197,true, +4.961075049925916,-2.9447179024673065,0.15462861560265395,-1.1071408877150035,true, +3.4147888938993747,-3.754971848225213,-0.8597351027507569,0.8226242350061197,true, +3.3405671584101007,-2.4251657540423888,1.2184734909489143,0.8226242350061197,true, 6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, -7.144431102235392,-1.4231723249371897,0.08040688011338037,0.6679956194034656,true, -6.17954854087483,-0.6376589576757069,-0.7793282226373774,-0.17318404947497257,true, -5.295072859627648,-1.6829483991496488,0.42058983443921694,-0.9030311151194992,true, -6.575397796817625,-3.4766403401404364,1.7689513624943638,-0.7174767763963148,true, -8.22683141145397,-3.557047220253817,0.6061441731624058,0.4824412806802809,true, -8.301053146943245,-2.2396114153192035,-0.5999590285382981,0.3587383881981576,true, -5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true, +7.286689428589834,-1.287099143206854,-0.3216275204535206,1.7070999162533012,true, +6.154807962378405,-0.6933252592926624,-0.7793282226373774,-0.17318404947497257,true, +5.523923210719577,-1.4602831926818267,0.42058983443921694,-0.9030311151194992,true, +6.612508664562261,-3.303456290665464,1.7689513624943638,-0.7174767763963148,true, +8.239201700702182,-3.4766403401404364,0.9648825613605609,0.8968459704953937,true, +8.381460027056624,-2.2334262706950976,-0.5442927269213422,0.2474057849642466,true, +5.598144946208851,-2.12,-5.115114604135798,0.06803659086516767,true, diff --git a/PathWeaver/Paths/Bounce1 b/PathWeaver/Paths/Bounce1 new file mode 100644 index 0000000..3f78c70 --- /dev/null +++ b/PathWeaver/Paths/Bounce1 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.2190625523416865,-2.295277716936159,2.158615473813051,-0.2968869419570952,true, +2.295277716936159,-0.6685846807962377,-0.061851446241061314,0.5442927269213425,true, diff --git a/PathWeaver/Paths/Bounce2 b/PathWeaver/Paths/Bounce2 new file mode 100644 index 0000000..db8f7cb --- /dev/null +++ b/PathWeaver/Paths/Bounce2 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +2.295,-0.7613618501578302,-0.2474057849642466,-2.133874895316627,true, +3.804453005218064,-3.7920827159698507,1.6328781807640258,0.25359092958835294,true, +4.521929781614379,-2.9447179024673065,-0.04948115699285083,0.7422173548927398,true, +4.521929781614379,-0.68095497004445,-0.04329601236874314,0.377293822070476,true, diff --git a/PathWeaver/Paths/Bounce3 b/PathWeaver/Paths/Bounce3 new file mode 100644 index 0000000..64c1d1b --- /dev/null +++ b/PathWeaver/Paths/Bounce3 @@ -0,0 +1,5 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +4.589966372479545,-0.68095497004445,0.03711086774463812,-0.8349945242543321,true, +5.622885524705275,-3.68075011273594,2.770944791599561,0.15462861560265395,true, +6.692915544675642,-2.882866456226244,0.12988803710623031,0.9339568382400305,true, +6.8537293049024015,-0.6933252592926624,-0.06803659086516767,0.5937738839141918,true, diff --git a/PathWeaver/Paths/Bounce4 b/PathWeaver/Paths/Bounce4 new file mode 100644 index 0000000..a8299e5 --- /dev/null +++ b/PathWeaver/Paths/Bounce4 @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +6.884655028022934,-0.8912498872640597,0.2721463634606698,-2.752389357727243,true, +8.344349159311989,-2.369499452425433,0.7236619210204207,-0.18555433872318483,true, diff --git a/PathWeaver/Paths/Galactic Search ABLUE b/PathWeaver/Paths/Galactic Search ABLUE new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/Galactic Search ABLUE @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/src/main/deploy/paths/BarrelStart.wpilib.json b/src/main/deploy/paths/BarrelStart.wpilib.json index 51ab2e9..99e5f8a 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":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":0.13267690465109205,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.3429884025872947,"velocity":2.265019459066152,"acceleration":-2.664797224300388,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.3915255846258634,"velocity":2.135677711094411,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.4424543532584024,"velocity":1.9981700357865557,"acceleration":-2.695873439719734,"pose":{"translation":{"x":3.5012793327139367,"y":-2.195698213316658},"rotation":{"radians":0.04748102876966936}},"curvature":-0.4662135588751524},{"time":1.4977514632324536,"velocity":1.8490960257142501,"acceleration":-1.3555378050924944,"pose":{"translation":{"x":3.6076356177973556,"y":-2.1939082023464804},"rotation":{"radians":-0.01889087724371516}},"curvature":-0.7526266422227288},{"time":1.5271887786454168,"velocity":1.8091926317915465,"acceleration":-0.7990788994877586,"pose":{"translation":{"x":3.6614376570651617,"y":-2.196061155562693},"rotation":{"radians":-0.06185779113317496}},"curvature":-0.8373003126255645},{"time":1.5574392446643401,"velocity":1.7850201226961535,"acceleration":-0.4032065166112595,"pose":{"translation":{"x":3.7156039231864395,"y":-2.2006855028883923},"rotation":{"radians":-0.10895597617388497}},"curvature":-0.8904348166965556},{"time":1.588312017790811,"velocity":1.7725720193856995,"acceleration":-0.12792373301414153,"pose":{"translation":{"x":3.7700300748484006,"y":-2.2080068032512465},"rotation":{"radians":-0.15872936628502857}},"curvature":-0.9183627632024834},{"time":1.6196446269267477,"velocity":1.7685638350599575,"acceleration":0.052979467275434705,"pose":{"translation":{"x":3.8245668056070024,"y":-2.2181748154452263},"rotation":{"radians":-0.21000759942160274}},"curvature":-0.9274390013294783},{"time":1.6513002293640207,"velocity":1.7702409320133672,"acceleration":0.15814728583522253,"pose":{"translation":{"x":3.8790260816707995,"y":-2.2312696695550542},"rotation":{"radians":-0.2619010918949543}},"curvature":-0.9236363379932561},{"time":1.68316356624459,"velocity":1.7752800322586826,"acceleration":0.2018471245943447,"pose":{"translation":{"x":3.9331873796847967,"y":-2.2473080383806523},"rotation":{"radians":-0.31378200936135137}},"curvature":-0.9122538663464707},{"time":1.7151364101954087,"velocity":1.781733658875259,"acceleration":0.19546499008174548,"pose":{"translation":{"x":3.9868039245143003,"y":-2.266249308861593},"rotation":{"radians":-0.3652551967319382}},"curvature":-0.8977702501377133},{"time":1.7471332300018267,"velocity":1.787987916941368,"acceleration":0.14814121844738942,"pose":{"translation":{"x":4.039608927028769,"y":-2.2880017535015456},"rotation":{"radians":-0.4161239573668622}},"curvature":-0.8838338290755391},{"time":1.7790776245962177,"velocity":1.7927201984791452,"acceleration":0.06706429401880823,"pose":{"translation":{"x":4.091321821885664,"y":-2.3124287017927276},"rotation":{"radians":-0.46635513834344133}},"curvature":-0.8733534664717717},{"time":1.810899848756794,"velocity":1.7948543334765825,"acceleration":-0.04227215501009003,"pose":{"translation":{"x":4.141654505314305,"y":-2.339354711640352},"rotation":{"radians":-0.5160467289148427}},"curvature":-0.8686451787560745},{"time":1.842535524326616,"velocity":1.793517025295046,"acceleration":-0.17568076843427577,"pose":{"translation":{"x":4.190317572899718,"y":-2.3685717407870768},"rotation":{"radians":-0.5653996649684544}},"curvature":-0.8715942116435602},{"time":1.8739254389477955,"velocity":1.788002420973311,"acceleration":-0.32966582989087706,"pose":{"translation":{"x":4.237026557366488,"y":-2.399845318237454},"rotation":{"radians":-0.6146941272313098}},"curvature":-0.8838016229196061},{"time":1.9050161856803558,"velocity":1.7777528641497944,"acceleration":-0.500518356120973,"pose":{"translation":{"x":4.281508166362612,"y":-2.432920715682379},"rotation":{"radians":-0.664269461258107}},"curvature":-0.9066917615974452},{"time":1.9357612773927202,"velocity":1.7623643813871332,"acceleration":-0.6830717721740023,"pose":{"translation":{"x":4.323506520243348,"y":-2.467529118923538},"rotation":{"radians":-0.7145058922073292}},"curvature":-0.9415585169416107},{"time":1.9661222567869987,"velocity":1.741625653387345,"acceleration":-0.8691051459586842,"pose":{"translation":{"x":4.3627893898550685,"y":-2.503393799297859},"rotation":{"radians":-0.7658053317561747}},"curvature":-0.9895224095087061},{"time":1.9960691956830978,"velocity":1.715598614687035,"acceleration":-1.0454726730663872,"pose":{"translation":{"x":4.399154434319112,"y":-2.540236285101958},"rotation":{"radians":-0.8185676531047568}},"curvature":-1.0513577965846288},{"time":2.0255798276640746,"velocity":1.6847460553860047,"acceleration":-1.1921936515040312,"pose":{"translation":{"x":4.432435438815632,"y":-2.5777825330165927},"rotation":{"radians":-0.8731578010408994}},"curvature":-1.1271324374081375},{"time":2.054636405219509,"velocity":1.6501049880899816,"acceleration":-1.280885494936387,"pose":{"translation":{"x":4.462508552367454,"y":-2.6157690995311045},"rotation":{"radians":-0.9298581575679468}},"curvature":-1.2155885938586315},{"time":2.083219282726709,"velocity":1.613493594887466,"acceleration":-1.2738441709123096,"pose":{"translation":{"x":4.489298525623923,"y":-2.6539493123678746},"rotation":{"radians":-0.9888001966942681}},"curvature":-1.3132044255232707},{"time":2.1112963379342577,"velocity":1.5777278017749468,"acceleration":-1.123384835014583,"pose":{"translation":{"x":4.5127849486447555,"y":-2.692099441906768},"rotation":{"radians":-1.04987064617492}},"curvature":-1.4129402912207414},{"time":2.138807871721863,"velocity":1.5468217619299596,"acceleration":-0.7693066330235276,"pose":{"translation":{"x":4.533008488683891,"y":-2.730024872609584},"rotation":{"radians":-1.1125916616879339}},"curvature":-1.5028390786756067},{"time":2.165647799483803,"velocity":1.5261736274728268,"acceleration":-0.12915745165545528,"pose":{"translation":{"x":4.550077127973347,"y":-2.7675662744445058},"rotation":{"radians":-1.1759834213896065}},"curvature":-1.5649287595028905},{"time":2.19164382870752,"velocity":1.5228160465851308,"acceleration":0.9295253406983499,"pose":{"translation":{"x":4.564172401507065,"y":-2.8046057743105486},"rotation":{"radians":-1.2384310294851038}},"curvature":-1.5751842850490676},{"time":2.2165415111636344,"velocity":1.54595907335275,"acceleration":2.6576141438389143,"pose":{"translation":{"x":4.575555634824767,"y":-2.8410731274620096},"rotation":{"radians":-1.2975918951608563}},"curvature":-1.5054000139812431},{"time":2.239998603197641,"velocity":1.6082989729156567,"acceleration":2.7000000000000184,"pose":{"translation":{"x":4.584574181795802,"y":-2.8769518889329153},"rotation":{"radians":-1.3503867814765753}},"curvature":-1.3274147090655632},{"time":2.2620002327841213,"velocity":1.6677033727991533,"acceleration":-0.5706726067146315,"pose":{"translation":{"x":4.5916676624030055,"y":-2.9122855849614706},"rotation":{"radians":-1.393110285506901}},"curvature":-1.0192894795955323},{"time":2.304497078229086,"velocity":1.6434515872319266,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.602336661727768,"y":-2.9818287702119437},"rotation":{"radians":-1.4320291524242312}},"curvature":1.0490043062426381E-13},{"time":2.3488518256892097,"velocity":1.523693769089592,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.610789327786477,"y":-3.0515572781035987},"rotation":{"radians":-1.4843854748345995}},"curvature":-1.3706678514575072},{"time":2.3728606621228807,"velocity":1.4588699107186796,"acceleration":-2.5233888291746718,"pose":{"translation":{"x":4.6129053610273525,"y":-3.0872986357953214},"rotation":{"radians":-1.5413758850870642}},"curvature":-1.7795147486415084},{"time":2.3985300392406015,"velocity":1.3940960912479508,"acceleration":-0.6760358499691684,"pose":{"translation":{"x":4.61272879192871,"y":-3.1239151401835556},"rotation":{"radians":-1.611237259672307}},"curvature":-2.005600428782231},{"time":2.4257603359574933,"velocity":1.375687434462034,"acceleration":0.4857067694279678,"pose":{"translation":{"x":4.609755642947021,"y":-3.1615087690803643},"rotation":{"radians":-1.6886226918677059}},"curvature":-2.0737389096077368},{"time":2.4540252718460853,"velocity":1.3894159051605706,"acceleration":1.2187265151679656,"pose":{"translation":{"x":4.6036000031879984,"y":-3.200098630675748},"rotation":{"radians":-1.768995230880868}},"curvature":-2.0227526737819645},{"time":2.482939191337794,"velocity":1.4246540655025477,"acceleration":1.6381890323163022,"pose":{"translation":{"x":4.593985534403055,"y":-3.239629125744175},"rotation":{"radians":-1.8489031199190167}},"curvature":-1.8963796534450674},{"time":2.51225470673865,"velocity":1.472678421308929,"acceleration":1.812263234452021,"pose":{"translation":{"x":4.580736976985762,"y":-3.2799781098511076},"rotation":{"radians":-1.9260516473486369}},"curvature":-1.7338895074983334},{"time":2.541837771315989,"velocity":1.5262907216048605,"acceleration":1.7979710425310877,"pose":{"translation":{"x":4.563771655968305,"y":-3.320965055559534},"rotation":{"radians":-1.9991839012331172}},"curvature":-1.5645719168587215},{"time":2.5716320375780533,"velocity":1.579859949577513,"acceleration":1.64973934929648,"pose":{"translation":{"x":4.54309098701794,"y":-3.3623592146364962},"rotation":{"radians":-2.0678522027711344}},"curvature":-1.4068680437193162},{"time":2.6016240760144083,"velocity":1.6293389955515802,"acceleration":1.416609614417328,"pose":{"translation":{"x":4.518771982433454,"y":-3.40388778025962},"rotation":{"radians":-2.1321692778718697}},"curvature":-1.2704178672490707},{"time":2.6318162208973535,"velocity":1.6721094782726411,"acceleration":1.137702386236418,"pose":{"translation":{"x":4.49095875714162,"y":-3.445244049223644},"rotation":{"radians":-2.1925960862705365}},"curvature":-1.1589753746489277},{"time":2.6622089422311186,"velocity":1.7066873498582842,"acceleration":0.8402330081871884,"pose":{"translation":{"x":4.459854034693655,"y":-3.4860955841469483},"rotation":{"radians":-2.249786744624239}},"curvature":-1.0729627094883543},{"time":2.692791705785551,"velocity":1.7323839972783026,"acceleration":0.5405069351505274,"pose":{"translation":{"x":4.425710653261679,"y":-3.5260923756780844},"rotation":{"radians":-2.304487588454943}},"curvature":-1.011266119821334},{"time":2.7235401884388115,"velocity":1.7490037653977455,"acceleration":0.24667677398744753,"pose":{"translation":{"x":4.388823071635168,"y":-3.564875004702304},"rotation":{"radians":-2.3574778356072}},"curvature":-0.972328188193407},{"time":2.7544176877450717,"velocity":1.7566205273154134,"acceleration":-0.0379770003018679,"pose":{"translation":{"x":4.349518875217418,"y":-3.6020828045480897},"rotation":{"radians":-2.4095380707936367}},"curvature":-0.9547293293210256},{"time":2.7853789347176914,"velocity":1.755444712029788,"acceleration":-0.3119118056902127,"pose":{"translation":{"x":4.3081502820219955,"y":-3.637362023193681},"rotation":{"radians":-2.4614348339687107}},"curvature":-0.9574361333747351},{"time":2.8163749100316884,"velocity":1.74577670140047,"acceleration":-0.5725112590605849,"pose":{"translation":{"x":4.265085648669199,"y":-3.6703739854736073},"rotation":{"radians":-2.5139120760834235}},"curvature":-0.9798307739163198},{"time":2.847357519672413,"velocity":1.7280388085460763,"acceleration":-0.8135656633042189,"pose":{"translation":{"x":4.220700976382515,"y":-3.700803255285214},"rotation":{"radians":-2.5676819401424895}},"curvature":-1.0215698342952828},{"time":2.878283070982736,"velocity":1.7028788418812448,"acceleration":-1.0230793369610178,"pose":{"translation":{"x":4.175371416985078,"y":-3.7283657977951945},"rotation":{"radians":-2.623407953779348}},"curvature":-1.0822652158667727},{"time":2.9091134317470138,"velocity":1.6713369368322586,"acceleration":-1.181670836323314,"pose":{"translation":{"x":4.129462778896121,"y":-3.7528171416461173},"rotation":{"radians":-2.681673480868287}},"curvature":-1.1609377220336445},{"time":2.939813633245399,"velocity":1.6350594040523676,"acceleration":-1.2620328222972665,"pose":{"translation":{"x":4.083323033127442,"y":-3.7739605411629564},"rotation":{"radians":-2.7429277658648656}},"curvature":-1.2551750626768652},{"time":2.970344647244588,"velocity":1.5965282622873735,"acceleration":-1.229747607996421,"pose":{"translation":{"x":4.037273819279855,"y":-3.7916551385596198},"rotation":{"radians":-2.807402261639808}},"curvature":-1.359956549659541},{"time":3.0006503827230477,"velocity":1.5592598565741655,"acceleration":-1.0447956283764965,"pose":{"translation":{"x":3.991601951539649,"y":-3.805824126145479},"rotation":{"radians":-2.8749930455965087}},"curvature":-1.466230917787255},{"time":3.0306389424586326,"velocity":1.5279279404611192,"acceleration":-0.6611353098889011,"pose":{"translation":{"x":3.9465509246750465,"y":-3.8164629085318986},"rotation":{"radians":-2.945113352168395}},"curvature":-1.5595882451418221},{"time":3.0601600784935665,"velocity":1.5084104750403908,"acceleration":-0.018928838806895363,"pose":{"translation":{"x":3.9023124200326587,"y":-3.8236472648387654},"rotation":{"radians":-3.0165348687710107}},"curvature":-1.619703380875959},{"time":3.0889833055105056,"velocity":1.5078648848222926,"acceleration":0.9800632739216886,"pose":{"translation":{"x":3.8590178115339455,"y":-3.8275415109010185},"rotation":{"radians":-3.0872544590352686}},"curvature":-1.6214061957454475},{"time":3.1167830637793323,"velocity":1.5351104069254704,"acceleration":2.532864101136039,"pose":{"translation":{"x":3.8167296716716703,"y":-3.8284066614751753},"rotation":{"radians":3.128751156761285}},"curvature":-1.537850527457258},{"time":3.14313683979032,"velocity":1.6018609401130819,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.7754332775063597,"y":-3.8266085924458646},"rotation":{"radians":3.068733083553638}},"curvature":-1.3451543332369749},{"time":3.1679634964523355,"velocity":1.6688929131005235,"acceleration":-1.0172215563928197,"pose":{"translation":{"x":3.735028116662759,"y":-3.8226262030323537},"rotation":{"radians":3.0201174246467244}},"curvature":-1.0267859233239223},{"time":3.2165733125165086,"velocity":1.619445960347757,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.6560095342395114,"y":-3.810638149842175},"rotation":{"radians":2.97564525430031}},"curvature":5.191875792550406E-14},{"time":3.2681259321813836,"velocity":1.480253887252594,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":3.5775306867552668,"y":-3.7956417329472787},"rotation":{"radians":2.909637832719946}},"curvature":-1.5190148171075788},{"time":3.2962870252465266,"velocity":1.4042189359767085,"acceleration":-2.609254309868434,"pose":{"translation":{"x":3.5383466675844275,"y":-3.784955895845748},"rotation":{"radians":2.838031550929874}},"curvature":-1.9688926702296767},{"time":3.3111742752458744,"velocity":1.3653743147538215,"acceleration":-1.5348494256139755,"pose":{"translation":{"x":3.5188061264554102,"y":-3.778384821266308},"rotation":{"radians":2.7958610334625824}},"curvature":-2.1127152792572055},{"time":3.3266028618143686,"velocity":1.3416937575211325,"acceleration":-0.6887219732739953,"pose":{"translation":{"x":3.499322349689397,"y":-3.7708690364999584},"rotation":{"radians":2.750688800440843}},"curvature":-2.2044787044082326},{"time":3.3424698509687274,"velocity":1.3307658134408253,"acceleration":-0.00887673941326757,"pose":{"translation":{"x":3.4799155820885312,"y":-3.7623308996976426},"rotation":{"radians":2.7034022685236434}},"curvature":-2.2479263507890703},{"time":3.358681910690618,"velocity":1.3306219032113218,"acceleration":0.5416419268373281,"pose":{"translation":{"x":3.4606085790523595,"y":-3.7527055996008105},"rotation":{"radians":2.6548247449340687}},"curvature":-2.2485032742338205},{"time":3.375157540326913,"velocity":1.3395457949933829,"acceleration":0.9849611307679363,"pose":{"translation":{"x":3.4414264282369347,"y":-3.7419406391823182},"rotation":{"radians":2.6056936753273847}},"curvature":-2.2129626634242685},{"time":3.3918285891564652,"velocity":1.355966130099626,"acceleration":1.3346283292720145,"pose":{"translation":{"x":3.4223963712139205,"y":-3.7299953192873243},"rotation":{"radians":2.5566439547344837}},"curvature":-2.1487887632038816},{"time":3.4086408466828533,"velocity":1.37840424527336,"acceleration":1.5996325590115197,"pose":{"translation":{"x":3.4035476251296997,"y":-3.7168402222741905},"rotation":{"radians":2.5081982982001287}},"curvature":-2.0635683265650355},{"time":3.425553674167577,"velocity":1.4054585547828695,"acceleration":1.787023414517733,"pose":{"translation":{"x":3.3849112043644753,"y":-3.7024566956553757},"rotation":{"radians":2.4607652151219233}},"curvature":-1.9644338689867396},{"time":3.4425388123894503,"velocity":1.4358113944841766,"acceleration":1.9035265886567163,"pose":{"translation":{"x":3.36651974219138,"y":-3.686836335738337},"rotation":{"radians":2.4146438162072923}},"curvature":-1.8576595733275043},{"time":3.459578604984881,"velocity":1.468247092754775,"acceleration":1.9554009876629705,"pose":{"translation":{"x":3.3484073124355787,"y":-3.6699804712664266},"rotation":{"radians":2.3700338103053347}},"curvature":-1.7484377222856715},{"time":3.4937846262945973,"velocity":1.5351335806078148,"acceleration":1.8594707369033938,"pose":{"translation":{"x":3.313161978191316,"y":-3.6326131076562618},"rotation":{"radians":2.2857303599163563}},"curvature":-1.5377807215642014},{"time":3.5281795566181335,"velocity":1.5990899470422613,"acceleration":1.6270213471489978,"pose":{"translation":{"x":3.279469826319671,"y":-3.5905402618437194},"rotation":{"radians":2.207987987623527}},"curvature":-1.3528336142609998},{"time":3.562794683315798,"velocity":1.6554094971136282,"acceleration":1.318868275864902,"pose":{"translation":{"x":3.247637116523898,"y":-3.5440702628394276},"rotation":{"radians":2.136219945470668}},"curvature":-1.2018034596450358},{"time":3.5976645108673813,"velocity":1.7013982064562916,"acceleration":0.9792536705902763,"pose":{"translation":{"x":3.21797603661389,"y":-3.493617588154535},"rotation":{"radians":2.0694509677051824}},"curvature":-1.0858929983677061},{"time":3.6328045563828146,"velocity":1.7358092250119892,"acceleration":0.6341593695338106,"pose":{"translation":{"x":3.190798995597548,"y":-3.4396863403094455},"rotation":{"radians":2.006530935609084}},"curvature":-1.0031802615982206},{"time":3.6682037443245243,"velocity":1.7582579517191126,"acceleration":0.2948049528024917,"pose":{"translation":{"x":3.1664129167721526,"y":-3.3828537233425524},"rotation":{"radians":1.9462520602625122}},"curvature":-0.9509659019353843},{"time":3.7038265645594586,"velocity":1.768759735557164,"acceleration":-0.03700988171378753,"pose":{"translation":{"x":3.145113530815734,"y":-3.3237535193189705},"rotation":{"radians":1.8874006796703071}},"curvature":-0.926994442970364},{"time":3.739621011794044,"velocity":1.7674349872990016,"acceleration":-0.36367186897006504,"pose":{"translation":{"x":3.127179668878438,"y":-3.263059564839271},"rotation":{"radians":1.8287702809041502}},"curvature":-0.9300026234713256},{"time":3.775529451572601,"velocity":1.7543760978929348,"acceleration":-0.687076376735084,"pose":{"translation":{"x":3.1128675556739007,"y":-3.2014692275482135},"rotation":{"radians":1.7691551239947612}},"curvature":-0.9598993005216535},{"time":3.8115003385712782,"velocity":1.7296613511859364,"acceleration":-1.0042143331220919,"pose":{"translation":{"x":3.102405102570615,"y":-3.139686882643481},"rotation":{"radians":1.707338704220502}},"curvature":-1.0177162543647038},{"time":3.8474989697011344,"velocity":1.6935110098325596,"acceleration":-1.302821133387471,"pose":{"translation":{"x":3.095986200683303,"y":-3.0784073893844126},"rotation":{"radians":1.6420896040830133}},"curvature":-1.1053247297561408},{"time":3.883515172610723,"velocity":1.6465883395375762,"acceleration":-1.5576983688534445,"pose":{"translation":{"x":3.093765013964283,"y":-3.018299567600736},"rotation":{"radians":1.5721791601507873}},"curvature":-1.2247764710362192},{"time":3.9195650797667585,"velocity":1.5904334579633015,"acceleration":-1.729589150326903,"pose":{"translation":{"x":3.0958502722948404,"y":-2.959989674201304},"rotation":{"radians":1.496440251141733}},"curvature":-1.3769957997965012},{"time":3.9556831850954315,"velocity":1.5279639748564642,"acceleration":-1.7794528216852028,"pose":{"translation":{"x":3.102299564576598,"y":-2.9040448796828233},"rotation":{"radians":1.4138923213011365}},"curvature":-1.5594786770553104},{"time":3.9737828638395634,"velocity":1.4957564504436227,"acceleration":-1.7579413878580228,"pose":{"translation":{"x":3.107163331684762,"y":-2.877116412515412},"rotation":{"radians":1.3698608602948503}},"curvature":-1.6595169466973982},{"time":3.991911985800744,"velocity":1.463886516622537,"acceleration":-1.6880830097879642,"pose":{"translation":{"x":3.113113631822886,"y":-2.8509567446385935},"rotation":{"radians":1.3239586055045571}},"curvature":-1.7628396338208108},{"time":4.0100679995868855,"velocity":1.4332376582246753,"acceleration":-1.56529198573032,"pose":{"translation":{"x":3.120140738845394,"y":-2.825612796193835},"rotation":{"radians":1.2762290954616873}},"curvature":-1.866537902862889},{"time":4.028242457937903,"velocity":1.4047893242228375,"acceleration":-1.3862738081870631,"pose":{"translation":{"x":3.1282306602501113,"y":-2.8011246962672356},"rotation":{"radians":1.2267852620606372}},"curvature":-1.9668400558361514},{"time":4.046419213257575,"velocity":1.3795913644053515,"acceleration":-1.1489902728711734,"pose":{"translation":{"x":3.137364958837373,"y":-2.777525266530417},"rotation":{"radians":1.1758214206887974}},"curvature":-2.059136833634143},{"time":4.064572786515466,"velocity":1.358733085314181,"acceleration":-0.8523006764318946,"pose":{"translation":{"x":3.147520574369127,"y":-2.754839504881429},"rotation":{"radians":1.123623052518272}},"curvature":-2.138127664523059},{"time":4.082667141138183,"velocity":1.3433112546296413,"acceleration":-0.49525599233378537,"pose":{"translation":{"x":3.1586696452280396,"y":-2.73308406908564},"rotation":{"radians":1.0705726145485999}},"curvature":-2.198107870450789},{"time":4.1006550891654365,"velocity":1.3344026155793554,"acceleration":-0.07604859078295845,"pose":{"translation":{"x":3.170779330076602,"y":-2.712266760416643},"rotation":{"radians":1.017149711020827}},"curvature":-2.2333880389694327},{"time":4.118478495129048,"velocity":1.3330471706728702,"acceleration":0.4093964495963514,"pose":{"translation":{"x":3.183811629516234,"y":-2.692386007297144},"rotation":{"radians":0.9639244980152437}},"curvature":-2.2387972296821537},{"time":4.13606932038546,"velocity":1.3402487920783155,"acceleration":0.969286202212431,"pose":{"translation":{"x":3.1977232077463915,"y":-2.6734303489398705},"rotation":{"radians":0.911544185591869}},"curvature":-2.2101829926551027},{"time":4.153351385932897,"velocity":1.3570000597591763,"acceleration":1.6185534042290242,"pose":{"translation":{"x":3.2124652142236694,"y":-2.6553779189884605},"rotation":{"radians":0.86071379554758}},"curvature":-2.144799937028087},{"time":4.170242566397922,"velocity":1.38433933740229,"acceleration":2.3827560026806838,"pose":{"translation":{"x":3.227983105320908,"y":-2.638195929158365},"rotation":{"radians":0.8121736119245968}},"curvature":-2.041488730262456},{"time":4.186657013253719,"velocity":1.4234509591786244,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.244216465986298,"y":-2.6218401528777435},"rotation":{"radians":0.7666766420054453}},"curvature":-1.9005911350125801},{"time":4.202558756703409,"velocity":1.4663856664927857,"acceleration":2.699999999999993,"pose":{"translation":{"x":3.261098831402488,"y":-2.606254408928365},"rotation":{"radians":0.724969590565422}},"curvature":-1.723610664798437},{"time":4.232985917753365,"velocity":1.548539001327666,"acceleration":2.70000000000001,"pose":{"translation":{"x":3.2965133983447634,"y":-2.5771054217638403},"rotation":{"radians":0.6558131092254871}},"curvature":-1.2700095960812297},{"time":4.28948885479071,"velocity":1.701096931328498,"acceleration":-1.2954222919326077,"pose":{"translation":{"x":3.3714928815306293,"y":-2.5241280680280984},"rotation":{"radians":0.5938368430682984}},"curvature":-5.084818372429148E-14},{"time":4.345973833993138,"velocity":1.627925030110322,"acceleration":-1.2225281472291076,"pose":{"translation":{"x":3.4507444532913296,"y":-2.473542259975906},"rotation":{"radians":0.5222397626936539}},"curvature":-1.2742020819483864},{"time":4.3776038633878755,"velocity":1.5892564288775723,"acceleration":1.3329812482721266,"pose":{"translation":{"x":3.4956793336897385,"y":-2.4496758038448796},"rotation":{"radians":0.45337619989653793}},"curvature":-1.3803014777424756},{"time":4.411897716657979,"velocity":1.6349694922176161,"acceleration":2.410076097592453,"pose":{"translation":{"x":3.5462494541947955,"y":-2.42733399001337},"rotation":{"radians":0.37982889596932257}},"curvature":-1.255413819887621},{"time":4.448147689456503,"velocity":1.722334685197716,"acceleration":2.636891156043552,"pose":{"translation":{"x":3.603539497952904,"y":-2.406822862516572},"rotation":{"radians":0.310029630630746}},"curvature":-1.0351749016039724},{"time":4.486130828889341,"velocity":1.8224920896469354,"acceleration":2.3963348742203556,"pose":{"translation":{"x":3.668279505766721,"y":-2.388357774206023},"rotation":{"radians":0.24820076168322397}},"curvature":-0.808667349033174},{"time":4.5259131770791905,"velocity":1.917823917992648,"acceleration":1.9684550515479333,"pose":{"translation":{"x":3.74087414059174,"y":-2.3720706199244925},"rotation":{"radians":0.19560410568278527}},"curvature":-0.6150490655572208},{"time":4.567658050655445,"velocity":1.9999968252600557,"acceleration":1.5272451399475353,"pose":{"translation":{"x":3.82143195203287,"y":-2.358017069680877},"rotation":{"radians":0.15189394872389556}},"curvature":-0.4629685971554492},{"time":4.611499987819781,"velocity":2.066954210720173,"acceleration":1.1522905754348427,"pose":{"translation":{"x":3.9097946408410156,"y":-2.346183801825088},"rotation":{"radians":0.11605983194700467}},"curvature":-0.347988902548674},{"time":4.657481794273419,"velocity":2.119938612938169,"acceleration":0.8633471566291574,"pose":{"translation":{"x":4.005566323409657,"y":-2.336495736222948},"rotation":{"radians":0.08694337430490592}},"curvature":-0.262151469105763},{"time":4.705533327609688,"velocity":2.161423767615708,"acceleration":0.652630595201543,"pose":{"translation":{"x":4.108142796271434,"y":-2.328823267431079},"rotation":{"radians":0.06347253637661629}},"curvature":-0.19788087248202021},{"time":4.755472985277291,"velocity":2.194015916123477,"acceleration":0.5042759475165262,"pose":{"translation":{"x":4.216740800594719,"y":-2.322989497871794},"rotation":{"radians":0.0447443243572358}},"curvature":-0.14909252370749856},{"time":4.807019802185743,"velocity":2.2200097360614475,"acceleration":0.40306907431523487,"pose":{"translation":{"x":4.330427286680209,"y":-2.3187774710079934},"rotation":{"radians":0.030037550931643783}},"curvature":-0.11120830988450688},{"time":4.8598096675947025,"velocity":2.2412876982450625,"acceleration":0.33727785852653946,"pose":{"translation":{"x":4.448148678457492,"y":-2.315937404518051},"rotation":{"radians":0.018798417531077933}},"curvature":-0.0808512035413826},{"time":4.913412565158307,"velocity":2.2593667687461325,"acceleration":0.2990154214393243,"pose":{"translation":{"x":4.56876013798164,"y":-2.3141939234707083},"rotation":{"radians":0.010618979394156793}},"curvature":-0.055507237385482994},{"time":4.967349519493705,"velocity":2.2754947498778852,"acceleration":0.2838988042402264,"pose":{"translation":{"x":4.691054829929781,"y":-2.313253293499967},"rotation":{"radians":0.0052170015910628816}},"curvature":-0.03323826083768252},{"time":5.0211087788074416,"velocity":2.290756939313895,"acceleration":0.05814348099088842,"pose":{"translation":{"x":4.813793186097687,"y":-2.31281065397998},"rotation":{"radians":0.0024203325819454084}},"curvature":-0.012453510274692898},{"time":5.074303851686567,"velocity":2.2938498860226515,"acceleration":-0.3099818363439799,"pose":{"translation":{"x":4.935732169896344,"y":-2.3125572511999435},"rotation":{"radians":0.0021565976957925418}},"curvature":0.00827509828741819},{"time":5.126770050537579,"velocity":2.2775863173568265,"acceleration":-0.3527872239359236,"pose":{"translation":{"x":5.055654540848542,"y":-2.312187671538987},"rotation":{"radians":0.004448065737487638}},"curvature":0.030373396749934035},{"time":5.17823390527535,"velocity":2.2594305269108466,"acceleration":-0.42548262463140274,"pose":{"translation":{"x":5.172398119085453,"y":-2.311407074641068},"rotation":{"radians":0.00941107768743778}},"curvature":0.05541857632855245},{"time":5.2282593033566656,"velocity":2.2381455892369777,"acceleration":-0.5362774867923626,"pose":{"translation":{"x":5.284885049843208,"y":-2.309938426589861},"rotation":{"radians":0.017258893640965643}},"curvature":0.08529770186201152},{"time":5.27647620526332,"velocity":2.212287950261563,"acceleration":-0.6957273444823975,"pose":{"translation":{"x":5.392151067959482,"y":-2.307529733083652},"rotation":{"radians":0.028305682853838988}},"curvature":0.12236933391261418},{"time":5.322594269395307,"velocity":2.1802023519703466,"acceleration":-0.9136568248228681,"pose":{"translation":{"x":5.493374762370072,"y":-2.303961272610227},"rotation":{"radians":0.04296687334173616}},"curvature":0.16959243572866536},{"time":5.3664143421859505,"velocity":2.1401658434009407,"acceleration":-1.190536976295549,"pose":{"translation":{"x":5.587906840605474,"y":-2.2990528296217683},"rotation":{"radians":0.06174586641048331}},"curvature":0.23050330406232203},{"time":5.407834747477385,"velocity":2.09085331932834,"acceleration":-1.4983728314548765,"pose":{"translation":{"x":5.6752993932874745,"y":-2.2926709277097395},"rotation":{"radians":0.0851870901970357}},"curvature":0.30873253544386914},{"time":5.4468467400380645,"velocity":2.032398809574498,"acceleration":-1.7468145104848525,"pose":{"translation":{"x":5.7553351586257175,"y":-2.2847360627797855},"rotation":{"radians":0.1137579926199017}},"curvature":0.4063816590463496},{"time":5.48350998855798,"velocity":1.9683549150583963,"acceleration":-1.7371757356104673,"pose":{"translation":{"x":5.828056786914294,"y":-2.275229936226617},"rotation":{"radians":0.1475979702124178}},"curvature":0.5200261057327766},{"time":5.517896477088762,"velocity":1.908619541549875,"acceleration":-0.2504594081867059,"pose":{"translation":{"x":5.893796105028318,"y":-2.2642026881089072},"rotation":{"radians":0.18605365162655563}},"curvature":0.6328995127816666},{"time":5.579143741194483,"velocity":1.8932795880289013,"acceleration":2.6999999999999984,"pose":{"translation":{"x":6.007276588117778,"y":-2.238170979783707},"rotation":{"radians":0.26579960820306475}},"curvature":0.6630346206805894},{"time":5.631284701012525,"velocity":2.034060179537616,"acceleration":2.1775237001921846,"pose":{"translation":{"x":6.105326805385568,"y":-2.208685692198664},"rotation":{"radians":0.3070457320188019}},"curvature":1.9743206567692236E-14},{"time":5.679262641701806,"velocity":2.1385332824749397,"acceleration":-1.7757653825858524,"pose":{"translation":{"x":6.200610785238506,"y":-2.178022740515515},"rotation":{"radians":0.31952663059330993}},"curvature":0.23303545028704092},{"time":5.727805421926636,"velocity":2.0523326937772137,"acceleration":-0.7790963746712645,"pose":{"translation":{"x":6.2967036891593935,"y":-2.144665066208459},"rotation":{"radians":0.3510773724806533}},"curvature":0.3724567992496682},{"time":5.778990496707623,"velocity":2.0124545875780693,"acceleration":-0.3099837909833852,"pose":{"translation":{"x":6.3936207709629125,"y":-2.106863612381352},"rotation":{"radians":0.3938805609082993}},"curvature":0.4409967043661299},{"time":5.8319669755586725,"velocity":1.9960327378308698,"acceleration":-0.15864152690247185,"pose":{"translation":{"x":6.49066010743131,"y":-2.0637696865135604},"rotation":{"radians":0.4424769005801168}},"curvature":0.47001762269186576},{"time":5.885920695523959,"velocity":1.9874734373135083,"acceleration":-0.20612867023796072,"pose":{"translation":{"x":6.586566107882579,"y":-2.015290562399744},"rotation":{"radians":0.4938452299350415}},"curvature":0.48533386073508183},{"time":5.940072798625109,"velocity":1.9763111363106793,"acceleration":-0.40228248390170124,"pose":{"translation":{"x":6.679693023738652,"y":-1.9619450820896311},"rotation":{"radians":0.5469084971735331}},"curvature":0.5055072981118726},{"time":5.993681460668011,"velocity":1.9547453105854138,"acceleration":-0.7483572051036141,"pose":{"translation":{"x":6.768168458093604,"y":-1.9047192578277952},"rotation":{"radians":0.6020257070109807}},"curvature":0.5451354135418108},{"time":6.046079469652811,"velocity":1.915532883028555,"acceleration":-2.5696980981683786,"pose":{"translation":{"x":6.850056875281839,"y":-1.8449218739934294},"rotation":{"radians":0.6606783541712747}},"curvature":0.6194761336368902},{"time":6.097675960130684,"velocity":1.7829454795754018,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.9235231104462915,"y":-1.7840400890401216},"rotation":{"radians":0.7253789968048777}},"curvature":0.7496639699734248},{"time":6.148816023707912,"velocity":1.644867307916885,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.986995879106621,"y":-1.7235950374356304},"rotation":{"radians":0.7997368178095094}},"curvature":0.9685345270781476},{"time":6.173947460189572,"velocity":1.5770124294164032,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.01460608057094,"y":-1.6939853960166071},"rotation":{"radians":0.8419765323300483}},"curvature":1.1257547241997719},{"time":6.198628776172494,"velocity":1.510372876262514,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.039331286727403,"y":-1.6649974316016607},"rotation":{"radians":0.8884679668343788}},"curvature":1.323989039685353},{"time":6.222761117750496,"velocity":1.4452155540019078,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.061122116226508,"y":-1.6367665394920525},"rotation":{"radians":0.939865655406701}},"curvature":1.569058137088513},{"time":6.246270539741961,"velocity":1.381740114624952,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.079976338286333,"y":-1.6094031638536377},"rotation":{"radians":0.996697514432574}},"curvature":1.862206260366831},{"time":6.2691191217950255,"velocity":1.3200489430816784,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.095943982366549,"y":-1.5829882852774833},"rotation":{"radians":1.0591677450180665}},"curvature":2.1938012412618706},{"time":6.291316973135429,"velocity":1.2601147444625889,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.109132447842416,"y":-1.5575689083404847},"rotation":{"radians":1.1268488099034908}},"curvature":2.533737189100128},{"time":6.312933767256234,"velocity":1.2017494003364155,"acceleration":-1.293560944751275,"pose":{"translation":{"x":7.119711613678798,"y":-1.5331535491659856},"rotation":{"radians":1.1982662486699698}},"curvature":2.8206066453553427},{"time":6.333839550059248,"velocity":1.1747064961829836,"acceleration":1.3889635904207531,"pose":{"translation":{"x":7.127918948104163,"y":-1.5097077229843945},"rotation":{"radians":1.2704530614915084}},"curvature":2.956592229195997},{"time":6.353513941793356,"velocity":1.2020335099653345,"acceleration":-1.9488095090348934,"pose":{"translation":{"x":7.134064618284592,"y":-1.4871494316938054},"rotation":{"radians":1.3386551635317019}},"curvature":2.8192104753948866},{"time":6.372318063858547,"velocity":1.165387858075638,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":7.138536599997786,"y":-1.46534465142061},"rotation":{"radians":1.396431856277552}},"curvature":2.2967151189757535},{"time":6.410550481723432,"velocity":1.0621603298404483,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":7.144431102235395,"y":-1.4231723249371946},"rotation":{"radians":1.4510023040421205}},"curvature":-6.861178378302117E-14},{"time":6.430976639181911,"velocity":1.0070097047025532,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.14673887193805,"y":-1.4021661155591232},"rotation":{"radians":1.4813502426845666}},"curvature":2.7163381253169225},{"time":6.4532593204097015,"velocity":0.9468464653875189,"acceleration":-2.7,"pose":{"translation":{"x":7.147888037806355,"y":-1.3804278919234958},"rotation":{"radians":1.5604809535270403}},"curvature":4.333574531352421},{"time":6.46544025927656,"velocity":0.9139579304470008,"acceleration":-0.6678114574276571,"pose":{"translation":{"x":7.147717536762416,"y":-1.3690960022466134},"rotation":{"radians":1.6118554050733753}},"curvature":4.680639534453088},{"time":6.478356509058034,"velocity":0.9053323108559352,"acceleration":1.2609853085930085,"pose":{"translation":{"x":7.146909490441589,"y":-1.3573746181064095},"rotation":{"radians":1.6675371745929832}},"curvature":4.754640758039407},{"time":6.491769637247144,"velocity":0.9222460684446778,"acceleration":2.69999999999995,"pose":{"translation":{"x":7.14537308140454,"y":-1.345214523706267},"rotation":{"radians":1.7251234774420594}},"curvature":4.61083770887325},{"time":6.505434865640493,"velocity":0.9591421851067192,"acceleration":2.7000000000000353,"pose":{"translation":{"x":7.143028836628321,"y":-1.332575283151538},"rotation":{"radians":1.7826105741940643}},"curvature":4.314561737726487},{"time":6.519280808742559,"velocity":0.9965262314823004,"acceleration":2.6999999999998603,"pose":{"translation":{"x":7.139808214833833,"y":-1.3194248796202916},"rotation":{"radians":1.8384683363168302}},"curvature":3.9291187542067054},{"time":6.5333643352460875,"velocity":1.0345517530418233,"acceleration":2.7000000000000894,"pose":{"translation":{"x":7.1356531938132886,"y":-1.3057393545340623},"rotation":{"radians":1.8916420983905562}},"curvature":3.5071588224139427},{"time":6.547725174868295,"velocity":1.073326020021785,"acceleration":2.7000000000000886,"pose":{"translation":{"x":7.1305158577576835,"y":-1.291502446728597},"rotation":{"radians":1.9414988245117353}},"curvature":3.086943229525817},{"time":6.562387229464743,"velocity":1.1129135674321977,"acceleration":2.6999999999999575,"pose":{"translation":{"x":7.124357984584254,"y":-1.2767052316246037},"rotation":{"radians":1.9877434068811348}},"curvature":2.6926986891276594},{"time":6.592636100883199,"velocity":1.1945855202620277,"acceleration":2.699999999999939,"pose":{"translation":{"x":7.108873731148877,"y":-1.245428699153159},"rotation":{"radians":2.0693736528271502}},"curvature":2.025414876185498},{"time":6.624064676218493,"velocity":1.2794426736673206,"acceleration":2.700000000000032,"pose":{"translation":{"x":7.089072849813582,"y":-1.2119713806730332},"rotation":{"radians":2.1377817886764787}},"curvature":1.528381181729626},{"time":6.656487310801112,"velocity":1.3669837870403923,"acceleration":2.700000000000015,"pose":{"translation":{"x":7.064956445462424,"y":-1.1764891920247764},"rotation":{"radians":2.1951966064859807}},"curvature":1.173963330883983},{"time":6.689641272092529,"velocity":1.456499482527217,"acceleration":2.700000000000019,"pose":{"translation":{"x":7.036641106035954,"y":-1.139220794800115},"rotation":{"radians":2.2439149359039936}},"curvature":0.9258673809965974},{"time":6.756919892767152,"velocity":1.6381517583487,"acceleration":2.6999999999999997,"pose":{"translation":{"x":6.968378155874989,"y":-1.0606244705279815},"rotation":{"radians":2.3230075967424315}},"curvature":0.6351789871869763},{"time":6.823484857782619,"velocity":1.8178771638904603,"acceleration":2.7000000000000206,"pose":{"translation":{"x":6.887024554182035,"y":-0.9793078472435046},"rotation":{"radians":2.387360923921413}},"curvature":0.5045051740565363},{"time":6.887124776851852,"velocity":1.9897049453773907,"acceleration":-0.8292355987960084,"pose":{"translation":{"x":6.796323431359919,"y":-0.8989813180441921},"rotation":{"radians":2.445464928004286}},"curvature":0.4676615131685784},{"time":6.949172856272829,"velocity":1.9382524690845946,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.700597916686705,"y":-0.8235707405840832},"rotation":{"radians":2.5039932474596087}},"curvature":0.5054984706315235},{"time":7.012387495111239,"velocity":1.7675729442208905,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.6043285616394485,"y":-0.7568479479196439},"rotation":{"radians":2.5694901368844185}},"curvature":0.631569546484975},{"time":7.076385265241515,"velocity":1.594778964869144,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.511730763217947,"y":-0.7020612593556628},"rotation":{"radians":2.649869504555334}},"curvature":0.8970144216690059},{"time":7.107993427367716,"velocity":1.509436927128403,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.467949512647996,"y":-0.6799249766310986},"rotation":{"radians":2.6988179931430216}},"curvature":1.112228922860307},{"time":7.138987579028934,"velocity":1.4257527176431122,"acceleration":-2.699999999999993,"pose":{"translation":{"x":6.426332187268496,"y":-0.6615659912911472},"rotation":{"radians":2.7556644125987635}},"curvature":1.405357974264111},{"time":7.169154007356279,"velocity":1.344303361159283,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.3871429583315535,"y":-0.6470785668673122},"rotation":{"radians":2.8220196934232304}},"curvature":1.7927102546593339},{"time":7.198354875627315,"velocity":1.2654610168274858,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.350550191807647,"y":-0.6364549680652202},"rotation":{"radians":2.89912905214962}},"curvature":2.275600649870767},{"time":7.212583799914581,"velocity":1.2270429212518672,"acceleration":-2.7,"pose":{"translation":{"x":6.33325064976345,"y":-0.6325589541585264},"rotation":{"radians":2.9418190881353796}},"curvature":2.542618882505727},{"time":7.226574608442151,"velocity":1.1892677382274277,"acceleration":-2.700000000000007,"pose":{"translation":{"x":6.316613242864505,"y":-0.6295739142285587},"rotation":{"radians":2.987069922039371}},"curvature":2.8123352317593984},{"time":7.240349211643553,"velocity":1.1520763095836428,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.300626191038038,"y":-0.6274650523769024},"rotation":{"radians":3.0344919465552707}},"curvature":3.066087296131571},{"time":7.253941429809932,"velocity":1.115377320534419,"acceleration":-1.7673871824588478,"pose":{"translation":{"x":6.2852692503459595,"y":-0.626189032803012},"rotation":{"radians":3.0834388680232343}},"curvature":3.2780322591684827},{"time":7.267320255828643,"velocity":1.091731754912601,"acceleration":-0.35419709906884106,"pose":{"translation":{"x":6.270513300312329,"y":-0.6256936189749592},"rotation":{"radians":3.1329651988323692}},"curvature":3.4158784535523155},{"time":7.280350195939841,"velocity":1.0871165879241744,"acceleration":1.6034072204268213,"pose":{"translation":{"x":6.256319931250822,"y":-0.625917312800187},"rotation":{"radians":-3.1013796054617493}},"curvature":3.4434828451746404},{"time":7.292843351088885,"velocity":1.1071482030960635,"acceleration":2.6999999999999247,"pose":{"translation":{"x":6.242641031592195,"y":-0.6267889937962483},"rotation":{"radians":-3.054797006551261}},"curvature":3.3253374193025675},{"time":7.304685805181941,"velocity":1.1391228291473132,"acceleration":2.700000000000012,"pose":{"translation":{"x":6.2294183752117505,"y":-0.6282275582615597},"rotation":{"radians":-3.012298644529222}},"curvature":3.0321854536472497},{"time":7.326680839662481,"velocity":1.1985094222447732,"acceleration":2.7000000000000317,"pose":{"translation":{"x":6.20405583897411,"y":-0.632428841722398},"rotation":{"radians":-2.9475674591963017}},"curvature":1.8658033671093834},{"time":7.347118934492755,"velocity":1.2536922782865134,"acceleration":2.699999999999997,"pose":{"translation":{"x":6.179548540874854,"y":-0.6376589576757038},"rotation":{"radians":-2.9229237077158436}},"curvature":8.464553727136052E-15},{"time":7.386479125493348,"velocity":1.3599647939881134,"acceleration":2.699999999999952,"pose":{"translation":{"x":6.1295602210871225,"y":-0.6497806321591174},"rotation":{"radians":-2.869861396894707}},"curvature":1.6910333133049205},{"time":7.406942853499491,"velocity":1.4152168596047012,"acceleration":2.6999999999999718,"pose":{"translation":{"x":6.102405357014492,"y":-0.6580815571210421},"rotation":{"radians":-2.81957304948024}},"curvature":1.7846815000535257},{"time":7.428599687592872,"velocity":1.4736903116568267,"acceleration":2.700000000000028,"pose":{"translation":{"x":6.073011085774183,"y":-0.6687847617685752},"rotation":{"radians":-2.7661622345974175}},"curvature":1.6053304889779076},{"time":7.45170407204691,"velocity":1.5360721496827314,"acceleration":2.700000000000038,"pose":{"translation":{"x":6.041010683187202,"y":-0.6823819029161489},"rotation":{"radians":-2.7149993046076815}},"curvature":1.3382746983639802},{"time":7.476343125589896,"velocity":1.6025975942487936,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.006205252427887,"y":-0.6992256896369106},"rotation":{"radians":-2.668399096771176}},"curvature":1.0825201850616377},{"time":7.52991062868945,"velocity":1.7472298526175893,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.928132076193389,"y":-0.7434345950363975},"rotation":{"radians":-2.589780224443007}},"curvature":0.7144197228116332},{"time":7.58784644863992,"velocity":1.9036565664838565,"acceleration":1.8976194787833358,"pose":{"translation":{"x":5.839981991667188,"y":-0.8018677475240006},"rotation":{"radians":-2.5260749766587822}},"curvature":0.5176681189867446},{"time":7.6486257532940805,"velocity":2.018992558902499,"acceleration":0.29709081297910256,"pose":{"translation":{"x":5.744662354695199,"y":-0.8734547610866235},"rotation":{"radians":-2.470530796832865}},"curvature":0.4295741027589791},{"time":7.679935978997748,"velocity":2.0282945393113607,"acceleration":0.012369819779773743,"pose":{"translation":{"x":5.6955728250905135,"y":-0.9135147284280928},"rotation":{"radians":-2.4439105897948106}},"curvature":0.4134493707090387},{"time":7.7119870096945995,"velocity":2.0286910047848368,"acceleration":-0.25312511653319697,"pose":{"translation":{"x":5.646313284170824,"y":-0.9559468482863553},"rotation":{"radians":-2.417132548283729}},"curvature":0.4127653940630162},{"time":7.744572910648006,"velocity":2.0204426948086667,"acceleration":-0.5234980762643991,"pose":{"translation":{"x":5.59751443381897,"y":-1.00034303245475},"rotation":{"radians":-2.3895121372376424}},"curvature":0.4270505622748425},{"time":7.7774813663774225,"velocity":2.003215181541485,"acceleration":-1.5083753263956647,"pose":{"translation":{"x":5.549823503833021,"y":-1.0462650744057205},"rotation":{"radians":-2.3603309712533664}},"curvature":0.4572661661847324},{"time":7.810700095007448,"velocity":1.9531088709017213,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":5.503889121982459,"y":-1.0932555322328548},"rotation":{"radians":-2.328797382826382}},"curvature":0.5059264808375653},{"time":7.844518203569931,"velocity":1.8617999777830179,"acceleration":-2.7,"pose":{"translation":{"x":5.460346184064376,"y":-1.140848611592924},"rotation":{"radians":-2.2940018520204957}},"curvature":0.5774148186888551},{"time":7.913938904534462,"velocity":1.674364085178782,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":5.382814783689171,"y":-1.2360029930071},"rotation":{"radians":-2.210089499051718}},"curvature":0.8191431976126242},{"time":7.949051785995316,"velocity":1.5795593052344779,"acceleration":-2.7,"pose":{"translation":{"x":5.349891283469968,"y":-1.2826888906690157},"rotation":{"radians":-2.158093025334618}},"curvature":1.0131281925529403},{"time":7.984100730579803,"velocity":1.4849271548563636,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.321458891771458,"y":-1.3282483669635612},"rotation":{"radians":-2.096993700665147}},"curvature":1.2784844432874511},{"time":8.01887783534408,"velocity":1.3910289719928142,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.297856895371607,"y":-1.3723371094940076},"rotation":{"radians":-2.0246476699261304}},"curvature":1.6356597995241275},{"time":8.053245158222897,"velocity":1.2982372002200084,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.279320069413125,"y":-1.414667751079043},"rotation":{"radians":-1.9388699070720767}},"curvature":2.100401699201739},{"time":8.070268143031692,"velocity":1.2522751412362612,"acceleration":-2.7,"pose":{"translation":{"x":5.27199216179662,"y":-1.43510223095423},"rotation":{"radians":-1.8903777922882574}},"curvature":2.372648740546191},{"time":8.087195474962655,"velocity":1.206571345022658,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.265963547459657,"y":-1.4550207526948131},"rotation":{"radians":-1.837994818407175}},"curvature":2.6658934440811044},{"time":8.10405423787615,"velocity":1.161052685156221,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":5.261227441844556,"y":-1.4744082575550896},"rotation":{"radians":-1.7817716333813511}},"curvature":2.9705499715624066},{"time":8.120887662378482,"velocity":1.1156024389999226,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.257767691551971,"y":-1.493255286416956},"rotation":{"radians":-1.7219562236304857}},"curvature":3.2714589721248024},{"time":8.137757562821289,"velocity":1.0700537078043453,"acceleration":-2.0816036670911506,"pose":{"translation":{"x":5.255558301530138,"y":-1.51155831988184},"rotation":{"radians":-1.6590470734077885}},"curvature":3.5476074740747268},{"time":8.15466048191038,"velocity":1.034868529443948,"acceleration":-1.2904991050298606,"pose":{"translation":{"x":5.254562962264146,"y":-1.529320118362644},"rotation":{"radians":-1.5938342216795218}},"curvature":3.7731621456046627},{"time":8.17148725172294,"velocity":1.0131535980602961,"acceleration":-0.3689110863078351,"pose":{"translation":{"x":5.254734576965176,"y":-1.5465500621756854},"rotation":{"radians":-1.5274145700663124}},"curvature":3.9201836342869263},{"time":8.188083144963402,"velocity":1.0070311890567087,"acceleration":0.7247925221136581,"pose":{"translation":{"x":5.256014788759767,"y":-1.563264491632626},"rotation":{"radians":-1.4611697969647064}},"curvature":3.962781412915415},{"time":8.204261957069297,"velocity":1.0187574710877432,"acceleration":2.078305808263442,"pose":{"translation":{"x":5.258333507879074,"y":-1.579487047132424},"rotation":{"radians":-1.3967032981080931}},"curvature":3.881642453632223},{"time":8.219817325126604,"velocity":1.0510862828709202,"acceleration":2.699999999999898,"pose":{"translation":{"x":5.261608438848113,"y":-1.5952490092532592},"rotation":{"radians":-1.3357452060616892}},"curvature":3.667322111672115},{"time":8.2346509317674,"velocity":1.0911370208010673,"acceleration":2.6999999999998505,"pose":{"translation":{"x":5.265744607675029,"y":-1.610589638844485},"rotation":{"radians":-1.2800465102467156}},"curvature":3.320933126767285},{"time":8.248832230868697,"velocity":1.129426528374569,"acceleration":2.7000000000000433,"pose":{"translation":{"x":5.270633889040343,"y":-1.6255565171185529},"rotation":{"radians":-1.2312882409565067}},"curvature":2.851926377891388},{"time":8.275645102750838,"velocity":1.2018212824563497,"acceleration":2.7000000000000064,"pose":{"translation":{"x":5.282170694605688,"y":-1.6546029869322059},"rotation":{"radians":-1.1606815313483108}},"curvature":1.6001674143653044},{"time":8.30084547356724,"velocity":1.2698622836606341,"acceleration":2.699999999999984,"pose":{"translation":{"x":5.2950728596276395,"y":-1.6829483991496463},"rotation":{"radians":-1.1349193543875415}},"curvature":-8.224457422505719E-14},{"time":8.349162399134686,"velocity":1.400317982692737,"acceleration":2.6999999999999886,"pose":{"translation":{"x":5.322090232179219,"y":-1.7415254660111636},"rotation":{"radians":-1.1447633521137015}},"curvature":-0.22438746496665007},{"time":8.401072731890876,"velocity":1.5404758811344508,"acceleration":2.7000000000000157,"pose":{"translation":{"x":5.3530940765378885,"y":-1.8112739171153034},"rotation":{"radians":-1.1589779960220619}},"curvature":-0.12990824903455964},{"time":8.460133047654791,"velocity":1.6999387336970224,"acceleration":2.700000000000017,"pose":{"translation":{"x":5.3910376161687,"y":-1.899119550600637},"rotation":{"radians":-1.1653192529045584}},"curvature":-0.014588239308536147},{"time":8.526355932201938,"velocity":1.878740521974319,"acceleration":2.7000000000000104,"pose":{"translation":{"x":5.437862721848224,"y":-2.007970500930071},"rotation":{"radians":-1.1624342470488767}},"curvature":0.054477980931985914},{"time":8.561615257524332,"velocity":1.9739407003447829,"acceleration":2.6999999999999975,"pose":{"translation":{"x":5.464967509640941,"y":-2.070249362553824},"rotation":{"radians":-1.1579157011210433}},"curvature":0.07737308293543844},{"time":8.597900505464423,"velocity":2.0719108697830304,"acceleration":2.699999999999992,"pose":{"translation":{"x":5.494627321717695,"y":-2.137392512172489},"rotation":{"radians":-1.1515205318719555}},"curvature":0.09614748435776965},{"time":8.634880964897967,"velocity":2.1717581102535966,"acceleration":0.9520597055661811,"pose":{"translation":{"x":5.5268571862712115,"y":-2.2089342063183803},"rotation":{"radians":-1.143307842435253}},"curvature":0.11279603592903968},{"time":8.672778404830066,"velocity":2.207838735757062,"acceleration":-0.28816496731138563,"pose":{"translation":{"x":5.561632811336151,"y":-2.284284211284389},"rotation":{"radians":-1.1332761940040839}},"curvature":0.1288356535384748},{"time":8.71222285100795,"velocity":2.1964722282135964,"acceleration":-0.3006481388423168,"pose":{"translation":{"x":5.598894566353267,"y":-2.3627489054140365},"rotation":{"radians":-1.1213658285624772}},"curvature":0.1454742544568637},{"time":8.753317959106639,"velocity":2.1841170604482016,"acceleration":-0.32926176751551833,"pose":{"translation":{"x":5.638551463733571,"y":-2.443552381391524},"rotation":{"radians":-1.107460585174397}},"curvature":0.16375651294303464},{"time":8.795746222210457,"velocity":2.1701470555460247,"acceleration":-0.3729558560460381,"pose":{"translation":{"x":5.680485140422487,"y":-2.5258575485317865},"rotation":{"radians":-1.0913883843324514}},"curvature":0.18467904824004772},{"time":8.839182634795556,"velocity":2.1539471911067807,"acceleration":-0.4321435635515166,"pose":{"translation":{"x":5.7245538394640185,"y":-2.60878723507054},"rotation":{"radians":-1.0729202223270249}},"curvature":0.20928102426232678},{"time":8.883304925207808,"velocity":2.134880027295975,"acceleration":-0.5080278452546134,"pose":{"translation":{"x":5.770596391564903,"y":-2.691445290454337},"rotation":{"radians":-1.0517682344164185}},"curvature":0.23871577740519925},{"time":8.92780384400302,"velocity":2.112273337464284,"acceleration":-0.601876471811017,"pose":{"translation":{"x":5.818436196658777,"y":-2.7729376876306135},"rotation":{"radians":-1.0275839808535463}},"curvature":0.27430317334156},{"time":8.9723932069267,"velocity":2.085436049027478,"acceleration":-0.7139687636483119,"pose":{"translation":{"x":5.867885205470336,"y":-2.8523936253377453},"rotation":{"radians":-0.9999589735244028}},"curvature":0.3175520135900033},{"time":9.016819166246997,"velocity":2.0537173017776755,"acceleration":-0.841924517442689,"pose":{"translation":{"x":5.918747901079493,"y":-2.9289866303950935},"rotation":{"radians":-0.9684308564204173}},"curvature":0.37012483849595146},{"time":9.060867827233169,"velocity":2.0166316541328957,"acceleration":-0.9781794906698109,"pose":{"translation":{"x":5.97082528048554,"y":-3.00195565999306},"rotation":{"radians":-0.9325008471086322}},"curvature":0.43369033620555253},{"time":9.104369802733704,"velocity":1.9740789138946515,"acceleration":-1.1066315428915996,"pose":{"translation":{"x":6.02391883617131,"y":-3.070626203983136},"rotation":{"radians":-0.8916712250692524}},"curvature":0.5095689290953084},{"time":9.147199624753137,"velocity":1.9266820818715136,"acceleration":-1.1990738163137922,"pose":{"translation":{"x":6.077834537667337,"y":-3.1344313871679566},"rotation":{"radians":-0.8455156199074083}},"curvature":0.5980310958067537},{"time":9.189267270036932,"velocity":1.8762398698977378,"acceleration":-1.2128059799889728,"pose":{"translation":{"x":6.132386813116014,"y":-3.192933071591347},"rotation":{"radians":-0.7937983428037477}},"curvature":0.6970865810400767},{"time":9.230498866338825,"velocity":1.826233943338311,"acceleration":-1.0909096217505834,"pose":{"translation":{"x":6.187402530835759,"y":-3.24584295882838},"rotation":{"radians":-0.7366585631957149}},"curvature":0.8006865281178355},{"time":9.270804810812013,"velocity":1.782263800698765,"acceleration":-0.7644887238316795,"pose":{"translation":{"x":6.2427249808851695,"y":-3.29304369227542},"rotation":{"radians":-0.6748642327173774}},"curvature":0.8965851361536471},{"time":9.310037171464868,"velocity":1.7522711033703593,"acceleration":-0.15066461959496846,"pose":{"translation":{"x":6.298217856627189,"y":-3.3346099594401784},"rotation":{"radians":-0.6101115337471066}},"curvature":0.9647601233863669},{"time":9.34794471631297,"velocity":1.7465597775460409,"acceleration":0.8675746087462392,"pose":{"translation":{"x":6.35376923629326,"y":-3.3708295942317683},"rotation":{"radians":-0.5452979065062785}},"curvature":0.978007656362287},{"time":9.384141016489716,"velocity":1.7779627685099422,"acceleration":2.5025112547740576,"pose":{"translation":{"x":6.409295564547495,"y":-3.4022246792507493},"rotation":{"radians":-0.48465199881758714}},"curvature":0.9062203391737963},{"time":9.418103532667116,"velocity":1.8629543474843309,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.464745634050827,"y":-3.42957264807918},"rotation":{"radians":-0.4336071559827316}},"curvature":0.7240683792098395},{"time":9.479883898551014,"velocity":2.029761335370857,"acceleration":1.9041448793657378,"pose":{"translation":{"x":6.575397796817606,"y":-3.4766403401404347},"rotation":{"radians":-0.3853198176751602}},"curvature":-1.9080347229915533E-14},{"time":9.537389008663343,"velocity":2.1392593963286095,"acceleration":-1.3121568057455861,"pose":{"translation":{"x":6.686711253151883,"y":-3.5211165235180646},"rotation":{"radians":-0.370289697882498}},"curvature":0.23190875082556212},{"time":9.595785490762147,"velocity":2.062634054911065,"acceleration":-0.40944283387593633,"pose":{"translation":{"x":6.8018339633471046,"y":-3.5635321088251604},"rotation":{"radians":-0.3332143178494939}},"curvature":0.3551822194965661},{"time":9.657712672355366,"velocity":2.0372784141855877,"acceleration":-0.06560605660360636,"pose":{"translation":{"x":6.922753028748722,"y":-3.6021892863202782},"rotation":{"radians":-0.2847477242858942}},"curvature":0.398015846225878},{"time":9.689718958216885,"velocity":2.0351786079836858,"acceleration":0.04848374575818466,"pose":{"translation":{"x":6.985534093170646,"y":-3.6196804871707817},"rotation":{"radians":-0.2586457647789284}},"curvature":0.40161093092894135},{"time":9.722237280935131,"velocity":2.03675521807484,"acceleration":0.10367453077252821,"pose":{"translation":{"x":7.049757316260549,"y":-3.635762849884043},"rotation":{"radians":-0.23212026719412493}},"curvature":0.3989109185141588},{"time":9.75514830688443,"velocity":2.040167253247376,"acceleration":0.11577559034168154,"pose":{"translation":{"x":7.115245715279512,"y":-3.6503247623687196},"rotation":{"radians":-0.20554327998719507}},"curvature":0.3930819499232307},{"time":9.788329666554995,"velocity":2.044008844751575,"acceleration":0.09588280331958088,"pose":{"translation":{"x":7.181755983477622,"y":-3.6632747150085208},"rotation":{"radians":-0.1791310990793678}},"curvature":0.3865424360578913},{"time":9.821654649252812,"velocity":2.0472041375132184,"acceleration":0.05110602826273936,"pose":{"translation":{"x":7.24898844400437,"y":-3.6745405043493737},"rotation":{"radians":-0.15297543657989046}},"curvature":0.38112180860746375},{"time":9.854991938168757,"velocity":2.0489078739427597,"acceleration":-0.014819533094692907,"pose":{"translation":{"x":7.316597003819056,"y":-3.6840684367865926},"rotation":{"radians":-0.12706937355820494}},"curvature":0.3782384301233744},{"time":9.888206477026623,"velocity":2.0484156499849306,"acceleration":-0.10108485138946398,"pose":{"translation":{"x":7.384199107601187,"y":-3.691822532252046},"rotation":{"radians":-0.10132718650101}},"curvature":0.3790709700248724},{"time":9.921161415926374,"velocity":2.0450844048837005,"acceleration":-0.20954150960791507,"pose":{"translation":{"x":7.451385691660885,"y":-3.6977837279013257},"rotation":{"radians":-0.07559810756065148}},"curvature":0.3847159199189477},{"time":9.953721022838527,"velocity":2.0382618156990877,"acceleration":-0.3446083427516591,"pose":{"translation":{"x":7.51773113784928,"y":-3.701949081800912},"rotation":{"radians":-0.04967452784236901}},"curvature":0.3963347082995989},{"time":9.98575443286599,"velocity":2.0272228353568393,"acceleration":-0.6174967008839457,"pose":{"translation":{"x":7.582803227468918,"y":-3.704330976615345},"rotation":{"radians":-0.023295296654171054}},"curvature":0.41529959827892454},{"time":10.047815690580974,"velocity":1.9889002134651292,"acceleration":-1.8070126671886393,"pose":{"translation":{"x":7.70742518293158,"y":-3.7038657647602062},"rotation":{"radians":0.03215158575297248}},"curvature":0.4827715939902923},{"time":10.107152943085083,"velocity":1.8816770465540327,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.82204004609277,"y":-3.696763385725768},"rotation":{"radians":0.0940183835450109}},"curvature":0.6088716100135217},{"time":10.16409829869643,"velocity":1.7279245864033954,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.923967746484699,"y":-3.6835933624495634},"rotation":{"radians":0.1667477565163834}},"curvature":0.8308875998528907},{"time":10.191541442251108,"velocity":1.6538280988057654,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.96956009169738,"y":-3.674957798817167},"rotation":{"radians":0.2088968168926489}},"curvature":0.994523031111483},{"time":10.218096587219668,"velocity":1.5821292073906519,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.011378180260746,"y":-3.665093965406172},"rotation":{"radians":0.2558723101387938}},"curvature":1.202526478078813},{"time":10.243654437524812,"velocity":1.5131230115667635,"acceleration":-2.699999999999999,"pose":{"translation":{"x":8.04937831450813,"y":-3.6541163321861956},"rotation":{"radians":0.3082627186575262}},"curvature":1.4573924921768393},{"time":10.268156234985044,"velocity":1.4469681584241376,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.0836097353283,"y":-3.642146730596593},"rotation":{"radians":0.3662617499756407}},"curvature":1.7495148440030848},{"time":10.291611098972215,"velocity":1.3836400256587773,"acceleration":-2.54261037085923,"pose":{"translation":{"x":8.114224576075856,"y":-3.629313557233622},"rotation":{"radians":0.42923948226658043}},"curvature":2.044080449608214},{"time":10.31408253728794,"velocity":1.3265039135490928,"acceleration":-0.26714620694107427,"pose":{"translation":{"x":8.141487816481622,"y":-3.615750977537616},"rotation":{"radians":0.4951349121451568}},"curvature":2.2650649727338372},{"time":10.335326973496386,"velocity":1.320828542997405,"acceleration":2.3805335616429226,"pose":{"translation":{"x":8.165787236563062,"y":-3.6015981294801462},"rotation":{"radians":0.5597986992267797}},"curvature":2.2880593719552573},{"time":10.354881950936484,"velocity":1.367379823090728,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.187643370534673,"y":-3.5869983272511945},"rotation":{"radians":0.616638786240974}},"curvature":1.9638901765571541},{"time":10.392338376266395,"velocity":1.2662474746999712,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":8.22683141145398,"y":-3.557047220253817},"rotation":{"radians":0.672247181806951}},"curvature":2.6088445188996727E-14},{"time":10.411986632448444,"velocity":1.2131971830084378,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.24575788673742,"y":-3.5417136198053623},"rotation":{"radians":0.6975408766805757}},"curvature":1.9541079407886521},{"time":10.43328024864247,"velocity":1.1557044192845676,"acceleration":-1.8405372685284687,"pose":{"translation":{"x":8.264587947338732,"y":-3.524934471935431},"rotation":{"radians":0.7628163878869434}},"curvature":3.055951352921132},{"time":10.45700630427354,"velocity":1.1120357296604058,"acceleration":1.5660458001208748,"pose":{"translation":{"x":8.283216972129633,"y":-3.5055259359601707},"rotation":{"radians":0.8500050079261409}},"curvature":3.2971569996736663},{"time":10.469779956661354,"velocity":1.1320398543345462,"acceleration":2.6999999999997093,"pose":{"translation":{"x":8.292421291712749,"y":-3.494539505637776},"rotation":{"radians":0.8965904499204304}},"curvature":3.1843536697023693},{"time":10.482862612408892,"velocity":1.1673630248528966,"acceleration":2.699999999999774,"pose":{"translation":{"x":8.301532775009951,"y":-3.4825721747033382},"rotation":{"radians":0.9430145198442916}},"curvature":2.977840539132772},{"time":10.49621952894295,"velocity":1.2034266994948508,"acceleration":2.7000000000002116,"pose":{"translation":{"x":8.310536467134918,"y":-3.469548181801936},"rotation":{"radians":0.9881459927798832}},"curvature":2.7191079617737435},{"time":10.509886398287387,"velocity":1.2403272467248336,"acceleration":2.700000000000088,"pose":{"translation":{"x":8.319417131173866,"y":-3.455406110269526},"rotation":{"radians":1.0312195637973471}},"curvature":2.440637290223244},{"time":10.538222241559613,"velocity":1.3168340235598446,"acceleration":2.7000000000001108,"pose":{"translation":{"x":8.336747303376175,"y":-3.423590179817383},"rotation":{"radians":1.1096113185386942}},"curvature":1.9066842354843674},{"time":10.567917447503582,"velocity":1.3970110796085646,"acceleration":2.6999999999999758,"pose":{"translation":{"x":8.35339756819856,"y":-3.386897091332841},"rotation":{"radians":1.17705377758853}},"curvature":1.4659483535606506},{"time":10.598860835330507,"velocity":1.4805582267412594,"acceleration":2.6999999999999043,"pose":{"translation":{"x":8.369240742315837,"y":-3.3452905794023384},"rotation":{"radians":1.2344010864434556}},"curvature":1.1321110385115127},{"time":10.630836142685036,"velocity":1.5668915565984853,"acceleration":2.6999999999999664,"pose":{"translation":{"x":8.384149708762232,"y":-3.29890616098604},"rotation":{"radians":1.28324297161603}},"curvature":0.8894442243133595},{"time":10.663563172317561,"velocity":1.6552545366063023,"acceleration":2.6999999999999944,"pose":{"translation":{"x":8.39799894319763,"y":-3.248031891191066},"rotation":{"radians":1.3252669908241683}},"curvature":0.7165561295827546},{"time":10.730004715436273,"velocity":1.8346467030268223,"acceleration":2.700000000000019,"pose":{"translation":{"x":8.422033239400871,"y":-3.134613243267676},"rotation":{"radians":1.3947628891450792}},"curvature":0.5108627602694508},{"time":10.795673912499723,"velocity":2.0119535350981383,"acceleration":0.6749189371387596,"pose":{"translation":{"x":8.44042928683588,"y":-3.009658558810685},"rotation":{"radians":1.4526017683388186}},"curvature":0.420357809211099},{"time":10.827988966620017,"velocity":2.0337635770785885,"acceleration":-1.0104888396547231,"pose":{"translation":{"x":8.447259576651152,"y":-2.9446475979981397},"rotation":{"radians":1.479454274277376}},"curvature":0.4040377967020506},{"time":10.860630824502245,"velocity":2.0007793439830026,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.452395904464343,"y":-2.8790007408361777},"rotation":{"radians":1.5059737027913431}},"curvature":0.4041077652049662},{"time":10.894152506085206,"velocity":1.9102708037090081,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.455766629770315,"y":-2.8135349711108537},"rotation":{"radians":1.5329138216294398}},"curvature":0.4206950563180847},{"time":10.928757170999987,"velocity":1.816838208439102,"acceleration":-2.7,"pose":{"translation":{"x":8.457313914819684,"y":-2.749065856940965},"rotation":{"radians":1.5610633355910615}},"curvature":0.4557860793572367},{"time":11.000153825381581,"velocity":1.6240672416087993,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.454784984527434,"y":-2.626257324045744},"rotation":{"radians":1.6246525457485077}},"curvature":0.6014234046665868},{"time":11.072466059142647,"velocity":1.4288242104539215,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.444680464825606,"y":-2.5163400931382585},"rotation":{"radians":1.7060514821506643}},"curvature":0.9199199435490745},{"time":11.108158084291905,"velocity":1.3324557425509267,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.436832917441011,"y":-2.467691134299181},"rotation":{"radians":1.7576606715245289}},"curvature":1.1957280076313652},{"time":11.143102692834267,"velocity":1.2381052994865485,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.427190232085055,"y":-2.423824834016457},"rotation":{"radians":1.819678555816648}},"curvature":1.5967821662889308},{"time":11.17702326950284,"velocity":1.1465197424814015,"acceleration":-2.699999999999994,"pose":{"translation":{"x":8.415833925753976,"y":-2.385008012388349},"rotation":{"radians":1.8950077856286611}},"curvature":2.1708883082219828},{"time":11.193541814737227,"velocity":1.1019196703485579,"acceleration":-2.7000000000000077,"pose":{"translation":{"x":8.409545709948722,"y":-2.367534579717221},"rotation":{"radians":1.938602174842637}},"curvature":2.5365328170187293},{"time":11.20974933489309,"velocity":1.058159365927726,"acceleration":-2.700000000000007,"pose":{"translation":{"x":8.402871528329863,"y":-2.351352120031654},"rotation":{"radians":1.986573842797953}},"curvature":2.9570362284718947},{"time":11.22565083374798,"velocity":1.0152253190195193,"acceleration":-2.700000000000005,"pose":{"translation":{"x":8.395829137049132,"y":-2.336447130921312},"rotation":{"radians":2.039098883891049}},"curvature":3.426617326755694},{"time":11.24126762310655,"velocity":0.9730599877513809,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.38843810884691,"y":-2.3227939938549227},"rotation":{"radians":2.096138873112933}},"curvature":3.9286571906513537},{"time":11.256640303105817,"velocity":0.9315537517533582,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.380719880748051,"y":-2.3103543727981837},"rotation":{"radians":2.157331690342444}},"curvature":4.43136047043075},{"time":11.271831480484655,"velocity":0.8905375728304945,"acceleration":-2.4042663930903485,"pose":{"translation":{"x":8.372697801757694,"y":-2.299076612831686},"rotation":{"radians":2.221874308487975}},"curvature":4.884906385951116},{"time":11.286888513916098,"velocity":0.85433645337164,"acceleration":-0.9978792568571193,"pose":{"translation":{"x":8.364397180557088,"y":-2.2888951387688197},"rotation":{"radians":2.2884238941388917}},"curvature":5.222678382763311},{"time":11.301689132994452,"velocity":0.839567222604706,"acceleration":0.8254754049325818,"pose":{"translation":{"x":8.355845333199415,"y":-2.279729853773684},"rotation":{"radians":2.3550538487702135}},"curvature":5.368847723977871},{"time":11.315929421615154,"velocity":0.851322230620237,"acceleration":2.7000000000003803,"pose":{"translation":{"x":8.347071630805608,"y":-2.271485537979013},"rotation":{"radians":2.419298411423013}},"curvature":5.252097880744081},{"time":11.329324492371414,"velocity":0.8874889216621453,"acceleration":2.700000000000269,"pose":{"translation":{"x":8.338107547260176,"y":-2.264051247104079},"rotation":{"radians":2.478295796360133}},"curvature":4.821248824930119},{"time":11.341871457109548,"velocity":0.9213657264551093,"acceleration":2.6999999999999202,"pose":{"translation":{"x":8.328986706907012,"y":-2.257299711072606},"rotation":{"radians":2.5290020341433928}},"curvature":4.056045821482662},{"time":11.353751130722898,"velocity":0.953440845211156,"acceleration":2.7000000000000437,"pose":{"translation":{"x":8.31974493224523,"y":-2.2510867326306867},"rotation":{"radians":2.568418610381367}},"curvature":2.9685992511236106},{"time":11.376051267516521,"velocity":1.0136512145539385,"acceleration":2.700000000000024,"pose":{"translation":{"x":8.301053146943259,"y":-2.239611415319198},"rotation":{"radians":2.6026906028372796}},"curvature":-2.539792672694477E-13},{"time":11.417288588620291,"velocity":1.1249919815341203,"acceleration":2.6999999999998465,"pose":{"translation":{"x":8.262830827037828,"y":-2.2176226049385246},"rotation":{"radians":2.651557084529975}},"curvature":2.044805359484457},{"time":11.437161332763326,"velocity":1.178648390720312,"acceleration":1.8530950066935608,"pose":{"translation":{"x":8.242362656010032,"y":-2.207375742290304},"rotation":{"radians":2.7054274581780535}},"curvature":2.5932898999992604},{"time":11.457227127431787,"velocity":1.215832214625775,"acceleration":1.7733043834530744,"pose":{"translation":{"x":8.220272908185258,"y":-2.197932472469342},"rotation":{"radians":2.770420757002247}},"curvature":2.7521863857414757},{"time":11.47803069039228,"velocity":1.2527232640150605,"acceleration":2.70000000000009,"pose":{"translation":{"x":8.196033749814715,"y":-2.1894595290048136},"rotation":{"radians":2.839456084131849}},"curvature":2.58024712858923},{"time":11.49979089156795,"velocity":1.3114758071893688,"acceleration":2.7000000000000526,"pose":{"translation":{"x":8.169129203362893,"y":-2.182078114027738},"rotation":{"radians":2.9064277058738845}},"curvature":2.2031265942296514},{"time":11.522665156013414,"velocity":1.3732363211921244,"acceleration":2.699999999999956,"pose":{"translation":{"x":8.139058465477685,"y":-2.1758674153193196},"rotation":{"radians":2.96710024673232}},"curvature":1.7529417561173186},{"time":11.546910265544543,"velocity":1.4386981169261743,"acceleration":2.7000000000000126,"pose":{"translation":{"x":8.105339224960542,"y":-2.170868123359289},"rotation":{"radians":3.019263333950046}},"curvature":1.323572087674999},{"time":11.600169738149075,"velocity":1.5824986929584117,"acceleration":2.6999999999999633,"pose":{"translation":{"x":8.025138359824751,"y":-2.1644951373860057},"rotation":{"radians":3.096720125974591}},"curvature":0.677150887075891},{"time":11.660273742124646,"velocity":1.7447795036924492,"acceleration":2.699999999999995,"pose":{"translation":{"x":7.925164044303084,"y":-2.1626483817532725},"rotation":{"radians":-3.139703569630258}},"curvature":0.3095955426742758},{"time":11.727095954446925,"velocity":1.9251994769626026,"acceleration":2.7000000000000552,"pose":{"translation":{"x":7.802561939288404,"y":-2.1646262163767864},"rotation":{"radians":-3.1150173731148425}},"curvature":0.12085901976699137},{"time":11.762843033866767,"velocity":2.021716591396177,"acceleration":2.7000000000000357,"pose":{"translation":{"x":7.732048581414114,"y":-2.166750911916023},"rotation":{"radians":-3.108561714346927}},"curvature":0.06627620300526656},{"time":11.800008967135293,"velocity":2.1220646112211967,"acceleration":2.700000000000015,"pose":{"translation":{"x":7.655092105263157,"y":-2.169448680989499},"rotation":{"radians":-3.1050235976762517}},"curvature":0.028500450699259824},{"time":11.838474820220823,"velocity":2.2259224145521257,"acceleration":1.5793609347344348,"pose":{"translation":{"x":7.571525937674917,"y":-2.1725720055390743},"rotation":{"radians":-3.103803966908082}},"curvature":0.0026798398547058185},{"time":11.878498538472234,"velocity":2.2891343116212237,"acceleration":-0.1954340323045719,"pose":{"translation":{"x":7.481235177343656,"y":-2.175970040688554},"rotation":{"radians":-3.1044080157698524}},"curvature":-0.014650112521962794},{"time":11.921010565261469,"velocity":2.2808260148043638,"acceleration":-0.11219015757598046,"pose":{"translation":{"x":7.384159912788659,"y":-2.1794921317920313},"rotation":{"radians":-3.106427066511429}},"curvature":-0.025946287121016393},{"time":11.966624309198894,"velocity":2.2757086016843937,"acceleration":-0.058802486809564056,"pose":{"translation":{"x":7.280298540324362,"y":-2.1829913314822282},"rotation":{"radians":-3.109522240083562}},"curvature":-0.03294510181834588},{"time":12.015271733453698,"velocity":2.2728480121613313,"acceleration":-0.02416505475629159,"pose":{"translation":{"x":7.169711082030485,"y":-2.186327916718839},"rotation":{"radians":-3.113410419542554}},"curvature":-0.03687111111364532},{"time":12.066863521032024,"velocity":2.271601293789526,"acceleration":-0.0013839062766265778,"pose":{"translation":{"x":7.0525225037221695,"y":-2.189372905836871},"rotation":{"radians":-3.1178524324500403}},"curvature":-0.03858526056035295},{"time":12.121286224502276,"velocity":2.2715259778686026,"acceleration":0.010736844416362312,"pose":{"translation":{"x":6.92892603292011,"y":-2.1920115755949867},"rotation":{"radians":-3.122643141515202}},"curvature":-0.03868887488516708},{"time":12.14951707535701,"velocity":2.2718290881219714,"acceleration":0.01702157331783953,"pose":{"translation":{"x":6.864804703275967,"y":-2.1931474540124913},"rotation":{"radians":-3.1251123691314406}},"curvature":-0.03827191901776317},{"time":12.178400735084576,"velocity":2.2723207334537117,"acceleration":0.022300712520314993,"pose":{"translation":{"x":6.799186476820686,"y":-2.194146978223845},"rotation":{"radians":-3.127603056396413}},"curvature":-0.03759585245237944},{"time":12.207915064455461,"velocity":2.2729789240282416,"acceleration":0.026808138760697393,"pose":{"translation":{"x":6.732116183132616,"y":-2.195001384191123},"rotation":{"radians":-3.1300955837452142}},"curvature":-0.03669122566305292},{"time":12.238035924924898,"velocity":2.273786408235298,"acceleration":0.03073918295544159,"pose":{"translation":{"x":6.6636435402661025,"y":-2.195703458474444},"rotation":{"radians":-3.1325710698007185}},"curvature":-0.035582122898126824},{"time":12.268737100503632,"velocity":2.2747301372883597,"acceleration":-1.2763848259462929,"pose":{"translation":{"x":6.593823258438056,"y":-2.196247648139729},"rotation":{"radians":-3.135011178607148}},"curvature":-0.03428688183819541},{"time":12.300276657783686,"velocity":2.2344735249590344,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.522715143714517,"y":-2.196630170666464},"rotation":{"radians":-3.137397929249083}},"curvature":-0.03281864684213528},{"time":12.333306395394818,"velocity":2.1452932334089754,"acceleration":-2.700000000000006,"pose":{"translation":{"x":6.450384201697223,"y":-2.1968491238554573},"rotation":{"radians":-3.139713504594399}},"curvature":-0.03118577134605693},{"time":12.368331736380624,"velocity":2.0507248127472986,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.376900741210176,"y":-2.196904595736605},"rotation":{"radians":3.141245251529441}},"curvature":-0.029392079420617487},{"time":12.40560432393114,"velocity":1.9500888263609035,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.302340477986208,"y":-2.196798774476648},"rotation":{"radians":3.139125809519009}},"curvature":-0.027436991012317807},{"time":12.445448401018535,"velocity":1.8425098182249382,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.226784638353549,"y":-2.196536058286934},"rotation":{"radians":3.1371320135996665}},"curvature":-0.02531550970776811},{"time":12.488294295122742,"velocity":1.7268259041435778,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.1503200629223915,"y":-2.1961231653311786},"rotation":{"radians":3.135283087295086}},"curvature":-0.02301806562561615},{"time":12.534734577466912,"velocity":1.601437141814318,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.0730393102714615,"y":-2.1955692436332237},"rotation":{"radians":3.133599198375548}},"curvature":-0.020530198833346527},{"time":12.585625004668586,"velocity":1.4640329883697984,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.995040760634579,"y":-2.194885980984802},"rotation":{"radians":3.1321017472903767}},"curvature":-0.01783205995171728},{"time":12.642283452389236,"velocity":1.3110551795240428,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.9164287195872305,"y":-2.194087714853294},"rotation":{"radians":3.130813694869316}},"curvature":-0.014897693602761558},{"time":12.706936132890098,"velocity":1.1364929421717143,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.837313521733131,"y":-2.193191542289492},"rotation":{"radians":3.129759939890969}},"curvature":-0.011694056047681133},{"time":12.783938338732389,"velocity":0.928586986397528,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.757811634390795,"y":-2.1922174298353565},"rotation":{"radians":3.1289677597313585}},"curvature":-0.008179699294010573},{"time":12.884567484341357,"velocity":0.6568882932533135,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678045761280101,"y":-2.191188323431782},"rotation":{"radians":3.128467330750716}},"curvature":-0.0043030280378462},{"time":13.127859444805548,"velocity":0.0,"acceleration":-2.7000000000000006,"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":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":0.13267690465109205,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.3429884025872947,"velocity":2.265019459066152,"acceleration":-2.217701657582211,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.391281500989951,"velocity":2.1579197746888,"acceleration":-2.700000000000004,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.4420453066596375,"velocity":2.0208574993806465,"acceleration":-1.6277565472673319,"pose":{"translation":{"x":3.5020751028736092,"y":-2.1956158922656575},"rotation":{"radians":0.04867561951937359}},"curvature":-0.4263293815133228},{"time":1.4984222133744844,"velocity":1.929089620360875,"acceleration":0.010160973033987266,"pose":{"translation":{"x":3.6133941746879876,"y":-2.1933124895646907},"rotation":{"radians":-0.010350388311742132}},"curvature":-0.5934328349808979},{"time":1.5605316462960135,"velocity":1.9297207126339468,"acceleration":0.4431352150406185,"pose":{"translation":{"x":3.7330992346332756,"y":-2.1988756430835474},"rotation":{"radians":-0.08245977321793044}},"curvature":-0.5922293828340829},{"time":1.593346750562322,"velocity":1.9442622409195778,"acceleration":0.513863805300307,"pose":{"translation":{"x":3.796337809532994,"y":-2.205285313456289},"rotation":{"radians":-0.1192710290918124}},"curvature":-0.5647160261803019},{"time":1.6271353755539364,"velocity":1.9616249923336337,"acceleration":0.4950637426172842,"pose":{"translation":{"x":3.861701834072827,"y":-2.214333260776348},"rotation":{"radians":-0.15547223375320376}},"curvature":-0.5323990628656378},{"time":1.6617889058828066,"velocity":1.9787806987531458,"acceleration":0.4238737239634991,"pose":{"translation":{"x":3.9289538809459383,"y":-2.2261047248024535},"rotation":{"radians":-0.19072949770489536}},"curvature":-0.5010244930454457},{"time":1.697193977528043,"velocity":1.9937879783186065,"acceleration":0.3232941746057942,"pose":{"translation":{"x":3.9977624517562558,"y":-2.240627858511191},"rotation":{"radians":-0.22497919703328548}},"curvature":-0.47402173281584153},{"time":1.733225577759203,"velocity":2.0054367847750654,"acceleration":0.20600771211931626,"pose":{"translation":{"x":4.0677159124930355,"y":-2.2578791032086203},"rotation":{"radians":-0.25834400804649144}},"curvature":-0.45334050562199946},{"time":1.7697442814016884,"velocity":2.012959919362017,"acceleration":0.07740699958272064,"pose":{"translation":{"x":4.138336429005422,"y":-2.277788563641892},"rotation":{"radians":-0.2910738631300584}},"curvature":-0.4401111846724555},{"time":1.8065970102412283,"velocity":2.0158125785279215,"acceleration":-0.062189706892150545,"pose":{"translation":{"x":4.209093902477013,"y":-2.300245383110864},"rotation":{"radians":-0.3235084841651154}},"curvature":-0.4351206459137434},{"time":1.8436205544148383,"velocity":2.013510095167656,"acceleration":-0.21605105717435688,"pose":{"translation":{"x":4.27941990490042,"y":-2.3251031185797193},"rotation":{"radians":-0.3560569135017046}},"curvature":-0.4391475878151822},{"time":1.8806471809553083,"velocity":2.0055104533599875,"acceleration":-0.39007837799536554,"pose":{"translation":{"x":4.348721614551829,"y":-2.3521851157885822},"rotation":{"radians":-0.389189855690055}},"curvature":-0.4532104793093536},{"time":1.9175118076395312,"velocity":1.991130359577601,"acceleration":-0.592094904964677,"pose":{"translation":{"x":4.416395751465567,"y":-2.3812898843651356},"rotation":{"radians":-0.42344152767142385}},"curvature":-0.47877395608122075},{"time":1.954060350188125,"velocity":1.969490153750694,"acceleration":-0.8309688173737018,"pose":{"translation":{"x":4.481842512908658,"y":-2.4121964729362366},"rotation":{"radians":-0.4594184800507215}},"curvature":-0.5179473053524793},{"time":1.9901589045607562,"velocity":1.9394933807147683,"acceleration":-1.1149732400754826,"pose":{"translation":{"x":4.54447950885539,"y":-2.4446698442395336},"rotation":{"radians":-0.49781313801374166}},"curvature":-0.5736935026147324},{"time":2.02570335267354,"velocity":1.8998622722357628,"acceleration":-1.448550225236227,"pose":{"translation":{"x":4.603755697461875,"y":-2.4784662502350856},"rotation":{"radians":-0.5394192740380317}},"curvature":-0.6500434294499228},{"time":2.0606287027016905,"velocity":1.8492711485860314,"acceleration":-1.8265554655433023,"pose":{"translation":{"x":4.659165320540614,"y":-2.513338607216975},"rotation":{"radians":-0.5851447423770537}},"curvature":-0.75226309097706},{"time":2.0949168705253833,"velocity":1.7866419082441993,"acceleration":-2.4112240125886744,"pose":{"translation":{"x":4.710261839035053,"y":-2.549041870924928},"rotation":{"radians":-0.6360127116376952}},"curvature":-0.8868249129781922},{"time":2.128662234517987,"velocity":1.7052742762716881,"acceleration":-2.7,"pose":{"translation":{"x":4.75667186849415,"y":-2.585338411655929},"rotation":{"radians":-0.6931350869409779}},"curvature":-1.0608460086338727},{"time":2.1619876039391763,"velocity":1.6152957788344775,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.798109114546939,"y":-2.622003389375838},"rotation":{"radians":-0.7576297005970773}},"curvature":-1.2803398786970113},{"time":2.194896234033811,"velocity":1.526442477578964,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.834388308377085,"y":-2.658830128831009},"rotation":{"radians":-0.8304372322886067}},"curvature":-1.5462460337791393},{"time":2.2273756359234813,"velocity":1.4387480924768536,"acceleration":-2.700000000000007,"pose":{"translation":{"x":4.865439142197452,"y":-2.6956354946599044},"rotation":{"radians":-0.9119832371004168}},"curvature":-1.8471757551084653},{"time":2.2434823103011654,"velocity":1.395260071657106,"acceleration":-2.4604697572124268,"pose":{"translation":{"x":4.879016817010104,"y":-2.7139806921346414},"rotation":{"radians":-0.9558987459098183}},"curvature":-2.001352466803588},{"time":2.2595039636215097,"velocity":1.3558392782018571,"acceleration":-2.104092828644165,"pose":{"translation":{"x":4.891320204724665,"y":-2.7322652665047134},"rotation":{"radians":-1.0016495382908106}},"curvature":-2.1492785676712582},{"time":2.2754139219358573,"velocity":1.3223632490086106,"acceleration":-1.6280562434030825,"pose":{"translation":{"x":4.902379055298223,"y":-2.7504753400489763},"rotation":{"radians":-1.0488850549980586}},"curvature":-2.2818218684353386},{"time":2.2911673170876594,"velocity":1.2967158356769235,"acceleration":-1.0182331398847475,"pose":{"translation":{"x":4.912232916653667,"y":-2.7685995141229687},"rotation":{"radians":-1.0971080767758759}},"curvature":-2.3879989566943567},{"time":2.306699691008641,"velocity":1.2809002578094986,"acceleration":-0.25057588818021553,"pose":{"translation":{"x":4.920931570163274,"y":-2.786629037131156},"rotation":{"radians":-1.1456645521368725}},"curvature":-2.4555928968591356},{"time":2.3219263253477536,"velocity":1.27708483038598,"acceleration":0.7180286101751181,"pose":{"translation":{"x":4.928535466132287,"y":-2.8045579724991625},"rotation":{"radians":-1.1937443665112033}},"curvature":-2.472150251972107},{"time":2.336743275485269,"velocity":1.2877238245002545,"acceleration":1.9647155346517295,"pose":{"translation":{"x":4.93511615928249,"y":-2.8223833666460107},"rotation":{"radians":-1.2403951085975813}},"curvature":-2.4262261241098693},{"time":2.3510301365055706,"velocity":1.3157934422882511,"acceleration":2.699999999999981,"pose":{"translation":{"x":4.940756744235799,"y":-2.840105416956363},"rotation":{"radians":-1.2845485363597777}},"curvature":-2.3086257031012516},{"time":2.377842056797436,"velocity":1.3881856270762865,"acceleration":-1.7693548936171397,"pose":{"translation":{"x":4.949610280441483,"y":-2.8752570382678337},"rotation":{"radians":-1.3607322937303925}},"curvature":-1.837984513965953},{"time":2.4303106394586362,"velocity":1.295350083583536,"acceleration":-2.699999999999996,"pose":{"translation":{"x":4.961075049925916,"y":-2.9447179024673065},"rotation":{"radians":-1.432029152424269}},"curvature":-8.5096915531155E-15},{"time":2.4581529555242234,"velocity":1.2201758302064512,"acceleration":-2.7,"pose":{"translation":{"x":4.965529286581838,"y":-2.979452503412184},"rotation":{"radians":-1.465031038359228}},"curvature":-1.8035297760653406},{"time":2.4728801115121293,"velocity":1.180412509039105,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.9670765604676195,"y":-2.9970615756586043},"rotation":{"radians":-1.5033402513913394}},"curvature":-2.5038523323706143},{"time":2.4883122492090672,"velocity":1.1387457372573722,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":4.967851436182725,"y":-3.014939575743815},"rotation":{"radians":-1.5532232776713386}},"curvature":-3.040556283966687},{"time":2.5046226753078837,"velocity":1.0947075867905676,"acceleration":-1.6687306196545122,"pose":{"translation":{"x":4.967644661032831,"y":-3.033152689706553},"rotation":{"radians":-1.6121602284868388}},"curvature":-3.398202732184485},{"time":2.5218900628025263,"velocity":1.0658929685568184,"acceleration":-0.05449959149412052,"pose":{"translation":{"x":4.966270120741342,"y":-3.051755941934026},"rotation":{"radians":-1.677482330067382}},"curvature":-3.5735035614563557},{"time":2.5399387247021767,"velocity":1.064909323856272,"acceleration":1.1777144013087624,"pose":{"translation":{"x":4.9635640389890865,"y":-3.070793643087878},"rotation":{"radians":-1.746522457315119}},"curvature":-3.579655257312181},{"time":2.5584816504047923,"velocity":1.0867475944986404,"acceleration":2.1560910998464666,"pose":{"translation":{"x":4.95938417695403,"y":-3.0902998380301607},"rotation":{"radians":-1.8168046941753717}},"curvature":-3.4457000031792524},{"time":2.5772853711867083,"velocity":1.1272901295205275,"acceleration":2.69999999999999,"pose":{"translation":{"x":4.953609032850976,"y":-3.1102987537492983},"rotation":{"radians":-1.8862198507278636}},"curvature":-3.210774949681089},{"time":2.5962170733400827,"velocity":1.1784057253346385,"acceleration":2.6999999999999895,"pose":{"translation":{"x":4.946137041471272,"y":-3.130805247286058},"rotation":{"radians":-1.9531387272053868}},"curvature":-2.9159805408843056},{"time":2.6152892083814607,"velocity":1.229900489946359,"acceleration":2.7000000000000166,"pose":{"translation":{"x":4.936885773722514,"y":-3.1518252536595166},"rotation":{"radians":-2.016442499583169}},"curvature":-2.5973433861854707},{"time":2.6345747114572613,"velocity":1.2819713482510204,"acceleration":2.7000000000000224,"pose":{"translation":{"x":4.925791136168254,"y":-3.173356233793029},"rotation":{"radians":-2.075480528503448}},"curvature":-2.2819349578344106},{"time":2.654120620482148,"velocity":1.3347453026182154,"acceleration":2.6999999999999655,"pose":{"translation":{"x":4.912806570567703,"y":-3.1953876224401965},"rotation":{"radians":-2.129983878435116}},"curvature":-1.9872133404807157},{"time":2.6739514864519767,"velocity":1.3882886407367518,"acceleration":2.700000000000023,"pose":{"translation":{"x":4.897902253415438,"y":-3.2179012761108345},"rotation":{"radians":-2.1799644343967133}},"curvature":-1.7224572659312476},{"time":2.6940729650058204,"velocity":1.4426166328321304,"acceleration":2.700000000000009,"pose":{"translation":{"x":4.881064295481105,"y":-3.2408719209969417},"rotation":{"radians":-2.22562100888879}},"curvature":-1.4910043288277206},{"time":2.714475327361494,"velocity":1.4977030111924492,"acceleration":2.700000000000009,"pose":{"translation":{"x":4.862293941349127,"y":-3.264267600898666},"rotation":{"radians":-2.267263144548063}},"curvature":-1.2924153444220392},{"time":2.756019331138369,"velocity":1.6098718213900112,"acceleration":2.6999999999999935,"pose":{"translation":{"x":4.81903188914203,"y":-3.3121755165461217},"rotation":{"radians":-2.3399779384310033}},"curvature":-0.9828279667140774},{"time":2.7983202919209114,"velocity":1.7240844155028752,"acceleration":2.699999999999989,"pose":{"translation":{"x":4.768398312273832,"y":-3.361252746804184},"rotation":{"radians":-2.4010921893397095}},"curvature":-0.7664410614456462},{"time":2.8410253955236824,"velocity":1.8393881952303563,"acceleration":2.699999999999992,"pose":{"translation":{"x":4.710866337801757,"y":-3.411048764416201},"rotation":{"radians":-2.4533184582291754}},"curvature":-0.6172525006187272},{"time":2.8837503701300022,"velocity":1.9547456266674192,"acceleration":1.2496843309828318,"pose":{"translation":{"x":4.647074389631136,"y":-3.46104912474886},"rotation":{"radians":-2.49892485225256}},"curvature":-0.5155972058416651},{"time":2.926757431309542,"velocity":2.0084908771451104,"acceleration":0.5570501077459997,"pose":{"translation":{"x":4.577800573785979,"y":-3.510689799423171},"rotation":{"radians":-2.5397603085066436}},"curvature":-0.4479579794074529},{"time":2.970536232634793,"velocity":2.032877863140332,"acceleration":0.2964340580199916,"pose":{"translation":{"x":4.5039370636795315,"y":-3.5593715099454393},"rotation":{"radians":-2.577342732098713}},"curvature":-0.4055585702609519},{"time":3.0149928481450554,"velocity":2.046056318081874,"acceleration":0.07065357242755059,"pose":{"translation":{"x":4.426464485384851,"y":-3.6064740613382487},"rotation":{"radians":-2.612956120859872}},"curvature":-0.3830670686417713},{"time":3.059810528480843,"velocity":2.049222847305513,"acceleration":-0.14542798457351055,"pose":{"translation":{"x":4.346426302905366,"y":-3.651370675771436},"rotation":{"radians":-2.647740266891328}},"curvature":-0.377705898954209},{"time":3.104649560662696,"velocity":2.0427019972250795,"acceleration":-0.3757797154528526,"pose":{"translation":{"x":4.264903203445451,"y":-3.693442326193072},"rotation":{"radians":-2.682771627247723}},"curvature":-0.38876431279402895},{"time":3.1491731042727977,"velocity":2.0259709526763228,"acceleration":-0.6452905870475925,"pose":{"translation":{"x":4.182987482680985,"y":-3.7320920699604363},"rotation":{"radians":-2.7191393077158468}},"curvature":-0.4174633715562329},{"time":3.193073156520127,"velocity":1.9976426621902235,"acceleration":-1.1411636387837727,"pose":{"translation":{"x":4.101757430029924,"y":-3.766759382471},"rotation":{"radians":-2.758021599807403}},"curvature":-0.46715144683761933},{"time":3.23617361801096,"velocity":1.9484579827220847,"acceleration":-2.7,"pose":{"translation":{"x":4.022251713922864,"y":-3.7969344907934},"rotation":{"radians":-2.8007681532481032}},"curvature":-0.5438469024764766},{"time":3.2789338803144195,"velocity":1.8330052745027445,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.9454437670736127,"y":-3.822172707298418},"rotation":{"radians":-2.848990325510321}},"curvature":-0.6571545487828776},{"time":3.321683356011055,"velocity":1.717581690121829,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.87221617174975,"y":-3.842108763289961},"rotation":{"radians":-2.9046546814278225}},"curvature":-0.8214815689160222},{"time":3.364060934928058,"velocity":1.6031622270459214,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":3.803335045043199,"y":-3.8564711426360363},"rotation":{"radians":-2.9701548699985416}},"curvature":-1.0570408368182198},{"time":3.405751312883134,"velocity":1.4905982065672154,"acceleration":-2.699999999999997,"pose":{"translation":{"x":3.7394244241407923,"y":-3.865096415399731},"rotation":{"radians":-3.048290744062946}},"curvature":-1.3888175854894336},{"time":3.4262709585818296,"velocity":1.4351951631807371,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.7094829113881596,"y":-3.867239647193867},"rotation":{"radians":-3.09302431178082}},"curvature":-1.5982289942704337},{"time":3.44655125318419,"velocity":1.3804383677543648,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":3.680940651594839,"y":-3.8679435714701915},"rotation":{"radians":3.141195626413722}},"curvature":-1.8386321857944314},{"time":3.4665943273687105,"velocity":1.3263220674561593,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.653824282876678,"y":-3.8672245416740036},"rotation":{"radians":3.087749699733924}},"curvature":-2.1083258513611582},{"time":3.4864199816885457,"velocity":1.272792800792604,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.6281467605936855,"y":-3.8651083541936},"rotation":{"radians":3.029721408331762}},"curvature":-2.401052534326924},{"time":3.5060693944203227,"velocity":1.2197393864168058,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.6039065568897426,"y":-3.8616306962862486},"rotation":{"radians":2.967237178269589}},"curvature":-2.704062445106173},{"time":3.5256088623799924,"velocity":1.1669828229256973,"acceleration":-2.3942045966905097,"pose":{"translation":{"x":3.5810868602322943,"y":-3.856837594004153},"rotation":{"radians":2.9007434502861504}},"curvature":-2.9965878907636636},{"time":3.5450813189234376,"velocity":1.1203617779605244,"acceleration":-1.5924897584791056,"pose":{"translation":{"x":3.5596547749520773,"y":-3.850785860120422},"rotation":{"radians":2.831093117700949}},"curvature":-3.2497169946533693},{"time":3.56441174958145,"velocity":1.089578265110649,"acceleration":-0.6057444103667897,"pose":{"translation":{"x":3.5395605207828,"y":-3.8435435420550386},"rotation":{"radians":2.7596018976349583}},"curvature":-3.428729878113199},{"time":3.583413033743393,"velocity":1.0780683434397609,"acceleration":0.6186347325875813,"pose":{"translation":{"x":3.5207366324008675,"y":-3.8351903698008267},"rotation":{"radians":2.6880472099902293}},"curvature":-3.4982884199120967},{"time":3.6018437984407154,"velocity":1.0894702546296735,"acceleration":2.206448025075864,"pose":{"translation":{"x":3.503097158965079,"y":-3.825818203849418},"rotation":{"radians":2.6185923475457913}},"curvature":-3.429375792439269},{"time":3.619424934866165,"velocity":1.1282621183741959,"acceleration":2.7000000000000304,"pose":{"translation":{"x":3.4865368636563288,"y":-3.8155314831172236},"rotation":{"radians":2.5536429375762753}},"curvature":-3.205349966460621},{"time":3.636059653724959,"velocity":1.1731758592929409,"acceleration":2.7000000000000246,"pose":{"translation":{"x":3.4709304232173177,"y":-3.804447672871399},"rotation":{"radians":2.4956710651373433}},"curvature":-2.8242730142037273},{"time":3.667026498143806,"velocity":1.2567863392238288,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.4419725789665847,"y":-3.7804264642170193},"rotation":{"radians":2.4099956930818545}},"curvature":-1.6385536550867448},{"time":3.695770883831362,"velocity":1.334396180580229,"acceleration":2.700000000000014,"pose":{"translation":{"x":3.4147888938993836,"y":-3.75497184822522},"rotation":{"radians":2.3782497368858433}},"curvature":-5.788541622584007E-14},{"time":3.749235256587912,"velocity":1.4787499870229144,"acceleration":2.6999999999999833,"pose":{"translation":{"x":3.3609844424672812,"y":-3.7024327791736553},"rotation":{"radians":2.3490876618737877}},"curvature":-0.7023824054980974},{"time":3.8005973041463315,"velocity":1.6174275154306461,"acceleration":2.4825294531308146,"pose":{"translation":{"x":3.3070566156337318,"y":-3.644002410831658},"rotation":{"radians":2.2796079944093672}},"curvature":-0.9779188946546434},{"time":3.852034368848562,"velocity":1.7451215435365288,"acceleration":0.6312064344846886,"pose":{"translation":{"x":3.253636022378402,"y":-3.5759950534953493},"rotation":{"radians":2.1936809774674773}},"curvature":-0.9813573357878339},{"time":3.878415299509957,"velocity":1.7617733567176956,"acceleration":0.7073333772021678,"pose":{"translation":{"x":3.2274993906209875,"y":-3.5378291029531996},"rotation":{"radians":2.14913436942687}},"curvature":-0.942909788668174},{"time":3.9056736543136066,"velocity":1.7810541008779361,"acceleration":0.6388407929787493,"pose":{"translation":{"x":3.202017502758004,"y":-3.4968145423323445},"rotation":{"radians":2.10466279959534}},"curvature":-0.8992904106865759},{"time":3.93373192965023,"velocity":1.7989788717436008,"acceleration":0.48734075753294853,"pose":{"translation":{"x":3.1774274321794738,"y":-3.4530212038442007},"rotation":{"radians":2.060525720135738}},"curvature":-0.8595773587187461},{"time":3.962524252530149,"velocity":1.8130105441870337,"acceleration":0.2909434244911126,"pose":{"translation":{"x":3.1539860008336564,"y":-3.4066059832364965},"rotation":{"radians":2.016670973441805}},"curvature":-0.8290375810472322},{"time":3.9919869081186627,"velocity":1.821582510098558,"acceleration":0.07153311757976091,"pose":{"translation":{"x":3.1319643377560293,"y":-3.3578019568512345},"rotation":{"radians":1.97283278634523}},"curvature":-0.8106123015937061},{"time":4.022053818906276,"velocity":1.8237332899631886,"acceleration":-0.1596284592431018,"pose":{"translation":{"x":3.111642437598266,"y":-3.3069074986826497},"rotation":{"radians":1.9285987458366667}},"curvature":-0.8060164222942745},{"time":4.052656019528391,"velocity":1.818848307828432,"acceleration":-0.3974911144577557,"pose":{"translation":{"x":3.0933037191572192,"y":-3.2542753974351726},"rotation":{"radians":1.8834517291286794}},"curvature":-0.8164705547777673},{"time":4.083724019605622,"velocity":1.8064990538537598,"acceleration":-0.6396997732751478,"pose":{"translation":{"x":3.0772295839039,"y":-3.2003019735813902},"rotation":{"radians":1.836794027192425}},"curvature":-0.8431507700506632},{"time":4.115192016460156,"velocity":1.7863689834004912,"acceleration":-0.8836474869263974,"pose":{"translation":{"x":3.0636939745124585,"y":-3.1454161964200056},"rotation":{"radians":1.7879605709292274}},"curvature":-0.88743195283926},{"time":4.147002994006502,"velocity":1.758259293034991,"acceleration":-1.123817628321571,"pose":{"translation":{"x":3.052957933389164,"y":-3.0900688011338007},"rotation":{"radians":1.7362277496603906}},"curvature":-0.9509628219519557},{"time":4.179113713347756,"velocity":1.7221727005812026,"acceleration":-1.3493464897395464,"pose":{"translation":{"x":3.045264161201387,"y":-3.0347214058475958},"rotation":{"radians":1.6808245586519428}},"curvature":-1.0355625717425927},{"time":4.2114984160193245,"velocity":1.678474515710063,"acceleration":-1.54213583738064,"pose":{"translation":{"x":3.040831575406578,"y":-2.9798356286862115},"rotation":{"radians":1.6209540379488616}},"curvature":-1.1428761734565573},{"time":4.244149726678152,"velocity":1.6281217594056372,"acceleration":-1.6763452695935936,"pose":{"translation":{"x":3.039849868781248,"y":-2.9258622048324288},"rotation":{"radians":1.5558350860664567}},"curvature":-1.2736751790581164},{"time":4.2770748524461375,"velocity":1.5729278805736993,"acceleration":-1.720379576497264,"pose":{"translation":{"x":3.042474067949952,"y":-2.873230103584952},"rotation":{"radians":1.484776978362482}},"curvature":-1.4266704653345341},{"time":4.310284999488261,"velocity":1.5157938218699591,"acceleration":-1.6419864291213668,"pose":{"translation":{"x":3.0488190919142633,"y":-2.8223356454163673},"rotation":{"radians":1.4072991804003108}},"curvature":-1.596780118609437},{"time":4.343776499881509,"velocity":1.4608012327333335,"acceleration":-1.4911165237830077,"pose":{"translation":{"x":3.058954310581762,"y":-2.773531619031105},"rotation":{"radians":1.323303181119466}},"curvature":-1.7730815076129074},{"time":4.360626728330783,"velocity":1.4356755786631017,"acceleration":-1.3379088503984191,"pose":{"translation":{"x":3.065451127082926,"y":-2.750009182785482},"rotation":{"radians":1.2789866713867077}},"curvature":-1.8581272863701694},{"time":4.377527944236481,"velocity":1.4130632923203748,"acceleration":-1.1437326029523414,"pose":{"translation":{"x":3.0728981032950085,"y":-2.727116398423401},"rotation":{"radians":1.2332854738342944}},"curvature":-1.9372514941101335},{"time":4.394463151773877,"velocity":1.3936939433220907,"acceleration":-0.9086321010601169,"pose":{"translation":{"x":3.0812886766187075,"y":-2.7048802749129957},"rotation":{"radians":1.1863895583484947}},"curvature":-2.0070697222123894},{"time":4.411409199033004,"velocity":1.3782962207963656,"acceleration":-0.6332211972869909,"pose":{"translation":{"x":3.0906124173605285,"y":-2.6833230599352573},"rotation":{"radians":1.138548826444892}},"curvature":-2.063971958788964},{"time":4.428336384259188,"velocity":1.367577568300743,"acceleration":-0.31832011031494095,"pose":{"translation":{"x":3.1008548586868176,"y":-2.6624618997920955},"rotation":{"radians":1.0900737468129797}},"curvature":-2.10433914545211},{"time":4.445208449623839,"velocity":1.3622068505926264,"acceleration":0.03551611172364429,"pose":{"translation":{"x":3.1119973265777903,"y":-2.6423084993144017},"rotation":{"radians":1.04133257616508}},"curvature":-2.124804540059996},{"time":4.461983002046691,"velocity":1.3628026174705905,"acceleration":0.4285713186343666,"pose":{"translation":{"x":3.124016769781565,"y":-2.622868781770109},"rotation":{"radians":0.9927449310251599}},"curvature":-2.122526385624645},{"time":4.4786123372327165,"velocity":1.3699294735792784,"acceleration":0.8626655705904696,"pose":{"translation":{"x":3.1368855897681884,"y":-2.6041425487722525},"rotation":{"radians":0.9447719804722562}},"curvature":-2.095427611326793},{"time":4.495044572024873,"velocity":1.3841049967823302,"acceleration":1.342043633481976,"pose":{"translation":{"x":3.1505714706836736,"y":-2.586123140187032},"rotation":{"radians":0.8979040868094562}},"curvature":-2.0423569283080365},{"time":4.511224927736181,"velocity":1.4058197401521648,"acceleration":2.174628731563648,"pose":{"translation":{"x":3.1650372093040224,"y":-2.5687970940418743},"rotation":{"radians":0.8526472069342793}},"curvature":-1.963136195907724},{"time":4.542545546158871,"velocity":1.4739304568644884,"acceleration":2.7000000000000086,"pose":{"translation":{"x":3.196133989637476,"y":-2.536135191435944},"rotation":{"radians":0.768990876016828}},"curvature":-1.729794878369166},{"time":4.572415457254563,"velocity":1.5545792168228587,"acceleration":2.6999999999999855,"pose":{"translation":{"x":3.229774095829601,"y":-2.505900184904709},"rotation":{"radians":0.6977198275372757}},"curvature":-1.4076925046997093},{"time":4.600966629509849,"velocity":1.6316673819121288,"acceleration":1.9267235317165612,"pose":{"translation":{"x":3.2654666120792952,"y":-2.477704823093947},"rotation":{"radians":0.6424606408108764}},"curvature":-1.0104612965545503},{"time":4.6553898406637995,"velocity":1.7365258635140244,"acceleration":-2.7,"pose":{"translation":{"x":3.340567158410097,"y":-2.425165754042389},"rotation":{"radians":0.593836843068327}},"curvature":1.386517181656494E-14},{"time":4.711988127689792,"velocity":1.5837104885438458,"acceleration":-1.247908439953422,"pose":{"translation":{"x":3.4198873310466325,"y":-2.3747994687928755},"rotation":{"radians":0.5155990770109385}},"curvature":-1.3959433324960826},{"time":4.744473186294367,"velocity":1.5431721097388154,"acceleration":1.3743545800960772,"pose":{"translation":{"x":3.464973940375945,"y":-2.351418545240741},"rotation":{"radians":0.4402331146686272}},"curvature":-1.513692824959229},{"time":4.779684268385652,"velocity":1.591564621681112,"acceleration":2.5108263375364204,"pose":{"translation":{"x":3.515820158392423,"y":-2.3299602434457767},"rotation":{"radians":0.35977931065883245}},"curvature":-1.3738235417165252},{"time":4.81680475582202,"velocity":1.6847677191985357,"acceleration":2.6999999999999846,"pose":{"translation":{"x":3.57353428112992,"y":-2.3108061686830257},"rotation":{"radians":0.283622171830409}},"curvature":-1.1270782568800422},{"time":4.855603985171323,"velocity":1.7895256384416522,"acceleration":2.6008535703856928,"pose":{"translation":{"x":3.6388619991502273,"y":-2.2942217530332445},"rotation":{"radians":0.21644885729655408}},"curvature":-0.8743275323441821},{"time":4.896126524432603,"velocity":1.8949188293604484,"acceleration":2.086058261007151,"pose":{"translation":{"x":3.712216325633674,"y":-2.2803656120586817},"rotation":{"radians":0.15960544390110007}},"curvature":-0.6597910724689208},{"time":4.9385363738081285,"velocity":1.9833882459983319,"acceleration":1.616547499380803,"pose":{"translation":{"x":3.793707524469738,"y":-2.2692989014788543},"rotation":{"radians":0.11263337683362186}},"curvature":-0.492690613439739},{"time":4.983030889151286,"velocity":2.0553157435124745,"acceleration":1.2159238014148543,"pose":{"translation":{"x":3.8831730383476515,"y":-2.2609946738463247},"rotation":{"radians":0.07434740327024543}},"curvature":-0.3674366456229984},{"time":5.029678541336584,"velocity":2.1120357340847002,"acceleration":0.9075046440653375,"pose":{"translation":{"x":3.9802074168470107,"y":-2.2553472352224797},"rotation":{"radians":0.04342034712937154}},"curvature":-0.2746812536516031},{"time":5.0784252452904575,"velocity":2.156273594305718,"acceleration":0.6834151478338532,"pose":{"translation":{"x":4.08419224452838,"y":-2.252181501853307},"rotation":{"radians":0.018641440937412053}},"curvature":-0.20572529327744007},{"time":5.129096139958063,"velocity":2.190902851275853,"acceleration":0.5264879150546674,"pose":{"translation":{"x":4.1943260690239,"y":-2.2512623568451726},"rotation":{"radians":-9.976837212046226E-4}},"curvature":-0.15368987932601774},{"time":5.181409075361329,"velocity":2.218444979566708,"acceleration":0.42018005297982247,"pose":{"translation":{"x":4.309654329127897,"y":-2.252304006840599},"rotation":{"radians":-0.016294413807347564}},"curvature":-0.11346372271889368},{"time":5.234992421780497,"velocity":2.2409596329039503,"acceleration":0.351785182873852,"pose":{"translation":{"x":4.4290992828874876,"y":-2.2549793386940395},"rotation":{"radians":-0.027855223399565903}},"curvature":-0.08131487625173589},{"time":5.289403766966109,"velocity":2.2601007379204834,"acceleration":0.3128445654832258,"pose":{"translation":{"x":4.551489935693187,"y":-2.258929276147662},"rotation":{"radians":-0.03612213081466633}},"curvature":-0.05448689456607996},{"time":5.344148096805894,"velocity":2.277227204001881,"acceleration":0.298773706908379,"pose":{"translation":{"x":4.675591968369515,"y":-2.2637721365071184},"rotation":{"radians":-0.041396455549533785}},"curvature":-0.030864907672841033},{"time":5.398694994346497,"velocity":2.2935243827804386,"acceleration":-0.06592086690757766,"pose":{"translation":{"x":4.800137665265607,"y":-2.2691129873173295},"rotation":{"radians":-0.04385674798976135}},"curvature":-0.008714305829899563},{"time":5.452731465158713,"velocity":2.2899622517798712,"acceleration":-0.3284145960167999,"pose":{"translation":{"x":4.923855842345816,"y":-2.2745530030382577},"rotation":{"radians":-0.04357023700677432}},"curvature":0.013528914880161159},{"time":5.506104615131532,"velocity":2.272433730293404,"acceleration":-0.37659355529518945,"pose":{"translation":{"x":5.045501775280321,"y":-2.279698821720685},"rotation":{"radians":-0.040498084092675975}},"curvature":0.03744051067678888},{"time":5.558465248275739,"velocity":2.25271505330012,"acceleration":-0.45748288865973996,"pose":{"translation":{"x":5.163887127535741,"y":-2.2841719016819924},"rotation":{"radians":-0.03449516027555618}},"curvature":0.06478457774956946},{"time":5.609367150250117,"velocity":2.2294283041466065,"acceleration":-0.5803001232812905,"pose":{"translation":{"x":5.277909878465731,"y":-2.2876178781819356},"rotation":{"radians":-0.02530559580272131}},"curvature":0.09769943069512467},{"time":5.658434977767275,"velocity":2.200954237789255,"acceleration":-0.7567850343011426,"pose":{"translation":{"x":5.386584251401597,"y":-2.2897159200984234},"rotation":{"radians":-0.012556599237129413}},"curvature":0.1388928455204047},{"time":5.70537886723857,"velocity":2.1654278047854914,"acceleration":-0.9976147493855395,"pose":{"translation":{"x":5.489070641742902,"y":-2.2901880866032944},"rotation":{"radians":0.004244077010014979}},"curvature":0.1918079561961686},{"time":5.750006675153436,"velocity":2.120906445376876,"acceleration":-1.302519477823958,"pose":{"translation":{"x":5.584705545048074,"y":-2.288808683838094},"rotation":{"radians":0.025695527009681304}},"curvature":0.26062341686224055},{"time":5.79223024953403,"velocity":2.0659094173228043,"acceleration":-1.638921412620607,"pose":{"translation":{"x":5.673031485125007,"y":-2.2854136215898544},"rotation":{"radians":0.052452462845723254}},"curvature":0.3497257877466332},{"time":5.832059023661385,"velocity":2.000633186567052,"acceleration":-1.9057245334879886,"pose":{"translation":{"x":5.753826942121678,"y":-2.279909769966868},"rotation":{"radians":0.0850908830903379}},"curvature":0.4618396078810718},{"time":5.869569950654938,"velocity":1.929147692721561,"acceleration":-1.887970276344723,"pose":{"translation":{"x":5.827136280616742,"y":-2.272284316074469},"rotation":{"radians":0.12381616681411885}},"curvature":0.5933220618516182},{"time":5.904839733515326,"velocity":1.862559391028017,"acceleration":-1.2141051053065604,"pose":{"translation":{"x":5.893299677710157,"y":-2.262614120690806},"rotation":{"radians":0.1679166901590606}},"curvature":0.7248763947269864},{"time":5.937831627323918,"velocity":1.8225037643212731,"acceleration":0.7148928432333755,"pose":{"translation":{"x":5.95298305111377,"y":-2.2510750749426247},"rotation":{"radians":0.21491282398978384}},"curvature":0.8086423977138273},{"time":5.968261984718788,"velocity":1.8442582090398996,"acceleration":2.7000000000000206,"pose":{"translation":{"x":6.007207987241939,"y":-2.237951456981044},"rotation":{"radians":0.2595930272936871}},"curvature":0.762697142423729},{"time":6.021690837779395,"velocity":1.9885161123035373,"acceleration":2.700000000000009,"pose":{"translation":{"x":6.105326805385562,"y":-2.2086856921986713},"rotation":{"radians":0.3070457320187911}},"curvature":-9.725717521032143E-17},{"time":6.070629375122215,"velocity":2.1206501631291528,"acceleration":1.2181195772403006,"pose":{"translation":{"x":6.201277169309493,"y":-2.1786276315400217},"rotation":{"radians":0.2974058906632293}},"curvature":-0.16209275660528696},{"time":6.1192340614079495,"velocity":2.179856483039429,"acceleration":1.0817987324788225,"pose":{"translation":{"x":6.301477885417253,"y":-2.148918108160069},"rotation":{"radians":0.2789682750584509}},"curvature":-0.1701090538930089},{"time":6.1693075612238255,"velocity":2.234025931671022,"acceleration":0.9538268260861658,"pose":{"translation":{"x":6.4079602946560525,"y":-2.119358079242467},"rotation":{"radians":0.264077610060394}},"curvature":-0.09114651034051453},{"time":6.220969243606113,"velocity":2.2833022302079913,"acceleration":-1.7056565792390221,"pose":{"translation":{"x":6.520697924048186,"y":-2.089259247366811},"rotation":{"radians":0.2599313011954661}},"curvature":0.022570961407001752},{"time":6.275290116374521,"velocity":2.1906494761805506,"acceleration":-1.7496951582377849,"pose":{"translation":{"x":6.63800570485752,"y":-2.0575629765582377},"rotation":{"radians":0.27052021352622774}},"curvature":0.15406463717560975},{"time":6.333170718870799,"velocity":2.0893760662369267,"acceleration":-2.035374561449858,"pose":{"translation":{"x":6.756939190756005,"y":-2.0229592083370243},"rotation":{"radians":0.2989809404653433}},"curvature":0.31113301245473324},{"time":6.393873742451236,"velocity":1.9658226762382152,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.873693775990171,"y":-1.98400537776818},"rotation":{"radians":0.34930686011401557}},"curvature":0.5185092587751816},{"time":6.45718379691113,"velocity":1.7948855291965022,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.984003913547639,"y":-1.9392453295110483},"rotation":{"radians":0.4275232415264521}},"curvature":0.8169487565192634},{"time":6.489814797928593,"velocity":1.7067818264493495,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.035381537476421,"y":-1.9142584735754493},"rotation":{"radians":0.47969454283423385}},"curvature":1.0168710516464734},{"time":6.523015829532582,"velocity":1.6171390411185798,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.083542333323617,"y":-1.8873282338688995},"rotation":{"radians":0.5422487069992634}},"curvature":1.258956685716084},{"time":6.556794578407924,"velocity":1.5259364191551554,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.128001244823382,"y":-1.858321723475558},"rotation":{"radians":0.6164527510508817}},"curvature":1.5451049510317179},{"time":6.591251803168148,"velocity":1.4329019123025517,"acceleration":-2.6806172558272956,"pose":{"translation":{"x":7.168319260287408,"y":-1.82712750283853},"rotation":{"radians":0.7032920825936563}},"curvature":1.8676984396178187},{"time":6.60880671880312,"velocity":1.385843902526854,"acceleration":-2.4524128780002257,"pose":{"translation":{"x":7.186803901326831,"y":-1.8106819553448337},"rotation":{"radians":0.751578206834326}},"curvature":2.035921528753011},{"time":6.626606430459573,"velocity":1.3421916604358783,"acceleration":-2.1650852927625084,"pose":{"translation":{"x":7.204115888172626,"y":-1.7936592958864155},"rotation":{"radians":0.8030398353158782}},"curvature":2.2025159789337243},{"time":6.6446454296590405,"velocity":1.303135688572956,"acceleration":-1.8231138892260659,"pose":{"translation":{"x":7.220218849927427,"y":-1.7760532814259713},"rotation":{"radians":0.857506662253707}},"curvature":2.3610294222734507},{"time":6.662906542631733,"velocity":1.269843599879714,"acceleration":-1.4331260334895597,"pose":{"translation":{"x":7.235081632648911,"y":-1.7578597061598589},"rotation":{"radians":0.9146937607387257}},"curvature":2.5038477670799977},{"time":6.6813592837941655,"velocity":1.2433984961305877,"acceleration":-1.003081707219361,"pose":{"translation":{"x":7.248678689211289,"y":-1.739076517647053},"rotation":{"radians":0.9741920306971419}},"curvature":2.6227438450600085},{"time":6.699959366823231,"velocity":1.2247410930913705,"acceleration":-0.5414640222949193,"pose":{"translation":{"x":7.260990469166788,"y":-1.7197039329380996},"rotation":{"radians":1.035468446458543}},"curvature":2.7097158319299712},{"time":6.718649729874464,"velocity":1.2146209339354976,"acceleration":-0.0566686071022693,"pose":{"translation":{"x":7.272003808607153,"y":-1.699744554704072},"rotation":{"radians":1.0978786938489669}},"curvature":2.7580089355399395},{"time":6.737363182856779,"velocity":1.213560468620916,"acceleration":0.4433143947154948,"pose":{"translation":{"x":7.281712320025128,"y":-1.6792034873655228},"rotation":{"radians":1.1606928442505877}},"curvature":2.7631160678733435},{"time":6.756026432279557,"velocity":1.2218341557421992,"acceleration":0.9509693569196473,"pose":{"translation":{"x":7.290116782175955,"y":-1.658088453221441},"rotation":{"radians":1.223132022361671}},"curvature":2.723505758274525},{"time":6.774564886702263,"velocity":1.239463657822844,"acceleration":1.4592391701705065,"pose":{"translation":{"x":7.297225529938858,"y":-1.6364099085782065},"rotation":{"radians":1.284411361762626}},"curvature":2.6408683261526},{"time":6.792907423046835,"velocity":1.2662298053371197,"acceleration":1.9616441865360656,"pose":{"translation":{"x":7.303054844178538,"y":-1.6141811598785432},"rotation":{"radians":1.3437828639487792}},"curvature":2.5198022787893795},{"time":6.810990292097889,"velocity":1.301701960287013,"acceleration":2.4527288875462796,"pose":{"translation":{"x":7.307629341606662,"y":-1.591418479830475},"rotation":{"radians":1.4005717491245238}},"curvature":2.3670293840213974},{"time":6.828759561133767,"velocity":1.3452851597618922,"acceleration":2.700000000000041,"pose":{"translation":{"x":7.310982364643354,"y":-1.5681412235362797},"rotation":{"radians":1.4542015179654442}},"curvature":2.1903540079169392},{"time":6.846196768599073,"velocity":1.39236561991822,"acceleration":2.7000000000000566,"pose":{"translation":{"x":7.313156371278683,"y":-1.5443719446214454},"rotation":{"radians":1.5042055757094992}},"curvature":1.9976192244615987},{"time":6.863334187941428,"velocity":1.438636652142577,"acceleration":2.7000000000000686,"pose":{"translation":{"x":7.3142033249341605,"y":-1.5201365113636225},"rotation":{"radians":1.5502259468516013}},"curvature":1.7958592824262125},{"time":6.880216510485553,"velocity":1.4842189230117167,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.314185084324226,"y":-1.4954642228215806},"rotation":{"radians":1.592001544705991}},"curvature":1.5907468651284107},{"time":6.913315514685303,"velocity":1.5735862343510432,"acceleration":2.700000000000031,"pose":{"translation":{"x":7.311252270799465,"y":-1.4449441267992365},"rotation":{"radians":1.6621415169822258}},"curvature":1.1850244602983513},{"time":6.945590071953128,"velocity":1.660727538974172,"acceleration":2.699999999999988,"pose":{"translation":{"x":7.305065521015141,"y":-1.3931190775472144},"rotation":{"radians":1.713679767993543}},"curvature":0.7937678960229849},{"time":7.007287058563199,"velocity":1.8273094028213608,"acceleration":-0.8998261813780429,"pose":{"translation":{"x":7.286689428589846,"y":-1.2870991432068566},"rotation":{"radians":1.757019167206017}},"curvature":-2.4363279240104615E-14},{"time":7.067291049405121,"velocity":1.773316240874631,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.265189760739553,"y":-1.1812342716200572},"rotation":{"radians":1.7985589202588221}},"curvature":0.7395843401690734},{"time":7.097962260830125,"velocity":1.690503970027118,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.252035192568231,"y":-1.1297690554917228},"rotation":{"radians":1.8463010595597449}},"curvature":1.0536426581515266},{"time":7.129676447632195,"velocity":1.604875665661529,"acceleration":-2.5497429356035735,"pose":{"translation":{"x":7.236315079935569,"y":-1.0799345494261536},"rotation":{"radians":1.9088936494312818}},"curvature":1.3368297135148801},{"time":7.162539835485492,"velocity":1.5210824746425846,"acceleration":-1.748741142151181,"pose":{"translation":{"x":7.2175200259468175,"y":-1.0321319623719334},"rotation":{"radians":1.9840160049929294}},"curvature":1.5804970975378652},{"time":7.1964534826517745,"velocity":1.461776284562508,"acceleration":-1.1941967914282665,"pose":{"translation":{"x":7.195295578488521,"y":-0.9866963916167394},"rotation":{"radians":2.0690232521723817}},"curvature":1.7698400638686351},{"time":7.213721966306912,"velocity":1.4411543167887109,"acceleration":-0.8447275586917069,"pose":{"translation":{"x":7.182825863477231,"y":-0.964953792361915},"rotation":{"radians":2.11429550669416}},"curvature":1.8393299389498718},{"time":7.231125928168033,"velocity":1.4264527105742033,"acceleration":-0.5101232308803482,"pose":{"translation":{"x":7.169429754660807,"y":-0.9439005389138915},"rotation":{"radians":2.1608710627450414}},"curvature":1.8900967339138623},{"time":7.248622152225537,"velocity":1.4175274802297826,"acceleration":-0.1920360876418958,"pose":{"translation":{"x":7.15510096821856,"y":-0.9235615793666021},"rotation":{"radians":2.208330288702416}},"curvature":1.9214305574754948},{"time":7.266168434174448,"velocity":1.4141579608916521,"acceleration":0.10718027836611788,"pose":{"translation":{"x":7.139840565209688,"y":-0.9039584266089027},"rotation":{"radians":2.2562563662567094}},"curvature":1.9333627806998803},{"time":7.283724637255553,"velocity":1.416039639624937,"acceleration":0.3848215966485664,"pose":{"translation":{"x":7.123656561711788,"y":-0.8851092744535243},"rotation":{"radians":2.3042473088319944}},"curvature":1.9266923332242407},{"time":7.301253714123915,"velocity":1.4227852069731957,"acceleration":0.6381309390799776,"pose":{"translation":{"x":7.106563538959358,"y":-0.8670291137660291},"rotation":{"radians":2.351927528875207}},"curvature":1.9029246660901997},{"time":7.318722557107339,"velocity":1.4339326161508492,"acceleration":0.864561584223487,"pose":{"translation":{"x":7.088582253482313,"y":-0.849729848593765},"rotation":{"radians":2.398957807447429}},"curvature":1.8641374433557714},{"time":7.336102575808388,"velocity":1.4489587126528622,"acceleration":1.0620074769100656,"pose":{"translation":{"x":7.069739247244487,"y":-0.8332204122948197},"rotation":{"radians":2.4450428124119363}},"curvature":1.8127988168490978},{"time":7.353369950722441,"velocity":1.467296793918196,"acceleration":1.22899244469454,"pose":{"translation":{"x":7.050066457782153,"y":-0.8175068836669759},"rotation":{"radians":2.4899357073843267}},"curvature":1.7515690311339673},{"time":7.3705055626787574,"velocity":1.4883563315477266,"acceleration":1.4176509730977718,"pose":{"translation":{"x":7.02960082834252,"y":-0.802592603076666},"rotation":{"radians":2.533439803142345}},"curvature":1.6831137797315117},{"time":7.4043091333171605,"velocity":1.5362779963574378,"acceleration":1.567616835564334,"pose":{"translation":{"x":6.986461511905971,"y":-0.7751621520913521},"rotation":{"radians":2.6157373828281307}},"curvature":1.5343360273974216},{"time":7.437460422800353,"velocity":1.5882465158719565,"acceleration":1.6087868688117564,"pose":{"translation":{"x":6.940702143394723,"y":-0.7509054265436048},"rotation":{"radians":2.691278321221699}},"curvature":1.3831417168479254},{"time":7.469918253572,"velocity":1.6404642478074958,"acceleration":1.5619809951967418,"pose":{"translation":{"x":6.89275870850832,"y":-0.7297624109896435},"rotation":{"radians":2.7599760310386023}},"curvature":1.2408707938342873},{"time":7.501656856531394,"velocity":1.6900393424441642,"acceleration":1.450464042060832,"pose":{"translation":{"x":6.843109857618273,"y":-0.711640423463729},"rotation":{"radians":2.822135337082725}},"curvature":1.1139353829262169},{"time":7.532649425506936,"velocity":1.7349929493142775,"acceleration":1.295192994109926,"pose":{"translation":{"x":6.792264430200346,"y":-0.6964178316047155},"rotation":{"radians":2.8782937445490533}},"curvature":1.0051043276912084},{"time":7.5628583458130265,"velocity":1.7741193312543513,"acceleration":1.1120119437746527,"pose":{"translation":{"x":6.740748979266858,"y":-0.6839477687825986},"rotation":{"radians":2.929102202331164}},"curvature":0.9148699612191796},{"time":7.592231504476495,"velocity":1.8067826345145166,"acceleration":0.8047516712850845,"pose":{"translation":{"x":6.689095295798981,"y":-0.6740618502250659},"rotation":{"radians":2.975245793685508}},"curvature":0.8425340106330361},{"time":7.648232558899441,"velocity":1.8518495766551089,"acceleration":0.34853196284432353,"pose":{"translation":{"x":6.58745173162278,"y":-0.661283612862265},"rotation":{"radians":3.056187292389604}},"curvature":0.7469182899099578},{"time":7.700011725822534,"velocity":1.8698962713372582,"acceleration":-0.16466091556373563,"pose":{"translation":{"x":6.491218753325414,"y":-0.6564468913005509},"rotation":{"radians":3.1259654822367957}},"curvature":0.7099220766248484},{"time":7.746989886511434,"velocity":1.8621608043867235,"acceleration":-0.6346345979229399,"pose":{"translation":{"x":6.403566747729169,"y":-0.657808999146428},"rotation":{"radians":-3.0946595531758265}},"curvature":0.7256921844949556},{"time":7.788763195465173,"velocity":1.8356500172549568,"acceleration":-0.4009282346022659,"pose":{"translation":{"x":6.32655225465844,"y":-0.6636397078782641},"rotation":{"radians":-3.03667847401836}},"curvature":0.7807473895447804},{"time":7.825082958618918,"velocity":1.8210883987325537,"acceleration":-0.2701753464213984,"pose":{"translation":{"x":6.260718748773229,"y":-0.6723401628958849},"rotation":{"radians":-2.983327156378724}},"curvature":0.8116696735660067},{"time":7.88463461707004,"velocity":1.804999008780553,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.154807962378386,"y":-0.6933252592926635},"rotation":{"radians":-2.9229237077158694}},"curvature":-6.89256517780475E-14},{"time":7.913366745776075,"velocity":1.7274222612742591,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.105382169772536,"y":-0.7048295258935683},"rotation":{"radians":-2.8944577500936557}},"curvature":0.9898546895007715},{"time":7.9461399746733505,"velocity":1.638934543251615,"acceleration":1.2129489576705177,"pose":{"translation":{"x":6.052341211286653,"y":-0.7199832175221093},"rotation":{"radians":-2.829917196360015}},"curvature":1.244909683667625},{"time":7.983619005028876,"velocity":1.6843946940558512,"acceleration":1.7188775517679564,"pose":{"translation":{"x":5.9938320492645705,"y":-0.7413180427175279},"rotation":{"radians":-2.7552319783560915}},"curvature":1.128011375882325},{"time":8.0245734591528,"velocity":1.754790385894375,"acceleration":1.120405876640976,"pose":{"translation":{"x":5.9296421212676345,"y":-0.7702892366367647},"rotation":{"radians":-2.68202517427326}},"curvature":0.9589440061187532},{"time":8.068489934788518,"velocity":1.8039946632779944,"acceleration":0.30942001296642796,"pose":{"translation":{"x":5.860889308945416,"y":-0.8074327001199966},"rotation":{"radians":-2.611946712236002}},"curvature":0.8486059854042763},{"time":8.115010256041346,"velocity":1.8183889816832466,"acceleration":-0.49701538006601903,"pose":{"translation":{"x":5.789711906906409,"y":-0.8525221387561752},"rotation":{"radians":-2.542325324688139}},"curvature":0.8174564272056424},{"time":8.163688868922241,"velocity":1.7941949624011615,"acceleration":-1.690048901702673,"pose":{"translation":{"x":5.718958591588722,"y":-0.9047262019485662},"rotation":{"radians":-2.468754506008543}},"curvature":0.8700986748766842},{"time":8.214336214434166,"velocity":1.7085984717445786,"acceleration":-2.7,"pose":{"translation":{"x":5.651878390130772,"y":-0.9627656219802874},"rotation":{"radians":-2.3856661716116374}},"curvature":1.0217138349834605},{"time":8.240468301130154,"velocity":1.6380418376654102,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.620764202251342,"y":-0.9934900132537403},"rotation":{"radians":-2.3384336466190065}},"curvature":1.1447855846711075},{"time":8.267213573568052,"velocity":1.5658296020830857,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":5.591810649241981,"y":-1.0250703530798466},"rotation":{"radians":-2.2860608095739368}},"curvature":1.307641400645128},{"time":8.29446092955654,"velocity":1.4922617409141699,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.5653983973921815,"y":-1.0572907322940774},"rotation":{"radians":-2.2273948919074336}},"curvature":1.5178449969625756},{"time":8.322117442879783,"velocity":1.4175891549414128,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.541875004073464,"y":-1.0899367104866822},"rotation":{"radians":-2.161206905512003}},"curvature":1.78262484176562},{"time":8.350124357072742,"velocity":1.3419704866204212,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.521545229266584,"y":-1.1228002265984887},"rotation":{"radians":-2.086289231912457}},"curvature":2.105870641944316},{"time":8.378478760460595,"velocity":1.2654135974732166,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.504661347088734,"y":-1.1556845095166994},"rotation":{"radians":-2.0016529465806725}},"curvature":2.4825761096122894},{"time":8.392811360947947,"velocity":1.2267155761573654,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.497573715521403,"y":-1.172077243117104},"rotation":{"radians":-1.9555202317421885}},"curvature":2.6849789156512784},{"time":8.407270434477866,"velocity":1.187676077626583,"acceleration":-2.6574622742607605,"pose":{"translation":{"x":5.491413457320765,"y":-1.188408988670691},"rotation":{"radians":-1.906861734434117}},"curvature":2.890601730990897},{"time":8.421881379710763,"velocity":1.1488480418788691,"acceleration":-2.3184571086867005,"pose":{"translation":{"x":5.486193030704304,"y":-1.2046605118354696},"rotation":{"radians":-1.8557866949121526}},"curvature":3.092609303262215},{"time":8.436645773902367,"velocity":1.1146174272098952,"acceleration":-1.9175221461685914,"pose":{"translation":{"x":5.481919796934385,"y":-1.2208142046278108},"rotation":{"radians":-1.802501188338778}},"curvature":3.2823712408498213},{"time":8.45153279443049,"velocity":1.0860712356567535,"acceleration":-1.4588088065220075,"pose":{"translation":{"x":5.478595717553475,"y":-1.2368542388785637},"rotation":{"radians":-1.7473215449361288}},"curvature":3.449767928752057},{"time":8.466497399909393,"velocity":1.0642407373980025,"acceleration":-0.9450774003255872,"pose":{"translation":{"x":5.476217051619374,"y":-1.2527667196891765},"rotation":{"radians":-1.6906820251329013}},"curvature":3.583843076219263},{"time":8.481479970588344,"velocity":1.0500810484505447,"acceleration":-0.3761492599771684,"pose":{"translation":{"x":5.474774052940434,"y":-1.268539838887813},"rotation":{"radians":-1.6331340665883607}},"curvature":3.673787416230086},{"time":8.496407257371521,"velocity":1.044466160573586,"acceleration":0.2526871034441883,"pose":{"translation":{"x":5.474250667310791,"y":-1.2841640284854734},"rotation":{"radians":-1.575335273601927}},"curvature":3.7101292401335804},{"time":8.511194685763643,"velocity":1.0482027530213798,"acceleration":0.9524765321455746,"pose":{"translation":{"x":5.474624229745584,"y":-1.299632114132111},"rotation":{"radians":-1.5180279759372337}},"curvature":3.6859011663511714},{"time":8.525749771079512,"velocity":1.0620661302081218,"acceleration":1.7430474537190577,"pose":{"translation":{"x":5.475865161716185,"y":-1.314939468572752},"rotation":{"radians":-1.4620093487673522}},"curvature":3.597500607604957},{"time":8.539976121134165,"velocity":1.086863333446599,"acceleration":2.6569681841756942,"pose":{"translation":{"x":5.477936668385421,"y":-1.3300841651036155},"rotation":{"radians":-1.4080971495914785}},"curvature":3.445004404528287},{"time":8.553777329931545,"velocity":1.1235327061244038,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.480794435842802,"y":-1.3450671310282283},"rotation":{"radians":-1.3570963862725234}},"curvature":3.231834618507058},{"time":8.567139688745907,"velocity":1.1596110749231807,"acceleration":2.699999999999923,"pose":{"translation":{"x":5.484386328339744,"y":-1.3598923011135475},"rotation":{"radians":-1.3097722138383399}},"curvature":2.963850685290576},{"time":8.58012195635117,"velocity":1.1946631974573896,"acceleration":2.6999999999999322,"pose":{"translation":{"x":5.488652085524795,"y":-1.3745667710460783},"rotation":{"radians":-1.2668330803115047}},"curvature":2.648087362867792},{"time":8.605121662333023,"velocity":1.2621624036083872,"acceleration":2.6999999999999624,"pose":{"translation":{"x":5.498921712950436,"y":-1.403508718533239},"rotation":{"radians":-1.1966444136461991}},"curvature":1.899345368181183},{"time":8.651928559276618,"velocity":1.3885410253560935,"acceleration":2.6999999999999926,"pose":{"translation":{"x":5.52392321071957,"y":-1.460283192681829},"rotation":{"radians":-1.13491935438754}},"curvature":-7.353109500985642E-14},{"time":8.696406699192238,"velocity":1.5086320031282685,"acceleration":2.7000000000000197,"pose":{"translation":{"x":5.550515257840978,"y":-1.5189700209446757},"rotation":{"radians":-1.163072703904685}},"curvature":-0.678009450539781},{"time":8.744650958607767,"velocity":1.6388915035501972,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.578866578257237,"y":-1.5894029943565342},"rotation":{"radians":-1.2108847916395842}},"curvature":-0.5182812011551416},{"time":8.800032397049094,"velocity":1.7884213873417794,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.610537024935595,"y":-1.6788674905392753},"rotation":{"radians":-1.245859547886145}},"curvature":-0.24234870198317177},{"time":8.862673389102053,"velocity":1.95755206588477,"acceleration":2.7000000000000273,"pose":{"translation":{"x":5.64686504048428,"y":-1.7904273673540871},"rotation":{"radians":-1.262736435050084}},"curvature":-0.06738234164471639},{"time":8.896212817199823,"velocity":2.0481085217487505,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6671323128444335,"y":-1.8544707490894692},"rotation":{"radians":-1.2652420058640297}},"curvature":-0.010542463785330377},{"time":8.930834477810793,"velocity":2.1415870053983665,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.68896341015074,"y":-1.9236342121972823},"rotation":{"radians":-1.2643227181969958}},"curvature":0.033682368608401604},{"time":8.96620853919775,"velocity":2.2370969711431514,"acceleration":-0.2788532797820463,"pose":{"translation":{"x":5.712461474822781,"y":-1.9974292740545219},"rotation":{"radians":-1.2602603903362708}},"curvature":0.06983320437017627},{"time":9.002858813268146,"velocity":2.2268769220137106,"acceleration":-0.5296333162595044,"pose":{"translation":{"x":5.737715014819868,"y":-2.0752365912961057},"rotation":{"radians":-1.2532264108199724}},"curvature":0.10134754645500449},{"time":9.041427828268374,"velocity":2.206449486694278,"acceleration":-0.5001712341126473,"pose":{"translation":{"x":5.764797770922233,"y":-2.156328123855366},"rotation":{"radians":-1.2432857504234036}},"curvature":0.13086007811161923},{"time":9.081694467638632,"velocity":2.186309271986887,"acceleration":-0.5064885543900148,"pose":{"translation":{"x":5.7937685840122315,"y":-2.2398892990045463},"rotation":{"radians":-1.2304034015084446}},"curvature":0.16049756234329854},{"time":9.123328531726115,"velocity":2.165222095053837,"acceleration":-0.5418192774083456,"pose":{"translation":{"x":5.824671262355529,"y":-2.325041175395291},"rotation":{"radians":-1.2144492946585657}},"curvature":0.19211940846885697},{"time":9.165999268657679,"velocity":2.142102267203095,"acceleration":-0.6032455815118641,"pose":{"translation":{"x":5.857534448882302,"y":-2.4108626070991432},"rotation":{"radians":-1.1952006896112877}},"curvature":0.22750486236506234},{"time":9.209385946246279,"velocity":2.115929445651292,"acceleration":-0.6898251926459572,"pose":{"translation":{"x":5.892371488468428,"y":-2.496412407648039},"rotation":{"radians":-1.1723425586047473}},"curvature":0.2684961902066403},{"time":9.253188619167823,"velocity":2.0857132583647804,"acceleration":-0.800940421684687,"pose":{"translation":{"x":5.9291802952166845,"y":-2.580751514074799},"rotation":{"radians":-1.145467629571454}},"curvature":0.3170995962915798},{"time":9.29713864400283,"velocity":2.0505119069403777,"acceleration":-0.9343294575315514,"pose":{"translation":{"x":5.967943219737937,"y":-2.662965150953622},"rotation":{"radians":-1.1140791773693937}},"curvature":0.3755281673677548},{"time":9.341008146539458,"velocity":2.0095233384331506,"acceleration":-1.083404477253515,"pose":{"translation":{"x":6.008626916432343,"y":-2.742184994440584},"rotation":{"radians":-1.0776018398634073}},"curvature":0.44614207206449225},{"time":9.38461710261673,"velocity":1.9622772001706836,"acceleration":-1.2337702781719864,"pose":{"translation":{"x":6.051182210770537,"y":-2.8176113363141257},"rotation":{"radians":-1.0354091081876633}},"curvature":0.531196265425795},{"time":9.427835922286713,"velocity":1.9089551050041844,"acceleration":-1.359548159819362,"pose":{"translation":{"x":6.095543966574832,"y":-2.8885352480155504},"rotation":{"radians":-0.98688083644898}},"curvature":0.6322457165675689},{"time":9.470580518647346,"velocity":1.850841767679865,"acceleration":-1.4211662581104407,"pose":{"translation":{"x":6.141630953300413,"y":-2.9543607446895193},"rotation":{"radians":-0.9315093392928508}},"curvature":0.7490055955631675},{"time":9.512796192916682,"velocity":1.790846275844903,"acceleration":-1.3669291659195488,"pose":{"translation":{"x":6.189345713316526,"y":-3.014626949224539},"rotation":{"radians":-0.8690753085063544}},"curvature":0.8774969313591167},{"time":9.554427203798712,"velocity":1.7339396328635415,"acceleration":-1.1391736635986869,"pose":{"translation":{"x":6.238574429187683,"y":-3.0690302562934653},"rotation":{"radians":-0.7999077756769518}},"curvature":1.007589806159538},{"time":9.595372063247142,"velocity":1.6872963273201398,"acceleration":-0.6808097485133338,"pose":{"translation":{"x":6.289186790954844,"y":-3.1174464963939883},"rotation":{"radians":-0.7252148738015826}},"curvature":1.1207638442212495},{"time":9.635431448708388,"velocity":1.6600235071786695,"acceleration":0.06871429848890243,"pose":{"translation":{"x":6.341035863416625,"y":-3.1599530998891328},"rotation":{"radians":-0.6474179831418267}},"curvature":1.1898844085116487},{"time":9.674264316864031,"velocity":1.6626918804722965,"acceleration":1.2039881971346202,"pose":{"translation":{"x":6.393957953410482,"y":-3.1968512610477475},"rotation":{"radians":-0.5703597276566561}},"curvature":1.1830215760444607},{"time":9.711371482347095,"velocity":1.7073684697430282,"acceleration":2.699999999999962,"pose":{"translation":{"x":6.44777247709391,"y":-3.228688102085},"rotation":{"radians":-0.4992450883986416}},"curvature":1.0713034085502606},{"time":9.746195358440449,"velocity":1.8013929351950828,"acceleration":2.7000000000000335,"pose":{"translation":{"x":6.502281827225639,"y":-3.2562788372028773},"rotation":{"radians":-0.44027497140811567}},"curvature":0.8369901507315796},{"time":9.809729107950034,"velocity":1.972934058870962,"acceleration":2.699999999999956,"pose":{"translation":{"x":6.612508664562251,"y":-3.3034562906654665},"rotation":{"radians":-0.385319817675161}},"curvature":-1.976269077323641E-14},{"time":9.86809020097786,"velocity":2.130509010046093,"acceleration":2.6999999999999664,"pose":{"translation":{"x":6.7234542007736255,"y":-3.3484998911755803},"rotation":{"radians":-0.38616325348203456}},"curvature":-0.00775052029837474},{"time":9.923347741895281,"velocity":2.279704370523128,"acceleration":-0.4579092329198754,"pose":{"translation":{"x":6.836325280399195,"y":-3.394404606686512},"rotation":{"radians":-0.385871411003672}},"curvature":0.016818284780042533},{"time":9.978402780707139,"velocity":2.254494159932416,"acceleration":-0.7084141074202462,"pose":{"translation":{"x":6.952052704660515,"y":-3.4411593596019716},"rotation":{"radians":-0.38109255964335487}},"curvature":0.0622978431976038},{"time":10.00668034340137,"velocity":2.234461935596362,"acceleration":-0.7611815368949651,"pose":{"translation":{"x":7.011021157067037,"y":-3.464631799775001},"rotation":{"radians":-0.3762586169224766}},"curvature":0.09052648126693238},{"time":10.035475646305706,"velocity":2.212543482676285,"acceleration":-0.8134929420236763,"pose":{"translation":{"x":7.0706442597275,"y":-3.487965678197271},"rotation":{"radians":-0.36947117142413294}},"curvature":0.12199874249592417},{"time":10.064744875524886,"velocity":2.188733171288009,"acceleration":-0.8734680859841817,"pose":{"translation":{"x":7.1308080293079055,"y":-3.510967768454078},"rotation":{"radians":-0.3605077263161837}},"curvature":0.1569017834174276},{"time":10.094427609029873,"velocity":2.1628062508666286,"acceleration":-0.947326776790345,"pose":{"translation":{"x":7.191363090792827,"y":-3.533418194194602},"rotation":{"radians":-0.34914230405991764}},"curvature":0.19578152095480106},{"time":10.124452645547189,"velocity":2.134362729799667,"acceleration":-1.0398566593299226,"pose":{"translation":{"x":7.252130251675238,"y":-3.5550760696811365},"rotation":{"radians":-0.33513099909832333}},"curvature":0.2395216780427965},{"time":10.154743696551893,"velocity":2.1028643786943233,"acceleration":-1.223851098405257,"pose":{"translation":{"x":7.312906076146332,"y":-3.575685140338315},"rotation":{"radians":-0.3181992384585424}},"curvature":0.289340236013027},{"time":10.215854280834819,"velocity":2.028074122995478,"acceleration":-1.5498313484575859,"pose":{"translation":{"x":7.433582201249403,"y":-3.6126888479702024},"rotation":{"radians":-0.274257866961984}},"curvature":0.41382974549395973},{"time":10.27723586349876,"velocity":1.9329430219649613,"acceleration":-1.9414176631950044,"pose":{"translation":{"x":7.551490932809378,"y":-3.642286244604778},"rotation":{"radians":-0.21413859012772005}},"curvature":0.586096897136623},{"time":10.338618242787009,"velocity":1.8137741866058206,"acceleration":-2.2163836410895574,"pose":{"translation":{"x":7.664700592853938,"y":-3.662449351504559},"rotation":{"radians":-0.13376008186290125}},"curvature":0.8273890796343359},{"time":10.369298244897815,"velocity":1.7457755318188362,"acceleration":-2.3342788004288373,"pose":{"translation":{"x":7.718975002313115,"y":-3.6684351932203234},"rotation":{"radians":-0.08454200129452011}},"curvature":0.9798334980992673},{"time":10.400023791808199,"velocity":1.674053539034345,"acceleration":-2.357486664726867,"pose":{"translation":{"x":7.771426732805503,"y":-3.6714457812553443},"rotation":{"radians":-0.02860105185424137}},"curvature":1.154045241954056},{"time":10.430833613477553,"velocity":1.6014197953062275,"acceleration":-2.248015018994704,"pose":{"translation":{"x":7.821884997348414,"y":-3.6713403662105533},"rotation":{"radians":0.034398089470288516}},"curvature":1.3463751036433995},{"time":10.461752438494724,"velocity":1.531913812297958,"acceleration":-1.976207721514804,"pose":{"translation":{"x":7.870210507555628,"y":-3.6680192353414984},"rotation":{"radians":0.10446084607085139}},"curvature":1.547499841548093},{"time":10.492765696028753,"velocity":1.4706251732898825,"acceleration":-1.5268255457821103,"pose":{"translation":{"x":7.916301047827222,"y":-3.661429353107571},"rotation":{"radians":0.1810705566847586}},"curvature":1.7406194959551107},{"time":10.523791210445644,"velocity":1.423254625307142,"acceleration":-0.898365501229456,"pose":{"translation":{"x":7.960097049539393,"y":-3.6515700017212307},"rotation":{"radians":0.2629934616872644}},"curvature":1.9012790787841125},{"time":10.554655985997758,"velocity":1.395526775747933,"acceleration":-0.09333608223338782,"pose":{"translation":{"x":8.001587165234284,"y":-3.6384984216972374},"rotation":{"radians":0.34814741716161446}},"curvature":2.000380124539847},{"time":10.585088450539596,"velocity":1.3926863287348914,"acceleration":0.8997377174962471,"pose":{"translation":{"x":8.040813842809808,"y":-3.6223354524018756},"rotation":{"radians":0.43361406602673813}},"curvature":2.0107548838953653},{"time":10.61473272545393,"velocity":1.4193584009831461,"acceleration":2.133483654352498,"pose":{"translation":{"x":8.077878899709471,"y":-3.6032711726021827},"rotation":{"radians":0.5158386313597844}},"curvature":1.9149706125757466},{"time":10.643180715320769,"velocity":1.480051722363232,"acceleration":2.700000000000111,"pose":{"translation":{"x":8.1129490971122,"y":-3.581570541015176},"rotation":{"radians":0.5909738158152622}},"curvature":1.7098757579677524},{"time":10.670249699673422,"velocity":1.5531379801153986,"acceleration":2.7000000000001094,"pose":{"translation":{"x":8.146261714122165,"y":-3.5575790368570805},"rotation":{"radians":0.6552351688512801}},"curvature":1.404609871190401},{"time":10.696089900822033,"velocity":1.6229065232166526,"acceleration":2.6999999999999424,"pose":{"translation":{"x":8.17813012195861,"y":-3.531728300392559},"rotation":{"radians":0.7051164256130864}},"curvature":1.0130333929709094},{"time":10.744794900589397,"velocity":1.7544100225885342,"acceleration":-1.2354463006153025,"pose":{"translation":{"x":8.23920170070219,"y":-3.4766403401404227},"rotation":{"radians":0.748869568742241}},"curvature":4.8831523287908774E-15},{"time":10.792848895105568,"velocity":1.6950418928337434,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.298999001955957,"y":-3.4192524278762755},"rotation":{"radians":0.7947399407672529}},"curvature":1.0053973131987994},{"time":10.818392168026925,"velocity":1.626075055946078,"acceleration":-1.7723702334476878,"pose":{"translation":{"x":8.327989483235584,"y":-3.388289911969262},"rotation":{"radians":0.8437515380607123}},"curvature":1.2791631307667384},{"time":10.845555484690763,"velocity":1.577931602049378,"acceleration":-0.26183358099298537,"pose":{"translation":{"x":8.355956498286437,"y":-3.3549512815204525},"rotation":{"radians":0.9028002222909496}},"curvature":1.4123591691932695},{"time":10.874086935980621,"velocity":1.5704611099872274,"acceleration":0.6635063472636266,"pose":{"translation":{"x":8.382632209499416,"y":-3.318817040035875},"rotation":{"radians":0.9670838683014696}},"curvature":1.4337593121286998},{"time":10.903551848865497,"velocity":1.5900112667079125,"acceleration":1.204820188224507,"pose":{"translation":{"x":8.407783569288261,"y":-3.279633058653029},"rotation":{"radians":1.0327825936378177}},"curvature":1.3781809580749675},{"time":10.933640369832053,"velocity":1.6262625242022368,"acceleration":1.4716213786761485,"pose":{"translation":{"x":8.431210860182695,"y":-3.2372961761505032},"rotation":{"radians":1.0971738248847323}},"curvature":1.2786598859350011},{"time":10.964148838926942,"velocity":1.6711594395529545,"acceleration":1.5394800208211215,"pose":{"translation":{"x":8.452746234921566,"y":-3.191839798957595},"rotation":{"radians":1.1585621253275016}},"curvature":1.1613888426019299},{"time":10.994948671669796,"velocity":1.7185751667052118,"acceleration":1.4690978379870283,"pose":{"translation":{"x":8.472252256545993,"y":-3.1434195011639297},"rotation":{"radians":1.2160910743570117}},"curvature":1.044191214432827},{"time":11.025953766351666,"velocity":1.7641246842689302,"acceleration":1.3095705652404022,"pose":{"translation":{"x":8.489620438492496,"y":-3.09229862452908},"rotation":{"radians":1.2695172563092492}},"curvature":0.9375392648899997},{"time":11.05709366891425,"velocity":1.804904584069345,"acceleration":1.0973134240872533,"pose":{"translation":{"x":8.504769784686152,"y":-3.0388338784921847},"rotation":{"radians":1.319004555192523}},"curvature":0.8466221898255206},{"time":11.088295334742332,"velocity":1.8391425908363828,"acceleration":0.7251611710495734,"pose":{"translation":{"x":8.517645329633723,"y":-2.983460940181568},"rotation":{"radians":1.3649657140810862}},"curvature":0.773403551245016},{"time":11.150580855688665,"velocity":1.884309632145258,"acceleration":-1.040697269048229,"pose":{"translation":{"x":8.536476547284952,"y":-2.8690416337561078},"rotation":{"radians":1.4486037728583467}},"curvature":0.6808833010389941},{"time":11.213163408035644,"velocity":1.8191801408276878,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.54613950267345,"y":-2.7535582764285262},"rotation":{"radians":1.525631707698636}},"curvature":0.6604990554078157},{"time":11.277645386985819,"velocity":1.6450787976622165,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.546982662294555,"y":-2.6418703230172422},"rotation":{"radians":1.6020234830596505}},"curvature":0.7237792991695984},{"time":11.344135810674656,"velocity":1.4655546537023592,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.539630830892188,"y":-2.538718312291076},"rotation":{"radians":1.6850639621096635}},"curvature":0.9114673061415777},{"time":11.377566033248439,"velocity":1.3752930527531464,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.533141109513013,"y":-2.4916787877686075},"rotation":{"radians":1.732053662640259}},"curvature":1.080084520520563},{"time":11.41077544497854,"velocity":1.2856276410818719,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.524938434439374,"y":-2.448263067277064},"rotation":{"radians":1.7848072363117133}},"curvature":1.3259922100408545},{"time":11.443505688689235,"velocity":1.197255983062996,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.515157822723939,"y":-2.4088250731606724},"rotation":{"radians":1.8453753169241311}},"curvature":1.681724662256507},{"time":11.47551811437883,"velocity":1.110822433701092,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.503942803118758,"y":-2.3736248955682737},"rotation":{"radians":1.9162183059775968}},"curvature":2.19086068435081},{"time":11.506626236775583,"velocity":1.0268305032298572,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.491443956168402,"y":-2.3428143924629428},"rotation":{"radians":2.0000689723227314}},"curvature":2.9015195104351643},{"time":11.521813192833248,"velocity":0.9858257218741617,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.484761722809528,"y":-2.329069585970461},"rotation":{"radians":2.0476825874754683}},"curvature":3.342586910852986},{"time":11.536754239297748,"velocity":0.9454848964200091,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.477817454303114,"y":-2.3164227896316087},"rotation":{"radians":2.099395510832049}},"curvature":3.8382730062699415},{"time":11.551465608985279,"velocity":0.905764198263676,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.470631306419103,"y":-2.3048561328938084},"rotation":{"radians":2.155260555529645}},"curvature":4.376309011119683},{"time":11.565979040468296,"velocity":0.8665779332595316,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.463223601931938,"y":-2.2943422806946736},"rotation":{"radians":2.215091446443388}},"curvature":4.931381244116806},{"time":11.58034440498722,"velocity":0.8277914490584326,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.45561478499847,"y":-2.284843983462313},"rotation":{"radians":2.278367542822972}},"curvature":5.46172021896825},{"time":11.594632175329359,"velocity":0.7892144691346606,"acceleration":-1.742572020649924,"pose":{"translation":{"x":8.447825375535869,"y":-2.2763136271156306},"rotation":{"radians":2.3441430639341947}},"curvature":5.908303113414307},{"time":11.608807523932153,"velocity":0.764512903276471,"acceleration":-0.35016204691457675,"pose":{"translation":{"x":8.43987592359953,"y":-2.2686927830646217},"rotation":{"radians":2.410985954172766}},"curvature":6.198924420537862},{"time":11.622657975983074,"velocity":0.7596630006356286,"acceleration":1.4910529202195617,"pose":{"translation":{"x":8.43178696376099,"y":-2.2619117582106814},"rotation":{"radians":2.4769747502194055}},"curvature":6.258204674006982},{"time":11.635887577530065,"velocity":0.7793890366556113,"acceleration":2.69999999999981,"pose":{"translation":{"x":8.423578969485837,"y":-2.255889144946899},"rotation":{"radians":2.5397721270625073}},"curvature":6.021695832629082},{"time":11.648303143423481,"velocity":0.8129110645678352,"acceleration":2.7000000000001725,"pose":{"translation":{"x":8.415272307511614,"y":-2.250531371158361},"rotation":{"radians":2.596770016224973}},"curvature":5.449081553925233},{"time":11.671015529947843,"velocity":0.8742345081836169,"acceleration":2.700000000000116,"pose":{"translation":{"x":8.398443640043425,"y":-2.241372531009154},"rotation":{"radians":2.6826764950133546}},"curvature":3.286475585083685},{"time":11.691796708637243,"velocity":0.9303436906449987,"acceleration":2.700000000000072,"pose":{"translation":{"x":8.381460027056619,"y":-2.2334262706951082},"rotation":{"radians":2.714965160462992}},"curvature":3.487523069708681E-13},{"time":11.73066818351953,"velocity":1.0352966728271749,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.346463582231358,"y":-2.218104089006953},"rotation":{"radians":2.7545520891873334}},"curvature":1.8109780507152875},{"time":11.750135893481922,"velocity":1.0878594897256284,"acceleration":2.7000000000001174,"pose":{"translation":{"x":8.327173380001936,"y":-2.2106884245053475},"rotation":{"radians":2.795523702390689}},"curvature":2.078223696314902},{"time":11.770347069756708,"velocity":1.1424296656675537,"acceleration":2.6999999999999558,"pose":{"translation":{"x":8.305798652344691,"y":-2.2035400152901263},"rotation":{"radians":2.841809879998367}},"curvature":1.9834321082345294},{"time":11.791713040258289,"velocity":1.2001177860218188,"acceleration":2.7000000000000877,"pose":{"translation":{"x":8.281720957276432,"y":-2.1967183410720725},"rotation":{"radians":2.8879807249616594}},"curvature":1.6923204633241877},{"time":11.814547957565797,"velocity":1.2617720627520923,"acceleration":2.6999999999999598,"pose":{"translation":{"x":8.254362217026625,"y":-2.1902694232547235},"rotation":{"radians":2.9305923827510907}},"curvature":1.3456953229931459},{"time":11.865415685636384,"velocity":1.3991149285426765,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.187697083309846,"y":-2.1786123536949202},"rotation":{"radians":2.9998025273082716}},"curvature":0.7611104264739775},{"time":11.923771905672258,"velocity":1.5566767226395362,"acceleration":2.699999999999978,"pose":{"translation":{"x":8.102023738143016,"y":-2.168703929394889},"rotation":{"radians":3.048067556970553}},"curvature":0.4064729564834843},{"time":11.989449183714099,"velocity":1.7340053733525045,"acceleration":2.699999999999942,"pose":{"translation":{"x":7.994272200904063,"y":-2.160524770034724},"rotation":{"radians":3.0802010588227335}},"curvature":0.2152373954952757},{"time":12.024812744128443,"velocity":1.8294869864712306,"acceleration":2.699999999999951,"pose":{"translation":{"x":7.931359592791209,"y":-2.1570428463328573},"rotation":{"radians":3.0917953255773063}},"curvature":0.15684417834323894},{"time":12.061696851685811,"velocity":1.9290740768761248,"acceleration":2.699999999999956,"pose":{"translation":{"x":7.862113875913456,"y":-2.153931407096375},"rotation":{"radians":3.101094762621076}},"curvature":0.11436366682445724},{"time":12.099965236761676,"velocity":2.0323987165809587,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.786365043011098,"y":-2.151158119925064},"rotation":{"radians":3.1085091494613573}},"curvature":0.08332021182301048},{"time":12.139475810698341,"velocity":2.139077266209952,"acceleration":2.700000000000034,"pose":{"translation":{"x":7.703993404947496,"y":-2.1486866987695676},"rotation":{"radians":3.114375277578732}},"curvature":0.060511788163897164},{"time":12.180083985333985,"velocity":2.2487193377261914,"acceleration":0.6685793162379902,"pose":{"translation":{"x":7.614930586100122,"y":-2.1464778543971965},"rotation":{"radians":3.1189687884868253}},"curvature":0.043660617025095626},{"time":12.222415482944715,"velocity":2.277021301454104,"acceleration":0.15216170103604149,"pose":{"translation":{"x":7.519160519751599,"y":-2.144490244857738},"rotation":{"radians":3.122515301446174}},"curvature":0.031146792103781143},{"time":12.267343684508921,"velocity":2.2838576530286034,"acceleration":0.10776330566879018,"pose":{"translation":{"x":7.416720443480738,"y":-2.1426814259492666},"rotation":{"radians":3.1252000684454355}},"curvature":0.021814870330304263},{"time":12.31503004225158,"velocity":2.288996492574257,"acceleration":0.07658590583923251,"pose":{"translation":{"x":7.307701894553582,"y":-2.1410088016839555},"rotation":{"radians":3.1271760236025585}},"curvature":0.0148368259987384},{"time":12.365429293237984,"velocity":2.2928563648646696,"acceleration":0.05446149429631531,"pose":{"translation":{"x":7.192251705314444,"y":-2.139430574753885},"rotation":{"radians":3.128570360121532}},"curvature":0.009616065327243215},{"time":12.418468657478202,"velocity":2.2957449678977184,"acceleration":0.04197201051325066,"pose":{"translation":{"x":7.070572998576946,"y":-2.137906696996853},"rotation":{"radians":3.1294898587620077}},"curvature":0.0057205026316680665},{"time":12.4459475745981,"velocity":2.2968983132959675,"acceleration":0.035242457666478474,"pose":{"translation":{"x":7.007477063910285,"y":-2.1371533361932666},"rotation":{"radians":3.1298004106273503}},"curvature":0.004167841064532699},{"time":12.474046931495767,"velocity":2.297888603691889,"acceleration":0.029484695921199514,"pose":{"translation":{"x":6.942926183015063,"y":-2.136399819862188},"rotation":{"radians":3.1300252036406193}},"curvature":0.002835931759910742},{"time":12.502749962736676,"velocity":2.2987349038400438,"acceleration":0.02453584123512621,"pose":{"translation":{"x":6.8769620211975475,"y":-2.1356420571848798},"rotation":{"radians":3.1301736350930325}},"curvature":0.0016985942011494986},{"time":12.532038204716923,"velocity":2.299453515495327,"acceleration":0.016351088494698466,"pose":{"translation":{"x":6.809629948554161,"y":-2.1348762448765544},"rotation":{"radians":3.1302545015872303}},"curvature":7.335136625340631E-4},{"time":12.561892251054273,"velocity":2.299941661648914,"acceleration":-0.016529633454723792,"pose":{"translation":{"x":6.740979071077445,"y":-2.1340988968884256},"rotation":{"radians":3.130276078372261}},"curvature":-7.828748100746206E-5},{"time":12.592296907283933,"velocity":2.2994390838261207,"acceleration":-0.013262342998188627,"pose":{"translation":{"x":6.671062261762034,"y":-2.133306874109768},"rotation":{"radians":3.1302461928608394}},"curvature":-7.52889159388253E-4},{"time":12.623233592251978,"velocity":2.2990287908988476,"acceleration":-1.8383369954454578,"pose":{"translation":{"x":6.599936191710627,"y":-2.132497414069972},"rotation":{"radians":3.1301722933778384}},"curvature":-0.0013038370663474516},{"time":12.655078212070208,"velocity":2.2404876481811,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.527661361239953,"y":-2.1316681606406016},"rotation":{"radians":3.1300615141390145}},"curvature":-0.0017424409420958484},{"time":12.68849583032315,"velocity":2.1502600788981554,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.454302130986741,"y":-2.130817193737451},"rotation":{"radians":3.1299207374275095}},"curvature":-0.00207801625402688},{"time":12.723872992006013,"velocity":2.054741742354424,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.379926753013693,"y":-2.129943059022599},"rotation":{"radians":3.129756653924371}},"curvature":-0.0023180759408619983},{"time":12.76146018955087,"velocity":1.9532563089833077,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.304607401915457,"y":-2.1290447976064693},"rotation":{"radians":3.1295758221602035}},"curvature":-0.0024684771853719866},{"time":12.801580797148649,"velocity":1.8449306684693076,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.2284202059245874,"y":-2.1281219757498833},"rotation":{"radians":3.129384728091001}},"curvature":-0.00253352661596237},{"time":12.844664609272925,"velocity":1.7286043757337595,"acceleration":-2.7,"pose":{"translation":{"x":6.1514452780175235,"y":-2.127174714566119},"rotation":{"radians":3.1291898458659917}},"curvature":-0.002516045835163573},{"time":12.89130406795116,"velocity":1.6026778373025266,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0737667470205565,"y":-2.1262037197229664},"rotation":{"radians":3.1289977009541854}},"curvature":-0.0024173976568687985},{"time":12.942355293415046,"velocity":1.4648395285500306,"acceleration":-2.7,"pose":{"translation":{"x":5.995472788715799,"y":-2.1252103111447855},"rotation":{"radians":3.128814936936327}},"curvature":-0.0022374718180512374},{"time":12.999137139543574,"velocity":1.3115285440030058,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.916655656947155,"y":-2.124196452714562},"rotation":{"radians":3.128648387459547}},"curvature":-0.0019746271120612223},{"time":13.063877588971557,"velocity":1.1367293305474522,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.837411714726291,"y":-2.123164781975962},"rotation":{"radians":3.1285051551060183}},"curvature":-0.001625584740292513},{"time":13.140934781481148,"velocity":0.9286749107715602,"acceleration":-2.7,"pose":{"translation":{"x":5.757841465338608,"y":-2.122118639835392},"rotation":{"radians":3.128392699261511}},"curvature":-0.0011852650274841218},{"time":13.24159059216746,"velocity":0.6569042219185144,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678049583449203,"y":-2.1210621002640537},"rotation":{"radians":3.128318935508259}},"curvature":-6.465562633311351E-4},{"time":13.48488845213728,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.598144946208852,"y":-2.120000000000001},"rotation":{"radians":3.1282923496405335}},"curvature":5.032697995759995E-16}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce1.wpilib.json b/src/main/deploy/paths/Bounce1.wpilib.json new file mode 100644 index 0000000..8919bfb --- /dev/null +++ b/src/main/deploy/paths/Bounce1.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2190625523416865,"y":-2.295277716936159},"rotation":{"radians":-0.13667831434709032}},"curvature":0.0},{"time":0.22438746704252197,"velocity":0.6058461610148095,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.2864606822508553,"y":-2.304092719711363},"rotation":{"radians":-0.1170421427859319}},"curvature":0.5643286724104043},{"time":0.31659154428955705,"velocity":0.8547971695818043,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3535125948797755,"y":-2.3103001998044204},"rotation":{"radians":-0.06200050429081461}},"curvature":1.0620304408056782},{"time":0.3865335497601475,"velocity":1.0436405843523986,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4198872043666615,"y":-2.3117422180116645},"rotation":{"radians":0.02340135914057638}},"curvature":1.499027877863022},{"time":0.416844551908855,"velocity":1.125480290153909,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.4527217018630596,"y":-2.3101287966124655},"rotation":{"radians":0.07581618388523016}},"curvature":1.685127643900189},{"time":0.44497336103755447,"velocity":1.2014280748013975,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.4852704747922563,"y":-2.306721971042591},"rotation":{"radians":0.1336105355281614}},"curvature":1.8407145612445912},{"time":0.471379880600669,"velocity":1.2727256776218068,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.5174970307016695,"y":-2.30137640225166},"rotation":{"radians":0.19578792312700474}},"curvature":1.9585936486426558},{"time":0.4964217065576293,"velocity":1.3403386077055994,"acceleration":1.6039342127688003,"pose":{"translation":{"x":1.549366017414454,"y":-2.2939715408501544},"rotation":{"radians":0.26122235838180147}},"curvature":2.03295328985009},{"time":0.5206154406806623,"velocity":1.3791437656001642,"acceleration":0.20023692496968024,"pose":{"translation":{"x":1.5808432416930818,"y":-2.284410619275986},"rotation":{"radians":0.3287008506010951}},"curvature":2.0608068154284185},{"time":0.5446577565091028,"velocity":1.383957924990801,"acceleration":0.666943222560105,"pose":{"translation":{"x":1.6118956879029251,"y":-2.2726196439610704},"rotation":{"radians":0.3969894480167388}},"curvature":2.0429019581541517},{"time":0.5688507949940165,"velocity":1.40009330804145,"acceleration":1.0755453521210445,"pose":{"translation":{"x":1.6424915366758384,"y":-2.2585463874978995},"rotation":{"radians":0.46491024547085325}},"curvature":1.9837890618025127},{"time":0.5931083036606244,"velocity":1.426183358741856,"acceleration":1.4170898905577722,"pose":{"translation":{"x":1.67260018357374,"y":-2.2421593808061115},"rotation":{"radians":0.5314136858990691}},"curvature":1.8910366087386976},{"time":0.6173654867127724,"velocity":1.4605579676184641,"acceleration":1.684675503735676,"pose":{"translation":{"x":1.7021922577521942,"y":-2.223446905299065},"rotation":{"radians":0.5956324894326599}},"curvature":1.7738908881089923},{"time":0.6415806269226574,"velocity":1.5013526211495822,"acceleration":1.8750481430236636,"pose":{"translation":{"x":1.7312396406239934,"y":-2.2024159850504086},"rotation":{"radians":0.6569096615732013}},"curvature":1.6418268507415719},{"time":0.6657336424327914,"velocity":1.5466406880302808,"acceleration":1.9895386959706989,"pose":{"translation":{"x":1.7597154845227396,"y":-2.179091378960654},"rotation":{"radians":0.7148003790857229}},"curvature":1.5033763689458892},{"time":0.689822355495369,"velocity":1.5945661148044137,"acceleration":2.034082566779173,"pose":{"translation":{"x":1.7875942313664275,"y":-2.153514572923748},"rotation":{"radians":0.7690532266628125}},"curvature":1.3654279101692903},{"time":0.7138575373757465,"velocity":1.6434556592566563,"acceleration":2.0183533127031996,"pose":{"translation":{"x":1.8148516313210254,"y":-2.1257427719936435},"rotation":{"radians":0.8195788318011353}},"curvature":1.2329942768056759},{"time":0.7378577160612598,"velocity":1.6918964994120307,"acceleration":1.9042305983130636,"pose":{"translation":{"x":1.8414647614640578,"y":-2.0958478925508723},"rotation":{"radians":0.8664136765870671}},"curvature":1.1093247469853833},{"time":0.785844633096,"velocity":1.7832746551482932,"acceleration":1.662518327354888,"pose":{"translation":{"x":1.8926732671647957,"y":-2.030044073281779},"rotation":{"radians":0.9495798158971775}},"curvature":0.89432735819266},{"time":0.8339311306074059,"velocity":1.8632193385593108,"acceleration":1.382687896151482,"pose":{"translation":{"x":1.9410636125360727,"y":-1.9569343750220183},"rotation":{"radians":1.0201473202306437}},"curvature":0.7235264433649939},{"time":0.8821729221742909,"velocity":1.9299226798475053,"acceleration":1.114697403983879,"pose":{"translation":{"x":1.9865020866994656,"y":-1.8775209375629944},"rotation":{"radians":1.080021306548925}},"curvature":0.5918444106673741},{"time":0.9305147904150518,"velocity":1.9838092348792122,"acceleration":0.8805814727916166,"pose":{"translation":{"x":2.028878001065319,"y":-1.7929445299122628},"rotation":{"radians":1.1310447963445298}},"curvature":0.49193108190754337},{"time":0.9787908238510442,"velocity":2.0263202155028157,"acceleration":0.6844697281129776,"pose":{"translation":{"x":2.0681042865673716,"y":-1.7044522996238305},"rotation":{"radians":1.1748459816272578}},"curvature":0.41685943141170323},{"time":1.0267403376991409,"velocity":2.059140206209572,"acceleration":0.5212916893138045,"pose":{"translation":{"x":2.1041180908973773,"y":-1.6133655221284542},"rotation":{"radians":1.2128035189738537}},"curvature":0.36102176191660384},{"time":1.07403030782682,"velocity":2.083792074625029,"acceleration":-0.819583672196297,"pose":{"translation":{"x":2.1368813757397325,"y":-1.5210473500639399},"rotation":{"radians":1.2460656619288912}},"curvature":0.32023752262865446},{"time":1.120907748629904,"velocity":2.045372089548473,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.166381514006097,"y":-1.4288705626054419},"rotation":{"radians":1.2755894219550927}},"curvature":0.2916029622975603},{"time":1.1685636764507539,"velocity":1.9167010844321783,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.1926318870700214,"y":-1.3381853147957623},"rotation":{"radians":1.3021844585295703}},"curvature":0.2733200598956795},{"time":1.2176707505183024,"velocity":1.784111984449797,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.215672482001568,"y":-1.250286886875649},"rotation":{"radians":1.326556269034668}},"curvature":0.2646072442463823},{"time":1.2679133672062661,"velocity":1.6484569193922949,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.2355704888019376,"y":-1.1663834336140964},"rotation":{"radians":1.3493482566795647}},"curvature":0.26575243847025265},{"time":1.3189403742533437,"velocity":1.5106840003651854,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.252420897638091,"y":-1.0875637336386417},"rotation":{"radians":1.371184938708623}},"curvature":0.2783830448470933},{"time":1.3703668605927257,"velocity":1.3718324872488539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2663470960773764,"y":-1.014764938765669},"rotation":{"radians":1.3927203241814738}},"curvature":0.3060902519064523},{"time":1.4217787555126837,"velocity":1.2330203709649672,"acceleration":-2.7,"pose":{"translation":{"x":2.27750146632215,"y":-0.9487403233307015},"rotation":{"radians":1.4146968384455714}},"curvature":0.35567097701480005},{"time":1.5228297983828232,"velocity":0.9601825552155909,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2922528076203808,"y":-0.8389138366943976},"rotation":{"radians":1.4638501053751873}},"curvature":0.5793213657302914},{"time":1.6191362560682607,"velocity":0.7001551194649095,"acceleration":-2.7,"pose":{"translation":{"x":2.298496566767544,"y":-0.75920739334815},"rotation":{"radians":1.5292488420790011}},"curvature":1.1903140188336137},{"time":1.6654911004538386,"velocity":0.574997039623849,"acceleration":-2.700000000000002,"pose":{"translation":{"x":2.299134147724131,"y":-0.7296595314270296},"rotation":{"radians":1.5718987210540936}},"curvature":1.739266666769078},{"time":1.7122363578225257,"velocity":0.448784844728394,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2985565261744956,"y":-0.7057380303558152},"rotation":{"radians":1.6201260709062921}},"curvature":2.2622779404584725},{"time":1.8784529669811902,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2952777169361562,"y":-0.6685846807962372},"rotation":{"radians":1.683947308385398}},"curvature":9.41080494104515E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce2.wpilib.json b/src/main/deploy/paths/Bounce2.wpilib.json new file mode 100644 index 0000000..93aec3d --- /dev/null +++ b/src/main/deploy/paths/Bounce2.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":2.295,"y":-0.7613618501578302},"rotation":{"radians":-1.6862229871618215}},"curvature":0.0},{"time":0.2238228580660315,"velocity":0.6043217167782851,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.2875627593458607,"y":-0.8285821812917589},"rotation":{"radians":-1.6709663269826212}},"curvature":0.42243831537365},{"time":0.3198225371197324,"velocity":0.8635208502232774,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.281793525880724,"y":-0.8988017878415373},"rotation":{"radians":-1.6319372854089}},"curvature":0.6481967229998912},{"time":0.3979249471682881,"velocity":1.0743973573543777,"acceleration":2.7,"pose":{"translation":{"x":2.2791010756631116,"y":-0.974431918334709},"rotation":{"radians":-1.5803173771814334}},"curvature":0.6905190891267584},{"time":0.4687493308135945,"velocity":1.265623193196705,"acceleration":2.700000000000001,"pose":{"translation":{"x":2.2806273188287203,"y":-1.0572831182899467},"rotation":{"radians":-1.5253509810236108}},"curvature":0.6258138524525175},{"time":0.536240595225811,"velocity":1.4478496071096898,"acceleration":2.7000000000000024,"pose":{"translation":{"x":2.2872648244318845,"y":-1.1486100891732618},"rotation":{"radians":-1.4727132767868774}},"curvature":0.5233946397247444},{"time":0.6021610635649666,"velocity":1.62583487162541,"acceleration":2.700000000000004,"pose":{"translation":{"x":2.2996743452870447,"y":-1.249156547354214},"rotation":{"radians":-1.4249868121113762}},"curvature":0.42244145879152445},{"time":0.6672865377662217,"velocity":1.8016736519687993,"acceleration":2.699999999999998,"pose":{"translation":{"x":2.3183023428102096,"y":-1.3592000830621207},"rotation":{"radians":-1.3827959970636505}},"curvature":0.33807433193501213},{"time":0.7318784624738089,"velocity":1.9760718486792845,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.343398511860425,"y":-1.4785970193422662},"rotation":{"radians":-1.3457701607439638}},"curvature":0.272826204482378},{"time":0.7639755742515466,"velocity":2.0627340504791762,"acceleration":2.544704962670873,"pose":{"translation":{"x":2.3584006997501628,"y":-1.5416539629117005},"rotation":{"radians":-1.3289592448034329}},"curvature":0.24672187819165592},{"time":0.7959531047399616,"velocity":2.144107431007005,"acceleration":0.38146276323869466,"pose":{"translation":{"x":2.3750333055812374,"y":-1.6068272710121114},"rotation":{"radians":-1.3131390093705173}},"curvature":0.2244056885122533},{"time":0.8283243714554023,"velocity":2.156455863857814,"acceleration":0.31702921503677,"pose":{"translation":{"x":2.393280004647849,"y":-1.6740004788825873},"rotation":{"radians":-1.2982003026310438}},"curvature":0.20544703216711874},{"time":0.8615532724646945,"velocity":2.1669903962613244,"acceleration":0.26160094920069016,"pose":{"translation":{"x":2.413115460242161,"y":-1.7430392036175038},"rotation":{"radians":-1.2840367812955156}},"curvature":0.1894440644672511},{"time":0.8955933431585974,"velocity":2.175895311065708,"acceleration":0.213900734334339,"pose":{"translation":{"x":2.4345058713055985,"y":-1.8137925460089055},"rotation":{"radians":-1.2705464213689779}},"curvature":0.1760374965787479},{"time":0.9303897900773054,"velocity":2.1833382966138455,"acceleration":0.1726704728011205,"pose":{"translation":{"x":2.4574095200801422,"y":-1.8860944923888865},"rotation":{"radians":-1.2576321461697906}},"curvature":0.16491580178764134},{"time":0.9658801754878521,"velocity":2.1894664382425786,"acceleration":0.13673482581207974,"pose":{"translation":{"x":2.4817773197596242,"y":-1.9597653164719735},"rotation":{"radians":-1.2452018642435618}},"curvature":0.15581557334166538},{"time":1.001995159265649,"velocity":2.1944046142586418,"acceleration":0.10502507508389719,"pose":{"translation":{"x":2.5075533621410258,"y":-2.0346129811975073},"rotation":{"radians":-1.2331681196882358}},"curvature":0.14851941263212015},{"time":1.0386592776254457,"velocity":2.1982552660422643,"acceleration":0.07657931462180972,"pose":{"translation":{"x":2.5346754652757695,"y":-2.1104345405720215},"rotation":{"radians":-1.2214474910852267}},"curvature":0.14285281673636144},{"time":1.0757917456074437,"velocity":2.201098844990542,"acceleration":0.050529167424812456,"pose":{"translation":{"x":2.56307572112102,"y":-2.1870175415116284},"rotation":{"radians":-1.209959827348416}},"curvature":0.13868094979876497},{"time":1.1133072754890567,"velocity":2.2029944734809606,"acceleration":0.026079098293536107,"pose":{"translation":{"x":2.592681043190974,"y":-2.2641414256843975},"rotation":{"radians":-1.1986273745980418}},"curvature":0.13590582128598253},{"time":1.151116907055334,"velocity":2.20398051457902,"acceleration":0.002481619077418551,"pose":{"translation":{"x":2.6234137142081626,"y":-2.3415789313527373},"rotation":{"radians":-1.187373823781586}},"curvature":0.13446418174940708},{"time":1.1891288483796876,"velocity":2.20407484573778,"acceleration":-0.02099014479521583,"pose":{"translation":{"x":2.655191933754741,"y":-2.419097495215779},"rotation":{"radians":-1.1761232912234905}},"curvature":0.13432633265848715},{"time":1.2272493277866299,"velocity":2.2032746913553654,"acceleration":-0.04507225786731043,"pose":{"translation":{"x":2.687930365923788,"y":-2.4964606542517545},"rotation":{"radians":-1.1647992313623026}},"curvature":0.1354959980230762},{"time":1.2653834592432138,"velocity":2.2015558999488083,"acceleration":-0.0705426838741894,"pose":{"translation":{"x":2.7215406869706,"y":-2.5734294475603816},"rotation":{"radians":-1.153323270987528}},"curvature":0.13801140138203102},{"time":1.3034361247452635,"velocity":2.198871562795727,"acceleration":-0.09825799672187926,"pose":{"translation":{"x":2.755932132963989,"y":-2.649763818205243},"rotation":{"radians":-1.1416139461224635}},"curvature":0.141947720579542},{"time":1.3413128784623627,"velocity":2.1951498688531568,"acceleration":-0.12919558938226808,"pose":{"translation":{"x":2.791012047437576,"y":-2.725224015056169},"rotation":{"radians":-1.1295853154477415}},"curvature":0.14742114899625852},{"time":1.378920878583406,"velocity":2.19029108111203,"acceleration":-0.16450313254138063,"pose":{"translation":{"x":2.826686429041087,"y":-2.79957199463162},"rotation":{"radians":-1.1171454172112107}},"curvature":0.15459487429116978},{"time":1.4161698540270915,"velocity":2.184163507967587,"acceleration":-0.20555708173008896,"pose":{"translation":{"x":2.862860479191651,"y":-2.8725728229410636},"rotation":{"radians":-1.104194529526788}},"curvature":0.1636873960364607},{"time":1.4529731144833444,"velocity":2.1765983371500472,"acceleration":-0.2540316899994154,"pose":{"translation":{"x":2.899439149725094,"y":-2.9439960773273626},"rotation":{"radians":-1.0906231866536258}},"curvature":0.17498374563792934},{"time":1.489248613623333,"velocity":2.1673832107979436,"acceleration":-0.3119788915126339,"pose":{"translation":{"x":2.9363276905472344,"y":-3.013617248309152},"rotation":{"radians":-1.0763098963792286}},"curvature":0.188850349926551},{"time":1.5249200766835225,"velocity":2.1562544672937918,"acceleration":-0.3819169275316917,"pose":{"translation":{"x":2.97343219728518,"y":-3.0812191414232215},"rotation":{"radians":-1.0611184965534355}},"curvature":0.20575449618392444},{"time":1.5599182048117284,"velocity":2.142888089729707,"acceleration":-0.46692058799425773,"pose":{"translation":{"x":3.0106601589386233,"y":-3.146593279066898},"rotation":{"radians":-1.0448950833982154}},"curvature":0.22628960682894933},{"time":1.594181969196913,"velocity":2.12688963271608,"acceleration":-0.5706966925018823,"pose":{"translation":{"x":3.047921005531138,"y":-3.209541302340427},"rotation":{"radians":-1.027464442923879}},"curvature":0.25120779603727555},{"time":1.6276600074193146,"velocity":2.1077838270311036,"acceleration":-0.6976123983113651,"pose":{"translation":{"x":3.085126655761474,"y":-3.269876372889353},"rotation":{"radians":-1.0086259241306357}},"curvature":0.28146140297010774},{"time":1.6603121314714335,"velocity":2.0850053004611446,"acceleration":-0.852617939419943,"pose":{"translation":{"x":3.1221920646548513,"y":-3.327424574746902},"rotation":{"radians":-0.9881487165961091}},"curvature":0.3182552520700264},{"time":1.6921109494963456,"velocity":2.0578930577607544,"acceleration":-1.0409667808035687,"pose":{"translation":{"x":3.159035771214261,"y":-3.3820263161763613},"rotation":{"radians":-0.9657665490960503}},"curvature":0.3631110207931093},{"time":1.72304358812144,"velocity":2.0256932085094297,"acceleration":-1.6871823315808767,"pose":{"translation":{"x":3.1955804460717556,"y":-3.433537731513467},"rotation":{"radians":-0.9411719326651999}},"curvature":0.41794379134302745},{"time":1.7826594629235328,"velocity":1.9251103578616013,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.2674873272623084,"y":-3.5268011626700524},"rotation":{"radians":-0.8838744765709162}},"curvature":0.5676806569335158},{"time":1.8400092037819413,"velocity":1.7702660575438984,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.337397516613452,"y":-3.6064317343619137},"rotation":{"radians":-0.8127721091644887}},"curvature":0.7936809657354875},{"time":1.8680185367961908,"velocity":1.694640858405425,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.3714700350501103,"y":-3.6409820757754963},"rotation":{"radians":-0.7707196850370257}},"curvature":0.9459943435225653},{"time":1.8955254133237065,"velocity":1.620372291781133,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":3.40489697826008,"y":-3.671987647805823},"rotation":{"radians":-0.7235499490908228}},"curvature":1.130695249383548},{"time":1.9225097278400627,"velocity":1.5475146425869712,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.43764527251514,"y":-3.6994539188824165},"rotation":{"radians":-0.6706829672990798}},"curvature":1.3514118098787564},{"time":1.9489762856019666,"velocity":1.4760549366298308,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.4696903569265034,"y":-3.7234132982463013},"rotation":{"radians":-0.6116251435465475}},"curvature":1.609015470098565},{"time":1.9749622452120499,"velocity":1.4058928456826056,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.50101673109611,"y":-3.7439265377923783},"rotation":{"radians":-0.5460815089409298}},"curvature":1.8989223219106286},{"time":2.0005453188450475,"velocity":1.336818546873512,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":3.5316185027679166,"y":-3.761084133911811},"rotation":{"radians":-0.4741119503459261}},"curvature":2.2076674826616207},{"time":2.025852220265251,"velocity":1.2684899130389624,"acceleration":-2.2243941613990064,"pose":{"translation":{"x":3.5614999354792047,"y":-3.775007729334405},"rotation":{"radians":-0.3963193119780172}},"curvature":2.509813499641639},{"time":2.050942024495907,"velocity":1.2126802989976464,"acceleration":-1.3584978896753637,"pose":{"translation":{"x":3.5906759962118615,"y":-3.785851514970978},"rotation":{"radians":-0.3140302215861748}},"curvature":2.767361691179083},{"time":2.075681746074959,"velocity":1.1790714394413486,"acceleration":-0.26027578912689586,"pose":{"translation":{"x":3.6191729030436903,"y":-3.7938036317557664},"rotation":{"radians":-0.2294002344230172}},"curvature":2.9342208922863526},{"time":2.099792368620703,"velocity":1.1727960281319143,"acceleration":1.1288895845417548,"pose":{"translation":{"x":3.647028672799695,"y":-3.799087572488786},"rotation":{"radians":-0.14536774914813597}},"curvature":2.9664362097752703},{"time":2.1229119541015984,"velocity":1.1988954873802198,"acceleration":2.7000000000000157,"pose":{"translation":{"x":3.674293668703379,"y":-3.801963583678219},"rotation":{"radians":-0.06542301378713838}},"curvature":2.8346680371518382},{"time":2.144688871017202,"velocity":1.2576931630523491,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.701031148028049,"y":-3.8027300673828},"rotation":{"radians":0.006754840436328204}},"curvature":2.5320930769097063},{"time":2.165155224594915,"velocity":1.3129523177121745,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.7273178097480972,"y":-3.8017249830541937},"rotation":{"radians":0.06766296991552057}},"curvature":2.0727623080062316},{"time":2.1845975633111285,"velocity":1.3654466322459509,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.753244342190306,"y":-3.799327249379374},"rotation":{"radians":0.11420977866462667}},"curvature":1.4818865874186298},{"time":2.221153045535372,"velocity":1.464146434251409,"acceleration":2.6999999999999975,"pose":{"translation":{"x":3.804453005218058,"y":-3.7920827159698454},"rotation":{"radians":0.1540722073439685}},"curvature":2.1018634129701798E-14},{"time":2.287365743782871,"velocity":1.6429207195196567,"acceleration":2.078801129566941,"pose":{"translation":{"x":3.905945352536751,"y":-3.775342527336568},"rotation":{"radians":0.18166674717368012}},"curvature":0.5152496280092774},{"time":2.346427954910788,"velocity":1.765699310727091,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":4.0042908602985285,"y":-3.753879519369632},"rotation":{"radians":0.25508593122980006}},"curvature":0.9332989977155163},{"time":2.3748407743710906,"velocity":1.6889846981842744,"acceleration":-2.1876216935179325,"pose":{"translation":{"x":4.051464696436347,"y":-3.7403390721934033},"rotation":{"radians":0.30545051643193}},"curvature":1.1165581896564716},{"time":2.4038885493155155,"velocity":1.625439155567424,"acceleration":-1.726377997164401,"pose":{"translation":{"x":4.096947839509993,"y":-3.7245726058589863},"rotation":{"radians":0.3632329242877742}},"curvature":1.2808710235533614},{"time":2.4333875908293656,"velocity":1.5745126593604737,"acceleration":-1.298269032908415,"pose":{"translation":{"x":4.1405180916955455,"y":-3.7064270480262365},"rotation":{"radians":0.42712073596972033}},"curvature":1.4221279488940135},{"time":2.463161331374885,"velocity":1.5358583340163767,"acceleration":-0.893994033075983,"pose":{"translation":{"x":4.181988434500418,"y":-3.685829904365699},"rotation":{"radians":0.49571870603175944}},"curvature":1.5355986159743502},{"time":2.493038674558016,"velocity":1.509148167486494,"acceleration":-0.515100038409028,"pose":{"translation":{"x":4.221205436137705,"y":-3.6627817599461077},"rotation":{"radians":0.5675665541407077}},"curvature":1.6174029629573279},{"time":2.522854897180406,"velocity":1.4937898300684886,"acceleration":-0.16869579850642372,"pose":{"translation":{"x":4.258047658900505,"y":-3.6373487806218816},"rotation":{"radians":0.6411960052302572}},"curvature":1.6657651187126432},{"time":2.5524558894005285,"velocity":1.4887962670493327,"acceleration":0.13618301391071339,"pose":{"translation":{"x":4.2924240665362685,"y":-3.609655214420623},"rotation":{"radians":0.7152111133964305}},"curvature":1.681704394731275},{"time":2.581703451167647,"velocity":1.4927792881603186,"acceleration":0.3910979527122883,"pose":{"translation":{"x":4.3242724316211225,"y":-3.5798758929306134},"rotation":{"radians":0.7883707746795767}},"curvature":1.6689821260803184},{"time":2.6104794355786476,"velocity":1.5040335167507417,"acceleration":0.5898663071597596,"pose":{"translation":{"x":4.353557742934217,"y":-3.5482287326883135},"rotation":{"radians":0.8596537084032315}},"curvature":1.6333988899413465},{"time":2.6386873606427868,"velocity":1.5206724213409648,"acceleration":0.7294478787875017,"pose":{"translation":{"x":4.380270612832052,"y":-3.514967236565859},"rotation":{"radians":0.9282936788301375}},"curvature":1.5817555438910227},{"time":2.6662512554983553,"velocity":1.540778845974481,"acceleration":0.8101218726017527,"pose":{"translation":{"x":4.404425684622819,"y":-3.480372995158558},"rotation":{"radians":0.9937826934916295}},"curvature":1.520838096179469},{"time":2.6931124349364626,"velocity":1.562539674961172,"acceleration":0.8350921236764874,"pose":{"translation":{"x":4.426060039940733,"y":-3.44474818817239},"rotation":{"radians":1.0558480672371795}},"curvature":1.4566747653136742},{"time":2.719225313944082,"velocity":1.5843463345469522,"acceleration":0.8097791556412798,"pose":{"translation":{"x":4.445231606120371,"y":-3.408408085811502},"rotation":{"radians":1.1144131848363263}},"curvature":1.3941444249022739},{"time":2.7445533045909354,"velocity":1.6048564134270513,"acceleration":0.741144207445957,"pose":{"translation":{"x":4.462017563571007,"y":-3.371673550165707},"rotation":{"radians":1.1695516536197381}},"curvature":1.3368827758543969},{"time":2.7690654857592425,"velocity":1.623023474511808,"acceleration":0.6374146534851978,"pose":{"translation":{"x":4.476512753150946,"y":-3.3348635365979806},"rotation":{"radians":1.221441925798029}},"curvature":1.2873712262671073},{"time":2.7927343162171154,"velocity":1.638110333876513,"acceleration":0.508575166503386,"pose":{"translation":{"x":4.488828083541861,"y":-3.29828759513196},"rotation":{"radians":1.2703261298936033}},"curvature":1.247088976633795},{"time":2.815534303721535,"velocity":1.6497058413178485,"acceleration":0.36801610750060937,"pose":{"translation":{"x":4.499088938623131,"y":-3.262238371839439},"rotation":{"radians":1.3164738875236672}},"curvature":1.2166294659355592},{"time":2.8374412876774544,"velocity":1.6577679642803842,"acceleration":0.19124169193125673,"pose":{"translation":{"x":4.507433584846172,"y":-3.2269841102278676},"rotation":{"radians":1.3601496967784859}},"curvature":1.1957027061808203},{"time":2.8784852974365656,"velocity":1.6656172901503596,"acceleration":0.24063097052823665,"pose":{"translation":{"x":4.518982173629452,"y":-3.159766441580641},"rotation":{"radians":1.4409230493366492}},"curvature":1.1755229357157244},{"time":2.9156272051488785,"velocity":1.6745547834504437,"acceleration":1.3993927340451369,"pose":{"translation":{"x":4.524777113168592,"y":-3.0980075386878987},"rotation":{"radians":1.5133353475667122}},"curvature":1.1527759437373404},{"time":2.9485075221829247,"velocity":1.7205672602009883,"acceleration":2.700000000000014,"pose":{"translation":{"x":4.526225859850603,"y":-3.0422099988175972},"rotation":{"radians":1.5753194476726071}},"curvature":1.0394087433069856},{"time":3.002903618872541,"velocity":1.8674367212629532,"acceleration":2.7000000000000033,"pose":{"translation":{"x":4.521929781614376,"y":-2.9447179024673122},"rotation":{"radians":1.637364490570741}},"curvature":8.157389972981047E-14},{"time":3.0642226417828904,"velocity":2.032998083120897,"acceleration":2.700000000000003,"pose":{"translation":{"x":4.516500603305566,"y":-2.825255782820565},"rotation":{"radians":1.5951301852199393}},"curvature":-0.24032468000285526},{"time":3.1121967444891405,"velocity":2.162528160427773,"acceleration":2.7000000000000153,"pose":{"translation":{"x":4.514951338349686,"y":-2.724629405061662},"rotation":{"radians":1.5795624212135146}},"curvature":-0.0983149126254386},{"time":3.141189487082322,"velocity":2.2408085654293632,"acceleration":0.8465206158157333,"pose":{"translation":{"x":4.514565302662856,"y":-2.6607981682536925},"rotation":{"radians":1.574483868161254}},"curvature":-0.06434781260788851},{"time":3.1735852454464184,"velocity":2.268232242749556,"acceleration":0.2715780757295265,"pose":{"translation":{"x":4.514445998226422,"y":-2.5877613674567574},"rotation":{"radians":1.5706308686232595}},"curvature":-0.0432268934552178},{"time":3.2096467141479064,"velocity":2.2780257470274865,"acceleration":0.1636740519827303,"pose":{"translation":{"x":4.51458763960646,"y":-2.505789119725443},"rotation":{"radians":1.567688548994094}},"curvature":-0.02977216939807691},{"time":3.24925193403369,"velocity":2.2845080938458597,"acceleration":0.10354305790144527,"pose":{"translation":{"x":4.514976407457364,"y":-2.415439878142925},"rotation":{"radians":1.565430673324969}},"curvature":-0.020929899655818117},{"time":3.292072099851694,"velocity":2.288941824754503,"acceleration":0.06905547627732041,"pose":{"translation":{"x":4.515591443912881,"y":-2.3175238677900967},"rotation":{"radians":1.5636973892091912}},"curvature":-0.014910894694518471},{"time":3.3376777619222358,"velocity":2.2920911454697266,"acceleration":0.048844467981466085,"pose":{"translation":{"x":4.516405847977157,"y":-2.213066521714691},"rotation":{"radians":1.5623764440138765}},"curvature":-0.01064968332292037},{"time":3.3855567519781147,"velocity":2.294429769266496,"acceleration":0.03697872746768034,"pose":{"translation":{"x":4.517387670915773,"y":-2.1032719169004075},"rotation":{"radians":1.5613895577067787}},"curvature":-0.0074929598610598246},{"time":3.4351314713292393,"velocity":2.296262979302668,"acceleration":0.030344080669010818,"pose":{"translation":{"x":4.518500911646787,"y":-1.989486210236036},"rotation":{"radians":1.5606831290796792}},"curvature":-0.005022950159411381},{"time":3.4857757007853083,"velocity":2.2977997318867027,"acceleration":0.027372545189979308,"pose":{"translation":{"x":4.519706512131773,"y":-1.8731610744845841},"rotation":{"radians":1.5602221557589944}},"curvature":-0.002955414639808987},{"time":3.5368310621109766,"velocity":2.2991972470717803,"acceleration":-0.47819587040888123,"pose":{"translation":{"x":4.520963352766862,"y":-1.7558171342523996},"rotation":{"radians":1.5599864935682068}},"curvature":-0.0010776076292105799},{"time":3.5879099377845787,"velocity":2.274771539659535,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":4.522229247773783,"y":-1.6390074019582974},"rotation":{"radians":1.5599688959986875}},"curvature":7.937909107890736E-4},{"time":3.639954725210951,"velocity":2.134250613608329,"acceleration":-2.7,"pose":{"translation":{"x":4.523461940590902,"y":-1.5242807138026828},"rotation":{"radians":1.5601745593097016}},"curvature":0.0028474978744367652},{"time":3.6938685573457293,"velocity":1.9886832668444285,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.5246200992642605,"y":-1.4131451657366785},"rotation":{"radians":1.5606221633255757}},"curvature":0.005315644880522435},{"time":3.7493169886440083,"velocity":1.8389725023390757,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.52566431183862,"y":-1.30703154943125},"rotation":{"radians":1.561346690533953}},"curvature":0.008527518514458468},{"time":3.8059275017863823,"velocity":1.6861241168546657,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.526558081748497,"y":-1.2072567882463274},"rotation":{"radians":1.562404704329987}},"curvature":0.01299970154097661},{"time":3.863286066365419,"velocity":1.531255992491267,"acceleration":-2.7,"pose":{"translation":{"x":4.527268823209209,"y":-1.1149873731999345},"rotation":{"radians":1.5638833996031827}},"curvature":0.01960320718040466},{"time":3.9209330958745805,"velocity":1.3756090128165304,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.527768856607906,"y":-1.0312027989373118},"rotation":{"radians":1.5659158328123606}},"curvature":0.029894616392791104},{"time":3.978359515837447,"velocity":1.2205576789167907,"acceleration":-2.7,"pose":{"translation":{"x":4.528036403894624,"y":-0.9566589997000423},"rotation":{"radians":1.5687067032623803}},"curvature":0.046808490349886454},{"time":4.090262437349658,"velocity":0.9184197908338209,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.527822408092872,"y":-0.8369802770643506},"rotation":{"radians":1.5780381916556012}},"curvature":0.13020720457203205},{"time":4.194164115029606,"velocity":0.6378852610979595,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.526608467521291,"y":-0.7561380379791154},"rotation":{"radians":1.5975823573552166}},"curvature":0.4508077327552779},{"time":4.287510583851682,"velocity":0.3858497952783539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.52453434392984,"y":-0.7084020506960766},"rotation":{"radians":1.6399758195515537}},"curvature":1.6410509175160912},{"time":4.430417915436257,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.521929781614379,"y":-0.6809549700444508},"rotation":{"radians":1.6850506547563373}},"curvature":-0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce3.wpilib.json b/src/main/deploy/paths/Bounce3.wpilib.json new file mode 100644 index 0000000..827b413 --- /dev/null +++ b/src/main/deploy/paths/Bounce3.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":4.589966372479545,"y":-0.68095497004445},"rotation":{"radians":-1.5263811115479844}},"curvature":0.0},{"time":0.2070828175020424,"velocity":0.5591236072555146,"acceleration":2.7000000000000006,"pose":{"translation":{"x":4.592109173628807,"y":-0.7388077461455489},"rotation":{"radians":-1.5438491627479822}},"curvature":-0.3245925157196854},{"time":0.3280789541461832,"velocity":0.8858131761946948,"acceleration":2.7000000000000015,"pose":{"translation":{"x":4.593653902550851,"y":-0.8262099808487304},"rotation":{"radians":-1.558550418098328}},"curvature":-0.06054816023823846},{"time":0.39082852014459424,"velocity":1.0552370043904047,"acceleration":2.7,"pose":{"translation":{"x":4.594332872788546,"y":-0.8871062240412282},"rotation":{"radians":-1.5601416447502567}},"curvature":-3.0944852586673745E-4},{"time":0.45575980697399043,"velocity":1.2305514788297744,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5951574827446215,"y":-0.961311236223701},"rotation":{"radians":-1.5588468930674415}},"curvature":0.030875509149994106},{"time":0.5224862840231406,"velocity":1.4107129668624798,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.596356035308048,"y":-1.0494242206825188},"rotation":{"radians":-1.5553008566366542}},"curvature":0.047551843662150005},{"time":0.5904277372912898,"velocity":1.5941548906864826,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5982051784046245,"y":-1.151485015179089},"rotation":{"radians":-1.5498926757890057}},"curvature":0.05746733581479173},{"time":0.6589537760093211,"velocity":1.779175195225167,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.601021941868659,"y":-1.2670311610361567},"rotation":{"radians":-1.5428185537330257}},"curvature":0.06454492768950504},{"time":0.6932412268013554,"velocity":1.8717513123636593,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.602901335313692,"y":-1.3295934200512458},"rotation":{"radians":-1.538678511696579}},"curvature":0.0677031352599094},{"time":0.7274449909174895,"velocity":1.9641014754772215,"acceleration":2.7000000000000033,"pose":{"translation":{"x":4.605155774314647,"y":-1.3951549722241086},"rotation":{"radians":-1.5341337461043665}},"curvature":0.07084089480883898},{"time":0.7614933879997356,"velocity":2.056032147599286,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.607832698932001,"y":-1.463542152924208},"rotation":{"radians":-1.529174517434155}},"curvature":0.07408791176991712},{"time":0.7953176048082513,"velocity":2.1473575329822783,"acceleration":2.7000000000000046,"pose":{"translation":{"x":4.610980580008952,"y":-1.534560604447273},"rotation":{"radians":-1.5237854147987284}},"curvature":0.07755341473782054},{"time":0.8288517858168513,"velocity":2.2378998217054984,"acceleration":0.0024937341910172095,"pose":{"translation":{"x":4.614648670323658,"y":-1.6079970594242456},"rotation":{"radians":-1.5179455170925755}},"curvature":0.0813351738028442},{"time":0.8626965973855456,"velocity":2.237984221669296,"acceleration":-0.09517667079892499,"pose":{"translation":{"x":4.61888675574148,"y":-1.6836211242302248},"rotation":{"radians":-1.5116283771310162}},"curvature":0.08552639531128801},{"time":0.8974490328875253,"velocity":2.234676600556063,"acceleration":-0.10459183208670206,"pose":{"translation":{"x":4.623744906367221,"y":-1.7611870623934176},"rotation":{"radians":-1.5048018430855947}},"curvature":0.09022130107432581},{"time":0.933027920077677,"velocity":2.230955339561239,"acceleration":-0.11592870798294913,"pose":{"translation":{"x":4.629273227697364,"y":-1.840435578004083},"rotation":{"radians":-1.4974277241437906}},"curvature":0.09551997749325035},{"time":0.9693253948843629,"velocity":2.226747420203856,"acceleration":-0.12942125998767057,"pose":{"translation":{"x":4.6355216117723135,"y":-1.9210955991234813},"rotation":{"radians":-1.4894613006073958}},"curvature":0.10153293866920006},{"time":1.0062308488827965,"velocity":2.221971069846962,"acceleration":-0.1454023095913892,"pose":{"translation":{"x":4.642539488328637,"y":-2.002886061192818},"rotation":{"radians":-1.4808506724582902}},"curvature":0.10838576370534059},{"time":1.0436318979803318,"velocity":2.2165328709270393,"acceleration":-0.16431060990435312,"pose":{"translation":{"x":4.650375575951301,"y":-2.085517690442194},"rotation":{"radians":-1.4715359345952184}},"curvature":0.11622412610396106},{"time":1.0814153893168932,"velocity":2.210324642421213,"acceleration":-0.18670427198225475,"pose":{"translation":{"x":4.659077633225917,"y":-2.168694787299549},"rotation":{"radians":-1.4614481613491916}},"curvature":0.12521952191288635},{"time":1.119468451691948,"velocity":2.203219973113783,"acceleration":-0.21327977538140774,"pose":{"translation":{"x":4.668692209890972,"y":-2.2521170097996133},"rotation":{"radians":-1.450508177474273}},"curvature":0.13557601616315226},{"time":1.157679595976706,"velocity":2.1950703088436634,"acceleration":-0.24489582089208084,"pose":{"translation":{"x":4.679264397990079,"y":-2.335481156992849},"rotation":{"radians":-1.438625087685951}},"curvature":0.1475383590973805},{"time":1.1959398731107134,"velocity":2.185700526867372,"acceleration":-0.2826008149647425,"pose":{"translation":{"x":4.69083758302421,"y":-2.418482952354402},"rotation":{"radians":-1.4256945323137196}},"curvature":0.16140186970148448},{"time":1.2341440983269423,"velocity":2.1749039816861693,"acceleration":-0.3276616118547019,"pose":{"translation":{"x":4.70345319510394,"y":-2.500818827193046},"rotation":{"radians":-1.4115966334504564}},"curvature":0.17752453681055433},{"time":1.272192151022876,"velocity":2.162437095411887,"acceleration":-0.38158892953662893,"pose":{"translation":{"x":4.717150460101681,"y":-2.582187704060129},"rotation":{"radians":-1.3961935954154248}},"curvature":0.19634183436527775},{"time":1.3099903598795428,"velocity":2.1480137173558695,"acceleration":-0.4461510657077873,"pose":{"translation":{"x":4.731966150803932,"y":-2.662292780158523},"rotation":{"radians":-1.379326927648192}},"curvature":0.2183847622390686},{"time":1.3474529818814565,"velocity":2.1312997286255078,"acceleration":-0.5233614579993291,"pose":{"translation":{"x":4.747934338063509,"y":-2.7408433107515693},"rotation":{"radians":-1.360814271076144}},"curvature":0.24430156065241065},{"time":1.3845037809059861,"velocity":2.11190876842799,"acceleration":-0.615416476652106,"pose":{"translation":{"x":4.765086141951787,"y":-2.8175563925720244},"rotation":{"radians":-1.3404458366723455}},"curvature":0.27488331938615096},{"time":1.4210777050780339,"velocity":2.089400572876687,"acceleration":-0.7245471362628273,"pose":{"translation":{"x":4.783449482910949,"y":-2.8921587472310093},"rotation":{"radians":-1.3179805170945096}},"curvature":0.31109316246006374},{"time":1.4571226498515342,"velocity":2.0632843113642956,"acceleration":-0.8527329243797525,"pose":{"translation":{"x":4.803048832906212,"y":-2.9643885046269545},"rotation":{"radians":-1.2931418241164443}},"curvature":0.354097577947267},{"time":1.4926012723435151,"velocity":2.0330305218537434,"acceleration":-1.0012115053368664,"pose":{"translation":{"x":4.823904966578077,"y":-3.033996986354548},"rotation":{"radians":-1.2656139588306252}},"curvature":0.40529636026834653},{"time":1.5274927868378008,"velocity":1.9980967361034367,"acceleration":-1.1697146100409468,"pose":{"translation":{"x":4.846034712394565,"y":-3.10075048911368},"rotation":{"radians":-1.2350385711275536}},"curvature":0.46634388634694124},{"time":1.5617946148898212,"velocity":1.957973386679876,"acceleration":-1.3553875749321131,"pose":{"translation":{"x":4.869450703803459,"y":-3.164432068118396},"rotation":{"radians":-1.2010131537073994}},"curvature":0.539148132765236},{"time":1.5955236780934294,"velocity":1.9122574334996056,"acceleration":-1.5514378701522922,"pose":{"translation":{"x":4.894161130384542,"y":-3.2248433205058316},"rotation":{"radians":-1.163092595483043}},"curvature":0.6258238537314008},{"time":1.6287170000509292,"velocity":1.860760056778583,"acceleration":-1.745737299014821,"pose":{"translation":{"x":4.920169489001836,"y":-3.281806168745179},"rotation":{"radians":-1.120796233485178}},"curvature":0.7285618756510391},{"time":1.6614311253831402,"velocity":1.8036497879814968,"acceleration":-1.9198719703739031,"pose":{"translation":{"x":4.947474334955846,"y":-3.335164644046611},"rotation":{"radians":-1.0736237857953845}},"curvature":0.8493584004115196},{"time":1.6937396845677284,"velocity":1.7416214907998395,"acceleration":-2.0494008167371933,"pose":{"translation":{"x":4.976069033135797,"y":-3.384786669770246},"rotation":{"radians":-1.021084677271477}},"curvature":0.9895321512729235},{"time":1.7257282890946,"velocity":1.6760640185561857,"acceleration":-2.106113949622367,"pose":{"translation":{"x":5.005941509171875,"y":-3.4305658448350833},"rotation":{"radians":-0.9627460482253763}},"curvature":1.148958701141042},{"time":1.7574859524445143,"velocity":1.60917876076752,"acceleration":-2.0625692855574846,"pose":{"translation":{"x":5.037074000587465,"y":-3.4724232271279627},"rotation":{"radians":-0.8983042292163318}},"curvature":1.3250015291040753},{"time":1.7890926019841236,"velocity":1.5439878562077425,"acceleration":-1.8980397972903857,"pose":{"translation":{"x":5.069442807951394,"y":-3.51030911691249},"rotation":{"radians":-0.8276811289816337}},"curvature":1.511262413620746},{"time":1.820603220625306,"velocity":1.4841794479895378,"acceleration":-1.6037400683554446,"pose":{"translation":{"x":5.1030180460301695,"y":-3.544204840238012},"rotation":{"radians":-0.7511390340919505}},"curvature":1.696536540854126},{"time":1.852030846411252,"velocity":1.4337777052633354,"acceleration":-1.1848914932984158,"pose":{"translation":{"x":5.137763394940219,"y":-3.5741245323485376},"rotation":{"radians":-0.6693941872933166}},"curvature":1.8646723206984541},{"time":1.8833326916970483,"velocity":1.3966884150596521,"acceleration":-0.8006918002273719,"pose":{"translation":{"x":5.173635851300128,"y":-3.600116921091708},"rotation":{"radians":-0.5836945297481266}},"curvature":1.9961493837067554},{"time":1.8989220387272032,"velocity":1.3842061527217082,"acceleration":-0.5143226741035051,"pose":{"translation":{"x":5.1919794174582705,"y":-3.6116655019537696},"rotation":{"radians":-0.5398991391571408}},"curvature":2.0419821241489555},{"time":1.9144373416399572,"velocity":1.3762262806380947,"acceleration":-0.2085867701873888,"pose":{"translation":{"x":5.210585479382887,"y":-3.62226711032772},"rotation":{"radians":-0.49581950745262887}},"curvature":2.071718506566189},{"time":1.9298570208258377,"velocity":1.3730099395593862,"acceleration":0.11342570563212334,"pose":{"translation":{"x":5.229446671102517,"y":-3.6319383605385878},"rotation":{"radians":-0.4517433453858831}},"curvature":2.083801690741464},{"time":1.945157330450454,"velocity":1.3747453879749483,"acceleration":0.6217375936519959,"pose":{"translation":{"x":5.248555162268126,"y":-3.6406983633382897},"rotation":{"radians":-0.40797221202017814}},"curvature":2.077274916626576},{"time":1.9752639804864152,"velocity":1.3934638241212296,"acceleration":1.3317004264672947,"pose":{"translation":{"x":5.28748035299435,"y":-3.6555738862355964},"rotation":{"radians":-0.32257069355738}},"curvature":2.007910870513021},{"time":2.0045940142437786,"velocity":1.4325226425842104,"acceleration":2.070985564948847,"pose":{"translation":{"x":5.3272888257111894,"y":-3.667098611371225},"rotation":{"radians":-0.24199100212613692}},"curvature":1.8690100747401697},{"time":2.032965131750882,"velocity":1.4912788174028893,"acceleration":2.699999999999986,"pose":{"translation":{"x":5.3679004268316355,"y":-3.675520980745113},"rotation":{"radians":-0.16834009391666196}},"curvature":1.6737668392917224},{"time":2.060257391771775,"velocity":1.5649679194592991,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.409226826184276,"y":-3.681134729414502},"rotation":{"radians":-0.103323308608522}},"curvature":1.4385080741508813},{"time":2.0865389410384334,"velocity":1.6359281024792773,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.451171268165541,"y":-3.684280668902888},"rotation":{"radians":-0.048229035538835424}},"curvature":1.1780389970977634},{"time":2.1366193551128267,"velocity":1.7711452204801397,"acceleration":2.7000000000000046,"pose":{"translation":{"x":5.536483637352303,"y":-3.6847784492155355},"rotation":{"radians":0.028567633142997862}},"curvature":0.6163247838646808},{"time":2.1837614701727426,"velocity":1.8984289311419125,"acceleration":2.6999999999999944,"pose":{"translation":{"x":5.62288552470528,"y":-3.6807501127359408},"rotation":{"radians":0.055745754591644214}},"curvature":-7.677243136992297E-15},{"time":2.227958744880791,"velocity":2.017761572853643,"acceleration":2.699999999999993,"pose":{"translation":{"x":5.70928749887847,"y":-3.675820749392792},"rotation":{"radians":0.059443844291968105}},"curvature":0.08406734471651345},{"time":2.2691898652286695,"velocity":2.129085597792915,"acceleration":0.0516780853911863,"pose":{"translation":{"x":5.794601143824748,"y":-3.6703389772020616},"rotation":{"radians":0.0700158126679713}},"curvature":0.16331740240129808},{"time":2.308403935519882,"velocity":2.1311121058659603,"acceleration":-1.4423801760237267,"pose":{"translation":{"x":5.877877386261036,"y":-3.663834929565175},"rotation":{"radians":0.08700182305069112}},"curvature":0.2445947968094608},{"time":2.3468285562697364,"velocity":2.075689194625141,"acceleration":-1.5837097637824156,"pose":{"translation":{"x":5.958311648291609,"y":-3.655923839181552},"rotation":{"radians":0.11027345811203224}},"curvature":0.33353611047954473},{"time":2.3847248079025576,"velocity":2.015672530903487,"acceleration":-1.783138812696968,"pose":{"translation":{"x":6.035235685201561,"y":-3.6463005965775848},"rotation":{"radians":0.13994854665175013}},"curvature":0.4353653202641991},{"time":2.421943626030299,"velocity":1.9493062117372022,"acceleration":-2.0211498235081593,"pose":{"translation":{"x":6.108109423250279,"y":-3.6347343086356205},"rotation":{"radians":0.1763317728024246}},"curvature":0.5552684482621081},{"time":2.4584185036210666,"velocity":1.87558501933214,"acceleration":-2.2698727854170992,"pose":{"translation":{"x":6.176512797464907,"y":-3.6210628571229395},"rotation":{"radians":0.21986219149329764}},"curvature":0.6984075722173941},{"time":2.494153918010933,"velocity":1.79447017473298,"acceleration":-2.489625818367925,"pose":{"translation":{"x":6.2401375894338225,"y":-3.6051874572207367},"rotation":{"radians":0.27105190546332425}},"curvature":0.8694918759018261},{"time":2.529210073706347,"velocity":1.7071934644209512,"acceleration":-2.6305583663943217,"pose":{"translation":{"x":6.298779265100105,"y":-3.5870672160531027},"rotation":{"radians":0.3304008093259189}},"curvature":1.0717296189922367},{"time":2.563681930957442,"velocity":1.616513231923933,"acceleration":-2.6411688372265134,"pose":{"translation":{"x":6.352328812555008,"y":-3.5667136912160036},"rotation":{"radians":0.39827372726481575}},"curvature":1.3049859539055322},{"time":2.597671274709752,"velocity":1.5267416364075523,"acceleration":-2.4821828853867918,"pose":{"translation":{"x":6.400764579831427,"y":-3.544185449306262},"rotation":{"radians":0.47473297102582507}},"curvature":1.5631982718744206},{"time":2.6312527658227403,"velocity":1.443386233901124,"acceleration":-2.245414419675997,"pose":{"translation":{"x":6.444144112697375,"y":-3.5195826244505373},"rotation":{"radians":0.5593368601567298}},"curvature":1.8317132215592633},{"time":2.6479114487133324,"velocity":1.4059805871257787,"acceleration":-2.028930299264619,"pose":{"translation":{"x":6.4639754212416065,"y":-3.506544562341943},"rotation":{"radians":0.6043681446850115}},"curvature":1.9625585166709498},{"time":2.6644688577988225,"velocity":1.3723867581549083,"acceleration":-1.7717668169774874,"pose":{"translation":{"x":6.482595992449446,"y":-3.4930414768343057},"rotation":{"radians":0.6509456663352783}},"curvature":2.0861494151286895},{"time":2.68091225311472,"velocity":1.3432528959757581,"acceleration":-1.4786740545540809,"pose":{"translation":{"x":6.500031659172299,"y":-3.47909515240616},"rotation":{"radians":0.6987995702788127}},"curvature":2.1983374608126947},{"time":2.697222693987955,"velocity":1.319135070238167,"acceleration":-1.1550484733580446,"pose":{"translation":{"x":6.516311673706294,"y":-3.4647289512308412},"rotation":{"radians":0.7476115499336127}},"curvature":2.2949589944417603},{"time":2.7133755624198845,"velocity":1.3004777242155137,"acceleration":-0.8064532552554248,"pose":{"translation":{"x":6.531468452723326,"y":-3.449967643130512},"rotation":{"radians":0.7970219666457996}},"curvature":2.37216311989662},{"time":2.729341567964699,"velocity":1.287601887070472,"acceleration":-0.4382265335964821,"pose":{"translation":{"x":6.5455373222021,"y":-3.434837235530196},"rotation":{"radians":0.8466404586300422}},"curvature":2.4267481782294813},{"time":2.7450881534023663,"velocity":1.2807013155181421,"acceleration":-0.05521002436571513,"pose":{"translation":{"x":6.558556262359182,"y":-3.4193648034118076},"rotation":{"radians":0.8960593271884059}},"curvature":2.4564537850943142},{"time":2.76058115788441,"velocity":1.2798459463631904,"acceleration":0.3384050844737353,"pose":{"translation":{"x":6.57056565258004,"y":-3.4035783192681817},"rotation":{"radians":0.9448685332120697}},"curvature":2.460158295834713},{"time":2.775786554113849,"velocity":1.2849915297586703,"acceleration":0.7391450053835654,"pose":{"translation":{"x":6.581608016350094,"y":-3.3875064830571056},"rotation":{"radians":0.9926708584234173}},"curvature":2.437947737049456},{"time":2.7906720693123437,"velocity":1.2959940839701987,"acceleration":1.1442753502119898,"pose":{"translation":{"x":6.59172776618576,"y":-3.371178552155348},"rotation":{"radians":1.0390957596726769}},"curvature":2.391047713703344},{"time":2.8052085278218,"velocity":1.3126277951219487,"acceleration":1.5518182845896331,"pose":{"translation":{"x":6.600970948565495,"y":-3.3546241713126927},"rotation":{"radians":1.0838106784588797}},"curvature":2.3216368631756628},{"time":2.819370807985527,"velocity":1.3346050804315013,"acceleration":2.1649580811836646,"pose":{"translation":{"x":6.609384988860845,"y":-3.337873202605966},"rotation":{"radians":1.126528997968163}},"curvature":2.2325810031549764},{"time":2.8464625483792214,"velocity":1.39325756273016,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.62392070873629,"y":-3.3039010162670053},"rotation":{"radians":1.2050815068478529}},"curvature":2.008665048167677},{"time":2.8719403317317207,"velocity":1.4620475777819082,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.63573221402597,"y":-3.2694987745471167},"rotation":{"radians":1.2734614783279117}},"curvature":1.7452781130704347},{"time":2.8959495067673355,"velocity":1.5268723503780683,"acceleration":2.6999999999999824,"pose":{"translation":{"x":6.645222530820114,"y":-3.234895853145614},"rotation":{"radians":1.331085413554192}},"curvature":1.4641225268142835},{"time":2.9186810491818966,"velocity":1.5882475148973825,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.652792260878768,"y":-3.20030878058145},"rotation":{"radians":1.37790505730378}},"curvature":1.180164822242258},{"time":2.9607610552641312,"velocity":1.701863531319416,"acceleration":2.6999999999999855,"pose":{"translation":{"x":6.663711272939745,"y":-3.1319514113130493},"rotation":{"radians":1.440601122762835}},"curvature":0.6352047241187423},{"time":2.998801640160304,"velocity":1.8045731105390819,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.671335413837628,"y":-3.065695175387642},"rotation":{"radians":1.46644827082687}},"curvature":0.14944522198631105},{"time":3.033259304463699,"velocity":1.8976088041582482,"acceleration":2.7000000000000064,"pose":{"translation":{"x":6.677949676700429,"y":-3.0022547724199793},"rotation":{"radians":1.4634372139363567}},"curvature":-0.2183725397394844},{"time":3.0940387395131155,"velocity":2.061713278791673,"acceleration":2.70000000000002,"pose":{"translation":{"x":6.692915544675628,"y":-2.8828664562262394},"rotation":{"radians":1.4326098303005526}},"curvature":1.671085047656864E-13},{"time":3.123550366435265,"velocity":2.141394671481478,"acceleration":1.6744736880946005,"pose":{"translation":{"x":6.701274859275982,"y":-2.8214121105494137},"rotation":{"radians":1.4405751452770492}},"curvature":0.1922213570743383},{"time":3.159536389071455,"velocity":2.201652319524955,"acceleration":0.9334882497988688,"pose":{"translation":{"x":6.710874133232365,"y":-2.7438594456722853},"rotation":{"radians":1.4539315119158476}},"curvature":0.13787019003704615},{"time":3.206420300582986,"velocity":2.245417900025579,"acceleration":0.4840297207835184,"pose":{"translation":{"x":6.722421695656884,"y":-2.6402529585676793},"rotation":{"radians":1.464581908905892}},"curvature":0.07502535342043543},{"time":3.234575375715307,"velocity":2.2590457931805155,"acceleration":0.2991137465093541,"pose":{"translation":{"x":6.729008586372072,"y":-2.577184235904731},"rotation":{"radians":1.4686849132139883}},"curvature":0.05595365675243014},{"time":3.2659804692999965,"velocity":2.268439488382109,"acceleration":0.18484773903502474,"pose":{"translation":{"x":6.736126994520228,"y":-2.50644846029883},"rotation":{"radians":1.4721621124082485}},"curvature":0.0429409675567078},{"time":3.300556112708915,"velocity":2.2748307178919287,"acceleration":0.11477940374392548,"pose":{"translation":{"x":6.743739783167631,"y":-2.428275019615179},"rotation":{"radians":1.47516159042654}},"curvature":0.03414890121641382},{"time":3.338114790620847,"velocity":2.2791416805480704,"acceleration":0.07097046050091248,"pose":{"translation":{"x":6.751789783688878,"y":-2.3431341421110967},"rotation":{"radians":1.4778094209508494}},"curvature":0.028246391929939496},{"time":3.37837405246547,"velocity":2.28199889890061,"acceleration":0.042467883112219336,"pose":{"translation":{"x":6.760202582861785,"y":-2.2517063047513814},"rotation":{"radians":1.4802091118167706}},"curvature":0.024346617361309397},{"time":3.4209704375115844,"velocity":2.2838078772017516,"acceleration":0.022736727568187825,"pose":{"translation":{"x":6.768889309962309,"y":-2.1548516415236785},"rotation":{"radians":1.4824458831175131}},"curvature":0.021882614622622042},{"time":3.465473573514839,"velocity":2.2848197328809876,"acceleration":0.007782333459309369,"pose":{"translation":{"x":6.777749423859453,"y":-2.053579351753846},"rotation":{"radians":1.4845918561201188}},"curvature":0.02050607127511573},{"time":3.511400245559699,"velocity":2.285177149557517,"acceleration":-0.005028979672295113,"pose":{"translation":{"x":6.786673500110184,"y":-1.9490171084213224},"rotation":{"radians":1.486710945178666}},"curvature":0.02002012772251953},{"time":3.558228400914669,"velocity":2.284941651716146,"acceleration":-0.017711597726019483,"pose":{"translation":{"x":6.795546018054343,"y":-1.8423804664744892},"rotation":{"radians":1.488863283434963}},"curvature":0.02034029339752895},{"time":3.6054111180318054,"velocity":2.2841059704109465,"acceleration":-0.7485263302824016,"pose":{"translation":{"x":6.804248147909554,"y":-1.7349422711460405},"rotation":{"radians":1.4911093930050587}},"curvature":0.021476957512163164},{"time":3.6527421117939696,"velocity":2.2486774753415344,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.812660537866146,"y":-1.6280020662683459},"rotation":{"radians":1.4935144619711513}},"curvature":0.02353618118696891},{"time":3.701036995958699,"velocity":2.1182812880967656,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.820666101182053,"y":-1.5228555025888189},"rotation":{"radians":1.4961531935456067}},"curvature":0.026739608244504096},{"time":3.7509496890017835,"velocity":1.9835170168804368,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.828152803277738,"y":-1.4207637460852816},"rotation":{"radians":1.4991158307115158}},"curvature":0.03146960248299673},{"time":3.80218447234844,"velocity":1.8451831018444649,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.835016448831096,"y":-1.322922886281331},"rotation":{"radians":1.502516186616369}},"curvature":0.03835370258741149},{"time":3.854415902736071,"velocity":1.7041582397978612,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.8411634688723755,"y":-1.230433344561706},"rotation":{"radians":1.5065028803770835}},"curvature":0.04841635271770996},{"time":3.907288934502359,"velocity":1.5614010540288845,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.846513707879081,"y":-1.1442692824876506},"rotation":{"radians":1.5112755482022926}},"curvature":0.06335158155104187},{"time":3.9604205145498175,"velocity":1.4179457879007464,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.851003210870894,"y":-1.0652480101122832},"rotation":{"radians":1.517108601230707}},"curvature":0.08601870241629801},{"time":4.0134046027250125,"velocity":1.2748887498277193,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.854587010504579,"y":-0.9939993942959626},"rotation":{"radians":1.5243859789567935}},"curvature":0.12135099535594539},{"time":4.11727911069276,"velocity":0.9944275783148012,"acceleration":-2.7,"pose":{"translation":{"x":6.8589692910795375,"y":-0.8762188337102779},"rotation":{"radians":1.545666001109465}},"curvature":0.2711728120608145},{"time":4.2162111617726294,"velocity":0.7273110403991527,"acceleration":-2.7,"pose":{"translation":{"x":6.859786473206476,"y":-0.7910551877421406},"rotation":{"radians":1.5823282983696938}},"curvature":0.6795573241006491},{"time":4.3122875093003605,"velocity":0.4679049020742787,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.857646656755684,"y":-0.7336790845023469},"rotation":{"radians":1.6411172166756083}},"curvature":1.408666121969403},{"time":4.485585621179723,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.853729304902418,"y":-0.6933252592926578},"rotation":{"radians":1.6848821059629517}},"curvature":-4.92425600230483E-13}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce4.wpilib.json b/src/main/deploy/paths/Bounce4.wpilib.json new file mode 100644 index 0000000..8cced39 --- /dev/null +++ b/src/main/deploy/paths/Bounce4.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.884655028022934,"y":-0.8912498872640597},"rotation":{"radians":-1.4722402684151927}},"curvature":0.0},{"time":0.25296309905399156,"velocity":0.6830003674457773,"acceleration":2.699999999999999,"pose":{"translation":{"x":6.89345309421959,"y":-0.9771876453418196},"rotation":{"radians":-1.4619910274818029}},"curvature":0.2305869288855272},{"time":0.35748444618010117,"velocity":0.9652080046862731,"acceleration":2.7,"pose":{"translation":{"x":6.903904451477753,"y":-1.0626877170760076},"rotation":{"radians":-1.4335562590013435}},"curvature":0.42402970963673453},{"time":0.43736376715515546,"velocity":1.1808821713189197,"acceleration":2.6999999999999997,"pose":{"translation":{"x":6.917375604691053,"y":-1.1473366225584951},"rotation":{"radians":-1.3901081830565518}},"curvature":0.5844547835697168},{"time":0.5044083003075956,"velocity":1.3619024108305082,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.934938962728379,"y":-1.230747469881826},"rotation":{"radians":-1.334601294220802}},"curvature":0.7123409106742015},{"time":0.5632680053967095,"velocity":1.5208236145711158,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.957393476208107,"y":-1.3125601542174243},"rotation":{"radians":-1.2699304384313166}},"curvature":0.8062080106281817},{"time":0.6163972158990845,"velocity":1.6642724829275282,"acceleration":2.475316913534247,"pose":{"translation":{"x":6.985285275272339,"y":-1.392441556893803},"rotation":{"radians":-1.198974182262924}},"curvature":0.864795077984714},{"time":0.6654524407865492,"velocity":1.7856997107886958,"acceleration":0.062350365137142816,"pose":{"translation":{"x":7.0189283073611275,"y":-1.4700857444747717},"rotation":{"radians":-1.124523702693634}},"curvature":0.8889213354572022},{"time":0.7129451039127537,"velocity":1.78866089567595,"acceleration":0.2961837952887966,"pose":{"translation":{"x":7.058424974986713,"y":-1.5452141678376439},"rotation":{"radians":-1.049137978507274}},"curvature":0.8823400321025343},{"time":0.760476045257686,"velocity":1.8027387902771412,"acceleration":0.46771066083001195,"pose":{"translation":{"x":7.103686773507756,"y":-1.617575861251447},"rotation":{"radians":-0.9749888226228951}},"curvature":0.8513473102203206},{"time":0.8078700166364136,"velocity":1.8249054559500446,"acceleration":0.5787515852167175,"pose":{"translation":{"x":7.154454928903568,"y":-1.6869476414551279},"rotation":{"radians":-0.9037537838064569}},"curvature":0.8035162482299619},{"time":0.854979375203696,"velocity":1.852170071899402,"acceleration":0.6361456500831936,"pose":{"translation":{"x":7.210321035548344,"y":-1.7531343067357628},"rotation":{"radians":-0.8365858561357852}},"curvature":0.7462549779219345},{"time":0.9016716308048282,"velocity":1.8818731471926349,"acceleration":0.6501075385982331,"pose":{"translation":{"x":7.270747693985399,"y":-1.8159688360067645},"rotation":{"radians":-0.7741551069925111}},"curvature":0.685760875926037},{"time":0.9478160150144921,"velocity":1.9118719592313107,"acceleration":0.6319408527181877,"pose":{"translation":{"x":7.3350891487013925,"y":-1.8753125878860903},"rotation":{"radians":-0.7167361615414236}},"curvature":0.6265723214209662},{"time":0.9932721101075098,"velocity":1.9405975227256314,"acceleration":0.5920746116912792,"pose":{"translation":{"x":7.40261192590057,"y":-1.9310554997744513},"rotation":{"radians":-0.6643116790569434}},"curvature":0.5716110075260754},{"time":1.0378824240880622,"velocity":1.967010157053093,"acceleration":0.5388773655764453,"pose":{"translation":{"x":7.472515471278987,"y":-1.9831162869335177},"rotation":{"radians":-0.6166695804949698}},"curvature":0.5224916735499796},{"time":1.0814694718546858,"velocity":1.9904982305268257,"acceleration":0.47823794446439943,"pose":{"translation":{"x":7.54395278779875,"y":-2.0314426415641305},"rotation":{"radians":-0.5734825077866054}},"curvature":0.4799061663392572},{"time":1.1238369775881671,"velocity":2.0107599793808895,"acceleration":-1.420426697029531,"pose":{"translation":{"x":7.616051073462241,"y":-2.0760114318845058},"rotation":{"radians":-0.5343665774820924}},"curvature":0.4439695051503919},{"time":1.1655616576487469,"velocity":1.9514931298978264,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.687932359086355,"y":-2.1168289012084456},"rotation":{"radians":-0.49892145456987524}},"curvature":0.4144855181996159},{"time":1.2077535776006252,"velocity":1.8375749460277553,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.7587341460767325,"y":-2.1539308670235453},"rotation":{"radians":-0.46675576543807984}},"curvature":0.3911303376729037},{"time":1.2507931873270282,"velocity":1.7213679997664675,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.827630044201988,"y":-2.1873829200694},"rotation":{"radians":-0.43750210450560295}},"curvature":0.37356806783724006},{"time":1.2945001052246785,"velocity":1.6033593214428112,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.893850409367945,"y":-2.217280623415815},"rotation":{"radians":-0.4108253732258058}},"curvature":0.36151368916987675},{"time":1.3386782736422005,"velocity":1.484078266715502,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.956702981391872,"y":-2.2437497115410117},"rotation":{"radians":-0.38642755580008403}},"curvature":0.35474997107009976},{"time":1.4276346427083686,"velocity":1.243896070236848,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.070046451485295,"y":-2.287057031551971},"rotation":{"radians":-0.3434873864254262}},"curvature":0.3562357527584841},{"time":1.5162631159337283,"velocity":1.0045991925283768,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.16445428667005,"y":-2.318921749068298},"rotation":{"radians":-0.30726312844009457}},"curvature":0.3728963823935639},{"time":1.6045165431361703,"velocity":0.7663149390817833,"acceleration":-2.7,"pose":{"translation":{"x":8.239279279267873,"y":-2.3414562165960007},"rotation":{"radians":-0.27771745401724474}},"curvature":0.37559400125132514},{"time":1.8883368909442382,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":8.344349159311989,"y":-2.369499452425432},"rotation":{"radians":-0.25100268664302744}},"curvature":4.332055593301599E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json b/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json new file mode 100644 index 0000000..40a9cdf --- /dev/null +++ b/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":0.0,"y":0.0},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2405915837300212,"velocity":0.6495972760710574,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.07814381358912215,"y":-2.831307938322425E-5},"rotation":{"radians":-0.0010826509167209514}},"curvature":-0.02748258627930911},{"time":0.3403687473786084,"velocity":0.9189956179222429,"acceleration":2.7,"pose":{"translation":{"x":0.15639844350516796,"y":-2.2414140403270721E-4},"rotation":{"radians":-0.004261296220402157}},"curvature":-0.05347409186319095},{"time":0.4171073902948127,"velocity":1.1261899537959945,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.23486907390179113,"y":-7.485484820790589E-4},"rotation":{"radians":-0.0094212046777475}},"curvature":-0.07770893881369795},{"time":0.4820198850766026,"velocity":1.3014536897068272,"acceleration":2.6999999999999993,"pose":{"translation":{"x":0.3136548399925232,"y":-0.0017556548118591309},"rotation":{"radians":-0.01643557600211064}},"curvature":-0.0999786645789153},{"time":0.5394608356419908,"velocity":1.4565442562333752,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.39284893282456324,"y":-0.0033927426557056606},"rotation":{"radians":-0.0251682723352039}},"curvature":-0.12012966946706},{"time":0.5916708442330667,"velocity":1.5975112794292803,"acceleration":2.7000000000000024,"pose":{"translation":{"x":0.4725387040525675,"y":-0.005800360813736916},"rotation":{"radians":-0.03547638991817513}},"curvature":-0.13806039182086433},{"time":0.6399859919788877,"velocity":1.7279621783429973,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.552805770712439,"y":-0.009112429397646338},"rotation":{"radians":-0.047212672643734674}},"curvature":-0.15371802470468285},{"time":0.6852805067571838,"velocity":1.8502573682443966,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.6337261199951172,"y":-0.013456344604492188},"rotation":{"radians":-0.06022776783721897}},"curvature":-0.1670947999411318},{"time":0.7281643963520545,"velocity":1.9660438701505476,"acceleration":2.6999999999999984,"pose":{"translation":{"x":0.7153702140203677,"y":-0.018953083490487188},"rotation":{"radians":-0.07437232026484512}},"curvature":-0.1782238294413945},{"time":0.7690838783889448,"velocity":2.0765264716501513,"acceleration":2.2151230220995366,"pose":{"translation":{"x":0.7978030946105719,"y":-0.02571730874478817},"rotation":{"radians":-0.08949889521362152}},"curvature":-0.18717450044020895},{"time":0.8085503296458368,"velocity":2.163949516429862,"acceleration":-0.08272885097559393,"pose":{"translation":{"x":0.8810844880645163,"y":-0.033857473463285714},"rotation":{"radians":-0.10546371724200888}},"curvature":-0.19404745661562758},{"time":0.8477359164797245,"velocity":2.1607077378562902,"acceleration":-0.05151783414584127,"pose":{"translation":{"x":0.9652689099311829,"y":-0.0434759259223938},"rotation":{"radians":-0.12212820899172197}},"curvature":-0.19896924595594245},{"time":0.8874961371281261,"velocity":2.158659377403324,"acceleration":-0.02398172365215446,"pose":{"translation":{"x":1.0504057697835378,"y":-0.05466901435283944},"rotation":{"radians":-0.1393603148117705}},"curvature":-0.20208676461993152},{"time":0.9278488156126926,"velocity":2.1576916506192827,"acceleration":-5.180314370494418E-5,"pose":{"translation":{"x":1.136539475992322,"y":-0.06752719171345234},"rotation":{"radians":-0.15703559687254381}},"curvature":-0.20356166296129774},{"time":0.9688118646942466,"velocity":2.1576895286045645,"acceleration":0.020401165588531073,"pose":{"translation":{"x":1.22370954049984,"y":-0.08213512046495453},"rotation":{"radians":-0.17503809651401303}},"curvature":-0.20356489854681434},{"time":1.0104032380289947,"velocity":2.158538041099021,"acceleration":0.037556774772386205,"pose":{"translation":{"x":1.31195068359375,"y":-0.09857177734375},"rotation":{"radians":-0.19326096007443874}},"curvature":-0.20227161900745516},{"time":1.0526408465745978,"velocity":2.1601243494500926,"acceleration":0.051634506584849686,"pose":{"translation":{"x":1.4012929386808537,"y":-0.11691055813571438},"rotation":{"radians":-0.2116068355586935}},"curvature":-0.199856536473444},{"time":1.0955424460883767,"velocity":2.1623395523726874,"acceleration":0.06288321739898953,"pose":{"translation":{"x":1.4917617570608854,"y":-0.13721938244998455},"rotation":{"radians":-0.22998805342187695}},"curvature":-0.1964899195916967},{"time":1.1391255025317355,"velocity":2.1650801951859275,"acceleration":0.07157091021748574,"pose":{"translation":{"x":1.5833781127003022,"y":-0.1595607984927483},"rotation":{"radians":-0.2483266107864853}},"curvature":-0.19233428470069036},{"time":1.1834070419938851,"velocity":2.168249465271065,"acceleration":0.0779751576257635,"pose":{"translation":{"x":1.676158607006073,"y":-0.18399208784103394},"rotation":{"radians":-0.26655398309896333}},"curvature":-0.18754182089294194},{"time":1.228403491363741,"velocity":2.1717580705032793,"acceleration":0.08237450109974334,"pose":{"translation":{"x":1.770115573599469,"y":-0.21056537021650001},"rotation":{"radians":-0.2846107903049497}},"curvature":-0.18225253988851078},{"time":1.2741305154332732,"velocity":2.175524811297783,"acceleration":0.08504107563846398,"pose":{"translation":{"x":1.8652571830898523,"y":-0.2393277082592249},"rotation":{"radians":-0.30244634603314535}},"curvature":-0.17659310488419677},{"time":1.3206028554428235,"velocity":2.1794768690796316,"acceleration":0.0862346109663674,"pose":{"translation":{"x":1.9615875478484668,"y":-0.2703212123014964},"rotation":{"radians":-0.3200181181490893}},"curvature":-0.17067626514133666},{"time":1.367834173321836,"velocity":2.183549843402357,"acceleration":0.08619785936757811,"pose":{"translation":{"x":2.0591068267822266,"y":-0.30358314514160156},"rotation":{"radians":-0.33729112761652036}},"curvature":-0.1646008057287766},{"time":1.415836905083128,"velocity":2.1876875761239765,"acceleration":0.0851534089612554,"pose":{"translation":{"x":2.1578113301075064,"y":-0.3391460268176161},"rotation":{"radians":-0.3542373101961703}},"curvature":-0.15845191395296837},{"time":1.4646221260377028,"velocity":2.1918418039951866,"acceleration":0.08330176846355279,"pose":{"translation":{"x":2.257693624123931,"y":-0.3770377393811941},"rotation":{"radians":-0.3708348624485024}},"curvature":-0.15230186412129473},{"time":1.5141994297464332,"velocity":2.1959716810697785,"acceleration":0.08082055911422058,"pose":{"translation":{"x":2.3587426359881647,"y":-0.4172816316713579},"rotation":{"radians":-0.38706759009738423}},"curvature":-0.14621092848984082},{"time":1.5645768219418248,"velocity":2.2000432100737264,"acceleration":0.07786462153950033,"pose":{"translation":{"x":2.4609437584877014,"y":-0.45989662408828735},"rotation":{"radians":-0.4029242733210075}},"curvature":-0.1402284325466594},{"time":1.6157606300555314,"velocity":2.2040286179214506,"acceleration":0.07456683723924012,"pose":{"translation":{"x":2.564278954814654,"y":-0.5048973133671097},"rotation":{"radians":-0.41839806017259407}},"curvature":-0.13439388534690774},{"time":1.667755428484485,"velocity":2.2079057055931894,"acceleration":0.07103947196117844,"pose":{"translation":{"x":2.6687268633395433,"y":-0.5522940773516893},"rotation":{"radians":-0.4334858962447088}},"curvature":-0.1287381289353431},{"time":1.7205639793223326,"velocity":2.211657197159745,"acceleration":0.06737586677177708,"pose":{"translation":{"x":2.7742629023850895,"y":-0.602093179768417},"rotation":{"radians":-0.448187995969697}},"curvature":-0.12328446383071472},{"time":1.7741871879692774,"velocity":2.215270107321417,"acceleration":0.06365232769041089,"pose":{"translation":{"x":2.880859375,"y":-0.654296875},"rotation":{"radians":-0.4625073586397917}},"curvature":-0.11804971934383038},{"time":1.8286240728045264,"velocity":2.2187351417533954,"acceleration":0.05993009253943335,"pose":{"translation":{"x":2.98848557373276,"y":-0.7089035128592514},"rotation":{"radians":-0.47644933034151526}},"curvature":-0.11304524771977777},{"time":1.883871747951006,"velocity":2.2220461400375124,"acceleration":0.056257281288404314,"pose":{"translation":{"x":3.0971078854054213,"y":-0.7659076433628798},"rotation":{"radians":-0.490021211510979}},"curvature":-0.10827782955645215},{"time":1.9399254180701413,"velocity":2.225199567124652,"acceleration":0.05267076165499833,"pose":{"translation":{"x":3.2066898958873935,"y":-0.8253001215052791},"rotation":{"radians":-0.5032319086929682}},"curvature":-0.10375048466516042},{"time":1.9967783840838995,"velocity":2.2281940561469424,"acceleration":0.0500531979885521,"pose":{"translation":{"x":3.317192494869232,"y":-0.8870682120323181},"rotation":{"radians":-0.5160916282809809}},"curvature":-0.09946318763650631},{"time":2.025501975936615,"velocity":2.2296317637768888,"acceleration":0.04834843995318181,"pose":{"translation":{"x":3.3727760816236696,"y":-0.9188381762487552},"rotation":{"radians":-0.5223933499305692}},"curvature":-0.09740887163401273},{"time":2.0544220234895816,"velocity":2.2310300029594465,"acceleration":0.046678031557682326,"pose":{"translation":{"x":3.428573980636429,"y":-0.9511956942151301},"rotation":{"radians":-0.5286116094776955}},"curvature":-0.09541349105745087},{"time":2.0835371626039323,"velocity":2.2323890403418325,"acceleration":0.04504356359722228,"pose":{"translation":{"x":3.4845805914756056,"y":-0.9841382109243568},"rotation":{"radians":-0.5347479353268761}},"curvature":-0.09347644950906146},{"time":2.112845914569954,"velocity":2.233709210974969,"acceleration":0.04344627858531381,"pose":{"translation":{"x":3.5407901648432016,"y":-1.0176629666239023},"rotation":{"radians":-0.5408038933963395}},"curvature":-0.09159706182401153},{"time":2.142346687275237,"velocity":2.234990909764405,"acceleration":0.04188710649756073,"pose":{"translation":{"x":3.5971968058493076,"y":-1.051767000089967},"rotation":{"radians":-0.546781081651562}},"curvature":-0.08977456657954339},{"time":2.1720377764713246,"velocity":2.23623458357959,"acceleration":0.04036669790154829,"pose":{"translation":{"x":3.653794477286283,"y":-1.086447151901666},"rotation":{"radians":-0.5526811250772102}},"curvature":-0.08800813754015926},{"time":2.201917367132234,"velocity":2.237440723989221,"acceleration":0.038885454559462684,"pose":{"translation":{"x":3.7105770029029372,"y":-1.12170006771521},"rotation":{"radians":-0.5585056710629697}},"curvature":-0.08629689410238194},{"time":2.2319835348983728,"velocity":2.2386098605896683,"acceleration":0.03744355760545508,"pose":{"translation":{"x":3.767538070678711,"y":-1.157522201538086},"rotation":{"radians":-0.5642563851793584}},"curvature":-0.08463991080199534},{"time":2.2622342475997606,"velocity":2.2397425548933088,"acceleration":0.036040993406207054,"pose":{"translation":{"x":3.8246712360978563,"y":-1.1939098190032382},"rotation":{"radians":-0.5699349473203195}},"curvature":-0.08303622594547336},{"time":2.292667366852755,"velocity":2.2408393947436362,"acceleration":0.03467757722348077,"pose":{"translation":{"x":3.8819699254236184,"y":-1.2308590006432496},"rotation":{"radians":-0.5755430481901774}},"curvature":-0.08148484942566686},{"time":2.3232806497248393,"velocity":2.241900989224497,"acceleration":0.03335297479870509,"pose":{"translation":{"x":3.939427438972416,"y":-1.268365645164522},"rotation":{"radians":-0.5810823861133668}},"curvature":-0.07998476977982921},{"time":2.3540717504622473,"velocity":2.2429279640314164,"acceleration":0.03206672198439644,"pose":{"translation":{"x":3.9970369543880224,"y":-1.3064254727214575},"rotation":{"radians":-0.5865546641462306}},"curvature":-0.07853496054580741},{"time":2.385038222275598,"velocity":2.2439209572738927,"acceleration":0.03081824254453442,"pose":{"translation":{"x":4.054791529915747,"y":-1.3450340281906392},"rotation":{"radians":-0.5919615874710755}},"curvature":-0.07713438596977641},{"time":2.416177519178967,"velocity":2.244880615678527,"acceleration":0.029606864247341883,"pose":{"translation":{"x":4.112684107676614,"y":-1.3841866844450124},"rotation":{"radians":-0.5973048610536026}},"curvature":-0.07578200611631837},{"time":2.4474869978780656,"velocity":2.2458075911640263,"acceleration":0.028431833369318062,"pose":{"translation":{"x":4.1707075169415475,"y":-1.423878645628065},"rotation":{"radians":-0.6025861875457454}},"curvature":-0.07447678142898713},{"time":2.4789639197035442,"velocity":2.2467025377603473,"acceleration":0.02729232772725941,"pose":{"translation":{"x":4.228854477405548,"y":-1.464104950428009},"rotation":{"radians":-0.6078072654168749}},"curvature":-0.07321767678680903},{"time":2.510605452585638,"velocity":2.2475661088455583,"acceleration":0.026187468349634438,"pose":{"translation":{"x":4.287117602461876,"y":-1.5048604753519612},"rotation":{"radians":-0.6129697872972361}},"curvature":-0.072003665099477},{"time":2.542408673066705,"velocity":2.2483989546753227,"acceleration":0.025116329894438197,"pose":{"translation":{"x":4.3454894024762325,"y":-1.546139938000124},"rotation":{"radians":-0.6180754385183802}},"curvature":-0.07083373048133693},{"time":2.57437056834827,"velocity":2.249201720181266,"acceleration":0.02407794991562292,"pose":{"translation":{"x":4.403962288060939,"y":-1.5879379003399663},"rotation":{"radians":-0.6231258958362255}},"curvature":-0.06970687104165842},{"time":2.6064880383697004,"velocity":2.2499750430158585,"acceleration":0.02307133707379513,"pose":{"translation":{"x":4.462528573349118,"y":-1.6302487719804049},"rotation":{"radians":-0.6281228263232281}},"curvature":-0.06862210132615378},{"time":2.6387578979155752,"velocity":2.2507195518227654,"acceleration":0.02209547838213378,"pose":{"translation":{"x":4.521180479268878,"y":-1.6730668134459847},"rotation":{"radians":-0.6330678864169678}},"curvature":-0.06757845444226444},{"time":2.671176878749159,"velocity":2.2514358647129447,"acceleration":0.021149345572818834,"pose":{"translation":{"x":4.579910136817489,"y":-1.7163861394510604},"rotation":{"radians":-0.6379627211132425}},"curvature":-0.066574983898393},{"time":2.7037416317695953,"velocity":2.2521245879280674,"acceleration":0.020231900662547896,"pose":{"translation":{"x":4.638709590335566,"y":-1.7602007221739768},"rotation":{"radians":-0.6428089632925209}},"curvature":-0.06561076518502294},{"time":2.73644872919058,"velocity":2.252786314674049,"acceleration":0.019342100791867666,"pose":{"translation":{"x":4.69757080078125,"y":-1.80450439453125},"rotation":{"radians":-0.647608233169335}},"curvature":-0.06468489712354483},{"time":2.769294666738404,"velocity":2.2534216241087024,"acceleration":0.01847890240600583,"pose":{"translation":{"x":4.756485649004389,"y":-1.8492908534517483},"rotation":{"radians":-0.6523621378548796}},"curvature":-0.06379650300659852},{"time":2.8022758658675166,"velocity":2.2540310804686423,"acceleration":0.01764126484130134,"pose":{"translation":{"x":4.815445939020719,"y":-1.894553663150873},"rotation":{"radians":-0.6570722710237484}},"curvature":-0.06294473155184836},{"time":2.835388675991867,"velocity":2.2546152323216857,"acceleration":0.016828153374798666,"pose":{"translation":{"x":4.874443401286044,"y":-1.9402862584047398},"rotation":{"radians":-0.6617402126763631}},"curvature":-0.062128757689329704},{"time":2.8686293767303477,"velocity":2.2551746119319986,"acceleration":0.016038541791195723,"pose":{"translation":{"x":4.933469695970416,"y":-1.986481947824359},"rotation":{"radians":-0.6663675289892359}},"curvature":-0.06134778320084009},{"time":2.901994180164967,"velocity":2.25570973472624,"acceleration":0.015271414516206812,"pose":{"translation":{"x":4.99251641623232,"y":-2.033133917129817},"rotation":{"radians":-0.6709557722457755}},"curvature":-0.060601037228293915},{"time":2.9354792331103643,"velocity":2.256221098849866,"acceleration":0.014525768361029631,"pose":{"translation":{"x":5.05157509149285,"y":-2.0802352324244566},"rotation":{"radians":-0.6755064808408625}},"curvature":-0.05988777666651089},{"time":2.969080619393367,"velocity":2.2567091848036225,"acceleration":0.013800613919385986,"pose":{"translation":{"x":5.110637190709895,"y":-2.127778843469059},"rotation":{"radians":-0.6800211793529247}},"curvature":-0.059207286454563475},{"time":3.002794362141637,"velocity":2.257174455151069,"acceleration":0.013094976653956942,"pose":{"translation":{"x":5.169694125652313,"y":-2.175757586956024},"rotation":{"radians":-0.6845013786777033}},"curvature":-0.058558879778560675},{"time":3.0366164260802195,"velocity":2.2576173542887332,"acceleration":0.01240789770684214,"pose":{"translation":{"x":5.228737254174121,"y":-2.2241641897835507},"rotation":{"radians":-0.6889485762183403}},"curvature":-0.057941898197592274},{"time":3.0705427198350677,"velocity":2.2580383082712157,"acceleration":0.01173843446361492,"pose":{"translation":{"x":5.287757883488666,"y":-2.2729912723298185},"rotation":{"radians":-0.6933642561268223}},"curvature":-0.05735571170349064},{"time":3.1045690982430205,"velocity":2.2584377246841916,"acceleration":0.011085660900251948,"pose":{"translation":{"x":5.346747273442816,"y":-2.3222313517271687},"rotation":{"radians":-0.697749889592203}},"curvature":-0.05679971872408576},{"time":3.138691364666869,"velocity":2.2588159925589144,"acceleration":0.010448667736565487,"pose":{"translation":{"x":5.405696639791131,"y":-2.371876845136285},"rotation":{"radians":-0.702106935171379}},"curvature":-0.056273346078724217},{"time":3.17290527331551,"velocity":2.2591734823223533,"acceleration":0.009826562419666632,"pose":{"translation":{"x":5.4645971574700525,"y":-2.421920073020374},"rotation":{"radians":-0.7064368391585247}},"curvature":-0.055776048893992014},{"time":3.207206531568053,"velocity":2.259510545777645,"acceleration":0.009218468957323285,"pose":{"translation":{"x":5.523439963872079,"y":-2.4723532624193467},"rotation":{"radians":-0.7107410359896046}},"curvature":-0.05530731048681846},{"time":3.2415908023016393,"velocity":2.2598275161100227,"acceleration":0.00862352761933712,"pose":{"translation":{"x":5.582216162119948,"y":-2.5231685502239998},"rotation":{"radians":-0.7150209486786628}},"curvature":-0.05486664222143903},{"time":3.276053706222198,"velocity":2.2601247079138242,"acceleration":0.008040894523471542,"pose":{"translation":{"x":5.64091682434082,"y":-2.5743579864501953},"rotation":{"radians":-0.7192779892828582}},"curvature":-0.05445358334605495},{"time":3.310590824198114,"velocity":2.2604024172366133,"acceleration":0.00746974112022426,"pose":{"translation":{"x":5.699532994940455,"y":-2.6259135375130427},"rotation":{"radians":-0.7235135593934571}},"curvature":-0.05406770081444218},{"time":3.34519769959601,"velocity":2.2606609216368154,"acceleration":0.0069092535894289125,"pose":{"translation":{"x":5.758055693877395,"y":-2.677827089501079},"rotation":{"radians":-0.7277290506502201}},"curvature":-0.053708589097225895},{"time":3.379869840618422,"velocity":2.2609004802516277,"acceleration":0.00635863216026832,"pose":{"translation":{"x":5.816475919937147,"y":-2.730090451450451},"rotation":{"radians":-0.7319258452768336}},"curvature":-0.05337586998704912},{"time":3.4146027226433113,"velocity":2.26112133387229,"acceleration":0.005817090364686394,"pose":{"translation":{"x":5.874784654006362,"y":-2.782695358619094},"rotation":{"radians":-0.7361053166352199}},"curvature":-0.05306919240141616},{"time":3.449391790564711,"velocity":2.261323705024092,"acceleration":0.005283854233609521,"pose":{"translation":{"x":5.932972862347015,"y":-2.8356334757609147},"rotation":{"radians":-0.7402688297967409}},"curvature":-0.05278823218658412},{"time":3.48423246113474,"velocity":2.261507798048785,"acceleration":0.004758161443525491,"pose":{"translation":{"x":5.991031499870587,"y":-2.8888964003999718},"rotation":{"radians":-0.744417742128466}},"curvature":-0.052532691925503534},{"time":3.519120125306265,"velocity":2.261673799187301,"acceleration":0.004239260420931646,"pose":{"translation":{"x":6.0489515134122485,"y":-2.942475666104656},"rotation":{"radians":-0.7485534038928245}},"curvature":-0.052302300752467605},{"time":3.554050150576754,"velocity":2.261821876660932,"acceleration":0.003726409410388517,"pose":{"translation":{"x":6.106723845005035,"y":-2.9963627457618713},"rotation":{"radians":-0.7526771588590875}},"curvature":-0.052096814176818704},{"time":3.5890178833321764,"velocity":2.261952180749332,"acceleration":0.00321887551220497,"pose":{"translation":{"x":6.164339435154034,"y":-3.050549054851217},"rotation":{"radians":-0.7567903449252481}},"curvature":-0.05191601391777436},{"time":3.6240186511922436,"velocity":2.262064843863905,"acceleration":0.002715933694139563,"pose":{"translation":{"x":6.221789226110559,"y":-3.105025954719167},"rotation":{"radians":-0.7608942947489714}},"curvature":-0.05175970775217297},{"time":3.659047765354869,"velocity":2.262159980615335,"acceleration":0.0022168657817410063,"pose":{"translation":{"x":6.2790641651463375,"y":-3.159784755853252},"rotation":{"radians":-0.7649903363863789}},"curvature":-0.05162772937669655},{"time":3.694100522942258,"velocity":2.2622376878741863,"acceleration":0.0017209594308168182,"pose":{"translation":{"x":6.336155207827687,"y":-3.2148167211562395},"rotation":{"radians":-0.7690797939375139}},"curvature":-0.05151993828590486},{"time":3.7291722093463124,"velocity":2.262298044823658,"acceleration":0.0012275070859104674,"pose":{"translation":{"x":6.393053321289699,"y":-3.270113069220315},"rotation":{"radians":-0.7731639881974063}},"curvature":-0.05143621966720566},{"time":3.764258100574273,"velocity":2.262341113003756,"acceleration":7.358049270398068E-4,"pose":{"translation":{"x":6.449749487510417,"y":-3.3256649776012637},"rotation":{"radians":-0.7772442373117127}},"curvature":-0.05137648431369161},{"time":3.799353465595073,"velocity":2.2623669363462544,"acceleration":2.4515180854178315E-4,"pose":{"translation":{"x":6.506234706585019,"y":-3.38146358609265},"rotation":{"radians":-0.7813218574359585}},"curvature":-0.05134066855558977},{"time":3.8344535686856065,"velocity":2.262375541200007,"acceleration":-2.4515180854178315E-4,"pose":{"translation":{"x":6.5625,"y":-3.4375},"rotation":{"radians":-0.7853981633974483}},"curvature":-0.05132873421089494},{"time":3.86955367177614,"velocity":2.2623669363462544,"acceleration":-7.358049270398068E-4,"pose":{"translation":{"x":6.61853641390735,"y":-3.493765293414981},"rotation":{"radians":-0.7894744693589382}},"curvature":-0.05134066855558977},{"time":3.90464903679694,"velocity":2.262341113003756,"acceleration":-0.0012275070859104674,"pose":{"translation":{"x":6.674335022398736,"y":-3.5502505124895833},"rotation":{"radians":-0.793552089483184}},"curvature":-0.05137648431369161},{"time":3.9397349280249006,"velocity":2.262298044823658,"acceleration":-0.0017209594308168182,"pose":{"translation":{"x":6.729886930779685,"y":-3.606946678710301},"rotation":{"radians":-0.7976323385974903}},"curvature":-0.05143621966720566},{"time":3.974806614428955,"velocity":2.2622376878741863,"acceleration":-0.0022168657817410063,"pose":{"translation":{"x":6.7851832788437605,"y":-3.6638447921723127},"rotation":{"radians":-0.8017165328573828}},"curvature":-0.05151993828590486},{"time":4.009859372016344,"velocity":2.262159980615335,"acceleration":-0.002715933694139563,"pose":{"translation":{"x":6.840215244146748,"y":-3.7209358348536625},"rotation":{"radians":-0.8058059904085177}},"curvature":-0.05162772937669655},{"time":4.044888486178969,"velocity":2.262064843863905,"acceleration":-0.00321887551220497,"pose":{"translation":{"x":6.894974045280833,"y":-3.778210773889441},"rotation":{"radians":-0.8099020320459251}},"curvature":-0.05175970775217297},{"time":4.079889254039037,"velocity":2.261952180749332,"acceleration":-0.003726409410388517,"pose":{"translation":{"x":6.949450945148783,"y":-3.8356605648459663},"rotation":{"radians":-0.8140059818696486}},"curvature":-0.05191601391777436},{"time":4.114856986794459,"velocity":2.261821876660932,"acceleration":-0.0042392604209315985,"pose":{"translation":{"x":7.003637254238129,"y":-3.8932761549949646},"rotation":{"radians":-0.8181191679358092}},"curvature":-0.052096814176818704},{"time":4.149787012064948,"velocity":2.261673799187301,"acceleration":-0.004758161443525437,"pose":{"translation":{"x":7.057524333895344,"y":-3.9510484865877515},"rotation":{"radians":-0.8222429229020721}},"curvature":-0.052302300752467605},{"time":4.184674676236473,"velocity":2.261507798048785,"acceleration":-0.005283854233609461,"pose":{"translation":{"x":7.111103599600028,"y":-4.008968500129413},"rotation":{"radians":-0.8263785846664307}},"curvature":-0.052532691925503534},{"time":4.219515346806503,"velocity":2.261323705024092,"acceleration":-0.00581709036468646,"pose":{"translation":{"x":7.164366524239085,"y":-4.067027137652985},"rotation":{"radians":-0.8305274969981558}},"curvature":-0.05278823218658412},{"time":4.254304414727902,"velocity":2.26112133387229,"acceleration":-0.006358632160268248,"pose":{"translation":{"x":7.217304641380906,"y":-4.125215345993638},"rotation":{"radians":-0.8346910101596766}},"curvature":-0.05306919240141616},{"time":4.289037296752792,"velocity":2.2609004802516277,"acceleration":-0.006909253589428991,"pose":{"translation":{"x":7.269909548549549,"y":-4.183524080062853},"rotation":{"radians":-0.838870481518063}},"curvature":-0.05337586998704912},{"time":4.323709437775204,"velocity":2.2606609216368154,"acceleration":-0.00746974112022426,"pose":{"translation":{"x":7.322172910498921,"y":-4.241944306122605},"rotation":{"radians":-0.8430672761446766}},"curvature":-0.053708589097225895},{"time":4.3583163131731,"velocity":2.2604024172366133,"acceleration":-0.00804089452347145,"pose":{"translation":{"x":7.374086462486957,"y":-4.300467005059545},"rotation":{"radians":-0.8472827674014396}},"curvature":-0.05406770081444218},{"time":4.392853431149017,"velocity":2.2601247079138242,"acceleration":-0.00862352761933722,"pose":{"translation":{"x":7.425642013549805,"y":-4.35908317565918},"rotation":{"radians":-0.8515183375120384}},"curvature":-0.05445358334605495},{"time":4.427316335069575,"velocity":2.2598275161100227,"acceleration":-0.00921846895732318,"pose":{"translation":{"x":7.476831449776,"y":-4.417783837880052},"rotation":{"radians":-0.8557753781162338}},"curvature":-0.05486664222143903},{"time":4.461700605803162,"velocity":2.259510545777645,"acceleration":-0.009826562419666743,"pose":{"translation":{"x":7.527646737580653,"y":-4.476560036127921},"rotation":{"radians":-0.8600552908052921}},"curvature":-0.05530731048681846},{"time":4.496001864055705,"velocity":2.2591734823223533,"acceleration":-0.010448667736565607,"pose":{"translation":{"x":7.578079926979626,"y":-4.5354028425299475},"rotation":{"radians":-0.8643594876363718}},"curvature":-0.055776048893992014},{"time":4.530215772704346,"velocity":2.2588159925589144,"acceleration":-0.011085660900251948,"pose":{"translation":{"x":7.628123154863715,"y":-4.594303360208869},"rotation":{"radians":-0.8686893916235175}},"curvature":-0.056273346078724217},{"time":4.564338039128194,"velocity":2.2584377246841916,"acceleration":-0.011738434463614783,"pose":{"translation":{"x":7.677768648272831,"y":-4.653252726557184},"rotation":{"radians":-0.8730464372026936}},"curvature":-0.05679971872408576},{"time":4.598364417536148,"velocity":2.2580383082712157,"acceleration":-0.012407897706841996,"pose":{"translation":{"x":7.7270087276701815,"y":-4.712242116511334},"rotation":{"radians":-0.8774320706680744}},"curvature":-0.05735571170349064},{"time":4.632290711290996,"velocity":2.2576173542887332,"acceleration":-0.013094976653957095,"pose":{"translation":{"x":7.775835810216449,"y":-4.771262745825879},"rotation":{"radians":-0.8818477505765563}},"curvature":-0.057941898197592274},{"time":4.666112775229578,"velocity":2.257174455151069,"acceleration":-0.013800613919385986,"pose":{"translation":{"x":7.824242413043976,"y":-4.830305874347687},"rotation":{"radians":-0.8862949481171933}},"curvature":-0.058558879778560675},{"time":4.699826517977848,"velocity":2.2567091848036225,"acceleration":-0.014525768361029631,"pose":{"translation":{"x":7.872221156530941,"y":-4.889362809290105},"rotation":{"radians":-0.890775147441972}},"curvature":-0.059207286454563475},{"time":4.733427904260851,"velocity":2.256221098849866,"acceleration":-0.015271414516206812,"pose":{"translation":{"x":7.919764767575543,"y":-4.94842490850715},"rotation":{"radians":-0.895289845954034}},"curvature":-0.05988777666651089},{"time":4.766912957206248,"velocity":2.25570973472624,"acceleration":-0.016038541791195723,"pose":{"translation":{"x":7.966866082870183,"y":-5.00748358376768},"rotation":{"radians":-0.899840554549121}},"curvature":-0.060601037228293915},{"time":4.800277760640867,"velocity":2.2551746119319986,"acceleration":-0.016828153374798666,"pose":{"translation":{"x":8.013518052175641,"y":-5.066530304029584},"rotation":{"radians":-0.9044287978056607}},"curvature":-0.06134778320084009},{"time":4.833518461379348,"velocity":2.2546152323216857,"acceleration":-0.017641264841301553,"pose":{"translation":{"x":8.05971374159526,"y":-5.125556598713956},"rotation":{"radians":-0.9090561141185335}},"curvature":-0.062128757689329704},{"time":4.866631271503698,"velocity":2.2540310804686423,"acceleration":-0.01847890240600583,"pose":{"translation":{"x":8.105446336849127,"y":-5.184554060979281},"rotation":{"radians":-0.9137240557711481}},"curvature":-0.06294473155184836},{"time":4.89961247063281,"velocity":2.2534216241087024,"acceleration":-0.019342100791867434,"pose":{"translation":{"x":8.150709146548252,"y":-5.243514350995611},"rotation":{"radians":-0.918434188940017}},"curvature":-0.06379650300659852},{"time":4.932458408180635,"velocity":2.252786314674049,"acceleration":-0.020231900662547896,"pose":{"translation":{"x":8.19549560546875,"y":-5.30242919921875},"rotation":{"radians":-0.9231880936255615}},"curvature":-0.06468489712354483},{"time":4.965165505601619,"velocity":2.2521245879280674,"acceleration":-0.02114934557281909,"pose":{"translation":{"x":8.239799277826023,"y":-5.361290409664434},"rotation":{"radians":-0.9279873635023757}},"curvature":-0.06561076518502294},{"time":4.997730258622055,"velocity":2.2514358647129447,"acceleration":-0.02209547838213351,"pose":{"translation":{"x":8.28361386054894,"y":-5.420089863182511},"rotation":{"radians":-0.9328336056816542}},"curvature":-0.066574983898393},{"time":5.030149239455639,"velocity":2.2507195518227654,"acceleration":-0.02307133707379513,"pose":{"translation":{"x":8.326933186554015,"y":-5.478819520731122},"rotation":{"radians":-0.9377284403779288}},"curvature":-0.06757845444226444},{"time":5.062419099001514,"velocity":2.2499750430158585,"acceleration":-0.02407794991562292,"pose":{"translation":{"x":8.369751228019595,"y":-5.537471426650882},"rotation":{"radians":-0.9426735004716684}},"curvature":-0.06862210132615378},{"time":5.094536569022944,"velocity":2.249201720181266,"acceleration":-0.025116329894437888,"pose":{"translation":{"x":8.412062099660034,"y":-5.596037711939061},"rotation":{"radians":-0.9476704309586711}},"curvature":-0.06970687104165842},{"time":5.126498464304509,"velocity":2.2483989546753227,"acceleration":-0.026187468349634438,"pose":{"translation":{"x":8.453860061999876,"y":-5.6545105975237675},"rotation":{"radians":-0.9527208882765165}},"curvature":-0.07083373048133693},{"time":5.1583016847855765,"velocity":2.2475661088455583,"acceleration":-0.02729232772725941,"pose":{"translation":{"x":8.495139524648039,"y":-5.712882397538124},"rotation":{"radians":-0.9578265394976606}},"curvature":-0.072003665099477},{"time":5.18994321766767,"velocity":2.2467025377603473,"acceleration":-0.028431833369318062,"pose":{"translation":{"x":8.535895049571991,"y":-5.771145522594452},"rotation":{"radians":-0.9629890613780216}},"curvature":-0.07321767678680903},{"time":5.221420139493149,"velocity":2.2458075911640263,"acceleration":-0.029606864247341883,"pose":{"translation":{"x":8.576121354371935,"y":-5.8292924830584525},"rotation":{"radians":-0.9682101392491511}},"curvature":-0.07447678142898713},{"time":5.252729618192247,"velocity":2.244880615678527,"acceleration":-0.030818242544534028,"pose":{"translation":{"x":8.615813315554988,"y":-5.887315892323386},"rotation":{"radians":-0.9734914657412941}},"curvature":-0.07578200611631837},{"time":5.283868915095617,"velocity":2.2439209572738927,"acceleration":-0.03206672198439644,"pose":{"translation":{"x":8.65496597180936,"y":-5.945208470084253},"rotation":{"radians":-0.9788347393238211}},"curvature":-0.07713438596977641},{"time":5.3148353869089675,"velocity":2.2429279640314164,"acceleration":-0.03335297479870509,"pose":{"translation":{"x":8.693574527278543,"y":-6.002963045611978},"rotation":{"radians":-0.9842416626486661}},"curvature":-0.07853496054580741},{"time":5.345626487646375,"velocity":2.241900989224497,"acceleration":-0.03467757722348077,"pose":{"translation":{"x":8.731634354835478,"y":-6.060572561027584},"rotation":{"radians":-0.9897139406815298}},"curvature":-0.07998476977982921},{"time":5.37623977051846,"velocity":2.2408393947436362,"acceleration":-0.03604099340620659,"pose":{"translation":{"x":8.76914099935675,"y":-6.118030074576382},"rotation":{"radians":-0.9952532786047192}},"curvature":-0.08148484942566686},{"time":5.406672889771455,"velocity":2.2397425548933088,"acceleration":-0.03744355760545508,"pose":{"translation":{"x":8.806090180996762,"y":-6.175328763902144},"rotation":{"radians":-1.000861379474577}},"curvature":-0.08303622594547336},{"time":5.436923602472843,"velocity":2.2386098605896683,"acceleration":-0.038885454559462684,"pose":{"translation":{"x":8.842477798461914,"y":-6.232461929321289},"rotation":{"radians":-1.0065399416155383}},"curvature":-0.08463991080199534},{"time":5.466989770238982,"velocity":2.237440723989221,"acceleration":-0.04036669790154829,"pose":{"translation":{"x":8.87829993228479,"y":-6.289422997097063},"rotation":{"radians":-1.012290655731927}},"curvature":-0.08629689410238194},{"time":5.4968693608998915,"velocity":2.23623458357959,"acceleration":-0.041887106497560445,"pose":{"translation":{"x":8.913552848098334,"y":-6.346205522713717},"rotation":{"radians":-1.0181152017176864}},"curvature":-0.08800813754015926},{"time":5.526560450095979,"velocity":2.234990909764405,"acceleration":-0.04344627858531381,"pose":{"translation":{"x":8.948232999910033,"y":-6.402803194150692},"rotation":{"radians":-1.0240152451433346}},"curvature":-0.08977456657954339},{"time":5.556061222801262,"velocity":2.233709210974969,"acceleration":-0.045043563597222586,"pose":{"translation":{"x":8.982337033376098,"y":-6.459209835156798},"rotation":{"radians":-1.029992433398557}},"curvature":-0.09159706182401153},{"time":5.585369974767283,"velocity":2.2323890403418325,"acceleration":-0.046678031557682326,"pose":{"translation":{"x":9.015861789075643,"y":-6.515419408524394},"rotation":{"radians":-1.0360483914680205}},"curvature":-0.09347644950906146},{"time":5.614485113881633,"velocity":2.2310300029594465,"acceleration":-0.048348439953182144,"pose":{"translation":{"x":9.04880430578487,"y":-6.571426019363571},"rotation":{"radians":-1.0421847173172012}},"curvature":-0.09541349105745087},{"time":5.6434051614345995,"velocity":2.2296317637768888,"acceleration":-0.05005319798855141,"pose":{"translation":{"x":9.081161823751245,"y":-6.62722391837633},"rotation":{"radians":-1.0484029768643275}},"curvature":-0.09740887163401273},{"time":5.672128753287315,"velocity":2.2281940561469424,"acceleration":-0.05267076165499852,"pose":{"translation":{"x":9.112931787967682,"y":-6.682807505130768},"rotation":{"radians":-1.0547046985139157}},"curvature":-0.09946318763650631},{"time":5.728981719301073,"velocity":2.225199567124652,"acceleration":-0.05625728128840412,"pose":{"translation":{"x":9.174699878494721,"y":-6.7933101041126065},"rotation":{"radians":-1.0675644181019284}},"curvature":-0.10375048466516042},{"time":5.785035389420209,"velocity":2.2220461400375124,"acceleration":-0.05993009253943379,"pose":{"translation":{"x":9.23409235663712,"y":-6.902892114594579},"rotation":{"radians":-1.0807751152839176}},"curvature":-0.10827782955645215},{"time":5.840283064566687,"velocity":2.2187351417533954,"acceleration":-0.06365232769041065,"pose":{"translation":{"x":9.291096487140749,"y":-7.01151442626724},"rotation":{"radians":-1.0943469964533814}},"curvature":-0.11304524771977777},{"time":5.894719949401937,"velocity":2.215270107321417,"acceleration":-0.06737586677177708,"pose":{"translation":{"x":9.345703125,"y":-7.119140625},"rotation":{"radians":-1.108288968155105}},"curvature":-0.11804971934383038},{"time":5.948343158048882,"velocity":2.211657197159745,"acceleration":-0.07103947196117816,"pose":{"translation":{"x":9.397906820231583,"y":-7.2257370976149105},"rotation":{"radians":-1.1226083308251997}},"curvature":-0.12328446383071472},{"time":6.00115170888673,"velocity":2.2079057055931894,"acceleration":-0.07456683723923983,"pose":{"translation":{"x":9.44770592264831,"y":-7.331273136660457},"rotation":{"radians":-1.1373104305501878}},"curvature":-0.1287381289353431},{"time":6.053146507315684,"velocity":2.2040286179214506,"acceleration":-0.07786462153949972,"pose":{"translation":{"x":9.49510268663289,"y":-7.435721045185346},"rotation":{"radians":-1.1523982666223025}},"curvature":-0.13439388534690774},{"time":6.10433031542939,"velocity":2.2000432100737264,"acceleration":-0.08082055911422024,"pose":{"translation":{"x":9.540103375911713,"y":-7.539056241512299},"rotation":{"radians":-1.1678720534738891}},"curvature":-0.1402284325466594},{"time":6.154707707624782,"velocity":2.1959716810697785,"acceleration":-0.08330176846355347,"pose":{"translation":{"x":9.582718368328642,"y":-7.641257364011835},"rotation":{"radians":-1.1837287366975124}},"curvature":-0.14621092848984082},{"time":6.204285011333512,"velocity":2.1918418039951866,"acceleration":-0.08515340896125574,"pose":{"translation":{"x":9.622962260618806,"y":-7.742306375876069},"rotation":{"radians":-1.1999614643463943}},"curvature":-0.15230186412129473},{"time":6.253070232288087,"velocity":2.1876875761239765,"acceleration":-0.08619785936757811,"pose":{"translation":{"x":9.660853973182384,"y":-7.842188669892494},"rotation":{"radians":-1.2165590165987263}},"curvature":-0.15845191395296837},{"time":6.3010729640493786,"velocity":2.183549843402357,"acceleration":-0.08623461096636685,"pose":{"translation":{"x":9.696416854858398,"y":-7.940893173217773},"rotation":{"radians":-1.2335051991783763}},"curvature":-0.1646008057287766},{"time":6.3483042819283915,"velocity":2.1794768690796316,"acceleration":-0.0850410756384638,"pose":{"translation":{"x":9.729678787698504,"y":-8.038412452151533},"rotation":{"radians":-1.2507782086458072}},"curvature":-0.17067626514133666},{"time":6.394776621937942,"velocity":2.175524811297783,"acceleration":-0.08237450109974315,"pose":{"translation":{"x":9.760672291740775,"y":-8.134742816910148},"rotation":{"radians":-1.2683499807617513}},"curvature":-0.17659310488419677},{"time":6.440503646007475,"velocity":2.1717580705032793,"acceleration":-0.07797515762576314,"pose":{"translation":{"x":9.7894346297835,"y":-8.229884426400531},"rotation":{"radians":-1.2861855364899468}},"curvature":-0.18225253988851078},{"time":6.485500095377331,"velocity":2.168249465271065,"acceleration":-0.07157091021748624,"pose":{"translation":{"x":9.816007912158966,"y":-8.323841392993927},"rotation":{"radians":-1.3042423436959334}},"curvature":-0.18754182089294194},{"time":6.52978163483948,"velocity":2.1650801951859275,"acceleration":-0.06288321739898939,"pose":{"translation":{"x":9.840439201507252,"y":-8.416621887299698},"rotation":{"radians":-1.3224697160084113}},"curvature":-0.19233428470069036},{"time":6.57336469128284,"velocity":2.1623395523726874,"acceleration":-0.051634506584850054,"pose":{"translation":{"x":9.862780617550015,"y":-8.508238242939115},"rotation":{"radians":-1.3408082733730198}},"curvature":-0.1964899195916967},{"time":6.616266290796618,"velocity":2.1601243494500926,"acceleration":-0.037556774772386385,"pose":{"translation":{"x":9.883089441864286,"y":-8.598707061319146},"rotation":{"radians":-1.359189491236203}},"curvature":-0.199856536473444},{"time":6.658503899342222,"velocity":2.158538041099021,"acceleration":-0.020401165588530973,"pose":{"translation":{"x":9.90142822265625,"y":-8.68804931640625},"rotation":{"radians":-1.377535366720458}},"curvature":-0.20227161900745516},{"time":6.70009527267697,"velocity":2.1576895286045645,"acceleration":5.180314370494392E-5,"pose":{"translation":{"x":9.917864879535045,"y":-8.77629045950016},"rotation":{"radians":-1.3957582302808835}},"curvature":-0.20356489854681434},{"time":6.7410583217585245,"velocity":2.1576916506192827,"acceleration":0.02398172365215458,"pose":{"translation":{"x":9.932472808286548,"y":-8.863460524007678},"rotation":{"radians":-1.4137607299223527}},"curvature":-0.20356166296129774},{"time":6.781411000243091,"velocity":2.158659377403324,"acceleration":0.051517834145841206,"pose":{"translation":{"x":9.94533098564716,"y":-8.949594230216462},"rotation":{"radians":-1.4314360119831262}},"curvature":-0.20208676461993152},{"time":6.821171220891493,"velocity":2.1607077378562902,"acceleration":0.08272885097559458,"pose":{"translation":{"x":9.956524074077606,"y":-9.034731090068817},"rotation":{"radians":-1.4486681178031746}},"curvature":-0.19896924595594245},{"time":6.86035680772538,"velocity":2.163949516429862,"acceleration":-2.215123022099472,"pose":{"translation":{"x":9.966142526536714,"y":-9.118915511935484},"rotation":{"radians":-1.4653326095528878}},"curvature":-0.19404745661562758},{"time":6.8998232589822726,"velocity":2.0765264716501535,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.974282691255212,"y":-9.202196905389428},"rotation":{"radians":-1.481297431581275}},"curvature":-0.18717450044020895},{"time":6.940742741019163,"velocity":1.9660438701505492,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.981046916509513,"y":-9.284629785979632},"rotation":{"radians":-1.4964240065300516}},"curvature":-0.1782238294413945},{"time":6.983626630614033,"velocity":1.8502573682443992,"acceleration":-2.7,"pose":{"translation":{"x":9.986543655395508,"y":-9.366273880004883},"rotation":{"radians":-1.5105685589576776}},"curvature":-0.1670947999411318},{"time":7.02892114539233,"velocity":1.7279621783429995,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":9.990887570602354,"y":-9.447194229287561},"rotation":{"radians":-1.523583654151162}},"curvature":-0.15371802470468285},{"time":7.07723629313815,"velocity":1.5975112794292834,"acceleration":-2.699999999999996,"pose":{"translation":{"x":9.994199639186263,"y":-9.527461295947433},"rotation":{"radians":-1.5353199368767214}},"curvature":-0.13806039182086433},{"time":7.129446301729226,"velocity":1.4565442562333788,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.996607257344294,"y":-9.607151067175437},"rotation":{"radians":-1.5456280544596928}},"curvature":-0.12012966946706},{"time":7.186887252294615,"velocity":1.3014536897068296,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.99824434518814,"y":-9.686345160007477},"rotation":{"radians":-1.554360750792786}},"curvature":-0.0999786645789153},{"time":7.251799747076405,"velocity":1.1261899537959958,"acceleration":-2.7,"pose":{"translation":{"x":9.999251451517921,"y":-9.765130926098209},"rotation":{"radians":-1.561375122117149}},"curvature":-0.07770893881369795},{"time":7.32853838999261,"velocity":0.9189956179222442,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":9.999775858595967,"y":-9.843601556494832},"rotation":{"radians":-1.5665350305744945}},"curvature":-0.05347409186319095},{"time":7.4283155536411964,"velocity":0.6495972760710598,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":9.999971686920617,"y":-9.921856186410878},"rotation":{"radians":-1.5697136758781756}},"curvature":-0.02748258627930911},{"time":7.668907137371218,"velocity":0.0,"acceleration":-2.7000000000000006,"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/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d98ffeb..21cbb67 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -182,7 +182,7 @@ public class RobotContainer { // runs the storage not m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); - //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); + m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } /** @@ -329,7 +329,10 @@ public class RobotContainer { m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); String[] bounce = new String[]{ - "Bounce" + "Bounce1", + "Bounce2", + "Bounce3", + "Bounce4" }; m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce)); @@ -401,14 +404,7 @@ public class RobotContainer { //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return new SequentialCommandGroup(m_driveOffLineForward, - // new InstantCommand(() -> resetOdometry(new Pose2d())), - // new TankDriveVelocity(m_robotDrive, 1000, 1000, 1)); - - //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(1, 1)); - //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1)); - //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); + return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 9304fda..76b7f61 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -10,6 +10,7 @@ package frc4388.robot.commands.auto; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.CommandBase; import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; @@ -25,7 +26,9 @@ public class BarrelStart extends SequentialCommandGroup { // super(new FooCommand(), new BarCommand()); addCommands( paths[0], - new InstantCommand(() -> drive.tankDriveVelocity(1, 1)) + new Wait(drive, 0.01, 1), + new TankDriveVelocity(drive, 3, 3, 1) + //new InstantCommand(() -> drive.tankDriveVelocity(7, 7)).withTimeout(7) //my life be like oooooo aaaaaa ooooo aaaa ); } diff --git a/src/main/java/frc4388/robot/commands/auto/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java index 0b80db1..c47a0e4 100644 --- a/src/main/java/frc4388/robot/commands/auto/Bounce.java +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -29,7 +29,15 @@ public class Bounce extends SequentialCommandGroup { paths[0], new InstantCommand(() -> drive.switchReversed(true)), new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), - paths[1] + paths[1], + new InstantCommand(() -> drive.switchReversed(false)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), + paths[2], + new InstantCommand(() -> drive.switchReversed(true)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), + paths[3], + new InstantCommand(() -> drive.switchReversed(false)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())) ); } } From b7465a002940a4c8c10a16022d59ea1bd2d202ad Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 25 Mar 2021 16:46:35 -0600 Subject: [PATCH 16/30] BarrelPath Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/Barrel | 1 - PathWeaver/Paths/BarrelStart | 10 +++++----- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- .../java/frc4388/robot/commands/auto/BarrelStart.java | 5 ++--- 6 files changed, 11 insertions(+), 13 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index c035273..85dd553 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -12,4 +12,3 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true, 8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true, 5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true, -1.194,-2.060242221220125,-1.0700300199703663,0.0061851446241063535,false, diff --git a/PathWeaver/Paths/BarrelStart b/PathWeaver/Paths/BarrelStart index 7c04f9b..2b841e9 100644 --- a/PathWeaver/Paths/BarrelStart +++ b/PathWeaver/Paths/BarrelStart @@ -1,11 +1,11 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.1943219738452617,-2.286,1.0,0.0,true, -3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true, -4.961075049925916,-2.9447179024673065,0.15462861560265395,-1.1071408877150035,true, -3.4147888938993747,-3.754971848225213,-0.8597351027507569,0.8226242350061197,true, -3.3405671584101007,-2.4251657540423888,1.2184734909489143,0.8226242350061197,true, +3.396233460027056,-2.2025005475745667,1.5833970237711785,0.02474057849642497,true, +4.540485215486696,-3.006569348708368,0.15462861560265395,-1.1071408877150035,true, +3.451899761644012,-3.60034323262256,-0.7607727887650584,0.7051064871481025,true, +3.5941580879984536,-2.4808320556593437,1.2184734909489143,0.8226242350061197,true, 6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, -7.286689428589834,-1.287099143206854,-0.3216275204535206,1.7070999162533012,true, +6.971247052760418,-1.2623585647104294,-0.3216275204535206,1.7070999162533012,true, 6.154807962378405,-0.6933252592926624,-0.7793282226373774,-0.17318404947497257,true, 5.523923210719577,-1.4602831926818267,0.42058983443921694,-0.9030311151194992,true, 6.612508664562261,-3.303456290665464,1.7689513624943638,-0.7174767763963148,true, diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 717f736..c0ed443 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":-1.0330762847236068,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.343682619765553,"velocity":2.2045626505782288,"acceleration":-2.700000000000006,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.3936563283298362,"velocity":2.0696336374546633,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.446167245004106,"velocity":1.927854162434134,"acceleration":-2.7,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.5025905325829751,"velocity":1.775511285971188,"acceleration":-1.947881146661342,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.532377368220815,"velocity":1.7174900704135392,"acceleration":-1.3365918622957664,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.562963025854635,"velocity":1.676609529317211,"acceleration":-0.8493679835678343,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.5941303317809126,"velocity":1.6501370175293668,"acceleration":-0.4545053403528738,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.6256866553256428,"velocity":1.6357944999563838,"acceleration":-0.13667763522028784,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.657464403609018,"velocity":1.6314511924683865,"acceleration":0.11156785852119554,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.689321440706148,"velocity":1.6350054138761436,"acceleration":0.29469201392511474,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.721140324608674,"velocity":1.6443821848542284,"acceleration":0.4168460006244014,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.7528259318463346,"velocity":1.6575902035086028,"acceleration":0.4830819038240843,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.7843017254944118,"velocity":1.6727955898284899,"acceleration":0.4995801978754147,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.8155053465106499,"velocity":1.6883843009902115,"acceleration":0.47331419940079017,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.8463842948077493,"velocity":1.7029997456817916,"acceleration":0.411525115182789,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":1.8768922977410063,"velocity":1.715554555102897,"acceleration":0.3213020435400049,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":1.9069866796466668,"velocity":1.725223941508259,"acceleration":0.2094595788474468,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":1.9366267610822496,"velocity":1.7314323404827603,"acceleration":0.08281493588511045,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":1.9657730884143472,"velocity":1.7338460917120544,"acceleration":-0.051090355942143,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":1.9943871334197238,"velocity":1.7323841899677852,"acceleration":-0.18280114479378606,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":2.022430994160336,"velocity":1.7272577401199638,"acceleration":-0.29926854619025994,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":2.0498665557553415,"velocity":1.719047139487513,"acceleration":-0.3816404164969631,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":2.0766535302672633,"velocity":1.7088241473780896,"acceleration":-0.4024256504931374,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":2.102745813520608,"velocity":1.6983239433170112,"acceleration":-0.32173337511986366,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":2.1280857368020087,"velocity":1.6901712442744077,"acceleration":-0.08172040681532794,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":2.1525961623869976,"velocity":1.6881682423243856,"acceleration":0.8255842293293204,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":2.1985228059071336,"velocity":1.7260845549206396,"acceleration":0.6636070329143385,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":2.2407386621111702,"velocity":1.7540992939981388,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":2.282224840004595,"velocity":1.6420866136858916,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":2.3262971619571715,"velocity":1.5230913444139345,"acceleration":-2.700000000000005,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":2.34954976709974,"velocity":1.4603093105290001,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":2.3737329429429894,"velocity":1.3950147357522267,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":2.3990170018498564,"velocity":1.326747776703686,"acceleration":-1.9081760533040126,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":2.425439586226621,"velocity":1.2763288339295393,"acceleration":-1.174823127491522,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.439028133859808,"velocity":1.2603646939010507,"acceleration":-0.7559712463623799,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.452800114389051,"velocity":1.2499534726154804,"acceleration":-0.37976648616176906,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.4667169000621008,"velocity":1.2446683438217598,"acceleration":-0.04173556961648505,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.4807423720230206,"velocity":1.2440829827603308,"acceleration":0.2608068699631253,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.4948435500339206,"velocity":1.2477606668601464,"acceleration":0.5293412094629097,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.508991114048479,"velocity":1.2552495555065668,"acceleration":0.7645962165176106,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.5231597648989714,"velocity":1.2660828523400123,"acceleration":0.966914726342415,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.5373283956544537,"velocity":1.279782710069596,"acceleration":1.1365510582727585,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.5514800701235805,"velocity":1.2958668106638138,"acceleration":1.2739059551724827,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.565601826360696,"velocity":1.3138566000317693,"acceleration":1.4179180083834808,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.5937097051471873,"velocity":1.3537112675405953,"acceleration":1.5119152501824336,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.621629353179086,"velocity":1.395923409179749,"acceleration":1.5042545092006125,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.6493554252258025,"velocity":1.4376304780784432,"acceleration":1.4167007091209989,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.6769021542915703,"velocity":1.4766559486798805,"acceleration":1.273310641964247,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.7042910388591146,"velocity":1.5115305068712652,"acceleration":1.0974351677939633,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":2.7315421030901086,"velocity":1.5414367831181703,"acceleration":0.9098294623002342,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":2.758668395867479,"velocity":1.5661170834900038,"acceleration":0.7280926972856049,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":2.7856728923058447,"velocity":1.585778860140653,"acceleration":0.5671514750074605,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":2.8125468587378273,"velocity":1.6010204698418529,"acceleration":0.4403505004675717,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":2.8392688440373,"velocity":1.6127875094419628,"acceleration":0.3608045333662477,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":2.8658036425894298,"velocity":1.6223613850515313,"acceleration":0.34286355611154073,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":2.892100781212222,"velocity":1.6313777155153,"acceleration":0.40378222509876543,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":2.9180923000703096,"velocity":1.641872628833515,"acceleration":0.5659730258720034,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":2.943689829543589,"velocity":1.6563601400443548,"acceleration":0.860627989676061,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":2.9687812139373504,"velocity":1.6779544877533472,"acceleration":1.334156868249244,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":2.993227193230837,"velocity":1.7105692589288317,"acceleration":2.0600963679797957,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":3.0168589192841444,"velocity":1.7592528919403434,"acceleration":0.12428442356094499,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":3.0627351371109546,"velocity":1.7649545912281048,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":3.109622273561543,"velocity":1.6383593228115154,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":3.160242199434735,"velocity":1.5016855229538972,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":3.1872884345929915,"velocity":1.428660688026605,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":3.2157793181040195,"velocity":1.35173530254683,"acceleration":-2.350019475931673,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":3.2306539089148174,"velocity":1.3167797244449404,"acceleration":-1.6722139673848442,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":3.245919508912784,"velocity":1.2912523749078302,"acceleration":-1.0933839551431819,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":3.261509153545738,"velocity":1.2742069075997742,"acceleration":-0.5925429511370324,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":3.2773587797603363,"velocity":1.2648153233081574,"acceleration":-0.15670748855874975,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":3.2934085780351134,"velocity":1.2623001997286425,"acceleration":0.22188014370078749,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":3.309604353851206,"velocity":1.2658937207940628,"acceleration":0.5476082117334176,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":3.325898683584111,"velocity":1.2748166295604937,"acceleration":0.822818020735764,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":3.342251700231486,"velocity":1.2882721863513458,"acceleration":1.0487960022102008,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":3.358631420291372,"velocity":1.305451171267476,"acceleration":1.2265297989802908,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":3.375013604161698,"velocity":1.325544407956805,"acceleration":1.3572622092270228,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":3.3913812103173466,"velocity":1.3477595412473784,"acceleration":1.442851275388735,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":3.4077235470986795,"velocity":1.3713391027151567,"acceleration":1.4859436376739052,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":3.4240352427425202,"velocity":1.3955773630767951,"acceleration":1.4899807722256548,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":3.44031514867009,"velocity":1.4198341098825167,"acceleration":1.4285395759792927,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":3.4727879165068143,"velocity":1.4662227438788646,"acceleration":1.2569773510293403,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":3.5051858125783926,"velocity":1.506946165461841,"acceleration":1.010947744053941,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":3.5375562542321055,"velocity":1.539670990425692,"acceleration":0.7234094851125632,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":3.569944441995804,"velocity":1.563100912659558,"acceleration":0.4203694296135417,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":3.6023866882677518,"velocity":1.5767386412202788,"acceleration":0.1213977816001008,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":3.634909041191379,"velocity":1.5806867827176228,"acceleration":-0.15800539800444535,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":3.66752861151223,"velocity":1.5755327145263427,"acceleration":-0.4035534189564679,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":3.700255311773435,"velocity":1.5623257427447699,"acceleration":-0.5998362124753115,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":3.7330920623446318,"velocity":1.5426290706521466,"acceleration":-0.7291694374618671,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":3.766031868384341,"velocity":1.518610370812069,"acceleration":-0.7719633056205969,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":3.7990506776466306,"velocity":1.493121061666296,"acceleration":-0.7084328836344009,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":3.8320958321663423,"velocity":1.4697107875597524,"acceleration":-0.5206840376279098,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":3.8650713885072405,"velocity":1.4525409417411468,"acceleration":-0.19335966368689936,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":3.8978233919448235,"velocity":1.4462080253713836,"acceleration":0.28950538696003353,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":3.9301294824795945,"velocity":1.4555608126128183,"acceleration":0.9541258116483556,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":3.9616966146226202,"velocity":1.4856798281901937,"acceleration":1.8574780480076598,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":3.9921673596241454,"velocity":1.5422785681369655,"acceleration":2.6999999999999758,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":4.021241635842057,"velocity":1.6207791139253276,"acceleration":2.7000000000000037,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":4.048942509069614,"velocity":1.6955714716397319,"acceleration":1.9519226170197033,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":4.1015330276221205,"velocity":1.7982240942431622,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":4.155913546356542,"velocity":1.6513966936602231,"acceleration":-1.561708702385104,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":4.186861189638808,"velocity":1.6030654898279983,"acceleration":1.0062351574870936,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":4.220381132276934,"velocity":1.6367944345874317,"acceleration":2.169289989473013,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":4.255772063353103,"velocity":1.713567627089093,"acceleration":2.5123878509264164,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":4.292758810535883,"velocity":1.806492681356397,"acceleration":2.3789517460079206,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":4.331342596791146,"velocity":1.8982816470359505,"acceleration":2.024289952083726,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":4.371636708977578,"velocity":1.979848613463079,"acceleration":1.6196685671786193,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":4.413749081884396,"velocity":2.0480567001495573,"acceleration":1.2548130938058044,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":4.457718050533009,"velocity":2.1032295377309733,"acceleration":0.9614544342342403,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":4.50348662324541,"velocity":2.147233934913883,"acceleration":0.740510478369831,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":4.550899377072505,"velocity":2.182343575931217,"acceleration":0.5810643692237095,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":4.599710830477798,"velocity":2.2107061723150556,"acceleration":0.47024424103396445,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":4.649598834783794,"velocity":2.234165719036628,"acceleration":0.3972329226620022,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":4.700179664583588,"velocity":2.254258089888669,"acceleration":0.3544202272013157,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":4.751023264018339,"velocity":2.2722780899520663,"acceleration":0.3375069798318182,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":4.80166801490814,"velocity":2.289371046869218,"acceleration":0.08050585061822489,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":4.851779047531423,"velocity":2.293405278175913,"acceleration":-0.3654279774106334,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":4.9012590563675555,"velocity":2.2753238986246647,"acceleration":-0.41076401957231085,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":4.949897376564646,"velocity":2.2553450267152626,"acceleration":-0.4877692306410743,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":4.997298752743014,"velocity":2.232224093925412,"acceleration":-0.6034864892370795,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":5.043128366949484,"velocity":2.2045665409448594,"acceleration":-0.7661482013368547,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":5.087123525344729,"velocity":2.170859729472813,"acceleration":-0.9812415990491414,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":5.129102845500375,"velocity":2.1296678742362904,"acceleration":-1.242205824296359,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":5.168969929394199,"velocity":2.080144750425671,"acceleration":-1.5121111007714538,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":5.2067063186703235,"velocity":2.0230831372982094,"acceleration":-1.6943584062209944,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":5.242345911730214,"velocity":1.9626968932028874,"acceleration":-1.5964808796036474,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":5.275922048627763,"velocity":1.909093232634996,"acceleration":-0.021819279762994005,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":5.3360655322501005,"velocity":1.9077809451399192,"acceleration":2.6999999999999846,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":5.387710908909375,"velocity":2.0472234621199585,"acceleration":1.431988629648746,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":5.4354737885570055,"velocity":2.115619362694648,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":5.482987789148338,"velocity":1.98733156109805,"acceleration":-2.2337169774045353,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":5.5316319395224545,"velocity":1.8786742965559666,"acceleration":-1.9525413445076651,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":5.580554800594205,"velocity":1.7831503876217676,"acceleration":-1.7527241723098683,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":5.629133416080918,"velocity":1.6980054740008605,"acceleration":-1.6046706222828768,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":5.653159456512617,"velocity":1.6594515927503326,"acceleration":-1.497054227218421,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":5.676933519437327,"velocity":1.6238605313507382,"acceleration":-1.3789482952658414,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":5.700408662589926,"velocity":1.5914895227193393,"acceleration":-1.2495496821666994,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":5.723539310620742,"velocity":1.5625866288241235,"acceleration":-1.108979376738292,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":5.746280503433342,"velocity":1.537367114992521,"acceleration":-0.9577327141202648,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":5.768587558196346,"velocity":1.5160029188903197,"acceleration":-0.796057602393922,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":5.790416035988363,"velocity":1.4986261931952978,"acceleration":-0.6232463783256424,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":5.811721875983394,"velocity":1.4853474055812095,"acceleration":-0.4368111524986149,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":5.832461551716503,"velocity":1.4762880839217825,"acceleration":-0.2314819110161346,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":5.852592118176324,"velocity":1.4716282219278258,"acceleration":0.0020798472459068323,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":5.872071053778731,"velocity":1.4716687351383917,"acceleration":0.27902680581114225,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":5.890855854044242,"velocity":1.4769101979542776,"acceleration":0.6228045840127701,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":5.908903401627462,"velocity":1.488150293319296,"acceleration":1.068779217920909,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":5.926169222288207,"velocity":1.5066036436218497,"acceleration":2.079832477396287,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":5.958092699861785,"velocity":1.5729991290708094,"acceleration":0.051594921131819196,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":5.987405782462968,"velocity":1.574511535255748,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":6.044891139626748,"velocity":1.4193010709135419,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":6.0757097146403805,"velocity":1.3360909183767344,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":6.092414907394683,"velocity":1.2909868979401184,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":6.1103577863893745,"velocity":1.24254112465445,"acceleration":-0.6166556605069284,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":6.129533169640122,"velocity":1.2307165160304872,"acceleration":0.8394617204996494,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":6.149597126465827,"velocity":1.2475594397474241,"acceleration":1.645089936550396,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":6.170268618771731,"velocity":1.2815659037133453,"acceleration":2.0315059890071883,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":6.191378951079553,"velocity":1.3244516702266185,"acceleration":2.1266248736293996,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":6.212843383216096,"velocity":1.3700984655065194,"acceleration":2.0202630222827294,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":6.234632235392375,"velocity":1.414117677856241,"acceleration":1.7842140965824382,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":6.256746941045841,"velocity":1.4535750474249256,"acceleration":1.4762107230804502,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":6.279202771544771,"velocity":1.4867245852031228,"acceleration":1.140162016787184,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":6.302017736951581,"velocity":1.512737342174281,"acceleration":0.8071591661207839,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":6.32520625416322,"velocity":1.5314541663904047,"acceleration":0.4978802255955552,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":6.34877603932658,"velocity":1.5431890963447774,"acceleration":0.2256484113622274,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":6.372726885860627,"velocity":1.5485935668159656,"acceleration":-6.807327859582172E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":6.397050280202615,"velocity":1.5485770090839712,"acceleration":-0.17448174279717724,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":6.421729079379705,"velocity":1.544271009193411,"acceleration":-0.2899124825834493,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":6.446736707839022,"velocity":1.537020985543246,"acceleration":-0.34118184944313845,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":6.472035544775891,"velocity":1.5283894815683645,"acceleration":-0.322325835998301,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":6.4975743957392655,"velocity":1.5201576500811589,"acceleration":-0.2271909758331804,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":6.52328518884937,"velocity":1.5143163899050291,"acceleration":-0.04923540799720948,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":6.549079289440999,"velocity":1.5130464068384792,"acceleration":0.21933552644413537,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":6.574844024973559,"velocity":1.5186975286702071,"acceleration":0.5897119400090209,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":6.600440054648301,"velocity":1.5337918129862276,"acceleration":1.0807934158487873,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":6.625700011278353,"velocity":1.561092607796613,"acceleration":1.727284209043048,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":6.650428373923786,"velocity":1.6038055181095603,"acceleration":2.5949851419881953,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":6.674401933860499,"velocity":1.6660165499458932,"acceleration":2.6999999999999953,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":6.719902664473793,"velocity":1.7888685226017862,"acceleration":-0.838988824566227,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":6.764432453996793,"velocity":1.7515085268317028,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":6.811206501179859,"velocity":1.6252185994374257,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":6.836149709537907,"velocity":1.5578719368706948,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":6.86241045315562,"velocity":1.4869679291028706,"acceleration":-1.6893609692267229,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":6.890017073476101,"velocity":1.4403303822411897,"acceleration":-0.619052930859026,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":6.918657620717645,"velocity":1.4226003675299057,"acceleration":0.13854526866753125,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":6.947966388094442,"velocity":1.4266609585804382,"acceleration":0.6663982780183214,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":6.977656898573354,"velocity":1.44644666363707,"acceleration":1.0057221731446928,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":7.007523210988079,"velocity":1.4764838762626264,"acceleration":1.1834523737757507,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":7.037430495963753,"velocity":1.5118777236602754,"acceleration":1.2242815801776843,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":7.067298431398667,"velocity":1.5484444868511766,"acceleration":1.1539736546453414,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":7.097082652530885,"velocity":1.5828146933618872,"acceleration":0.9981178462782696,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":7.126758511734556,"velocity":1.6124346980367124,"acceleration":0.7795182438520606,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":7.156309373275337,"velocity":1.6354701337292974,"acceleration":0.5162596869339882,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":7.185719876949747,"velocity":1.6506535911488194,"acceleration":0.2212582304660347,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":7.214973520651888,"velocity":1.657126200589039,"acceleration":-0.09673185393869964,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":7.244053448148728,"velocity":1.6543132452898668,"acceleration":-0.4309888853884212,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":7.272945213754537,"velocity":1.6418612154345156,"acceleration":-0.773888486309923,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":7.301640283799087,"velocity":1.6196544311131809,"acceleration":-1.1134357652614595,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":7.330138963388993,"velocity":1.5879229819950522,"acceleration":-1.4297025759864295,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":7.358451226329564,"velocity":1.5474448667369136,"acceleration":-1.6920418636584842,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":7.386593583918564,"velocity":1.4998268195542783,"acceleration":-1.8584020143213509,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":7.414579795467162,"velocity":1.4478171876391388,"acceleration":-1.877795571090861,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":7.442403264376089,"velocity":1.3955704009495722,"acceleration":-1.6949557775378044,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":7.4700100356817085,"velocity":1.3487781444259477,"acceleration":-1.2520003926517775,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":7.497264193788721,"velocity":1.3146559277745742,"acceleration":-0.47634245616483056,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":7.523912281176124,"velocity":1.3019623123763637,"acceleration":0.7634309668511047,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":7.549558209648122,"velocity":1.3215412083455353,"acceleration":2.6999999999999864,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":7.573676002570799,"velocity":1.3866592492367642,"acceleration":2.700000000000005,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":7.596203774049749,"velocity":1.4474842322299275,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":7.637835297139652,"velocity":1.5598893445726676,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":7.677526726211587,"velocity":1.6670562030668916,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":7.720095567162618,"velocity":1.7819920736346744,"acceleration":2.699999999999974,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":7.76816559263676,"velocity":1.9117811424148574,"acceleration":2.700000000000011,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":7.8220587901872225,"velocity":2.057292775801107,"acceleration":2.1410282312491136,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":7.881136497856165,"velocity":2.183779815757794,"acceleration":-0.24481655286279774,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":7.912773678978782,"velocity":2.176034510133059,"acceleration":-0.2519087140196827,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":7.946237959924122,"velocity":2.167604566154525,"acceleration":-0.2728888495771977,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":7.981334207565981,"velocity":2.158027191511062,"acceleration":-0.30491642213996706,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":8.017845144051657,"velocity":2.14689440738887,"acceleration":-0.3468754795286571,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":8.055538849546462,"velocity":2.1338193852201477,"acceleration":-0.39860808070298076,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":8.094176323829087,"velocity":2.1184181757531397,"acceleration":-0.46035044544541665,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":8.13351898561286,"velocity":2.100306763875972,"acceleration":-0.5321989513801739,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":8.173335910608536,"velocity":2.0791162381460904,"acceleration":-0.6134604045661026,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":8.213410497767624,"velocity":2.054532065694657,"acceleration":-0.7017618422714231,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":8.253546093020695,"velocity":2.026366436429201,"acceleration":-0.7918343381406543,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":8.293569884698876,"velocity":1.9946742238358293,"acceleration":-0.87397854219204,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":8.333334129428742,"velocity":1.9599211271954524,"acceleration":-0.932392853335137,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":8.37271353256787,"velocity":1.9232040531399262,"acceleration":-0.9437603533485275,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":8.411597535858405,"velocity":1.8865068724548446,"acceleration":-0.8765626148564476,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":8.449876608055723,"velocity":1.8529528688352856,"acceleration":-0.6911500646767746,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":8.487422714954363,"velocity":1.827002874623929,"acceleration":-0.33926762147636796,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":8.524066171166359,"velocity":1.8145709363922118,"acceleration":0.24051616565325948,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":8.559573769557192,"velocity":1.8231110878087309,"acceleration":1.137775513077628,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":8.593635380465358,"velocity":1.8618655546360208,"acceleration":2.5049812617646716,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":8.62586670085144,"velocity":1.9426044082450873,"acceleration":2.700000000000018,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":8.685210715750861,"velocity":2.102833248473526,"acceleration":1.4225316585976695,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":8.740846746497336,"velocity":2.1819772635691006,"acceleration":-1.4818508848188787,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":8.796171932974152,"velocity":2.099993587035661,"acceleration":-1.0709064776297963,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":8.852617884543493,"velocity":2.0395452518640758,"acceleration":-0.8509432076656538,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":8.909316736419019,"velocity":1.9912977489781558,"acceleration":-0.7579666059232015,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":8.965541703983739,"velocity":1.9486811011449823,"acceleration":-0.7640039101631199,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":9.02069778493092,"velocity":1.906541639632062,"acceleration":-0.8595775274270808,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":9.074318280301695,"velocity":1.8604506668018375,"acceleration":-1.042330574404266,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":9.12606744174458,"velocity":1.806510933630136,"acceleration":-1.3035458774237063,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":9.175743809290303,"velocity":1.7417555095105226,"acceleration":-1.5320442263259912,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":9.199769306991001,"velocity":1.7049473844735594,"acceleration":-1.6809451170634815,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":9.22325771382616,"velocity":1.6654646616964004,"acceleration":-1.8062815493500448,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":9.246213225010138,"velocity":1.6240005453888822,"acceleration":-1.8820179329449755,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":9.268638703887076,"velocity":1.581795391987606,"acceleration":-1.8734711321508841,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":9.29052930127454,"velocity":1.5407839897166546,"acceleration":-1.7360319575531875,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":9.311863878158492,"velocity":1.5037464824452398,"acceleration":-1.412269873371452,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":9.332594434053654,"velocity":1.4744693428962603,"acceleration":-0.8239182841773935,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":9.352634493433573,"velocity":1.457957971557144,"acceleration":0.14839408830714731,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":9.371848483104992,"velocity":1.4608092140371771,"acceleration":1.7120628206281518,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":9.390045362186923,"velocity":1.491963414164815,"acceleration":0.209678281131281,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":9.424127481298727,"velocity":1.49910969431749,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":9.457702778468585,"velocity":1.4084563919588724,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":9.493599215152038,"velocity":1.311536012913551,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":9.513157416318109,"velocity":1.258728869765163,"acceleration":-2.362743810610061,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":9.534206717444714,"velocity":1.2089947638106064,"acceleration":0.03178003717223081,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":9.55658378774154,"velocity":1.2097059079364452,"acceleration":1.4427702096258177,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":9.579723124410323,"velocity":1.2430906535526687,"acceleration":2.278639447403957,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":9.603249750387722,"velocity":1.2966993515690863,"acceleration":2.6999999999998723,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":9.626955032616344,"velocity":1.360703613586362,"acceleration":2.6999999999998754,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":9.65077153876824,"velocity":1.4250081801964751,"acceleration":2.7000000000000943,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":9.674674844962617,"velocity":1.4895471069212938,"acceleration":2.448636840166707,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":9.698648136118726,"velocity":1.5482489908261825,"acceleration":1.9736280956949435,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":9.722725969059288,"velocity":1.595769678401125,"acceleration":1.5279903154751746,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":9.746944390109418,"velocity":1.6327751912218231,"acceleration":1.0695384166293258,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":9.771312442245856,"velocity":1.6588377591201697,"acceleration":0.6169263631829068,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":9.795826025627179,"velocity":1.6739608349641903,"acceleration":0.1781089896718199,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":9.820470389856748,"velocity":1.6783502177782235,"acceleration":-0.24470439277959732,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":9.845224310773089,"velocity":1.672292824591476,"acceleration":-0.6505358427950124,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":9.870064785769197,"velocity":1.6561332052544548,"acceleration":-1.0357077991626258,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":9.894971299128718,"velocity":1.6303373351180501,"acceleration":-1.3904547622549375,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":9.919928717356894,"velocity":1.5956351740890946,"acceleration":-1.6962528492126903,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":9.94492771544259,"velocity":1.5532305523587706,"acceleration":-1.9244380351950336,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":9.969961384550096,"velocity":1.5050548073678007,"acceleration":-2.036872465038469,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":9.995016486688973,"velocity":1.4540207597123953,"acceleration":-1.9888003063609216,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":10.020058002484582,"velocity":1.4042181854263476,"acceleration":-1.7320469070600593,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":10.045006624318674,"velocity":1.3610060021431973,"acceleration":-1.2133622272602662,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":10.069711122752103,"velocity":1.3310304969006632,"acceleration":-0.358412131013659,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":10.093920935122611,"velocity":1.3223534064575087,"acceleration":0.9753388673271035,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":10.117267401839053,"velocity":1.3451241228608133,"acceleration":2.6999999999998465,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":10.139333716492203,"velocity":1.4047031724243144,"acceleration":2.700000000000113,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":10.160087789051563,"velocity":1.460739168334588,"acceleration":2.700000000000057,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":10.198710666246551,"velocity":1.5650209367610577,"acceleration":0.7112165927073323,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":10.27126658481593,"velocity":1.616623909946722,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":10.3082031825608,"velocity":1.516895096035575,"acceleration":-2.3512372774426846,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":10.328160190474927,"velocity":1.46997143508166,"acceleration":-0.33929549401916004,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":10.349258801722716,"velocity":1.4628127713552233,"acceleration":1.3785239257950128,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":10.371308760923082,"velocity":1.4932091676757318,"acceleration":2.700000000000009,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":10.394153801429736,"velocity":1.5548907770436984,"acceleration":2.699999999999908,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":10.417883718628044,"velocity":1.6189615534791268,"acceleration":2.7000000000000908,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":10.442771738801158,"velocity":1.6861592079465337,"acceleration":2.6999999999999797,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":10.496860794703688,"velocity":1.8321996588833613,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":10.557606597835184,"velocity":1.9962133273384022,"acceleration":2.6999999999999935,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":10.590621876176096,"velocity":2.0853545788588623,"acceleration":2.6999999999999806,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":10.625384789031814,"velocity":2.179214443569304,"acceleration":0.949779007547363,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":10.662363592712632,"velocity":2.2143361350295603,"acceleration":0.6037989892612967,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":10.702173234261238,"velocity":2.2383731563594638,"acceleration":0.41503859155790324,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":10.744993698438607,"velocity":2.2561453015014945,"acceleration":0.2839854757471566,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":10.79092864753729,"velocity":2.2691901598747055,"acceleration":0.19393704665442102,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":10.840027404362994,"velocity":2.278712227767886,"acceleration":0.13233236390672598,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":10.892282264116444,"velocity":2.2856272368846744,"acceleration":0.09017333882875812,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":10.947625714369384,"velocity":2.2906177405762853,"acceleration":0.06724886296375951,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":10.97641630514447,"velocity":2.2925538750699648,"acceleration":0.05528838639677612,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":11.005925263955447,"velocity":2.2941853777868726,"acceleration":0.04531159742401154,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":11.03612596212606,"velocity":2.2955538196643035,"acceleration":0.03695671006095395,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":11.0669874454885,"velocity":2.29669435855698,"acceleration":0.029923929887454615,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":11.098474326272644,"velocity":2.2976365697699395,"acceleration":0.023963755135583666,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":11.130546673087078,"velocity":2.298405143635624,"acceleration":0.018867048832192465,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":11.163159899398762,"velocity":2.299020458969022,"acceleration":0.014456543789957973,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":11.19626465096233,"velocity":2.2994990392596564,"acceleration":0.010579444245867707,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":11.22980669270716,"velocity":2.2998538954201884,"acceleration":0.0015140150667252274,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":11.263728193114174,"velocity":2.2999052530828905,"acceleration":-0.003895533047224168,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":11.29796682854253,"velocity":2.2997718753470875,"acceleration":-8.499992811591626E-4,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":11.33245211172105,"velocity":2.299742562881175,"acceleration":0.002157464928758368,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":11.367106042352004,"velocity":2.299817327521155,"acceleration":0.005258419095173166,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":11.401845091396437,"velocity":2.2999999999999985,"acceleration":-0.05427846223584465,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15},{"time":11.436626466981053,"velocity":2.298112120418818,"acceleration":-0.04776032710743791,"pose":{"translation":{"x":5.518187723522336,"y":-2.1890639639579894},"rotation":{"radians":3.128189115563257}},"curvature":-0.0025354676036198013},{"time":11.47151890773333,"velocity":2.2964456460349125,"acceleration":-0.040742991634286796,"pose":{"translation":{"x":5.438037399634061,"y":-2.187978970178153},"rotation":{"radians":3.1278939220440725}},"curvature":-0.004777046783688541},{"time":11.506593598324661,"velocity":2.2950165982095747,"acceleration":-0.03366362331314893,"pose":{"translation":{"x":5.357523139721069,"y":-2.186858299694038},"rotation":{"radians":3.127429536800752}},"curvature":-0.006701855548902655},{"time":11.54191142718052,"velocity":2.293827672122733,"acceleration":-0.026864170548446215,"pose":{"translation":{"x":5.276497600030018,"y":-2.185686797331436},"rotation":{"radians":3.126819269327168}},"curvature":-0.00830506795015443},{"time":11.577523490217192,"velocity":2.2928709835877337,"acceleration":-0.02058595496666675,"pose":{"translation":{"x":5.194836048399196,"y":-2.1844510678227977},"rotation":{"radians":3.1260861183279345}},"curvature":-0.009596325843187243},{"time":11.613471567656717,"velocity":2.2921309580844254,"acceleration":-0.014977050322748514,"pose":{"translation":{"x":5.112435484780537,"y":-2.1831394135952915},"rotation":{"radians":3.1252521062498526}},"curvature":-0.010595889523865656},{"time":11.649788574249195,"velocity":2.291587036449118,"acceleration":-0.010107165796680369,"pose":{"translation":{"x":5.029213761761634,"y":-2.1817417725588646},"rotation":{"radians":3.124337799153786}},"curvature":-0.011330984366918137},{"time":11.686498985277238,"velocity":2.2912159982383935,"acceleration":-0.005985548680840874,"pose":{"translation":{"x":4.94510870508775,"y":-2.1802496558943028},"rotation":{"radians":3.1233619956664764}},"curvature":-0.011832632352869889},{"time":11.723619241920918,"velocity":2.2909938131352074,"acceleration":-0.0025786856229588592,"pose":{"translation":{"x":4.860077234183838,"y":-2.1786560858412902},"rotation":{"radians":3.122341560236151}},"curvature":-0.012133106986195949},{"time":11.7611581400579,"velocity":2.29089701211828,"acceleration":1.7413692847091826E-4,"pose":{"translation":{"x":4.774094482676551,"y":-2.1769555334864696},"rotation":{"radians":3.1212913724041313}},"curvature":-0.01226403520613405},{"time":11.799117206545807,"velocity":2.2909036221935257,"acceleration":0.0023483007852263204,"pose":{"translation":{"x":4.687152918916258,"y":-2.175143856551502},"rotation":{"radians":3.1202243639788803}},"curvature":-0.012255094396575647},{"time":11.837491066665429,"velocity":2.290993735559377,"acceleration":0.004024502637444145,"pose":{"translation":{"x":4.599261466499057,"y":-2.1732182371811266},"rotation":{"radians":3.1191516185467023}},"curvature":-0.01213321190695929},{"time":11.876267805861785,"velocity":2.291149792648544,"acceleration":0.005282288090618307,"pose":{"translation":{"x":4.510444624788793,"y":-2.1711771197312215},"rotation":{"radians":3.118082511563713}},"curvature":-0.011922160164336958},{"time":11.915429328296375,"velocity":2.2913566550921107,"acceleration":0.006195972598348752,"pose":{"translation":{"x":4.420741589439066,"y":-2.169020148556863},"rotation":{"radians":3.1170248735146804}},"curvature":-0.011642443526704259},{"time":11.954951714143737,"velocity":2.2916015347118424,"acceleration":0.0068323964048914165,"pose":{"translation":{"x":4.330205372915251,"y":-2.166748105800386},"rotation":{"radians":3.115985162741126}},"curvature":-0.01131138584450265},{"time":11.994805577026968,"velocity":2.291873832101327,"acceleration":0.0072500001469162564,"pose":{"translation":{"x":4.238901925016508,"y":-2.164362849179443},"rotation":{"radians":3.114968638212316}},"curvature":-0.010943344597798534},{"time":12.034956422543786,"velocity":2.2921649257372225,"acceleration":0.007498790964473925,"pose":{"translation":{"x":4.146909253397799,"y":-2.161867249775066},"rotation":{"radians":3.113979525591937}},"curvature":-0.01054999476695906},{"time":12.075365008479892,"velocity":2.2924679412763274,"acceleration":0.007620864464843766,"pose":{"translation":{"x":4.054316544091902,"y":-2.1592651298197243},"rotation":{"radians":3.1130211724115457}},"curvature":-0.010140641187420984},{"time":12.11598770703366,"velocity":2.292777521356202,"acceleration":0.007651237871219119,"pose":{"translation":{"x":3.961223282031424,"y":-2.156561200485386},"rotation":{"radians":3.1120961900412665}},"curvature":-0.009722531098123065},{"time":12.15677686917748,"velocity":2.293089608938332,"acceleration":0.007618825901666447,"pose":{"translation":{"x":3.8677383715708156,"y":-2.1537609996715785},"rotation":{"radians":3.11120658152664}},"curvature":-0.009301148717061402},{"time":12.197681191140527,"velocity":2.293401251845994,"acceleration":0.0075474510470789555,"pose":{"translation":{"x":3.773979257008386,"y":-2.150870829793446},"rotation":{"radians":3.1103538553283094}},"curvature":-0.008880481176929963},{"time":12.238646082905861,"velocity":2.293710432361242,"acceleration":0.00745682491576055,"pose":{"translation":{"x":3.680071043108317,"y":-2.147897695569811},"rotation":{"radians":3.109539125647017}},"curvature":-0.00846325042810768},{"time":12.2796140385561,"velocity":2.2940159232336823,"acceleration":0.007363469641436926,"pose":{"translation":{"x":3.586145615622675,"y":-2.144849241811236},"rotation":{"radians":3.1087632004193195}},"curvature":-0.008051109213537716},{"time":12.320525008270108,"velocity":2.294317169917173,"acceleration":0.007281570905820657,"pose":{"translation":{"x":3.4923407618134306,"y":-2.1417336912080813},"rotation":{"radians":3.1080266582962404}},"curvature":-0.007644801360093501},{"time":12.361316771759231,"velocity":2.2946141980353927,"acceleration":0.007223769674584117,"pose":{"translation":{"x":3.398799290974467,"y":-2.1385597821185636},"rotation":{"radians":3.107329916021433}},"curvature":-0.007244287769162106},{"time":12.401925312928425,"velocity":2.29490754478362,"acceleration":0.007201910711067028,"pose":{"translation":{"x":3.3056681549535973,"y":-2.13533670635682},"rotation":{"radians":3.106673287649164}},"curvature":-0.006848839905237005},{"time":12.442285195552355,"velocity":2.2951982130545865,"acceleration":0.007227774351339698,"pose":{"translation":{"x":3.2130975686745784,"y":-2.132074046980965},"rotation":{"radians":3.106057037017205}},"curvature":-0.0064571024821045},{"time":12.482329939764933,"velocity":2.295487647429712,"acceleration":0.0073138256273062386,"pose":{"translation":{"x":3.1212401306591246,"y":-2.1287817160811517},"rotation":{"radians":3.105481424839039}},"curvature":-0.006067126573920381},{"time":12.52199239916964,"velocity":2.2957777317417483,"acceleration":0.0074740231523214365,"pose":{"translation":{"x":3.030249943548923,"y":-2.1254698925676316},"rotation":{"radians":3.1049467517206084}},"curvature":-0.005676373620546509},{"time":12.561205138387479,"velocity":2.2960708086625283,"acceleration":0.007724740750329105,"pose":{"translation":{"x":2.9402817346276464,"y":-2.1221489599588135},"rotation":{"radians":3.1044533983514926}},"curvature":-0.00528168979452848},{"time":12.599900810865545,"velocity":2.296369722700581,"acceleration":0.008085869294063373,"pose":{"translation":{"x":2.8514899763429686,"y":-2.1188294441693256},"rotation":{"radians":3.104001864077603}},"curvature":-0.00487924895340063},{"time":12.638012536774092,"velocity":2.2966778891348487,"acceleration":0.008582186682040138,"pose":{"translation":{"x":2.7640280068285774,"y":-2.115521951298074},"rotation":{"radians":3.103592805038498}},"curvature":-0.004464460882674241},{"time":12.675474280820392,"velocity":2.296999392815689,"acceleration":0.009245113067326815,"pose":{"translation":{"x":2.67804715042619,"y":-2.112237105416302},"rotation":{"radians":3.103227073051908}},"curvature":-0.00403183967478405},{"time":12.712221229804872,"velocity":2.2973391225139297,"acceleration":0.010115010145748721,"pose":{"translation":{"x":2.5936958382075685,"y":-2.1089854863556527},"rotation":{"radians":3.1029057564542777}},"curvature":-0.00357482478449364},{"time":12.748190169737308,"velocity":2.297702948706278,"acceleration":0.011244242885443883,"pose":{"translation":{"x":2.5111187284965304,"y":-2.1057775674962267},"rotation":{"radians":3.1026302241615213}},"curvature":-0.0030855444089443254},{"time":12.783319862319832,"velocity":2.298097955502167,"acceleration":0.012701307196592605,"pose":{"translation":{"x":2.430455827390965,"y":-2.1026236535546428},"rotation":{"radians":3.1024021742999497}},"curvature":-0.0025545071720315324},{"time":12.817551420586847,"velocity":2.2985327410395344,"acceleration":0.014576448647609206,"pose":{"translation":{"x":2.3518416092848486,"y":-2.0995338183720977},"rotation":{"radians":3.102223688872988}},"curvature":-0.0019702034074247973},{"time":12.850828683472907,"velocity":2.299017805353126,"acceleration":0.01698937097097595,"pose":{"translation":{"x":2.2754041373902583,"y":-2.096517842702427},"rotation":{"radians":3.102097296071607}},"curvature":-0.001318591336016886},{"time":12.883098589056832,"velocity":2.2995660507502897,"acceleration":-1.6244311193130063,"pose":{"translation":{"x":2.201264184259384,"y":-2.093585152000163},"rotation":{"radians":3.1020260419968664}},"curvature":-5.824357755258735E-4},{"time":12.914667812583355,"velocity":2.248284021641259,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.1295343523065458,"y":-2.0907447542085986},"rotation":{"radians":3.102013573724367}},"curvature":2.5954266655888147E-4},{"time":12.946070253407296,"velocity":2.163497431416619,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.060318194330206,"y":-2.0880051775478425},"rotation":{"radians":3.1020642357701784}},"curvature":0.0012337619970388318},{"time":12.977498164802913,"velocity":2.0786420706484514,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.9937093340349854,"y":-2.0853744083028825},"rotation":{"radians":3.1021831820575008}},"curvature":0.002373185387739924},{"time":13.040276116149542,"velocity":1.9091416020125538,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":1.8686330789692498,"y":-2.0804681542530536},"rotation":{"radians":3.1026513854520688}},"curvature":0.005323543472175422},{"time":13.102688374346267,"velocity":1.7406285048813983,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":1.7548225747059836,"y":-2.0760766795828562},"rotation":{"radians":3.1034809929353333}},"curvature":0.00958713831762687},{"time":13.164424890251086,"velocity":1.5739399119383888,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.6525796567492614,"y":-2.0722380192899243},"rotation":{"radians":3.104757917925584}},"curvature":0.01592204431760446},{"time":13.22520390763946,"velocity":1.409836564989782,"acceleration":-2.7,"pose":{"translation":{"x":1.5619628652150386,"y":-2.068975565063702},"rotation":{"radians":3.106597052010563}},"curvature":0.02551905610973033},{"time":13.284818345661167,"velocity":1.2488775823311695,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":1.482759301535613,"y":-2.0662960745033616},"rotation":{"radians":3.1091452285383374}},"curvature":0.04015416610919519},{"time":13.400705435794134,"velocity":0.9359824389721616,"acceleration":-2.7,"pose":{"translation":{"x":1.3562142102787673,"y":-2.06261789963318},"rotation":{"radians":3.117020095670502}},"curvature":0.09289443536460137},{"time":13.518446108004982,"velocity":0.6180826240028724,"acceleration":-2.7,"pose":{"translation":{"x":1.2647429755332027,"y":-2.060849223948289},"rotation":{"radians":3.128450735831225}},"curvature":0.15050288426630223},{"time":13.747365598376415,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":-1.0330762847236068,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.343682619765553,"velocity":2.2045626505782288,"acceleration":-2.700000000000006,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.3936563283298362,"velocity":2.0696336374546633,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.446167245004106,"velocity":1.927854162434134,"acceleration":-2.7,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.5025905325829751,"velocity":1.775511285971188,"acceleration":-1.947881146661342,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.532377368220815,"velocity":1.7174900704135392,"acceleration":-1.3365918622957664,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.562963025854635,"velocity":1.676609529317211,"acceleration":-0.8493679835678343,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.5941303317809126,"velocity":1.6501370175293668,"acceleration":-0.4545053403528738,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.6256866553256428,"velocity":1.6357944999563838,"acceleration":-0.13667763522028784,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.657464403609018,"velocity":1.6314511924683865,"acceleration":0.11156785852119554,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.689321440706148,"velocity":1.6350054138761436,"acceleration":0.29469201392511474,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.721140324608674,"velocity":1.6443821848542284,"acceleration":0.4168460006244014,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.7528259318463346,"velocity":1.6575902035086028,"acceleration":0.4830819038240843,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.7843017254944118,"velocity":1.6727955898284899,"acceleration":0.4995801978754147,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.8155053465106499,"velocity":1.6883843009902115,"acceleration":0.47331419940079017,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.8463842948077493,"velocity":1.7029997456817916,"acceleration":0.411525115182789,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":1.8768922977410063,"velocity":1.715554555102897,"acceleration":0.3213020435400049,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":1.9069866796466668,"velocity":1.725223941508259,"acceleration":0.2094595788474468,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":1.9366267610822496,"velocity":1.7314323404827603,"acceleration":0.08281493588511045,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":1.9657730884143472,"velocity":1.7338460917120544,"acceleration":-0.051090355942143,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":1.9943871334197238,"velocity":1.7323841899677852,"acceleration":-0.18280114479378606,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":2.022430994160336,"velocity":1.7272577401199638,"acceleration":-0.29926854619025994,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":2.0498665557553415,"velocity":1.719047139487513,"acceleration":-0.3816404164969631,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":2.0766535302672633,"velocity":1.7088241473780896,"acceleration":-0.4024256504931374,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":2.102745813520608,"velocity":1.6983239433170112,"acceleration":-0.32173337511986366,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":2.1280857368020087,"velocity":1.6901712442744077,"acceleration":-0.08172040681532794,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":2.1525961623869976,"velocity":1.6881682423243856,"acceleration":0.8255842293293204,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":2.1985228059071336,"velocity":1.7260845549206396,"acceleration":0.6636070329143385,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":2.2407386621111702,"velocity":1.7540992939981388,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":2.282224840004595,"velocity":1.6420866136858916,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":2.3262971619571715,"velocity":1.5230913444139345,"acceleration":-2.700000000000005,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":2.34954976709974,"velocity":1.4603093105290001,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":2.3737329429429894,"velocity":1.3950147357522267,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":2.3990170018498564,"velocity":1.326747776703686,"acceleration":-1.9081760533040126,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":2.425439586226621,"velocity":1.2763288339295393,"acceleration":-1.174823127491522,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.439028133859808,"velocity":1.2603646939010507,"acceleration":-0.7559712463623799,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.452800114389051,"velocity":1.2499534726154804,"acceleration":-0.37976648616176906,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.4667169000621008,"velocity":1.2446683438217598,"acceleration":-0.04173556961648505,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.4807423720230206,"velocity":1.2440829827603308,"acceleration":0.2608068699631253,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.4948435500339206,"velocity":1.2477606668601464,"acceleration":0.5293412094629097,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.508991114048479,"velocity":1.2552495555065668,"acceleration":0.7645962165176106,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.5231597648989714,"velocity":1.2660828523400123,"acceleration":0.966914726342415,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.5373283956544537,"velocity":1.279782710069596,"acceleration":1.1365510582727585,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.5514800701235805,"velocity":1.2958668106638138,"acceleration":1.2739059551724827,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.565601826360696,"velocity":1.3138566000317693,"acceleration":1.4179180083834808,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.5937097051471873,"velocity":1.3537112675405953,"acceleration":1.5119152501824336,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.621629353179086,"velocity":1.395923409179749,"acceleration":1.5042545092006125,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.6493554252258025,"velocity":1.4376304780784432,"acceleration":1.4167007091209989,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.6769021542915703,"velocity":1.4766559486798805,"acceleration":1.273310641964247,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.7042910388591146,"velocity":1.5115305068712652,"acceleration":1.0974351677939633,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":2.7315421030901086,"velocity":1.5414367831181703,"acceleration":0.9098294623002342,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":2.758668395867479,"velocity":1.5661170834900038,"acceleration":0.7280926972856049,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":2.7856728923058447,"velocity":1.585778860140653,"acceleration":0.5671514750074605,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":2.8125468587378273,"velocity":1.6010204698418529,"acceleration":0.4403505004675717,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":2.8392688440373,"velocity":1.6127875094419628,"acceleration":0.3608045333662477,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":2.8658036425894298,"velocity":1.6223613850515313,"acceleration":0.34286355611154073,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":2.892100781212222,"velocity":1.6313777155153,"acceleration":0.40378222509876543,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":2.9180923000703096,"velocity":1.641872628833515,"acceleration":0.5659730258720034,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":2.943689829543589,"velocity":1.6563601400443548,"acceleration":0.860627989676061,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":2.9687812139373504,"velocity":1.6779544877533472,"acceleration":1.334156868249244,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":2.993227193230837,"velocity":1.7105692589288317,"acceleration":2.0600963679797957,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":3.0168589192841444,"velocity":1.7592528919403434,"acceleration":0.12428442356094499,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":3.0627351371109546,"velocity":1.7649545912281048,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":3.109622273561543,"velocity":1.6383593228115154,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":3.160242199434735,"velocity":1.5016855229538972,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":3.1872884345929915,"velocity":1.428660688026605,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":3.2157793181040195,"velocity":1.35173530254683,"acceleration":-2.350019475931673,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":3.2306539089148174,"velocity":1.3167797244449404,"acceleration":-1.6722139673848442,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":3.245919508912784,"velocity":1.2912523749078302,"acceleration":-1.0933839551431819,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":3.261509153545738,"velocity":1.2742069075997742,"acceleration":-0.5925429511370324,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":3.2773587797603363,"velocity":1.2648153233081574,"acceleration":-0.15670748855874975,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":3.2934085780351134,"velocity":1.2623001997286425,"acceleration":0.22188014370078749,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":3.309604353851206,"velocity":1.2658937207940628,"acceleration":0.5476082117334176,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":3.325898683584111,"velocity":1.2748166295604937,"acceleration":0.822818020735764,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":3.342251700231486,"velocity":1.2882721863513458,"acceleration":1.0487960022102008,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":3.358631420291372,"velocity":1.305451171267476,"acceleration":1.2265297989802908,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":3.375013604161698,"velocity":1.325544407956805,"acceleration":1.3572622092270228,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":3.3913812103173466,"velocity":1.3477595412473784,"acceleration":1.442851275388735,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":3.4077235470986795,"velocity":1.3713391027151567,"acceleration":1.4859436376739052,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":3.4240352427425202,"velocity":1.3955773630767951,"acceleration":1.4899807722256548,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":3.44031514867009,"velocity":1.4198341098825167,"acceleration":1.4285395759792927,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":3.4727879165068143,"velocity":1.4662227438788646,"acceleration":1.2569773510293403,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":3.5051858125783926,"velocity":1.506946165461841,"acceleration":1.010947744053941,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":3.5375562542321055,"velocity":1.539670990425692,"acceleration":0.7234094851125632,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":3.569944441995804,"velocity":1.563100912659558,"acceleration":0.4203694296135417,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":3.6023866882677518,"velocity":1.5767386412202788,"acceleration":0.1213977816001008,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":3.634909041191379,"velocity":1.5806867827176228,"acceleration":-0.15800539800444535,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":3.66752861151223,"velocity":1.5755327145263427,"acceleration":-0.4035534189564679,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":3.700255311773435,"velocity":1.5623257427447699,"acceleration":-0.5998362124753115,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":3.7330920623446318,"velocity":1.5426290706521466,"acceleration":-0.7291694374618671,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":3.766031868384341,"velocity":1.518610370812069,"acceleration":-0.7719633056205969,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":3.7990506776466306,"velocity":1.493121061666296,"acceleration":-0.7084328836344009,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":3.8320958321663423,"velocity":1.4697107875597524,"acceleration":-0.5206840376279098,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":3.8650713885072405,"velocity":1.4525409417411468,"acceleration":-0.19335966368689936,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":3.8978233919448235,"velocity":1.4462080253713836,"acceleration":0.28950538696003353,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":3.9301294824795945,"velocity":1.4555608126128183,"acceleration":0.9541258116483556,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":3.9616966146226202,"velocity":1.4856798281901937,"acceleration":1.8574780480076598,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":3.9921673596241454,"velocity":1.5422785681369655,"acceleration":2.6999999999999758,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":4.021241635842057,"velocity":1.6207791139253276,"acceleration":2.7000000000000037,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":4.048942509069614,"velocity":1.6955714716397319,"acceleration":1.9519226170197033,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":4.1015330276221205,"velocity":1.7982240942431622,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":4.155913546356542,"velocity":1.6513966936602231,"acceleration":-1.561708702385104,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":4.186861189638808,"velocity":1.6030654898279983,"acceleration":1.0062351574870936,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":4.220381132276934,"velocity":1.6367944345874317,"acceleration":2.169289989473013,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":4.255772063353103,"velocity":1.713567627089093,"acceleration":2.5123878509264164,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":4.292758810535883,"velocity":1.806492681356397,"acceleration":2.3789517460079206,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":4.331342596791146,"velocity":1.8982816470359505,"acceleration":2.024289952083726,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":4.371636708977578,"velocity":1.979848613463079,"acceleration":1.6196685671786193,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":4.413749081884396,"velocity":2.0480567001495573,"acceleration":1.2548130938058044,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":4.457718050533009,"velocity":2.1032295377309733,"acceleration":0.9614544342342403,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":4.50348662324541,"velocity":2.147233934913883,"acceleration":0.740510478369831,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":4.550899377072505,"velocity":2.182343575931217,"acceleration":0.5810643692237095,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":4.599710830477798,"velocity":2.2107061723150556,"acceleration":0.47024424103396445,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":4.649598834783794,"velocity":2.234165719036628,"acceleration":0.3972329226620022,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":4.700179664583588,"velocity":2.254258089888669,"acceleration":0.3544202272013157,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":4.751023264018339,"velocity":2.2722780899520663,"acceleration":0.3375069798318182,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":4.80166801490814,"velocity":2.289371046869218,"acceleration":0.08050585061822489,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":4.851779047531423,"velocity":2.293405278175913,"acceleration":-0.3654279774106334,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":4.9012590563675555,"velocity":2.2753238986246647,"acceleration":-0.41076401957231085,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":4.949897376564646,"velocity":2.2553450267152626,"acceleration":-0.4877692306410743,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":4.997298752743014,"velocity":2.232224093925412,"acceleration":-0.6034864892370795,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":5.043128366949484,"velocity":2.2045665409448594,"acceleration":-0.7661482013368547,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":5.087123525344729,"velocity":2.170859729472813,"acceleration":-0.9812415990491414,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":5.129102845500375,"velocity":2.1296678742362904,"acceleration":-1.242205824296359,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":5.168969929394199,"velocity":2.080144750425671,"acceleration":-1.5121111007714538,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":5.2067063186703235,"velocity":2.0230831372982094,"acceleration":-1.6943584062209944,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":5.242345911730214,"velocity":1.9626968932028874,"acceleration":-1.5964808796036474,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":5.275922048627763,"velocity":1.909093232634996,"acceleration":-0.021819279762994005,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":5.3360655322501005,"velocity":1.9077809451399192,"acceleration":2.6999999999999846,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":5.387710908909375,"velocity":2.0472234621199585,"acceleration":1.431988629648746,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":5.4354737885570055,"velocity":2.115619362694648,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":5.482987789148338,"velocity":1.98733156109805,"acceleration":-2.2337169774045353,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":5.5316319395224545,"velocity":1.8786742965559666,"acceleration":-1.9525413445076651,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":5.580554800594205,"velocity":1.7831503876217676,"acceleration":-1.7527241723098683,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":5.629133416080918,"velocity":1.6980054740008605,"acceleration":-1.6046706222828768,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":5.653159456512617,"velocity":1.6594515927503326,"acceleration":-1.497054227218421,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":5.676933519437327,"velocity":1.6238605313507382,"acceleration":-1.3789482952658414,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":5.700408662589926,"velocity":1.5914895227193393,"acceleration":-1.2495496821666994,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":5.723539310620742,"velocity":1.5625866288241235,"acceleration":-1.108979376738292,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":5.746280503433342,"velocity":1.537367114992521,"acceleration":-0.9577327141202648,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":5.768587558196346,"velocity":1.5160029188903197,"acceleration":-0.796057602393922,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":5.790416035988363,"velocity":1.4986261931952978,"acceleration":-0.6232463783256424,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":5.811721875983394,"velocity":1.4853474055812095,"acceleration":-0.4368111524986149,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":5.832461551716503,"velocity":1.4762880839217825,"acceleration":-0.2314819110161346,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":5.852592118176324,"velocity":1.4716282219278258,"acceleration":0.0020798472459068323,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":5.872071053778731,"velocity":1.4716687351383917,"acceleration":0.27902680581114225,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":5.890855854044242,"velocity":1.4769101979542776,"acceleration":0.6228045840127701,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":5.908903401627462,"velocity":1.488150293319296,"acceleration":1.068779217920909,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":5.926169222288207,"velocity":1.5066036436218497,"acceleration":2.079832477396287,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":5.958092699861785,"velocity":1.5729991290708094,"acceleration":0.051594921131819196,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":5.987405782462968,"velocity":1.574511535255748,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":6.044891139626748,"velocity":1.4193010709135419,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":6.0757097146403805,"velocity":1.3360909183767344,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":6.092414907394683,"velocity":1.2909868979401184,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":6.1103577863893745,"velocity":1.24254112465445,"acceleration":-0.6166556605069284,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":6.129533169640122,"velocity":1.2307165160304872,"acceleration":0.8394617204996494,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":6.149597126465827,"velocity":1.2475594397474241,"acceleration":1.645089936550396,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":6.170268618771731,"velocity":1.2815659037133453,"acceleration":2.0315059890071883,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":6.191378951079553,"velocity":1.3244516702266185,"acceleration":2.1266248736293996,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":6.212843383216096,"velocity":1.3700984655065194,"acceleration":2.0202630222827294,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":6.234632235392375,"velocity":1.414117677856241,"acceleration":1.7842140965824382,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":6.256746941045841,"velocity":1.4535750474249256,"acceleration":1.4762107230804502,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":6.279202771544771,"velocity":1.4867245852031228,"acceleration":1.140162016787184,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":6.302017736951581,"velocity":1.512737342174281,"acceleration":0.8071591661207839,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":6.32520625416322,"velocity":1.5314541663904047,"acceleration":0.4978802255955552,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":6.34877603932658,"velocity":1.5431890963447774,"acceleration":0.2256484113622274,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":6.372726885860627,"velocity":1.5485935668159656,"acceleration":-6.807327859582172E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":6.397050280202615,"velocity":1.5485770090839712,"acceleration":-0.17448174279717724,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":6.421729079379705,"velocity":1.544271009193411,"acceleration":-0.2899124825834493,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":6.446736707839022,"velocity":1.537020985543246,"acceleration":-0.34118184944313845,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":6.472035544775891,"velocity":1.5283894815683645,"acceleration":-0.322325835998301,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":6.4975743957392655,"velocity":1.5201576500811589,"acceleration":-0.2271909758331804,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":6.52328518884937,"velocity":1.5143163899050291,"acceleration":-0.04923540799720948,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":6.549079289440999,"velocity":1.5130464068384792,"acceleration":0.21933552644413537,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":6.574844024973559,"velocity":1.5186975286702071,"acceleration":0.5897119400090209,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":6.600440054648301,"velocity":1.5337918129862276,"acceleration":1.0807934158487873,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":6.625700011278353,"velocity":1.561092607796613,"acceleration":1.727284209043048,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":6.650428373923786,"velocity":1.6038055181095603,"acceleration":2.5949851419881953,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":6.674401933860499,"velocity":1.6660165499458932,"acceleration":2.6999999999999953,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":6.719902664473793,"velocity":1.7888685226017862,"acceleration":-0.838988824566227,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":6.764432453996793,"velocity":1.7515085268317028,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":6.811206501179859,"velocity":1.6252185994374257,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":6.836149709537907,"velocity":1.5578719368706948,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":6.86241045315562,"velocity":1.4869679291028706,"acceleration":-1.6893609692267229,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":6.890017073476101,"velocity":1.4403303822411897,"acceleration":-0.619052930859026,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":6.918657620717645,"velocity":1.4226003675299057,"acceleration":0.13854526866753125,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":6.947966388094442,"velocity":1.4266609585804382,"acceleration":0.6663982780183214,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":6.977656898573354,"velocity":1.44644666363707,"acceleration":1.0057221731446928,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":7.007523210988079,"velocity":1.4764838762626264,"acceleration":1.1834523737757507,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":7.037430495963753,"velocity":1.5118777236602754,"acceleration":1.2242815801776843,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":7.067298431398667,"velocity":1.5484444868511766,"acceleration":1.1539736546453414,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":7.097082652530885,"velocity":1.5828146933618872,"acceleration":0.9981178462782696,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":7.126758511734556,"velocity":1.6124346980367124,"acceleration":0.7795182438520606,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":7.156309373275337,"velocity":1.6354701337292974,"acceleration":0.5162596869339882,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":7.185719876949747,"velocity":1.6506535911488194,"acceleration":0.2212582304660347,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":7.214973520651888,"velocity":1.657126200589039,"acceleration":-0.09673185393869964,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":7.244053448148728,"velocity":1.6543132452898668,"acceleration":-0.4309888853884212,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":7.272945213754537,"velocity":1.6418612154345156,"acceleration":-0.773888486309923,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":7.301640283799087,"velocity":1.6196544311131809,"acceleration":-1.1134357652614595,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":7.330138963388993,"velocity":1.5879229819950522,"acceleration":-1.4297025759864295,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":7.358451226329564,"velocity":1.5474448667369136,"acceleration":-1.6920418636584842,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":7.386593583918564,"velocity":1.4998268195542783,"acceleration":-1.8584020143213509,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":7.414579795467162,"velocity":1.4478171876391388,"acceleration":-1.877795571090861,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":7.442403264376089,"velocity":1.3955704009495722,"acceleration":-1.6949557775378044,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":7.4700100356817085,"velocity":1.3487781444259477,"acceleration":-1.2520003926517775,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":7.497264193788721,"velocity":1.3146559277745742,"acceleration":-0.47634245616483056,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":7.523912281176124,"velocity":1.3019623123763637,"acceleration":0.7634309668511047,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":7.549558209648122,"velocity":1.3215412083455353,"acceleration":2.6999999999999864,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":7.573676002570799,"velocity":1.3866592492367642,"acceleration":2.700000000000005,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":7.596203774049749,"velocity":1.4474842322299275,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":7.637835297139652,"velocity":1.5598893445726676,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":7.677526726211587,"velocity":1.6670562030668916,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":7.720095567162618,"velocity":1.7819920736346744,"acceleration":2.699999999999974,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":7.76816559263676,"velocity":1.9117811424148574,"acceleration":2.700000000000011,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":7.8220587901872225,"velocity":2.057292775801107,"acceleration":2.1410282312491136,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":7.881136497856165,"velocity":2.183779815757794,"acceleration":-0.24481655286279774,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":7.912773678978782,"velocity":2.176034510133059,"acceleration":-0.2519087140196827,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":7.946237959924122,"velocity":2.167604566154525,"acceleration":-0.2728888495771977,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":7.981334207565981,"velocity":2.158027191511062,"acceleration":-0.30491642213996706,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":8.017845144051657,"velocity":2.14689440738887,"acceleration":-0.3468754795286571,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":8.055538849546462,"velocity":2.1338193852201477,"acceleration":-0.39860808070298076,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":8.094176323829087,"velocity":2.1184181757531397,"acceleration":-0.46035044544541665,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":8.13351898561286,"velocity":2.100306763875972,"acceleration":-0.5321989513801739,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":8.173335910608536,"velocity":2.0791162381460904,"acceleration":-0.6134604045661026,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":8.213410497767624,"velocity":2.054532065694657,"acceleration":-0.7017618422714231,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":8.253546093020695,"velocity":2.026366436429201,"acceleration":-0.7918343381406543,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":8.293569884698876,"velocity":1.9946742238358293,"acceleration":-0.87397854219204,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":8.333334129428742,"velocity":1.9599211271954524,"acceleration":-0.932392853335137,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":8.37271353256787,"velocity":1.9232040531399262,"acceleration":-0.9437603533485275,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":8.411597535858405,"velocity":1.8865068724548446,"acceleration":-0.8765626148564476,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":8.449876608055723,"velocity":1.8529528688352856,"acceleration":-0.6911500646767746,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":8.487422714954363,"velocity":1.827002874623929,"acceleration":-0.33926762147636796,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":8.524066171166359,"velocity":1.8145709363922118,"acceleration":0.24051616565325948,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":8.559573769557192,"velocity":1.8231110878087309,"acceleration":1.137775513077628,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":8.593635380465358,"velocity":1.8618655546360208,"acceleration":2.5049812617646716,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":8.62586670085144,"velocity":1.9426044082450873,"acceleration":2.700000000000018,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":8.685210715750861,"velocity":2.102833248473526,"acceleration":1.4225316585976695,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":8.740846746497336,"velocity":2.1819772635691006,"acceleration":-1.4818508848188787,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":8.796171932974152,"velocity":2.099993587035661,"acceleration":-1.0709064776297963,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":8.852617884543493,"velocity":2.0395452518640758,"acceleration":-0.8509432076656538,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":8.909316736419019,"velocity":1.9912977489781558,"acceleration":-0.7579666059232015,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":8.965541703983739,"velocity":1.9486811011449823,"acceleration":-0.7640039101631199,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":9.02069778493092,"velocity":1.906541639632062,"acceleration":-0.8595775274270808,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":9.074318280301695,"velocity":1.8604506668018375,"acceleration":-1.042330574404266,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":9.12606744174458,"velocity":1.806510933630136,"acceleration":-1.3035458774237063,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":9.175743809290303,"velocity":1.7417555095105226,"acceleration":-1.5320442263259912,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":9.199769306991001,"velocity":1.7049473844735594,"acceleration":-1.6809451170634815,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":9.22325771382616,"velocity":1.6654646616964004,"acceleration":-1.8062815493500448,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":9.246213225010138,"velocity":1.6240005453888822,"acceleration":-1.8820179329449755,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":9.268638703887076,"velocity":1.581795391987606,"acceleration":-1.8734711321508841,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":9.29052930127454,"velocity":1.5407839897166546,"acceleration":-1.7360319575531875,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":9.311863878158492,"velocity":1.5037464824452398,"acceleration":-1.412269873371452,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":9.332594434053654,"velocity":1.4744693428962603,"acceleration":-0.8239182841773935,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":9.352634493433573,"velocity":1.457957971557144,"acceleration":0.14839408830714731,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":9.371848483104992,"velocity":1.4608092140371771,"acceleration":1.7120628206281518,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":9.390045362186923,"velocity":1.491963414164815,"acceleration":0.209678281131281,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":9.424127481298727,"velocity":1.49910969431749,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":9.457702778468585,"velocity":1.4084563919588724,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":9.493599215152038,"velocity":1.311536012913551,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":9.513157416318109,"velocity":1.258728869765163,"acceleration":-2.362743810610061,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":9.534206717444714,"velocity":1.2089947638106064,"acceleration":0.03178003717223081,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":9.55658378774154,"velocity":1.2097059079364452,"acceleration":1.4427702096258177,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":9.579723124410323,"velocity":1.2430906535526687,"acceleration":2.278639447403957,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":9.603249750387722,"velocity":1.2966993515690863,"acceleration":2.6999999999998723,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":9.626955032616344,"velocity":1.360703613586362,"acceleration":2.6999999999998754,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":9.65077153876824,"velocity":1.4250081801964751,"acceleration":2.7000000000000943,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":9.674674844962617,"velocity":1.4895471069212938,"acceleration":2.448636840166707,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":9.698648136118726,"velocity":1.5482489908261825,"acceleration":1.9736280956949435,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":9.722725969059288,"velocity":1.595769678401125,"acceleration":1.5279903154751746,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":9.746944390109418,"velocity":1.6327751912218231,"acceleration":1.0695384166293258,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":9.771312442245856,"velocity":1.6588377591201697,"acceleration":0.6169263631829068,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":9.795826025627179,"velocity":1.6739608349641903,"acceleration":0.1781089896718199,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":9.820470389856748,"velocity":1.6783502177782235,"acceleration":-0.24470439277959732,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":9.845224310773089,"velocity":1.672292824591476,"acceleration":-0.6505358427950124,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":9.870064785769197,"velocity":1.6561332052544548,"acceleration":-1.0357077991626258,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":9.894971299128718,"velocity":1.6303373351180501,"acceleration":-1.3904547622549375,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":9.919928717356894,"velocity":1.5956351740890946,"acceleration":-1.6962528492126903,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":9.94492771544259,"velocity":1.5532305523587706,"acceleration":-1.9244380351950336,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":9.969961384550096,"velocity":1.5050548073678007,"acceleration":-2.036872465038469,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":9.995016486688973,"velocity":1.4540207597123953,"acceleration":-1.9888003063609216,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":10.020058002484582,"velocity":1.4042181854263476,"acceleration":-1.7320469070600593,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":10.045006624318674,"velocity":1.3610060021431973,"acceleration":-1.2133622272602662,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":10.069711122752103,"velocity":1.3310304969006632,"acceleration":-0.358412131013659,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":10.093920935122611,"velocity":1.3223534064575087,"acceleration":0.9753388673271035,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":10.117267401839053,"velocity":1.3451241228608133,"acceleration":2.6999999999998465,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":10.139333716492203,"velocity":1.4047031724243144,"acceleration":2.700000000000113,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":10.160087789051563,"velocity":1.460739168334588,"acceleration":2.700000000000057,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":10.198710666246551,"velocity":1.5650209367610577,"acceleration":0.7112165927073323,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":10.27126658481593,"velocity":1.616623909946722,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":10.3082031825608,"velocity":1.516895096035575,"acceleration":-2.3512372774426846,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":10.328160190474927,"velocity":1.46997143508166,"acceleration":-0.33929549401916004,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":10.349258801722716,"velocity":1.4628127713552233,"acceleration":1.3785239257950128,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":10.371308760923082,"velocity":1.4932091676757318,"acceleration":2.700000000000009,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":10.394153801429736,"velocity":1.5548907770436984,"acceleration":2.699999999999908,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":10.417883718628044,"velocity":1.6189615534791268,"acceleration":2.7000000000000908,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":10.442771738801158,"velocity":1.6861592079465337,"acceleration":2.6999999999999797,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":10.496860794703688,"velocity":1.8321996588833613,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":10.557606597835184,"velocity":1.9962133273384022,"acceleration":2.6999999999999935,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":10.590621876176096,"velocity":2.0853545788588623,"acceleration":2.6999999999999806,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":10.625384789031814,"velocity":2.179214443569304,"acceleration":0.949779007547363,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":10.662363592712632,"velocity":2.2143361350295603,"acceleration":0.6037989892612967,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":10.702173234261238,"velocity":2.2383731563594638,"acceleration":0.41503859155790324,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":10.744993698438607,"velocity":2.2561453015014945,"acceleration":0.2839854757471566,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":10.79092864753729,"velocity":2.2691901598747055,"acceleration":0.19393704665442102,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":10.840027404362994,"velocity":2.278712227767886,"acceleration":0.13233236390672598,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":10.892282264116444,"velocity":2.2856272368846744,"acceleration":0.09017333882875812,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":10.947625714369384,"velocity":2.2906177405762853,"acceleration":0.06724886296375951,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":10.97641630514447,"velocity":2.2925538750699648,"acceleration":-2.5220513892953744,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":11.006431306775804,"velocity":2.2168544985059566,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":11.038313838305156,"velocity":2.130771663376708,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":11.072302145648274,"velocity":2.039003233550287,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":11.108650390214118,"velocity":1.9408629732225082,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":11.147684503736373,"velocity":1.8354708667124178,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":11.18983554003442,"velocity":1.7216630687076944,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":11.235695660762087,"velocity":1.5978407427429935,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":11.28611884332363,"velocity":1.4616981498268289,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":11.342419485903692,"velocity":1.3096864148606593,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":11.40681813446712,"velocity":1.135810063739407,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":11.483661424439564,"velocity":0.9283331808138047,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":11.584213588924468,"velocity":0.6568423367045607,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":11.827488528444675,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15}] \ 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 99e5f8a..fdb684a 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":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":0.13267690465109205,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.3429884025872947,"velocity":2.265019459066152,"acceleration":-2.217701657582211,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.391281500989951,"velocity":2.1579197746888,"acceleration":-2.700000000000004,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.4420453066596375,"velocity":2.0208574993806465,"acceleration":-1.6277565472673319,"pose":{"translation":{"x":3.5020751028736092,"y":-2.1956158922656575},"rotation":{"radians":0.04867561951937359}},"curvature":-0.4263293815133228},{"time":1.4984222133744844,"velocity":1.929089620360875,"acceleration":0.010160973033987266,"pose":{"translation":{"x":3.6133941746879876,"y":-2.1933124895646907},"rotation":{"radians":-0.010350388311742132}},"curvature":-0.5934328349808979},{"time":1.5605316462960135,"velocity":1.9297207126339468,"acceleration":0.4431352150406185,"pose":{"translation":{"x":3.7330992346332756,"y":-2.1988756430835474},"rotation":{"radians":-0.08245977321793044}},"curvature":-0.5922293828340829},{"time":1.593346750562322,"velocity":1.9442622409195778,"acceleration":0.513863805300307,"pose":{"translation":{"x":3.796337809532994,"y":-2.205285313456289},"rotation":{"radians":-0.1192710290918124}},"curvature":-0.5647160261803019},{"time":1.6271353755539364,"velocity":1.9616249923336337,"acceleration":0.4950637426172842,"pose":{"translation":{"x":3.861701834072827,"y":-2.214333260776348},"rotation":{"radians":-0.15547223375320376}},"curvature":-0.5323990628656378},{"time":1.6617889058828066,"velocity":1.9787806987531458,"acceleration":0.4238737239634991,"pose":{"translation":{"x":3.9289538809459383,"y":-2.2261047248024535},"rotation":{"radians":-0.19072949770489536}},"curvature":-0.5010244930454457},{"time":1.697193977528043,"velocity":1.9937879783186065,"acceleration":0.3232941746057942,"pose":{"translation":{"x":3.9977624517562558,"y":-2.240627858511191},"rotation":{"radians":-0.22497919703328548}},"curvature":-0.47402173281584153},{"time":1.733225577759203,"velocity":2.0054367847750654,"acceleration":0.20600771211931626,"pose":{"translation":{"x":4.0677159124930355,"y":-2.2578791032086203},"rotation":{"radians":-0.25834400804649144}},"curvature":-0.45334050562199946},{"time":1.7697442814016884,"velocity":2.012959919362017,"acceleration":0.07740699958272064,"pose":{"translation":{"x":4.138336429005422,"y":-2.277788563641892},"rotation":{"radians":-0.2910738631300584}},"curvature":-0.4401111846724555},{"time":1.8065970102412283,"velocity":2.0158125785279215,"acceleration":-0.062189706892150545,"pose":{"translation":{"x":4.209093902477013,"y":-2.300245383110864},"rotation":{"radians":-0.3235084841651154}},"curvature":-0.4351206459137434},{"time":1.8436205544148383,"velocity":2.013510095167656,"acceleration":-0.21605105717435688,"pose":{"translation":{"x":4.27941990490042,"y":-2.3251031185797193},"rotation":{"radians":-0.3560569135017046}},"curvature":-0.4391475878151822},{"time":1.8806471809553083,"velocity":2.0055104533599875,"acceleration":-0.39007837799536554,"pose":{"translation":{"x":4.348721614551829,"y":-2.3521851157885822},"rotation":{"radians":-0.389189855690055}},"curvature":-0.4532104793093536},{"time":1.9175118076395312,"velocity":1.991130359577601,"acceleration":-0.592094904964677,"pose":{"translation":{"x":4.416395751465567,"y":-2.3812898843651356},"rotation":{"radians":-0.42344152767142385}},"curvature":-0.47877395608122075},{"time":1.954060350188125,"velocity":1.969490153750694,"acceleration":-0.8309688173737018,"pose":{"translation":{"x":4.481842512908658,"y":-2.4121964729362366},"rotation":{"radians":-0.4594184800507215}},"curvature":-0.5179473053524793},{"time":1.9901589045607562,"velocity":1.9394933807147683,"acceleration":-1.1149732400754826,"pose":{"translation":{"x":4.54447950885539,"y":-2.4446698442395336},"rotation":{"radians":-0.49781313801374166}},"curvature":-0.5736935026147324},{"time":2.02570335267354,"velocity":1.8998622722357628,"acceleration":-1.448550225236227,"pose":{"translation":{"x":4.603755697461875,"y":-2.4784662502350856},"rotation":{"radians":-0.5394192740380317}},"curvature":-0.6500434294499228},{"time":2.0606287027016905,"velocity":1.8492711485860314,"acceleration":-1.8265554655433023,"pose":{"translation":{"x":4.659165320540614,"y":-2.513338607216975},"rotation":{"radians":-0.5851447423770537}},"curvature":-0.75226309097706},{"time":2.0949168705253833,"velocity":1.7866419082441993,"acceleration":-2.4112240125886744,"pose":{"translation":{"x":4.710261839035053,"y":-2.549041870924928},"rotation":{"radians":-0.6360127116376952}},"curvature":-0.8868249129781922},{"time":2.128662234517987,"velocity":1.7052742762716881,"acceleration":-2.7,"pose":{"translation":{"x":4.75667186849415,"y":-2.585338411655929},"rotation":{"radians":-0.6931350869409779}},"curvature":-1.0608460086338727},{"time":2.1619876039391763,"velocity":1.6152957788344775,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.798109114546939,"y":-2.622003389375838},"rotation":{"radians":-0.7576297005970773}},"curvature":-1.2803398786970113},{"time":2.194896234033811,"velocity":1.526442477578964,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.834388308377085,"y":-2.658830128831009},"rotation":{"radians":-0.8304372322886067}},"curvature":-1.5462460337791393},{"time":2.2273756359234813,"velocity":1.4387480924768536,"acceleration":-2.700000000000007,"pose":{"translation":{"x":4.865439142197452,"y":-2.6956354946599044},"rotation":{"radians":-0.9119832371004168}},"curvature":-1.8471757551084653},{"time":2.2434823103011654,"velocity":1.395260071657106,"acceleration":-2.4604697572124268,"pose":{"translation":{"x":4.879016817010104,"y":-2.7139806921346414},"rotation":{"radians":-0.9558987459098183}},"curvature":-2.001352466803588},{"time":2.2595039636215097,"velocity":1.3558392782018571,"acceleration":-2.104092828644165,"pose":{"translation":{"x":4.891320204724665,"y":-2.7322652665047134},"rotation":{"radians":-1.0016495382908106}},"curvature":-2.1492785676712582},{"time":2.2754139219358573,"velocity":1.3223632490086106,"acceleration":-1.6280562434030825,"pose":{"translation":{"x":4.902379055298223,"y":-2.7504753400489763},"rotation":{"radians":-1.0488850549980586}},"curvature":-2.2818218684353386},{"time":2.2911673170876594,"velocity":1.2967158356769235,"acceleration":-1.0182331398847475,"pose":{"translation":{"x":4.912232916653667,"y":-2.7685995141229687},"rotation":{"radians":-1.0971080767758759}},"curvature":-2.3879989566943567},{"time":2.306699691008641,"velocity":1.2809002578094986,"acceleration":-0.25057588818021553,"pose":{"translation":{"x":4.920931570163274,"y":-2.786629037131156},"rotation":{"radians":-1.1456645521368725}},"curvature":-2.4555928968591356},{"time":2.3219263253477536,"velocity":1.27708483038598,"acceleration":0.7180286101751181,"pose":{"translation":{"x":4.928535466132287,"y":-2.8045579724991625},"rotation":{"radians":-1.1937443665112033}},"curvature":-2.472150251972107},{"time":2.336743275485269,"velocity":1.2877238245002545,"acceleration":1.9647155346517295,"pose":{"translation":{"x":4.93511615928249,"y":-2.8223833666460107},"rotation":{"radians":-1.2403951085975813}},"curvature":-2.4262261241098693},{"time":2.3510301365055706,"velocity":1.3157934422882511,"acceleration":2.699999999999981,"pose":{"translation":{"x":4.940756744235799,"y":-2.840105416956363},"rotation":{"radians":-1.2845485363597777}},"curvature":-2.3086257031012516},{"time":2.377842056797436,"velocity":1.3881856270762865,"acceleration":-1.7693548936171397,"pose":{"translation":{"x":4.949610280441483,"y":-2.8752570382678337},"rotation":{"radians":-1.3607322937303925}},"curvature":-1.837984513965953},{"time":2.4303106394586362,"velocity":1.295350083583536,"acceleration":-2.699999999999996,"pose":{"translation":{"x":4.961075049925916,"y":-2.9447179024673065},"rotation":{"radians":-1.432029152424269}},"curvature":-8.5096915531155E-15},{"time":2.4581529555242234,"velocity":1.2201758302064512,"acceleration":-2.7,"pose":{"translation":{"x":4.965529286581838,"y":-2.979452503412184},"rotation":{"radians":-1.465031038359228}},"curvature":-1.8035297760653406},{"time":2.4728801115121293,"velocity":1.180412509039105,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.9670765604676195,"y":-2.9970615756586043},"rotation":{"radians":-1.5033402513913394}},"curvature":-2.5038523323706143},{"time":2.4883122492090672,"velocity":1.1387457372573722,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":4.967851436182725,"y":-3.014939575743815},"rotation":{"radians":-1.5532232776713386}},"curvature":-3.040556283966687},{"time":2.5046226753078837,"velocity":1.0947075867905676,"acceleration":-1.6687306196545122,"pose":{"translation":{"x":4.967644661032831,"y":-3.033152689706553},"rotation":{"radians":-1.6121602284868388}},"curvature":-3.398202732184485},{"time":2.5218900628025263,"velocity":1.0658929685568184,"acceleration":-0.05449959149412052,"pose":{"translation":{"x":4.966270120741342,"y":-3.051755941934026},"rotation":{"radians":-1.677482330067382}},"curvature":-3.5735035614563557},{"time":2.5399387247021767,"velocity":1.064909323856272,"acceleration":1.1777144013087624,"pose":{"translation":{"x":4.9635640389890865,"y":-3.070793643087878},"rotation":{"radians":-1.746522457315119}},"curvature":-3.579655257312181},{"time":2.5584816504047923,"velocity":1.0867475944986404,"acceleration":2.1560910998464666,"pose":{"translation":{"x":4.95938417695403,"y":-3.0902998380301607},"rotation":{"radians":-1.8168046941753717}},"curvature":-3.4457000031792524},{"time":2.5772853711867083,"velocity":1.1272901295205275,"acceleration":2.69999999999999,"pose":{"translation":{"x":4.953609032850976,"y":-3.1102987537492983},"rotation":{"radians":-1.8862198507278636}},"curvature":-3.210774949681089},{"time":2.5962170733400827,"velocity":1.1784057253346385,"acceleration":2.6999999999999895,"pose":{"translation":{"x":4.946137041471272,"y":-3.130805247286058},"rotation":{"radians":-1.9531387272053868}},"curvature":-2.9159805408843056},{"time":2.6152892083814607,"velocity":1.229900489946359,"acceleration":2.7000000000000166,"pose":{"translation":{"x":4.936885773722514,"y":-3.1518252536595166},"rotation":{"radians":-2.016442499583169}},"curvature":-2.5973433861854707},{"time":2.6345747114572613,"velocity":1.2819713482510204,"acceleration":2.7000000000000224,"pose":{"translation":{"x":4.925791136168254,"y":-3.173356233793029},"rotation":{"radians":-2.075480528503448}},"curvature":-2.2819349578344106},{"time":2.654120620482148,"velocity":1.3347453026182154,"acceleration":2.6999999999999655,"pose":{"translation":{"x":4.912806570567703,"y":-3.1953876224401965},"rotation":{"radians":-2.129983878435116}},"curvature":-1.9872133404807157},{"time":2.6739514864519767,"velocity":1.3882886407367518,"acceleration":2.700000000000023,"pose":{"translation":{"x":4.897902253415438,"y":-3.2179012761108345},"rotation":{"radians":-2.1799644343967133}},"curvature":-1.7224572659312476},{"time":2.6940729650058204,"velocity":1.4426166328321304,"acceleration":2.700000000000009,"pose":{"translation":{"x":4.881064295481105,"y":-3.2408719209969417},"rotation":{"radians":-2.22562100888879}},"curvature":-1.4910043288277206},{"time":2.714475327361494,"velocity":1.4977030111924492,"acceleration":2.700000000000009,"pose":{"translation":{"x":4.862293941349127,"y":-3.264267600898666},"rotation":{"radians":-2.267263144548063}},"curvature":-1.2924153444220392},{"time":2.756019331138369,"velocity":1.6098718213900112,"acceleration":2.6999999999999935,"pose":{"translation":{"x":4.81903188914203,"y":-3.3121755165461217},"rotation":{"radians":-2.3399779384310033}},"curvature":-0.9828279667140774},{"time":2.7983202919209114,"velocity":1.7240844155028752,"acceleration":2.699999999999989,"pose":{"translation":{"x":4.768398312273832,"y":-3.361252746804184},"rotation":{"radians":-2.4010921893397095}},"curvature":-0.7664410614456462},{"time":2.8410253955236824,"velocity":1.8393881952303563,"acceleration":2.699999999999992,"pose":{"translation":{"x":4.710866337801757,"y":-3.411048764416201},"rotation":{"radians":-2.4533184582291754}},"curvature":-0.6172525006187272},{"time":2.8837503701300022,"velocity":1.9547456266674192,"acceleration":1.2496843309828318,"pose":{"translation":{"x":4.647074389631136,"y":-3.46104912474886},"rotation":{"radians":-2.49892485225256}},"curvature":-0.5155972058416651},{"time":2.926757431309542,"velocity":2.0084908771451104,"acceleration":0.5570501077459997,"pose":{"translation":{"x":4.577800573785979,"y":-3.510689799423171},"rotation":{"radians":-2.5397603085066436}},"curvature":-0.4479579794074529},{"time":2.970536232634793,"velocity":2.032877863140332,"acceleration":0.2964340580199916,"pose":{"translation":{"x":4.5039370636795315,"y":-3.5593715099454393},"rotation":{"radians":-2.577342732098713}},"curvature":-0.4055585702609519},{"time":3.0149928481450554,"velocity":2.046056318081874,"acceleration":0.07065357242755059,"pose":{"translation":{"x":4.426464485384851,"y":-3.6064740613382487},"rotation":{"radians":-2.612956120859872}},"curvature":-0.3830670686417713},{"time":3.059810528480843,"velocity":2.049222847305513,"acceleration":-0.14542798457351055,"pose":{"translation":{"x":4.346426302905366,"y":-3.651370675771436},"rotation":{"radians":-2.647740266891328}},"curvature":-0.377705898954209},{"time":3.104649560662696,"velocity":2.0427019972250795,"acceleration":-0.3757797154528526,"pose":{"translation":{"x":4.264903203445451,"y":-3.693442326193072},"rotation":{"radians":-2.682771627247723}},"curvature":-0.38876431279402895},{"time":3.1491731042727977,"velocity":2.0259709526763228,"acceleration":-0.6452905870475925,"pose":{"translation":{"x":4.182987482680985,"y":-3.7320920699604363},"rotation":{"radians":-2.7191393077158468}},"curvature":-0.4174633715562329},{"time":3.193073156520127,"velocity":1.9976426621902235,"acceleration":-1.1411636387837727,"pose":{"translation":{"x":4.101757430029924,"y":-3.766759382471},"rotation":{"radians":-2.758021599807403}},"curvature":-0.46715144683761933},{"time":3.23617361801096,"velocity":1.9484579827220847,"acceleration":-2.7,"pose":{"translation":{"x":4.022251713922864,"y":-3.7969344907934},"rotation":{"radians":-2.8007681532481032}},"curvature":-0.5438469024764766},{"time":3.2789338803144195,"velocity":1.8330052745027445,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.9454437670736127,"y":-3.822172707298418},"rotation":{"radians":-2.848990325510321}},"curvature":-0.6571545487828776},{"time":3.321683356011055,"velocity":1.717581690121829,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.87221617174975,"y":-3.842108763289961},"rotation":{"radians":-2.9046546814278225}},"curvature":-0.8214815689160222},{"time":3.364060934928058,"velocity":1.6031622270459214,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":3.803335045043199,"y":-3.8564711426360363},"rotation":{"radians":-2.9701548699985416}},"curvature":-1.0570408368182198},{"time":3.405751312883134,"velocity":1.4905982065672154,"acceleration":-2.699999999999997,"pose":{"translation":{"x":3.7394244241407923,"y":-3.865096415399731},"rotation":{"radians":-3.048290744062946}},"curvature":-1.3888175854894336},{"time":3.4262709585818296,"velocity":1.4351951631807371,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.7094829113881596,"y":-3.867239647193867},"rotation":{"radians":-3.09302431178082}},"curvature":-1.5982289942704337},{"time":3.44655125318419,"velocity":1.3804383677543648,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":3.680940651594839,"y":-3.8679435714701915},"rotation":{"radians":3.141195626413722}},"curvature":-1.8386321857944314},{"time":3.4665943273687105,"velocity":1.3263220674561593,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.653824282876678,"y":-3.8672245416740036},"rotation":{"radians":3.087749699733924}},"curvature":-2.1083258513611582},{"time":3.4864199816885457,"velocity":1.272792800792604,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.6281467605936855,"y":-3.8651083541936},"rotation":{"radians":3.029721408331762}},"curvature":-2.401052534326924},{"time":3.5060693944203227,"velocity":1.2197393864168058,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.6039065568897426,"y":-3.8616306962862486},"rotation":{"radians":2.967237178269589}},"curvature":-2.704062445106173},{"time":3.5256088623799924,"velocity":1.1669828229256973,"acceleration":-2.3942045966905097,"pose":{"translation":{"x":3.5810868602322943,"y":-3.856837594004153},"rotation":{"radians":2.9007434502861504}},"curvature":-2.9965878907636636},{"time":3.5450813189234376,"velocity":1.1203617779605244,"acceleration":-1.5924897584791056,"pose":{"translation":{"x":3.5596547749520773,"y":-3.850785860120422},"rotation":{"radians":2.831093117700949}},"curvature":-3.2497169946533693},{"time":3.56441174958145,"velocity":1.089578265110649,"acceleration":-0.6057444103667897,"pose":{"translation":{"x":3.5395605207828,"y":-3.8435435420550386},"rotation":{"radians":2.7596018976349583}},"curvature":-3.428729878113199},{"time":3.583413033743393,"velocity":1.0780683434397609,"acceleration":0.6186347325875813,"pose":{"translation":{"x":3.5207366324008675,"y":-3.8351903698008267},"rotation":{"radians":2.6880472099902293}},"curvature":-3.4982884199120967},{"time":3.6018437984407154,"velocity":1.0894702546296735,"acceleration":2.206448025075864,"pose":{"translation":{"x":3.503097158965079,"y":-3.825818203849418},"rotation":{"radians":2.6185923475457913}},"curvature":-3.429375792439269},{"time":3.619424934866165,"velocity":1.1282621183741959,"acceleration":2.7000000000000304,"pose":{"translation":{"x":3.4865368636563288,"y":-3.8155314831172236},"rotation":{"radians":2.5536429375762753}},"curvature":-3.205349966460621},{"time":3.636059653724959,"velocity":1.1731758592929409,"acceleration":2.7000000000000246,"pose":{"translation":{"x":3.4709304232173177,"y":-3.804447672871399},"rotation":{"radians":2.4956710651373433}},"curvature":-2.8242730142037273},{"time":3.667026498143806,"velocity":1.2567863392238288,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.4419725789665847,"y":-3.7804264642170193},"rotation":{"radians":2.4099956930818545}},"curvature":-1.6385536550867448},{"time":3.695770883831362,"velocity":1.334396180580229,"acceleration":2.700000000000014,"pose":{"translation":{"x":3.4147888938993836,"y":-3.75497184822522},"rotation":{"radians":2.3782497368858433}},"curvature":-5.788541622584007E-14},{"time":3.749235256587912,"velocity":1.4787499870229144,"acceleration":2.6999999999999833,"pose":{"translation":{"x":3.3609844424672812,"y":-3.7024327791736553},"rotation":{"radians":2.3490876618737877}},"curvature":-0.7023824054980974},{"time":3.8005973041463315,"velocity":1.6174275154306461,"acceleration":2.4825294531308146,"pose":{"translation":{"x":3.3070566156337318,"y":-3.644002410831658},"rotation":{"radians":2.2796079944093672}},"curvature":-0.9779188946546434},{"time":3.852034368848562,"velocity":1.7451215435365288,"acceleration":0.6312064344846886,"pose":{"translation":{"x":3.253636022378402,"y":-3.5759950534953493},"rotation":{"radians":2.1936809774674773}},"curvature":-0.9813573357878339},{"time":3.878415299509957,"velocity":1.7617733567176956,"acceleration":0.7073333772021678,"pose":{"translation":{"x":3.2274993906209875,"y":-3.5378291029531996},"rotation":{"radians":2.14913436942687}},"curvature":-0.942909788668174},{"time":3.9056736543136066,"velocity":1.7810541008779361,"acceleration":0.6388407929787493,"pose":{"translation":{"x":3.202017502758004,"y":-3.4968145423323445},"rotation":{"radians":2.10466279959534}},"curvature":-0.8992904106865759},{"time":3.93373192965023,"velocity":1.7989788717436008,"acceleration":0.48734075753294853,"pose":{"translation":{"x":3.1774274321794738,"y":-3.4530212038442007},"rotation":{"radians":2.060525720135738}},"curvature":-0.8595773587187461},{"time":3.962524252530149,"velocity":1.8130105441870337,"acceleration":0.2909434244911126,"pose":{"translation":{"x":3.1539860008336564,"y":-3.4066059832364965},"rotation":{"radians":2.016670973441805}},"curvature":-0.8290375810472322},{"time":3.9919869081186627,"velocity":1.821582510098558,"acceleration":0.07153311757976091,"pose":{"translation":{"x":3.1319643377560293,"y":-3.3578019568512345},"rotation":{"radians":1.97283278634523}},"curvature":-0.8106123015937061},{"time":4.022053818906276,"velocity":1.8237332899631886,"acceleration":-0.1596284592431018,"pose":{"translation":{"x":3.111642437598266,"y":-3.3069074986826497},"rotation":{"radians":1.9285987458366667}},"curvature":-0.8060164222942745},{"time":4.052656019528391,"velocity":1.818848307828432,"acceleration":-0.3974911144577557,"pose":{"translation":{"x":3.0933037191572192,"y":-3.2542753974351726},"rotation":{"radians":1.8834517291286794}},"curvature":-0.8164705547777673},{"time":4.083724019605622,"velocity":1.8064990538537598,"acceleration":-0.6396997732751478,"pose":{"translation":{"x":3.0772295839039,"y":-3.2003019735813902},"rotation":{"radians":1.836794027192425}},"curvature":-0.8431507700506632},{"time":4.115192016460156,"velocity":1.7863689834004912,"acceleration":-0.8836474869263974,"pose":{"translation":{"x":3.0636939745124585,"y":-3.1454161964200056},"rotation":{"radians":1.7879605709292274}},"curvature":-0.88743195283926},{"time":4.147002994006502,"velocity":1.758259293034991,"acceleration":-1.123817628321571,"pose":{"translation":{"x":3.052957933389164,"y":-3.0900688011338007},"rotation":{"radians":1.7362277496603906}},"curvature":-0.9509628219519557},{"time":4.179113713347756,"velocity":1.7221727005812026,"acceleration":-1.3493464897395464,"pose":{"translation":{"x":3.045264161201387,"y":-3.0347214058475958},"rotation":{"radians":1.6808245586519428}},"curvature":-1.0355625717425927},{"time":4.2114984160193245,"velocity":1.678474515710063,"acceleration":-1.54213583738064,"pose":{"translation":{"x":3.040831575406578,"y":-2.9798356286862115},"rotation":{"radians":1.6209540379488616}},"curvature":-1.1428761734565573},{"time":4.244149726678152,"velocity":1.6281217594056372,"acceleration":-1.6763452695935936,"pose":{"translation":{"x":3.039849868781248,"y":-2.9258622048324288},"rotation":{"radians":1.5558350860664567}},"curvature":-1.2736751790581164},{"time":4.2770748524461375,"velocity":1.5729278805736993,"acceleration":-1.720379576497264,"pose":{"translation":{"x":3.042474067949952,"y":-2.873230103584952},"rotation":{"radians":1.484776978362482}},"curvature":-1.4266704653345341},{"time":4.310284999488261,"velocity":1.5157938218699591,"acceleration":-1.6419864291213668,"pose":{"translation":{"x":3.0488190919142633,"y":-2.8223356454163673},"rotation":{"radians":1.4072991804003108}},"curvature":-1.596780118609437},{"time":4.343776499881509,"velocity":1.4608012327333335,"acceleration":-1.4911165237830077,"pose":{"translation":{"x":3.058954310581762,"y":-2.773531619031105},"rotation":{"radians":1.323303181119466}},"curvature":-1.7730815076129074},{"time":4.360626728330783,"velocity":1.4356755786631017,"acceleration":-1.3379088503984191,"pose":{"translation":{"x":3.065451127082926,"y":-2.750009182785482},"rotation":{"radians":1.2789866713867077}},"curvature":-1.8581272863701694},{"time":4.377527944236481,"velocity":1.4130632923203748,"acceleration":-1.1437326029523414,"pose":{"translation":{"x":3.0728981032950085,"y":-2.727116398423401},"rotation":{"radians":1.2332854738342944}},"curvature":-1.9372514941101335},{"time":4.394463151773877,"velocity":1.3936939433220907,"acceleration":-0.9086321010601169,"pose":{"translation":{"x":3.0812886766187075,"y":-2.7048802749129957},"rotation":{"radians":1.1863895583484947}},"curvature":-2.0070697222123894},{"time":4.411409199033004,"velocity":1.3782962207963656,"acceleration":-0.6332211972869909,"pose":{"translation":{"x":3.0906124173605285,"y":-2.6833230599352573},"rotation":{"radians":1.138548826444892}},"curvature":-2.063971958788964},{"time":4.428336384259188,"velocity":1.367577568300743,"acceleration":-0.31832011031494095,"pose":{"translation":{"x":3.1008548586868176,"y":-2.6624618997920955},"rotation":{"radians":1.0900737468129797}},"curvature":-2.10433914545211},{"time":4.445208449623839,"velocity":1.3622068505926264,"acceleration":0.03551611172364429,"pose":{"translation":{"x":3.1119973265777903,"y":-2.6423084993144017},"rotation":{"radians":1.04133257616508}},"curvature":-2.124804540059996},{"time":4.461983002046691,"velocity":1.3628026174705905,"acceleration":0.4285713186343666,"pose":{"translation":{"x":3.124016769781565,"y":-2.622868781770109},"rotation":{"radians":0.9927449310251599}},"curvature":-2.122526385624645},{"time":4.4786123372327165,"velocity":1.3699294735792784,"acceleration":0.8626655705904696,"pose":{"translation":{"x":3.1368855897681884,"y":-2.6041425487722525},"rotation":{"radians":0.9447719804722562}},"curvature":-2.095427611326793},{"time":4.495044572024873,"velocity":1.3841049967823302,"acceleration":1.342043633481976,"pose":{"translation":{"x":3.1505714706836736,"y":-2.586123140187032},"rotation":{"radians":0.8979040868094562}},"curvature":-2.0423569283080365},{"time":4.511224927736181,"velocity":1.4058197401521648,"acceleration":2.174628731563648,"pose":{"translation":{"x":3.1650372093040224,"y":-2.5687970940418743},"rotation":{"radians":0.8526472069342793}},"curvature":-1.963136195907724},{"time":4.542545546158871,"velocity":1.4739304568644884,"acceleration":2.7000000000000086,"pose":{"translation":{"x":3.196133989637476,"y":-2.536135191435944},"rotation":{"radians":0.768990876016828}},"curvature":-1.729794878369166},{"time":4.572415457254563,"velocity":1.5545792168228587,"acceleration":2.6999999999999855,"pose":{"translation":{"x":3.229774095829601,"y":-2.505900184904709},"rotation":{"radians":0.6977198275372757}},"curvature":-1.4076925046997093},{"time":4.600966629509849,"velocity":1.6316673819121288,"acceleration":1.9267235317165612,"pose":{"translation":{"x":3.2654666120792952,"y":-2.477704823093947},"rotation":{"radians":0.6424606408108764}},"curvature":-1.0104612965545503},{"time":4.6553898406637995,"velocity":1.7365258635140244,"acceleration":-2.7,"pose":{"translation":{"x":3.340567158410097,"y":-2.425165754042389},"rotation":{"radians":0.593836843068327}},"curvature":1.386517181656494E-14},{"time":4.711988127689792,"velocity":1.5837104885438458,"acceleration":-1.247908439953422,"pose":{"translation":{"x":3.4198873310466325,"y":-2.3747994687928755},"rotation":{"radians":0.5155990770109385}},"curvature":-1.3959433324960826},{"time":4.744473186294367,"velocity":1.5431721097388154,"acceleration":1.3743545800960772,"pose":{"translation":{"x":3.464973940375945,"y":-2.351418545240741},"rotation":{"radians":0.4402331146686272}},"curvature":-1.513692824959229},{"time":4.779684268385652,"velocity":1.591564621681112,"acceleration":2.5108263375364204,"pose":{"translation":{"x":3.515820158392423,"y":-2.3299602434457767},"rotation":{"radians":0.35977931065883245}},"curvature":-1.3738235417165252},{"time":4.81680475582202,"velocity":1.6847677191985357,"acceleration":2.6999999999999846,"pose":{"translation":{"x":3.57353428112992,"y":-2.3108061686830257},"rotation":{"radians":0.283622171830409}},"curvature":-1.1270782568800422},{"time":4.855603985171323,"velocity":1.7895256384416522,"acceleration":2.6008535703856928,"pose":{"translation":{"x":3.6388619991502273,"y":-2.2942217530332445},"rotation":{"radians":0.21644885729655408}},"curvature":-0.8743275323441821},{"time":4.896126524432603,"velocity":1.8949188293604484,"acceleration":2.086058261007151,"pose":{"translation":{"x":3.712216325633674,"y":-2.2803656120586817},"rotation":{"radians":0.15960544390110007}},"curvature":-0.6597910724689208},{"time":4.9385363738081285,"velocity":1.9833882459983319,"acceleration":1.616547499380803,"pose":{"translation":{"x":3.793707524469738,"y":-2.2692989014788543},"rotation":{"radians":0.11263337683362186}},"curvature":-0.492690613439739},{"time":4.983030889151286,"velocity":2.0553157435124745,"acceleration":1.2159238014148543,"pose":{"translation":{"x":3.8831730383476515,"y":-2.2609946738463247},"rotation":{"radians":0.07434740327024543}},"curvature":-0.3674366456229984},{"time":5.029678541336584,"velocity":2.1120357340847002,"acceleration":0.9075046440653375,"pose":{"translation":{"x":3.9802074168470107,"y":-2.2553472352224797},"rotation":{"radians":0.04342034712937154}},"curvature":-0.2746812536516031},{"time":5.0784252452904575,"velocity":2.156273594305718,"acceleration":0.6834151478338532,"pose":{"translation":{"x":4.08419224452838,"y":-2.252181501853307},"rotation":{"radians":0.018641440937412053}},"curvature":-0.20572529327744007},{"time":5.129096139958063,"velocity":2.190902851275853,"acceleration":0.5264879150546674,"pose":{"translation":{"x":4.1943260690239,"y":-2.2512623568451726},"rotation":{"radians":-9.976837212046226E-4}},"curvature":-0.15368987932601774},{"time":5.181409075361329,"velocity":2.218444979566708,"acceleration":0.42018005297982247,"pose":{"translation":{"x":4.309654329127897,"y":-2.252304006840599},"rotation":{"radians":-0.016294413807347564}},"curvature":-0.11346372271889368},{"time":5.234992421780497,"velocity":2.2409596329039503,"acceleration":0.351785182873852,"pose":{"translation":{"x":4.4290992828874876,"y":-2.2549793386940395},"rotation":{"radians":-0.027855223399565903}},"curvature":-0.08131487625173589},{"time":5.289403766966109,"velocity":2.2601007379204834,"acceleration":0.3128445654832258,"pose":{"translation":{"x":4.551489935693187,"y":-2.258929276147662},"rotation":{"radians":-0.03612213081466633}},"curvature":-0.05448689456607996},{"time":5.344148096805894,"velocity":2.277227204001881,"acceleration":0.298773706908379,"pose":{"translation":{"x":4.675591968369515,"y":-2.2637721365071184},"rotation":{"radians":-0.041396455549533785}},"curvature":-0.030864907672841033},{"time":5.398694994346497,"velocity":2.2935243827804386,"acceleration":-0.06592086690757766,"pose":{"translation":{"x":4.800137665265607,"y":-2.2691129873173295},"rotation":{"radians":-0.04385674798976135}},"curvature":-0.008714305829899563},{"time":5.452731465158713,"velocity":2.2899622517798712,"acceleration":-0.3284145960167999,"pose":{"translation":{"x":4.923855842345816,"y":-2.2745530030382577},"rotation":{"radians":-0.04357023700677432}},"curvature":0.013528914880161159},{"time":5.506104615131532,"velocity":2.272433730293404,"acceleration":-0.37659355529518945,"pose":{"translation":{"x":5.045501775280321,"y":-2.279698821720685},"rotation":{"radians":-0.040498084092675975}},"curvature":0.03744051067678888},{"time":5.558465248275739,"velocity":2.25271505330012,"acceleration":-0.45748288865973996,"pose":{"translation":{"x":5.163887127535741,"y":-2.2841719016819924},"rotation":{"radians":-0.03449516027555618}},"curvature":0.06478457774956946},{"time":5.609367150250117,"velocity":2.2294283041466065,"acceleration":-0.5803001232812905,"pose":{"translation":{"x":5.277909878465731,"y":-2.2876178781819356},"rotation":{"radians":-0.02530559580272131}},"curvature":0.09769943069512467},{"time":5.658434977767275,"velocity":2.200954237789255,"acceleration":-0.7567850343011426,"pose":{"translation":{"x":5.386584251401597,"y":-2.2897159200984234},"rotation":{"radians":-0.012556599237129413}},"curvature":0.1388928455204047},{"time":5.70537886723857,"velocity":2.1654278047854914,"acceleration":-0.9976147493855395,"pose":{"translation":{"x":5.489070641742902,"y":-2.2901880866032944},"rotation":{"radians":0.004244077010014979}},"curvature":0.1918079561961686},{"time":5.750006675153436,"velocity":2.120906445376876,"acceleration":-1.302519477823958,"pose":{"translation":{"x":5.584705545048074,"y":-2.288808683838094},"rotation":{"radians":0.025695527009681304}},"curvature":0.26062341686224055},{"time":5.79223024953403,"velocity":2.0659094173228043,"acceleration":-1.638921412620607,"pose":{"translation":{"x":5.673031485125007,"y":-2.2854136215898544},"rotation":{"radians":0.052452462845723254}},"curvature":0.3497257877466332},{"time":5.832059023661385,"velocity":2.000633186567052,"acceleration":-1.9057245334879886,"pose":{"translation":{"x":5.753826942121678,"y":-2.279909769966868},"rotation":{"radians":0.0850908830903379}},"curvature":0.4618396078810718},{"time":5.869569950654938,"velocity":1.929147692721561,"acceleration":-1.887970276344723,"pose":{"translation":{"x":5.827136280616742,"y":-2.272284316074469},"rotation":{"radians":0.12381616681411885}},"curvature":0.5933220618516182},{"time":5.904839733515326,"velocity":1.862559391028017,"acceleration":-1.2141051053065604,"pose":{"translation":{"x":5.893299677710157,"y":-2.262614120690806},"rotation":{"radians":0.1679166901590606}},"curvature":0.7248763947269864},{"time":5.937831627323918,"velocity":1.8225037643212731,"acceleration":0.7148928432333755,"pose":{"translation":{"x":5.95298305111377,"y":-2.2510750749426247},"rotation":{"radians":0.21491282398978384}},"curvature":0.8086423977138273},{"time":5.968261984718788,"velocity":1.8442582090398996,"acceleration":2.7000000000000206,"pose":{"translation":{"x":6.007207987241939,"y":-2.237951456981044},"rotation":{"radians":0.2595930272936871}},"curvature":0.762697142423729},{"time":6.021690837779395,"velocity":1.9885161123035373,"acceleration":2.700000000000009,"pose":{"translation":{"x":6.105326805385562,"y":-2.2086856921986713},"rotation":{"radians":0.3070457320187911}},"curvature":-9.725717521032143E-17},{"time":6.070629375122215,"velocity":2.1206501631291528,"acceleration":1.2181195772403006,"pose":{"translation":{"x":6.201277169309493,"y":-2.1786276315400217},"rotation":{"radians":0.2974058906632293}},"curvature":-0.16209275660528696},{"time":6.1192340614079495,"velocity":2.179856483039429,"acceleration":1.0817987324788225,"pose":{"translation":{"x":6.301477885417253,"y":-2.148918108160069},"rotation":{"radians":0.2789682750584509}},"curvature":-0.1701090538930089},{"time":6.1693075612238255,"velocity":2.234025931671022,"acceleration":0.9538268260861658,"pose":{"translation":{"x":6.4079602946560525,"y":-2.119358079242467},"rotation":{"radians":0.264077610060394}},"curvature":-0.09114651034051453},{"time":6.220969243606113,"velocity":2.2833022302079913,"acceleration":-1.7056565792390221,"pose":{"translation":{"x":6.520697924048186,"y":-2.089259247366811},"rotation":{"radians":0.2599313011954661}},"curvature":0.022570961407001752},{"time":6.275290116374521,"velocity":2.1906494761805506,"acceleration":-1.7496951582377849,"pose":{"translation":{"x":6.63800570485752,"y":-2.0575629765582377},"rotation":{"radians":0.27052021352622774}},"curvature":0.15406463717560975},{"time":6.333170718870799,"velocity":2.0893760662369267,"acceleration":-2.035374561449858,"pose":{"translation":{"x":6.756939190756005,"y":-2.0229592083370243},"rotation":{"radians":0.2989809404653433}},"curvature":0.31113301245473324},{"time":6.393873742451236,"velocity":1.9658226762382152,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.873693775990171,"y":-1.98400537776818},"rotation":{"radians":0.34930686011401557}},"curvature":0.5185092587751816},{"time":6.45718379691113,"velocity":1.7948855291965022,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.984003913547639,"y":-1.9392453295110483},"rotation":{"radians":0.4275232415264521}},"curvature":0.8169487565192634},{"time":6.489814797928593,"velocity":1.7067818264493495,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.035381537476421,"y":-1.9142584735754493},"rotation":{"radians":0.47969454283423385}},"curvature":1.0168710516464734},{"time":6.523015829532582,"velocity":1.6171390411185798,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.083542333323617,"y":-1.8873282338688995},"rotation":{"radians":0.5422487069992634}},"curvature":1.258956685716084},{"time":6.556794578407924,"velocity":1.5259364191551554,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.128001244823382,"y":-1.858321723475558},"rotation":{"radians":0.6164527510508817}},"curvature":1.5451049510317179},{"time":6.591251803168148,"velocity":1.4329019123025517,"acceleration":-2.6806172558272956,"pose":{"translation":{"x":7.168319260287408,"y":-1.82712750283853},"rotation":{"radians":0.7032920825936563}},"curvature":1.8676984396178187},{"time":6.60880671880312,"velocity":1.385843902526854,"acceleration":-2.4524128780002257,"pose":{"translation":{"x":7.186803901326831,"y":-1.8106819553448337},"rotation":{"radians":0.751578206834326}},"curvature":2.035921528753011},{"time":6.626606430459573,"velocity":1.3421916604358783,"acceleration":-2.1650852927625084,"pose":{"translation":{"x":7.204115888172626,"y":-1.7936592958864155},"rotation":{"radians":0.8030398353158782}},"curvature":2.2025159789337243},{"time":6.6446454296590405,"velocity":1.303135688572956,"acceleration":-1.8231138892260659,"pose":{"translation":{"x":7.220218849927427,"y":-1.7760532814259713},"rotation":{"radians":0.857506662253707}},"curvature":2.3610294222734507},{"time":6.662906542631733,"velocity":1.269843599879714,"acceleration":-1.4331260334895597,"pose":{"translation":{"x":7.235081632648911,"y":-1.7578597061598589},"rotation":{"radians":0.9146937607387257}},"curvature":2.5038477670799977},{"time":6.6813592837941655,"velocity":1.2433984961305877,"acceleration":-1.003081707219361,"pose":{"translation":{"x":7.248678689211289,"y":-1.739076517647053},"rotation":{"radians":0.9741920306971419}},"curvature":2.6227438450600085},{"time":6.699959366823231,"velocity":1.2247410930913705,"acceleration":-0.5414640222949193,"pose":{"translation":{"x":7.260990469166788,"y":-1.7197039329380996},"rotation":{"radians":1.035468446458543}},"curvature":2.7097158319299712},{"time":6.718649729874464,"velocity":1.2146209339354976,"acceleration":-0.0566686071022693,"pose":{"translation":{"x":7.272003808607153,"y":-1.699744554704072},"rotation":{"radians":1.0978786938489669}},"curvature":2.7580089355399395},{"time":6.737363182856779,"velocity":1.213560468620916,"acceleration":0.4433143947154948,"pose":{"translation":{"x":7.281712320025128,"y":-1.6792034873655228},"rotation":{"radians":1.1606928442505877}},"curvature":2.7631160678733435},{"time":6.756026432279557,"velocity":1.2218341557421992,"acceleration":0.9509693569196473,"pose":{"translation":{"x":7.290116782175955,"y":-1.658088453221441},"rotation":{"radians":1.223132022361671}},"curvature":2.723505758274525},{"time":6.774564886702263,"velocity":1.239463657822844,"acceleration":1.4592391701705065,"pose":{"translation":{"x":7.297225529938858,"y":-1.6364099085782065},"rotation":{"radians":1.284411361762626}},"curvature":2.6408683261526},{"time":6.792907423046835,"velocity":1.2662298053371197,"acceleration":1.9616441865360656,"pose":{"translation":{"x":7.303054844178538,"y":-1.6141811598785432},"rotation":{"radians":1.3437828639487792}},"curvature":2.5198022787893795},{"time":6.810990292097889,"velocity":1.301701960287013,"acceleration":2.4527288875462796,"pose":{"translation":{"x":7.307629341606662,"y":-1.591418479830475},"rotation":{"radians":1.4005717491245238}},"curvature":2.3670293840213974},{"time":6.828759561133767,"velocity":1.3452851597618922,"acceleration":2.700000000000041,"pose":{"translation":{"x":7.310982364643354,"y":-1.5681412235362797},"rotation":{"radians":1.4542015179654442}},"curvature":2.1903540079169392},{"time":6.846196768599073,"velocity":1.39236561991822,"acceleration":2.7000000000000566,"pose":{"translation":{"x":7.313156371278683,"y":-1.5443719446214454},"rotation":{"radians":1.5042055757094992}},"curvature":1.9976192244615987},{"time":6.863334187941428,"velocity":1.438636652142577,"acceleration":2.7000000000000686,"pose":{"translation":{"x":7.3142033249341605,"y":-1.5201365113636225},"rotation":{"radians":1.5502259468516013}},"curvature":1.7958592824262125},{"time":6.880216510485553,"velocity":1.4842189230117167,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.314185084324226,"y":-1.4954642228215806},"rotation":{"radians":1.592001544705991}},"curvature":1.5907468651284107},{"time":6.913315514685303,"velocity":1.5735862343510432,"acceleration":2.700000000000031,"pose":{"translation":{"x":7.311252270799465,"y":-1.4449441267992365},"rotation":{"radians":1.6621415169822258}},"curvature":1.1850244602983513},{"time":6.945590071953128,"velocity":1.660727538974172,"acceleration":2.699999999999988,"pose":{"translation":{"x":7.305065521015141,"y":-1.3931190775472144},"rotation":{"radians":1.713679767993543}},"curvature":0.7937678960229849},{"time":7.007287058563199,"velocity":1.8273094028213608,"acceleration":-0.8998261813780429,"pose":{"translation":{"x":7.286689428589846,"y":-1.2870991432068566},"rotation":{"radians":1.757019167206017}},"curvature":-2.4363279240104615E-14},{"time":7.067291049405121,"velocity":1.773316240874631,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.265189760739553,"y":-1.1812342716200572},"rotation":{"radians":1.7985589202588221}},"curvature":0.7395843401690734},{"time":7.097962260830125,"velocity":1.690503970027118,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.252035192568231,"y":-1.1297690554917228},"rotation":{"radians":1.8463010595597449}},"curvature":1.0536426581515266},{"time":7.129676447632195,"velocity":1.604875665661529,"acceleration":-2.5497429356035735,"pose":{"translation":{"x":7.236315079935569,"y":-1.0799345494261536},"rotation":{"radians":1.9088936494312818}},"curvature":1.3368297135148801},{"time":7.162539835485492,"velocity":1.5210824746425846,"acceleration":-1.748741142151181,"pose":{"translation":{"x":7.2175200259468175,"y":-1.0321319623719334},"rotation":{"radians":1.9840160049929294}},"curvature":1.5804970975378652},{"time":7.1964534826517745,"velocity":1.461776284562508,"acceleration":-1.1941967914282665,"pose":{"translation":{"x":7.195295578488521,"y":-0.9866963916167394},"rotation":{"radians":2.0690232521723817}},"curvature":1.7698400638686351},{"time":7.213721966306912,"velocity":1.4411543167887109,"acceleration":-0.8447275586917069,"pose":{"translation":{"x":7.182825863477231,"y":-0.964953792361915},"rotation":{"radians":2.11429550669416}},"curvature":1.8393299389498718},{"time":7.231125928168033,"velocity":1.4264527105742033,"acceleration":-0.5101232308803482,"pose":{"translation":{"x":7.169429754660807,"y":-0.9439005389138915},"rotation":{"radians":2.1608710627450414}},"curvature":1.8900967339138623},{"time":7.248622152225537,"velocity":1.4175274802297826,"acceleration":-0.1920360876418958,"pose":{"translation":{"x":7.15510096821856,"y":-0.9235615793666021},"rotation":{"radians":2.208330288702416}},"curvature":1.9214305574754948},{"time":7.266168434174448,"velocity":1.4141579608916521,"acceleration":0.10718027836611788,"pose":{"translation":{"x":7.139840565209688,"y":-0.9039584266089027},"rotation":{"radians":2.2562563662567094}},"curvature":1.9333627806998803},{"time":7.283724637255553,"velocity":1.416039639624937,"acceleration":0.3848215966485664,"pose":{"translation":{"x":7.123656561711788,"y":-0.8851092744535243},"rotation":{"radians":2.3042473088319944}},"curvature":1.9266923332242407},{"time":7.301253714123915,"velocity":1.4227852069731957,"acceleration":0.6381309390799776,"pose":{"translation":{"x":7.106563538959358,"y":-0.8670291137660291},"rotation":{"radians":2.351927528875207}},"curvature":1.9029246660901997},{"time":7.318722557107339,"velocity":1.4339326161508492,"acceleration":0.864561584223487,"pose":{"translation":{"x":7.088582253482313,"y":-0.849729848593765},"rotation":{"radians":2.398957807447429}},"curvature":1.8641374433557714},{"time":7.336102575808388,"velocity":1.4489587126528622,"acceleration":1.0620074769100656,"pose":{"translation":{"x":7.069739247244487,"y":-0.8332204122948197},"rotation":{"radians":2.4450428124119363}},"curvature":1.8127988168490978},{"time":7.353369950722441,"velocity":1.467296793918196,"acceleration":1.22899244469454,"pose":{"translation":{"x":7.050066457782153,"y":-0.8175068836669759},"rotation":{"radians":2.4899357073843267}},"curvature":1.7515690311339673},{"time":7.3705055626787574,"velocity":1.4883563315477266,"acceleration":1.4176509730977718,"pose":{"translation":{"x":7.02960082834252,"y":-0.802592603076666},"rotation":{"radians":2.533439803142345}},"curvature":1.6831137797315117},{"time":7.4043091333171605,"velocity":1.5362779963574378,"acceleration":1.567616835564334,"pose":{"translation":{"x":6.986461511905971,"y":-0.7751621520913521},"rotation":{"radians":2.6157373828281307}},"curvature":1.5343360273974216},{"time":7.437460422800353,"velocity":1.5882465158719565,"acceleration":1.6087868688117564,"pose":{"translation":{"x":6.940702143394723,"y":-0.7509054265436048},"rotation":{"radians":2.691278321221699}},"curvature":1.3831417168479254},{"time":7.469918253572,"velocity":1.6404642478074958,"acceleration":1.5619809951967418,"pose":{"translation":{"x":6.89275870850832,"y":-0.7297624109896435},"rotation":{"radians":2.7599760310386023}},"curvature":1.2408707938342873},{"time":7.501656856531394,"velocity":1.6900393424441642,"acceleration":1.450464042060832,"pose":{"translation":{"x":6.843109857618273,"y":-0.711640423463729},"rotation":{"radians":2.822135337082725}},"curvature":1.1139353829262169},{"time":7.532649425506936,"velocity":1.7349929493142775,"acceleration":1.295192994109926,"pose":{"translation":{"x":6.792264430200346,"y":-0.6964178316047155},"rotation":{"radians":2.8782937445490533}},"curvature":1.0051043276912084},{"time":7.5628583458130265,"velocity":1.7741193312543513,"acceleration":1.1120119437746527,"pose":{"translation":{"x":6.740748979266858,"y":-0.6839477687825986},"rotation":{"radians":2.929102202331164}},"curvature":0.9148699612191796},{"time":7.592231504476495,"velocity":1.8067826345145166,"acceleration":0.8047516712850845,"pose":{"translation":{"x":6.689095295798981,"y":-0.6740618502250659},"rotation":{"radians":2.975245793685508}},"curvature":0.8425340106330361},{"time":7.648232558899441,"velocity":1.8518495766551089,"acceleration":0.34853196284432353,"pose":{"translation":{"x":6.58745173162278,"y":-0.661283612862265},"rotation":{"radians":3.056187292389604}},"curvature":0.7469182899099578},{"time":7.700011725822534,"velocity":1.8698962713372582,"acceleration":-0.16466091556373563,"pose":{"translation":{"x":6.491218753325414,"y":-0.6564468913005509},"rotation":{"radians":3.1259654822367957}},"curvature":0.7099220766248484},{"time":7.746989886511434,"velocity":1.8621608043867235,"acceleration":-0.6346345979229399,"pose":{"translation":{"x":6.403566747729169,"y":-0.657808999146428},"rotation":{"radians":-3.0946595531758265}},"curvature":0.7256921844949556},{"time":7.788763195465173,"velocity":1.8356500172549568,"acceleration":-0.4009282346022659,"pose":{"translation":{"x":6.32655225465844,"y":-0.6636397078782641},"rotation":{"radians":-3.03667847401836}},"curvature":0.7807473895447804},{"time":7.825082958618918,"velocity":1.8210883987325537,"acceleration":-0.2701753464213984,"pose":{"translation":{"x":6.260718748773229,"y":-0.6723401628958849},"rotation":{"radians":-2.983327156378724}},"curvature":0.8116696735660067},{"time":7.88463461707004,"velocity":1.804999008780553,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.154807962378386,"y":-0.6933252592926635},"rotation":{"radians":-2.9229237077158694}},"curvature":-6.89256517780475E-14},{"time":7.913366745776075,"velocity":1.7274222612742591,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.105382169772536,"y":-0.7048295258935683},"rotation":{"radians":-2.8944577500936557}},"curvature":0.9898546895007715},{"time":7.9461399746733505,"velocity":1.638934543251615,"acceleration":1.2129489576705177,"pose":{"translation":{"x":6.052341211286653,"y":-0.7199832175221093},"rotation":{"radians":-2.829917196360015}},"curvature":1.244909683667625},{"time":7.983619005028876,"velocity":1.6843946940558512,"acceleration":1.7188775517679564,"pose":{"translation":{"x":5.9938320492645705,"y":-0.7413180427175279},"rotation":{"radians":-2.7552319783560915}},"curvature":1.128011375882325},{"time":8.0245734591528,"velocity":1.754790385894375,"acceleration":1.120405876640976,"pose":{"translation":{"x":5.9296421212676345,"y":-0.7702892366367647},"rotation":{"radians":-2.68202517427326}},"curvature":0.9589440061187532},{"time":8.068489934788518,"velocity":1.8039946632779944,"acceleration":0.30942001296642796,"pose":{"translation":{"x":5.860889308945416,"y":-0.8074327001199966},"rotation":{"radians":-2.611946712236002}},"curvature":0.8486059854042763},{"time":8.115010256041346,"velocity":1.8183889816832466,"acceleration":-0.49701538006601903,"pose":{"translation":{"x":5.789711906906409,"y":-0.8525221387561752},"rotation":{"radians":-2.542325324688139}},"curvature":0.8174564272056424},{"time":8.163688868922241,"velocity":1.7941949624011615,"acceleration":-1.690048901702673,"pose":{"translation":{"x":5.718958591588722,"y":-0.9047262019485662},"rotation":{"radians":-2.468754506008543}},"curvature":0.8700986748766842},{"time":8.214336214434166,"velocity":1.7085984717445786,"acceleration":-2.7,"pose":{"translation":{"x":5.651878390130772,"y":-0.9627656219802874},"rotation":{"radians":-2.3856661716116374}},"curvature":1.0217138349834605},{"time":8.240468301130154,"velocity":1.6380418376654102,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.620764202251342,"y":-0.9934900132537403},"rotation":{"radians":-2.3384336466190065}},"curvature":1.1447855846711075},{"time":8.267213573568052,"velocity":1.5658296020830857,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":5.591810649241981,"y":-1.0250703530798466},"rotation":{"radians":-2.2860608095739368}},"curvature":1.307641400645128},{"time":8.29446092955654,"velocity":1.4922617409141699,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.5653983973921815,"y":-1.0572907322940774},"rotation":{"radians":-2.2273948919074336}},"curvature":1.5178449969625756},{"time":8.322117442879783,"velocity":1.4175891549414128,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.541875004073464,"y":-1.0899367104866822},"rotation":{"radians":-2.161206905512003}},"curvature":1.78262484176562},{"time":8.350124357072742,"velocity":1.3419704866204212,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.521545229266584,"y":-1.1228002265984887},"rotation":{"radians":-2.086289231912457}},"curvature":2.105870641944316},{"time":8.378478760460595,"velocity":1.2654135974732166,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.504661347088734,"y":-1.1556845095166994},"rotation":{"radians":-2.0016529465806725}},"curvature":2.4825761096122894},{"time":8.392811360947947,"velocity":1.2267155761573654,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.497573715521403,"y":-1.172077243117104},"rotation":{"radians":-1.9555202317421885}},"curvature":2.6849789156512784},{"time":8.407270434477866,"velocity":1.187676077626583,"acceleration":-2.6574622742607605,"pose":{"translation":{"x":5.491413457320765,"y":-1.188408988670691},"rotation":{"radians":-1.906861734434117}},"curvature":2.890601730990897},{"time":8.421881379710763,"velocity":1.1488480418788691,"acceleration":-2.3184571086867005,"pose":{"translation":{"x":5.486193030704304,"y":-1.2046605118354696},"rotation":{"radians":-1.8557866949121526}},"curvature":3.092609303262215},{"time":8.436645773902367,"velocity":1.1146174272098952,"acceleration":-1.9175221461685914,"pose":{"translation":{"x":5.481919796934385,"y":-1.2208142046278108},"rotation":{"radians":-1.802501188338778}},"curvature":3.2823712408498213},{"time":8.45153279443049,"velocity":1.0860712356567535,"acceleration":-1.4588088065220075,"pose":{"translation":{"x":5.478595717553475,"y":-1.2368542388785637},"rotation":{"radians":-1.7473215449361288}},"curvature":3.449767928752057},{"time":8.466497399909393,"velocity":1.0642407373980025,"acceleration":-0.9450774003255872,"pose":{"translation":{"x":5.476217051619374,"y":-1.2527667196891765},"rotation":{"radians":-1.6906820251329013}},"curvature":3.583843076219263},{"time":8.481479970588344,"velocity":1.0500810484505447,"acceleration":-0.3761492599771684,"pose":{"translation":{"x":5.474774052940434,"y":-1.268539838887813},"rotation":{"radians":-1.6331340665883607}},"curvature":3.673787416230086},{"time":8.496407257371521,"velocity":1.044466160573586,"acceleration":0.2526871034441883,"pose":{"translation":{"x":5.474250667310791,"y":-1.2841640284854734},"rotation":{"radians":-1.575335273601927}},"curvature":3.7101292401335804},{"time":8.511194685763643,"velocity":1.0482027530213798,"acceleration":0.9524765321455746,"pose":{"translation":{"x":5.474624229745584,"y":-1.299632114132111},"rotation":{"radians":-1.5180279759372337}},"curvature":3.6859011663511714},{"time":8.525749771079512,"velocity":1.0620661302081218,"acceleration":1.7430474537190577,"pose":{"translation":{"x":5.475865161716185,"y":-1.314939468572752},"rotation":{"radians":-1.4620093487673522}},"curvature":3.597500607604957},{"time":8.539976121134165,"velocity":1.086863333446599,"acceleration":2.6569681841756942,"pose":{"translation":{"x":5.477936668385421,"y":-1.3300841651036155},"rotation":{"radians":-1.4080971495914785}},"curvature":3.445004404528287},{"time":8.553777329931545,"velocity":1.1235327061244038,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.480794435842802,"y":-1.3450671310282283},"rotation":{"radians":-1.3570963862725234}},"curvature":3.231834618507058},{"time":8.567139688745907,"velocity":1.1596110749231807,"acceleration":2.699999999999923,"pose":{"translation":{"x":5.484386328339744,"y":-1.3598923011135475},"rotation":{"radians":-1.3097722138383399}},"curvature":2.963850685290576},{"time":8.58012195635117,"velocity":1.1946631974573896,"acceleration":2.6999999999999322,"pose":{"translation":{"x":5.488652085524795,"y":-1.3745667710460783},"rotation":{"radians":-1.2668330803115047}},"curvature":2.648087362867792},{"time":8.605121662333023,"velocity":1.2621624036083872,"acceleration":2.6999999999999624,"pose":{"translation":{"x":5.498921712950436,"y":-1.403508718533239},"rotation":{"radians":-1.1966444136461991}},"curvature":1.899345368181183},{"time":8.651928559276618,"velocity":1.3885410253560935,"acceleration":2.6999999999999926,"pose":{"translation":{"x":5.52392321071957,"y":-1.460283192681829},"rotation":{"radians":-1.13491935438754}},"curvature":-7.353109500985642E-14},{"time":8.696406699192238,"velocity":1.5086320031282685,"acceleration":2.7000000000000197,"pose":{"translation":{"x":5.550515257840978,"y":-1.5189700209446757},"rotation":{"radians":-1.163072703904685}},"curvature":-0.678009450539781},{"time":8.744650958607767,"velocity":1.6388915035501972,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.578866578257237,"y":-1.5894029943565342},"rotation":{"radians":-1.2108847916395842}},"curvature":-0.5182812011551416},{"time":8.800032397049094,"velocity":1.7884213873417794,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.610537024935595,"y":-1.6788674905392753},"rotation":{"radians":-1.245859547886145}},"curvature":-0.24234870198317177},{"time":8.862673389102053,"velocity":1.95755206588477,"acceleration":2.7000000000000273,"pose":{"translation":{"x":5.64686504048428,"y":-1.7904273673540871},"rotation":{"radians":-1.262736435050084}},"curvature":-0.06738234164471639},{"time":8.896212817199823,"velocity":2.0481085217487505,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6671323128444335,"y":-1.8544707490894692},"rotation":{"radians":-1.2652420058640297}},"curvature":-0.010542463785330377},{"time":8.930834477810793,"velocity":2.1415870053983665,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.68896341015074,"y":-1.9236342121972823},"rotation":{"radians":-1.2643227181969958}},"curvature":0.033682368608401604},{"time":8.96620853919775,"velocity":2.2370969711431514,"acceleration":-0.2788532797820463,"pose":{"translation":{"x":5.712461474822781,"y":-1.9974292740545219},"rotation":{"radians":-1.2602603903362708}},"curvature":0.06983320437017627},{"time":9.002858813268146,"velocity":2.2268769220137106,"acceleration":-0.5296333162595044,"pose":{"translation":{"x":5.737715014819868,"y":-2.0752365912961057},"rotation":{"radians":-1.2532264108199724}},"curvature":0.10134754645500449},{"time":9.041427828268374,"velocity":2.206449486694278,"acceleration":-0.5001712341126473,"pose":{"translation":{"x":5.764797770922233,"y":-2.156328123855366},"rotation":{"radians":-1.2432857504234036}},"curvature":0.13086007811161923},{"time":9.081694467638632,"velocity":2.186309271986887,"acceleration":-0.5064885543900148,"pose":{"translation":{"x":5.7937685840122315,"y":-2.2398892990045463},"rotation":{"radians":-1.2304034015084446}},"curvature":0.16049756234329854},{"time":9.123328531726115,"velocity":2.165222095053837,"acceleration":-0.5418192774083456,"pose":{"translation":{"x":5.824671262355529,"y":-2.325041175395291},"rotation":{"radians":-1.2144492946585657}},"curvature":0.19211940846885697},{"time":9.165999268657679,"velocity":2.142102267203095,"acceleration":-0.6032455815118641,"pose":{"translation":{"x":5.857534448882302,"y":-2.4108626070991432},"rotation":{"radians":-1.1952006896112877}},"curvature":0.22750486236506234},{"time":9.209385946246279,"velocity":2.115929445651292,"acceleration":-0.6898251926459572,"pose":{"translation":{"x":5.892371488468428,"y":-2.496412407648039},"rotation":{"radians":-1.1723425586047473}},"curvature":0.2684961902066403},{"time":9.253188619167823,"velocity":2.0857132583647804,"acceleration":-0.800940421684687,"pose":{"translation":{"x":5.9291802952166845,"y":-2.580751514074799},"rotation":{"radians":-1.145467629571454}},"curvature":0.3170995962915798},{"time":9.29713864400283,"velocity":2.0505119069403777,"acceleration":-0.9343294575315514,"pose":{"translation":{"x":5.967943219737937,"y":-2.662965150953622},"rotation":{"radians":-1.1140791773693937}},"curvature":0.3755281673677548},{"time":9.341008146539458,"velocity":2.0095233384331506,"acceleration":-1.083404477253515,"pose":{"translation":{"x":6.008626916432343,"y":-2.742184994440584},"rotation":{"radians":-1.0776018398634073}},"curvature":0.44614207206449225},{"time":9.38461710261673,"velocity":1.9622772001706836,"acceleration":-1.2337702781719864,"pose":{"translation":{"x":6.051182210770537,"y":-2.8176113363141257},"rotation":{"radians":-1.0354091081876633}},"curvature":0.531196265425795},{"time":9.427835922286713,"velocity":1.9089551050041844,"acceleration":-1.359548159819362,"pose":{"translation":{"x":6.095543966574832,"y":-2.8885352480155504},"rotation":{"radians":-0.98688083644898}},"curvature":0.6322457165675689},{"time":9.470580518647346,"velocity":1.850841767679865,"acceleration":-1.4211662581104407,"pose":{"translation":{"x":6.141630953300413,"y":-2.9543607446895193},"rotation":{"radians":-0.9315093392928508}},"curvature":0.7490055955631675},{"time":9.512796192916682,"velocity":1.790846275844903,"acceleration":-1.3669291659195488,"pose":{"translation":{"x":6.189345713316526,"y":-3.014626949224539},"rotation":{"radians":-0.8690753085063544}},"curvature":0.8774969313591167},{"time":9.554427203798712,"velocity":1.7339396328635415,"acceleration":-1.1391736635986869,"pose":{"translation":{"x":6.238574429187683,"y":-3.0690302562934653},"rotation":{"radians":-0.7999077756769518}},"curvature":1.007589806159538},{"time":9.595372063247142,"velocity":1.6872963273201398,"acceleration":-0.6808097485133338,"pose":{"translation":{"x":6.289186790954844,"y":-3.1174464963939883},"rotation":{"radians":-0.7252148738015826}},"curvature":1.1207638442212495},{"time":9.635431448708388,"velocity":1.6600235071786695,"acceleration":0.06871429848890243,"pose":{"translation":{"x":6.341035863416625,"y":-3.1599530998891328},"rotation":{"radians":-0.6474179831418267}},"curvature":1.1898844085116487},{"time":9.674264316864031,"velocity":1.6626918804722965,"acceleration":1.2039881971346202,"pose":{"translation":{"x":6.393957953410482,"y":-3.1968512610477475},"rotation":{"radians":-0.5703597276566561}},"curvature":1.1830215760444607},{"time":9.711371482347095,"velocity":1.7073684697430282,"acceleration":2.699999999999962,"pose":{"translation":{"x":6.44777247709391,"y":-3.228688102085},"rotation":{"radians":-0.4992450883986416}},"curvature":1.0713034085502606},{"time":9.746195358440449,"velocity":1.8013929351950828,"acceleration":2.7000000000000335,"pose":{"translation":{"x":6.502281827225639,"y":-3.2562788372028773},"rotation":{"radians":-0.44027497140811567}},"curvature":0.8369901507315796},{"time":9.809729107950034,"velocity":1.972934058870962,"acceleration":2.699999999999956,"pose":{"translation":{"x":6.612508664562251,"y":-3.3034562906654665},"rotation":{"radians":-0.385319817675161}},"curvature":-1.976269077323641E-14},{"time":9.86809020097786,"velocity":2.130509010046093,"acceleration":2.6999999999999664,"pose":{"translation":{"x":6.7234542007736255,"y":-3.3484998911755803},"rotation":{"radians":-0.38616325348203456}},"curvature":-0.00775052029837474},{"time":9.923347741895281,"velocity":2.279704370523128,"acceleration":-0.4579092329198754,"pose":{"translation":{"x":6.836325280399195,"y":-3.394404606686512},"rotation":{"radians":-0.385871411003672}},"curvature":0.016818284780042533},{"time":9.978402780707139,"velocity":2.254494159932416,"acceleration":-0.7084141074202462,"pose":{"translation":{"x":6.952052704660515,"y":-3.4411593596019716},"rotation":{"radians":-0.38109255964335487}},"curvature":0.0622978431976038},{"time":10.00668034340137,"velocity":2.234461935596362,"acceleration":-0.7611815368949651,"pose":{"translation":{"x":7.011021157067037,"y":-3.464631799775001},"rotation":{"radians":-0.3762586169224766}},"curvature":0.09052648126693238},{"time":10.035475646305706,"velocity":2.212543482676285,"acceleration":-0.8134929420236763,"pose":{"translation":{"x":7.0706442597275,"y":-3.487965678197271},"rotation":{"radians":-0.36947117142413294}},"curvature":0.12199874249592417},{"time":10.064744875524886,"velocity":2.188733171288009,"acceleration":-0.8734680859841817,"pose":{"translation":{"x":7.1308080293079055,"y":-3.510967768454078},"rotation":{"radians":-0.3605077263161837}},"curvature":0.1569017834174276},{"time":10.094427609029873,"velocity":2.1628062508666286,"acceleration":-0.947326776790345,"pose":{"translation":{"x":7.191363090792827,"y":-3.533418194194602},"rotation":{"radians":-0.34914230405991764}},"curvature":0.19578152095480106},{"time":10.124452645547189,"velocity":2.134362729799667,"acceleration":-1.0398566593299226,"pose":{"translation":{"x":7.252130251675238,"y":-3.5550760696811365},"rotation":{"radians":-0.33513099909832333}},"curvature":0.2395216780427965},{"time":10.154743696551893,"velocity":2.1028643786943233,"acceleration":-1.223851098405257,"pose":{"translation":{"x":7.312906076146332,"y":-3.575685140338315},"rotation":{"radians":-0.3181992384585424}},"curvature":0.289340236013027},{"time":10.215854280834819,"velocity":2.028074122995478,"acceleration":-1.5498313484575859,"pose":{"translation":{"x":7.433582201249403,"y":-3.6126888479702024},"rotation":{"radians":-0.274257866961984}},"curvature":0.41382974549395973},{"time":10.27723586349876,"velocity":1.9329430219649613,"acceleration":-1.9414176631950044,"pose":{"translation":{"x":7.551490932809378,"y":-3.642286244604778},"rotation":{"radians":-0.21413859012772005}},"curvature":0.586096897136623},{"time":10.338618242787009,"velocity":1.8137741866058206,"acceleration":-2.2163836410895574,"pose":{"translation":{"x":7.664700592853938,"y":-3.662449351504559},"rotation":{"radians":-0.13376008186290125}},"curvature":0.8273890796343359},{"time":10.369298244897815,"velocity":1.7457755318188362,"acceleration":-2.3342788004288373,"pose":{"translation":{"x":7.718975002313115,"y":-3.6684351932203234},"rotation":{"radians":-0.08454200129452011}},"curvature":0.9798334980992673},{"time":10.400023791808199,"velocity":1.674053539034345,"acceleration":-2.357486664726867,"pose":{"translation":{"x":7.771426732805503,"y":-3.6714457812553443},"rotation":{"radians":-0.02860105185424137}},"curvature":1.154045241954056},{"time":10.430833613477553,"velocity":1.6014197953062275,"acceleration":-2.248015018994704,"pose":{"translation":{"x":7.821884997348414,"y":-3.6713403662105533},"rotation":{"radians":0.034398089470288516}},"curvature":1.3463751036433995},{"time":10.461752438494724,"velocity":1.531913812297958,"acceleration":-1.976207721514804,"pose":{"translation":{"x":7.870210507555628,"y":-3.6680192353414984},"rotation":{"radians":0.10446084607085139}},"curvature":1.547499841548093},{"time":10.492765696028753,"velocity":1.4706251732898825,"acceleration":-1.5268255457821103,"pose":{"translation":{"x":7.916301047827222,"y":-3.661429353107571},"rotation":{"radians":0.1810705566847586}},"curvature":1.7406194959551107},{"time":10.523791210445644,"velocity":1.423254625307142,"acceleration":-0.898365501229456,"pose":{"translation":{"x":7.960097049539393,"y":-3.6515700017212307},"rotation":{"radians":0.2629934616872644}},"curvature":1.9012790787841125},{"time":10.554655985997758,"velocity":1.395526775747933,"acceleration":-0.09333608223338782,"pose":{"translation":{"x":8.001587165234284,"y":-3.6384984216972374},"rotation":{"radians":0.34814741716161446}},"curvature":2.000380124539847},{"time":10.585088450539596,"velocity":1.3926863287348914,"acceleration":0.8997377174962471,"pose":{"translation":{"x":8.040813842809808,"y":-3.6223354524018756},"rotation":{"radians":0.43361406602673813}},"curvature":2.0107548838953653},{"time":10.61473272545393,"velocity":1.4193584009831461,"acceleration":2.133483654352498,"pose":{"translation":{"x":8.077878899709471,"y":-3.6032711726021827},"rotation":{"radians":0.5158386313597844}},"curvature":1.9149706125757466},{"time":10.643180715320769,"velocity":1.480051722363232,"acceleration":2.700000000000111,"pose":{"translation":{"x":8.1129490971122,"y":-3.581570541015176},"rotation":{"radians":0.5909738158152622}},"curvature":1.7098757579677524},{"time":10.670249699673422,"velocity":1.5531379801153986,"acceleration":2.7000000000001094,"pose":{"translation":{"x":8.146261714122165,"y":-3.5575790368570805},"rotation":{"radians":0.6552351688512801}},"curvature":1.404609871190401},{"time":10.696089900822033,"velocity":1.6229065232166526,"acceleration":2.6999999999999424,"pose":{"translation":{"x":8.17813012195861,"y":-3.531728300392559},"rotation":{"radians":0.7051164256130864}},"curvature":1.0130333929709094},{"time":10.744794900589397,"velocity":1.7544100225885342,"acceleration":-1.2354463006153025,"pose":{"translation":{"x":8.23920170070219,"y":-3.4766403401404227},"rotation":{"radians":0.748869568742241}},"curvature":4.8831523287908774E-15},{"time":10.792848895105568,"velocity":1.6950418928337434,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.298999001955957,"y":-3.4192524278762755},"rotation":{"radians":0.7947399407672529}},"curvature":1.0053973131987994},{"time":10.818392168026925,"velocity":1.626075055946078,"acceleration":-1.7723702334476878,"pose":{"translation":{"x":8.327989483235584,"y":-3.388289911969262},"rotation":{"radians":0.8437515380607123}},"curvature":1.2791631307667384},{"time":10.845555484690763,"velocity":1.577931602049378,"acceleration":-0.26183358099298537,"pose":{"translation":{"x":8.355956498286437,"y":-3.3549512815204525},"rotation":{"radians":0.9028002222909496}},"curvature":1.4123591691932695},{"time":10.874086935980621,"velocity":1.5704611099872274,"acceleration":0.6635063472636266,"pose":{"translation":{"x":8.382632209499416,"y":-3.318817040035875},"rotation":{"radians":0.9670838683014696}},"curvature":1.4337593121286998},{"time":10.903551848865497,"velocity":1.5900112667079125,"acceleration":1.204820188224507,"pose":{"translation":{"x":8.407783569288261,"y":-3.279633058653029},"rotation":{"radians":1.0327825936378177}},"curvature":1.3781809580749675},{"time":10.933640369832053,"velocity":1.6262625242022368,"acceleration":1.4716213786761485,"pose":{"translation":{"x":8.431210860182695,"y":-3.2372961761505032},"rotation":{"radians":1.0971738248847323}},"curvature":1.2786598859350011},{"time":10.964148838926942,"velocity":1.6711594395529545,"acceleration":1.5394800208211215,"pose":{"translation":{"x":8.452746234921566,"y":-3.191839798957595},"rotation":{"radians":1.1585621253275016}},"curvature":1.1613888426019299},{"time":10.994948671669796,"velocity":1.7185751667052118,"acceleration":1.4690978379870283,"pose":{"translation":{"x":8.472252256545993,"y":-3.1434195011639297},"rotation":{"radians":1.2160910743570117}},"curvature":1.044191214432827},{"time":11.025953766351666,"velocity":1.7641246842689302,"acceleration":1.3095705652404022,"pose":{"translation":{"x":8.489620438492496,"y":-3.09229862452908},"rotation":{"radians":1.2695172563092492}},"curvature":0.9375392648899997},{"time":11.05709366891425,"velocity":1.804904584069345,"acceleration":1.0973134240872533,"pose":{"translation":{"x":8.504769784686152,"y":-3.0388338784921847},"rotation":{"radians":1.319004555192523}},"curvature":0.8466221898255206},{"time":11.088295334742332,"velocity":1.8391425908363828,"acceleration":0.7251611710495734,"pose":{"translation":{"x":8.517645329633723,"y":-2.983460940181568},"rotation":{"radians":1.3649657140810862}},"curvature":0.773403551245016},{"time":11.150580855688665,"velocity":1.884309632145258,"acceleration":-1.040697269048229,"pose":{"translation":{"x":8.536476547284952,"y":-2.8690416337561078},"rotation":{"radians":1.4486037728583467}},"curvature":0.6808833010389941},{"time":11.213163408035644,"velocity":1.8191801408276878,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.54613950267345,"y":-2.7535582764285262},"rotation":{"radians":1.525631707698636}},"curvature":0.6604990554078157},{"time":11.277645386985819,"velocity":1.6450787976622165,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.546982662294555,"y":-2.6418703230172422},"rotation":{"radians":1.6020234830596505}},"curvature":0.7237792991695984},{"time":11.344135810674656,"velocity":1.4655546537023592,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.539630830892188,"y":-2.538718312291076},"rotation":{"radians":1.6850639621096635}},"curvature":0.9114673061415777},{"time":11.377566033248439,"velocity":1.3752930527531464,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.533141109513013,"y":-2.4916787877686075},"rotation":{"radians":1.732053662640259}},"curvature":1.080084520520563},{"time":11.41077544497854,"velocity":1.2856276410818719,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.524938434439374,"y":-2.448263067277064},"rotation":{"radians":1.7848072363117133}},"curvature":1.3259922100408545},{"time":11.443505688689235,"velocity":1.197255983062996,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.515157822723939,"y":-2.4088250731606724},"rotation":{"radians":1.8453753169241311}},"curvature":1.681724662256507},{"time":11.47551811437883,"velocity":1.110822433701092,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.503942803118758,"y":-2.3736248955682737},"rotation":{"radians":1.9162183059775968}},"curvature":2.19086068435081},{"time":11.506626236775583,"velocity":1.0268305032298572,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.491443956168402,"y":-2.3428143924629428},"rotation":{"radians":2.0000689723227314}},"curvature":2.9015195104351643},{"time":11.521813192833248,"velocity":0.9858257218741617,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.484761722809528,"y":-2.329069585970461},"rotation":{"radians":2.0476825874754683}},"curvature":3.342586910852986},{"time":11.536754239297748,"velocity":0.9454848964200091,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.477817454303114,"y":-2.3164227896316087},"rotation":{"radians":2.099395510832049}},"curvature":3.8382730062699415},{"time":11.551465608985279,"velocity":0.905764198263676,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.470631306419103,"y":-2.3048561328938084},"rotation":{"radians":2.155260555529645}},"curvature":4.376309011119683},{"time":11.565979040468296,"velocity":0.8665779332595316,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.463223601931938,"y":-2.2943422806946736},"rotation":{"radians":2.215091446443388}},"curvature":4.931381244116806},{"time":11.58034440498722,"velocity":0.8277914490584326,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.45561478499847,"y":-2.284843983462313},"rotation":{"radians":2.278367542822972}},"curvature":5.46172021896825},{"time":11.594632175329359,"velocity":0.7892144691346606,"acceleration":-1.742572020649924,"pose":{"translation":{"x":8.447825375535869,"y":-2.2763136271156306},"rotation":{"radians":2.3441430639341947}},"curvature":5.908303113414307},{"time":11.608807523932153,"velocity":0.764512903276471,"acceleration":-0.35016204691457675,"pose":{"translation":{"x":8.43987592359953,"y":-2.2686927830646217},"rotation":{"radians":2.410985954172766}},"curvature":6.198924420537862},{"time":11.622657975983074,"velocity":0.7596630006356286,"acceleration":1.4910529202195617,"pose":{"translation":{"x":8.43178696376099,"y":-2.2619117582106814},"rotation":{"radians":2.4769747502194055}},"curvature":6.258204674006982},{"time":11.635887577530065,"velocity":0.7793890366556113,"acceleration":2.69999999999981,"pose":{"translation":{"x":8.423578969485837,"y":-2.255889144946899},"rotation":{"radians":2.5397721270625073}},"curvature":6.021695832629082},{"time":11.648303143423481,"velocity":0.8129110645678352,"acceleration":2.7000000000001725,"pose":{"translation":{"x":8.415272307511614,"y":-2.250531371158361},"rotation":{"radians":2.596770016224973}},"curvature":5.449081553925233},{"time":11.671015529947843,"velocity":0.8742345081836169,"acceleration":2.700000000000116,"pose":{"translation":{"x":8.398443640043425,"y":-2.241372531009154},"rotation":{"radians":2.6826764950133546}},"curvature":3.286475585083685},{"time":11.691796708637243,"velocity":0.9303436906449987,"acceleration":2.700000000000072,"pose":{"translation":{"x":8.381460027056619,"y":-2.2334262706951082},"rotation":{"radians":2.714965160462992}},"curvature":3.487523069708681E-13},{"time":11.73066818351953,"velocity":1.0352966728271749,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.346463582231358,"y":-2.218104089006953},"rotation":{"radians":2.7545520891873334}},"curvature":1.8109780507152875},{"time":11.750135893481922,"velocity":1.0878594897256284,"acceleration":2.7000000000001174,"pose":{"translation":{"x":8.327173380001936,"y":-2.2106884245053475},"rotation":{"radians":2.795523702390689}},"curvature":2.078223696314902},{"time":11.770347069756708,"velocity":1.1424296656675537,"acceleration":2.6999999999999558,"pose":{"translation":{"x":8.305798652344691,"y":-2.2035400152901263},"rotation":{"radians":2.841809879998367}},"curvature":1.9834321082345294},{"time":11.791713040258289,"velocity":1.2001177860218188,"acceleration":2.7000000000000877,"pose":{"translation":{"x":8.281720957276432,"y":-2.1967183410720725},"rotation":{"radians":2.8879807249616594}},"curvature":1.6923204633241877},{"time":11.814547957565797,"velocity":1.2617720627520923,"acceleration":2.6999999999999598,"pose":{"translation":{"x":8.254362217026625,"y":-2.1902694232547235},"rotation":{"radians":2.9305923827510907}},"curvature":1.3456953229931459},{"time":11.865415685636384,"velocity":1.3991149285426765,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.187697083309846,"y":-2.1786123536949202},"rotation":{"radians":2.9998025273082716}},"curvature":0.7611104264739775},{"time":11.923771905672258,"velocity":1.5566767226395362,"acceleration":2.699999999999978,"pose":{"translation":{"x":8.102023738143016,"y":-2.168703929394889},"rotation":{"radians":3.048067556970553}},"curvature":0.4064729564834843},{"time":11.989449183714099,"velocity":1.7340053733525045,"acceleration":2.699999999999942,"pose":{"translation":{"x":7.994272200904063,"y":-2.160524770034724},"rotation":{"radians":3.0802010588227335}},"curvature":0.2152373954952757},{"time":12.024812744128443,"velocity":1.8294869864712306,"acceleration":2.699999999999951,"pose":{"translation":{"x":7.931359592791209,"y":-2.1570428463328573},"rotation":{"radians":3.0917953255773063}},"curvature":0.15684417834323894},{"time":12.061696851685811,"velocity":1.9290740768761248,"acceleration":2.699999999999956,"pose":{"translation":{"x":7.862113875913456,"y":-2.153931407096375},"rotation":{"radians":3.101094762621076}},"curvature":0.11436366682445724},{"time":12.099965236761676,"velocity":2.0323987165809587,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.786365043011098,"y":-2.151158119925064},"rotation":{"radians":3.1085091494613573}},"curvature":0.08332021182301048},{"time":12.139475810698341,"velocity":2.139077266209952,"acceleration":2.700000000000034,"pose":{"translation":{"x":7.703993404947496,"y":-2.1486866987695676},"rotation":{"radians":3.114375277578732}},"curvature":0.060511788163897164},{"time":12.180083985333985,"velocity":2.2487193377261914,"acceleration":0.6685793162379902,"pose":{"translation":{"x":7.614930586100122,"y":-2.1464778543971965},"rotation":{"radians":3.1189687884868253}},"curvature":0.043660617025095626},{"time":12.222415482944715,"velocity":2.277021301454104,"acceleration":0.15216170103604149,"pose":{"translation":{"x":7.519160519751599,"y":-2.144490244857738},"rotation":{"radians":3.122515301446174}},"curvature":0.031146792103781143},{"time":12.267343684508921,"velocity":2.2838576530286034,"acceleration":0.10776330566879018,"pose":{"translation":{"x":7.416720443480738,"y":-2.1426814259492666},"rotation":{"radians":3.1252000684454355}},"curvature":0.021814870330304263},{"time":12.31503004225158,"velocity":2.288996492574257,"acceleration":0.07658590583923251,"pose":{"translation":{"x":7.307701894553582,"y":-2.1410088016839555},"rotation":{"radians":3.1271760236025585}},"curvature":0.0148368259987384},{"time":12.365429293237984,"velocity":2.2928563648646696,"acceleration":0.05446149429631531,"pose":{"translation":{"x":7.192251705314444,"y":-2.139430574753885},"rotation":{"radians":3.128570360121532}},"curvature":0.009616065327243215},{"time":12.418468657478202,"velocity":2.2957449678977184,"acceleration":0.04197201051325066,"pose":{"translation":{"x":7.070572998576946,"y":-2.137906696996853},"rotation":{"radians":3.1294898587620077}},"curvature":0.0057205026316680665},{"time":12.4459475745981,"velocity":2.2968983132959675,"acceleration":0.035242457666478474,"pose":{"translation":{"x":7.007477063910285,"y":-2.1371533361932666},"rotation":{"radians":3.1298004106273503}},"curvature":0.004167841064532699},{"time":12.474046931495767,"velocity":2.297888603691889,"acceleration":0.029484695921199514,"pose":{"translation":{"x":6.942926183015063,"y":-2.136399819862188},"rotation":{"radians":3.1300252036406193}},"curvature":0.002835931759910742},{"time":12.502749962736676,"velocity":2.2987349038400438,"acceleration":0.02453584123512621,"pose":{"translation":{"x":6.8769620211975475,"y":-2.1356420571848798},"rotation":{"radians":3.1301736350930325}},"curvature":0.0016985942011494986},{"time":12.532038204716923,"velocity":2.299453515495327,"acceleration":0.016351088494698466,"pose":{"translation":{"x":6.809629948554161,"y":-2.1348762448765544},"rotation":{"radians":3.1302545015872303}},"curvature":7.335136625340631E-4},{"time":12.561892251054273,"velocity":2.299941661648914,"acceleration":-0.016529633454723792,"pose":{"translation":{"x":6.740979071077445,"y":-2.1340988968884256},"rotation":{"radians":3.130276078372261}},"curvature":-7.828748100746206E-5},{"time":12.592296907283933,"velocity":2.2994390838261207,"acceleration":-0.013262342998188627,"pose":{"translation":{"x":6.671062261762034,"y":-2.133306874109768},"rotation":{"radians":3.1302461928608394}},"curvature":-7.52889159388253E-4},{"time":12.623233592251978,"velocity":2.2990287908988476,"acceleration":-1.8383369954454578,"pose":{"translation":{"x":6.599936191710627,"y":-2.132497414069972},"rotation":{"radians":3.1301722933778384}},"curvature":-0.0013038370663474516},{"time":12.655078212070208,"velocity":2.2404876481811,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.527661361239953,"y":-2.1316681606406016},"rotation":{"radians":3.1300615141390145}},"curvature":-0.0017424409420958484},{"time":12.68849583032315,"velocity":2.1502600788981554,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.454302130986741,"y":-2.130817193737451},"rotation":{"radians":3.1299207374275095}},"curvature":-0.00207801625402688},{"time":12.723872992006013,"velocity":2.054741742354424,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.379926753013693,"y":-2.129943059022599},"rotation":{"radians":3.129756653924371}},"curvature":-0.0023180759408619983},{"time":12.76146018955087,"velocity":1.9532563089833077,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.304607401915457,"y":-2.1290447976064693},"rotation":{"radians":3.1295758221602035}},"curvature":-0.0024684771853719866},{"time":12.801580797148649,"velocity":1.8449306684693076,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.2284202059245874,"y":-2.1281219757498833},"rotation":{"radians":3.129384728091001}},"curvature":-0.00253352661596237},{"time":12.844664609272925,"velocity":1.7286043757337595,"acceleration":-2.7,"pose":{"translation":{"x":6.1514452780175235,"y":-2.127174714566119},"rotation":{"radians":3.1291898458659917}},"curvature":-0.002516045835163573},{"time":12.89130406795116,"velocity":1.6026778373025266,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0737667470205565,"y":-2.1262037197229664},"rotation":{"radians":3.1289977009541854}},"curvature":-0.0024173976568687985},{"time":12.942355293415046,"velocity":1.4648395285500306,"acceleration":-2.7,"pose":{"translation":{"x":5.995472788715799,"y":-2.1252103111447855},"rotation":{"radians":3.128814936936327}},"curvature":-0.0022374718180512374},{"time":12.999137139543574,"velocity":1.3115285440030058,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.916655656947155,"y":-2.124196452714562},"rotation":{"radians":3.128648387459547}},"curvature":-0.0019746271120612223},{"time":13.063877588971557,"velocity":1.1367293305474522,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.837411714726291,"y":-2.123164781975962},"rotation":{"radians":3.1285051551060183}},"curvature":-0.001625584740292513},{"time":13.140934781481148,"velocity":0.9286749107715602,"acceleration":-2.7,"pose":{"translation":{"x":5.757841465338608,"y":-2.122118639835392},"rotation":{"radians":3.128392699261511}},"curvature":-0.0011852650274841218},{"time":13.24159059216746,"velocity":0.6569042219185144,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678049583449203,"y":-2.1210621002640537},"rotation":{"radians":3.128318935508259}},"curvature":-6.465562633311351E-4},{"time":13.48488845213728,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.598144946208852,"y":-2.120000000000001},"rotation":{"radians":3.1282923496405335}},"curvature":5.032697995759995E-16}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2188475940459555,"velocity":0.5908885039240799,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.2589790305012487,"y":-2.2858363665609196},"rotation":{"radians":0.006910660085654745}},"curvature":0.17075056357529908},{"time":0.32281893834225356,"velocity":0.8716111335240845,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3350011683614382,"y":-2.2848129158160093},"rotation":{"radians":0.01966881796379652}},"curvature":0.14804792138338266},{"time":0.4175887923309011,"velocity":1.127489739293433,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.4296972542602835,"y":-2.2823833063790717},"rotation":{"radians":0.03068958789018729}},"curvature":0.08869772581436862},{"time":0.5108504445029998,"velocity":1.3792962001580995,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.5465193699470139,"y":-2.2782987701213524},"rotation":{"radians":0.038439923607301606}},"curvature":0.04880447334998829},{"time":0.5572729037683885,"velocity":1.504636840174649,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6134056818667721,"y":-2.2756275127352357},"rotation":{"radians":0.041249093077204556}},"curvature":0.03593671023837706},{"time":0.6034431364978833,"velocity":1.629296468544285,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.6856878057355877,"y":-2.272559271651169},"rotation":{"radians":0.04348079898504613}},"curvature":0.026334633534917214},{"time":0.6492007513923905,"velocity":1.7528420287594546,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.7629908484516392,"y":-2.2691248940374864},"rotation":{"radians":0.04522248689609526}},"curvature":0.019085304061727686},{"time":0.6943607455156314,"velocity":1.8747740128922052,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.8448160541546461,"y":-2.2653646677935435},"rotation":{"radians":0.0465455411089632}},"curvature":0.013497070374566182},{"time":0.7387296628346317,"velocity":1.9945700896535061,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.9305603352774277,"y":-2.2613267952834546},"rotation":{"radians":0.047505676827783345}},"curvature":0.00906219839505724},{"time":0.7821155925613033,"velocity":2.1117120999155192,"acceleration":2.7000000000000064,"pose":{"translation":{"x":2.0195358035974658,"y":-2.2570658670698314},"rotation":{"radians":0.048144657272084834}},"curvature":0.0054088341484753},{"time":0.8243344992547258,"velocity":2.2257031479877605,"acceleration":1.7920219624721339,"pose":{"translation":{"x":2.1109893012884644,"y":-2.252641335647522},"rotation":{"radians":0.04849220951314223}},"curvature":0.0022594599563708234},{"time":0.8655443339713573,"velocity":2.299552076869811,"acceleration":-0.04997576501443969,"pose":{"translation":{"x":2.204121931971912,"y":-2.2481159891773497},"rotation":{"radians":0.048567701431190304}},"curvature":-6.011948199765512E-4},{"time":0.9064823798025157,"velocity":2.2975061667112024,"acceleration":-0.050649574183119064,"pose":{"translation":{"x":2.2981085917686412,"y":-2.243554425219849},"rotation":{"radians":0.04838145257570038}},"curvature":-0.0033501613336103402},{"time":0.9474662374978303,"velocity":2.295430351770553,"acceleration":-0.05451139566468182,"pose":{"translation":{"x":2.3921175003503916,"y":-2.239021524469009},"rotation":{"radians":0.04793568863562068}},"curvature":-0.006144317360420896},{"time":0.9881396719382204,"velocity":2.2932131860927316,"acceleration":-0.061776478024620086,"pose":{"translation":{"x":2.485329731991369,"y":-2.2345809244860044},"rotation":{"radians":0.04722521603829856}},"curvature":-0.009134325858122367},{"time":1.0281615690117862,"velocity":2.290740774247663,"acceleration":-0.07295600185322068,"pose":{"translation":{"x":2.5769587466198076,"y":-2.230293493432942},"rotation":{"radians":0.0462379446740676}},"curvature":-0.012475378087983349},{"time":1.0672143714606397,"velocity":2.287891637919831,"acceleration":-0.08877686239366805,"pose":{"translation":{"x":2.66626992086953,"y":-2.2262158038065936},"rotation":{"radians":0.04495545857265369}},"curvature":-0.016334465882192943},{"time":1.105012457824213,"velocity":2.284536042407988,"acceleration":-0.10997768796709827,"pose":{"translation":{"x":2.75260007913151,"y":-2.2223986061721357},"rotation":{"radians":0.04335395993069248}},"curvature":-0.020891884954709627},{"time":1.1413103835086096,"velocity":2.2805440804632164,"acceleration":-0.1367831851970263,"pose":{"translation":{"x":2.8353770246054317,"y":-2.2188853028968896},"rotation":{"radians":0.04140613238077088}},"curvature":-0.02633105621031943},{"time":1.1759108491233388,"velocity":2.2758113185671336,"acceleration":-0.16767887535602183,"pose":{"translation":{"x":2.9141390703512506,"y":-2.215710421884058},"rotation":{"radians":0.03908483682919789}},"curvature":-0.03280431183658823},{"time":1.2086721803932237,"velocity":2.2703179353846332,"acceleration":-0.19686194269779983,"pose":{"translation":{"x":2.988554570340758,"y":-2.2128980903064637},"rotation":{"radians":0.036370115694462725}},"curvature":-0.040351753872629},{"time":1.2395150027603963,"velocity":2.2642461574551485,"acceleration":-0.19343738653381198,"pose":{"translation":{"x":3.058441450509136,"y":-2.2104605083402893},"rotation":{"radians":0.033261717778710294}},"curvature":-0.0487364704212186},{"time":1.2954646107602756,"velocity":2.2534234115060605,"acceleration":-0.1992463209061821,"pose":{"translation":{"x":3.18476610124958,"y":-2.206689601366153},"rotation":{"radians":0.026097529096406974}},"curvature":-0.06379400428035585},{"time":1.3446756226996142,"velocity":2.243618298429077,"acceleration":-2.700000000000005,"pose":{"translation":{"x":3.295390049281255,"y":-2.2041987643203456},"rotation":{"radians":0.01902614736738477}},"curvature":-0.05756025386299252},{"time":1.3909152849911763,"velocity":2.118771210241859,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.015623728620487205}},"curvature":1.9919758598592307E-14},{"time":1.4392404976936228,"velocity":1.9882931359452534,"acceleration":-2.7,"pose":{"translation":{"x":3.495468402033405,"y":-2.2018050715414463},"rotation":{"radians":-0.009428571274368771}},"curvature":-0.47251629093133557},{"time":1.4916878295750844,"velocity":1.846685339865307,"acceleration":-1.0810335033318776,"pose":{"translation":{"x":3.5959601380389303,"y":-2.205700144331257},"rotation":{"radians":-0.07282027506060841}},"curvature":-0.7576381807988044},{"time":1.5482490804907214,"velocity":1.7855407326351425,"acceleration":-0.37767582422006707,"pose":{"translation":{"x":3.6980083294102783,"y":-2.217443180910914},"rotation":{"radians":-0.15855495578930215}},"curvature":-0.889275285593679},{"time":1.5776440317240055,"velocity":1.7744389702002032,"acceleration":-0.09994948334189595,"pose":{"translation":{"x":3.7494660434238085,"y":-2.2269178925541913},"rotation":{"radians":-0.2058343047866693}},"curvature":-0.9141491880352},{"time":1.6075213583992005,"velocity":1.7714527468353805,"acceleration":0.07601965799476648,"pose":{"translation":{"x":3.80104030335027,"y":-2.239001357109209},"rotation":{"radians":-0.25450709320216297}},"curvature":-0.9208931401196707},{"time":1.6377528853716363,"velocity":1.7737509371764846,"acceleration":0.17222362501040064,"pose":{"translation":{"x":3.8525542293078177,"y":-2.2537674845726783},"rotation":{"radians":-0.30376259210720574}},"curvature":-0.9157009975296813},{"time":1.6682307132156091,"velocity":1.7789999391702165,"acceleration":0.2052905069122546,"pose":{"translation":{"x":3.9038000444767205,"y":-2.2712321071920876},"rotation":{"radians":-0.3530427474166501}},"curvature":-0.9038925992624286},{"time":1.6988626471143173,"velocity":1.785288384407985,"acceleration":0.18818733969659224,"pose":{"translation":{"x":3.9545449810861992,"y":-2.291358620014931},"rotation":{"radians":-0.40200912687665896}},"curvature":-0.8898372449967046},{"time":1.7295680021342197,"velocity":1.7910667434836198,"acceleration":0.1310542565034372,"pose":{"translation":{"x":4.004537186401265,"y":-2.3140636214379344},"rotation":{"radians":-0.4505070113590233}},"curvature":-0.8770090012723853},{"time":1.7602742746743536,"velocity":1.795090931201359,"acceleration":0.04169537319800027,"pose":{"translation":{"x":4.053511628709556,"y":-2.3392225537562825},"rotation":{"radians":-0.49853061434834167}},"curvature":-0.8681238907544738},{"time":1.7909149192263678,"velocity":1.7963685043109825,"acceleration":-0.07397966670850244,"pose":{"translation":{"x":4.10119600330818,"y":-2.366675343712849},"rotation":{"radians":-0.5461919132987508}},"curvature":-0.865311428496268},{"time":1.821428252028443,"velocity":1.7941111381201194,"acceleration":-0.21140962464442065,"pose":{"translation":{"x":4.147316638490546,"y":-2.396232043047422},"rotation":{"radians":-0.5936940977906976}},"curvature":-0.8702835309347113},{"time":1.851757335601868,"velocity":1.7876992779460523,"acceleration":-0.3666491590247449,"pose":{"translation":{"x":4.191604401533209,"y":-2.427678469045932},"rotation":{"radians":-0.6413094050073674}},"curvature":-0.8844748597115307},{"time":1.8818505746337024,"velocity":1.7766656171626996,"acceleration":-0.5353985715207105,"pose":{"translation":{"x":4.2338006046827035,"y":-2.4607818450896786},"rotation":{"radians":-0.6893601527819386}},"curvature":-0.9091353831892264},{"time":1.9116626555208593,"velocity":1.7607042716416559,"acceleration":-0.711765119647957,"pose":{"translation":{"x":4.273662911142385,"y":-2.4952964412045606},"rotation":{"radians":-0.7382010066172255}},"curvature":-0.9453563642509774},{"time":1.9411553677195967,"velocity":1.7397123878147789,"acceleration":-0.8867680297444941,"pose":{"translation":{"x":4.310971241059266,"y":-2.5309692146103004},"rotation":{"radians":-0.7881998047509012}},"curvature":-0.9940049664359809},{"time":1.9702977391383607,"velocity":1.7138698645296793,"acceleration":-1.0466878092229122,"pose":{"translation":{"x":4.345533677510854,"y":-2.5675454502696735},"rotation":{"radians":-0.8397135199968498}},"curvature":-1.0555314994649576},{"time":1.9990647987623535,"velocity":1.6837597339140573,"acceleration":-1.1714857305255808,"pose":{"translation":{"x":4.377192372491993,"y":-2.6047744014377354},"rotation":{"radians":-0.8930551619571827}},"curvature":-1.1296006737692692},{"time":2.02743417219943,"velocity":1.650525417748571,"acceleration":-1.2335983306413603,"pose":{"translation":{"x":4.405829452901698,"y":-2.6424149302110496},"rotation":{"radians":-0.9484468081780388}},"curvature":-1.214492765899179},{"time":2.0553796866542813,"velocity":1.6160518777681525,"acceleration":-1.1972448139510508,"pose":{"translation":{"x":4.431372926529995,"y":-2.680241148076914},"rotation":{"radians":-1.0059539912222772}},"curvature":-1.3062396223678578},{"time":2.08286133406725,"velocity":1.5831496179241444,"acceleration":-1.0176669563494738,"pose":{"translation":{"x":4.453802588044757,"y":-2.7180480564625893},"rotation":{"radians":-1.0653982523331798}},"curvature":-1.3975313224959374},{"time":2.109811486755183,"velocity":1.5557233380650621,"acceleration":-0.6381393459279742,"pose":{"translation":{"x":4.47315592497855,"y":-2.755657187284527},"rotation":{"radians":-1.1262490019427633}},"curvature":-1.4765801443939932},{"time":2.136118333014035,"velocity":1.5389359044000104,"acceleration":0.02014524250793445,"pose":{"translation":{"x":4.489534023715459,"y":-2.7929222434975953},"rotation":{"radians":-1.187503840779327}},"curvature":-1.5263554845323177},{"time":2.1616090786970417,"velocity":1.5394494216535026,"acceleration":1.0849455897319005,"pose":{"translation":{"x":4.503107475477936,"y":-2.8297347396443087},"rotation":{"radians":-1.247577593055913}},"curvature":-1.52481679177783},{"time":2.1860371474285567,"velocity":1.5659525470894275,"acceleration":1.9630187948544446,"pose":{"translation":{"x":4.514122282313632,"y":-2.8660296424040546},"rotation":{"radians":-1.3042308693880997}},"curvature":-1.446773443152478},{"time":2.2092159608640207,"velocity":1.611452993505668,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.522905763082244,"y":-2.9017910111423175},"rotation":{"radians":-1.3545726687892008}},"curvature":-1.2676094631183705},{"time":2.2319571281549693,"velocity":1.5500518418201075,"acceleration":-2.7,"pose":{"translation":{"x":4.529872459442342,"y":-2.937057638459915},"rotation":{"radians":-1.3951638977655076}},"curvature":-0.9684653632102034},{"time":2.279271251686541,"velocity":1.422303708284864,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.5404852154867,"y":-3.006569348708373},"rotation":{"radians":-1.4320291524242688}},"curvature":-3.968567798245732E-14},{"time":2.331079789802164,"velocity":1.2824206553726814,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":4.548190539003163,"y":-3.0762082684571026},"rotation":{"radians":-1.5145741224561866}},"curvature":-2.169893522332204},{"time":2.345086525060584,"velocity":1.2446024701749472,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.548825732668718,"y":-3.09389453775449},"rotation":{"radians":-1.5562793153684447}},"curvature":-2.528786618433012},{"time":2.3596545720602906,"velocity":1.2052687432757394,"acceleration":-2.4380409010040616,"pose":{"translation":{"x":4.548666359883473,"y":-3.111738745552366},"rotation":{"radians":-1.6039923682982342}},"curvature":-2.8033583330899354},{"time":2.37486180392352,"velocity":1.1681928900021339,"acceleration":-1.194846667487473,"pose":{"translation":{"x":4.547599951621176,"y":-3.129754101139141},"rotation":{"radians":-1.656413280529951}},"curvature":-2.990286836084652},{"time":2.3906647687220093,"velocity":1.1493107701762368,"acceleration":-0.20700058561726095,"pose":{"translation":{"x":4.545528388523405,"y":-3.1479482625626964},"rotation":{"radians":-1.7122245522507358}},"curvature":-3.090121541319297},{"time":2.4069115157058003,"velocity":1.1459476840362166,"acceleration":0.6028886544934401,"pose":{"translation":{"x":4.542367374171818,"y":-3.1663235999942585},"rotation":{"radians":-1.7701385864463517}},"curvature":-3.1082482330608565},{"time":2.4234636599439283,"velocity":1.155926784004923,"acceleration":1.276130611711102,"pose":{"translation":{"x":4.538045908360385,"y":-3.1848774590922835},"rotation":{"radians":-1.8289529386607495}},"curvature":-3.0547697498540463},{"time":2.4402022468524334,"velocity":1.177287407155653,"acceleration":1.832968164433614,"pose":{"translation":{"x":4.532505760367635,"y":-3.203602424366333},"rotation":{"radians":-1.8876022156922398}},"curvature":-2.9433444225531606},{"time":2.457031793144399,"velocity":1.2081354297306877,"acceleration":2.281766806450292,"pose":{"translation":{"x":4.525700942228897,"y":-3.2224865825409537},"rotation":{"radians":-1.945196738995474}},"curvature":-2.789382956946834},{"time":2.4738818213184,"velocity":1.2465832647058757,"acceleration":2.625331282485916,"pose":{"translation":{"x":4.517597182008538,"y":-3.2415137859195604},"rotation":{"radians":-2.0010422830611705}},"curvature":-2.608158084659283},{"time":2.49070589162083,"velocity":1.2907520227695874,"acceleration":2.700000000000008,"pose":{"translation":{"x":4.50817139707221,"y":-3.260663915748311},"rotation":{"radians":-2.0546403345675577}},"curvature":-2.413293055317187},{"time":2.5074960882975237,"velocity":1.336085553796661,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.497411167359083,"y":-3.2799131455799873},"rotation":{"radians":-2.1056724518812366}},"curvature":-2.21586231757828},{"time":2.5242731744337665,"velocity":1.3813836863645161,"acceleration":2.6999999999999558,"pose":{"translation":{"x":4.485314208654093,"y":-3.2992342046378758},"rotation":{"radians":-2.153974400427438}},"curvature":-2.0241010689115004},{"time":2.541054811025794,"velocity":1.4266941051629891,"acceleration":2.70000000000002,"pose":{"translation":{"x":4.471887845860182,"y":-3.318596641179645},"rotation":{"radians":-2.1995058440559263}},"curvature":-1.8435718497098361},{"time":2.557848747879023,"velocity":1.4720377346667075,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.457148486270537,"y":-3.3379670858612256},"rotation":{"radians":-2.242320194377558}},"curvature":-1.6775922318528667},{"time":2.5914581718452703,"velocity":1.5627831793755746,"acceleration":2.7000000000000157,"pose":{"translation":{"x":4.4238386574614745,"y":-3.376585514442135},"rotation":{"radians":-2.3203223745146797}},"curvature":-1.394429641705354},{"time":2.6250302297295858,"velocity":1.6534277356632274,"acceleration":2.349529353009975,"pose":{"translation":{"x":4.385677612722499,"y":-3.4147741914207166},"rotation":{"radians":-2.389372017089762}},"curvature":-1.1751142944648578},{"time":2.6585271393500842,"velocity":1.732129708051711,"acceleration":1.510523156537762,"pose":{"translation":{"x":4.3430698502165885,"y":-3.452187991497558},"rotation":{"radians":-2.4511090439091}},"curvature":-1.0118676898807777},{"time":2.6921077185839724,"velocity":1.78285395059445,"acceleration":1.0561127037484672,"pose":{"translation":{"x":4.29651462048582,"y":-3.488460390677865},"rotation":{"radians":-2.5071658724276027}},"curvature":-0.8952667051519858},{"time":2.7258888895809434,"velocity":1.8185306744318506,"acceleration":0.6328929716948036,"pose":{"translation":{"x":4.246589071163095,"y":-3.5232118939155996},"rotation":{"radians":-2.559066645798399}},"curvature":-0.8171522525475116},{"time":2.7598163028806972,"velocity":1.8400030958570497,"acceleration":0.23273601211447,"pose":{"translation":{"x":4.193931391683856,"y":-3.556058462757621},"rotation":{"radians":-2.6082117823929067}},"curvature":-0.7715984470363638},{"time":2.7938002926207437,"velocity":1.8479123941048872,"acceleration":-0.16076083935889998,"pose":{"translation":{"x":4.1392239579978085,"y":-3.586619942987824},"rotation":{"radians":-2.6559043536046003}},"curvature":-0.7550856422693734},{"time":2.8277326960395457,"velocity":1.8424573924498158,"acceleration":-0.5671043444746109,"pose":{"translation":{"x":4.083176477280641,"y":-3.6145284922712815},"rotation":{"radians":-2.7033952068445406}},"curvature":-0.7664592666340422},{"time":2.861504713309385,"velocity":1.8233051347344182,"acceleration":-1.0048057109772512,"pose":{"translation":{"x":4.026509132645742,"y":-3.639437007798382},"rotation":{"radians":-2.7519357464854353}},"curvature":-0.8069304584966608},{"time":2.8950250509172637,"velocity":1.7896237080721362,"acceleration":-2.0483459567639715,"pose":{"translation":{"x":3.969935727855927,"y":-3.661027553928971},"rotation":{"radians":-2.80283282301912}},"curvature":-0.880204850778421},{"time":2.9284178084006807,"velocity":1.7212237882957795,"acceleration":-2.7,"pose":{"translation":{"x":3.91414683203515,"y":-3.67901978983649},"rotation":{"radians":-2.8575008286150396}},"curvature":-0.9927107532457584},{"time":2.9619313105030067,"velocity":1.6307373326194996,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.859792924380229,"y":-3.6931793971521163},"rotation":{"radians":-2.9175018479081674}},"curvature":-1.1537386977785027},{"time":2.995551770084081,"velocity":1.5399620917505994,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.807467538872568,"y":-3.7033265076089066},"rotation":{"radians":-2.98455371580211}},"curvature":-1.374978747220705},{"time":3.029097206021455,"velocity":1.4493894147196886,"acceleration":-2.700000000000003,"pose":{"translation":{"x":3.7576904089898706,"y":-3.7093441306859303},"rotation":{"radians":-3.060464819899775}},"curvature":-1.6682983687998736},{"time":3.0624475101632047,"velocity":1.3593435935369642,"acceleration":-2.7,"pose":{"translation":{"x":3.710890612417863,"y":-3.7111865812524147},"rotation":{"radians":3.136263424747276}},"curvature":-2.0396127465065623},{"time":3.079043175093843,"velocity":1.3145352982242409,"acceleration":-2.7,"pose":{"translation":{"x":3.68871236422594,"y":-3.7105494117990094},"rotation":{"radians":3.0886940080028404}},"curvature":-2.2517540717159137},{"time":3.0955943513070516,"velocity":1.269847122448577,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.6673897157620186,"y":-3.708887907211884},"rotation":{"radians":3.0381612940763745}},"curvature":-2.476098247466147},{"time":3.1121227363419974,"velocity":1.2252204828542232,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.64694329892476,"y":-3.706220164425954},"rotation":{"radians":2.9847532628264495}},"curvature":-2.7048566294224945},{"time":3.128662901164883,"velocity":1.1805620378324326,"acceleration":-2.2921488110565056,"pose":{"translation":{"x":3.6273849192592724,"y":-3.702570317146297},"rotation":{"radians":2.9287138243171698}},"curvature":-2.926619125524679},{"time":3.145214880218198,"velocity":1.1426224387247446,"acceleration":-1.731894722343291,"pose":{"translation":{"x":3.6087170292293553,"y":-3.6979687992120294},"rotation":{"radians":2.8704785532553947}},"curvature":-3.1262758771705346},{"time":3.1617176898893193,"velocity":1.1140413097514936,"acceleration":-1.046454551105074,"pose":{"translation":{"x":3.590932201489739,"y":-3.692452607960189},"rotation":{"radians":2.810702413372763}},"curvature":-3.2856648096325953},{"time":3.178077072719235,"velocity":1.0969219591358579,"acceleration":-0.21670040872800878,"pose":{"translation":{"x":3.5740126021583305,"y":-3.6860655675896123},"rotation":{"radians":2.7502717349030865}},"curvature":-3.3851121302675136},{"time":3.194169492237898,"velocity":1.093434725248741,"acceleration":0.8000568608534584,"pose":{"translation":{"x":3.5579294640884447,"y":-3.678858592524813},"rotation":{"radians":2.6902938124377727}},"curvature":-3.4057514466931504},{"time":3.2098456521019028,"velocity":1.1059765444997736,"acceleration":2.0879254450505185,"pose":{"translation":{"x":3.5426425601410547,"y":-3.670889950779865},"rotation":{"radians":2.6320615510540275}},"curvature":-3.332129959746317},{"time":3.224936887963345,"velocity":1.1374859198521379,"acceleration":2.70000000000002,"pose":{"translation":{"x":3.528099676457032,"y":-3.6622255273222764},"rotation":{"radians":2.5769970267210054}},"curvature":-3.1543304032069743},{"time":3.239359585897836,"velocity":1.1764272042752637,"acceleration":2.700000000000004,"pose":{"translation":{"x":3.5142360857293804,"y":-3.6529390874368746},"rotation":{"radians":2.5265844229720025}},"curvature":-2.868872675190118},{"time":3.25317117883076,"velocity":1.2137185051941588,"acceleration":2.6999999999999713,"pose":{"translation":{"x":3.5009740204754904,"y":-3.643112540089682},"rotation":{"radians":2.4823065390828343}},"curvature":-2.4780738247730825},{"time":3.2793225493089095,"velocity":1.284327205485162,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.4758750352138703,"y":-3.6222090574632704},"rotation":{"radians":2.417820891298193}},"curvature":-1.4069114432882768},{"time":3.3039502646092167,"velocity":1.3508220367959913,"acceleration":2.7,"pose":{"translation":{"x":3.4518997616440137,"y":-3.600343232622558},"rotation":{"radians":2.3941509353806443}},"curvature":-6.597754040718503E-14},{"time":3.350081140224857,"velocity":1.47537540095822,"acceleration":2.700000000000019,"pose":{"translation":{"x":3.404627493866877,"y":-3.5554573728365666},"rotation":{"radians":2.359151148596555}},"curvature":-0.9974038163995482},{"time":3.372143517545056,"velocity":1.534943819722758,"acceleration":0.03508737770269971,"pose":{"translation":{"x":3.381514791886723,"y":-3.5316134140177007},"rotation":{"radians":2.320298721981781}},"curvature":-1.32202941467885},{"time":3.394202004933635,"velocity":1.5357177942013114,"acceleration":-1.704746588884932,"pose":{"translation":{"x":3.3590372747357247,"y":-3.506280826147151},"rotation":{"radians":2.27159233086776}},"curvature":-1.5360215957752419},{"time":3.4170735018868985,"velocity":1.4967276877875437,"acceleration":-0.6280130425714702,"pose":{"translation":{"x":3.337411959780435,"y":-3.4791712499705354},"rotation":{"radians":2.21598103540442}},"curvature":-1.656437274294512},{"time":3.440987809597589,"velocity":1.4817091906411624,"acceleration":0.03307674451002053,"pose":{"translation":{"x":3.316855510470594,"y":-3.4500892470930604},"rotation":{"radians":2.1559383465680733}},"curvature":-1.7045105299517793},{"time":3.465710981980755,"velocity":1.4825269526975575,"acceleration":0.4178691120645843,"pose":{"translation":{"x":3.297582378275852,"y":-3.4189246686482133},"rotation":{"radians":2.093395544143883}},"curvature":-1.7018678521959556},{"time":3.4910709408732905,"velocity":1.4931240962019756,"acceleration":0.6085852664517968,"pose":{"translation":{"x":3.2798029446224954,"y":-3.385645023966453},"rotation":{"radians":2.029744042707893}},"curvature":-1.6678839582767058},{"time":3.5169486944068846,"velocity":1.5088729157313918,"acceleration":0.6604701887151617,"pose":{"translation":{"x":3.263721662830171,"y":-3.3502878492439034},"rotation":{"radians":1.9658874326741407}},"curvature":-1.6182610441414893},{"time":3.543266672051837,"velocity":1.5262551553931547,"acceleration":0.6147641398817456,"pose":{"translation":{"x":3.2495352000486126,"y":-3.3129530762110466},"rotation":{"radians":1.9023216894634125}},"curvature":-1.5646802985757566},{"time":3.5699768976264528,"velocity":1.5426756442445808,"acceleration":0.5040057759920299,"pose":{"translation":{"x":3.2374305791943634,"y":-3.2737954008014114},"rotation":{"radians":1.839224295925083}},"curvature":-1.5151732380150225},{"time":3.5970507328921104,"velocity":1.556321013596729,"acceleration":0.35424018516283295,"pose":{"translation":{"x":3.2275833208875033,"y":-3.23301665182027},"rotation":{"radians":1.7765388245251448}},"curvature":-1.4748278109320043},{"time":3.6244709449223094,"velocity":1.5660343545835107,"acceleration":0.18627733587029371,"pose":{"translation":{"x":3.2201555853883743,"y":-3.1908581596133265},"rotation":{"radians":1.7140481308573512}},"curvature":-1.4465366353362927},{"time":3.652226106062432,"velocity":1.5712045120573435,"acceleration":0.016829357774529548,"pose":{"translation":{"x":3.215294314534303,"y":-3.147593124735411},"rotation":{"radians":1.6514346645385467}},"curvature":-1.4316206277953818},{"time":3.680306882266458,"velocity":1.5716770934866675,"acceleration":-0.14032125637975712,"pose":{"translation":{"x":3.2131293736763284,"y":-3.103518986619172},"rotation":{"radians":1.5883298080818744}},"curvature":-1.4302621159294333},{"time":3.708703553751136,"velocity":1.5676924368669343,"acceleration":-0.2732496139114301,"pose":{"translation":{"x":3.2137716936159246,"y":-3.0589497922437667},"rotation":{"radians":1.5243558160649924}},"curvature":-1.441742318222538},{"time":3.7374040638357267,"velocity":1.5598500335672587,"acceleration":-0.37109687889815846,"pose":{"translation":{"x":3.217311412541728,"y":-3.014208564803556},"rotation":{"radians":1.4591643386769895}},"curvature":-1.4645083998363497},{"time":3.7663919498596004,"velocity":1.5490927195379436,"acceleration":-0.42369175680170196,"pose":{"translation":{"x":3.2238160179662603,"y":-2.969619672376793},"rotation":{"radians":1.392475069328822}},"curvature":-1.4961112617234316},{"time":3.795643650288727,"velocity":1.53669901519369,"acceleration":-0.4216103584477506,"pose":{"translation":{"x":3.2333284886626554,"y":-2.9255011965943183},"rotation":{"radians":1.3241169263681425}},"curvature":-1.5330700506498158},{"time":3.825124906701268,"velocity":1.5242694121101084,"acceleration":-0.35655853585036507,"pose":{"translation":{"x":3.2458654366013837,"y":-2.8821573013082524},"rotation":{"radians":1.2540723653073398}},"curvature":-1.5707395231544214},{"time":3.8547862941357915,"velocity":1.5136933912351642,"acceleration":-0.22180783595012207,"pose":{"translation":{"x":3.2614152488869763,"y":-2.839870601260684},"rotation":{"radians":1.1825229240815807}},"curvature":-1.6032786185938699},{"time":3.8845582944569843,"velocity":1.5070897282720142,"acceleration":-0.012289766543548603,"pose":{"translation":{"x":3.279936229694752,"y":-2.798894530752366},"rotation":{"radians":1.1098911927305724}},"curvature":-1.6238276190046936},{"time":3.9143466868856693,"velocity":1.506723635883358,"acceleration":0.27611441149696686,"pose":{"translation":{"x":3.3013547422075398,"y":-2.759445712311407},"rotation":{"radians":1.0368718494707698}},"curvature":-1.6249720795219005},{"time":3.944029205428431,"velocity":1.5149194070225405,"acceleration":0.6485845622908233,"pose":{"translation":{"x":3.325563350552406,"y":-2.721696325361962},"rotation":{"radians":0.9644435606186033}},"curvature":-1.5994832719800107},{"time":3.9734542194005336,"velocity":1.534004016830038,"acceleration":1.1153004193914704,"pose":{"translation":{"x":3.3524189617373787,"y":-2.685766474892926},"rotation":{"radians":0.8938558696999009}},"curvature":-1.5411857513425054},{"time":4.002441546564099,"velocity":1.5663335949726003,"acceleration":1.6984326131449459,"pose":{"translation":{"x":3.3817409675881733,"y":-2.6517165601266246},"rotation":{"radians":0.8265912966733785}},"curvature":-1.4456706361406226},{"time":4.030784560594674,"velocity":1.6144722943569536,"acceleration":2.4446713417519312,"pose":{"translation":{"x":3.413309386684915,"y":-2.619539643187509},"rotation":{"radians":0.7643114214044299}},"curvature":-1.3105373560017928},{"time":4.058251908254988,"velocity":1.681620932016059,"acceleration":2.700000000000012,"pose":{"translation":{"x":3.4468630062988685,"y":-2.5891538177708444},"rotation":{"radians":0.7088034703367372}},"curvature":-1.1349629003681903},{"time":4.110280639412981,"velocity":1.8220985061426402,"acceleration":-0.5429496779517917,"pose":{"translation":{"x":3.518663691239497,"y":-2.533007186152166},"rotation":{"radians":0.625718005912554}},"curvature":-0.660271995281064},{"time":4.161029101228424,"velocity":1.7945446451433966,"acceleration":-2.7,"pose":{"translation":{"x":3.594158087998453,"y":-2.480832055659343},"rotation":{"radians":0.5938368430683253}},"curvature":7.783167520969263E-15},{"time":4.215382942128208,"velocity":1.647789274713979,"acceleration":-1.91620572179665,"pose":{"translation":{"x":3.6729157334531477,"y":-2.4303422888333297},"rotation":{"radians":0.5271275245782101}},"curvature":-1.2216344022793857},{"time":4.246166181175171,"velocity":1.5888022559167547,"acceleration":0.6951711821309383,"pose":{"translation":{"x":3.7167581655490505,"y":-2.4066882532055685},"rotation":{"radians":0.46109193928949477}},"curvature":-1.3815783289044108},{"time":4.279478810921311,"velocity":1.6119602361172687,"acceleration":1.968147121270305,"pose":{"translation":{"x":3.7653403839718806,"y":-2.3847329758900475},"rotation":{"radians":0.38839994159262164}},"curvature":-1.317389517790865},{"time":4.314570487169577,"velocity":1.6810258177058448,"acceleration":2.4448624397306347,"pose":{"translation":{"x":3.8195770590783837,"y":-2.364815558964395},"rotation":{"radians":0.3172444469602014}},"curvature":-1.1364573481033169},{"time":4.351094195574267,"velocity":1.770321260544145,"acceleration":2.4266510428752546,"pose":{"translation":{"x":3.8800855534054723,"y":-2.3471732649429318},"rotation":{"radians":0.25240611251046907}},"curvature":-0.923454381236981},{"time":4.38898964083473,"velocity":1.8622802823056697,"acceleration":2.145142834179483,"pose":{"translation":{"x":3.9472104082898145,"y":-2.3319496789831997},"rotation":{"radians":0.19591146597855075}},"curvature":-0.7254476116422978},{"time":4.42833351982918,"velocity":1.94667852239944,"acceleration":1.771678077358157,"pose":{"translation":{"x":4.021047830487421,"y":-2.3192028710924912},"rotation":{"radians":0.14804731126089887}},"curvature":-0.5601841162309223},{"time":4.469222077725159,"velocity":2.0191198840385365,"acceleration":1.4090202426241916,"pose":{"translation":{"x":4.1014701787932335,"y":-2.3089135583343787},"rotation":{"radians":0.10821666970702261}},"curvature":-0.42935238516828855},{"time":4.511701036784777,"velocity":2.078973597239143,"acceleration":1.1030656047578213,"pose":{"translation":{"x":4.188150450660712,"y":-2.300993267035243},"rotation":{"radians":0.07548970423561759}},"curvature":-0.328133198199666},{"time":4.555733626632153,"velocity":2.127544432588192,"acceleration":0.8647122564445731,"pose":{"translation":{"x":4.28058676882142,"y":-2.2952924949908033},"rotation":{"radians":0.04889966743165412}},"curvature":-0.2501805657435863},{"time":4.601192679891926,"velocity":2.166853433108284,"acceleration":0.6885405698389377,"pose":{"translation":{"x":4.378126867904618,"y":-2.291608873672647},"rotation":{"radians":0.02757748940261445}},"curvature":-0.18965112629733474},{"time":4.647865764706884,"velocity":2.198989745522916,"acceleration":0.5641464853449195,"pose":{"translation":{"x":4.479992581056847,"y":-2.2896953304347583},"rotation":{"radians":0.010799442879330516}},"curvature":-0.14177421487166667},{"time":4.695466478742013,"velocity":2.2258435210457423,"acceleration":0.48158671585681334,"pose":{"translation":{"x":4.585304326561518,"y":-2.289268250720046},"rotation":{"radians":-0.0020062622537310986}},"curvature":-0.10282754349067043},{"time":4.743648151117977,"velocity":2.249047174409772,"acceleration":0.4334886485223766,"pose":{"translation":{"x":4.693105594458496,"y":-2.2900156402668754},"rotation":{"radians":-0.011269244203826918}},"curvature":-0.06992374778377763},{"time":4.7920180985455225,"velocity":2.270014997549237,"acceleration":0.41570595560316026,"pose":{"translation":{"x":4.802387433163692,"y":-2.291605287315596},"rotation":{"radians":-0.017290929977297382}},"curvature":-0.0407690274999477},{"time":4.8401516130129565,"velocity":2.2900243861774605,"acceleration":-0.005205252522457246,"pose":{"translation":{"x":4.9121129360886515,"y":-2.293692924815071},"rotation":{"radians":-0.02025729797201243}},"curvature":-0.013444805102027516},{"time":4.887818197377367,"velocity":2.2897762695689607,"acceleration":-0.4472957907196524,"pose":{"translation":{"x":5.021241728260138,"y":-2.295930392629206},"rotation":{"radians":-0.020248277027234744}},"curvature":0.013780701622228518},{"time":4.934997459848349,"velocity":2.268673184056433,"acceleration":-0.4984813993307013,"pose":{"translation":{"x":5.128754452939724,"y":-2.29797379974348},"rotation":{"radians":-0.017243368677326374}},"curvature":0.04261861259216183},{"time":4.981488286721381,"velocity":2.245498371620722,"acceleration":-0.5848806132297526,"pose":{"translation":{"x":5.233677258243375,"y":-2.2994916864714727},"rotation":{"radians":-0.011124064818622562}},"curvature":0.07491205717676216},{"time":5.026928150553396,"velocity":2.218921476197577,"acceleration":-0.712441073328339,"pose":{"translation":{"x":5.335106283761043,"y":-2.300173186661394},"rotation":{"radians":-0.0016746489643250997}},"curvature":0.11277657190632562},{"time":5.071012237773077,"velocity":2.187514161782087,"acceleration":-0.8869956935773082,"pose":{"translation":{"x":5.432232147176249,"y":-2.299736189902615},"rotation":{"radians":0.011415384564784041}},"curvature":0.15870914990347582},{"time":5.113503676575496,"velocity":2.1498244385504384,"acceleration":-1.1092174088512479,"pose":{"translation":{"x":5.524364430885674,"y":-2.297935503732195},"rotation":{"radians":0.028540995117919247}},"curvature":0.21560124211877355},{"time":5.154240701643057,"velocity":2.1046382211606893,"acceleration":-1.3643001876020848,"pose":{"translation":{"x":5.610956168618744,"y":-2.294571015841412},"rotation":{"radians":0.050151449126938294}},"curvature":0.28649505988502666},{"time":5.193137512278421,"velocity":2.0515712951137406,"acceleration":-1.6040928256398876,"pose":{"translation":{"x":5.6916283320572205,"y":-2.289495856282291},"rotation":{"radians":0.07667900426154928}},"curvature":0.37374049043326946},{"time":5.230173541267063,"velocity":1.992162066722869,"acceleration":-1.7221671553670288,"pose":{"translation":{"x":5.766194317454786,"y":-2.2826245596741352},"rotation":{"radians":0.1083912394437538}},"curvature":0.47692760237061954},{"time":5.265363797283392,"velocity":1.9315585636225894,"acceleration":-1.5271617961782655,"pose":{"translation":{"x":5.834684432256632,"y":-2.2739412274100532},"rotation":{"radians":0.14511765281794403}},"curvature":0.5887291995734516},{"time":5.2987032146661095,"velocity":1.8806438790888622,"acceleration":0.19759123046974378,"pose":{"translation":{"x":5.8973703817190515,"y":-2.2635076898634896},"rotation":{"radians":0.18580361449886357}},"curvature":0.688226532173067},{"time":5.358754693779486,"velocity":1.8925095247384023,"acceleration":2.699999999999997,"pose":{"translation":{"x":6.007770514423775,"y":-2.238074938557544},"rotation":{"radians":0.26681484901988206}},"curvature":0.6645602759731501},{"time":5.410669141428082,"velocity":2.0326785333896122,"acceleration":2.700000000000017,"pose":{"translation":{"x":6.105326805385559,"y":-2.20868569219867},"rotation":{"radians":0.3070457320187946}},"curvature":8.59105047691098E-15},{"time":5.458307562058189,"velocity":2.161302269090901,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.200577440375988,"y":-2.178572750839354},"rotation":{"radians":0.3048692689793426}},"curvature":-0.029595210721303496},{"time":5.503502817409516,"velocity":2.2833294585394857,"acceleration":-2.0697533813261364,"pose":{"translation":{"x":6.296414326772042,"y":-2.1485209663055427},"rotation":{"radians":0.30361189387914295}},"curvature":0.015398611853207036},{"time":5.548589372864543,"velocity":2.1900114079340964,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.392576486314869,"y":-2.118151506039237},"rotation":{"radians":0.309929491527005}},"curvature":0.11864532984526228},{"time":5.595864608170273,"velocity":2.0623682726086243,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.488044709362718,"y":-2.0866982109208916},"rotation":{"radians":0.3291905095711391}},"curvature":0.27356912072437833},{"time":5.645504168502344,"velocity":1.9283414597120323,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.581224175967098,"y":-2.0531095233119303},"rotation":{"radians":0.3662729906809996}},"curvature":0.48692207907376905},{"time":5.6973117589789135,"velocity":1.788460965425296,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.670127076948947,"y":-2.016150415097255},"rotation":{"radians":0.42636019208531223}},"curvature":0.7777661806474188},{"time":5.723979061318403,"velocity":1.7164592491086745,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.712291108875692,"y":-1.9959959231225946},"rotation":{"radians":0.466848732457423}},"curvature":0.960038980135589},{"time":5.751149824806081,"velocity":1.6430981876919433,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.7525552349747935,"y":-1.9745043157277584},"rotation":{"radians":0.5153365844410867}},"curvature":1.1700803477242545},{"time":5.778855575928984,"velocity":1.5682926596601068,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.79064177432575,"y":-1.9515150031582686},"rotation":{"radians":0.5725598490972759}},"curvature":1.407510053211681},{"time":5.807174044958673,"velocity":1.4918327932799456,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.826282725632931,"y":-1.926875040262836},"rotation":{"radians":0.6390953532961267}},"curvature":1.667148569693312},{"time":5.836250881436266,"velocity":1.4133253347904442,"acceleration":-2.2934673909271215,"pose":{"translation":{"x":6.859225474134207,"y":-1.9004423117446878},"rotation":{"radians":0.7151883594750411}},"curvature":1.9363200629739135},{"time":5.866191688091803,"velocity":1.3446570710679173,"acceleration":-1.8576487637186117,"pose":{"translation":{"x":6.889238498509579,"y":-1.8720887174128968},"rotation":{"radians":0.8005307337600137}},"curvature":2.192818786492281},{"time":5.881496185967412,"velocity":1.3162266895099568,"acceleration":-1.5272695114388057,"pose":{"translation":{"x":6.903081185910179,"y":-1.857156180383169},"rotation":{"radians":0.8463658748252719}},"curvature":2.306849877953884},{"time":5.896995318278059,"velocity":1.2925553372781509,"acceleration":-1.1721970646119395,"pose":{"translation":{"x":6.916117077789808,"y":-1.8417033574337094},"rotation":{"radians":0.8940346261688494}},"curvature":2.4056201057619213},{"time":5.912667308940898,"velocity":1.2741846758265452,"acceleration":-0.7976144553326744,"pose":{"translation":{"x":6.9283257078718155,"y":-1.8257195962214032},"rotation":{"radians":0.9432557744741863}},"curvature":2.4848020382083926},{"time":5.928484304199526,"velocity":1.2615688117683348,"acceleration":-0.40890975224826037,"pose":{"translation":{"x":6.93968899826505,"y":-1.809195717581875},"rotation":{"radians":0.9936918889062446}},"curvature":2.540515033093385},{"time":5.944413161832559,"velocity":1.2550553465400134,"acceleration":-0.01154825741920611,"pose":{"translation":{"x":6.950191437804758,"y":-1.792124115068593},"rotation":{"radians":1.0449571846304218}},"curvature":2.5697176050539396},{"time":5.9604167617409445,"velocity":1.2548705328486374,"acceleration":0.388970363069531,"pose":{"translation":{"x":6.959820260393476,"y":-1.7744988544919729},"rotation":{"radians":1.096629628516868}},"curvature":2.5705506245541385},{"time":5.976455732808673,"velocity":1.2611092172481135,"acceleration":0.7870997621298491,"pose":{"translation":{"x":6.968565623341928,"y":-1.7563157734584816},"rotation":{"radians":1.148266450264419}},"curvature":2.5425656948108637},{"time":5.992490412390276,"velocity":1.2737301097326212,"acceleration":1.1772314928687388,"pose":{"translation":{"x":6.976420785709916,"y":-1.737572580909742},"rotation":{"radians":1.199421625080546}},"curvature":2.48679028399822},{"time":6.008482806388417,"velocity":1.2925568595935983,"acceleration":1.5537354824157943,"pose":{"translation":{"x":6.983382286647216,"y":-1.7182689566616358},"rotation":{"radians":1.2496635232215603}},"curvature":2.4056136374839077},{"time":6.024398314010684,"velocity":1.317285348506973,"acceleration":1.911103781606698,"pose":{"translation":{"x":6.989450123734476,"y":-1.6984066509434093},"rotation":{"radians":1.298590883559801}},"curvature":2.302515484176023},{"time":6.040207023231422,"velocity":1.3474974324810463,"acceleration":2.244217386906987,"pose":{"translation":{"x":6.994627931324107,"y":-1.6779895839367749},"rotation":{"radians":1.345845573854175}},"curvature":2.181690790937652},{"time":6.055884458377676,"velocity":1.382681005018376,"acceleration":2.6869378659957084,"pose":{"translation":{"x":6.998923158881178,"y":-1.6570239453150175},"rotation":{"radians":1.3911211604277107}},"curvature":2.0476389389286784},{"time":6.086745671938389,"velocity":1.4656031683252355,"acceleration":2.6999999999999766,"pose":{"translation":{"x":7.004915817366584,"y":-1.6134836566117543},"rotation":{"radians":1.4747879462418056}},"curvature":1.7571597270334407},{"time":6.117064548286066,"velocity":1.5474641344639641,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.007570774118427,"y":-1.5678844745372809},"rotation":{"radians":1.548228778076881}},"curvature":1.4607199247005194},{"time":6.146990903969824,"velocity":1.6282652948101108,"acceleration":2.700000000000019,"pose":{"translation":{"x":7.00710315968425,"y":-1.5203677711630594},"rotation":{"radians":1.6108008573105854}},"curvature":1.1774597721431561},{"time":6.1765778782574206,"velocity":1.7081501253866227,"acceleration":2.7000000000000237,"pose":{"translation":{"x":7.0038062671400185,"y":-1.471120786179683},"rotation":{"radians":1.6623324713404102}},"curvature":0.9158224230097983},{"time":6.234553604413803,"velocity":1.8646845860088561,"acceleration":2.700000000000023,"pose":{"translation":{"x":6.990322874119228,"y":-1.3684333797514574},"rotation":{"radians":1.7323819089404568}},"curvature":0.45120655079708105},{"time":6.290117175884226,"velocity":2.014706228978999,"acceleration":-1.5458788605953449,"pose":{"translation":{"x":6.971247052760426,"y":-1.262358564710433},"rotation":{"radians":1.757019167206025}},"curvature":-1.561060768928937E-14},{"time":6.344787797136289,"velocity":1.9301920712898202,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.9504471138436426,"y":-1.1565485738242998},"rotation":{"radians":1.780308861065907}},"curvature":0.4213474449159541},{"time":6.400806418241065,"velocity":1.7789417943069237,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.925936262751364,"y":-1.0555911127842554},"rotation":{"radians":1.8445606453124532}},"curvature":0.8225080369632037},{"time":6.429316155093265,"velocity":1.701965504805983,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.911466814352387,"y":-1.008127788913547},"rotation":{"radians":1.8906170407773308}},"curvature":1.037137176437969},{"time":6.458059444268575,"velocity":1.624358624032646,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.8952370110002885,"y":-0.9631623863235449},"rotation":{"radians":1.9455678688657185}},"curvature":1.2652476416105811},{"time":6.487022297862865,"velocity":1.5461589193280647,"acceleration":-2.6704003737980844,"pose":{"translation":{"x":6.877120042088533,"y":-0.9209742869474389},"rotation":{"radians":2.0090981353401283}},"curvature":1.5048065066202938},{"time":6.516239340097031,"velocity":1.468137718824672,"acceleration":-2.3203882537136242,"pose":{"translation":{"x":6.857051404065739,"y":-0.881778884558397},"rotation":{"radians":2.080714005033709}},"curvature":1.748797911494619},{"time":6.545699691178668,"velocity":1.3997782662245626,"acceleration":-1.894369459966771,"pose":{"translation":{"x":6.835023193527048,"y":-0.8457318317713383},"rotation":{"radians":2.1596208195845645}},"curvature":1.9849301909624535},{"time":6.57530380827179,"velocity":1.3436971309140715,"acceleration":-1.532959473323116,"pose":{"translation":{"x":6.811078400305493,"y":-0.8129332870447026},"rotation":{"radians":2.2446368744994247}},"curvature":2.1965902859911486},{"time":6.590132928497718,"velocity":1.3209646905826864,"acceleration":-1.27690035913744,"pose":{"translation":{"x":6.798413231196656,"y":-0.7977693756994861},"rotation":{"radians":2.2889541556832134}},"curvature":2.2875054416645857},{"time":6.60494501787022,"velocity":1.3020511283433636,"acceleration":-1.0127556055691762,"pose":{"translation":{"x":6.785305200563372,"y":-0.7834321616822232},"rotation":{"radians":2.3341740466388963}},"curvature":2.365566945109314},{"time":6.6197175093267,"velocity":1.2870902048125905,"acceleration":-0.7439156580852166,"pose":{"translation":{"x":6.771771454500179,"y":-0.7699204483116853},"rotation":{"radians":2.380046372070699}},"curvature":2.4289399362000017},{"time":6.634426397948907,"velocity":1.276148032253499,"acceleration":-0.4737665061269836,"pose":{"translation":{"x":6.757831249883614,"y":-0.7572303668346968},"rotation":{"radians":2.4263097387339827}},"curvature":2.476230701785448},{"time":6.649046905148459,"velocity":1.269221325639763,"acceleration":-0.2055962100318171,"pose":{"translation":{"x":6.743505776031319,"y":-0.7453555091449389},"rotation":{"radians":2.472698337390371}},"curvature":2.5065885652386486},{"time":6.663554219041746,"velocity":1.2662386768855614,"acceleration":0.05747121899015056,"pose":{"translation":{"x":6.7288179763611495,"y":-0.7342870605017562},"rotation":{"radians":2.518949181071165}},"curvature":2.5197630003569333},{"time":6.6779242425177125,"velocity":1.2670645396516422,"acceleration":0.3125243306366386,"pose":{"translation":{"x":6.713792370050274,"y":-0.7240139322489613},"rotation":{"radians":2.56480923221966}},"curvature":2.516108934245047},{"time":6.692134281953257,"velocity":1.2715055227145562,"acceleration":0.5569053521400217,"pose":{"translation":{"x":6.698454873694283,"y":-0.7145228945336406},"rotation":{"radians":2.610041889166239}},"curvature":2.4965410011409817},{"time":6.706163620155553,"velocity":1.2793185362463968,"acceleration":0.7882518122739026,"pose":{"translation":{"x":6.682832622966295,"y":-0.7057987090249593},"rotation":{"radians":2.6544323894040414}},"curvature":2.4624449205444345},{"time":6.719993934579295,"velocity":1.2902203066552298,"acceleration":1.1043114803257377,"pose":{"translation":{"x":6.66695379427606,"y":-0.6978242616329673},"rotation":{"radians":2.697791825362691}},"curvature":2.415559556556925},{"time":6.746977721379804,"velocity":1.320018812201694,"acceleration":1.467539927145104,"pose":{"translation":{"x":6.6345432422856385,"y":-0.6840475423565032},"rotation":{"radians":2.780804555455828}},"curvature":2.291356204711142},{"time":6.773016468895721,"velocity":1.358231713834152,"acceleration":1.7565279396666091,"pose":{"translation":{"x":6.601462666779656,"y":-0.6730233521169358},"rotation":{"radians":2.858143863125412}},"curvature":2.140056230204871},{"time":6.7980545350622705,"velocity":1.4022117766109183,"acceleration":1.974037195406033,"pose":{"translation":{"x":6.567956754783603,"y":-0.6645607881846443},"rotation":{"radians":2.9293052802259933}},"curvature":1.9761289649511333},{"time":6.82206480330889,"velocity":1.4496089392014206,"acceleration":2.1310374590498147,"pose":{"translation":{"x":6.534269724383192,"y":-0.6584516766894719},"rotation":{"radians":2.994135910092173}},"curvature":1.810601257289955},{"time":6.845037953236596,"velocity":1.4985655822497301,"acceleration":2.245876231431066,"pose":{"translation":{"x":6.500639617815723,"y":-0.6544748196224954},"rotation":{"radians":3.0527334391691157}},"curvature":1.6506204646941747},{"time":6.866973057441449,"velocity":1.5478291114173732,"acceleration":2.3433219017386793,"pose":{"translation":{"x":6.467292594561459,"y":-0.6524002418377992},"rotation":{"radians":3.1053486814425013}},"curvature":1.49985232290413},{"time":6.887870844789442,"velocity":1.5967993542078034,"acceleration":2.5348051632936053,"pose":{"translation":{"x":6.434437224434994,"y":-0.6519934380542431},"rotation":{"radians":-3.130880951836696}},"curvature":1.3592016791821142},{"time":6.9265193325737435,"velocity":1.69476574059694,"acceleration":2.7000000000000073,"pose":{"translation":{"x":6.370913533043703,"y":-0.6552479627005091},"rotation":{"radians":-3.0526478793201797}},"curvature":1.102221344649246},{"time":6.961074891143467,"velocity":1.788065748735193,"acceleration":2.6999999999999575,"pose":{"translation":{"x":6.311168446317259,"y":-0.6624331346750338},"rotation":{"radians":-2.993627088297191}},"curvature":0.8555434017371669},{"time":6.991858238084595,"velocity":1.8711807854762394,"acceleration":-1.1800282460591123,"pose":{"translation":{"x":6.255655190128021,"y":-0.6719430210413584},"rotation":{"radians":-2.9527564536870425}},"curvature":0.5864715450310406},{"time":7.047943146998179,"velocity":1.8049990087805583,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.154807962378389,"y":-0.6933252592926626},"rotation":{"radians":-2.922923707715869}},"curvature":-7.920403844670763E-14},{"time":7.076675275704216,"velocity":1.7274222612742591,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.105382169772536,"y":-0.7048295258935683},"rotation":{"radians":-2.8944577500936557}},"curvature":0.9898546895007715},{"time":7.109448504601492,"velocity":1.638934543251615,"acceleration":1.2129489576705177,"pose":{"translation":{"x":6.052341211286653,"y":-0.7199832175221093},"rotation":{"radians":-2.829917196360015}},"curvature":1.244909683667625},{"time":7.146927534957017,"velocity":1.6843946940558512,"acceleration":1.7188775517679564,"pose":{"translation":{"x":5.9938320492645705,"y":-0.7413180427175279},"rotation":{"radians":-2.7552319783560915}},"curvature":1.128011375882325},{"time":7.187881989080942,"velocity":1.754790385894375,"acceleration":1.120405876640976,"pose":{"translation":{"x":5.9296421212676345,"y":-0.7702892366367647},"rotation":{"radians":-2.68202517427326}},"curvature":0.9589440061187532},{"time":7.23179846471666,"velocity":1.8039946632779944,"acceleration":0.30942001296642796,"pose":{"translation":{"x":5.860889308945416,"y":-0.8074327001199966},"rotation":{"radians":-2.611946712236002}},"curvature":0.8486059854042763},{"time":7.278318785969487,"velocity":1.8183889816832466,"acceleration":-0.49701538006601903,"pose":{"translation":{"x":5.789711906906409,"y":-0.8525221387561752},"rotation":{"radians":-2.542325324688139}},"curvature":0.8174564272056424},{"time":7.326997398850383,"velocity":1.7941949624011615,"acceleration":-1.690048901702673,"pose":{"translation":{"x":5.718958591588722,"y":-0.9047262019485662},"rotation":{"radians":-2.468754506008543}},"curvature":0.8700986748766842},{"time":7.377644744362307,"velocity":1.7085984717445786,"acceleration":-2.7,"pose":{"translation":{"x":5.651878390130772,"y":-0.9627656219802874},"rotation":{"radians":-2.3856661716116374}},"curvature":1.0217138349834605},{"time":7.403776831058296,"velocity":1.6380418376654102,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.620764202251342,"y":-0.9934900132537403},"rotation":{"radians":-2.3384336466190065}},"curvature":1.1447855846711075},{"time":7.430522103496194,"velocity":1.5658296020830857,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":5.591810649241981,"y":-1.0250703530798466},"rotation":{"radians":-2.2860608095739368}},"curvature":1.307641400645128},{"time":7.457769459484681,"velocity":1.4922617409141699,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.5653983973921815,"y":-1.0572907322940774},"rotation":{"radians":-2.2273948919074336}},"curvature":1.5178449969625756},{"time":7.485425972807925,"velocity":1.4175891549414128,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.541875004073464,"y":-1.0899367104866822},"rotation":{"radians":-2.161206905512003}},"curvature":1.78262484176562},{"time":7.513432887000885,"velocity":1.3419704866204212,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.521545229266584,"y":-1.1228002265984887},"rotation":{"radians":-2.086289231912457}},"curvature":2.105870641944316},{"time":7.541787290388738,"velocity":1.2654135974732166,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.504661347088734,"y":-1.1556845095166994},"rotation":{"radians":-2.0016529465806725}},"curvature":2.4825761096122894},{"time":7.55611989087609,"velocity":1.2267155761573654,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.497573715521403,"y":-1.172077243117104},"rotation":{"radians":-1.9555202317421885}},"curvature":2.6849789156512784},{"time":7.5705789644060095,"velocity":1.187676077626583,"acceleration":-2.6574622742607605,"pose":{"translation":{"x":5.491413457320765,"y":-1.188408988670691},"rotation":{"radians":-1.906861734434117}},"curvature":2.890601730990897},{"time":7.585189909638906,"velocity":1.1488480418788691,"acceleration":-2.3184571086867005,"pose":{"translation":{"x":5.486193030704304,"y":-1.2046605118354696},"rotation":{"radians":-1.8557866949121526}},"curvature":3.092609303262215},{"time":7.599954303830509,"velocity":1.1146174272098952,"acceleration":-1.9175221461685914,"pose":{"translation":{"x":5.481919796934385,"y":-1.2208142046278108},"rotation":{"radians":-1.802501188338778}},"curvature":3.2823712408498213},{"time":7.614841324358632,"velocity":1.0860712356567535,"acceleration":-1.4588088065220075,"pose":{"translation":{"x":5.478595717553475,"y":-1.2368542388785637},"rotation":{"radians":-1.7473215449361288}},"curvature":3.449767928752057},{"time":7.629805929837534,"velocity":1.0642407373980025,"acceleration":-0.9450774003255872,"pose":{"translation":{"x":5.476217051619374,"y":-1.2527667196891765},"rotation":{"radians":-1.6906820251329013}},"curvature":3.583843076219263},{"time":7.644788500516485,"velocity":1.0500810484505447,"acceleration":-0.3761492599771684,"pose":{"translation":{"x":5.474774052940434,"y":-1.268539838887813},"rotation":{"radians":-1.6331340665883607}},"curvature":3.673787416230086},{"time":7.659715787299661,"velocity":1.044466160573586,"acceleration":0.2526871034441883,"pose":{"translation":{"x":5.474250667310791,"y":-1.2841640284854734},"rotation":{"radians":-1.575335273601927}},"curvature":3.7101292401335804},{"time":7.674503215691783,"velocity":1.0482027530213798,"acceleration":0.9524765321455746,"pose":{"translation":{"x":5.474624229745584,"y":-1.299632114132111},"rotation":{"radians":-1.5180279759372337}},"curvature":3.6859011663511714},{"time":7.689058301007653,"velocity":1.0620661302081218,"acceleration":1.7430474537190577,"pose":{"translation":{"x":5.475865161716185,"y":-1.314939468572752},"rotation":{"radians":-1.4620093487673522}},"curvature":3.597500607604957},{"time":7.7032846510623045,"velocity":1.086863333446599,"acceleration":2.6569681841756942,"pose":{"translation":{"x":5.477936668385421,"y":-1.3300841651036155},"rotation":{"radians":-1.4080971495914785}},"curvature":3.445004404528287},{"time":7.717085859859685,"velocity":1.1235327061244038,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.480794435842802,"y":-1.3450671310282283},"rotation":{"radians":-1.3570963862725234}},"curvature":3.231834618507058},{"time":7.730448218674047,"velocity":1.1596110749231807,"acceleration":2.699999999999923,"pose":{"translation":{"x":5.484386328339744,"y":-1.3598923011135475},"rotation":{"radians":-1.3097722138383399}},"curvature":2.963850685290576},{"time":7.74343048627931,"velocity":1.1946631974573896,"acceleration":2.6999999999999322,"pose":{"translation":{"x":5.488652085524795,"y":-1.3745667710460783},"rotation":{"radians":-1.2668330803115047}},"curvature":2.648087362867792},{"time":7.768430192261162,"velocity":1.2621624036083872,"acceleration":2.6999999999999624,"pose":{"translation":{"x":5.498921712950436,"y":-1.403508718533239},"rotation":{"radians":-1.1966444136461991}},"curvature":1.899345368181183},{"time":7.815237089204758,"velocity":1.3885410253560935,"acceleration":2.6999999999999926,"pose":{"translation":{"x":5.52392321071957,"y":-1.460283192681829},"rotation":{"radians":-1.13491935438754}},"curvature":-7.353109500985642E-14},{"time":7.859715229120378,"velocity":1.5086320031282685,"acceleration":2.7000000000000197,"pose":{"translation":{"x":5.550515257840978,"y":-1.5189700209446757},"rotation":{"radians":-1.163072703904685}},"curvature":-0.678009450539781},{"time":7.907959488535907,"velocity":1.6388915035501972,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.578866578257237,"y":-1.5894029943565342},"rotation":{"radians":-1.2108847916395842}},"curvature":-0.5182812011551416},{"time":7.963340926977234,"velocity":1.7884213873417794,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.610537024935595,"y":-1.6788674905392753},"rotation":{"radians":-1.245859547886145}},"curvature":-0.24234870198317177},{"time":8.025981919030194,"velocity":1.95755206588477,"acceleration":2.7000000000000273,"pose":{"translation":{"x":5.64686504048428,"y":-1.7904273673540871},"rotation":{"radians":-1.262736435050084}},"curvature":-0.06738234164471639},{"time":8.059521347127964,"velocity":2.0481085217487505,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6671323128444335,"y":-1.8544707490894692},"rotation":{"radians":-1.2652420058640297}},"curvature":-0.010542463785330377},{"time":8.094143007738934,"velocity":2.1415870053983665,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.68896341015074,"y":-1.9236342121972823},"rotation":{"radians":-1.2643227181969958}},"curvature":0.033682368608401604},{"time":8.12951706912589,"velocity":2.2370969711431514,"acceleration":-0.2788532797820463,"pose":{"translation":{"x":5.712461474822781,"y":-1.9974292740545219},"rotation":{"radians":-1.2602603903362708}},"curvature":0.06983320437017627},{"time":8.166167343196287,"velocity":2.2268769220137106,"acceleration":-0.5296333162595044,"pose":{"translation":{"x":5.737715014819868,"y":-2.0752365912961057},"rotation":{"radians":-1.2532264108199724}},"curvature":0.10134754645500449},{"time":8.204736358196515,"velocity":2.206449486694278,"acceleration":-0.5001712341126473,"pose":{"translation":{"x":5.764797770922233,"y":-2.156328123855366},"rotation":{"radians":-1.2432857504234036}},"curvature":0.13086007811161923},{"time":8.245002997566774,"velocity":2.186309271986887,"acceleration":-0.5064885543900148,"pose":{"translation":{"x":5.7937685840122315,"y":-2.2398892990045463},"rotation":{"radians":-1.2304034015084446}},"curvature":0.16049756234329854},{"time":8.286637061654256,"velocity":2.165222095053837,"acceleration":-0.5418192774083456,"pose":{"translation":{"x":5.824671262355529,"y":-2.325041175395291},"rotation":{"radians":-1.2144492946585657}},"curvature":0.19211940846885697},{"time":8.32930779858582,"velocity":2.142102267203095,"acceleration":-0.6032455815118641,"pose":{"translation":{"x":5.857534448882302,"y":-2.4108626070991432},"rotation":{"radians":-1.1952006896112877}},"curvature":0.22750486236506234},{"time":8.37269447617442,"velocity":2.115929445651292,"acceleration":-0.6898251926459572,"pose":{"translation":{"x":5.892371488468428,"y":-2.496412407648039},"rotation":{"radians":-1.1723425586047473}},"curvature":0.2684961902066403},{"time":8.416497149095964,"velocity":2.0857132583647804,"acceleration":-0.800940421684687,"pose":{"translation":{"x":5.9291802952166845,"y":-2.580751514074799},"rotation":{"radians":-1.145467629571454}},"curvature":0.3170995962915798},{"time":8.460447173930971,"velocity":2.0505119069403777,"acceleration":-0.9343294575315514,"pose":{"translation":{"x":5.967943219737937,"y":-2.662965150953622},"rotation":{"radians":-1.1140791773693937}},"curvature":0.3755281673677548},{"time":8.5043166764676,"velocity":2.0095233384331506,"acceleration":-1.083404477253515,"pose":{"translation":{"x":6.008626916432343,"y":-2.742184994440584},"rotation":{"radians":-1.0776018398634073}},"curvature":0.44614207206449225},{"time":8.547925632544871,"velocity":1.9622772001706836,"acceleration":-1.2337702781719602,"pose":{"translation":{"x":6.051182210770537,"y":-2.8176113363141257},"rotation":{"radians":-1.0354091081876633}},"curvature":0.531196265425795},{"time":8.591144452214854,"velocity":1.9089551050041844,"acceleration":-1.359548159819362,"pose":{"translation":{"x":6.095543966574832,"y":-2.8885352480155504},"rotation":{"radians":-0.98688083644898}},"curvature":0.6322457165675689},{"time":8.633889048575487,"velocity":1.850841767679865,"acceleration":-1.4211662581104407,"pose":{"translation":{"x":6.141630953300413,"y":-2.9543607446895193},"rotation":{"radians":-0.9315093392928508}},"curvature":0.7490055955631675},{"time":8.676104722844823,"velocity":1.790846275844903,"acceleration":-1.3669291659195488,"pose":{"translation":{"x":6.189345713316526,"y":-3.014626949224539},"rotation":{"radians":-0.8690753085063544}},"curvature":0.8774969313591167},{"time":8.717735733726853,"velocity":1.7339396328635415,"acceleration":-1.1391736635986869,"pose":{"translation":{"x":6.238574429187683,"y":-3.0690302562934653},"rotation":{"radians":-0.7999077756769518}},"curvature":1.007589806159538},{"time":8.758680593175283,"velocity":1.6872963273201398,"acceleration":-0.6808097485133338,"pose":{"translation":{"x":6.289186790954844,"y":-3.1174464963939883},"rotation":{"radians":-0.7252148738015826}},"curvature":1.1207638442212495},{"time":8.79873997863653,"velocity":1.6600235071786695,"acceleration":0.06871429848890243,"pose":{"translation":{"x":6.341035863416625,"y":-3.1599530998891328},"rotation":{"radians":-0.6474179831418267}},"curvature":1.1898844085116487},{"time":8.837572846792172,"velocity":1.6626918804722965,"acceleration":1.2039881971346202,"pose":{"translation":{"x":6.393957953410482,"y":-3.1968512610477475},"rotation":{"radians":-0.5703597276566561}},"curvature":1.1830215760444607},{"time":8.874680012275237,"velocity":1.7073684697430282,"acceleration":2.699999999999962,"pose":{"translation":{"x":6.44777247709391,"y":-3.228688102085},"rotation":{"radians":-0.4992450883986416}},"curvature":1.0713034085502606},{"time":8.90950388836859,"velocity":1.8013929351950828,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.502281827225639,"y":-3.2562788372028773},"rotation":{"radians":-0.44027497140811567}},"curvature":0.8369901507315796},{"time":8.973037637878175,"velocity":1.972934058870962,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.612508664562251,"y":-3.3034562906654665},"rotation":{"radians":-0.385319817675161}},"curvature":-1.976269077323641E-14},{"time":9.031398730906002,"velocity":2.130509010046093,"acceleration":2.700000000000006,"pose":{"translation":{"x":6.7234542007736255,"y":-3.3484998911755803},"rotation":{"radians":-0.38616325348203456}},"curvature":-0.00775052029837474},{"time":9.086656271823422,"velocity":2.279704370523128,"acceleration":-0.4579092329198754,"pose":{"translation":{"x":6.836325280399195,"y":-3.394404606686512},"rotation":{"radians":-0.385871411003672}},"curvature":0.016818284780042533},{"time":9.14171131063528,"velocity":2.254494159932416,"acceleration":-0.7084141074202462,"pose":{"translation":{"x":6.952052704660515,"y":-3.4411593596019716},"rotation":{"radians":-0.38109255964335487}},"curvature":0.0622978431976038},{"time":9.169988873329512,"velocity":2.234461935596362,"acceleration":-0.7611815368949864,"pose":{"translation":{"x":7.011021157067037,"y":-3.464631799775001},"rotation":{"radians":-0.3762586169224766}},"curvature":0.09052648126693238},{"time":9.198784176233845,"velocity":2.212543482676285,"acceleration":-0.8134929420236763,"pose":{"translation":{"x":7.0706442597275,"y":-3.487965678197271},"rotation":{"radians":-0.36947117142413294}},"curvature":0.12199874249592417},{"time":9.228053405453025,"velocity":2.188733171288009,"acceleration":-0.8734680859841817,"pose":{"translation":{"x":7.1308080293079055,"y":-3.510967768454078},"rotation":{"radians":-0.3605077263161837}},"curvature":0.1569017834174276},{"time":9.257736138958013,"velocity":2.1628062508666286,"acceleration":-0.9473267767903191,"pose":{"translation":{"x":7.191363090792827,"y":-3.533418194194602},"rotation":{"radians":-0.34914230405991764}},"curvature":0.19578152095480106},{"time":9.28776117547533,"velocity":2.134362729799667,"acceleration":-1.0398566593299226,"pose":{"translation":{"x":7.252130251675238,"y":-3.5550760696811365},"rotation":{"radians":-0.33513099909832333}},"curvature":0.2395216780427965},{"time":9.318052226480035,"velocity":2.1028643786943233,"acceleration":-1.2238510984052744,"pose":{"translation":{"x":7.312906076146332,"y":-3.575685140338315},"rotation":{"radians":-0.3181992384585424}},"curvature":0.289340236013027},{"time":9.37916281076296,"velocity":2.028074122995478,"acceleration":-1.5498313484575859,"pose":{"translation":{"x":7.433582201249403,"y":-3.6126888479702024},"rotation":{"radians":-0.274257866961984}},"curvature":0.41382974549395973},{"time":9.4405443934269,"velocity":1.9329430219649613,"acceleration":-1.9414176631950044,"pose":{"translation":{"x":7.551490932809378,"y":-3.642286244604778},"rotation":{"radians":-0.21413859012772005}},"curvature":0.586096897136623},{"time":9.50192677271515,"velocity":1.8137741866058206,"acceleration":-2.2163836410895574,"pose":{"translation":{"x":7.664700592853938,"y":-3.662449351504559},"rotation":{"radians":-0.13376008186290125}},"curvature":0.8273890796343359},{"time":9.532606774825956,"velocity":1.7457755318188362,"acceleration":-2.3342788004288373,"pose":{"translation":{"x":7.718975002313115,"y":-3.6684351932203234},"rotation":{"radians":-0.08454200129452011}},"curvature":0.9798334980992673},{"time":9.56333232173634,"velocity":1.674053539034345,"acceleration":-2.357486664726867,"pose":{"translation":{"x":7.771426732805503,"y":-3.6714457812553443},"rotation":{"radians":-0.02860105185424137}},"curvature":1.154045241954056},{"time":9.594142143405694,"velocity":1.6014197953062275,"acceleration":-2.248015018994704,"pose":{"translation":{"x":7.821884997348414,"y":-3.6713403662105533},"rotation":{"radians":0.034398089470288516}},"curvature":1.3463751036433995},{"time":9.625060968422865,"velocity":1.531913812297958,"acceleration":-1.976207721514804,"pose":{"translation":{"x":7.870210507555628,"y":-3.6680192353414984},"rotation":{"radians":0.10446084607085139}},"curvature":1.547499841548093},{"time":9.656074225956894,"velocity":1.4706251732898825,"acceleration":-1.5268255457821103,"pose":{"translation":{"x":7.916301047827222,"y":-3.661429353107571},"rotation":{"radians":0.1810705566847586}},"curvature":1.7406194959551107},{"time":9.687099740373785,"velocity":1.423254625307142,"acceleration":-0.898365501229456,"pose":{"translation":{"x":7.960097049539393,"y":-3.6515700017212307},"rotation":{"radians":0.2629934616872644}},"curvature":1.9012790787841125},{"time":9.7179645159259,"velocity":1.395526775747933,"acceleration":-0.09333608223338782,"pose":{"translation":{"x":8.001587165234284,"y":-3.6384984216972374},"rotation":{"radians":0.34814741716161446}},"curvature":2.000380124539847},{"time":9.748396980467737,"velocity":1.3926863287348914,"acceleration":0.8997377174962471,"pose":{"translation":{"x":8.040813842809808,"y":-3.6223354524018756},"rotation":{"radians":0.43361406602673813}},"curvature":2.0107548838953653},{"time":9.778041255382071,"velocity":1.4193584009831461,"acceleration":2.133483654352498,"pose":{"translation":{"x":8.077878899709471,"y":-3.6032711726021827},"rotation":{"radians":0.5158386313597844}},"curvature":1.9149706125757466},{"time":9.80648924524891,"velocity":1.480051722363232,"acceleration":2.700000000000111,"pose":{"translation":{"x":8.1129490971122,"y":-3.581570541015176},"rotation":{"radians":0.5909738158152622}},"curvature":1.7098757579677524},{"time":9.833558229601563,"velocity":1.5531379801153986,"acceleration":2.7000000000001094,"pose":{"translation":{"x":8.146261714122165,"y":-3.5575790368570805},"rotation":{"radians":0.6552351688512801}},"curvature":1.404609871190401},{"time":9.859398430750174,"velocity":1.6229065232166526,"acceleration":2.6999999999999424,"pose":{"translation":{"x":8.17813012195861,"y":-3.531728300392559},"rotation":{"radians":0.7051164256130864}},"curvature":1.0130333929709094},{"time":9.908103430517539,"velocity":1.7544100225885342,"acceleration":-1.2354463006153025,"pose":{"translation":{"x":8.23920170070219,"y":-3.4766403401404227},"rotation":{"radians":0.748869568742241}},"curvature":4.8831523287908774E-15},{"time":9.956157425033709,"velocity":1.6950418928337434,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.298999001955957,"y":-3.4192524278762755},"rotation":{"radians":0.7947399407672529}},"curvature":1.0053973131987994},{"time":9.981700697955066,"velocity":1.626075055946078,"acceleration":-1.7723702334476878,"pose":{"translation":{"x":8.327989483235584,"y":-3.388289911969262},"rotation":{"radians":0.8437515380607123}},"curvature":1.2791631307667384},{"time":10.008864014618904,"velocity":1.577931602049378,"acceleration":-0.26183358099298537,"pose":{"translation":{"x":8.355956498286437,"y":-3.3549512815204525},"rotation":{"radians":0.9028002222909496}},"curvature":1.4123591691932695},{"time":10.037395465908762,"velocity":1.5704611099872274,"acceleration":0.6635063472636266,"pose":{"translation":{"x":8.382632209499416,"y":-3.318817040035875},"rotation":{"radians":0.9670838683014696}},"curvature":1.4337593121286998},{"time":10.066860378793638,"velocity":1.5900112667079125,"acceleration":1.204820188224507,"pose":{"translation":{"x":8.407783569288261,"y":-3.279633058653029},"rotation":{"radians":1.0327825936378177}},"curvature":1.3781809580749675},{"time":10.096948899760195,"velocity":1.6262625242022368,"acceleration":1.4716213786761485,"pose":{"translation":{"x":8.431210860182695,"y":-3.2372961761505032},"rotation":{"radians":1.0971738248847323}},"curvature":1.2786598859350011},{"time":10.127457368855083,"velocity":1.6711594395529545,"acceleration":1.5394800208211215,"pose":{"translation":{"x":8.452746234921566,"y":-3.191839798957595},"rotation":{"radians":1.1585621253275016}},"curvature":1.1613888426019299},{"time":10.158257201597937,"velocity":1.7185751667052118,"acceleration":1.4690978379870283,"pose":{"translation":{"x":8.472252256545993,"y":-3.1434195011639297},"rotation":{"radians":1.2160910743570117}},"curvature":1.044191214432827},{"time":10.189262296279807,"velocity":1.7641246842689302,"acceleration":1.3095705652404022,"pose":{"translation":{"x":8.489620438492496,"y":-3.09229862452908},"rotation":{"radians":1.2695172563092492}},"curvature":0.9375392648899997},{"time":10.220402198842391,"velocity":1.804904584069345,"acceleration":1.0973134240872533,"pose":{"translation":{"x":8.504769784686152,"y":-3.0388338784921847},"rotation":{"radians":1.319004555192523}},"curvature":0.8466221898255206},{"time":10.251603864670473,"velocity":1.8391425908363828,"acceleration":0.7251611710495734,"pose":{"translation":{"x":8.517645329633723,"y":-2.983460940181568},"rotation":{"radians":1.3649657140810862}},"curvature":0.773403551245016},{"time":10.313889385616806,"velocity":1.884309632145258,"acceleration":-1.040697269048229,"pose":{"translation":{"x":8.536476547284952,"y":-2.8690416337561078},"rotation":{"radians":1.4486037728583467}},"curvature":0.6808833010389941},{"time":10.376471937963785,"velocity":1.8191801408276878,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.54613950267345,"y":-2.7535582764285262},"rotation":{"radians":1.525631707698636}},"curvature":0.6604990554078157},{"time":10.44095391691396,"velocity":1.6450787976622165,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.546982662294555,"y":-2.6418703230172422},"rotation":{"radians":1.6020234830596505}},"curvature":0.7237792991695984},{"time":10.507444340602797,"velocity":1.4655546537023592,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.539630830892188,"y":-2.538718312291076},"rotation":{"radians":1.6850639621096635}},"curvature":0.9114673061415777},{"time":10.54087456317658,"velocity":1.3752930527531464,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.533141109513013,"y":-2.4916787877686075},"rotation":{"radians":1.732053662640259}},"curvature":1.080084520520563},{"time":10.574083974906682,"velocity":1.2856276410818719,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.524938434439374,"y":-2.448263067277064},"rotation":{"radians":1.7848072363117133}},"curvature":1.3259922100408545},{"time":10.606814218617377,"velocity":1.197255983062996,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.515157822723939,"y":-2.4088250731606724},"rotation":{"radians":1.8453753169241311}},"curvature":1.681724662256507},{"time":10.63882664430697,"velocity":1.110822433701092,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.503942803118758,"y":-2.3736248955682737},"rotation":{"radians":1.9162183059775968}},"curvature":2.19086068435081},{"time":10.669934766703724,"velocity":1.0268305032298572,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.491443956168402,"y":-2.3428143924629428},"rotation":{"radians":2.0000689723227314}},"curvature":2.9015195104351643},{"time":10.685121722761389,"velocity":0.9858257218741617,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.484761722809528,"y":-2.329069585970461},"rotation":{"radians":2.0476825874754683}},"curvature":3.342586910852986},{"time":10.70006276922589,"velocity":0.9454848964200091,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.477817454303114,"y":-2.3164227896316087},"rotation":{"radians":2.099395510832049}},"curvature":3.8382730062699415},{"time":10.71477413891342,"velocity":0.905764198263676,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.470631306419103,"y":-2.3048561328938084},"rotation":{"radians":2.155260555529645}},"curvature":4.376309011119683},{"time":10.729287570396437,"velocity":0.8665779332595316,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.463223601931938,"y":-2.2943422806946736},"rotation":{"radians":2.215091446443388}},"curvature":4.931381244116806},{"time":10.743652934915362,"velocity":0.8277914490584326,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.45561478499847,"y":-2.284843983462313},"rotation":{"radians":2.278367542822972}},"curvature":5.46172021896825},{"time":10.7579407052575,"velocity":0.7892144691346606,"acceleration":-1.742572020649924,"pose":{"translation":{"x":8.447825375535869,"y":-2.2763136271156306},"rotation":{"radians":2.3441430639341947}},"curvature":5.908303113414307},{"time":10.772116053860294,"velocity":0.764512903276471,"acceleration":-0.35016204691457675,"pose":{"translation":{"x":8.43987592359953,"y":-2.2686927830646217},"rotation":{"radians":2.410985954172766}},"curvature":6.198924420537862},{"time":10.785966505911215,"velocity":0.7596630006356286,"acceleration":1.4910529202195617,"pose":{"translation":{"x":8.43178696376099,"y":-2.2619117582106814},"rotation":{"radians":2.4769747502194055}},"curvature":6.258204674006982},{"time":10.799196107458206,"velocity":0.7793890366556113,"acceleration":2.69999999999981,"pose":{"translation":{"x":8.423578969485837,"y":-2.255889144946899},"rotation":{"radians":2.5397721270625073}},"curvature":6.021695832629082},{"time":10.811611673351623,"velocity":0.8129110645678352,"acceleration":2.7000000000001725,"pose":{"translation":{"x":8.415272307511614,"y":-2.250531371158361},"rotation":{"radians":2.596770016224973}},"curvature":5.449081553925233},{"time":10.834324059875984,"velocity":0.8742345081836169,"acceleration":2.700000000000116,"pose":{"translation":{"x":8.398443640043425,"y":-2.241372531009154},"rotation":{"radians":2.6826764950133546}},"curvature":3.286475585083685},{"time":10.855105238565384,"velocity":0.9303436906449987,"acceleration":2.700000000000072,"pose":{"translation":{"x":8.381460027056619,"y":-2.2334262706951082},"rotation":{"radians":2.714965160462992}},"curvature":3.487523069708681E-13},{"time":10.893976713447671,"velocity":1.0352966728271749,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.346463582231358,"y":-2.218104089006953},"rotation":{"radians":2.7545520891873334}},"curvature":1.8109780507152875},{"time":10.913444423410063,"velocity":1.0878594897256284,"acceleration":2.7000000000001174,"pose":{"translation":{"x":8.327173380001936,"y":-2.2106884245053475},"rotation":{"radians":2.795523702390689}},"curvature":2.078223696314902},{"time":10.93365559968485,"velocity":1.1424296656675537,"acceleration":2.6999999999999558,"pose":{"translation":{"x":8.305798652344691,"y":-2.2035400152901263},"rotation":{"radians":2.841809879998367}},"curvature":1.9834321082345294},{"time":10.95502157018643,"velocity":1.2001177860218188,"acceleration":2.7000000000000877,"pose":{"translation":{"x":8.281720957276432,"y":-2.1967183410720725},"rotation":{"radians":2.8879807249616594}},"curvature":1.6923204633241877},{"time":10.977856487493938,"velocity":1.2617720627520923,"acceleration":2.6999999999999598,"pose":{"translation":{"x":8.254362217026625,"y":-2.1902694232547235},"rotation":{"radians":2.9305923827510907}},"curvature":1.3456953229931459},{"time":11.028724215564525,"velocity":1.3991149285426765,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.187697083309846,"y":-2.1786123536949202},"rotation":{"radians":2.9998025273082716}},"curvature":0.7611104264739775},{"time":11.087080435600399,"velocity":1.5566767226395362,"acceleration":2.699999999999978,"pose":{"translation":{"x":8.102023738143016,"y":-2.168703929394889},"rotation":{"radians":3.048067556970553}},"curvature":0.4064729564834843},{"time":11.15275771364224,"velocity":1.7340053733525045,"acceleration":2.699999999999942,"pose":{"translation":{"x":7.994272200904063,"y":-2.160524770034724},"rotation":{"radians":3.0802010588227335}},"curvature":0.2152373954952757},{"time":11.188121274056584,"velocity":1.8294869864712306,"acceleration":2.699999999999951,"pose":{"translation":{"x":7.931359592791209,"y":-2.1570428463328573},"rotation":{"radians":3.0917953255773063}},"curvature":0.15684417834323894},{"time":11.225005381613952,"velocity":1.9290740768761248,"acceleration":2.699999999999956,"pose":{"translation":{"x":7.862113875913456,"y":-2.153931407096375},"rotation":{"radians":3.101094762621076}},"curvature":0.11436366682445724},{"time":11.263273766689817,"velocity":2.0323987165809587,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.786365043011098,"y":-2.151158119925064},"rotation":{"radians":3.1085091494613573}},"curvature":0.08332021182301048},{"time":11.302784340626483,"velocity":2.139077266209952,"acceleration":2.700000000000034,"pose":{"translation":{"x":7.703993404947496,"y":-2.1486866987695676},"rotation":{"radians":3.114375277578732}},"curvature":0.060511788163897164},{"time":11.343392515262126,"velocity":2.2487193377261914,"acceleration":0.6685793162379902,"pose":{"translation":{"x":7.614930586100122,"y":-2.1464778543971965},"rotation":{"radians":3.1189687884868253}},"curvature":0.043660617025095626},{"time":11.385724012872856,"velocity":2.277021301454104,"acceleration":0.15216170103604149,"pose":{"translation":{"x":7.519160519751599,"y":-2.144490244857738},"rotation":{"radians":3.122515301446174}},"curvature":0.031146792103781143},{"time":11.430652214437062,"velocity":2.2838576530286034,"acceleration":0.10776330566879018,"pose":{"translation":{"x":7.416720443480738,"y":-2.1426814259492666},"rotation":{"radians":3.1252000684454355}},"curvature":0.021814870330304263},{"time":11.478338572179721,"velocity":2.288996492574257,"acceleration":0.07658590583923251,"pose":{"translation":{"x":7.307701894553582,"y":-2.1410088016839555},"rotation":{"radians":3.1271760236025585}},"curvature":0.0148368259987384},{"time":11.528737823166125,"velocity":2.2928563648646696,"acceleration":0.05446149429631531,"pose":{"translation":{"x":7.192251705314444,"y":-2.139430574753885},"rotation":{"radians":3.128570360121532}},"curvature":0.009616065327243215},{"time":11.581777187406344,"velocity":2.2957449678977184,"acceleration":0.04197201051325066,"pose":{"translation":{"x":7.070572998576946,"y":-2.137906696996853},"rotation":{"radians":3.1294898587620077}},"curvature":0.0057205026316680665},{"time":11.60925610452624,"velocity":2.2968983132959675,"acceleration":0.035242457666478474,"pose":{"translation":{"x":7.007477063910285,"y":-2.1371533361932666},"rotation":{"radians":3.1298004106273503}},"curvature":0.004167841064532699},{"time":11.637355461423908,"velocity":2.297888603691889,"acceleration":0.029484695921199514,"pose":{"translation":{"x":6.942926183015063,"y":-2.136399819862188},"rotation":{"radians":3.1300252036406193}},"curvature":0.002835931759910742},{"time":11.666058492664817,"velocity":2.2987349038400438,"acceleration":0.02453584123512621,"pose":{"translation":{"x":6.8769620211975475,"y":-2.1356420571848798},"rotation":{"radians":3.1301736350930325}},"curvature":0.0016985942011494986},{"time":11.695346734645064,"velocity":2.299453515495327,"acceleration":0.016351088494698466,"pose":{"translation":{"x":6.809629948554161,"y":-2.1348762448765544},"rotation":{"radians":3.1302545015872303}},"curvature":7.335136625340631E-4},{"time":11.725200780982414,"velocity":2.299941661648914,"acceleration":-0.016529633454723792,"pose":{"translation":{"x":6.740979071077445,"y":-2.1340988968884256},"rotation":{"radians":3.130276078372261}},"curvature":-7.828748100746206E-5},{"time":11.755605437212074,"velocity":2.2994390838261207,"acceleration":-0.013262342998188627,"pose":{"translation":{"x":6.671062261762034,"y":-2.133306874109768},"rotation":{"radians":3.1302461928608394}},"curvature":-7.52889159388253E-4},{"time":11.78654212218012,"velocity":2.2990287908988476,"acceleration":-1.8383369954454578,"pose":{"translation":{"x":6.599936191710627,"y":-2.132497414069972},"rotation":{"radians":3.1301722933778384}},"curvature":-0.0013038370663474516},{"time":11.81838674199835,"velocity":2.2404876481811,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.527661361239953,"y":-2.1316681606406016},"rotation":{"radians":3.1300615141390145}},"curvature":-0.0017424409420958484},{"time":11.851804360251291,"velocity":2.1502600788981554,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.454302130986741,"y":-2.130817193737451},"rotation":{"radians":3.1299207374275095}},"curvature":-0.00207801625402688},{"time":11.887181521934155,"velocity":2.054741742354424,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.379926753013693,"y":-2.129943059022599},"rotation":{"radians":3.129756653924371}},"curvature":-0.0023180759408619983},{"time":11.924768719479012,"velocity":1.9532563089833077,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.304607401915457,"y":-2.1290447976064693},"rotation":{"radians":3.1295758221602035}},"curvature":-0.0024684771853719866},{"time":11.96488932707679,"velocity":1.8449306684693076,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.2284202059245874,"y":-2.1281219757498833},"rotation":{"radians":3.129384728091001}},"curvature":-0.00253352661596237},{"time":12.007973139201066,"velocity":1.7286043757337595,"acceleration":-2.7,"pose":{"translation":{"x":6.1514452780175235,"y":-2.127174714566119},"rotation":{"radians":3.1291898458659917}},"curvature":-0.002516045835163573},{"time":12.0546125978793,"velocity":1.6026778373025266,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0737667470205565,"y":-2.1262037197229664},"rotation":{"radians":3.1289977009541854}},"curvature":-0.0024173976568687985},{"time":12.105663823343187,"velocity":1.4648395285500306,"acceleration":-2.7,"pose":{"translation":{"x":5.995472788715799,"y":-2.1252103111447855},"rotation":{"radians":3.128814936936327}},"curvature":-0.0022374718180512374},{"time":12.162445669471715,"velocity":1.3115285440030058,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.916655656947155,"y":-2.124196452714562},"rotation":{"radians":3.128648387459547}},"curvature":-0.0019746271120612223},{"time":12.227186118899699,"velocity":1.1367293305474522,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.837411714726291,"y":-2.123164781975962},"rotation":{"radians":3.1285051551060183}},"curvature":-0.001625584740292513},{"time":12.304243311409289,"velocity":0.9286749107715602,"acceleration":-2.7,"pose":{"translation":{"x":5.757841465338608,"y":-2.122118639835392},"rotation":{"radians":3.128392699261511}},"curvature":-0.0011852650274841218},{"time":12.404899122095602,"velocity":0.6569042219185144,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678049583449203,"y":-2.1210621002640537},"rotation":{"radians":3.128318935508259}},"curvature":-6.465562633311351E-4},{"time":12.648196982065421,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.598144946208852,"y":-2.120000000000001},"rotation":{"radians":3.1282923496405335}},"curvature":5.032697995759995E-16}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 21cbb67..0d3270f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -317,13 +317,13 @@ public class RobotContainer { m_slalom = new Slalom(m_robotDrive, buildPaths(slalom)); String[] barrel = new String[]{ - "Barrel" + "BarrelStart" }; m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); String[] barrelStart = new String[]{ - "BarrelStart" + "Barrel" }; m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 76b7f61..25c229a 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -26,9 +26,8 @@ public class BarrelStart extends SequentialCommandGroup { // super(new FooCommand(), new BarCommand()); addCommands( paths[0], - new Wait(drive, 0.01, 1), - new TankDriveVelocity(drive, 3, 3, 1) - //new InstantCommand(() -> drive.tankDriveVelocity(7, 7)).withTimeout(7) //my life be like oooooo aaaaaa ooooo aaaa + //new Wait(drive, 0.01, 1), + new TankDriveVelocity(drive, 3, 3, 1) //my life be like oooooo aaaaaa ooooo aaaa ); } From c4132c16be49aae269fdc3d0e81329dfc333aa4c Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 25 Mar 2021 19:33:36 -0600 Subject: [PATCH 17/30] BarrelPath Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/Barrel | 22 +++++++++---------- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../robot/commands/auto/BarrelStart.java | 2 +- .../commands/auto/TankDriveVelocity.java | 22 +++++++++---------- 4 files changed, 23 insertions(+), 25 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index 85dd553..8326cc7 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -1,14 +1,12 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 1.1943219738452617,-2.286,1.0,0.0,true, -3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true, -4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true, -3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true, -3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true, -6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true, -6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true, -6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true, -5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true, -6.760952135540809,-3.3405671584101007,1.7689513624943638,-0.7174767763963148,true, -8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true, -8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true, -5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true, +3.1673831089351285,-2.3571291631772207,0.24740578496424614,-0.04948115699284905,true, +4.237413128905495,-2.7839041422405457,0.4391452683115382,-0.7793282226373774,true, +3.736416414352895,-3.55086207562971,-1.1442517554596408,0.20410977259550345,true, +3.581787798750241,-2.6354606712619977,0.6679956194034653,0.6679956194034657,true, +6.476435482831926,-1.7571701346389224,0.5752184500418727,0.8844756812471817,true, +6.117697094633767,-0.7737321394060425,-1.168992333956064,-0.012370289248212263,true, +5.802254718804354,-1.95509476261032,0.6432550409070421,-1.2184734909489143,true, +7.020728209753269,-3.3096414352895698,1.6019524576434971,-0.8164390903820133,true, +8.239201700702182,-3.0746059395735355,0.2102949172196098,0.5009967145525991,true, +7.608316949043354,-2.286,-2.245,0.73,true, diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index c0ed443..ca72219 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2187102673732586,"velocity":0.5905177219077983,"acceleration":2.7,"pose":{"translation":{"x":1.2588980720299832,"y":-2.285922722263603},"rotation":{"radians":0.003300218876042722}},"curvature":0.08360108257796525},{"time":0.32215261307517074,"velocity":0.869812055302961,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.3344264074550538,"y":-2.285425994116153},"rotation":{"radians":0.00977105709688086}},"curvature":0.07909636837260302},{"time":0.4160456101725616,"velocity":1.1233231474659162,"acceleration":2.7,"pose":{"translation":{"x":1.4279891632353836,"y":-2.284205270138965},"rotation":{"radians":0.015918728834214902}},"curvature":0.05356350832784544},{"time":0.5082237737738553,"velocity":1.3722041891894092,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.5429858644732812,"y":-2.2820678426266667},"rotation":{"radians":0.020902445944875253}},"curvature":0.03524805598348557},{"time":0.5540736116987828,"velocity":1.4959987515867132,"acceleration":2.7000000000000037,"pose":{"translation":{"x":1.6087232877595716,"y":-2.280622066449583},"rotation":{"radians":0.023011819183014207}},"curvature":0.02929598403728293},{"time":0.5996729933580588,"velocity":1.6191170820667586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6797265193951247,"y":-2.278917977080996},"rotation":{"radians":0.02492799443154499}},"curvature":0.02494890772706978},{"time":0.6448761568664696,"velocity":1.741165623539468,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.7556488856141084,"y":-2.276956321064186},"rotation":{"radians":0.026696507591093054}},"curvature":0.021833827527741715},{"time":0.6895110814586326,"velocity":1.8616799199383078,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.8360247604880278,"y":-2.274742047704603},"rotation":{"radians":0.02835850881053178}},"curvature":0.01966287000932682},{"time":0.7333957838818654,"velocity":1.9801686164810364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9202881015862472,"y":-2.272283844554047},"rotation":{"radians":0.029950582156801363}},"curvature":0.01822838251389275},{"time":0.7763484730606336,"velocity":2.0961408772637102,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.0077909856365097,"y":-2.269593672894851},"rotation":{"radians":0.031505443960208455}},"curvature":0.01738804430528124},{"time":0.8181940251406694,"velocity":2.2091238678798066,"acceleration":1.9129004660008861,"pose":{"translation":{"x":2.09782214418546,"y":-2.26668630322406},"rotation":{"radians":0.03305292764946602}},"curvature":0.01705042963106636},{"time":0.8590515328070644,"velocity":2.2872802133344883,"acceleration":-0.009891077538481598,"pose":{"translation":{"x":2.189625499259163,"y":-2.263578850737615},"rotation":{"radians":0.03462099715925372}},"curvature":0.017163878999437405},{"time":0.8996497963215988,"velocity":2.2868786527621383,"acceleration":-0.017810737418055608,"pose":{"translation":{"x":2.2824186990236264,"y":-2.260290310814532},"rotation":{"radians":0.03623668314061173}},"curvature":0.01770884749530876},{"time":0.9403479113369821,"velocity":2.2861537893221895,"acceleration":-0.026471472922437428,"pose":{"translation":{"x":2.3754116534453207,"y":-2.2568410945010844},"rotation":{"radians":0.03792689442763922}},"curvature":0.018693063581720504},{"time":0.9808109521904178,"velocity":2.2850826730318783,"acceleration":-0.03648830831884538,"pose":{"translation":{"x":2.467825069951701,"y":-2.253252563994984},"rotation":{"radians":0.03971906353952586}},"curvature":0.020148563183742724},{"time":1.0207168762857308,"velocity":2.28362657336974,"acceleration":-0.04847544487207381,"pose":{"translation":{"x":2.558908989091727,"y":-2.2495465681295617},"rotation":{"radians":0.04164155510259771}},"curvature":0.02212939189211459},{"time":1.0597645887444982,"velocity":2.2817337181370645,"acceleration":-0.06299122276076084,"pose":{"translation":{"x":2.647961320196383,"y":-2.2457449778579504},"rotation":{"radians":0.043723699564921704}},"curvature":0.024708147453436434},{"time":1.0976819142229894,"velocity":2.2793452594413566,"acceleration":-0.0803443814764567,"pose":{"translation":{"x":2.7343463770392025,"y":-2.2418692217372636},"rotation":{"radians":0.04599519941429401}},"curvature":0.027968206655404074},{"time":1.1342334113053885,"velocity":2.2764085520162327,"acceleration":-0.10012313152642655,"pose":{"translation":{"x":2.8175134134967843,"y":-2.23793982141278},"rotation":{"radians":0.04848447005830239}},"curvature":0.03198595919722689},{"time":1.1692279244024095,"velocity":2.2729047917787164,"acceleration":-0.12020524202410213,"pose":{"translation":{"x":2.8970151592093165,"y":-2.2339759271021213},"rotation":{"radians":0.051215197916521474}},"curvature":0.03679308793339944},{"time":1.2025257141752181,"velocity":2.2689022229002083,"acceleration":-0.1349102273636397,"pose":{"translation":{"x":2.9725263552410954,"y":-2.2299948530794365},"rotation":{"radians":0.05420001620573172}},"curvature":0.04230274559614431},{"time":1.2340449524117718,"velocity":2.264649955303386,"acceleration":-0.1320556728893734,"pose":{"translation":{"x":3.04386228974105,"y":-2.226011613159581},"rotation":{"radians":0.057429781304977646}},"curvature":0.04817745716887109},{"time":1.263767356158981,"velocity":2.2607249432766587,"acceleration":-0.08952758550966038,"pose":{"translation":{"x":3.110997333603258,"y":-2.2220384561822986},"rotation":{"radians":0.060856758443414254}},"curvature":0.05361966356633187},{"time":1.291742881898082,"velocity":2.2582203620038737,"acceleration":-1.0330762847236068,"pose":{"translation":{"x":3.1740834761274694,"y":-2.218084401496404},"rotation":{"radians":0.06437084000478281}},"curvature":0.057102266084261756},{"time":1.343682619765553,"velocity":2.2045626505782288,"acceleration":-2.700000000000006,"pose":{"translation":{"x":3.289716320352391,"y":-2.2102507418444666},"rotation":{"radians":0.07074357954977191}},"curvature":0.04766609491133844},{"time":1.3936563283298362,"velocity":2.0696336374546633,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.07366718772581334}},"curvature":1.7559472386852986E-14},{"time":1.446167245004106,"velocity":1.927854162434134,"acceleration":-2.7,"pose":{"translation":{"x":3.5009774888602676,"y":-2.1958354150683257},"rotation":{"radians":0.04408248946944764}},"curvature":-0.5348899726955137},{"time":1.5025905325829751,"velocity":1.775511285971188,"acceleration":-1.947881146661342,"pose":{"translation":{"x":3.6054513375974606,"y":-2.194901056982796},"rotation":{"radians":-0.032756727565941016}},"curvature":-0.9117330540447421},{"time":1.532377368220815,"velocity":1.7174900704135392,"acceleration":-1.3365918622957664,"pose":{"translation":{"x":3.6573874293559525,"y":-2.197902168157788},"rotation":{"radians":-0.08385550737943201}},"curvature":-1.0468009009284915},{"time":1.562963025854635,"velocity":1.676609529317211,"acceleration":-0.8493679835678343,"pose":{"translation":{"x":3.708967770568674,"y":-2.2037019358964676},"rotation":{"radians":-0.14095860287814346}},"curvature":-1.1475806554581347},{"time":1.5941303317809126,"velocity":1.6501370175293668,"acceleration":-0.4545053403528738,"pose":{"translation":{"x":3.760051278933555,"y":-2.212542619576176},"rotation":{"radians":-0.20235998579142125}},"curvature":-1.2155050911469665},{"time":1.6256866553256428,"velocity":1.6357944999563838,"acceleration":-0.13667763522028784,"pose":{"translation":{"x":3.810481105154448,"y":-2.224577406560024},"rotation":{"radians":-0.26649074279012075}},"curvature":-1.253224029973154},{"time":1.657464403609018,"velocity":1.6314511924683865,"acceleration":0.11156785852119554,"pose":{"translation":{"x":3.860087950911264,"y":-2.2398779108093883},"rotation":{"radians":-0.33196358829596273}},"curvature":-1.2647771842600963},{"time":1.689321440706148,"velocity":1.6350054138761436,"acceleration":0.29469201392511474,"pose":{"translation":{"x":3.9086933868301053,"y":-2.258441671496421},"rotation":{"radians":-0.3976142401776337}},"curvature":-1.2553184282383525},{"time":1.721140324608674,"velocity":1.6443821848542284,"acceleration":0.4168460006244014,"pose":{"translation":{"x":3.956113170453401,"y":-2.280199651616547},"rotation":{"radians":-0.462527444530531}},"curvature":-1.2305605070275378},{"time":1.7528259318463346,"velocity":1.6575902035086028,"acceleration":0.4830819038240843,"pose":{"translation":{"x":4.002160564210038,"y":-2.3050237366009685},"rotation":{"radians":-0.5260420164397219}},"curvature":-1.1961619230557818},{"time":1.7843017254944118,"velocity":1.6727955898284899,"acceleration":0.4995801978754147,"pose":{"translation":{"x":4.046649653385497,"y":-2.332734232929167},"rotation":{"radians":-0.5877358727783444}},"curvature":-1.1572340891780697},{"time":1.8155053465106499,"velocity":1.6883843009902115,"acceleration":0.47331419940079017,"pose":{"translation":{"x":4.089398664091985,"y":-2.3631073667414064},"rotation":{"radians":-0.6473964178347918}},"curvature":-1.1180527878720856},{"time":1.8463842948077493,"velocity":1.7029997456817916,"acceleration":0.411525115182789,"pose":{"translation":{"x":4.1302332812385725,"y":-2.395882782451234},"rotation":{"radians":-0.7049831032830651}},"curvature":-1.0819692617086423},{"time":1.8768922977410063,"velocity":1.715554555102897,"acceleration":0.3213020435400049,"pose":{"translation":{"x":4.168989966501321,"y":-2.430771041357985},"rotation":{"radians":-0.7605881360060854}},"curvature":-1.0514640647050746},{"time":1.9069866796466668,"velocity":1.725223941508259,"acceleration":0.2094595788474468,"pose":{"translation":{"x":4.205519276293423,"y":-2.4674611202592835},"rotation":{"radians":-0.8143992858224134}},"curvature":-1.0282724102351393},{"time":1.9366267610822496,"velocity":1.7314323404827603,"acceleration":0.08281493588511045,"pose":{"translation":{"x":4.239689179735332,"y":-2.5056279100635455},"rotation":{"radians":-0.8666665259848375}},"curvature":-1.0135183537179602},{"time":1.9657730884143472,"velocity":1.7338460917120544,"acceleration":-0.051090355942143,"pose":{"translation":{"x":4.271388376624899,"y":-2.544939714402481},"rotation":{"radians":-0.9176723622074275}},"curvature":-1.0078106783408702},{"time":1.9943871334197238,"velocity":1.7323841899677852,"acceleration":-0.18280114479378606,"pose":{"translation":{"x":4.3005296154075054,"y":-2.585065748243597},"rotation":{"radians":-0.9677043207669488}},"curvature":-1.011265664044275},{"time":2.022430994160336,"velocity":1.7272577401199638,"acceleration":-0.29926854619025994,"pose":{"translation":{"x":4.3270530111461945,"y":-2.6256836365027},"rotation":{"radians":-1.0170271076389201}},"curvature":-1.023427473075515},{"time":2.0498665557553415,"velocity":1.719047139487513,"acceleration":-0.3816404164969631,"pose":{"translation":{"x":4.350929363491809,"y":-2.666486912656398},"rotation":{"radians":-1.0658513103346334}},"curvature":-1.043057135031417},{"time":2.0766535302672633,"velocity":1.7088241473780896,"acceleration":-0.4024256504931374,"pose":{"translation":{"x":4.372163474653122,"y":-2.7071925173546023},"rotation":{"radians":-1.1142951702206891}},"curvature":-1.0677616136684076},{"time":2.102745813520608,"velocity":1.6983239433170112,"acceleration":-0.32173337511986366,"pose":{"translation":{"x":4.390797467366973,"y":-2.7475482970330325},"rotation":{"radians":-1.1623360681465613}},"curvature":-1.0934456136080546},{"time":2.1280857368020087,"velocity":1.6901712442744077,"acceleration":-0.08172040681532794,"pose":{"translation":{"x":4.4069141028684005,"y":-2.7873405025257165},"rotation":{"radians":-1.2097493658742775}},"curvature":-1.1136075850584042},{"time":2.1525961623869976,"velocity":1.6881682423243856,"acceleration":0.8255842293293204,"pose":{"translation":{"x":4.420640098860775,"y":-2.826401287677493},"rotation":{"radians":-1.2560348532720509}},"curvature":-1.1185908934381819},{"time":2.1985228059071336,"velocity":1.7260845549206396,"acceleration":0.6636070329143385,"pose":{"translation":{"x":4.441666733294324,"y":-2.9019317190667566},"rotation":{"radians":-1.341367133488591}},"curvature":-1.026220854154948},{"time":2.2407386621111702,"velocity":1.7540992939981388,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.4558963245263365,"y":-2.9739998294508663},"rotation":{"radians":-1.4061439538167093}},"curvature":-0.680352653712131},{"time":2.282224840004595,"velocity":1.6420866136858916,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.466263479997429,"y":-3.043680216453008},"rotation":{"radians":-1.4320291524242457}},"curvature":6.639446958539566E-14},{"time":2.3262971619571715,"velocity":1.5230913444139345,"acceleration":-2.700000000000005,"pose":{"translation":{"x":4.47493566885881,"y":-3.1128873576883227},"rotation":{"radians":-1.4733803136380366}},"curvature":-1.1316416752351544},{"time":2.34954976709974,"velocity":1.4603093105290001,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.477537234678577,"y":-3.1474755755051773},"rotation":{"radians":-1.5206795873013448}},"curvature":-1.5839574422911495},{"time":2.3737329429429894,"velocity":1.3950147357522267,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":4.47824417761648,"y":-3.1819937388066166},"rotation":{"radians":-1.582145517204758}},"curvature":-1.9638499531766747},{"time":2.3990170018498564,"velocity":1.326747776703686,"acceleration":-1.9081760533040126,"pose":{"translation":{"x":4.476628081368838,"y":-3.216364367460064},"rotation":{"radians":-1.6551406766480576}},"curvature":-2.2640813419564507},{"time":2.425439586226621,"velocity":1.2763288339295393,"acceleration":-1.174823127491522,"pose":{"translation":{"x":4.472353114270583,"y":-3.250487631486124},"rotation":{"radians":-1.7369261089869281}},"curvature":-2.4754427100871244},{"time":2.439028133859808,"velocity":1.2603646939010507,"acceleration":-0.7559712463623799,"pose":{"translation":{"x":4.4691373551283755,"y":-3.2674199611488914},"rotation":{"radians":-1.780235090040976}},"curvature":-2.545890852288312},{"time":2.452800114389051,"velocity":1.2499534726154804,"acceleration":-0.37976648616176906,"pose":{"translation":{"x":4.4651696587926075,"y":-3.284244469950503},"rotation":{"radians":-1.8246863401303577}},"curvature":-2.5928039841338677},{"time":2.4667169000621008,"velocity":1.2446683438217598,"acceleration":-0.04173556961648505,"pose":{"translation":{"x":4.46043124887029,"y":-3.3009437821306764},"rotation":{"radians":-1.869939163282148}},"curvature":-2.6169191864273578},{"time":2.4807423720230206,"velocity":1.2440829827603308,"acceleration":0.2608068699631253,"pose":{"translation":{"x":4.454907941039103,"y":-3.317499709855939},"rotation":{"radians":-1.9156694687174334}},"curvature":-2.6196026991685377},{"time":2.4948435500339206,"velocity":1.2477606668601464,"acceleration":0.5293412094629097,"pose":{"translation":{"x":4.448589943969179,"y":-3.333893350685},"rotation":{"radians":-1.9615762061138535}},"curvature":-2.6027846116913493},{"time":2.508991114048479,"velocity":1.2552495555065668,"acceleration":0.7645962165176106,"pose":{"translation":{"x":4.441471660244904,"y":-3.350105185034125},"rotation":{"radians":-2.007386912328833}},"curvature":-2.568842502102348},{"time":2.5231597648989714,"velocity":1.2660828523400123,"acceleration":0.966914726342415,"pose":{"translation":{"x":4.433551487286703,"y":-3.366115173642506},"rotation":{"radians":-2.052861932599258}},"curvature":-2.520452987491824},{"time":2.5373283956544537,"velocity":1.279782710069596,"acceleration":1.1365510582727585,"pose":{"translation":{"x":4.424831618272835,"y":-3.381902855037636},"rotation":{"radians":-2.097797067131599}},"curvature":-2.460432361920452},{"time":2.5514800701235805,"velocity":1.2958668106638138,"acceleration":1.2739059551724827,"pose":{"translation":{"x":4.415317843061182,"y":-3.397447443000682},"rotation":{"radians":-2.1420245879634976}},"curvature":-2.3915856821036283},{"time":2.565601826360696,"velocity":1.3138566000317693,"acceleration":1.4179180083834808,"pose":{"translation":{"x":4.405019349111045,"y":-3.4127279240318553},"rotation":{"radians":-2.1854127397259857}},"curvature":-2.3165788937424012},{"time":2.5937097051471873,"velocity":1.3537112675405953,"acceleration":1.5119152501824336,"pose":{"translation":{"x":4.382120748370361,"y":-3.442411959686898},"rotation":{"radians":-2.2693121291850207}},"curvature":-2.1575089947297283},{"time":2.621629353179086,"velocity":1.395923409179749,"acceleration":1.5042545092006125,"pose":{"translation":{"x":4.356269702781623,"y":-3.470786012069539},"rotation":{"radians":-2.3490712474216524}},"curvature":-1.998934776694001},{"time":2.6493554252258025,"velocity":1.4376304780784432,"acceleration":1.4167007091209989,"pose":{"translation":{"x":4.32764171969303,"y":-3.497683732535139},"rotation":{"radians":-2.4246538251464913}},"curvature":-1.8514036586619682},{"time":2.6769021542915703,"velocity":1.4766559486798805,"acceleration":1.273310641964247,"pose":{"translation":{"x":4.296447556567484,"y":-3.522944492619568},"rotation":{"radians":-2.496292579924839}},"curvature":-1.7209054999252982},{"time":2.7042910388591146,"velocity":1.5115305068712652,"acceleration":1.0974351677939633,"pose":{"translation":{"x":4.262926850479932,"y":-3.5464165029311334},"rotation":{"radians":-2.564383333222713}},"curvature":-1.6099892177074169},{"time":2.7315421030901086,"velocity":1.5414367831181703,"acceleration":0.9098294623002342,"pose":{"translation":{"x":4.227341747614707,"y":-3.5679599320425046},"rotation":{"radians":-2.629400575604748}},"curvature":-1.5188715633298666},{"time":2.758668395867479,"velocity":1.5661170834900038,"acceleration":0.7280926972856049,"pose":{"translation":{"x":4.189970532762875,"y":-3.5874500253826396},"rotation":{"radians":-2.691834291672018}},"curvature":-1.4462971854706679},{"time":2.7856728923058447,"velocity":1.585778860140653,"acceleration":0.5671514750074605,"pose":{"translation":{"x":4.151101258819575,"y":-3.60478022412871},"rotation":{"radians":-2.752143554347901}},"curvature":-1.3900968726107652},{"time":2.8125468587378273,"velocity":1.6010204698418529,"acceleration":0.4403505004675717,"pose":{"translation":{"x":4.111025376281363,"y":-3.6198652840980277},"rotation":{"radians":-2.810721214923607}},"curvature":-1.347480728398351},{"time":2.8392688440373,"velocity":1.6127875094419628,"acceleration":0.3608045333662477,"pose":{"translation":{"x":4.070031362743557,"y":-3.6326443946399687},"rotation":{"radians":-2.867864492381076}},"curvature":-1.3151306002859184},{"time":2.8658036425894298,"velocity":1.6223613850515313,"acceleration":0.34286355611154073,"pose":{"translation":{"x":4.028398352397574,"y":-3.6430842975279023},"rotation":{"radians":-2.923747444426637}},"curvature":-1.2891561805538438},{"time":2.892100781212222,"velocity":1.6313777155153,"acceleration":0.40378222509876543,"pose":{"translation":{"x":3.9863897655282825,"y":-3.651182405851114},"rotation":{"radians":-2.9783927226739713}},"curvature":-1.264973161372076},{"time":2.9180923000703096,"velocity":1.641872628833515,"acceleration":0.5659730258720034,"pose":{"translation":{"x":3.944246938011336,"y":-3.656969922906732},"rotation":{"radians":-3.0316415233666105}},"curvature":-1.237158889638232},{"time":2.943689829543589,"velocity":1.6563601400443548,"acceleration":0.860627989676061,"pose":{"translation":{"x":3.902182750810521,"y":-3.6605149610916543},"rotation":{"radians":-3.083122208440791}},"curvature":-1.1993422985822897},{"time":2.9687812139373504,"velocity":1.6779544877533472,"acceleration":1.334156868249244,"pose":{"translation":{"x":3.8603752594751013,"y":-3.6619256607944726},"rotation":{"radians":-3.132219635474395}},"curvature":-1.1441869075289521},{"time":2.993227193230837,"velocity":1.7105692589288317,"acceleration":2.0600963679797957,"pose":{"translation":{"x":3.818961323637156,"y":-3.6613533092874},"rotation":{"radians":3.1051366406066983}},"curvature":-1.0635235450551903},{"time":3.0168589192841444,"velocity":1.7592528919403434,"acceleration":0.12428442356094499,"pose":{"translation":{"x":3.7780302365089273,"y":-3.658995459618195},"rotation":{"radians":3.063748832703824}},"curvature":-0.9486825705307834},{"time":3.0627351371109546,"velocity":1.7649545912281048,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.6976977261154533,"y":-3.649963520213708},"rotation":{"radians":3.0004256616166676}},"curvature":-0.5831023891549099},{"time":3.109622273561543,"velocity":1.6383593228115154,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.618898666494874,"y":-3.6374541003671883},"rotation":{"radians":2.9756452543002636}},"curvature":-5.907555901800373E-14},{"time":3.160242199434735,"velocity":1.5016855229538972,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.540776543564966,"y":-3.6228555685521426},"rotation":{"radians":2.9208020800297847}},"curvature":-1.3047670116218097},{"time":3.1872884345929915,"velocity":1.428660688026605,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.5023815148348256,"y":-3.6130497592498534},"rotation":{"radians":2.8590650570922564}},"curvature":-1.7924770767245273},{"time":3.2157793181040195,"velocity":1.35173530254683,"acceleration":-2.350019475931673,"pose":{"translation":{"x":3.4647929039991814,"y":-3.6005642654703025},"rotation":{"radians":2.780266222692359}},"curvature":-2.1651745632888697},{"time":3.2306539089148174,"velocity":1.3167797244449404,"acceleration":-1.6722139673848442,"pose":{"translation":{"x":3.4463865375503278,"y":-3.593141960722154},"rotation":{"radians":2.7358537677740284}},"curvature":-2.3045847561082318},{"time":3.245919508912784,"velocity":1.2912523749078302,"acceleration":-1.0933839551431819,"pose":{"translation":{"x":3.42828434405497,"y":-3.584860486651614},"rotation":{"radians":2.68885663440096}},"curvature":-2.411161951346438},{"time":3.261509153545738,"velocity":1.2742069075997742,"acceleration":-0.5925429511370324,"pose":{"translation":{"x":3.4105203164627507,"y":-3.575677279059005},"rotation":{"radians":2.6398443351777328}},"curvature":-2.4847048341054063},{"time":3.2773587797603363,"velocity":1.2648153233081574,"acceleration":-0.15670748855874975,"pose":{"translation":{"x":3.393128229290279,"y":-3.5655589255357705},"rotation":{"radians":2.5893742525378456}},"curvature":-2.5260718899874157},{"time":3.2934085780351134,"velocity":1.2623001997286425,"acceleration":0.22188014370078749,"pose":{"translation":{"x":3.376141568114266,"y":-3.554480769381791},"rotation":{"radians":2.5379779453150473}},"curvature":-2.5372547370426246},{"time":3.309604353851206,"velocity":1.2658937207940628,"acceleration":0.5476082117334176,"pose":{"translation":{"x":3.3595934590646563,"y":-3.5424265135226998},"rotation":{"radians":2.486147310664261}},"curvature":-2.521290685390114},{"time":3.325898683584111,"velocity":1.2748166295604937,"acceleration":0.822818020735764,"pose":{"translation":{"x":3.3435165983177657,"y":-3.5293878244271975},"rotation":{"radians":2.4343223614868856}},"curvature":-2.482040264999584},{"time":3.342251700231486,"velocity":1.2882721863513458,"acceleration":1.0487960022102008,"pose":{"translation":{"x":3.3279431815894154,"y":-3.5153639360243667},"rotation":{"radians":2.3828819898279607}},"curvature":-2.423879628757678},{"time":3.358631420291372,"velocity":1.305451171267476,"acceleration":1.2265297989802908,"pose":{"translation":{"x":3.312904833628065,"y":-3.500361253620989},"rotation":{"radians":2.3321385005754136}},"curvature":-2.3513672651798405},{"time":3.375013604161698,"velocity":1.325544407956805,"acceleration":1.3572622092270228,"pose":{"translation":{"x":3.2984325377079484,"y":-3.484392957818859},"rotation":{"radians":2.2823360682148905}},"curvature":-2.268938686425091},{"time":3.3913812103173466,"velocity":1.3477595412473784,"acceleration":1.442851275388735,"pose":{"translation":{"x":3.2845565651222093,"y":-3.467478608432099},"rotation":{"radians":2.233652730724247}},"curvature":-2.1806662625159747},{"time":3.4077235470986795,"velocity":1.3713391027151567,"acceleration":1.4859436376739052,"pose":{"translation":{"x":3.2713064046760336,"y":-3.449643748404477},"rotation":{"radians":2.186205175488278}},"curvature":-2.090101078299267},{"time":3.4240352427425202,"velocity":1.3955773630767951,"acceleration":1.4899807722256548,"pose":{"translation":{"x":3.2587106921797857,"y":-3.430919507726718},"rotation":{"radians":2.1400554149730997}},"curvature":-2.0001957366119023},{"time":3.44031514867009,"velocity":1.4198341098825167,"acceleration":1.4285395759792927,"pose":{"translation":{"x":3.2467971399421427,"y":-3.411342207353823},"rotation":{"radians":2.0952184656896558}},"curvature":-1.913294919697535},{"time":3.4727879165068143,"velocity":1.4662227438788646,"acceleration":1.2569773510293403,"pose":{"translation":{"x":3.2251223249277534,"y":-3.3697972896678894},"rotation":{"radians":2.0093553382472162}},"curvature":-1.755112996104958},{"time":3.5051858125783926,"velocity":1.506946165461841,"acceleration":1.010947744053941,"pose":{"translation":{"x":3.2064825088076545,"y":-3.325388331130148},"rotation":{"radians":1.9280865630670296}},"curvature":-1.6242763519221965},{"time":3.5375562542321055,"velocity":1.539670990425692,"acceleration":0.7234094851125632,"pose":{"translation":{"x":3.1910589522902577,"y":-3.278552373660638},"rotation":{"radians":1.850579565963845}},"curvature":-1.5241532045401187},{"time":3.569944441995804,"velocity":1.563100912659558,"acceleration":0.4203694296135417,"pose":{"translation":{"x":3.1790113713979062,"y":-3.2297714906700543},"rotation":{"radians":1.7758477540661566}},"curvature":-1.4550435488705087},{"time":3.6023866882677518,"velocity":1.5767386412202788,"acceleration":0.1213977816001008,"pose":{"translation":{"x":3.170475681247182,"y":-3.179560112413838},"rotation":{"radians":1.7028488804799111}},"curvature":-1.4157629463905503},{"time":3.634909041191379,"velocity":1.5806867827176228,"acceleration":-0.15800539800444535,"pose":{"translation":{"x":3.1655617398292164,"y":-3.1284523513462643},"rotation":{"radians":1.6305476291791685}},"curvature":-1.4045176734251699},{"time":3.66752861151223,"velocity":1.5755327145263427,"acceleration":-0.4035534189564679,"pose":{"translation":{"x":3.1643510917899986,"y":-3.0769893274745304},"rotation":{"radians":1.5579591589614288}},"curvature":-1.4192089569038318},{"time":3.700255311773435,"velocity":1.5623257427447699,"acceleration":-0.5998362124753115,"pose":{"translation":{"x":3.166894712210685,"y":-3.0257064937128453},"rotation":{"radians":1.4841885833680781}},"curvature":-1.4572968598315164},{"time":3.7330920623446318,"velocity":1.5426290706521466,"acceleration":-0.7291694374618671,"pose":{"translation":{"x":3.1732107503879083,"y":-2.9751209612365166},"rotation":{"radians":1.4084788592405049}},"curvature":-1.5153121649421712},{"time":3.766031868384341,"velocity":1.518610370812069,"acceleration":-0.7719633056205969,"pose":{"translation":{"x":3.1832822736140844,"y":-2.9257188248360437},"rotation":{"radians":1.3302766569902722}},"curvature":-1.588094242430901},{"time":3.7990506776466306,"velocity":1.493121061666296,"acceleration":-0.7084328836344009,"pose":{"translation":{"x":3.197055010957725,"y":-2.8779424882712012},"rotation":{"radians":1.2493214035108509}},"curvature":-1.667893620657483},{"time":3.8320958321663423,"velocity":1.4697107875597524,"acceleration":-0.5206840376279098,"pose":{"translation":{"x":3.214435097043743,"y":-2.832177989625132},"rotation":{"radians":1.1657551292949253}},"curvature":-1.7436226553831164},{"time":3.8650713885072405,"velocity":1.4525409417411468,"acceleration":-0.19335966368689936,"pose":{"translation":{"x":3.2352868158337653,"y":-2.7887423266584315},"rotation":{"radians":1.0802390921780909}},"curvature":-1.8007164563684022},{"time":3.8978233919448235,"velocity":1.4462080253713836,"acceleration":0.28950538696003353,"pose":{"translation":{"x":3.2594303444064368,"y":-2.7478707821632415},"rotation":{"radians":0.9940495437795314}},"curvature":-1.8221171292724059},{"time":3.9301294824795945,"velocity":1.4555608126128183,"acceleration":0.9541258116483556,"pose":{"translation":{"x":3.2866394967377346,"y":-2.709704249317334},"rotation":{"radians":0.9091167767859056}},"curvature":-1.7905770515720254},{"time":3.9616966146226202,"velocity":1.4856798281901937,"acceleration":1.8574780480076598,"pose":{"translation":{"x":3.316639467481273,"y":-2.6742765570382048},"rotation":{"radians":0.8279796053551205}},"curvature":-1.6917062585901652},{"time":3.9921673596241454,"velocity":1.5422785681369655,"acceleration":2.6999999999999758,"pose":{"translation":{"x":3.349104575748616,"y":-2.6415017953371587},"rotation":{"radians":0.7536575358116631}},"curvature":-1.516357967331428},{"time":4.021241635842057,"velocity":1.6207791139253276,"acceleration":2.7000000000000037,"pose":{"translation":{"x":3.3836560088895826,"y":-2.6111616406733975},"rotation":{"radians":0.689484901651147}},"curvature":-1.2608421714525015},{"time":4.048942509069614,"velocity":1.6955714716397319,"acceleration":1.9519226170197033,"pose":{"translation":{"x":3.4198595662725584,"y":-2.582892681308114},"rotation":{"radians":0.6389791107940948}},"curvature":-0.9245044264942149},{"time":4.1015330276221205,"velocity":1.7982240942431622,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.495195774012762,"y":-2.530313212652211},"rotation":{"radians":0.5938368430682723}},"curvature":-9.875390829249706E-14},{"time":4.155913546356542,"velocity":1.6513966936602231,"acceleration":-1.561708702385104,"pose":{"translation":{"x":3.574172942270117,"y":-2.4797136844248446},"rotation":{"radians":0.5266644556519199}},"curvature":-1.2122236070167007},{"time":4.186861189638808,"velocity":1.6030654898279983,"acceleration":1.0062351574870936,"pose":{"translation":{"x":3.6185009069449117,"y":-2.455816882507637},"rotation":{"radians":0.4611286319384223}},"curvature":-1.3418244310363576},{"time":4.220381132276934,"velocity":1.6367944345874317,"acceleration":2.169289989473013,"pose":{"translation":{"x":3.667966637404287,"y":-2.4334198491738435},"rotation":{"radians":0.39004672823243963}},"curvature":-1.2505728967499479},{"time":4.255772063353103,"velocity":1.713567627089093,"acceleration":2.5123878509264164,"pose":{"translation":{"x":3.7235603652448366,"y":-2.412823905881168},"rotation":{"radians":0.3214805391546347}},"curvature":-1.0562620529171904},{"time":4.292758810535883,"velocity":1.806492681356397,"acceleration":2.3789517460079206,"pose":{"translation":{"x":3.7859495322326935,"y":-2.3942412755293208},"rotation":{"radians":0.2598048812237801}},"curvature":-0.843164631816091},{"time":4.331342596791146,"velocity":1.8982816470359505,"acceleration":2.024289952083726,"pose":{"translation":{"x":3.8555054004240032,"y":-2.377802182916105},"rotation":{"radians":0.20662842922466537}},"curvature":-0.6531546368272418},{"time":4.371636708977578,"velocity":1.979848613463079,"acceleration":1.6196685671786193,"pose":{"translation":{"x":3.9323296622853983,"y":-2.3635619551935028},"rotation":{"radians":0.16193651601940368}},"curvature":-0.49908945394424453},{"time":4.413749081884396,"velocity":2.0480567001495573,"acceleration":1.2548130938058044,"pose":{"translation":{"x":4.01628105081447,"y":-2.3515081223237604},"rotation":{"radians":0.1249605664768298}},"curvature":-0.3796783444810861},{"time":4.457718050533009,"velocity":2.1032295377309733,"acceleration":0.9614544342342403,"pose":{"translation":{"x":4.107001949660242,"y":-2.341567517535477},"rotation":{"radians":0.09469521385310915}},"curvature":-0.2887541424633379},{"time":4.50348662324541,"velocity":2.147233934913883,"acceleration":0.740510478369831,"pose":{"translation":{"x":4.203945003243648,"y":-2.333613377779689},"rotation":{"radians":0.07015584569440879}},"curvature":-0.21958492422111742},{"time":4.550899377072505,"velocity":2.182343575931217,"acceleration":0.5810643692237095,"pose":{"translation":{"x":4.306399726877996,"y":-2.327472444185958},"rotation":{"radians":0.05048474589487245}},"curvature":-0.16639777316844012},{"time":4.599710830477798,"velocity":2.2107061723150556,"acceleration":0.47024424103396445,"pose":{"translation":{"x":4.413519116889452,"y":-2.3229320625184555},"rotation":{"radians":0.03498113282280543}},"curvature":-0.12466524816678795},{"time":4.649598834783794,"velocity":2.234165719036628,"acceleration":0.3972329226620022,"pose":{"translation":{"x":4.524346260737506,"y":-2.3197472836320516},"rotation":{"radians":0.023097932367900583}},"curvature":-0.0909476962537981},{"time":4.700179664583588,"velocity":2.254258089888669,"acceleration":0.3544202272013157,"pose":{"translation":{"x":4.637840947135448,"y":-2.317647963928399},"rotation":{"radians":0.014426980710845442}},"curvature":-0.06262758268219738},{"time":4.751023264018339,"velocity":2.2722780899520663,"acceleration":0.3375069798318182,"pose":{"translation":{"x":4.752906276170842,"y":-2.3163458658120204},"rotation":{"radians":0.00868269842245165}},"curvature":-0.03765448038405876},{"time":4.80166801490814,"velocity":2.289371046869218,"acceleration":0.08050585061822489,"pose":{"translation":{"x":4.8684152694259994,"y":-2.3155417581463964},"rotation":{"radians":0.005688430722810769}},"curvature":-0.014329442552502285},{"time":4.851779047531423,"velocity":2.293405278175913,"acceleration":-0.3654279774106334,"pose":{"translation":{"x":4.983237480098451,"y":-2.3149325167100496},"rotation":{"radians":0.005366891900975762}},"curvature":0.008875047030571745},{"time":4.9012590563675555,"velocity":2.2753238986246647,"acceleration":-0.41076401957231085,"pose":{"translation":{"x":5.096265603121419,"y":-2.314218224652632},"rotation":{"radians":0.007734871733491828}},"curvature":0.03347251209378743},{"time":4.949897376564646,"velocity":2.2553450267152626,"acceleration":-0.4877692306410743,"pose":{"translation":{"x":5.206442085284297,"y":-2.313109272951011},"rotation":{"radians":0.012901642214238736}},"curvature":0.06110993661146819},{"time":4.997298752743014,"velocity":2.232224093925412,"acceleration":-0.6034864892370795,"pose":{"translation":{"x":5.312785735353115,"y":-2.3113334608653577},"rotation":{"radians":0.021069750609337978}},"curvature":0.09371142254991206},{"time":5.043128366949484,"velocity":2.2045665409448594,"acceleration":-0.7661482013368547,"pose":{"translation":{"x":5.4144183341910175,"y":-2.3086430963952305},"rotation":{"radians":0.03253554725545341}},"curvature":0.13360799398094314},{"time":5.087123525344729,"velocity":2.170859729472813,"acceleration":-0.9812415990491414,"pose":{"translation":{"x":5.510591244878737,"y":-2.3048220967356623},"rotation":{"radians":0.04768412387659894}},"curvature":0.18360517561898318},{"time":5.129102845500375,"velocity":2.1296678742362904,"acceleration":-1.242205824296359,"pose":{"translation":{"x":5.600712022835065,"y":-2.2996930887332496},"rotation":{"radians":0.06696816652108217}},"curvature":0.24685372019843121},{"time":5.168969929394199,"velocity":2.080144750425671,"acceleration":-1.5121111007714538,"pose":{"translation":{"x":5.684371025937329,"y":-2.2931245093422343},"rotation":{"radians":0.09085091666235459}},"curvature":0.3262107528656812},{"time":5.2067063186703235,"velocity":2.0230831372982094,"acceleration":-1.6943584062209944,"pose":{"translation":{"x":5.761368024641861,"y":-2.285037706080595},"rotation":{"radians":0.11967857246497457}},"curvature":0.42246492951690434},{"time":5.242345911730214,"velocity":1.9626968932028874,"acceleration":-1.5964808796036474,"pose":{"translation":{"x":5.8317388121044775,"y":-2.275414037486129},"rotation":{"radians":0.15342908645472056}},"curvature":0.5304226929799345},{"time":5.275922048627763,"velocity":1.909093232634996,"acceleration":-0.021819279762994005,"pose":{"translation":{"x":5.895781814300943,"y":-2.264301973572542},"rotation":{"radians":0.19127701241176445}},"curvature":0.6319766618968363},{"time":5.3360655322501005,"velocity":1.9077809451399192,"acceleration":2.6999999999999846,"pose":{"translation":{"x":6.007550991621105,"y":-2.238184699958877},"rotation":{"radians":0.26812054317861916}},"curvature":0.6345344005772399},{"time":5.387710908909375,"velocity":2.0472234621199585,"acceleration":1.431988629648746,"pose":{"translation":{"x":6.1053268053855545,"y":-2.208685692198668},"rotation":{"radians":0.3070457320188037}},"curvature":2.791280928536025E-14},{"time":5.4354737885570055,"velocity":2.115619362694648,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.199952216830501,"y":-2.1782011027926833},"rotation":{"radians":0.320629751815646}},"curvature":0.26353888008416665},{"time":5.482987789148338,"velocity":1.98733156109805,"acceleration":-2.2337169774045353,"pose":{"translation":{"x":6.2919379869050776,"y":-2.1459557772356694},"rotation":{"radians":0.35729450716432604}},"curvature":0.4855888493314479},{"time":5.5316319395224545,"velocity":1.8786742965559666,"acceleration":-1.9525413445076651,"pose":{"translation":{"x":6.379141892524152,"y":-2.1107849752918497},"rotation":{"radians":0.4126651514990818}},"curvature":0.6921838319588445},{"time":5.580554800594205,"velocity":1.7831503876217676,"acceleration":-1.7527241723098683,"pose":{"translation":{"x":6.459927670080282,"y":-2.072093054962797},"rotation":{"radians":0.4836805820799579}},"curvature":0.8946047759588094},{"time":5.629133416080918,"velocity":1.6980054740008605,"acceleration":-1.6046706222828768,"pose":{"translation":{"x":6.533124668926888,"y":-2.0297642854502436},"rotation":{"radians":0.5677347722248844}},"curvature":1.0942295680094478},{"time":5.653159456512617,"velocity":1.6594515927503326,"acceleration":-1.497054227218421,"pose":{"translation":{"x":6.566628935025422,"y":-2.007309193722053},"rotation":{"radians":0.6138298431558038}},"curvature":1.1913581966357853},{"time":5.676933519437327,"velocity":1.6238605313507382,"acceleration":-1.3789482952658414,"pose":{"translation":{"x":6.597987504861422,"y":-1.984073660118881},"rotation":{"radians":0.662164626463665}},"curvature":1.285116653549416},{"time":5.700408662589926,"velocity":1.5914895227193393,"acceleration":-1.2495496821666994,"pose":{"translation":{"x":6.6271670339410305,"y":-1.9601384772134873},"rotation":{"radians":0.7123568098053514}},"curvature":1.3740340109881797},{"time":5.723539310620742,"velocity":1.5625866288241235,"acceleration":-1.108979376738292,"pose":{"translation":{"x":6.654155713608542,"y":-1.9355977094591659},"rotation":{"radians":0.7640025654309002}},"curvature":1.456538250746444},{"time":5.746280503433342,"velocity":1.537367114992521,"acceleration":-0.9577327141202648,"pose":{"translation":{"x":6.67896201021775,"y":-1.910555906094834},"rotation":{"radians":0.8166807624370874}},"curvature":1.5310625404211395},{"time":5.768587558196346,"velocity":1.5160029188903197,"acceleration":-0.796057602393922,"pose":{"translation":{"x":6.7016134043032904,"y":-1.8851253140501194},"rotation":{"radians":0.8699591565747415}},"curvature":1.5961341811071255},{"time":5.790416035988363,"velocity":1.4986261931952978,"acceleration":-0.6232463783256424,"pose":{"translation":{"x":6.722155129751999,"y":-1.8594230908504479},"rotation":{"radians":0.9234014388591596}},"curvature":1.6504288782344587},{"time":5.811721875983394,"velocity":1.4853474055812095,"acceleration":-0.4368111524986149,"pose":{"translation":{"x":6.7406489129742555,"y":-1.833568517522131},"rotation":{"radians":0.9765738785866126}},"curvature":1.6927756091736645},{"time":5.832461551716503,"velocity":1.4762880839217825,"acceleration":-0.2314819110161346,"pose":{"translation":{"x":6.757171712075334,"y":-1.8076802114974533},"rotation":{"radians":1.0290503142125185}},"curvature":1.7221033999561646},{"time":5.852592118176324,"velocity":1.4716282219278258,"acceleration":0.0020798472459068323,"pose":{"translation":{"x":6.771814456026753,"y":-1.7818733395197603},"rotation":{"radians":1.0804144385146661}},"curvature":1.7373294291624883},{"time":5.872071053778731,"velocity":1.4716687351383917,"acceleration":0.27902680581114225,"pose":{"translation":{"x":6.784680783837622,"y":-1.7562568305485466},"rotation":{"radians":1.1302586694259535}},"curvature":1.7371966373448247},{"time":5.890855854044242,"velocity":1.4769101979542776,"acceleration":0.6228045840127701,"pose":{"translation":{"x":6.795885783725995,"y":-1.7309305886645412},"rotation":{"radians":1.1781793553039033}},"curvature":1.7200779215396507},{"time":5.908903401627462,"velocity":1.488150293319296,"acceleration":1.068779217920909,"pose":{"translation":{"x":6.805554732290213,"y":-1.7059827059747978},"rotation":{"radians":1.2237686037441655}},"curvature":1.6837741338932877},{"time":5.926169222288207,"velocity":1.5066036436218497,"acceleration":2.079832477396287,"pose":{"translation":{"x":6.813821833680262,"y":-1.6814866755177813},"rotation":{"radians":1.266603651126242}},"curvature":1.6253473146165713},{"time":5.958092699861785,"velocity":1.5729991290708094,"acceleration":0.051594921131819196,"pose":{"translation":{"x":6.826724384324077,"y":-1.6340544255433667},"rotation":{"radians":1.3421791884945402}},"curvature":1.4264660463431678},{"time":5.987405782462968,"velocity":1.574511535255748,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.835797708401378,"y":-1.5888238920705637},"rotation":{"radians":1.4008735118959863}},"curvature":1.0885827493809026},{"time":6.044891139626748,"velocity":1.4193010709135419,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.84754416027829,"y":-1.503579205050574},"rotation":{"radians":1.4510023040421736}},"curvature":1.7715692437350834E-13},{"time":6.0757097146403805,"velocity":1.3360909183767344,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.851984607081678,"y":-1.4613534135337432},"rotation":{"radians":1.494256339822448}},"curvature":1.8581562360282755},{"time":6.092414907394683,"velocity":1.2909868979401184,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.853168939746769,"y":-1.439442477386759},"rotation":{"radians":1.5412128701960082}},"curvature":2.3718651198268668},{"time":6.1103577863893745,"velocity":1.24254112465445,"acceleration":-0.6166556605069284,"pose":{"translation":{"x":6.853201355393319,"y":-1.416713107132108},"rotation":{"radians":1.5984874223807723}},"curvature":2.6266832511082527},{"time":6.129533169640122,"velocity":1.2307165160304872,"acceleration":0.8394617204996494,"pose":{"translation":{"x":6.851797763888517,"y":-1.3930418521610104},"rotation":{"radians":1.6617678831628404}},"curvature":2.681574207858292},{"time":6.149597126465827,"velocity":1.2475594397474241,"acceleration":1.645089936550396,"pose":{"translation":{"x":6.848720491289746,"y":-1.368371019608779},"rotation":{"radians":1.727681467037012}},"curvature":2.6037022610886744},{"time":6.170268618771731,"velocity":1.2815659037133453,"acceleration":2.0315059890071883,"pose":{"translation":{"x":6.843775691827878,"y":-1.3427025692897732},"rotation":{"radians":1.7938691163350458}},"curvature":2.452714373008888},{"time":6.191378951079553,"velocity":1.3244516702266185,"acceleration":2.1266248736293996,"pose":{"translation":{"x":6.8368107598905645,"y":-1.3160920086323515},"rotation":{"radians":1.8588850345754167}},"curvature":2.2733571203755925},{"time":6.212843383216096,"velocity":1.3700984655065194,"acceleration":2.0202630222827294,"pose":{"translation":{"x":6.827711742005542,"y":-1.288642287613827},"rotation":{"radians":1.9220079361582072}},"curvature":2.094788467210639},{"time":6.234632235392375,"velocity":1.414117677856241,"acceleration":1.7842140965824382,"pose":{"translation":{"x":6.816400748823918,"y":-1.26049769369542},"rotation":{"radians":1.983035882179852}},"curvature":1.9335057759263254},{"time":6.256746941045841,"velocity":1.4535750474249256,"acceleration":1.4762107230804502,"pose":{"translation":{"x":6.80283336710347,"y":-1.2318377467572112},"rotation":{"radians":2.04210731027512}},"curvature":1.7972396387520346},{"time":6.279202771544771,"velocity":1.4867245852031228,"acceleration":1.140162016787184,"pose":{"translation":{"x":6.786996071691942,"y":-1.2028710940330978},"rotation":{"radians":2.099563886717887}},"curvature":1.68834855487756},{"time":6.302017736951581,"velocity":1.512737342174281,"acceleration":0.8071591661207839,"pose":{"translation":{"x":6.768903637510342,"y":-1.173829405045744},"rotation":{"radians":2.1558539023196386}},"curvature":1.6062425050525895},{"time":6.32520625416322,"velocity":1.5314541663904047,"acceleration":0.4978802255955552,"pose":{"translation":{"x":6.748596551536233,"y":-1.1449612665415376},"rotation":{"radians":2.2114675639221404}},"curvature":1.5488906518147985},{"time":6.34877603932658,"velocity":1.5431890963447774,"acceleration":0.2256484113622274,"pose":{"translation":{"x":6.726138424787028,"y":-1.1165260774255419},"rotation":{"radians":2.2668940922447476}},"curvature":1.5136421893631578},{"time":6.372726885860627,"velocity":1.5485935668159656,"acceleration":-6.807327859582172E-4,"pose":{"translation":{"x":6.701613404303294,"y":-1.0887879436964503},"rotation":{"radians":2.322591776298438}},"curvature":1.4975883328404802},{"time":6.397050280202615,"velocity":1.5485770090839712,"acceleration":-0.17448174279717724,"pose":{"translation":{"x":6.675123585132039,"y":-1.0620095733815398},"rotation":{"radians":2.3789641359324474}},"curvature":1.4976373460809593},{"time":6.421729079379705,"velocity":1.544271009193411,"acceleration":-0.2899124825834493,"pose":{"translation":{"x":6.64678642231001,"y":-1.0364461714716247},"rotation":{"radians":2.436337296083099}},"curvature":1.510419396154959},{"time":6.446736707839022,"velocity":1.537020985543246,"acceleration":-0.34118184944313845,"pose":{"translation":{"x":6.61673214284699,"y":-1.0123393348560101},"rotation":{"radians":2.4949354139148214}},"curvature":1.5321023743715674},{"time":6.472035544775891,"velocity":1.5283894815683645,"acceleration":-0.322325835998301,"pose":{"translation":{"x":6.585101157709093,"y":-0.9899109472574465},"rotation":{"radians":2.5548526471510677}},"curvature":1.5581852495692718},{"time":6.4975743957392655,"velocity":1.5201576500811589,"acceleration":-0.2271909758331804,"pose":{"translation":{"x":6.55204147380206,"y":-0.9693570741670829},"rotation":{"radians":2.6160218892927363}},"curvature":1.5833363289355815},{"time":6.52328518884937,"velocity":1.5143163899050291,"acceleration":-0.04923540799720948,"pose":{"translation":{"x":6.517706105954552,"y":-0.95084185777942},"rotation":{"radians":2.6781823924242776}},"curvature":1.601349249099422},{"time":6.549079289440999,"velocity":1.5130464068384792,"acceleration":0.21933552644413537,"pose":{"translation":{"x":6.4822504889014505,"y":-0.9344914119272651},"rotation":{"radians":2.7408502576277325}},"curvature":1.6052839514494401},{"time":6.574844024973559,"velocity":1.5186975286702071,"acceleration":0.5897119400090209,"pose":{"translation":{"x":6.445829889267147,"y":-0.920387717016685},"rotation":{"radians":2.8032970531227175}},"curvature":1.5878259726668469},{"time":6.600440054648301,"velocity":1.5337918129862276,"acceleration":1.0807934158487873,"pose":{"translation":{"x":6.408596817548844,"y":-0.90856251496196},"rotation":{"radians":2.8645417046334765}},"curvature":1.5418259918675647},{"time":6.625700011278353,"velocity":1.561092607796613,"acceleration":1.727284209043048,"pose":{"translation":{"x":6.370698440099848,"y":-0.898991204120538},"rotation":{"radians":2.9233585582299653}},"curvature":1.4608860227818288},{"time":6.650428373923786,"velocity":1.6038055181095603,"acceleration":2.5949851419881953,"pose":{"translation":{"x":6.332273991112865,"y":-0.8915867342279876},"rotation":{"radians":2.9783000838047666}},"curvature":1.3397811496678185},{"time":6.674401933860499,"velocity":1.6660165499458932,"acceleration":2.6999999999999953,"pose":{"translation":{"x":6.293452184603297,"y":-0.8861935013329516},"rotation":{"radians":3.027727173937782}},"curvature":1.1745015638892786},{"time":6.719902664473793,"velocity":1.7888685226017862,"acceleration":-0.838988824566227,"pose":{"translation":{"x":6.215063226091267,"y":-0.8804389319050934},"rotation":{"radians":3.1026663712086755}},"curvature":0.6983328490907881},{"time":6.764432453996793,"velocity":1.7515085268317028,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.1362525285061205,"y":-0.8788795980158471},"rotation":{"radians":3.131789046110493}},"curvature":-1.3496542794051404E-14},{"time":6.811206501179859,"velocity":1.6252185994374257,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.0572821849446274,"y":-0.8793245304375282},"rotation":{"radians":-3.1065366404729224}},"curvature":1.0622129743789184},{"time":6.836149709537907,"velocity":1.5578719368706948,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.017652439251256,"y":-0.8816556098020346},"rotation":{"radians":-3.0567137117694307}},"curvature":1.429069662215705},{"time":6.86241045315562,"velocity":1.4869679291028706,"acceleration":-1.6893609692267229,"pose":{"translation":{"x":5.977938270388472,"y":-0.8862573007373383},"rotation":{"radians":-2.9940377392669313}},"curvature":1.6875671589121797},{"time":6.890017073476101,"velocity":1.4403303822411897,"acceleration":-0.619052930859026,"pose":{"translation":{"x":5.938205606422835,"y":-0.8936053006215278},"rotation":{"radians":-2.922368046743592}},"curvature":1.8421476920110798},{"time":6.918657620717645,"velocity":1.4226003675299057,"acceleration":0.13854526866753125,"pose":{"translation":{"x":5.898560049495785,"y":-0.9040485692214991},"rotation":{"radians":-2.845269966839634}},"curvature":1.9035729350390005},{"time":6.947966388094442,"velocity":1.4266609585804382,"acceleration":0.6663982780183214,"pose":{"translation":{"x":5.8591419652278445,"y":-0.9178190171657469},"rotation":{"radians":-2.7658377209734057}},"curvature":1.8893703177109238},{"time":6.977656898573354,"velocity":1.44644666363707,"acceleration":1.0057221731446928,"pose":{"translation":{"x":5.820121572122819,"y":-0.9350411944171553},"rotation":{"radians":-2.6865373237047723}},"curvature":1.8213073069968178},{"time":7.007523210988079,"velocity":1.4764838762626264,"acceleration":1.1834523737757507,"pose":{"translation":{"x":5.781694030972,"y":-0.9557419787457884},"rotation":{"radians":-2.6091299725611385}},"curvature":1.7214657553335084},{"time":7.037430495963753,"velocity":1.5118777236602754,"acceleration":1.2242815801776843,"pose":{"translation":{"x":5.7440745342583694,"y":-0.9798602642016813},"rotation":{"radians":-2.534693306744826}},"curvature":1.6089106436817548},{"time":7.067298431398667,"velocity":1.5484444868511766,"acceleration":1.1539736546453414,"pose":{"translation":{"x":5.707493395560797,"y":-1.007256649587631},"rotation":{"radians":-2.463717482289093}},"curvature":1.4980296684969048},{"time":7.097082652530885,"velocity":1.5828146933618872,"acceleration":0.9981178462782696,"pose":{"translation":{"x":5.672191138958245,"y":-1.037723126931987},"rotation":{"radians":-2.3962358647899276}},"curvature":1.3984801293003415},{"time":7.126758511734556,"velocity":1.6124346980367124,"acceleration":0.7795182438520606,"pose":{"translation":{"x":5.638413588433969,"y":-1.070992769961442},"rotation":{"radians":-2.331954975508437}},"curvature":1.3160936886933714},{"time":7.156309373275337,"velocity":1.6354701337292974,"acceleration":0.5162596869339882,"pose":{"translation":{"x":5.60640695727972,"y":-1.1067494225738237},"rotation":{"radians":-2.2703629028049113}},"curvature":1.2540847206404915},{"time":7.185719876949747,"velocity":1.6506535911488194,"acceleration":0.2212582304660347,"pose":{"translation":{"x":5.576412937499948,"y":-1.1446373873108833},"rotation":{"radians":-2.2108092449988384}},"curvature":1.21415879965412},{"time":7.214973520651888,"velocity":1.657126200589039,"acceleration":-0.09673185393869964,"pose":{"translation":{"x":5.548663789216002,"y":-1.1842711138310893},"rotation":{"radians":-2.152558545394135}},"curvature":1.1973610655232012},{"time":7.244053448148728,"velocity":1.6543132452898668,"acceleration":-0.4309888853884212,"pose":{"translation":{"x":5.523377430070332,"y":-1.225244887382416},"rotation":{"radians":-2.0948233843766975}},"curvature":1.20464510558545},{"time":7.272945213754537,"velocity":1.6418612154345156,"acceleration":-0.773888486309923,"pose":{"translation":{"x":5.500752524630691,"y":-1.2671425172751354},"rotation":{"radians":-2.0367846989138014}},"curvature":1.2371889449971691},{"time":7.301640283799087,"velocity":1.6196544311131809,"acceleration":-1.1134357652614595,"pose":{"translation":{"x":5.480963573794339,"y":-1.3095470253546075},"rotation":{"radians":-1.9776073195482964}},"curvature":1.2964691494678222},{"time":7.330138963388993,"velocity":1.5879229819950522,"acceleration":-1.4297025759864295,"pose":{"translation":{"x":5.464156004192241,"y":-1.3520503344740715},"rotation":{"radians":-1.91645936159511}},"curvature":1.3840523747115796},{"time":7.358451226329564,"velocity":1.5474448667369136,"acceleration":-1.6920418636584842,"pose":{"translation":{"x":5.4504412575932735,"y":-1.3942629569674367},"rotation":{"radians":-1.8525455761999476}},"curvature":1.5009911361091886},{"time":7.386593583918564,"velocity":1.4998268195542783,"acceleration":-1.8584020143213509,"pose":{"translation":{"x":5.439891880308422,"y":-1.435823683122073},"rotation":{"radians":-1.7851669930124427}},"curvature":1.6466369835629426},{"time":7.414579795467162,"velocity":1.4478171876391388,"acceleration":-1.877795571090861,"pose":{"translation":{"x":5.432536612594985,"y":-1.4764092696516016},"rotation":{"radians":-1.7138210860620298}},"curvature":1.8166615839118367},{"time":7.442403264376089,"velocity":1.3955704009495722,"acceleration":-1.6949557775378044,"pose":{"translation":{"x":5.428355478060779,"y":-1.5157441281686852},"rotation":{"radians":-1.6383554728237186}},"curvature":2.00022111237521},{"time":7.4700100356817085,"velocity":1.3487781444259477,"acceleration":-1.2520003926517775,"pose":{"translation":{"x":5.427274873068333,"y":-1.5536100136578201},"rotation":{"radians":-1.5591788539788232}},"curvature":2.1766885360236947},{"time":7.497264193788721,"velocity":1.3146559277745742,"acceleration":-0.47634245616483056,"pose":{"translation":{"x":5.4291626561390975,"y":-1.589855712948129},"rotation":{"radians":-1.477510001528427}},"curvature":2.3132938009500545},{"time":7.523912281176124,"velocity":1.3019623123763637,"acceleration":0.7634309668511047,"pose":{"translation":{"x":5.433823237357643,"y":-1.6244067331861447},"rotation":{"radians":-1.3956094518301694}},"curvature":2.365938863302389},{"time":7.549558209648122,"velocity":1.3215412083455353,"acceleration":2.6999999999999864,"pose":{"translation":{"x":5.440992667775863,"y":-1.6572749903086093},"rotation":{"radians":-1.31690582520533}},"curvature":2.2851610854603064},{"time":7.573676002570799,"velocity":1.3866592492367642,"acceleration":2.700000000000005,"pose":{"translation":{"x":5.4503337288171725,"y":-1.6885684975152582},"rotation":{"radians":-1.2459338716194437}},"curvature":2.0265213259962254},{"time":7.596203774049749,"velocity":1.4474842322299275,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.461431021680719,"y":-1.7185010537416168},"rotation":{"radians":-1.1880679273629566}},"curvature":1.560926730006552},{"time":7.637835297139652,"velocity":1.5598893445726676,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.486812342974934,"y":-1.7757255685112403},"rotation":{"radians":-1.1349193543875298}},"curvature":-2.9874785880668607E-14},{"time":7.677526726211587,"velocity":1.6670562030668916,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.513815995351345,"y":-1.8337949888915857},"rotation":{"radians":-1.1362726057076036}},"curvature":-0.016539811910726683},{"time":7.720095567162618,"velocity":1.7819920736346744,"acceleration":2.699999999999974,"pose":{"translation":{"x":5.544734274421549,"y":-1.9003775243225272},"rotation":{"radians":-1.1349949681124527}},"curvature":0.052034630467225826},{"time":7.76816559263676,"velocity":1.9117811424148574,"acceleration":2.700000000000011,"pose":{"translation":{"x":5.582475456215184,"y":-1.9807359178323514},"rotation":{"radians":-1.1276106925747755}},"curvature":0.10787742141813664},{"time":7.8220587901872225,"velocity":2.057292775801107,"acceleration":2.1410282312491136,"pose":{"translation":{"x":5.628961946084036,"y":-2.0770580831669134},"rotation":{"radians":-1.1141176507955801}},"curvature":0.14078302436425447},{"time":7.881136497856165,"velocity":2.183779815757794,"acceleration":-0.24481655286279774,"pose":{"translation":{"x":5.68525344175341,"y":-2.188975239005737},"rotation":{"radians":-1.0949403737120962}},"curvature":0.16425844298227135},{"time":7.912773678978782,"velocity":2.176034510133059,"acceleration":-0.2519087140196827,"pose":{"translation":{"x":5.717201635343008,"y":-2.2500951074866418},"rotation":{"radians":-1.0832133988451098}},"curvature":0.1758287999775167},{"time":7.946237959924122,"velocity":2.167604566154525,"acceleration":-0.2728888495771977,"pose":{"translation":{"x":5.7516700963735,"y":-2.3140800431781168},"rotation":{"radians":-1.0699787075876546}},"curvature":0.188515879980846},{"time":7.981334207565981,"velocity":2.158027191511062,"acceleration":-0.30491642213996706,"pose":{"translation":{"x":5.788603496586915,"y":-2.3803956095708028},"rotation":{"radians":-1.0551275864098477}},"curvature":0.2030501201491312},{"time":8.017845144051657,"velocity":2.14689440738887,"acceleration":-0.3468754795286571,"pose":{"translation":{"x":5.827915681570757,"y":-2.4484447268792158},"rotation":{"radians":-1.0385150768563445}},"curvature":0.22010776296991852},{"time":8.055538849546462,"velocity":2.1338193852201477,"acceleration":-0.39860808070298076,"pose":{"translation":{"x":5.869493519603363,"y":-2.5175838637359975},"rotation":{"radians":-1.019960546861272}},"curvature":0.2403685783291652},{"time":8.094176323829087,"velocity":2.1184181757531397,"acceleration":-0.46035044544541665,"pose":{"translation":{"x":5.913200750499257,"y":-2.587139228886169},"rotation":{"radians":-0.9992481395141277}},"curvature":0.2645548152728291},{"time":8.13351898561286,"velocity":2.100306763875972,"acceleration":-0.5321989513801739,"pose":{"translation":{"x":5.9588818344545045,"y":-2.6564229628813836},"rotation":{"radians":-0.9761279124327613}},"curvature":0.2934510135050659},{"time":8.173335910608536,"velocity":2.0791162381460904,"acceleration":-0.6134604045661026,"pose":{"translation":{"x":6.006365800892068,"y":-2.7247493297741805},"rotation":{"radians":-0.9503189521184723}},"curvature":0.32789893764181127},{"time":8.213410497767624,"velocity":2.054532065694657,"acceleration":-0.7017618422714231,"pose":{"translation":{"x":6.055470097307166,"y":-2.7914509088122372},"rotation":{"radians":-0.9215164137195069}},"curvature":0.3687540797437851},{"time":8.253546093020695,"velocity":2.026366436429201,"acceleration":-0.7918343381406543,"pose":{"translation":{"x":6.10600443811262,"y":-2.8558947861326245},"rotation":{"radians":-0.8894053775600914}},"curvature":0.4167795224641493},{"time":8.293569884698876,"velocity":1.9946742238358293,"acceleration":-0.87397854219204,"pose":{"translation":{"x":6.157774653484221,"y":-2.9174987464560562},"rotation":{"radians":-0.8536856455447042}},"curvature":0.47243980767312477},{"time":8.333334129428742,"velocity":1.9599211271954524,"acceleration":-0.932392853335137,"pose":{"translation":{"x":6.210586538206073,"y":-2.975747464781147},"rotation":{"radians":-0.8141129836732013}},"curvature":0.5355450972321937},{"time":8.37271353256787,"velocity":1.9232040531399262,"acceleration":-0.9437603533485275,"pose":{"translation":{"x":6.264249700515956,"y":-3.0302086980786602},"rotation":{"radians":-0.7705633800164033}},"curvature":0.6046942607952271},{"time":8.411597535858405,"velocity":1.8865068724548446,"acceleration":-0.8765626148564476,"pose":{"translation":{"x":6.31858141095068,"y":-3.080549476985765},"rotation":{"radians":-0.7231265815336309}},"curvature":0.6764954717393413},{"time":8.449876608055723,"velocity":1.8529528688352856,"acceleration":-0.6911500646767746,"pose":{"translation":{"x":6.373410451191438,"y":-3.126552297500287},"rotation":{"radians":-0.6722317125644008}},"curvature":0.7446358293261276},{"time":8.487422714954363,"velocity":1.827002874623929,"acceleration":-0.33926762147636796,"pose":{"translation":{"x":6.428580962909164,"y":-3.1681313126749653},"rotation":{"radians":-0.6187990131673747}},"curvature":0.7990505604509784},{"time":8.524066171166359,"velocity":1.8145709363922118,"acceleration":0.24051616565325948,"pose":{"translation":{"x":6.483956296609884,"y":-3.205348524311699},"rotation":{"radians":-0.5643967569060475}},"curvature":0.8256705872409517},{"time":8.559573769557192,"velocity":1.8231110878087309,"acceleration":1.137775513077628,"pose":{"translation":{"x":6.539422860480078,"y":-3.2384299746558063},"rotation":{"radians":-0.5113645424618696}},"curvature":0.8073448559759118},{"time":8.593635380465358,"velocity":1.8618655546360208,"acceleration":2.5049812617646716,"pose":{"translation":{"x":6.594893969232029,"y":-3.267781938090276},"rotation":{"radians":-0.4628530915600462}},"curvature":0.7262966991960407},{"time":8.62586670085144,"velocity":1.9426044082450873,"acceleration":2.700000000000018,"pose":{"translation":{"x":6.65031369294918,"y":-3.2940071128300197},"rotation":{"radians":-0.4227382002790479}},"curvature":0.5678319319036585},{"time":8.685210715750861,"velocity":2.102833248473526,"acceleration":1.4225316585976695,"pose":{"translation":{"x":6.760952135540793,"y":-3.3405671584101064},"rotation":{"radians":-0.3853198176751691}},"curvature":-3.568404011740405E-14},{"time":8.740846746497336,"velocity":2.1819772635691006,"acceleration":-1.4818508848188787,"pose":{"translation":{"x":6.871565862941563,"y":-3.384974740911895},"rotation":{"radians":-0.3749068184419325}},"curvature":0.1669438591847653},{"time":8.796171932974152,"velocity":2.099993587035661,"acceleration":-1.0709064776297963,"pose":{"translation":{"x":6.982324743425078,"y":-3.426962499776667},"rotation":{"radians":-0.34729592857952807}},"curvature":0.2939550613525814},{"time":8.852617884543493,"velocity":2.0395452518640758,"acceleration":-0.8509432076656538,"pose":{"translation":{"x":7.092923559130723,"y":-3.464607888085905},"rotation":{"radians":-0.3069108647204054}},"curvature":0.39414309572055434},{"time":8.909316736419019,"velocity":1.9912977489781558,"acceleration":-0.7579666059232015,"pose":{"translation":{"x":7.202658440298267,"y":-3.4964883725963083},"rotation":{"radians":-0.25696495811314823}},"curvature":0.47847426426559647},{"time":8.965541703983739,"velocity":1.9486811011449823,"acceleration":-0.7640039101631199,"pose":{"translation":{"x":7.310528793310386,"y":-3.5216347167203006},"rotation":{"radians":-0.19965080629313658}},"curvature":0.5564366526783604},{"time":9.02069778493092,"velocity":1.906541639632062,"acceleration":-0.8595775274270808,"pose":{"translation":{"x":7.415339228735183,"y":-3.5394842635065453},"rotation":{"radians":-0.13629498683287739}},"curvature":0.6369531250788507},{"time":9.074318280301695,"velocity":1.8604506668018375,"acceleration":-1.042330574404266,"pose":{"translation":{"x":7.515801489368694,"y":-3.5498342186204628},"rotation":{"radians":-0.06747821579404756}},"curvature":0.7291963010074658},{"time":9.12606744174458,"velocity":1.806510933630136,"acceleration":-1.3035458774237063,"pose":{"translation":{"x":7.6106363782773965,"y":-3.5527949333247437},"rotation":{"radians":0.006856432640540043}},"curvature":0.8431249288458307},{"time":9.175743809290303,"velocity":1.7417555095105226,"acceleration":-1.5320442263259912,"pose":{"translation":{"x":7.698675686840731,"y":-3.5487431874598667},"rotation":{"radians":0.08726414438930495}},"curvature":0.9892185287145076},{"time":9.199769306991001,"velocity":1.7049473844735594,"acceleration":-1.6809451170634815,"pose":{"translation":{"x":7.739837365519994,"y":-3.544266740311868},"rotation":{"radians":0.12999693859895942}},"curvature":1.0772075217169417},{"time":9.22325771382616,"velocity":1.6654646616964004,"acceleration":-1.8062815493500448,"pose":{"translation":{"x":7.778964122793601,"y":-3.5382754724246124},"rotation":{"radians":0.17454284199249823}},"curvature":1.1759135136357581},{"time":9.246213225010138,"velocity":1.6240005453888822,"acceleration":-1.8820179329449755,"pose":{"translation":{"x":7.815986537878432,"y":-3.5308706106429226},"rotation":{"radians":0.22095285474791476}},"curvature":1.2847397593008736},{"time":9.268638703887076,"velocity":1.581795391987606,"acceleration":-1.8734711321508841,"pose":{"translation":{"x":7.850861238268895,"y":-3.5221612741565806},"rotation":{"radians":0.2691995363433516}},"curvature":1.4013701773032536},{"time":9.29052930127454,"velocity":1.5407839897166546,"acceleration":-1.7360319575531875,"pose":{"translation":{"x":7.883574084988262,"y":-3.512263014593467},"rotation":{"radians":0.3191262876820936}},"curvature":1.5208227153430485},{"time":9.311863878158492,"velocity":1.5037464824452398,"acceleration":-1.412269873371452,"pose":{"translation":{"x":7.91414335783999,"y":-3.5012963561127033},"rotation":{"radians":0.37038254010680066}},"curvature":1.6342998063405612},{"time":9.332594434053654,"velocity":1.4744693428962603,"acceleration":-0.8239182841773935,"pose":{"translation":{"x":7.942622940659051,"y":-3.489385335497793},"rotation":{"radians":0.42234699326785075}},"curvature":1.7280346581221933},{"time":9.352634493433573,"velocity":1.457957971557144,"acceleration":0.14839408830714731,"pose":{"translation":{"x":7.969105506563265,"y":-3.4766560422497625},"rotation":{"radians":0.4740464245862101}},"curvature":1.7825583454503058},{"time":9.371848483104992,"velocity":1.4608092140371771,"acceleration":1.7120628206281518,"pose":{"translation":{"x":7.993725703204623,"y":-3.463235158680302},"rotation":{"radians":0.5240850047393663}},"curvature":1.773054957153259},{"time":9.390045362186923,"velocity":1.491963414164815,"acceleration":0.209678281131281,"pose":{"translation":{"x":8.016663338020617,"y":-3.449248500004906},"rotation":{"radians":0.5706068403525518}},"curvature":1.6715825978442673},{"time":9.424127481298727,"velocity":1.49910969431749,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.058455062361967,"y":-3.42006802327616},"rotation":{"radians":0.6436060077103064}},"curvature":1.095741168784282},{"time":9.457702778468585,"velocity":1.4084563919588724,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.096943374347772,"y":-3.390048315402949},"rotation":{"radians":0.672247181806882}},"curvature":-2.787021037671447E-13},{"time":9.493599215152038,"velocity":1.311536012913551,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.134557965995524,"y":-3.3589285632876065},"rotation":{"radians":0.7266347380610323}},"curvature":2.0205918115699713},{"time":9.513157416318109,"velocity":1.258728869765163,"acceleration":-2.362743810610061,"pose":{"translation":{"x":8.152869542150555,"y":-3.341710888890333},"rotation":{"radians":0.7848315484298528}},"curvature":2.5532105140918953},{"time":9.534206717444714,"velocity":1.2089947638106064,"acceleration":0.03178003717223081,"pose":{"translation":{"x":8.17060129675742,"y":-3.3227339035945405},"rotation":{"radians":0.8547801268805426}},"curvature":2.7852065306571983},{"time":9.55658378774154,"velocity":1.2097059079364452,"acceleration":1.4427702096258177,"pose":{"translation":{"x":8.187577758965592,"y":-3.3016593624648842},"rotation":{"radians":0.9305645381411529}},"curvature":2.781754805313535},{"time":9.579723124410323,"velocity":1.2430906535526687,"acceleration":2.278639447403957,"pose":{"translation":{"x":8.203633243724457,"y":-3.278259902703933},"rotation":{"radians":1.0075381242431172}},"curvature":2.6241576789061507},{"time":9.603249750387722,"velocity":1.2966993515690863,"acceleration":2.6999999999998723,"pose":{"translation":{"x":8.218612316299136,"y":-3.2524098860546},"rotation":{"radians":1.0825127879267544}},"curvature":2.388068549471008},{"time":9.626955032616344,"velocity":1.360703613586362,"acceleration":2.6999999999998754,"pose":{"translation":{"x":8.2323702567863,"y":-3.2240762412025705},"rotation":{"radians":1.153650620142098}},"curvature":2.130275972182423},{"time":9.65077153876824,"velocity":1.4250081801964751,"acceleration":2.7000000000000943,"pose":{"translation":{"x":8.244773524629995,"y":-3.1933093061787345},"rotation":{"radians":1.2201762239591805}},"curvature":1.8860779466753734},{"time":9.674674844962617,"velocity":1.4895471069212938,"acceleration":2.448636840166707,"pose":{"translation":{"x":8.25570022313745,"y":-3.1602336707616185},"rotation":{"radians":1.282046135917554}},"curvature":1.6733600209313169},{"time":9.698648136118726,"velocity":1.5482489908261825,"acceleration":1.9736280956949435,"pose":{"translation":{"x":8.265040563994912,"y":-3.1250390188798134},"rotation":{"radians":1.3396645224757533}},"curvature":1.4986085428536888},{"time":9.722725969059288,"velocity":1.595769678401125,"acceleration":1.5279903154751746,"pose":{"translation":{"x":8.272697331783444,"y":-3.087970971014407},"rotation":{"radians":1.393677454266626}},"curvature":1.3620702315154585},{"time":9.746944390109418,"velocity":1.6327751912218231,"acceleration":1.0695384166293258,"pose":{"translation":{"x":8.278586348494763,"y":-3.0493219266014138},"rotation":{"radians":1.4448418381519719}},"curvature":1.261248848361819},{"time":9.771312442245856,"velocity":1.6588377591201697,"acceleration":0.6169263631829068,"pose":{"translation":{"x":8.282636938047048,"y":-3.009421906434206},"rotation":{"radians":1.4939510341608968}},"curvature":1.192941138640494},{"time":9.795826025627179,"velocity":1.6739608349641903,"acceleration":0.1781089896718199,"pose":{"translation":{"x":8.284792390800762,"y":-2.9686293950659444},"rotation":{"radians":1.5417981264600373}},"curvature":1.1542800792072208},{"time":9.820470389856748,"velocity":1.6783502177782235,"acceleration":-0.24470439277959732,"pose":{"translation":{"x":8.285010428074468,"y":-2.927322183212007},"rotation":{"radians":1.5891616086857403}},"curvature":1.143189393386008},{"time":9.845224310773089,"velocity":1.672292824591476,"acceleration":-0.6505358427950124,"pose":{"translation":{"x":8.283263666660654,"y":-2.885888210152424},"rotation":{"radians":1.636802497506564}},"curvature":1.1585099193427613},{"time":9.870064785769197,"velocity":1.6561332052544548,"acceleration":-1.0357077991626258,"pose":{"translation":{"x":8.279540083341542,"y":-2.844716406134302},"rotation":{"radians":1.6854649445431082}},"curvature":1.1999295632465516},{"time":9.894971299128718,"velocity":1.6303373351180501,"acceleration":-1.3904547622549375,"pose":{"translation":{"x":8.273843479404917,"y":-2.8041875347742615},"rotation":{"radians":1.7358739304854196}},"curvature":1.2677499510532177},{"time":9.919928717356894,"velocity":1.5956351740890946,"acceleration":-1.6962528492126903,"pose":{"translation":{"x":8.266193945159939,"y":-2.7646650354608617},"rotation":{"radians":1.7887237257729862}},"curvature":1.362445217661834},{"time":9.94492771544259,"velocity":1.5532305523587706,"acceleration":-1.9244380351950336,"pose":{"translation":{"x":8.256628324452965,"y":-2.726485865757035},"rotation":{"radians":1.844649800706965}},"curvature":1.483903320534828},{"time":9.969961384550096,"velocity":1.5050548073678007,"acceleration":-2.036872465038469,"pose":{"translation":{"x":8.245200679183364,"y":-2.6899513438025164},"rotation":{"radians":1.9041753414183076}},"curvature":1.6301961451172062},{"time":9.995016486688973,"velocity":1.4540207597123953,"acceleration":-1.9888003063609216,"pose":{"translation":{"x":8.231982753819342,"y":-2.6553179907162723},"rotation":{"radians":1.9676226717805982}},"curvature":1.7957426126716163},{"time":10.020058002484582,"velocity":1.4042181854263476,"acceleration":-1.7320469070600593,"pose":{"translation":{"x":8.217064439913752,"y":-2.622788372998934},"rotation":{"radians":2.034981967891211}},"curvature":1.9688953722788336},{"time":10.045006624318674,"velocity":1.3610060021431973,"acceleration":-1.2133622272602662,"pose":{"translation":{"x":8.200554240619926,"y":-2.592501944935227},"rotation":{"radians":2.1057380785550297}},"curvature":2.1294025290491683},{"time":10.069711122752103,"velocity":1.3310304969006632,"acceleration":-0.358412131013659,"pose":{"translation":{"x":8.182579735207474,"y":-2.5645258909964013},"rotation":{"radians":2.178674004001982}},"curvature":2.2468655838223976},{"time":10.093920935122611,"velocity":1.3223534064575087,"acceleration":0.9753388673271035,"pose":{"translation":{"x":8.163288043578126,"y":-2.5388459682426614},"rotation":{"radians":2.2516947501588493}},"curvature":2.281861825372894},{"time":10.117267401839053,"velocity":1.3451241228608133,"acceleration":2.6999999999998465,"pose":{"translation":{"x":8.142846290781529,"y":-2.5153573487256002},"rotation":{"radians":2.3217353486152947}},"curvature":2.190985737940753},{"time":10.139333716492203,"velocity":1.4047031724243144,"acceleration":2.700000000000113,"pose":{"translation":{"x":8.121442071531082,"y":-2.4938554618906257},"rotation":{"radians":2.3848099378396634}},"curvature":1.9350720677060358},{"time":10.160087789051563,"velocity":1.460739168334588,"acceleration":2.700000000000057,"pose":{"translation":{"x":8.099283914719747,"y":-2.4740268369793927},"rotation":{"radians":2.436212811045131}},"curvature":1.4873792591125539},{"time":10.198710666246551,"velocity":1.5650209367610577,"acceleration":0.7112165927073323,"pose":{"translation":{"x":8.053647361978992,"y":-2.437536043290592},"rotation":{"radians":2.483464928373856}},"curvature":-1.3698762162005308E-13},{"time":10.27126658481593,"velocity":1.616623909946722,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.96117069158718,"y":-2.368466015327747},"rotation":{"radians":2.5369928581630763}},"curvature":1.0399598589066348},{"time":10.3082031825608,"velocity":1.516895096035575,"acceleration":-2.3512372774426846,"pose":{"translation":{"x":7.91240638130442,"y":-2.3373040586323},"rotation":{"radians":2.61434205399187}},"curvature":1.5933800897975612},{"time":10.328160190474927,"velocity":1.46997143508166,"acceleration":-0.33929549401916004,"pose":{"translation":{"x":7.8862878970003205,"y":-2.322946810158374},"rotation":{"radians":2.664366105597434}},"curvature":1.7427662179351286},{"time":10.349258801722716,"velocity":1.4628127713552233,"acceleration":1.3785239257950128,"pose":{"translation":{"x":7.858428734780647,"y":-2.3094902611749495},"rotation":{"radians":2.718995209324154}},"curvature":1.766399125109531},{"time":10.371308760923082,"velocity":1.4932091676757318,"acceleration":2.700000000000009,"pose":{"translation":{"x":7.828338197830325,"y":-2.2969733524855083},"rotation":{"radians":2.775245507404896}},"curvature":1.6676130949360795},{"time":10.394153801429736,"velocity":1.5548907770436984,"acceleration":2.699999999999908,"pose":{"translation":{"x":7.795495010921529,"y":-2.285417081311046},"rotation":{"radians":2.8301637542164064}},"curvature":1.4772780656246616},{"time":10.417883718628044,"velocity":1.6189615534791268,"acceleration":2.7000000000000908,"pose":{"translation":{"x":7.759357407042884,"y":-2.2748260275563386},"rotation":{"radians":2.8813398945937534}},"curvature":1.2395385890084851},{"time":10.442771738801158,"velocity":1.6861592079465337,"acceleration":2.6999999999999797,"pose":{"translation":{"x":7.719373214028678,"y":-2.2651898800761994},"rotation":{"radians":2.927189762661659}},"curvature":0.9952887213572017},{"time":10.496860794703688,"velocity":1.8321996588833613,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.625664865934271,"y":-2.2486757617066493},"rotation":{"radians":3.0006158298296985}},"curvature":0.5844146961271413},{"time":10.557606597835184,"velocity":1.9962133273384022,"acceleration":2.6999999999999935,"pose":{"translation":{"x":7.5101277781356695,"y":-2.235552414159634},"rotation":{"radians":3.051256738618408}},"curvature":0.3183020153234541},{"time":10.590621876176096,"velocity":2.0853545788588623,"acceleration":2.6999999999999806,"pose":{"translation":{"x":7.442969940600548,"y":-2.2301217827642343},"rotation":{"radians":3.06957674540804}},"curvature":0.23117099259937773},{"time":10.625384789031814,"velocity":2.179214443569304,"acceleration":0.949779007547363,"pose":{"translation":{"x":7.368998823930037,"y":-2.2253569496337615},"rotation":{"radians":3.084162421412773}},"curvature":0.16666949547364027},{"time":10.662363592712632,"velocity":2.2143361350295603,"acceleration":0.6037989892612967,"pose":{"translation":{"x":7.287871845495836,"y":-2.221186101728629},"rotation":{"radians":3.0956527595729373}},"curvature":0.1194013143659248},{"time":10.702173234261238,"velocity":2.2383731563594638,"acceleration":0.41503859155790324,"pose":{"translation":{"x":7.199316710548963,"y":-2.217534745089381},"rotation":{"radians":3.1046072214432563}},"curvature":0.08497524507570217},{"time":10.744993698438607,"velocity":2.2561453015014945,"acceleration":0.2839854757471566,"pose":{"translation":{"x":7.103141498848956,"y":-2.2143272311029563},"rotation":{"radians":3.111501976800249}},"curvature":0.059993479862026994},{"time":10.79092864753729,"velocity":2.2691901598747055,"acceleration":0.19393704665442102,"pose":{"translation":{"x":6.999244751293082,"y":-2.211488282768949},"rotation":{"radians":3.11673518143217}},"curvature":0.04190574277714775},{"time":10.840027404362994,"velocity":2.278712227767886,"acceleration":0.13233236390672598,"pose":{"translation":{"x":6.887625556545544,"y":-2.2089445209658685},"rotation":{"radians":3.120636226575132}},"curvature":0.028833391033654638},{"time":10.892282264116444,"velocity":2.2856272368846744,"acceleration":0.09017333882875812,"pose":{"translation":{"x":6.768393637666687,"y":-2.2066259907174035},"rotation":{"radians":3.1234761133333215}},"curvature":0.01940840539073906},{"time":10.947625714369384,"velocity":2.2906177405762853,"acceleration":0.06724886296375951,"pose":{"translation":{"x":6.641779438742209,"y":-2.2044676874586817},"rotation":{"radians":3.125477502696193}},"curvature":0.0126418259585506},{"time":10.97641630514447,"velocity":2.2925538750699648,"acceleration":-2.5220513892953744,"pose":{"translation":{"x":6.575811489951417,"y":-2.203430036256668},"rotation":{"radians":3.1262223864348835}},"curvature":0.010024570117161737},{"time":11.006431306775804,"velocity":2.2168544985059566,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.508144211512361,"y":-2.202411083302532},"rotation":{"radians":3.1268238132890485}},"curvature":0.007822543474077822},{"time":11.038313838305156,"velocity":2.130771663376708,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.4388448534262,"y":-2.2014047749943275},"rotation":{"radians":3.127299887090871}},"curvature":0.005977981738578354},{"time":11.072302145648274,"velocity":2.039003233550287,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.367990102001158,"y":-2.200405653305747},"rotation":{"radians":3.1276671973366104}},"curvature":0.004442296384952015},{"time":11.108650390214118,"velocity":1.9408629732225082,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.295666395059675,"y":-2.199408903481941},"rotation":{"radians":3.1279410141323836}},"curvature":0.00317480050721403},{"time":11.147684503736373,"velocity":1.8354708667124178,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.221970237145585,"y":-2.198410401735342},"rotation":{"radians":3.1281354721234154}},"curvature":0.002141657313974962},{"time":11.18983554003442,"velocity":1.7216630687076944,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.147008514731264,"y":-2.1974067629414833},"rotation":{"radians":3.128263745928916}},"curvature":0.0013150273522682377},{"time":11.235695660762087,"velocity":1.5978407427429935,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.070898811424805,"y":-2.19639538833482},"rotation":{"radians":3.1283382199451615}},"curvature":6.723965081606445E-4},{"time":11.28611884332363,"velocity":1.4616981498268289,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.993769723177171,"y":-2.1953745132045492},"rotation":{"radians":3.128370655803145}},"curvature":1.9607335146147427E-4},{"time":11.342419485903692,"velocity":1.3096864148606593,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.915761173489364,"y":-2.1943432545904313},"rotation":{"radians":3.12837236133}},"curvature":-1.2714817539512233E-4},{"time":11.40681813446712,"velocity":1.135810063739407,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.8370247286195855,"y":-2.1933016589786094},"rotation":{"radians":3.1283543656364334}},"curvature":-3.0615577243242695E-4},{"time":11.483661424439564,"velocity":0.9283331808138047,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.7577239127904,"y":-2.1922507499974335},"rotation":{"radians":3.128327606032917}},"curvature":-3.4549911000586773E-4},{"time":11.584213588924468,"velocity":0.6568423367045607,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.678034523395896,"y":-2.1911925761132762},"rotation":{"radians":3.128303134003481}},"curvature":-2.4515162152455056E-4},{"time":11.827488528444675,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.598144946208848,"y":-2.190130258326357},"rotation":{"radians":3.1282923496405357}},"curvature":1.9474210378896005E-15}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21995843497087947,"velocity":0.5938877744213746,"acceleration":2.7,"pose":{"translation":{"x":1.2596371860063038,"y":-2.286114604163076},"rotation":{"radians":-0.004717738749593126}},"curvature":-0.11091189406565112},{"time":0.32805322173265505,"velocity":0.8857436986781688,"acceleration":2.7,"pose":{"translation":{"x":1.3396041632590046,"y":-2.2868352436816917},"rotation":{"radians":-0.01292993512066191}},"curvature":-0.08598009544926018},{"time":0.4293221771093436,"velocity":1.159169878195228,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.4431329628889655,"y":-2.28855791607934},"rotation":{"radians":-0.01971074118193509}},"curvature":-0.04910898934204286},{"time":0.479752378572356,"velocity":1.2953314221453613,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.5050096954304724,"y":-2.289863157419425},"rotation":{"radians":-0.02234665887740294}},"curvature":-0.0369666977614141},{"time":0.5301577107971465,"velocity":1.4314258191522957,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.573712261644012,"y":-2.2914784435293596},"rotation":{"radians":-0.0245690978680407}},"curvature":-0.02836014107028769},{"time":0.5803796333621171,"velocity":1.5670250100777166,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.6489816643694262,"y":-2.2934022005853105},"rotation":{"radians":-0.02646116960332072}},"curvature":-0.022344463623564306},{"time":0.6301788486065676,"velocity":1.7014828912377329,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.73033588650991,"y":-2.2956243253682205},"rotation":{"radians":-0.028097131601292936}},"curvature":-0.018162980444569293},{"time":0.6792797469639861,"velocity":1.834055316802763,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.8170988451187537,"y":-2.2981271806548476},"rotation":{"radians":-0.0295393815843544}},"curvature":-0.015278127305001249},{"time":0.7273954002799699,"velocity":1.963967580755919,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.908429345486083,"y":-2.3008865906088065},"rotation":{"radians":-0.030839553686859925}},"curvature":-0.013328416788188748},{"time":0.7742418727612451,"velocity":2.0904530564553623,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.0033500352256004,"y":-2.303872836171609},"rotation":{"radians":-0.032040858894095574}},"curvature":-0.012080304623949526},{"time":0.8195465381220971,"velocity":2.2127756529296625,"acceleration":1.798479490257167,"pose":{"translation":{"x":2.100776358361328,"y":-2.3070516504537024},"rotation":{"radians":-0.03318060478424806}},"curvature":-0.0113919906097702},{"time":0.8634253817375475,"velocity":2.2916908532282516,"acceleration":-0.0046389915617341,"pose":{"translation":{"x":2.199545509414344,"y":-2.3103852141255117},"rotation":{"radians":-0.03429259544341071}},"curvature":-0.011190651955298336},{"time":0.9066093424993137,"velocity":2.2914905231986755,"acceleration":-0.013609001945292732,"pose":{"translation":{"x":2.298445387489531,"y":-2.3138331508084775},"rotation":{"radians":-0.03540943097072418}},"curvature":-0.011461455773937423},{"time":0.9493212433501959,"velocity":2.2909092568569087,"acceleration":-1.6729481621622617,"pose":{"translation":{"x":2.3962435503623105,"y":-2.3173535224660986},"rotation":{"radians":-0.036564870917404305}},"curvature":-0.012247472973052962},{"time":0.991679727516066,"velocity":2.220045708619637,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":2.4917161685653864,"y":-2.32090382479497},"rotation":{"radians":-0.03779652511036476}},"curvature":-0.013661914850858251},{"time":1.034234517598669,"velocity":2.105147775396609,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.583676979475488,"y":-2.324441982615825},"rotation":{"radians":-0.03914925858434874}},"curvature":-0.01591795081849493},{"time":1.076919650950573,"velocity":1.989897915346468,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.671006241400109,"y":-2.3279273452645737},"rotation":{"radians":-0.04067990455134787}},"curvature":-0.01938833600345526},{"time":1.1192126186798301,"velocity":1.8757069024774737,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.7526796876642488,"y":-2.3313216819833444},"rotation":{"radians":-0.04246425495275823}},"curvature":-0.024721218180152868},{"time":1.1605267071488712,"velocity":1.7641588636110632,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.8277974806971535,"y":-2.334590177311522},"rotation":{"radians":-0.044607995578091406}},"curvature":-0.033069517325402885},{"time":1.2002132353054662,"velocity":1.6570052375882565,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.89561316611906,"y":-2.33770242647679},"rotation":{"radians":-0.0472645740844426}},"curvature":-0.046563575795835865},{"time":1.2375730049038736,"velocity":1.5561338596725567,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.9555626268279314,"y":-2.3406334307861707},"rotation":{"radians":-0.05066554294801528}},"curvature":-0.06933475035911639},{"time":1.302449213130238,"velocity":1.380968097461372,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.0506918166075225,"y":-2.345884712808287},"rotation":{"radians":-0.06138062183232523}},"curvature":-0.18663034254740998},{"time":1.350214111743016,"velocity":1.2520028712068716,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.113419114070398,"y":-2.35028998028033},"rotation":{"radians":-0.08357759441958654}},"curvature":-0.6813287286094732},{"time":1.3795088298100124,"velocity":1.1729071324259812,"acceleration":2.6999999999999975,"pose":{"translation":{"x":3.1487490412461314,"y":-2.353945392400739},"rotation":{"radians":-0.1351842579411842}},"curvature":-2.9658628495575257},{"time":1.3953377454955842,"velocity":1.215645204777025,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.1673831089351223,"y":-2.3571291631772167},"rotation":{"radians":-0.1973955598498366}},"curvature":5.910364348196575E-13},{"time":1.4299024428270708,"velocity":1.3089698875720386,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.2103259595121325,"y":-2.3648492686192966},"rotation":{"radians":-0.1636476840440878}},"curvature":0.2577374321627569},{"time":1.4997800828167793,"velocity":1.497639515544252,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.3070864390239483,"y":-2.3807583484990014},"rotation":{"radians":-0.16756108672451808}},"curvature":-0.14312958272013895},{"time":1.5474657216627623,"velocity":1.6263907404284061,"acceleration":2.700000000000007,"pose":{"translation":{"x":3.38045474540589,"y":-2.3936117341987004},"rotation":{"radians":-0.17973666949408582}},"curvature":-0.1793551137293276},{"time":1.6001940160145336,"velocity":1.7687571351781888,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.4683839799413696,"y":-2.4103605171119566},"rotation":{"radians":-0.1971716404383829}},"curvature":-0.21027873325626648},{"time":1.6550371811132498,"velocity":1.9168336809447224,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.567260828915034,"y":-2.4312757975185053},"rotation":{"radians":-0.22045043290999583}},"curvature":-0.25262298331671973},{"time":1.7093811587795997,"velocity":2.063562420643867,"acceleration":-1.7834544062035311,"pose":{"translation":{"x":3.672438824647297,"y":-2.4564780487019258},"rotation":{"radians":-0.2511008183245337}},"curvature":-0.31884699701426217},{"time":1.7641313333789759,"velocity":1.9659179805141969,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.778737368202467,"y":-2.485945610953185},"rotation":{"radians":-0.2917160038125738}},"curvature":-0.42645685878518147},{"time":1.8210798099717147,"velocity":1.8121570937138018,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":3.8809407520968753,"y":-2.519523185574178},"rotation":{"radians":-0.3463293863555203}},"curvature":-0.6055687861366283},{"time":1.8790847876103909,"velocity":1.6555436540893762,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.974297183007007,"y":-2.556930328881273},"rotation":{"radians":-0.4209024502626429}},"curvature":-0.9076004949200812},{"time":1.9079358883363142,"velocity":1.5776456821293832,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.016422513577116,"y":-2.5769502211301774},"rotation":{"radians":-0.46809943892861394}},"curvature":-1.1271265202274396},{"time":1.9364267688354557,"velocity":1.500720304781701,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.05501780447763,"y":-2.5977699462088513},"rotation":{"radians":-0.5233144954460176}},"curvature":-1.4036830365596071},{"time":1.96442144318622,"velocity":1.4251346840346377,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.089841778450364,"y":-2.6193230341156144},"rotation":{"radians":-0.5873892582608637}},"curvature":-1.7376487862067003},{"time":1.9918572813538653,"velocity":1.351057920981995,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.120775719629922,"y":-2.6415367859128533},"rotation":{"radians":-0.6605254218834783}},"curvature":-2.110135704610153},{"time":2.018771387507868,"velocity":1.2783898343661877,"acceleration":-1.9825136389351041,"pose":{"translation":{"x":4.147839068003316,"y":-2.6643325391646355},"rotation":{"radians":-0.7416144660796419}},"curvature":-2.466475960933599},{"time":2.045118007374408,"velocity":1.2261573011409332,"acceleration":0.229013694004918,"pose":{"translation":{"x":4.171205013869603,"y":-2.687625933374318},"rotation":{"radians":-0.827390375875586}},"curvature":-2.70302131250394},{"time":2.0703564360925246,"velocity":1.231937246932549,"acceleration":2.699999999999994,"pose":{"translation":{"x":4.19121609229951,"y":-2.7113271754221584},"rotation":{"radians":-0.9117222798950786}},"curvature":-2.6758586825841237},{"time":2.0937273940109993,"velocity":1.2950388333124305,"acceleration":2.699999999999991,"pose":{"translation":{"x":4.208399777595064,"y":-2.735341305002927},"rotation":{"radians":-0.9855700709191157}},"curvature":-2.245653675695606},{"time":2.1355829623348046,"velocity":1.4080488677867047,"acceleration":-0.007671115908462545,"pose":{"translation":{"x":4.237413128905495,"y":-2.783904142240547},"rotation":{"radians":-1.0576535709580908}},"curvature":3.530280679733356E-14},{"time":2.1755690363137257,"velocity":1.407742129978488,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.264155932792551,"y":-2.8334428756004644},"rotation":{"radians":-1.1098466877631612}},"curvature":-1.6913198039080635},{"time":2.196474302483937,"velocity":1.3512979113189179,"acceleration":-2.6770553520033706,"pose":{"translation":{"x":4.276281892618721,"y":-2.8596089313013575},"rotation":{"radians":-1.1661083014119737}},"curvature":-2.166874411462463},{"time":2.218893005562025,"velocity":1.2912818022587471,"acceleration":-0.5652216831109178,"pose":{"translation":{"x":4.287024149774729,"y":-2.887214064750629},"rotation":{"radians":-1.2344662584323163}},"curvature":-2.4110366655523325},{"time":2.2427360890255854,"velocity":1.2778051744929195,"acceleration":0.6695060107258033,"pose":{"translation":{"x":4.2960428556396675,"y":-2.9164835937701183},"rotation":{"radians":-1.309625694171324}},"curvature":-2.4690166888702487},{"time":2.2674847296258553,"velocity":1.2943745381320928,"acceleration":1.385603973236713,"pose":{"translation":{"x":4.3030545051494595,"y":-2.947530662247379},"rotation":{"radians":-1.387357096487538}},"curvature":-2.397901224320141},{"time":2.292777206253514,"velocity":1.3294198942403734,"acceleration":1.73981073431318,"pose":{"translation":{"x":4.307828751545534,"y":-2.980366525843095},"rotation":{"radians":-1.4646599927309405}},"curvature":-2.253326900964502},{"time":2.3183927395927504,"velocity":1.373986074109134,"acceleration":1.8214045072042993,"pose":{"translation":{"x":4.310185221123494,"y":-3.0149108376984954},"rotation":{"radians":-1.5397091877186853}},"curvature":-2.0801285590582044},{"time":2.344218483470246,"velocity":1.4210252004095092,"acceleration":1.69933372691976,"pose":{"translation":{"x":4.309990327981793,"y":-3.0510019341427688},"rotation":{"radians":-1.6116528399401666}},"curvature":-1.9091042038800374},{"time":2.3702127031861115,"velocity":1.465198054677642,"acceleration":1.4342174325007047,"pose":{"translation":{"x":4.3071540887704,"y":-3.08840712040048},"rotation":{"radians":-1.6803573340398814}},"curvature":-1.758498931753469},{"time":2.3963733558083455,"velocity":1.5027181187140455,"acceleration":1.0775432008429193,"pose":{"translation":{"x":4.301626937439475,"y":-3.1268329562989807},"rotation":{"radians":-1.7461716615877678}},"curvature":-1.6375303635020129},{"time":2.4227159567896455,"velocity":1.531103409293963,"acceleration":0.6691169532400535,"pose":{"translation":{"x":4.293396539988042,"y":-3.16593554197583},"rotation":{"radians":-1.8097457971255115}},"curvature":-1.549952544831861},{"time":2.4492607503111414,"velocity":1.5488649806594528,"acceleration":0.23700265658736408,"pose":{"translation":{"x":4.2824846092126565,"y":-3.2053308035862056},"rotation":{"radians":-1.871907855713834}},"curvature":-1.4967850586566662},{"time":2.4760273563662825,"velocity":1.5552087374023487,"acceleration":-0.19974767576428792,"pose":{"translation":{"x":4.268943719456078,"y":-3.2446047790103183},"rotation":{"radians":-1.9335897507593147}},"curvature":-1.4780899885163505},{"time":2.5030346014553277,"velocity":1.5498141029670154,"acceleration":-0.6267259310001797,"pose":{"translation":{"x":4.252854121355945,"y":-3.28332390356083},"rotation":{"radians":-1.9957865650202626}},"curvature":-1.4939782562675108},{"time":2.5303033762756506,"velocity":1.5327240546805143,"acceleration":-1.0293845695365682,"pose":{"translation":{"x":4.234320556593442,"y":-3.3210452956902654},"rotation":{"radians":-2.059535193987709}},"curvature":-1.545050217271978},{"time":2.557860584542014,"velocity":1.5043570897116143,"acceleration":-1.3888442365719909,"pose":{"translation":{"x":4.213469072641973,"y":-3.3573270426984294},"rotation":{"radians":-2.1258990848684487}},"curvature":-1.6323837016568952},{"time":2.585742296068556,"velocity":1.4656337353522138,"acceleration":-1.6793274559939737,"pose":{"translation":{"x":4.190443837515835,"y":-3.39173848643982},"rotation":{"radians":-2.1959461312729767}},"curvature":-1.7570587101005817},{"time":2.6139940259969054,"velocity":1.4181898296042097,"acceleration":-1.8684344831350859,"pose":{"translation":{"x":4.165403954518884,"y":-3.4238705090310453},"rotation":{"radians":-2.2707054929214117}},"curvature":-1.9190916981414445},{"time":2.642665732949621,"velocity":1.3646186236434121,"acceleration":-1.921211956657294,"pose":{"translation":{"x":4.138520276993212,"y":-3.453345818558235},"rotation":{"radians":-2.351087111198557}},"curvature":-2.115594428096073},{"time":2.671799011598636,"velocity":1.3086474203662966,"acceleration":-1.857764268996795,"pose":{"translation":{"x":4.109972223067817,"y":-3.47982923478446},"rotation":{"radians":-2.4377477204467652}},"curvature":-2.3380859782677037},{"time":2.6865513034821644,"velocity":1.281241139619266,"acceleration":-1.755656984956346,"pose":{"translation":{"x":4.09513168118401,"y":-3.4918582852456415},"rotation":{"radians":-2.48352153634229}},"curvature":-2.4541184115000187},{"time":2.701421531488058,"velocity":1.2551341199528254,"acceleration":-1.606688306209371,"pose":{"translation":{"x":4.079944590407273,"y":-3.5030379748571425},"rotation":{"radians":-2.5308947319593207}},"curvature":-2.569362620486194},{"time":2.716401348657192,"velocity":1.2310662228780236,"acceleration":-1.4106918975209581,"pose":{"translation":{"x":4.064434368417815,"y":-3.5133428303525687},"rotation":{"radians":-2.5797827490649277}},"curvature":-2.679935703814231},{"time":2.7314763454415716,"velocity":1.2098000470591446,"acceleration":-1.1683551102079341,"pose":{"translation":{"x":4.048624370960403,"y":-3.5227519390154747},"rotation":{"radians":-2.6300420548434675}},"curvature":-2.7812981804306727},{"time":2.7466251204694783,"velocity":1.1921008983418997,"acceleration":-0.880888277283374,"pose":{"translation":{"x":4.032537792305257,"y":-3.531249270107722},"rotation":{"radians":-2.681464299350209}},"curvature":-2.868416319910824},{"time":2.761818642769691,"velocity":1.1787171026569985,"acceleration":-0.5495646177130519,"pose":{"translation":{"x":4.016197565708949,"y":-3.5388239962978316},"rotation":{"radians":-2.733773123956576}},"curvature":-2.93603077053551},{"time":2.777020033657399,"velocity":1.1703629560850888,"acceleration":-0.17516325829623464,"pose":{"translation":{"x":3.999626263875293,"y":-3.545470815089348},"rotation":{"radians":-2.7866245677117862}},"curvature":-2.979019515296118},{"time":2.7921848605942783,"velocity":1.1677066355873265,"acceleration":0.24266332587374895,"pose":{"translation":{"x":3.982845999416246,"y":-3.5511902702491875},"rotation":{"radians":-2.8396117236413327}},"curvature":-2.992817287926256},{"time":2.8072619691869605,"velocity":1.1713652969029864,"acceleration":0.7061105723886187,"pose":{"translation":{"x":3.965878325312803,"y":-3.555989073236001},"rotation":{"radians":-2.892273778321745}},"curvature":-2.973829300618209},{"time":2.8221947915106447,"velocity":1.1819095206213406,"acceleration":1.2201034653383631,"pose":{"translation":{"x":3.9487441353758914,"y":-3.5598804246285276},"rotation":{"radians":-2.944108891733186}},"curvature":-2.919763722250067},{"time":2.836922977248254,"velocity":1.1998794310779446,"acceleration":1.7934948353528826,"pose":{"translation":{"x":3.9314635647072684,"y":-3.562884335553954},"rotation":{"radians":-2.9945896766566427}},"curvature":-2.829812535120566},{"time":2.8513841220533833,"velocity":1.2258154195992343,"acceleration":2.440857770161346,"pose":{"translation":{"x":3.914055890160417,"y":-3.5650279491162675},"rotation":{"radians":-3.0431794906074257}},"curvature":-2.7046359952738195},{"time":2.8655153355481824,"velocity":1.2603077018598232,"acceleration":2.6999999999999873,"pose":{"translation":{"x":3.896539430801441,"y":-3.566345861824616},"rotation":{"radians":-3.089347508806707}},"curvature":-2.54614554951642},{"time":2.8792897141005014,"velocity":1.2974985239510843,"acceleration":2.700000000000014,"pose":{"translation":{"x":3.8789314483699613,"y":-3.5668804450216642},"rotation":{"radians":-3.1325806727090293}},"curvature":-2.3571211132426986},{"time":2.9058713653020547,"velocity":1.3692689821952786,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.843504077380939,"y":-3.5658099109902333},"rotation":{"radians":3.0748674014997315}},"curvature":-1.9000068937334926},{"time":2.9313666458443914,"velocity":1.438106239659588,"acceleration":1.9647783083876476,"pose":{"translation":{"x":3.807886942094716,"y":-3.5623230287111634},"rotation":{"radians":3.0163977383055056}},"curvature":-1.3543873704903602},{"time":2.9800783375917255,"velocity":1.5338139149696153,"acceleration":-2.7,"pose":{"translation":{"x":3.7364164143528993,"y":-3.5508620756297127},"rotation":{"radians":2.965070888256593}},"curvature":3.893115126826465E-14},{"time":3.0293222670135163,"velocity":1.40085530553078,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.6655145188579614,"y":-3.536932187054641},"rotation":{"radians":2.9136754307158728}},"curvature":-1.371123050405605},{"time":3.0553218464008918,"velocity":1.330656441184866,"acceleration":-2.700000000000005,"pose":{"translation":{"x":3.6311609526815953,"y":-3.5279473593237545},"rotation":{"radians":2.8544101897020617}},"curvature":-1.9589106486393302},{"time":3.082320382011406,"velocity":1.2577603950364777,"acceleration":-2.700000000000009,"pose":{"translation":{"x":3.5980436227301187,"y":-3.5168043302695615},"rotation":{"radians":2.776561287806673}},"curvature":-2.485293769418521},{"time":3.096260424417939,"velocity":1.2201222805388374,"acceleration":-2.699999999999996,"pose":{"translation":{"x":3.582051154478698,"y":-3.510283228675173},"rotation":{"radians":2.731598694595618}},"curvature":-2.717164228867673},{"time":3.1105466634680856,"velocity":1.1815494351034415,"acceleration":-2.24127438501405,"pose":{"translation":{"x":3.5664855278661114,"y":-3.503070740733872},"rotation":{"radians":2.683185022498464}},"curvature":-2.9215941489957107},{"time":3.1251919153376755,"velocity":1.1487254072260507,"acceleration":-1.6312132055039457,"pose":{"translation":{"x":3.551380531752277,"y":-3.4951328563877326},"rotation":{"radians":2.6318122620561417}},"curvature":-3.093268958805927},{"time":3.14015127290031,"velocity":1.1243235056240262,"acceleration":-1.0731708694673447,"pose":{"translation":{"x":3.536767426980368,"y":-3.4864429687996887},"rotation":{"radians":2.5780192413825507}},"curvature":-3.2273906374192745},{"time":3.155358674290805,"velocity":1.1080033654514494,"acceleration":-0.5589081088443787,"pose":{"translation":{"x":3.522675002367559,"y":-3.4769815529251797},"rotation":{"radians":2.5223813694325994}},"curvature":-3.3203887941118233},{"time":3.1707467475093107,"velocity":1.0994028465501355,"acceleration":-0.08391943417817099,"pose":{"translation":{"x":3.509129630695772,"y":-3.4667358440837925},"rotation":{"radians":2.4654939468521664}},"curvature":-3.370508618869586},{"time":3.186249144187927,"velocity":1.0981018941924605,"acceleration":0.35356833847161917,"pose":{"translation":{"x":3.496155324702423,"y":-3.455699516530904},"rotation":{"radians":2.4079509598361932}},"curvature":-3.3781583244508813},{"time":3.2018031154258364,"velocity":1.1036012859596835,"acceleration":0.753267706804723,"pose":{"translation":{"x":3.4837737930711676,"y":-3.443872362029327},"rotation":{"radians":2.3503220744757396}},"curvature":-3.3459444733884807},{"time":3.217351942451937,"velocity":1.1153137152371375,"acceleration":1.1133814689172512,"pose":{"translation":{"x":3.4720044964226466,"y":-3.43125996842095},"rotation":{"radians":2.29313082970218}},"curvature":-3.2783952179098157},{"time":3.232846880070191,"velocity":1.1325654916433305,"acceleration":1.4311536442889017,"pose":{"translation":{"x":3.460864703305232,"y":-3.4178733981983838},"rotation":{"radians":2.2368366870297893}},"curvature":-3.1814433281015773},{"time":3.24824838481218,"velocity":1.1546074112823614,"acceleration":1.7034617128984764,"pose":{"translation":{"x":3.450369546185775,"y":-3.4037288670766026},"rotation":{"radians":2.1818227421386345}},"curvature":-3.0617873021710387},{"time":3.2635265463103944,"velocity":1.1806331744380492,"acceleration":1.9274263288097992,"pose":{"translation":{"x":3.440532077440348,"y":-3.388847422564589},"rotation":{"radians":2.1283898005186788}},"curvature":-2.926256822326255},{"time":3.2786607782453268,"velocity":1.2098032915357515,"acceleration":2.100972745474482,"pose":{"translation":{"x":3.4313633253449956,"y":-3.3732546225369746},"rotation":{"radians":2.0767564711867905}},"curvature":-2.7812824442579376},{"time":3.2936389235536176,"velocity":1.2412719666062269,"acceleration":2.2232661448077398,"pose":{"translation":{"x":3.4228723500664753,"y":-3.356980213805686},"rotation":{"radians":2.0270641689255555}},"curvature":-2.6325247031454935},{"time":3.30845597523233,"velocity":1.2742142159693746,"acceleration":2.294959788768107,"pose":{"translation":{"x":3.4150662996530086,"y":-3.340057810691587},"rotation":{"radians":1.9793855326176142}},"curvature":-2.484672880422059},{"time":3.323112613997875,"velocity":1.3078506125747997,"acceleration":2.3078731552420226,"pose":{"translation":{"x":3.407950466025023,"y":-3.322524573596122},"rotation":{"radians":1.9337347348747038}},"curvature":-2.341390857578998},{"time":3.3519621726075974,"velocity":1.3744317344307602,"acceleration":2.1863893112511565,"pose":{"translation":{"x":3.3958016721127238,"y":-3.2857900408996343},"rotation":{"radians":1.8483459431514226}},"curvature":-2.0784533026414564},{"time":3.3802652861019618,"velocity":1.4363133592499664,"acceleration":1.9362594835190627,"pose":{"translation":{"x":3.386433308785503,"y":-3.247132606261831},"rotation":{"radians":1.7702408512311567}},"curvature":-1.8559317096930499},{"time":3.4080987664177376,"velocity":1.4902061994707285,"acceleration":1.6002324135295374,"pose":{"translation":{"x":3.379826601862354,"y":-3.2069444261027815},"rotation":{"radians":1.6984385961854327}},"curvature":-1.6771931178169552},{"time":3.435532114907402,"velocity":1.5341059329355415,"acceleration":1.2146718369523801,"pose":{"translation":{"x":3.3759384542292077,"y":-3.1656435370095983},"rotation":{"radians":1.6318267246210927}},"curvature":-1.5408783230739005},{"time":3.462617967738612,"velocity":1.5670063555494491,"acceleration":0.8063113578691381,"pose":{"translation":{"x":3.3747032375428074,"y":-3.1236635700290227},"rotation":{"radians":1.5692764450430603}},"curvature":-1.443724880315326},{"time":3.4893901181189686,"velocity":1.588593044475711,"acceleration":0.39333935964071093,"pose":{"translation":{"x":3.376034583934579,"y":-3.0814434649600106},"rotation":{"radians":1.5097031830218968}},"curvature":-1.3821667466370482},{"time":3.515865874771542,"velocity":1.5990070016434377,"acceleration":-0.01101425887398771,"pose":{"translation":{"x":3.3798271777145046,"y":-3.039417184646317},"rotation":{"radians":1.4520947193131046}},"curvature":-1.353063891952501},{"time":3.5420502192555183,"velocity":1.5987186004948455,"acceleration":-0.39386504763672775,"pose":{"translation":{"x":3.3859585470749933,"y":-2.9980034292690814},"rotation":{"radians":1.3955246117283013}},"curvature":-1.3538647534562014},{"time":3.567939836081619,"velocity":1.5885215853303367,"acceleration":-0.7378944138974777,"pose":{"translation":{"x":3.3942908557947558,"y":-2.9575953506394117},"rotation":{"radians":1.3391643347804278}},"curvature":-1.3823677645994417},{"time":3.593525430137328,"velocity":1.5696421184003806,"acceleration":-1.0169121829968275,"pose":{"translation":{"x":3.404672694942674,"y":-2.9185502664909713},"rotation":{"radians":1.2823050753495577}},"curvature":-1.4361178042856415},{"time":3.61879084289489,"velocity":1.5439494123587725,"acceleration":-1.192126415080967,"pose":{"translation":{"x":3.4169408745816767,"y":-2.8811793747725645},"rotation":{"radians":1.2243992455851416}},"curvature":-1.5113768944433779},{"time":3.643707472094257,"velocity":1.5142456405154292,"acceleration":-1.209010188586041,"pose":{"translation":{"x":3.4309222154726062,"y":-2.8457374679407175},"rotation":{"radians":1.1651315017206305}},"curvature":-1.6015682735341743},{"time":3.6682226399081337,"velocity":1.4846065528535557,"acceleration":-0.9928619030002608,"pose":{"translation":{"x":3.446435340778098,"y":-2.8124126472522684},"rotation":{"radians":1.1045275485778725}},"curvature":-1.6951605372970895},{"time":3.6922412286781454,"velocity":1.460759411099981,"acceleration":-0.4366061732307725,"pose":{"translation":{"x":3.463292467766446,"y":-2.78131603705695},"rotation":{"radians":1.0431034607917251}},"curvature":-1.7732206354381026},{"time":3.7156015856115943,"velocity":1.450560135053963,"acceleration":0.6355211152764916,"pose":{"translation":{"x":3.4813011995154812,"y":-2.752471499089974},"rotation":{"radians":0.9820454156633992}},"curvature":-1.8073900659974893},{"time":3.7380496961129803,"velocity":1.4648263832756538,"acceleration":-0.7785678475091764,"pose":{"translation":{"x":3.500266316616437,"y":-2.725805346764618},"rotation":{"radians":0.9233881284475502}},"curvature":-1.7597282362913125},{"time":3.7597374875590592,"velocity":1.4479409661722524,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.5199915688778285,"y":-2.701136059464811},"rotation":{"radians":0.8701340694955684}},"curvature":-1.5862860685745421},{"time":3.781340288880512,"velocity":1.3896134026043296,"acceleration":-2.699999999999998,"pose":{"translation":{"x":3.54028146702932,"y":-2.678163996837716},"rotation":{"radians":0.826236244830504}},"curvature":-1.245816373605418},{"time":3.8261450644783097,"velocity":1.268640508490276,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.581787798750246,"y":-2.6354606712620012},"rotation":{"radians":0.7853981633974251}},"curvature":-6.615091382060244E-14},{"time":3.850432903449103,"velocity":1.2030633432691338,"acceleration":-2.70000000000001,"pose":{"translation":{"x":3.6033214420616977,"y":-2.614549601912544},"rotation":{"radians":0.7434700872742208}},"curvature":-2.491368838893738},{"time":3.8638688745105036,"velocity":1.1667862214033522,"acceleration":-0.6229826544321095,"pose":{"translation":{"x":3.615270395041822,"y":-2.6040287413309935},"rotation":{"radians":0.6990485117991438}},"curvature":-2.9976128673543023},{"time":3.8784912460767575,"velocity":1.1576767375509147,"acceleration":2.6999999999999496,"pose":{"translation":{"x":3.6285577464942604,"y":-2.5934333621932306},"rotation":{"radians":0.6471389826403461}},"curvature":-3.0454866779923693},{"time":3.894105840818847,"velocity":1.1998361433545561,"acceleration":2.7000000000000064,"pose":{"translation":{"x":3.64354067953295,"y":-2.582742929893157},"rotation":{"radians":0.5931209803819386}},"curvature":-2.7909207425188822},{"time":3.910583303973931,"velocity":1.244325293873282,"acceleration":2.7000000000000313,"pose":{"translation":{"x":3.660533766240386,"y":-2.571938980791031},"rotation":{"radians":0.5408564412336219}},"curvature":-2.3930342617288938},{"time":3.9280621000625806,"velocity":1.2915180433126368,"acceleration":2.7,"pose":{"translation":{"x":3.6798104918601466,"y":-2.5610050537803386},"rotation":{"radians":0.4926393618562821}},"curvature":-1.9668925310976935},{"time":3.9466316047269596,"velocity":1.34165570590646,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.70160477898943,"y":-2.549926621854654},"rotation":{"radians":0.44951316353928833}},"curvature":-1.5760872296808075},{"time":3.9871734310486713,"velocity":1.4511186369750817,"acceleration":2.699999999999995,"pose":{"translation":{"x":3.7534930600886147,"y":-2.5272873951342576},"rotation":{"radians":0.37890217454704694}},"curvature":-0.9792303217167234},{"time":4.032137964157548,"velocity":1.5725228763690493,"acceleration":2.6999999999999877,"pose":{"translation":{"x":3.817336656703996,"y":-2.503941166121159},"rotation":{"radians":0.32643077647355156}},"curvature":-0.6063178692585797},{"time":4.081032076824858,"velocity":1.7045369805707855,"acceleration":2.700000000000007,"pose":{"translation":{"x":3.8937381619814313,"y":-2.4798343661875477},"rotation":{"radians":0.2878119541109113}},"curvature":-0.3824478908042748},{"time":4.1331420341537655,"velocity":1.8452338653588372,"acceleration":2.699999999999984,"pose":{"translation":{"x":3.982813489207546,"y":-2.454937802726196},"rotation":{"radians":0.2593465415081815}},"curvature":-0.24710673766449956},{"time":4.187670025405492,"velocity":1.9924594417384975,"acceleration":2.699999999999996,"pose":{"translation":{"x":4.084240645970702,"y":-2.4292444692901713},"rotation":{"radians":0.2383067898147524}},"curvature":-0.16304347662623683},{"time":4.2438170668669155,"velocity":2.1440564536843425,"acceleration":1.788570470746678,"pose":{"translation":{"x":4.197308508321964,"y":-2.4027673557325477},"rotation":{"radians":0.2227854020914125}},"curvature":-0.10889804249204825},{"time":4.3014860628493645,"velocity":2.247201516976159,"acceleration":0.3336701051472451,"pose":{"translation":{"x":4.320965594936068,"y":-2.375537258346117},"rotation":{"radians":0.21147307764861625}},"curvature":-0.07251609600061923},{"time":4.3311676381601645,"velocity":2.2571053713310496,"acceleration":0.27891022737022514,"pose":{"translation":{"x":4.386355445973626,"y":-2.361653794596027},"rotation":{"radians":0.2071043099551129}},"curvature":-0.058655138969910675},{"time":4.361662810323567,"velocity":2.2656107867328386,"acceleration":0.2371728804278424,"pose":{"translation":{"x":4.453868841272389,"y":-2.3476005900031023},"rotation":{"radians":0.20347888779772916}},"curvature":-0.046848094007324155},{"time":4.392893267212851,"velocity":2.2730178041503475,"acceleration":0.20554202292329746,"pose":{"translation":{"x":4.523300339898158,"y":-2.333385526992952},"rotation":{"radians":0.20053029783993817}},"curvature":-0.03663780464013669},{"time":4.424773458744618,"velocity":2.279570523208969,"acceleration":0.18188139640192513,"pose":{"translation":{"x":4.594432373735905,"y":-2.319017190294866},"rotation":{"radians":0.19820496354151063}},"curvature":-0.027660447470735105},{"time":4.457211539975169,"velocity":2.2854704067197806,"acceleration":0.16464292611433104,"pose":{"translation":{"x":4.667036771682282,"y":-2.3045047985086766},"rotation":{"radians":0.1964604694320385}},"curvature":-0.019621528930117278},{"time":4.490110255560647,"velocity":2.290886947519177,"acceleration":0.15272852314324642,"pose":{"translation":{"x":4.740876283838171,"y":-2.2898581356716265},"rotation":{"radians":0.19526417508718627}},"curvature":-0.012277648715133488},{"time":4.523367775102927,"velocity":2.295966319362277,"acceleration":0.09533002276857162,"pose":{"translation":{"x":4.8157061057011985,"y":-2.2750874828252354},"rotation":{"radians":0.19459215716483777}},"curvature":-0.005422392956255846},{"time":4.556890712894829,"velocity":2.2991620617852484,"acceleration":-0.14098965890183515,"pose":{"translation":{"x":4.891275402358279,"y":-2.2602035495821653},"rotation":{"radians":0.19442843177781446}},"curvature":0.0011248572255344999},{"time":4.590640468759053,"velocity":2.294403695217931,"acceleration":-0.13993272880488308,"pose":{"translation":{"x":4.9673288326781355,"y":-2.2452174056930856},"rotation":{"radians":0.19476442173387107}},"curvature":0.0075281196851581175},{"time":4.624564537718841,"velocity":2.289656607676223,"acceleration":-0.14266989749624465,"pose":{"translation":{"x":5.043608073503833,"y":-2.2301404126135402},"rotation":{"radians":0.19559864395482832}},"curvature":0.013942724107623242},{"time":4.658551940223694,"velocity":2.284807628444692,"acceleration":-0.1492652037440249,"pose":{"translation":{"x":5.11985334384531,"y":-2.2149841550708147},"rotation":{"radians":0.19693660203065494}},"curvature":0.020522531122871182},{"time":4.692492770682971,"velocity":2.2797414434709466,"acceleration":-0.16000551714284914,"pose":{"translation":{"x":5.195804929071908,"y":-2.1997603726307995},"rotation":{"radians":0.19879087775974688}},"curvature":0.02742697388748155},{"time":4.726278921580852,"velocity":2.274335472924265,"acceleration":-0.17541766865825742,"pose":{"translation":{"x":5.2712047051049,"y":-2.184480891264857},"rotation":{"radians":0.2011814240763657}},"curvature":0.034828416591648786},{"time":4.759804839346205,"velocity":2.268454434590238,"acceleration":-0.1963056976732497,"pose":{"translation":{"x":5.345797662610025,"y":-2.169157554916689},"rotation":{"radians":0.20413607037302173}},"curvature":0.042920349079242213},{"time":4.792968315438247,"velocity":2.2619442552787197,"acceleration":-0.2238108487054592,"pose":{"translation":{"x":5.41933343119001,"y":-2.1538021570692},"rotation":{"radians":0.20769126028810175}},"curvature":0.05192701011621536},{"time":4.825671317602934,"velocity":2.2546249686090247,"acceleration":-0.25949883690314884,"pose":{"translation":{"x":5.491567803577112,"y":-2.1384263723113666},"rotation":{"radians":0.21189305193549995}},"curvature":0.06211516111631768},{"time":4.857820867944058,"velocity":2.2462821976885436,"acceleration":-0.3054806685684805,"pose":{"translation":{"x":5.562264259825637,"y":-2.1230416879051006},"rotation":{"radians":0.21679842166243576}},"curvature":0.07380893029249594},{"time":4.889329976377539,"velocity":2.2366567741782872,"acceleration":-0.3645746483675314,"pose":{"translation":{"x":5.631195491504479,"y":-2.107659335352115},"rotation":{"radians":0.22247692501533664}},"curvature":0.08740893357326683},{"time":4.920118640208413,"velocity":2.22543200788844,"acceleration":-0.4405173010045587,"pose":{"translation":{"x":5.698144925889643,"y":-2.092290221960793},"rotation":{"radians":0.2290127827698207}},"curvature":0.10341727942498763},{"time":4.950114922936593,"velocity":2.2122181263808525,"acceleration":-2.0469697233236106,"pose":{"translation":{"x":5.762908250156778,"y":-2.0769448624130504},"rotation":{"radians":0.2365074753425065}},"curvature":0.12247061240037477},{"time":5.008651640924989,"velocity":2.0923952369558725,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.885129761692976,"y":-2.0463650898448362},"rotation":{"radians":0.254885514865103}},"curvature":0.17321003594388829},{"time":5.065953214537044,"velocity":1.937680988203324,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.996528640827316,"y":-2.0159936821143933},"rotation":{"radians":0.27890865770143874}},"curvature":0.24949098310397802},{"time":5.121792893821631,"velocity":1.786913854134939,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.096067208990293,"y":-1.9858936419446132},"rotation":{"radians":0.3104397122955698}},"curvature":0.3681542915824516},{"time":5.17541670043227,"velocity":1.6421295762862134,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.183050268489609,"y":-1.956115120454069},"rotation":{"radians":0.3521311400316291}},"curvature":0.5580728127925462},{"time":5.226092472976168,"velocity":1.5053049904176887,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.25717387667116,"y":-1.926693227296727},"rotation":{"radians":0.4076554592975697}},"curvature":0.8670609136047129},{"time":5.273206629586642,"velocity":1.378096767569408,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.318574120079985,"y":-1.8976458408016583},"rotation":{"radians":0.4816985001147482}},"curvature":1.3642498677922088},{"time":5.295312172026076,"velocity":1.3184118029829381,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.344677830540265,"y":-1.8832629239289798},"rotation":{"radians":0.5271987902255599}},"curvature":1.7046949456906095},{"time":5.3164355651087885,"velocity":1.2613786416596144,"acceleration":-2.7,"pose":{"translation":{"x":6.367875888621235,"y":-1.8689714181127508},"rotation":{"radians":0.5789260060981627}},"curvature":2.107359175244347},{"time":5.3366138243775545,"velocity":1.206897341633946,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.388330783096846,"y":-1.8547677366618185},"rotation":{"radians":0.6368299339700696}},"curvature":2.553298780523487},{"time":5.355929093936018,"velocity":1.154746113826096,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.4062416497211565,"y":-1.8406468053284204},"rotation":{"radians":0.7001062963280319}},"curvature":2.993741926938434},{"time":5.374513451308066,"velocity":1.104568348921565,"acceleration":-1.2134303189868212,"pose":{"translation":{"x":6.42184579542092,"y":-1.82660199387505},"rotation":{"radians":0.7668227999097496}},"curvature":3.3403128606351102},{"time":5.392327077788284,"velocity":1.0829527544593618,"acceleration":2.2970922304330434,"pose":{"translation":{"x":6.435420222488045,"y":-1.8126250476413226},"rotation":{"radians":0.833618392291068}},"curvature":3.4685895978456553},{"time":5.408922591105971,"velocity":1.1210741791614678,"acceleration":2.6999999999999718,"pose":{"translation":{"x":6.447283152772176,"y":-1.7987060191108422},"rotation":{"radians":0.8956689646933972}},"curvature":3.2456906139621218},{"time":5.424168777916297,"velocity":1.1622388835493476,"acceleration":2.7000000000000086,"pose":{"translation":{"x":6.457795551873204,"y":-1.784833199478066},"rotation":{"radians":0.9470816600490577}},"curvature":2.57886080448442},{"time":5.451971579179016,"velocity":1.23730644695869,"acceleration":2.699999999999969,"pose":{"translation":{"x":6.476435482831937,"y":-1.7571701346389204},"rotation":{"radians":0.9941753455794762}},"curvature":-1.1537308796874966E-13},{"time":5.502881337719525,"velocity":1.3747627950180625,"acceleration":2.7000000000000473,"pose":{"translation":{"x":6.511836908769155,"y":-1.7008882832027372},"rotation":{"radians":1.0376842058358065}},"curvature":1.1878752233949776},{"time":5.527176274859898,"velocity":1.4403591252970733,"acceleration":2.1821073133571773,"pose":{"translation":{"x":6.528551735576062,"y":-1.6710550406427558},"rotation":{"radians":1.0843439095531366}},"curvature":1.5097092921826685},{"time":5.5511988335070885,"velocity":1.4927789262066598,"acceleration":-0.4503322763288449,"pose":{"translation":{"x":6.544151189118817,"y":-1.6394660849698703},"rotation":{"radians":1.1407861154018248}},"curvature":1.6689832791211872},{"time":5.575743482968033,"velocity":1.4817256783432193,"acceleration":0.5606328036786067,"pose":{"translation":{"x":6.558338532268451,"y":-1.6058317629213466},"rotation":{"radians":1.2026831370964817}},"curvature":1.704457219523111},{"time":5.601239791738923,"velocity":1.496019745412899,"acceleration":1.0995955306570862,"pose":{"translation":{"x":6.5708529150609625,"y":-1.5699931050181222},"rotation":{"radians":1.2667148813546463}},"curvature":1.6586816761326961},{"time":5.62741463912908,"velocity":1.5248014906187468,"acceleration":1.3205497155448274,"pose":{"translation":{"x":6.581468047509262,"y":-1.5319100799505325},"rotation":{"radians":1.3306105140724585}},"curvature":1.569114410392242},{"time":5.654095123167366,"velocity":1.5600343962261038,"acceleration":1.320756409391317,"pose":{"translation":{"x":6.589990872415124,"y":-1.4916498489640366},"rotation":{"radians":1.3930316926117545}},"curvature":1.4639705775828686},{"time":5.6811796164212245,"velocity":1.595806414286253,"acceleration":1.1708145816295956,"pose":{"translation":{"x":6.596260238181128,"y":-1.4493750202449438},"rotation":{"radians":1.4533788886387289}},"curvature":1.361967826101115},{"time":5.708610062991104,"velocity":1.6279223811108796,"acceleration":0.9235130290818617,"pose":{"translation":{"x":6.600145571622606,"y":-1.4053319033061396},"rotation":{"radians":1.511588903367418}},"curvature":1.274209177670482},{"time":5.736350537067421,"velocity":1.6535410703532651,"acceleration":0.6163089502065757,"pose":{"translation":{"x":6.601545550779591,"y":-1.3598387633728115},"rotation":{"radians":1.5679636764872886}},"curvature":1.2066489582835216},{"time":5.7643734963400455,"velocity":1.670811870964258,"acceleration":0.27331396982691775,"pose":{"translation":{"x":6.600386777728762,"y":-1.313274075768177},"rotation":{"radians":1.62304464023289}},"curvature":1.1622724877712713},{"time":5.792653069414341,"velocity":1.6785410733462043,"acceleration":-0.09170960716604792,"pose":{"translation":{"x":6.596622451395392,"y":-1.266064780299207},"rotation":{"radians":1.6775307997854143}},"curvature":1.1427084730982622},{"time":5.821163884129582,"velocity":1.6759263577286856,"acceleration":-0.4714979320551649,"pose":{"translation":{"x":6.590231040365293,"y":-1.2186745356423547},"rotation":{"radians":1.7322317754152563}},"curvature":1.1493065957248914},{"time":5.849883828760017,"velocity":1.6623849632266967,"acceleration":-0.8609622563266004,"pose":{"translation":{"x":6.58121495569676,"y":-1.1715919737292804},"rotation":{"radians":1.7880455282286671}},"curvature":1.18380982016479},{"time":5.8787992734784815,"velocity":1.6374898566992004,"acceleration":-1.2525782238971908,"pose":{"translation":{"x":6.569599223732524,"y":-1.1253189541325774},"rotation":{"radians":1.845951012417962}},"curvature":1.2487310284935216},{"time":5.90791136378623,"velocity":1.6010246863275868,"acceleration":-1.6316748729677149,"pose":{"translation":{"x":6.555430158911694,"y":-1.0803588184514998},"rotation":{"radians":1.9070063271107445}},"curvature":1.3474690512029361},{"time":5.9372418525956885,"velocity":1.5531668647253323,"acceleration":-1.9723160826394623,"pose":{"translation":{"x":6.538774036581702,"y":-1.0372046446976864},"rotation":{"radians":1.972341771283851}},"curvature":1.484090726709411},{"time":5.966836460146223,"velocity":1.4947969442940088,"acceleration":-2.235457025135192,"pose":{"translation":{"x":6.519715765810254,"y":-0.9963275016808895},"rotation":{"radians":2.0431337924232933}},"curvature":1.662563350736759},{"time":5.996762928320311,"velocity":1.4278976107767598,"acceleration":-2.3719025948054897,"pose":{"translation":{"x":6.498357562197272,"y":-0.9581647033946987},"rotation":{"radians":2.1205401166611697}},"curvature":1.8850609599019006},{"time":6.02709998177422,"velocity":1.3559410749706804,"acceleration":-2.3664362599562576,"pose":{"translation":{"x":6.474817620686844,"y":-0.9231080634022691},"rotation":{"radians":2.205570086461336}},"curvature":2.1488854995789755},{"time":6.042450335318028,"velocity":1.3196154417414645,"acceleration":-2.29524970769606,"pose":{"translation":{"x":6.46227047687935,"y":-0.9068516624584909},"rotation":{"radians":2.2511664676814833}},"curvature":2.293000044192321},{"time":6.057927849145522,"velocity":1.2840906826530478,"acceleration":-2.1687903653396483,"pose":{"translation":{"x":6.44922878837917,"y":-0.8914921492220463},"rotation":{"radians":2.2988632978482455}},"curvature":2.441823328182632},{"time":6.073532442452105,"velocity":1.250247591034687,"acceleration":-1.9855593152502429,"pose":{"translation":{"x":6.435711232731428,"y":-0.8770604729234138},"rotation":{"radians":2.348629578187915}},"curvature":2.5914679573181467},{"time":6.089257411910233,"velocity":1.2190247314450757,"acceleration":-1.7457481891825222,"pose":{"translation":{"x":6.421737237342504,"y":-0.8635825367134929},"rotation":{"radians":2.400366669751328}},"curvature":2.736895598098976},{"time":6.10508769660897,"velocity":1.191389040598012,"acceleration":-1.4509079259757942,"pose":{"translation":{"x":6.407326938005398,"y":-0.8510788306131584},"rotation":{"radians":2.453896409749625}},"curvature":2.8719743484201485},{"time":6.120998380313205,"velocity":1.1683041035038433,"acceleration":-1.1033462813987904,"pose":{"translation":{"x":6.392501137425109,"y":-0.8395640644628148},"rotation":{"radians":2.5089516531493756}},"curvature":2.9897083806836866},{"time":6.136953678169601,"velocity":1.1506998849453793,"acceleration":-0.7053217432850282,"pose":{"translation":{"x":6.377281263744003,"y":-0.8290468008719494},"rotation":{"radians":2.5651710989544223}},"curvature":3.0826652750534103},{"time":6.152906647070457,"velocity":1.1394479091096552,"acceleration":-0.25811782116999027,"pose":{"translation":{"x":6.361689329067192,"y":-0.8195290881686872},"rotation":{"radians":2.62210015400647}},"curvature":3.1435845984469615},{"time":6.168799788838686,"velocity":1.1353456059848943,"acceleration":0.23894740435280834,"pose":{"translation":{"x":6.345747887987907,"y":-0.8110060933493437},"rotation":{"radians":2.679199015485575}},"curvature":3.166095247348798},{"time":6.184566580317211,"velocity":1.13911303988366,"acceleration":0.789600172984151,"pose":{"translation":{"x":6.329479996112863,"y":-0.8034657350279817},"rotation":{"radians":2.7358581051324795}},"curvature":3.145416055608894},{"time":6.200133785759433,"velocity":1.1514049079937174,"acceleration":1.4019266712749576,"pose":{"translation":{"x":6.312909168587646,"y":-0.7968883163859597},"rotation":{"radians":2.7914196306165877}},"curvature":3.0788878487963216},{"time":6.215424229784526,"velocity":1.1728409892881329,"acceleration":2.090245444834489,"pose":{"translation":{"x":6.296059338622073,"y":-0.7912461581214907},"rotation":{"radians":2.845202719492807}},"curvature":2.966204172009709},{"time":6.230359588322683,"velocity":1.2040595544394843,"acceleration":2.6999999999999162,"pose":{"translation":{"x":6.278954816015575,"y":-0.786503231399196},"rotation":{"radians":2.89652867037854}},"curvature":2.809273201572616},{"time":6.2448777979101795,"velocity":1.2432587203257246,"acceleration":2.699999999999947,"pose":{"translation":{"x":6.261620245682562,"y":-0.7826147907996557},"rotation":{"radians":2.944742692560561}},"curvature":2.6117334770659797},{"time":6.2727310930984945,"velocity":1.3184626173341747,"acceleration":2.700000000000037,"pose":{"translation":{"x":6.226360968221806,"y":-0.7771766010682919},"rotation":{"radians":3.0294182129604774}},"curvature":2.1135731004468514},{"time":6.29930180412925,"velocity":1.3902035371172154,"acceleration":1.9579045614781905,"pose":{"translation":{"x":6.1904837918189655,"y":-0.7743853459743151},"rotation":{"radians":3.0948350542688234}},"curvature":1.5064408696404095},{"time":6.3498607487145104,"velocity":1.4891931253442203,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.117697094633763,"y":-0.7737321394060479},"rotation":{"radians":-3.131011037968703}},"curvature":3.2691234110058424E-14},{"time":6.401119278990453,"velocity":1.3507950935991744,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.0449470691291385,"y":-0.7760459354641217},"rotation":{"radians":-3.068756831721592}},"curvature":1.6384734703251902},{"time":6.4285191736546725,"velocity":1.2768153780057823,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.009152752578783,"y":-0.7798711036001675},"rotation":{"radians":-2.9975271500293448}},"curvature":2.3009266660559278},{"time":6.442750433518509,"velocity":1.2383909763734233,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":5.9915001252635305,"y":-0.782820221278785},"rotation":{"radians":-2.953734424904121}},"curvature":2.586856880863319},{"time":6.4573992513196705,"velocity":1.1988391683102877,"acceleration":-2.6340502968630806,"pose":{"translation":{"x":5.974047450499043,"y":-0.786571486405442},"rotation":{"radians":-2.9052760749508306}},"curvature":2.834946198031252},{"time":6.472527827260386,"velocity":1.158989738362531,"acceleration":-1.8113367976154435,"pose":{"translation":{"x":5.956821917426144,"y":-0.7911952103963042},"rotation":{"radians":-2.8528213784379948}},"curvature":3.0385399399374347},{"time":6.488126296653291,"velocity":1.130735656764685,"acceleration":-1.0902978943873374,"pose":{"translation":{"x":5.939850265047709,"y":-0.7967517341672854},"rotation":{"radians":-2.7971054339531736}},"curvature":3.191586418939757},{"time":6.504103700482821,"velocity":1.1133155270115715,"acceleration":-0.4469312291663133,"pose":{"translation":{"x":5.923158746975232,"y":-0.803291807626881},"rotation":{"radians":-2.738916320605026}},"curvature":3.2898188422322834},{"time":6.520367605776156,"velocity":1.106046679827777,"acceleration":0.13285783663813722,"pose":{"translation":{"x":5.906773096175396,"y":-0.8108569691690026},"rotation":{"radians":-2.679070590212349}},"curvature":3.3317229542395648},{"time":6.536827825057206,"velocity":1.1082335489520467,"acceleration":0.6563200661301897,"pose":{"translation":{"x":5.890718489716635,"y":-0.8194799251658117},"rotation":{"radians":-2.61838041241231}},"curvature":3.3190580803643055},{"time":6.553400540150078,"velocity":1.1191105544177575,"acceleration":1.1258111468338865,"pose":{"translation":{"x":5.875019513515706,"y":-0.8291849294605538},"rotation":{"radians":-2.5576174683985538}},"curvature":3.256801123596364},{"time":6.570012090509058,"velocity":1.13781202297809,"acceleration":1.540282454797929,"pose":{"translation":{"x":5.859700127084254,"y":-0.8399881628603925},"rotation":{"radians":-2.4974792978639573}},"curvature":3.1525417702050786},{"time":6.586601796507372,"velocity":1.163364856057549,"acceleration":1.8966559565159793,"pose":{"translation":{"x":5.84478362827538,"y":-0.8518981126292435},"rotation":{"radians":-2.438563001129407}},"curvature":3.0155055329801606},{"time":6.603123446062767,"velocity":1.1947007410982595,"acceleration":2.1911885386940613,"pose":{"translation":{"x":5.8302926180302075,"y":-0.864915951980609},"rotation":{"radians":-2.3813492900766753}},"curvature":2.8554577296152663},{"time":6.619545383032758,"velocity":1.2306843011700588,"acceleration":2.4207609116488142,"pose":{"translation":{"x":5.81624896512445,"y":-0.8790359195704112},"rotation":{"radians":-2.326197558986753}},"curvature":2.6817251930623986},{"time":6.635849399064598,"velocity":1.2701524258828312,"acceleration":2.5839372755076453,"pose":{"translation":{"x":5.802673770914981,"y":-0.8942456989898268},"rotation":{"radians":-2.2733506374222436}},"curvature":2.5024885444076403},{"time":6.652028786519017,"velocity":1.3119589482211855,"acceleration":2.6816414944325873,"pose":{"translation":{"x":5.789587334086397,"y":-0.9105267982581206},"rotation":{"radians":-2.2229466513909437}},"curvature":2.324393932603669},{"time":6.668085949604249,"velocity":1.355018503033415,"acceleration":2.6999999999998896,"pose":{"translation":{"x":5.777009115397588,"y":-0.9278549293154803},"rotation":{"radians":-2.1750350439084185}},"curvature":2.152449986483261},{"time":6.684031501517638,"velocity":1.3980714931995635,"acceleration":2.670986881575251,"pose":{"translation":{"x":5.764957702428303,"y":-0.9462003875158498},"rotation":{"radians":-2.129594097388233}},"curvature":1.9901313717567557},{"time":6.71563760610855,"velocity":1.4824909839395852,"acceleration":2.4486287440729684,"pose":{"translation":{"x":5.742505066551006,"y":-0.985799660787181},"rotation":{"radians":-2.045781852248872}},"curvature":1.7019840274441302},{"time":6.746975488598531,"velocity":1.5592258237829344,"acceleration":2.1268976515457045,"pose":{"translation":{"x":5.722359323879257,"y":-1.0289930699064902},"rotation":{"radians":-1.970510835291994}},"curvature":1.4663302872355204},{"time":6.778163998967431,"velocity":1.6255605932417545,"acceleration":1.757203893400508,"pose":{"translation":{"x":5.7046341447518705,"y":-1.075386688869638},"rotation":{"radians":-1.902511114177524}},"curvature":1.2805447646385932},{"time":6.809290248428647,"velocity":1.6802557599819599,"acceleration":1.3815445470959038,"pose":{"translation":{"x":5.689425844311882,"y":-1.1245363576046574},"rotation":{"radians":-1.8404671033267157}},"curvature":1.1383926839053047},{"time":6.840404049577313,"velocity":1.723240862298326,"acceleration":1.0240736111444835,"pose":{"translation":{"x":5.6768122543967,"y":-1.1759598257424462},"rotation":{"radians":-1.7831333034109265}},"curvature":1.0330075350008525},{"time":6.871518668055476,"velocity":1.7551045220026404,"acceleration":0.6957060431342318,"pose":{"translation":{"x":5.666851595428265,"y":-1.229148896387455},"rotation":{"radians":-1.7293822797989498}},"curvature":0.9582199496241663},{"time":6.902616333130073,"velocity":1.7767393555224018,"acceleration":0.3996747206977971,"pose":{"translation":{"x":5.659581348303197,"y":-1.2835815698883772},"rotation":{"radians":-1.6782168175536412}},"curvature":0.9089695593834256},{"time":6.933655564678362,"velocity":1.7891449517221383,"acceleration":0.13631303590073024,"pose":{"translation":{"x":5.6550171262829565,"y":-1.3387341876088406},"rotation":{"radians":-1.6287669823306459}},"curvature":0.8812662777552182},{"time":6.964578514974434,"velocity":1.7933601529560033,"acceleration":-0.09324882525025394,"pose":{"translation":{"x":5.653151546883995,"y":-1.394093575698094},"rotation":{"radians":-1.5802847249986411}},"curvature":0.8719404348534313},{"time":6.995317181381543,"velocity":1.790493808423781,"acceleration":-0.2841852319394152,"pose":{"translation":{"x":5.653953103767913,"y":-1.4491691888617009},"rotation":{"radians":-1.5321439515571968}},"curvature":0.8782772476521622},{"time":7.025797652861484,"velocity":1.781831708566631,"acceleration":-0.4254936865683983,"pose":{"translation":{"x":5.65736503863161,"y":-1.503505254132226},"rotation":{"radians":-1.4838516852985606}},"curvature":0.8975510102407546},{"time":7.055941658762869,"velocity":1.7690056243677112,"acceleration":-0.497639853953723,"pose":{"translation":{"x":5.663304213097443,"y":-1.5566929146399278},"rotation":{"radians":-1.4350750016771974}},"curvature":0.9264365851380836},{"time":7.085664738090544,"velocity":1.7542142355120323,"acceleration":-0.47003938309657134,"pose":{"translation":{"x":5.671659980603378,"y":-1.608382373383446},"rotation":{"radians":-1.3856877916539514}},"curvature":0.9602726567643805},{"time":7.114870500930986,"velocity":1.7404863767636458,"acceleration":-0.2977021198703363,"pose":{"translation":{"x":5.682293058293147,"y":-1.6582950370004927},"rotation":{"radians":-1.3358399998154773}},"curvature":0.992190414089144},{"time":7.1434409007679,"velocity":1.7319809081666533,"acceleration":0.08480090539186406,"pose":{"translation":{"x":5.695034398906402,"y":-1.7062356595385424},"rotation":{"radians":-1.2860485147478666}},"curvature":1.0122197865451066},{"time":7.171223378014174,"velocity":1.7343368873911662,"acceleration":0.7763407461287232,"pose":{"translation":{"x":5.709684062668866,"y":-1.7521044862255204},"rotation":{"radians":-1.2373021315956187}},"curvature":1.006652062261352},{"time":7.19801730109571,"velocity":1.7551381016280014,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.726010089182495,"y":-1.7959093972404965},"rotation":{"radians":-1.1911624945605006}},"curvature":0.9581425668325718},{"time":7.247337267211355,"velocity":1.8883020101402421,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.762596517093122,"y":-1.8779700303505567},"rotation":{"radians":-1.116131844513597}},"curvature":0.6555467152984675},{"time":7.291847676449912,"velocity":2.008480115084345,"acceleration":2.699999999999994,"pose":{"translation":{"x":5.8022547188043525,"y":-1.955094762610317},"rotation":{"radians":-1.0850639555975656}},"curvature":7.392517864129425E-16},{"time":7.33392310166724,"velocity":2.122083763171133,"acceleration":1.9738244760593302,"pose":{"translation":{"x":5.842897564281809,"y":-2.031902019690447},"rotation":{"radians":-1.0821277155671014}},"curvature":0.06877429931458977},{"time":7.375986133431176,"velocity":2.205108804804049,"acceleration":-0.7096807124375366,"pose":{"translation":{"x":5.885955951002834,"y":-2.1120788597731615},"rotation":{"radians":-1.0728095769407453}},"curvature":0.13281614884884918},{"time":7.420627771877946,"velocity":2.1734274950267656,"acceleration":-0.44985499746679475,"pose":{"translation":{"x":5.933267592025557,"y":-2.1975964225555735},"rotation":{"radians":-1.0573682598148408}},"curvature":0.1797418503450967},{"time":7.469493829242689,"velocity":2.151444854914737,"acceleration":-0.3336750478524488,"pose":{"translation":{"x":5.986099686503494,"y":-2.289110692852944},"rotation":{"radians":-1.036502830096503}},"curvature":0.213114239561555},{"time":7.522544048297656,"velocity":2.1337433205329877,"acceleration":-0.3093746312346447,"pose":{"translation":{"x":6.045214748213004,"y":-2.38619396219522},"rotation":{"radians":-1.0106817994780612}},"curvature":0.24048717324695165},{"time":7.579398418820217,"velocity":2.1161540206184926,"acceleration":-0.33581478775041707,"pose":{"translation":{"x":6.110936434080742,"y":-2.4875662904235725},"rotation":{"radians":-0.9799692162621981}},"curvature":0.268140152729885},{"time":7.639440816396748,"velocity":2.0959908956203037,"acceleration":-0.3735486358998288,"pose":{"translation":{"x":6.183215372711115,"y":-2.5913269672869315},"rotation":{"radians":-0.9440730746526556}},"curvature":0.3004105270126269},{"time":7.670421143043989,"velocity":2.0844182368614956,"acceleration":-0.4041279638653396,"pose":{"translation":{"x":6.221712583308482,"y":-2.643396183933455},"rotation":{"radians":-0.9240203826629769}},"curvature":0.3192141578830804},{"time":7.701906159460617,"velocity":2.071694261284777,"acceleration":-0.436201410697348,"pose":{"translation":{"x":6.261694992913742,"y":-2.695185974038524},"rotation":{"radians":-0.9024613180306008}},"curvature":0.3401309521785601},{"time":7.7337919313537675,"velocity":2.057785642603811,"acceleration":-0.4673336125305373,"pose":{"translation":{"x":6.303080830152945,"y":-2.746387229974519},"rotation":{"radians":-0.8793175367735468}},"curvature":0.3632910841980558},{"time":7.7659751589796855,"velocity":2.0427453385744982,"acceleration":-0.4943439924777972,"pose":{"translation":{"x":6.345777352230901,"y":-2.7966954450324084},"rotation":{"radians":-0.854519424349722}},"curvature":0.3886905790965148},{"time":7.798354753640453,"velocity":2.0267386804750815,"acceleration":-0.5129590932370772,"pose":{"translation":{"x":6.38968290207266,"y":-2.845817946596636},"rotation":{"radians":-0.8280167837866583}},"curvature":0.41613610203485546},{"time":7.830832805547449,"velocity":2.010078768418762,"acceleration":-0.5174605635422469,"pose":{"translation":{"x":6.434688965464995,"y":-2.8934811293200147},"rotation":{"radians":-0.7997928253633825}},"curvature":0.44516594575812946},{"time":7.863314780620968,"velocity":1.993270627292254,"acceleration":-0.5003429773996282,"pose":{"translation":{"x":6.480682228197883,"y":-2.9394376882986193},"rotation":{"radians":-0.7698822138342156}},"curvature":0.4749458411791411},{"time":7.89570879416742,"velocity":1.9770625101044983,"acceleration":-0.4065882226139615,"pose":{"translation":{"x":6.527546633205994,"y":-2.983473852246677},"rotation":{"radians":-0.7383937567295757}},"curvature":0.5041422022477877},{"time":7.959834125858785,"velocity":1.9509899054675754,"acceleration":-0.09856017992256247,"pose":{"translation":{"x":6.623423270358906,"y":-3.0651409770481726},"rotation":{"radians":-0.6716584586849247}},"curvature":0.5521256910518322},{"time":8.022435079955876,"velocity":1.944819944168442,"acceleration":0.5667222018146711,"pose":{"translation":{"x":6.721413734671216,"y":-3.1377178664472583},"rotation":{"radians":-0.603075652265203}},"curvature":0.5636690139403011},{"time":8.082569819206737,"velocity":1.9788996360022406,"acceleration":1.845172029538773,"pose":{"translation":{"x":6.820700655260357,"y":-3.2014393442502067},"rotation":{"radians":-0.5393089663360785}},"curvature":0.5008088778913703},{"time":8.139046722854731,"velocity":2.0831092389284764,"acceleration":0.09468953990438077,"pose":{"translation":{"x":6.920620261141151,"y":-3.2577711569433414},"rotation":{"radians":-0.49081988063893517}},"curvature":0.3213542125987763},{"time":8.19310519985023,"velocity":2.0882280112431117,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.020728209753277,"y":-3.309641435289576},"rotation":{"radians":-0.4713397649764582}},"curvature":-2.748345272602222E-15},{"time":8.248827395881511,"velocity":1.9377780819586539,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.121213964564633,"y":-3.359486058952067},"rotation":{"radians":-0.4396131564282893}},"curvature":0.5355319981428928},{"time":8.308650179107198,"velocity":1.7762565672492983,"acceleration":-1.8275906380869638,"pose":{"translation":{"x":7.2234379818093135,"y":-3.40297939764061},"rotation":{"radians":-0.3579916647755827}},"curvature":0.9100555101081744},{"time":8.340121153360961,"velocity":1.718740509331647,"acceleration":-1.2464455054403771,"pose":{"translation":{"x":7.275436388917884,"y":-3.420886620886023},"rotation":{"radians":-0.3041013809602161}},"curvature":1.0437938501637913},{"time":8.372277594675559,"velocity":1.6786592575841097,"acceleration":-0.7729677458134688,"pose":{"translation":{"x":7.328013776284859,"y":-3.4356992961524995},"rotation":{"radians":-0.24422674277283912}},"curvature":1.1424107257775014},{"time":8.404866575386688,"velocity":1.6534690266254701,"acceleration":-0.38163333412131895,"pose":{"translation":{"x":7.381087255486345,"y":-3.447153068593587},"rotation":{"radians":-0.18029034408676015}},"curvature":1.2068360126937745},{"time":8.437661873167324,"velocity":1.6409532477899447,"acceleration":-0.062330268853868526,"pose":{"translation":{"x":7.434522841358387,"y":-3.4550829366605194},"rotation":{"radians":-0.11406592277481635}},"curvature":1.2395812720247257},{"time":8.470464482492673,"velocity":1.6389086523315872,"acceleration":0.18819915026775444,"pose":{"translation":{"x":7.48814215429664,"y":-3.459414824458078},"rotation":{"radians":-0.047115724770196106}},"curvature":1.2449781085330998},{"time":8.503103194050569,"velocity":1.6450512301126174,"acceleration":0.37117690219494415,"pose":{"translation":{"x":7.541729122556039,"y":-3.4601571541004534},"rotation":{"radians":0.0192664474355035}},"curvature":1.2288047834848796},{"time":8.535433628622826,"velocity":1.657051540663764,"acceleration":0.4882448559708084,"pose":{"translation":{"x":7.595036684550467,"y":-3.4573924180671027},"rotation":{"radians":0.08408939479452007}},"curvature":1.197554075063317},{"time":8.567335212728187,"velocity":1.6726273250005264,"acceleration":0.5422604210438157,"pose":{"translation":{"x":7.64779349115243,"y":-3.4512687515586116},"rotation":{"radians":0.14666930874460476}},"curvature":1.1576609969973028},{"time":8.598706611125879,"velocity":1.6896387927043919,"acceleration":0.5369412074723965,"pose":{"translation":{"x":7.699710607992721,"y":-3.441991504852553},"rotation":{"radians":0.20660845555743604}},"curvature":1.1149311289779444},{"time":8.629460693504836,"velocity":1.7061519268316543,"acceleration":0.47582484377649514,"pose":{"translation":{"x":7.750488217760097,"y":-3.429814815659348},"rotation":{"radians":0.2637568789051247}},"curvature":1.0742680030627423},{"time":8.65952015367377,"velocity":1.7204549647705432,"acceleration":0.3609523758144773,"pose":{"translation":{"x":7.799822322500947,"y":-3.4150331814781265},"rotation":{"radians":0.3181675080155117}},"curvature":1.0396780393341603},{"time":8.688814601937278,"velocity":1.7310288654694308,"acceleration":0.19157519389011213,"pose":{"translation":{"x":7.847411445918957,"y":-3.397973031952586},"rotation":{"radians":0.37005317089680007}},"curvature":1.0144739834103886},{"time":8.717279548795513,"velocity":1.736482043182869,"acceleration":-0.036918212096071296,"pose":{"translation":{"x":7.892963335674792,"y":-3.3789843012268506},"rotation":{"radians":0.41975090976188667}},"curvature":1.0015957032019438},{"time":8.744857349712465,"velocity":1.7354639200794737,"acceleration":-0.3336648423045404,"pose":{"translation":{"x":7.936201665685752,"y":-3.3584320003013355},"rotation":{"radians":0.4676960765787936}},"curvature":1.0039939685504349},{"time":8.771499941307416,"velocity":1.72657422395636,"acceleration":-2.521812303585073,"pose":{"translation":{"x":7.976872738425457,"y":-3.336687789388601},"rotation":{"radians":0.5144065235828345}},"curvature":1.0250544792997753},{"time":8.797532003145564,"velocity":1.6609262501252315,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.014752187223506,"y":-3.3141215502692187},"rotation":{"radians":0.5604757214801009}},"curvature":1.0690606597545818},{"time":8.823243577678356,"velocity":1.59150499888669,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.049651678565148,"y":-3.291092958647626},"rotation":{"radians":0.6065723581266831}},"curvature":1.1416922338416564},{"time":8.84848574503974,"velocity":1.523351147010952,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.081425614390966,"y":-3.26794305650799},"rotation":{"radians":0.6534421052320952}},"curvature":1.2505099136373756},{"time":8.873071637429033,"velocity":1.45696923755986,"acceleration":-2.7,"pose":{"translation":{"x":8.109977834396528,"y":-3.2449858244700662},"rotation":{"radians":0.7019035822151983}},"curvature":1.405231181150551},{"time":8.896821451201692,"velocity":1.3928447403736806,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.135268318332068,"y":-3.222499754145058},"rotation":{"radians":0.7528231994228818}},"curvature":1.617240499656143},{"time":8.919575898525444,"velocity":1.3314077325995515,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.15731988830216,"y":-3.200719420491476},"rotation":{"radians":0.8070398075041038}},"curvature":1.8969845916877746},{"time":8.941213224870651,"velocity":1.272986951467492,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":8.176224911065377,"y":-3.179827054171004},"rotation":{"radians":0.8651874385981788}},"curvature":2.246436311512615},{"time":8.961669414122929,"velocity":1.2177552404863434,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.192152000333973,"y":-3.1599441139043485},"rotation":{"radians":0.9273360684503756}},"curvature":2.6419596850469254},{"time":8.980960220312392,"velocity":1.1656700637747925,"acceleration":-1.5859505678356136,"pose":{"translation":{"x":8.205352719073545,"y":-3.141122858827109},"rotation":{"radians":0.9923608800873772}},"curvature":3.0034384775614646},{"time":8.999039593229682,"velocity":1.1369970720305058,"acceleration":2.7000000000000117,"pose":{"translation":{"x":8.216168281802704,"y":-3.123337920845632},"rotation":{"radians":1.0570336101305635}},"curvature":3.1570135914000677},{"time":9.015473572502115,"velocity":1.1813688160660765,"acceleration":2.700000000000055,"pose":{"translation":{"x":8.225036256892754,"y":-3.106477876992873},"rotation":{"radians":1.1151278967832439}},"curvature":2.8323970513192185},{"time":9.04406299066646,"velocity":1.2585602451098095,"acceleration":2.7000000000000104,"pose":{"translation":{"x":8.239201700702177,"y":-3.074605939573534},"rotation":{"radians":1.1733782429103508}},"curvature":7.945399402373078E-14},{"time":9.097799229769311,"velocity":1.4036480906875106,"acceleration":-0.13160357872518907,"pose":{"translation":{"x":8.267196462155338,"y":-3.00878326720346},"rotation":{"radians":1.1689508576181875}},"curvature":0.32078129462267024},{"time":9.159421931037782,"velocity":1.3955383226698665,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.298212399607134,"y":-2.9283065170684224},"rotation":{"radians":1.2559759238602666}},"curvature":1.6435802431255513},{"time":9.176996486028093,"velocity":1.348087024196026,"acceleration":-2.699999999999995,"pose":{"translation":{"x":8.305191956852381,"y":-2.9052299157195325},"rotation":{"radians":1.2994962829981471}},"curvature":1.9643429400079577},{"time":9.195892358036605,"velocity":1.2970681697730455,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.311263497864608,"y":-2.880987405208569},"rotation":{"radians":1.3526304660022819}},"curvature":2.285699439530784},{"time":9.21621075927942,"velocity":1.2422084864174476,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.316066779638328,"y":-2.85564150266348},"rotation":{"radians":1.4157618360314355}},"curvature":2.6055443243069942},{"time":9.238104740256691,"velocity":1.1830947377788155,"acceleration":-2.2091788545008963,"pose":{"translation":{"x":8.319219901593776,"y":-2.829279632861287},"rotation":{"radians":1.4891090333021992}},"curvature":2.9137467639469},{"time":9.261692258875009,"velocity":1.1309856904170834,"acceleration":-1.6687342994713446,"pose":{"translation":{"x":8.320327598276025,"y":-2.8020104137423423},"rotation":{"radians":1.5725466881749024}},"curvature":3.190198503224932},{"time":9.274132084963878,"velocity":1.1102269259431303,"acceleration":-1.3026172403984058,"pose":{"translation":{"x":8.319989278008407,"y":-2.7880743721893215},"rotation":{"radians":1.6178625499339785}},"curvature":3.3075572494695313},{"time":9.286973783514119,"velocity":1.093499108015586,"acceleration":-0.9312174728855263,"pose":{"translation":{"x":8.318989532054104,"y":-2.7739599419245895},"rotation":{"radians":1.6653876924200757}},"curvature":3.405369202261849},{"time":9.30019598807759,"velocity":1.0811863600960152,"acceleration":-0.5546762505485211,"pose":{"translation":{"x":8.317278886202686,"y":-2.759685006660945},"rotation":{"radians":1.7149160185273276}},"curvature":3.4792988816440036},{"time":9.31377195686723,"velocity":1.0736560926302137,"acceleration":-0.17393241054379874,"pose":{"translation":{"x":8.314808585820112,"y":-2.7452680782178183},"rotation":{"radians":1.7661874420271608}},"curvature":3.525348652854817},{"time":9.327669858652404,"velocity":1.0712387970712172,"acceleration":0.20933897540255403,"pose":{"translation":{"x":8.311530854995569,"y":-2.730728180443593},"rotation":{"radians":1.8188898782845444}},"curvature":3.5402683873234446},{"time":9.341853545715285,"velocity":1.0742079955883912,"acceleration":0.5927069626851036,"pose":{"translation":{"x":8.307399155688334,"y":-2.716084733137924},"rotation":{"radians":1.8726652261469032}},"curvature":3.521951680800048},{"time":9.356283812378988,"velocity":1.0827609151133712,"acceleration":0.9729079651153859,"pose":{"translation":{"x":8.302368446874606,"y":-2.70135743597406},"rotation":{"radians":1.9271193561290554}},"curvature":3.4697509887762785},{"time":9.370920060920202,"velocity":1.0970006378985264,"acceleration":1.3457559959332457,"pose":{"translation":{"x":8.296395443694362,"y":-2.6865661524211646},"rotation":{"radians":1.9818355407889445}},"curvature":3.384647980928342},{"time":9.385722222587782,"velocity":1.1169207357154463,"acceleration":1.7060997210567348,"pose":{"translation":{"x":8.289438876598206,"y":-2.671730793666633},"rotation":{"radians":2.0363901990056696}},"curvature":3.2692375510566833},{"time":9.400652729032574,"velocity":1.1423936685961416,"acceleration":2.0478902029091786,"pose":{"translation":{"x":8.281459750494209,"y":-2.656871202538418},"rotation":{"radians":2.0903694169791702}},"curvature":3.1275200009935},{"time":9.4156783137047,"velocity":1.1731644162391681,"acceleration":2.36441022601655,"pose":{"translation":{"x":8.272421603894761,"y":-2.6420070374273457},"rotation":{"radians":2.143384567084184}},"curvature":2.9645355382915697},{"time":9.430771448672461,"velocity":1.2088507788995924,"acceleration":2.648684735679511,"pose":{"translation":{"x":8.262290768063423,"y":-2.62715765620944},"rotation":{"radians":2.195085511631391}},"curvature":2.785905893723948},{"time":9.445911282709625,"velocity":1.248951426214549,"acceleration":2.699999999999983,"pose":{"translation":{"x":8.25103662616176,"y":-2.6123420001682405},"rotation":{"radians":2.2451703046113103}},"curvature":2.5973604829588184},{"time":9.461101340495071,"velocity":1.289964582235254,"acceleration":2.7000000000000357,"pose":{"translation":{"x":8.238631872396208,"y":-2.597578477917124},"rotation":{"radians":2.293390874402248}},"curvature":2.4043171645313866},{"time":9.476367452124508,"velocity":1.3311830836347351,"acceleration":2.7000000000000823,"pose":{"translation":{"x":8.225052771164902,"y":-2.5828848493216245},"rotation":{"radians":2.3395547437746638}},"curvature":2.211565482169232},{"time":9.49173453414909,"velocity":1.3726742051011074,"acceleration":2.7000000000000055,"pose":{"translation":{"x":8.210279416204541,"y":-2.5682781094217555},"rotation":{"radians":2.3835233030496834}},"curvature":2.0230723703019358},{"time":9.522837849708221,"velocity":1.4566531571107626,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.177091021617283,"y":-2.539388755275272},"rotation":{"radians":2.4645613768364996}},"curvature":1.6702507841543257},{"time":9.554513705077246,"velocity":1.5421779666071322,"acceleration":2.699999999999993,"pose":{"translation":{"x":8.138993872879302,"y":-2.511026668335519},"rotation":{"radians":2.5362699730465996}},"curvature":1.360367381081194},{"time":9.586783222623033,"velocity":1.6293056639807575,"acceleration":-0.9512360051223786,"pose":{"translation":{"x":8.095993009050586,"y":-2.483288435280511},"rotation":{"radians":2.5988809506084216}},"curvature":1.0972604162829855},{"time":9.620835692827225,"velocity":1.5969137282591743,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.048179616705363,"y":-2.4562472621226847},"rotation":{"radians":2.652884005862802}},"curvature":0.8781191741977286},{"time":9.658789900313396,"velocity":1.4944373680465117,"acceleration":-2.7,"pose":{"translation":{"x":7.995739322631212,"y":-2.429949259723161},"rotation":{"radians":2.6988620452013135}},"curvature":0.6968386517433888},{"time":9.702148216174521,"velocity":1.377369915221474,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.938960486528183,"y":-2.404409729306},"rotation":{"radians":2.737374960626326}},"curvature":0.5461723408392043},{"time":9.752223939513568,"velocity":1.2421654622060494,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.878242493707917,"y":-2.3796094479724577},"rotation":{"radians":2.7688806508901833}},"curvature":0.41882319730383444},{"time":9.81116380998866,"velocity":1.0830278119232994,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.814104047792759,"y":-2.355490954215249},"rotation":{"radians":2.793677516096594}},"curvature":0.3077822438542416},{"time":9.883109407564529,"velocity":0.888774698468455,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.747191463414869,"y":-2.3319548334328006},"rotation":{"radians":2.81185226403742}},"curvature":0.20615444175894368},{"time":9.978779860106151,"velocity":0.6304644766060757,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.678286958915353,"y":-2.308856003443509},"rotation":{"radians":2.8232162622886428}},"curvature":0.10655977759973516},{"time":10.212285221812104,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.608316949043368,"y":-2.286},"rotation":{"radians":2.827209681891029}},"curvature":-3.3066954667926678E-15}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 25c229a..506309f 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -27,7 +27,7 @@ public class BarrelStart extends SequentialCommandGroup { addCommands( paths[0], //new Wait(drive, 0.01, 1), - new TankDriveVelocity(drive, 3, 3, 1) //my life be like oooooo aaaaaa ooooo aaaa + new TankDriveVelocity(drive, 5, 5, 1.2) //my life be like oooooo aaaaaa ooooo aaaa ); } diff --git a/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java index 595d37c..945a77f 100644 --- a/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java +++ b/src/main/java/frc4388/robot/commands/auto/TankDriveVelocity.java @@ -15,10 +15,10 @@ public class TankDriveVelocity extends CommandBase { double m_leftTargetVel; double m_rightTargetVel; - double m_targetTime; - double m_firstTimeSec; - double m_currentTimeSec; - double m_diffSec; + long m_targetTime; + long m_firstTime; + long m_currentTime; + long m_diffTime; /** * Creates a new TankDriveVelocity. @@ -28,24 +28,24 @@ public class TankDriveVelocity extends CommandBase { m_drive = subsystem; m_leftTargetVel = leftTargetVel; m_rightTargetVel = rightTargetVel; - m_targetTime = targetTime; + m_targetTime = (long) (targetTime * 1000); addRequirements(subsystem); } // Called when the command is initially scheduled. @Override public void initialize() { - m_firstTimeSec = (System.currentTimeMillis() / 1000); - m_diffSec = 0; + m_firstTime = System.currentTimeMillis(); + m_diffTime = 0; } // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_currentTimeSec = (System.currentTimeMillis() / 1000); - m_diffSec = m_currentTimeSec - m_firstTimeSec; + m_currentTime = System.currentTimeMillis(); + m_diffTime = m_currentTime - m_firstTime; - if (m_diffSec < m_targetTime) { + if (m_diffTime < m_targetTime) { m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel); } @@ -59,7 +59,7 @@ public class TankDriveVelocity extends CommandBase { // Returns true when the command should end. @Override public boolean isFinished() { - if (m_diffSec >= m_targetTime) { + if (m_diffTime >= m_targetTime) { return true; } return false; From 2b760f520b25e6e87daa591a5fc053067352feb0 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Fri, 26 Mar 2021 19:22:11 -0600 Subject: [PATCH 18/30] Adjustments --- src/main/deploy/Robot Data - Distances.csv | 7 +++--- src/main/deploy/Robot Data - DistancesOLD.csv | 22 ++++++++++++++----- .../driverStation/GOAT DRIVERSTATION.json | 8 +++---- .../java/frc4388/robot/RobotContainer.java | 2 +- 4 files changed, 25 insertions(+), 14 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 4f2fb07..8b68b83 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -3,9 +3,10 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) 65.9,16,6000,1, 103,19,6600,1, 126.6,20.25,7000,1.5, -156.6,22,7500,1.5, -180,24,8000,2, -185.85,26.5,9000,2.5, +156.6,23,7500,1.5, +174,30,12000,1.5, +180,30,12000,1.3, +185.85,30,12000,1.3, 231,28.8,9500,1.8, 245,28.8,9500,1.8, 262,28.8,9500,1.8, diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index a508fbc..65b84e8 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -31,9 +31,19 @@ IN BETWEEN HOLD 0,16,6000,1, 65.9,16,6000,1, -126.6,20.25,7000,0.95, -180,24,8000,1, -185.85,26.5, 9000,1.625, -245,28.9,9500,.98, -262,28.9,9500,.98, -999,28.9,9500,.98, \ No newline at end of file +103,19,6600,1, +126.6,20.25,7000,1.5, +156.6,22,7500,1.5, +174,23,8000,1.5, +180,23,8000,1.3, +185.85,26.5,9000,1.3, +231,28.8,9500,1.8, +245,28.8,9500,1.8, +262,28.8,9500,1.8, +999,28.8,9500,1.8, + + + + + + diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json index 5035189..486a0fe 100644 --- a/src/main/driverStation/GOAT DRIVERSTATION.json +++ b/src/main/driverStation/GOAT DRIVERSTATION.json @@ -1144,9 +1144,9 @@ } ], "windowGeometry": { - "x": -7.199999809265137, - "y": -7.199999809265137, - "width": 1550.4000244140625, - "height": 838.4000244140625 + "x": -6.400000095367432, + "y": 1.600000023841858, + "width": 1547.199951171875, + "height": 828.7999877929688 } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 9578a71..315aa66 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -233,7 +233,7 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.3), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender From 1b98d93cf9146dc7b04cef2589db728de79eb767 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 27 Mar 2021 12:00:20 -0600 Subject: [PATCH 19/30] working slalom 9s run, working drivestraightatvelocity (needs some work) --- PathWeaver/Paths/Barrel | 2 +- PathWeaver/Paths/Slalom | 25 +++++++++---------- PathWeaver/pathweaver.json | 4 +-- src/main/deploy/paths/Barrel.wpilib.json | 2 +- .../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/Bounce1.wpilib.json | 2 +- src/main/deploy/paths/Bounce2.wpilib.json | 2 +- src/main/deploy/paths/Bounce3.wpilib.json | 2 +- src/main/deploy/paths/Bounce4.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- .../paths/Galactic Search ABLUE.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Constants.java | 2 +- .../java/frc4388/robot/RobotContainer.java | 12 ++++----- .../drive/DriveStraightAtVelocityPID.java | 2 +- .../drive/GotoCoordinatesRobotRelative.java | 2 +- .../java/frc4388/robot/subsystems/Drive.java | 4 +-- 27 files changed, 45 insertions(+), 46 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index 8326cc7..b3bd5cf 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -9,4 +9,4 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 5.802254718804354,-1.95509476261032,0.6432550409070421,-1.2184734909489143,true, 7.020728209753269,-3.3096414352895698,1.6019524576434971,-0.8164390903820133,true, 8.239201700702182,-3.0746059395735355,0.2102949172196098,0.5009967145525991,true, -7.608316949043354,-2.286,-2.245,0.73,true, +7.608316949043354,-2.286,-1.7503959286220452,0.73,true, diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom index 26959b3..603de34 100644 --- a/PathWeaver/Paths/Slalom +++ b/PathWeaver/Paths/Slalom @@ -1,14 +1,13 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.1633962507247309,-3.693120401984152,2.30034323262256,0.058245899632803244,true, -2.85812587772982,-2.412795464794176,0.8102539457579074,0.6494401855311474,true, -4.571410938607228,-2.004575919603169,2.022542292082716,0.05566630161695518,true, -6.105326805385555,-2.3509440185531143,0.8734927301599473,-0.5329783419602319,false, -7.150616246859498,-3.6683798234877276,1.1442517554596412,-0.7174767763963148,true, -8.202090832957547,-3.618898666494878,0.6741807640275734,0.6370698962829353,true, -8.43712632867358,-2.456091477162919,-0.8721053919989696,1.107140887715003,true, -7.076394511370224,-2.4808320556593437,-0.5195521484249168,-1.2122883463248084,true, -6.204289119371255,-3.581787798750241,-0.9215865489918196,-0.6185144624106163,true, -4.7384098434580935,-3.903415319203762,-1.0282413438142206,-0.047219421650161054,false, -3.1179019519422786,-3.674564968111833,-1.3854723957997805,0.5319224376731304,true, -2.1282788120852927,-2.7839041422405457,-1.2679546479417638,1.6019524576434963,true, -0.5572520775623268,-2.140649101333505,-0.7236619210204216,0.04948115699284905,true, +1.2,-3.8989,1.9117168073181727,0.007854970044450571,true, +2.6292755266378918,-2.5426835019004055,1.0947705984667904,0.6679956194034657,true, +4.571410938607228,-2.1715748244540354,2.022542292082716,0.05566630161695518,true, +6.173363396250723,-2.412795464794176,0.8224254383303222,-0.4893581628618532,false, +7.101135089866648,-3.526121497133286,0.8411796688784383,-0.7978836565096956,true, +8.233016556078077,-3.557047220253817,0.44533041293564324,0.4515155575597496,true, +8.344349159311989,-2.6663863943825286,-0.5999590285382981,0.9834379952328802,true, +7.169171680731816,-2.4993874895316623,-0.5257372930490236,-0.7484024995168457,true, +6.519731495200669,-3.785897571345744,-0.7916985118855884,-0.38966411131868783,true, +4.868297880564323,-4.00237763318946,-1.286510081814082,0.012370289248212263,true, +2.8952367454744574,-3.0993465180699604,-0.3587383881981583,2.2019114861817948,true, +0.7366212716614056,-2.313833150808477,-0.8040688011338014,0.22266520646782118,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index a61f1e9..4fb66d3 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -1,9 +1,9 @@ { "lengthUnit": "Meter", "exportUnit": "Always Meters", - "maxVelocity": 2.3, + "maxVelocity": 2.6, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Barrel Racing Path", + "gameName": "Slalom Path", "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 ca72219..66ab2ab 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21995843497087947,"velocity":0.5938877744213746,"acceleration":2.7,"pose":{"translation":{"x":1.2596371860063038,"y":-2.286114604163076},"rotation":{"radians":-0.004717738749593126}},"curvature":-0.11091189406565112},{"time":0.32805322173265505,"velocity":0.8857436986781688,"acceleration":2.7,"pose":{"translation":{"x":1.3396041632590046,"y":-2.2868352436816917},"rotation":{"radians":-0.01292993512066191}},"curvature":-0.08598009544926018},{"time":0.4293221771093436,"velocity":1.159169878195228,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.4431329628889655,"y":-2.28855791607934},"rotation":{"radians":-0.01971074118193509}},"curvature":-0.04910898934204286},{"time":0.479752378572356,"velocity":1.2953314221453613,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.5050096954304724,"y":-2.289863157419425},"rotation":{"radians":-0.02234665887740294}},"curvature":-0.0369666977614141},{"time":0.5301577107971465,"velocity":1.4314258191522957,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.573712261644012,"y":-2.2914784435293596},"rotation":{"radians":-0.0245690978680407}},"curvature":-0.02836014107028769},{"time":0.5803796333621171,"velocity":1.5670250100777166,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.6489816643694262,"y":-2.2934022005853105},"rotation":{"radians":-0.02646116960332072}},"curvature":-0.022344463623564306},{"time":0.6301788486065676,"velocity":1.7014828912377329,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.73033588650991,"y":-2.2956243253682205},"rotation":{"radians":-0.028097131601292936}},"curvature":-0.018162980444569293},{"time":0.6792797469639861,"velocity":1.834055316802763,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.8170988451187537,"y":-2.2981271806548476},"rotation":{"radians":-0.0295393815843544}},"curvature":-0.015278127305001249},{"time":0.7273954002799699,"velocity":1.963967580755919,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.908429345486083,"y":-2.3008865906088065},"rotation":{"radians":-0.030839553686859925}},"curvature":-0.013328416788188748},{"time":0.7742418727612451,"velocity":2.0904530564553623,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.0033500352256004,"y":-2.303872836171609},"rotation":{"radians":-0.032040858894095574}},"curvature":-0.012080304623949526},{"time":0.8195465381220971,"velocity":2.2127756529296625,"acceleration":1.798479490257167,"pose":{"translation":{"x":2.100776358361328,"y":-2.3070516504537024},"rotation":{"radians":-0.03318060478424806}},"curvature":-0.0113919906097702},{"time":0.8634253817375475,"velocity":2.2916908532282516,"acceleration":-0.0046389915617341,"pose":{"translation":{"x":2.199545509414344,"y":-2.3103852141255117},"rotation":{"radians":-0.03429259544341071}},"curvature":-0.011190651955298336},{"time":0.9066093424993137,"velocity":2.2914905231986755,"acceleration":-0.013609001945292732,"pose":{"translation":{"x":2.298445387489531,"y":-2.3138331508084775},"rotation":{"radians":-0.03540943097072418}},"curvature":-0.011461455773937423},{"time":0.9493212433501959,"velocity":2.2909092568569087,"acceleration":-1.6729481621622617,"pose":{"translation":{"x":2.3962435503623105,"y":-2.3173535224660986},"rotation":{"radians":-0.036564870917404305}},"curvature":-0.012247472973052962},{"time":0.991679727516066,"velocity":2.220045708619637,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":2.4917161685653864,"y":-2.32090382479497},"rotation":{"radians":-0.03779652511036476}},"curvature":-0.013661914850858251},{"time":1.034234517598669,"velocity":2.105147775396609,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.583676979475488,"y":-2.324441982615825},"rotation":{"radians":-0.03914925858434874}},"curvature":-0.01591795081849493},{"time":1.076919650950573,"velocity":1.989897915346468,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.671006241400109,"y":-2.3279273452645737},"rotation":{"radians":-0.04067990455134787}},"curvature":-0.01938833600345526},{"time":1.1192126186798301,"velocity":1.8757069024774737,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.7526796876642488,"y":-2.3313216819833444},"rotation":{"radians":-0.04246425495275823}},"curvature":-0.024721218180152868},{"time":1.1605267071488712,"velocity":1.7641588636110632,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.8277974806971535,"y":-2.334590177311522},"rotation":{"radians":-0.044607995578091406}},"curvature":-0.033069517325402885},{"time":1.2002132353054662,"velocity":1.6570052375882565,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.89561316611906,"y":-2.33770242647679},"rotation":{"radians":-0.0472645740844426}},"curvature":-0.046563575795835865},{"time":1.2375730049038736,"velocity":1.5561338596725567,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.9555626268279314,"y":-2.3406334307861707},"rotation":{"radians":-0.05066554294801528}},"curvature":-0.06933475035911639},{"time":1.302449213130238,"velocity":1.380968097461372,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.0506918166075225,"y":-2.345884712808287},"rotation":{"radians":-0.06138062183232523}},"curvature":-0.18663034254740998},{"time":1.350214111743016,"velocity":1.2520028712068716,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.113419114070398,"y":-2.35028998028033},"rotation":{"radians":-0.08357759441958654}},"curvature":-0.6813287286094732},{"time":1.3795088298100124,"velocity":1.1729071324259812,"acceleration":2.6999999999999975,"pose":{"translation":{"x":3.1487490412461314,"y":-2.353945392400739},"rotation":{"radians":-0.1351842579411842}},"curvature":-2.9658628495575257},{"time":1.3953377454955842,"velocity":1.215645204777025,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.1673831089351223,"y":-2.3571291631772167},"rotation":{"radians":-0.1973955598498366}},"curvature":5.910364348196575E-13},{"time":1.4299024428270708,"velocity":1.3089698875720386,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.2103259595121325,"y":-2.3648492686192966},"rotation":{"radians":-0.1636476840440878}},"curvature":0.2577374321627569},{"time":1.4997800828167793,"velocity":1.497639515544252,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.3070864390239483,"y":-2.3807583484990014},"rotation":{"radians":-0.16756108672451808}},"curvature":-0.14312958272013895},{"time":1.5474657216627623,"velocity":1.6263907404284061,"acceleration":2.700000000000007,"pose":{"translation":{"x":3.38045474540589,"y":-2.3936117341987004},"rotation":{"radians":-0.17973666949408582}},"curvature":-0.1793551137293276},{"time":1.6001940160145336,"velocity":1.7687571351781888,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.4683839799413696,"y":-2.4103605171119566},"rotation":{"radians":-0.1971716404383829}},"curvature":-0.21027873325626648},{"time":1.6550371811132498,"velocity":1.9168336809447224,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.567260828915034,"y":-2.4312757975185053},"rotation":{"radians":-0.22045043290999583}},"curvature":-0.25262298331671973},{"time":1.7093811587795997,"velocity":2.063562420643867,"acceleration":-1.7834544062035311,"pose":{"translation":{"x":3.672438824647297,"y":-2.4564780487019258},"rotation":{"radians":-0.2511008183245337}},"curvature":-0.31884699701426217},{"time":1.7641313333789759,"velocity":1.9659179805141969,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.778737368202467,"y":-2.485945610953185},"rotation":{"radians":-0.2917160038125738}},"curvature":-0.42645685878518147},{"time":1.8210798099717147,"velocity":1.8121570937138018,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":3.8809407520968753,"y":-2.519523185574178},"rotation":{"radians":-0.3463293863555203}},"curvature":-0.6055687861366283},{"time":1.8790847876103909,"velocity":1.6555436540893762,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.974297183007007,"y":-2.556930328881273},"rotation":{"radians":-0.4209024502626429}},"curvature":-0.9076004949200812},{"time":1.9079358883363142,"velocity":1.5776456821293832,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.016422513577116,"y":-2.5769502211301774},"rotation":{"radians":-0.46809943892861394}},"curvature":-1.1271265202274396},{"time":1.9364267688354557,"velocity":1.500720304781701,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.05501780447763,"y":-2.5977699462088513},"rotation":{"radians":-0.5233144954460176}},"curvature":-1.4036830365596071},{"time":1.96442144318622,"velocity":1.4251346840346377,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.089841778450364,"y":-2.6193230341156144},"rotation":{"radians":-0.5873892582608637}},"curvature":-1.7376487862067003},{"time":1.9918572813538653,"velocity":1.351057920981995,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.120775719629922,"y":-2.6415367859128533},"rotation":{"radians":-0.6605254218834783}},"curvature":-2.110135704610153},{"time":2.018771387507868,"velocity":1.2783898343661877,"acceleration":-1.9825136389351041,"pose":{"translation":{"x":4.147839068003316,"y":-2.6643325391646355},"rotation":{"radians":-0.7416144660796419}},"curvature":-2.466475960933599},{"time":2.045118007374408,"velocity":1.2261573011409332,"acceleration":0.229013694004918,"pose":{"translation":{"x":4.171205013869603,"y":-2.687625933374318},"rotation":{"radians":-0.827390375875586}},"curvature":-2.70302131250394},{"time":2.0703564360925246,"velocity":1.231937246932549,"acceleration":2.699999999999994,"pose":{"translation":{"x":4.19121609229951,"y":-2.7113271754221584},"rotation":{"radians":-0.9117222798950786}},"curvature":-2.6758586825841237},{"time":2.0937273940109993,"velocity":1.2950388333124305,"acceleration":2.699999999999991,"pose":{"translation":{"x":4.208399777595064,"y":-2.735341305002927},"rotation":{"radians":-0.9855700709191157}},"curvature":-2.245653675695606},{"time":2.1355829623348046,"velocity":1.4080488677867047,"acceleration":-0.007671115908462545,"pose":{"translation":{"x":4.237413128905495,"y":-2.783904142240547},"rotation":{"radians":-1.0576535709580908}},"curvature":3.530280679733356E-14},{"time":2.1755690363137257,"velocity":1.407742129978488,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.264155932792551,"y":-2.8334428756004644},"rotation":{"radians":-1.1098466877631612}},"curvature":-1.6913198039080635},{"time":2.196474302483937,"velocity":1.3512979113189179,"acceleration":-2.6770553520033706,"pose":{"translation":{"x":4.276281892618721,"y":-2.8596089313013575},"rotation":{"radians":-1.1661083014119737}},"curvature":-2.166874411462463},{"time":2.218893005562025,"velocity":1.2912818022587471,"acceleration":-0.5652216831109178,"pose":{"translation":{"x":4.287024149774729,"y":-2.887214064750629},"rotation":{"radians":-1.2344662584323163}},"curvature":-2.4110366655523325},{"time":2.2427360890255854,"velocity":1.2778051744929195,"acceleration":0.6695060107258033,"pose":{"translation":{"x":4.2960428556396675,"y":-2.9164835937701183},"rotation":{"radians":-1.309625694171324}},"curvature":-2.4690166888702487},{"time":2.2674847296258553,"velocity":1.2943745381320928,"acceleration":1.385603973236713,"pose":{"translation":{"x":4.3030545051494595,"y":-2.947530662247379},"rotation":{"radians":-1.387357096487538}},"curvature":-2.397901224320141},{"time":2.292777206253514,"velocity":1.3294198942403734,"acceleration":1.73981073431318,"pose":{"translation":{"x":4.307828751545534,"y":-2.980366525843095},"rotation":{"radians":-1.4646599927309405}},"curvature":-2.253326900964502},{"time":2.3183927395927504,"velocity":1.373986074109134,"acceleration":1.8214045072042993,"pose":{"translation":{"x":4.310185221123494,"y":-3.0149108376984954},"rotation":{"radians":-1.5397091877186853}},"curvature":-2.0801285590582044},{"time":2.344218483470246,"velocity":1.4210252004095092,"acceleration":1.69933372691976,"pose":{"translation":{"x":4.309990327981793,"y":-3.0510019341427688},"rotation":{"radians":-1.6116528399401666}},"curvature":-1.9091042038800374},{"time":2.3702127031861115,"velocity":1.465198054677642,"acceleration":1.4342174325007047,"pose":{"translation":{"x":4.3071540887704,"y":-3.08840712040048},"rotation":{"radians":-1.6803573340398814}},"curvature":-1.758498931753469},{"time":2.3963733558083455,"velocity":1.5027181187140455,"acceleration":1.0775432008429193,"pose":{"translation":{"x":4.301626937439475,"y":-3.1268329562989807},"rotation":{"radians":-1.7461716615877678}},"curvature":-1.6375303635020129},{"time":2.4227159567896455,"velocity":1.531103409293963,"acceleration":0.6691169532400535,"pose":{"translation":{"x":4.293396539988042,"y":-3.16593554197583},"rotation":{"radians":-1.8097457971255115}},"curvature":-1.549952544831861},{"time":2.4492607503111414,"velocity":1.5488649806594528,"acceleration":0.23700265658736408,"pose":{"translation":{"x":4.2824846092126565,"y":-3.2053308035862056},"rotation":{"radians":-1.871907855713834}},"curvature":-1.4967850586566662},{"time":2.4760273563662825,"velocity":1.5552087374023487,"acceleration":-0.19974767576428792,"pose":{"translation":{"x":4.268943719456078,"y":-3.2446047790103183},"rotation":{"radians":-1.9335897507593147}},"curvature":-1.4780899885163505},{"time":2.5030346014553277,"velocity":1.5498141029670154,"acceleration":-0.6267259310001797,"pose":{"translation":{"x":4.252854121355945,"y":-3.28332390356083},"rotation":{"radians":-1.9957865650202626}},"curvature":-1.4939782562675108},{"time":2.5303033762756506,"velocity":1.5327240546805143,"acceleration":-1.0293845695365682,"pose":{"translation":{"x":4.234320556593442,"y":-3.3210452956902654},"rotation":{"radians":-2.059535193987709}},"curvature":-1.545050217271978},{"time":2.557860584542014,"velocity":1.5043570897116143,"acceleration":-1.3888442365719909,"pose":{"translation":{"x":4.213469072641973,"y":-3.3573270426984294},"rotation":{"radians":-2.1258990848684487}},"curvature":-1.6323837016568952},{"time":2.585742296068556,"velocity":1.4656337353522138,"acceleration":-1.6793274559939737,"pose":{"translation":{"x":4.190443837515835,"y":-3.39173848643982},"rotation":{"radians":-2.1959461312729767}},"curvature":-1.7570587101005817},{"time":2.6139940259969054,"velocity":1.4181898296042097,"acceleration":-1.8684344831350859,"pose":{"translation":{"x":4.165403954518884,"y":-3.4238705090310453},"rotation":{"radians":-2.2707054929214117}},"curvature":-1.9190916981414445},{"time":2.642665732949621,"velocity":1.3646186236434121,"acceleration":-1.921211956657294,"pose":{"translation":{"x":4.138520276993212,"y":-3.453345818558235},"rotation":{"radians":-2.351087111198557}},"curvature":-2.115594428096073},{"time":2.671799011598636,"velocity":1.3086474203662966,"acceleration":-1.857764268996795,"pose":{"translation":{"x":4.109972223067817,"y":-3.47982923478446},"rotation":{"radians":-2.4377477204467652}},"curvature":-2.3380859782677037},{"time":2.6865513034821644,"velocity":1.281241139619266,"acceleration":-1.755656984956346,"pose":{"translation":{"x":4.09513168118401,"y":-3.4918582852456415},"rotation":{"radians":-2.48352153634229}},"curvature":-2.4541184115000187},{"time":2.701421531488058,"velocity":1.2551341199528254,"acceleration":-1.606688306209371,"pose":{"translation":{"x":4.079944590407273,"y":-3.5030379748571425},"rotation":{"radians":-2.5308947319593207}},"curvature":-2.569362620486194},{"time":2.716401348657192,"velocity":1.2310662228780236,"acceleration":-1.4106918975209581,"pose":{"translation":{"x":4.064434368417815,"y":-3.5133428303525687},"rotation":{"radians":-2.5797827490649277}},"curvature":-2.679935703814231},{"time":2.7314763454415716,"velocity":1.2098000470591446,"acceleration":-1.1683551102079341,"pose":{"translation":{"x":4.048624370960403,"y":-3.5227519390154747},"rotation":{"radians":-2.6300420548434675}},"curvature":-2.7812981804306727},{"time":2.7466251204694783,"velocity":1.1921008983418997,"acceleration":-0.880888277283374,"pose":{"translation":{"x":4.032537792305257,"y":-3.531249270107722},"rotation":{"radians":-2.681464299350209}},"curvature":-2.868416319910824},{"time":2.761818642769691,"velocity":1.1787171026569985,"acceleration":-0.5495646177130519,"pose":{"translation":{"x":4.016197565708949,"y":-3.5388239962978316},"rotation":{"radians":-2.733773123956576}},"curvature":-2.93603077053551},{"time":2.777020033657399,"velocity":1.1703629560850888,"acceleration":-0.17516325829623464,"pose":{"translation":{"x":3.999626263875293,"y":-3.545470815089348},"rotation":{"radians":-2.7866245677117862}},"curvature":-2.979019515296118},{"time":2.7921848605942783,"velocity":1.1677066355873265,"acceleration":0.24266332587374895,"pose":{"translation":{"x":3.982845999416246,"y":-3.5511902702491875},"rotation":{"radians":-2.8396117236413327}},"curvature":-2.992817287926256},{"time":2.8072619691869605,"velocity":1.1713652969029864,"acceleration":0.7061105723886187,"pose":{"translation":{"x":3.965878325312803,"y":-3.555989073236001},"rotation":{"radians":-2.892273778321745}},"curvature":-2.973829300618209},{"time":2.8221947915106447,"velocity":1.1819095206213406,"acceleration":1.2201034653383631,"pose":{"translation":{"x":3.9487441353758914,"y":-3.5598804246285276},"rotation":{"radians":-2.944108891733186}},"curvature":-2.919763722250067},{"time":2.836922977248254,"velocity":1.1998794310779446,"acceleration":1.7934948353528826,"pose":{"translation":{"x":3.9314635647072684,"y":-3.562884335553954},"rotation":{"radians":-2.9945896766566427}},"curvature":-2.829812535120566},{"time":2.8513841220533833,"velocity":1.2258154195992343,"acceleration":2.440857770161346,"pose":{"translation":{"x":3.914055890160417,"y":-3.5650279491162675},"rotation":{"radians":-3.0431794906074257}},"curvature":-2.7046359952738195},{"time":2.8655153355481824,"velocity":1.2603077018598232,"acceleration":2.6999999999999873,"pose":{"translation":{"x":3.896539430801441,"y":-3.566345861824616},"rotation":{"radians":-3.089347508806707}},"curvature":-2.54614554951642},{"time":2.8792897141005014,"velocity":1.2974985239510843,"acceleration":2.700000000000014,"pose":{"translation":{"x":3.8789314483699613,"y":-3.5668804450216642},"rotation":{"radians":-3.1325806727090293}},"curvature":-2.3571211132426986},{"time":2.9058713653020547,"velocity":1.3692689821952786,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.843504077380939,"y":-3.5658099109902333},"rotation":{"radians":3.0748674014997315}},"curvature":-1.9000068937334926},{"time":2.9313666458443914,"velocity":1.438106239659588,"acceleration":1.9647783083876476,"pose":{"translation":{"x":3.807886942094716,"y":-3.5623230287111634},"rotation":{"radians":3.0163977383055056}},"curvature":-1.3543873704903602},{"time":2.9800783375917255,"velocity":1.5338139149696153,"acceleration":-2.7,"pose":{"translation":{"x":3.7364164143528993,"y":-3.5508620756297127},"rotation":{"radians":2.965070888256593}},"curvature":3.893115126826465E-14},{"time":3.0293222670135163,"velocity":1.40085530553078,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.6655145188579614,"y":-3.536932187054641},"rotation":{"radians":2.9136754307158728}},"curvature":-1.371123050405605},{"time":3.0553218464008918,"velocity":1.330656441184866,"acceleration":-2.700000000000005,"pose":{"translation":{"x":3.6311609526815953,"y":-3.5279473593237545},"rotation":{"radians":2.8544101897020617}},"curvature":-1.9589106486393302},{"time":3.082320382011406,"velocity":1.2577603950364777,"acceleration":-2.700000000000009,"pose":{"translation":{"x":3.5980436227301187,"y":-3.5168043302695615},"rotation":{"radians":2.776561287806673}},"curvature":-2.485293769418521},{"time":3.096260424417939,"velocity":1.2201222805388374,"acceleration":-2.699999999999996,"pose":{"translation":{"x":3.582051154478698,"y":-3.510283228675173},"rotation":{"radians":2.731598694595618}},"curvature":-2.717164228867673},{"time":3.1105466634680856,"velocity":1.1815494351034415,"acceleration":-2.24127438501405,"pose":{"translation":{"x":3.5664855278661114,"y":-3.503070740733872},"rotation":{"radians":2.683185022498464}},"curvature":-2.9215941489957107},{"time":3.1251919153376755,"velocity":1.1487254072260507,"acceleration":-1.6312132055039457,"pose":{"translation":{"x":3.551380531752277,"y":-3.4951328563877326},"rotation":{"radians":2.6318122620561417}},"curvature":-3.093268958805927},{"time":3.14015127290031,"velocity":1.1243235056240262,"acceleration":-1.0731708694673447,"pose":{"translation":{"x":3.536767426980368,"y":-3.4864429687996887},"rotation":{"radians":2.5780192413825507}},"curvature":-3.2273906374192745},{"time":3.155358674290805,"velocity":1.1080033654514494,"acceleration":-0.5589081088443787,"pose":{"translation":{"x":3.522675002367559,"y":-3.4769815529251797},"rotation":{"radians":2.5223813694325994}},"curvature":-3.3203887941118233},{"time":3.1707467475093107,"velocity":1.0994028465501355,"acceleration":-0.08391943417817099,"pose":{"translation":{"x":3.509129630695772,"y":-3.4667358440837925},"rotation":{"radians":2.4654939468521664}},"curvature":-3.370508618869586},{"time":3.186249144187927,"velocity":1.0981018941924605,"acceleration":0.35356833847161917,"pose":{"translation":{"x":3.496155324702423,"y":-3.455699516530904},"rotation":{"radians":2.4079509598361932}},"curvature":-3.3781583244508813},{"time":3.2018031154258364,"velocity":1.1036012859596835,"acceleration":0.753267706804723,"pose":{"translation":{"x":3.4837737930711676,"y":-3.443872362029327},"rotation":{"radians":2.3503220744757396}},"curvature":-3.3459444733884807},{"time":3.217351942451937,"velocity":1.1153137152371375,"acceleration":1.1133814689172512,"pose":{"translation":{"x":3.4720044964226466,"y":-3.43125996842095},"rotation":{"radians":2.29313082970218}},"curvature":-3.2783952179098157},{"time":3.232846880070191,"velocity":1.1325654916433305,"acceleration":1.4311536442889017,"pose":{"translation":{"x":3.460864703305232,"y":-3.4178733981983838},"rotation":{"radians":2.2368366870297893}},"curvature":-3.1814433281015773},{"time":3.24824838481218,"velocity":1.1546074112823614,"acceleration":1.7034617128984764,"pose":{"translation":{"x":3.450369546185775,"y":-3.4037288670766026},"rotation":{"radians":2.1818227421386345}},"curvature":-3.0617873021710387},{"time":3.2635265463103944,"velocity":1.1806331744380492,"acceleration":1.9274263288097992,"pose":{"translation":{"x":3.440532077440348,"y":-3.388847422564589},"rotation":{"radians":2.1283898005186788}},"curvature":-2.926256822326255},{"time":3.2786607782453268,"velocity":1.2098032915357515,"acceleration":2.100972745474482,"pose":{"translation":{"x":3.4313633253449956,"y":-3.3732546225369746},"rotation":{"radians":2.0767564711867905}},"curvature":-2.7812824442579376},{"time":3.2936389235536176,"velocity":1.2412719666062269,"acceleration":2.2232661448077398,"pose":{"translation":{"x":3.4228723500664753,"y":-3.356980213805686},"rotation":{"radians":2.0270641689255555}},"curvature":-2.6325247031454935},{"time":3.30845597523233,"velocity":1.2742142159693746,"acceleration":2.294959788768107,"pose":{"translation":{"x":3.4150662996530086,"y":-3.340057810691587},"rotation":{"radians":1.9793855326176142}},"curvature":-2.484672880422059},{"time":3.323112613997875,"velocity":1.3078506125747997,"acceleration":2.3078731552420226,"pose":{"translation":{"x":3.407950466025023,"y":-3.322524573596122},"rotation":{"radians":1.9337347348747038}},"curvature":-2.341390857578998},{"time":3.3519621726075974,"velocity":1.3744317344307602,"acceleration":2.1863893112511565,"pose":{"translation":{"x":3.3958016721127238,"y":-3.2857900408996343},"rotation":{"radians":1.8483459431514226}},"curvature":-2.0784533026414564},{"time":3.3802652861019618,"velocity":1.4363133592499664,"acceleration":1.9362594835190627,"pose":{"translation":{"x":3.386433308785503,"y":-3.247132606261831},"rotation":{"radians":1.7702408512311567}},"curvature":-1.8559317096930499},{"time":3.4080987664177376,"velocity":1.4902061994707285,"acceleration":1.6002324135295374,"pose":{"translation":{"x":3.379826601862354,"y":-3.2069444261027815},"rotation":{"radians":1.6984385961854327}},"curvature":-1.6771931178169552},{"time":3.435532114907402,"velocity":1.5341059329355415,"acceleration":1.2146718369523801,"pose":{"translation":{"x":3.3759384542292077,"y":-3.1656435370095983},"rotation":{"radians":1.6318267246210927}},"curvature":-1.5408783230739005},{"time":3.462617967738612,"velocity":1.5670063555494491,"acceleration":0.8063113578691381,"pose":{"translation":{"x":3.3747032375428074,"y":-3.1236635700290227},"rotation":{"radians":1.5692764450430603}},"curvature":-1.443724880315326},{"time":3.4893901181189686,"velocity":1.588593044475711,"acceleration":0.39333935964071093,"pose":{"translation":{"x":3.376034583934579,"y":-3.0814434649600106},"rotation":{"radians":1.5097031830218968}},"curvature":-1.3821667466370482},{"time":3.515865874771542,"velocity":1.5990070016434377,"acceleration":-0.01101425887398771,"pose":{"translation":{"x":3.3798271777145046,"y":-3.039417184646317},"rotation":{"radians":1.4520947193131046}},"curvature":-1.353063891952501},{"time":3.5420502192555183,"velocity":1.5987186004948455,"acceleration":-0.39386504763672775,"pose":{"translation":{"x":3.3859585470749933,"y":-2.9980034292690814},"rotation":{"radians":1.3955246117283013}},"curvature":-1.3538647534562014},{"time":3.567939836081619,"velocity":1.5885215853303367,"acceleration":-0.7378944138974777,"pose":{"translation":{"x":3.3942908557947558,"y":-2.9575953506394117},"rotation":{"radians":1.3391643347804278}},"curvature":-1.3823677645994417},{"time":3.593525430137328,"velocity":1.5696421184003806,"acceleration":-1.0169121829968275,"pose":{"translation":{"x":3.404672694942674,"y":-2.9185502664909713},"rotation":{"radians":1.2823050753495577}},"curvature":-1.4361178042856415},{"time":3.61879084289489,"velocity":1.5439494123587725,"acceleration":-1.192126415080967,"pose":{"translation":{"x":3.4169408745816767,"y":-2.8811793747725645},"rotation":{"radians":1.2243992455851416}},"curvature":-1.5113768944433779},{"time":3.643707472094257,"velocity":1.5142456405154292,"acceleration":-1.209010188586041,"pose":{"translation":{"x":3.4309222154726062,"y":-2.8457374679407175},"rotation":{"radians":1.1651315017206305}},"curvature":-1.6015682735341743},{"time":3.6682226399081337,"velocity":1.4846065528535557,"acceleration":-0.9928619030002608,"pose":{"translation":{"x":3.446435340778098,"y":-2.8124126472522684},"rotation":{"radians":1.1045275485778725}},"curvature":-1.6951605372970895},{"time":3.6922412286781454,"velocity":1.460759411099981,"acceleration":-0.4366061732307725,"pose":{"translation":{"x":3.463292467766446,"y":-2.78131603705695},"rotation":{"radians":1.0431034607917251}},"curvature":-1.7732206354381026},{"time":3.7156015856115943,"velocity":1.450560135053963,"acceleration":0.6355211152764916,"pose":{"translation":{"x":3.4813011995154812,"y":-2.752471499089974},"rotation":{"radians":0.9820454156633992}},"curvature":-1.8073900659974893},{"time":3.7380496961129803,"velocity":1.4648263832756538,"acceleration":-0.7785678475091764,"pose":{"translation":{"x":3.500266316616437,"y":-2.725805346764618},"rotation":{"radians":0.9233881284475502}},"curvature":-1.7597282362913125},{"time":3.7597374875590592,"velocity":1.4479409661722524,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.5199915688778285,"y":-2.701136059464811},"rotation":{"radians":0.8701340694955684}},"curvature":-1.5862860685745421},{"time":3.781340288880512,"velocity":1.3896134026043296,"acceleration":-2.699999999999998,"pose":{"translation":{"x":3.54028146702932,"y":-2.678163996837716},"rotation":{"radians":0.826236244830504}},"curvature":-1.245816373605418},{"time":3.8261450644783097,"velocity":1.268640508490276,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.581787798750246,"y":-2.6354606712620012},"rotation":{"radians":0.7853981633974251}},"curvature":-6.615091382060244E-14},{"time":3.850432903449103,"velocity":1.2030633432691338,"acceleration":-2.70000000000001,"pose":{"translation":{"x":3.6033214420616977,"y":-2.614549601912544},"rotation":{"radians":0.7434700872742208}},"curvature":-2.491368838893738},{"time":3.8638688745105036,"velocity":1.1667862214033522,"acceleration":-0.6229826544321095,"pose":{"translation":{"x":3.615270395041822,"y":-2.6040287413309935},"rotation":{"radians":0.6990485117991438}},"curvature":-2.9976128673543023},{"time":3.8784912460767575,"velocity":1.1576767375509147,"acceleration":2.6999999999999496,"pose":{"translation":{"x":3.6285577464942604,"y":-2.5934333621932306},"rotation":{"radians":0.6471389826403461}},"curvature":-3.0454866779923693},{"time":3.894105840818847,"velocity":1.1998361433545561,"acceleration":2.7000000000000064,"pose":{"translation":{"x":3.64354067953295,"y":-2.582742929893157},"rotation":{"radians":0.5931209803819386}},"curvature":-2.7909207425188822},{"time":3.910583303973931,"velocity":1.244325293873282,"acceleration":2.7000000000000313,"pose":{"translation":{"x":3.660533766240386,"y":-2.571938980791031},"rotation":{"radians":0.5408564412336219}},"curvature":-2.3930342617288938},{"time":3.9280621000625806,"velocity":1.2915180433126368,"acceleration":2.7,"pose":{"translation":{"x":3.6798104918601466,"y":-2.5610050537803386},"rotation":{"radians":0.4926393618562821}},"curvature":-1.9668925310976935},{"time":3.9466316047269596,"velocity":1.34165570590646,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.70160477898943,"y":-2.549926621854654},"rotation":{"radians":0.44951316353928833}},"curvature":-1.5760872296808075},{"time":3.9871734310486713,"velocity":1.4511186369750817,"acceleration":2.699999999999995,"pose":{"translation":{"x":3.7534930600886147,"y":-2.5272873951342576},"rotation":{"radians":0.37890217454704694}},"curvature":-0.9792303217167234},{"time":4.032137964157548,"velocity":1.5725228763690493,"acceleration":2.6999999999999877,"pose":{"translation":{"x":3.817336656703996,"y":-2.503941166121159},"rotation":{"radians":0.32643077647355156}},"curvature":-0.6063178692585797},{"time":4.081032076824858,"velocity":1.7045369805707855,"acceleration":2.700000000000007,"pose":{"translation":{"x":3.8937381619814313,"y":-2.4798343661875477},"rotation":{"radians":0.2878119541109113}},"curvature":-0.3824478908042748},{"time":4.1331420341537655,"velocity":1.8452338653588372,"acceleration":2.699999999999984,"pose":{"translation":{"x":3.982813489207546,"y":-2.454937802726196},"rotation":{"radians":0.2593465415081815}},"curvature":-0.24710673766449956},{"time":4.187670025405492,"velocity":1.9924594417384975,"acceleration":2.699999999999996,"pose":{"translation":{"x":4.084240645970702,"y":-2.4292444692901713},"rotation":{"radians":0.2383067898147524}},"curvature":-0.16304347662623683},{"time":4.2438170668669155,"velocity":2.1440564536843425,"acceleration":1.788570470746678,"pose":{"translation":{"x":4.197308508321964,"y":-2.4027673557325477},"rotation":{"radians":0.2227854020914125}},"curvature":-0.10889804249204825},{"time":4.3014860628493645,"velocity":2.247201516976159,"acceleration":0.3336701051472451,"pose":{"translation":{"x":4.320965594936068,"y":-2.375537258346117},"rotation":{"radians":0.21147307764861625}},"curvature":-0.07251609600061923},{"time":4.3311676381601645,"velocity":2.2571053713310496,"acceleration":0.27891022737022514,"pose":{"translation":{"x":4.386355445973626,"y":-2.361653794596027},"rotation":{"radians":0.2071043099551129}},"curvature":-0.058655138969910675},{"time":4.361662810323567,"velocity":2.2656107867328386,"acceleration":0.2371728804278424,"pose":{"translation":{"x":4.453868841272389,"y":-2.3476005900031023},"rotation":{"radians":0.20347888779772916}},"curvature":-0.046848094007324155},{"time":4.392893267212851,"velocity":2.2730178041503475,"acceleration":0.20554202292329746,"pose":{"translation":{"x":4.523300339898158,"y":-2.333385526992952},"rotation":{"radians":0.20053029783993817}},"curvature":-0.03663780464013669},{"time":4.424773458744618,"velocity":2.279570523208969,"acceleration":0.18188139640192513,"pose":{"translation":{"x":4.594432373735905,"y":-2.319017190294866},"rotation":{"radians":0.19820496354151063}},"curvature":-0.027660447470735105},{"time":4.457211539975169,"velocity":2.2854704067197806,"acceleration":0.16464292611433104,"pose":{"translation":{"x":4.667036771682282,"y":-2.3045047985086766},"rotation":{"radians":0.1964604694320385}},"curvature":-0.019621528930117278},{"time":4.490110255560647,"velocity":2.290886947519177,"acceleration":0.15272852314324642,"pose":{"translation":{"x":4.740876283838171,"y":-2.2898581356716265},"rotation":{"radians":0.19526417508718627}},"curvature":-0.012277648715133488},{"time":4.523367775102927,"velocity":2.295966319362277,"acceleration":0.09533002276857162,"pose":{"translation":{"x":4.8157061057011985,"y":-2.2750874828252354},"rotation":{"radians":0.19459215716483777}},"curvature":-0.005422392956255846},{"time":4.556890712894829,"velocity":2.2991620617852484,"acceleration":-0.14098965890183515,"pose":{"translation":{"x":4.891275402358279,"y":-2.2602035495821653},"rotation":{"radians":0.19442843177781446}},"curvature":0.0011248572255344999},{"time":4.590640468759053,"velocity":2.294403695217931,"acceleration":-0.13993272880488308,"pose":{"translation":{"x":4.9673288326781355,"y":-2.2452174056930856},"rotation":{"radians":0.19476442173387107}},"curvature":0.0075281196851581175},{"time":4.624564537718841,"velocity":2.289656607676223,"acceleration":-0.14266989749624465,"pose":{"translation":{"x":5.043608073503833,"y":-2.2301404126135402},"rotation":{"radians":0.19559864395482832}},"curvature":0.013942724107623242},{"time":4.658551940223694,"velocity":2.284807628444692,"acceleration":-0.1492652037440249,"pose":{"translation":{"x":5.11985334384531,"y":-2.2149841550708147},"rotation":{"radians":0.19693660203065494}},"curvature":0.020522531122871182},{"time":4.692492770682971,"velocity":2.2797414434709466,"acceleration":-0.16000551714284914,"pose":{"translation":{"x":5.195804929071908,"y":-2.1997603726307995},"rotation":{"radians":0.19879087775974688}},"curvature":0.02742697388748155},{"time":4.726278921580852,"velocity":2.274335472924265,"acceleration":-0.17541766865825742,"pose":{"translation":{"x":5.2712047051049,"y":-2.184480891264857},"rotation":{"radians":0.2011814240763657}},"curvature":0.034828416591648786},{"time":4.759804839346205,"velocity":2.268454434590238,"acceleration":-0.1963056976732497,"pose":{"translation":{"x":5.345797662610025,"y":-2.169157554916689},"rotation":{"radians":0.20413607037302173}},"curvature":0.042920349079242213},{"time":4.792968315438247,"velocity":2.2619442552787197,"acceleration":-0.2238108487054592,"pose":{"translation":{"x":5.41933343119001,"y":-2.1538021570692},"rotation":{"radians":0.20769126028810175}},"curvature":0.05192701011621536},{"time":4.825671317602934,"velocity":2.2546249686090247,"acceleration":-0.25949883690314884,"pose":{"translation":{"x":5.491567803577112,"y":-2.1384263723113666},"rotation":{"radians":0.21189305193549995}},"curvature":0.06211516111631768},{"time":4.857820867944058,"velocity":2.2462821976885436,"acceleration":-0.3054806685684805,"pose":{"translation":{"x":5.562264259825637,"y":-2.1230416879051006},"rotation":{"radians":0.21679842166243576}},"curvature":0.07380893029249594},{"time":4.889329976377539,"velocity":2.2366567741782872,"acceleration":-0.3645746483675314,"pose":{"translation":{"x":5.631195491504479,"y":-2.107659335352115},"rotation":{"radians":0.22247692501533664}},"curvature":0.08740893357326683},{"time":4.920118640208413,"velocity":2.22543200788844,"acceleration":-0.4405173010045587,"pose":{"translation":{"x":5.698144925889643,"y":-2.092290221960793},"rotation":{"radians":0.2290127827698207}},"curvature":0.10341727942498763},{"time":4.950114922936593,"velocity":2.2122181263808525,"acceleration":-2.0469697233236106,"pose":{"translation":{"x":5.762908250156778,"y":-2.0769448624130504},"rotation":{"radians":0.2365074753425065}},"curvature":0.12247061240037477},{"time":5.008651640924989,"velocity":2.0923952369558725,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.885129761692976,"y":-2.0463650898448362},"rotation":{"radians":0.254885514865103}},"curvature":0.17321003594388829},{"time":5.065953214537044,"velocity":1.937680988203324,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.996528640827316,"y":-2.0159936821143933},"rotation":{"radians":0.27890865770143874}},"curvature":0.24949098310397802},{"time":5.121792893821631,"velocity":1.786913854134939,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.096067208990293,"y":-1.9858936419446132},"rotation":{"radians":0.3104397122955698}},"curvature":0.3681542915824516},{"time":5.17541670043227,"velocity":1.6421295762862134,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.183050268489609,"y":-1.956115120454069},"rotation":{"radians":0.3521311400316291}},"curvature":0.5580728127925462},{"time":5.226092472976168,"velocity":1.5053049904176887,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.25717387667116,"y":-1.926693227296727},"rotation":{"radians":0.4076554592975697}},"curvature":0.8670609136047129},{"time":5.273206629586642,"velocity":1.378096767569408,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.318574120079985,"y":-1.8976458408016583},"rotation":{"radians":0.4816985001147482}},"curvature":1.3642498677922088},{"time":5.295312172026076,"velocity":1.3184118029829381,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.344677830540265,"y":-1.8832629239289798},"rotation":{"radians":0.5271987902255599}},"curvature":1.7046949456906095},{"time":5.3164355651087885,"velocity":1.2613786416596144,"acceleration":-2.7,"pose":{"translation":{"x":6.367875888621235,"y":-1.8689714181127508},"rotation":{"radians":0.5789260060981627}},"curvature":2.107359175244347},{"time":5.3366138243775545,"velocity":1.206897341633946,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.388330783096846,"y":-1.8547677366618185},"rotation":{"radians":0.6368299339700696}},"curvature":2.553298780523487},{"time":5.355929093936018,"velocity":1.154746113826096,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.4062416497211565,"y":-1.8406468053284204},"rotation":{"radians":0.7001062963280319}},"curvature":2.993741926938434},{"time":5.374513451308066,"velocity":1.104568348921565,"acceleration":-1.2134303189868212,"pose":{"translation":{"x":6.42184579542092,"y":-1.82660199387505},"rotation":{"radians":0.7668227999097496}},"curvature":3.3403128606351102},{"time":5.392327077788284,"velocity":1.0829527544593618,"acceleration":2.2970922304330434,"pose":{"translation":{"x":6.435420222488045,"y":-1.8126250476413226},"rotation":{"radians":0.833618392291068}},"curvature":3.4685895978456553},{"time":5.408922591105971,"velocity":1.1210741791614678,"acceleration":2.6999999999999718,"pose":{"translation":{"x":6.447283152772176,"y":-1.7987060191108422},"rotation":{"radians":0.8956689646933972}},"curvature":3.2456906139621218},{"time":5.424168777916297,"velocity":1.1622388835493476,"acceleration":2.7000000000000086,"pose":{"translation":{"x":6.457795551873204,"y":-1.784833199478066},"rotation":{"radians":0.9470816600490577}},"curvature":2.57886080448442},{"time":5.451971579179016,"velocity":1.23730644695869,"acceleration":2.699999999999969,"pose":{"translation":{"x":6.476435482831937,"y":-1.7571701346389204},"rotation":{"radians":0.9941753455794762}},"curvature":-1.1537308796874966E-13},{"time":5.502881337719525,"velocity":1.3747627950180625,"acceleration":2.7000000000000473,"pose":{"translation":{"x":6.511836908769155,"y":-1.7008882832027372},"rotation":{"radians":1.0376842058358065}},"curvature":1.1878752233949776},{"time":5.527176274859898,"velocity":1.4403591252970733,"acceleration":2.1821073133571773,"pose":{"translation":{"x":6.528551735576062,"y":-1.6710550406427558},"rotation":{"radians":1.0843439095531366}},"curvature":1.5097092921826685},{"time":5.5511988335070885,"velocity":1.4927789262066598,"acceleration":-0.4503322763288449,"pose":{"translation":{"x":6.544151189118817,"y":-1.6394660849698703},"rotation":{"radians":1.1407861154018248}},"curvature":1.6689832791211872},{"time":5.575743482968033,"velocity":1.4817256783432193,"acceleration":0.5606328036786067,"pose":{"translation":{"x":6.558338532268451,"y":-1.6058317629213466},"rotation":{"radians":1.2026831370964817}},"curvature":1.704457219523111},{"time":5.601239791738923,"velocity":1.496019745412899,"acceleration":1.0995955306570862,"pose":{"translation":{"x":6.5708529150609625,"y":-1.5699931050181222},"rotation":{"radians":1.2667148813546463}},"curvature":1.6586816761326961},{"time":5.62741463912908,"velocity":1.5248014906187468,"acceleration":1.3205497155448274,"pose":{"translation":{"x":6.581468047509262,"y":-1.5319100799505325},"rotation":{"radians":1.3306105140724585}},"curvature":1.569114410392242},{"time":5.654095123167366,"velocity":1.5600343962261038,"acceleration":1.320756409391317,"pose":{"translation":{"x":6.589990872415124,"y":-1.4916498489640366},"rotation":{"radians":1.3930316926117545}},"curvature":1.4639705775828686},{"time":5.6811796164212245,"velocity":1.595806414286253,"acceleration":1.1708145816295956,"pose":{"translation":{"x":6.596260238181128,"y":-1.4493750202449438},"rotation":{"radians":1.4533788886387289}},"curvature":1.361967826101115},{"time":5.708610062991104,"velocity":1.6279223811108796,"acceleration":0.9235130290818617,"pose":{"translation":{"x":6.600145571622606,"y":-1.4053319033061396},"rotation":{"radians":1.511588903367418}},"curvature":1.274209177670482},{"time":5.736350537067421,"velocity":1.6535410703532651,"acceleration":0.6163089502065757,"pose":{"translation":{"x":6.601545550779591,"y":-1.3598387633728115},"rotation":{"radians":1.5679636764872886}},"curvature":1.2066489582835216},{"time":5.7643734963400455,"velocity":1.670811870964258,"acceleration":0.27331396982691775,"pose":{"translation":{"x":6.600386777728762,"y":-1.313274075768177},"rotation":{"radians":1.62304464023289}},"curvature":1.1622724877712713},{"time":5.792653069414341,"velocity":1.6785410733462043,"acceleration":-0.09170960716604792,"pose":{"translation":{"x":6.596622451395392,"y":-1.266064780299207},"rotation":{"radians":1.6775307997854143}},"curvature":1.1427084730982622},{"time":5.821163884129582,"velocity":1.6759263577286856,"acceleration":-0.4714979320551649,"pose":{"translation":{"x":6.590231040365293,"y":-1.2186745356423547},"rotation":{"radians":1.7322317754152563}},"curvature":1.1493065957248914},{"time":5.849883828760017,"velocity":1.6623849632266967,"acceleration":-0.8609622563266004,"pose":{"translation":{"x":6.58121495569676,"y":-1.1715919737292804},"rotation":{"radians":1.7880455282286671}},"curvature":1.18380982016479},{"time":5.8787992734784815,"velocity":1.6374898566992004,"acceleration":-1.2525782238971908,"pose":{"translation":{"x":6.569599223732524,"y":-1.1253189541325774},"rotation":{"radians":1.845951012417962}},"curvature":1.2487310284935216},{"time":5.90791136378623,"velocity":1.6010246863275868,"acceleration":-1.6316748729677149,"pose":{"translation":{"x":6.555430158911694,"y":-1.0803588184514998},"rotation":{"radians":1.9070063271107445}},"curvature":1.3474690512029361},{"time":5.9372418525956885,"velocity":1.5531668647253323,"acceleration":-1.9723160826394623,"pose":{"translation":{"x":6.538774036581702,"y":-1.0372046446976864},"rotation":{"radians":1.972341771283851}},"curvature":1.484090726709411},{"time":5.966836460146223,"velocity":1.4947969442940088,"acceleration":-2.235457025135192,"pose":{"translation":{"x":6.519715765810254,"y":-0.9963275016808895},"rotation":{"radians":2.0431337924232933}},"curvature":1.662563350736759},{"time":5.996762928320311,"velocity":1.4278976107767598,"acceleration":-2.3719025948054897,"pose":{"translation":{"x":6.498357562197272,"y":-0.9581647033946987},"rotation":{"radians":2.1205401166611697}},"curvature":1.8850609599019006},{"time":6.02709998177422,"velocity":1.3559410749706804,"acceleration":-2.3664362599562576,"pose":{"translation":{"x":6.474817620686844,"y":-0.9231080634022691},"rotation":{"radians":2.205570086461336}},"curvature":2.1488854995789755},{"time":6.042450335318028,"velocity":1.3196154417414645,"acceleration":-2.29524970769606,"pose":{"translation":{"x":6.46227047687935,"y":-0.9068516624584909},"rotation":{"radians":2.2511664676814833}},"curvature":2.293000044192321},{"time":6.057927849145522,"velocity":1.2840906826530478,"acceleration":-2.1687903653396483,"pose":{"translation":{"x":6.44922878837917,"y":-0.8914921492220463},"rotation":{"radians":2.2988632978482455}},"curvature":2.441823328182632},{"time":6.073532442452105,"velocity":1.250247591034687,"acceleration":-1.9855593152502429,"pose":{"translation":{"x":6.435711232731428,"y":-0.8770604729234138},"rotation":{"radians":2.348629578187915}},"curvature":2.5914679573181467},{"time":6.089257411910233,"velocity":1.2190247314450757,"acceleration":-1.7457481891825222,"pose":{"translation":{"x":6.421737237342504,"y":-0.8635825367134929},"rotation":{"radians":2.400366669751328}},"curvature":2.736895598098976},{"time":6.10508769660897,"velocity":1.191389040598012,"acceleration":-1.4509079259757942,"pose":{"translation":{"x":6.407326938005398,"y":-0.8510788306131584},"rotation":{"radians":2.453896409749625}},"curvature":2.8719743484201485},{"time":6.120998380313205,"velocity":1.1683041035038433,"acceleration":-1.1033462813987904,"pose":{"translation":{"x":6.392501137425109,"y":-0.8395640644628148},"rotation":{"radians":2.5089516531493756}},"curvature":2.9897083806836866},{"time":6.136953678169601,"velocity":1.1506998849453793,"acceleration":-0.7053217432850282,"pose":{"translation":{"x":6.377281263744003,"y":-0.8290468008719494},"rotation":{"radians":2.5651710989544223}},"curvature":3.0826652750534103},{"time":6.152906647070457,"velocity":1.1394479091096552,"acceleration":-0.25811782116999027,"pose":{"translation":{"x":6.361689329067192,"y":-0.8195290881686872},"rotation":{"radians":2.62210015400647}},"curvature":3.1435845984469615},{"time":6.168799788838686,"velocity":1.1353456059848943,"acceleration":0.23894740435280834,"pose":{"translation":{"x":6.345747887987907,"y":-0.8110060933493437},"rotation":{"radians":2.679199015485575}},"curvature":3.166095247348798},{"time":6.184566580317211,"velocity":1.13911303988366,"acceleration":0.789600172984151,"pose":{"translation":{"x":6.329479996112863,"y":-0.8034657350279817},"rotation":{"radians":2.7358581051324795}},"curvature":3.145416055608894},{"time":6.200133785759433,"velocity":1.1514049079937174,"acceleration":1.4019266712749576,"pose":{"translation":{"x":6.312909168587646,"y":-0.7968883163859597},"rotation":{"radians":2.7914196306165877}},"curvature":3.0788878487963216},{"time":6.215424229784526,"velocity":1.1728409892881329,"acceleration":2.090245444834489,"pose":{"translation":{"x":6.296059338622073,"y":-0.7912461581214907},"rotation":{"radians":2.845202719492807}},"curvature":2.966204172009709},{"time":6.230359588322683,"velocity":1.2040595544394843,"acceleration":2.6999999999999162,"pose":{"translation":{"x":6.278954816015575,"y":-0.786503231399196},"rotation":{"radians":2.89652867037854}},"curvature":2.809273201572616},{"time":6.2448777979101795,"velocity":1.2432587203257246,"acceleration":2.699999999999947,"pose":{"translation":{"x":6.261620245682562,"y":-0.7826147907996557},"rotation":{"radians":2.944742692560561}},"curvature":2.6117334770659797},{"time":6.2727310930984945,"velocity":1.3184626173341747,"acceleration":2.700000000000037,"pose":{"translation":{"x":6.226360968221806,"y":-0.7771766010682919},"rotation":{"radians":3.0294182129604774}},"curvature":2.1135731004468514},{"time":6.29930180412925,"velocity":1.3902035371172154,"acceleration":1.9579045614781905,"pose":{"translation":{"x":6.1904837918189655,"y":-0.7743853459743151},"rotation":{"radians":3.0948350542688234}},"curvature":1.5064408696404095},{"time":6.3498607487145104,"velocity":1.4891931253442203,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.117697094633763,"y":-0.7737321394060479},"rotation":{"radians":-3.131011037968703}},"curvature":3.2691234110058424E-14},{"time":6.401119278990453,"velocity":1.3507950935991744,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.0449470691291385,"y":-0.7760459354641217},"rotation":{"radians":-3.068756831721592}},"curvature":1.6384734703251902},{"time":6.4285191736546725,"velocity":1.2768153780057823,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.009152752578783,"y":-0.7798711036001675},"rotation":{"radians":-2.9975271500293448}},"curvature":2.3009266660559278},{"time":6.442750433518509,"velocity":1.2383909763734233,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":5.9915001252635305,"y":-0.782820221278785},"rotation":{"radians":-2.953734424904121}},"curvature":2.586856880863319},{"time":6.4573992513196705,"velocity":1.1988391683102877,"acceleration":-2.6340502968630806,"pose":{"translation":{"x":5.974047450499043,"y":-0.786571486405442},"rotation":{"radians":-2.9052760749508306}},"curvature":2.834946198031252},{"time":6.472527827260386,"velocity":1.158989738362531,"acceleration":-1.8113367976154435,"pose":{"translation":{"x":5.956821917426144,"y":-0.7911952103963042},"rotation":{"radians":-2.8528213784379948}},"curvature":3.0385399399374347},{"time":6.488126296653291,"velocity":1.130735656764685,"acceleration":-1.0902978943873374,"pose":{"translation":{"x":5.939850265047709,"y":-0.7967517341672854},"rotation":{"radians":-2.7971054339531736}},"curvature":3.191586418939757},{"time":6.504103700482821,"velocity":1.1133155270115715,"acceleration":-0.4469312291663133,"pose":{"translation":{"x":5.923158746975232,"y":-0.803291807626881},"rotation":{"radians":-2.738916320605026}},"curvature":3.2898188422322834},{"time":6.520367605776156,"velocity":1.106046679827777,"acceleration":0.13285783663813722,"pose":{"translation":{"x":5.906773096175396,"y":-0.8108569691690026},"rotation":{"radians":-2.679070590212349}},"curvature":3.3317229542395648},{"time":6.536827825057206,"velocity":1.1082335489520467,"acceleration":0.6563200661301897,"pose":{"translation":{"x":5.890718489716635,"y":-0.8194799251658117},"rotation":{"radians":-2.61838041241231}},"curvature":3.3190580803643055},{"time":6.553400540150078,"velocity":1.1191105544177575,"acceleration":1.1258111468338865,"pose":{"translation":{"x":5.875019513515706,"y":-0.8291849294605538},"rotation":{"radians":-2.5576174683985538}},"curvature":3.256801123596364},{"time":6.570012090509058,"velocity":1.13781202297809,"acceleration":1.540282454797929,"pose":{"translation":{"x":5.859700127084254,"y":-0.8399881628603925},"rotation":{"radians":-2.4974792978639573}},"curvature":3.1525417702050786},{"time":6.586601796507372,"velocity":1.163364856057549,"acceleration":1.8966559565159793,"pose":{"translation":{"x":5.84478362827538,"y":-0.8518981126292435},"rotation":{"radians":-2.438563001129407}},"curvature":3.0155055329801606},{"time":6.603123446062767,"velocity":1.1947007410982595,"acceleration":2.1911885386940613,"pose":{"translation":{"x":5.8302926180302075,"y":-0.864915951980609},"rotation":{"radians":-2.3813492900766753}},"curvature":2.8554577296152663},{"time":6.619545383032758,"velocity":1.2306843011700588,"acceleration":2.4207609116488142,"pose":{"translation":{"x":5.81624896512445,"y":-0.8790359195704112},"rotation":{"radians":-2.326197558986753}},"curvature":2.6817251930623986},{"time":6.635849399064598,"velocity":1.2701524258828312,"acceleration":2.5839372755076453,"pose":{"translation":{"x":5.802673770914981,"y":-0.8942456989898268},"rotation":{"radians":-2.2733506374222436}},"curvature":2.5024885444076403},{"time":6.652028786519017,"velocity":1.3119589482211855,"acceleration":2.6816414944325873,"pose":{"translation":{"x":5.789587334086397,"y":-0.9105267982581206},"rotation":{"radians":-2.2229466513909437}},"curvature":2.324393932603669},{"time":6.668085949604249,"velocity":1.355018503033415,"acceleration":2.6999999999998896,"pose":{"translation":{"x":5.777009115397588,"y":-0.9278549293154803},"rotation":{"radians":-2.1750350439084185}},"curvature":2.152449986483261},{"time":6.684031501517638,"velocity":1.3980714931995635,"acceleration":2.670986881575251,"pose":{"translation":{"x":5.764957702428303,"y":-0.9462003875158498},"rotation":{"radians":-2.129594097388233}},"curvature":1.9901313717567557},{"time":6.71563760610855,"velocity":1.4824909839395852,"acceleration":2.4486287440729684,"pose":{"translation":{"x":5.742505066551006,"y":-0.985799660787181},"rotation":{"radians":-2.045781852248872}},"curvature":1.7019840274441302},{"time":6.746975488598531,"velocity":1.5592258237829344,"acceleration":2.1268976515457045,"pose":{"translation":{"x":5.722359323879257,"y":-1.0289930699064902},"rotation":{"radians":-1.970510835291994}},"curvature":1.4663302872355204},{"time":6.778163998967431,"velocity":1.6255605932417545,"acceleration":1.757203893400508,"pose":{"translation":{"x":5.7046341447518705,"y":-1.075386688869638},"rotation":{"radians":-1.902511114177524}},"curvature":1.2805447646385932},{"time":6.809290248428647,"velocity":1.6802557599819599,"acceleration":1.3815445470959038,"pose":{"translation":{"x":5.689425844311882,"y":-1.1245363576046574},"rotation":{"radians":-1.8404671033267157}},"curvature":1.1383926839053047},{"time":6.840404049577313,"velocity":1.723240862298326,"acceleration":1.0240736111444835,"pose":{"translation":{"x":5.6768122543967,"y":-1.1759598257424462},"rotation":{"radians":-1.7831333034109265}},"curvature":1.0330075350008525},{"time":6.871518668055476,"velocity":1.7551045220026404,"acceleration":0.6957060431342318,"pose":{"translation":{"x":5.666851595428265,"y":-1.229148896387455},"rotation":{"radians":-1.7293822797989498}},"curvature":0.9582199496241663},{"time":6.902616333130073,"velocity":1.7767393555224018,"acceleration":0.3996747206977971,"pose":{"translation":{"x":5.659581348303197,"y":-1.2835815698883772},"rotation":{"radians":-1.6782168175536412}},"curvature":0.9089695593834256},{"time":6.933655564678362,"velocity":1.7891449517221383,"acceleration":0.13631303590073024,"pose":{"translation":{"x":5.6550171262829565,"y":-1.3387341876088406},"rotation":{"radians":-1.6287669823306459}},"curvature":0.8812662777552182},{"time":6.964578514974434,"velocity":1.7933601529560033,"acceleration":-0.09324882525025394,"pose":{"translation":{"x":5.653151546883995,"y":-1.394093575698094},"rotation":{"radians":-1.5802847249986411}},"curvature":0.8719404348534313},{"time":6.995317181381543,"velocity":1.790493808423781,"acceleration":-0.2841852319394152,"pose":{"translation":{"x":5.653953103767913,"y":-1.4491691888617009},"rotation":{"radians":-1.5321439515571968}},"curvature":0.8782772476521622},{"time":7.025797652861484,"velocity":1.781831708566631,"acceleration":-0.4254936865683983,"pose":{"translation":{"x":5.65736503863161,"y":-1.503505254132226},"rotation":{"radians":-1.4838516852985606}},"curvature":0.8975510102407546},{"time":7.055941658762869,"velocity":1.7690056243677112,"acceleration":-0.497639853953723,"pose":{"translation":{"x":5.663304213097443,"y":-1.5566929146399278},"rotation":{"radians":-1.4350750016771974}},"curvature":0.9264365851380836},{"time":7.085664738090544,"velocity":1.7542142355120323,"acceleration":-0.47003938309657134,"pose":{"translation":{"x":5.671659980603378,"y":-1.608382373383446},"rotation":{"radians":-1.3856877916539514}},"curvature":0.9602726567643805},{"time":7.114870500930986,"velocity":1.7404863767636458,"acceleration":-0.2977021198703363,"pose":{"translation":{"x":5.682293058293147,"y":-1.6582950370004927},"rotation":{"radians":-1.3358399998154773}},"curvature":0.992190414089144},{"time":7.1434409007679,"velocity":1.7319809081666533,"acceleration":0.08480090539186406,"pose":{"translation":{"x":5.695034398906402,"y":-1.7062356595385424},"rotation":{"radians":-1.2860485147478666}},"curvature":1.0122197865451066},{"time":7.171223378014174,"velocity":1.7343368873911662,"acceleration":0.7763407461287232,"pose":{"translation":{"x":5.709684062668866,"y":-1.7521044862255204},"rotation":{"radians":-1.2373021315956187}},"curvature":1.006652062261352},{"time":7.19801730109571,"velocity":1.7551381016280014,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.726010089182495,"y":-1.7959093972404965},"rotation":{"radians":-1.1911624945605006}},"curvature":0.9581425668325718},{"time":7.247337267211355,"velocity":1.8883020101402421,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.762596517093122,"y":-1.8779700303505567},"rotation":{"radians":-1.116131844513597}},"curvature":0.6555467152984675},{"time":7.291847676449912,"velocity":2.008480115084345,"acceleration":2.699999999999994,"pose":{"translation":{"x":5.8022547188043525,"y":-1.955094762610317},"rotation":{"radians":-1.0850639555975656}},"curvature":7.392517864129425E-16},{"time":7.33392310166724,"velocity":2.122083763171133,"acceleration":1.9738244760593302,"pose":{"translation":{"x":5.842897564281809,"y":-2.031902019690447},"rotation":{"radians":-1.0821277155671014}},"curvature":0.06877429931458977},{"time":7.375986133431176,"velocity":2.205108804804049,"acceleration":-0.7096807124375366,"pose":{"translation":{"x":5.885955951002834,"y":-2.1120788597731615},"rotation":{"radians":-1.0728095769407453}},"curvature":0.13281614884884918},{"time":7.420627771877946,"velocity":2.1734274950267656,"acceleration":-0.44985499746679475,"pose":{"translation":{"x":5.933267592025557,"y":-2.1975964225555735},"rotation":{"radians":-1.0573682598148408}},"curvature":0.1797418503450967},{"time":7.469493829242689,"velocity":2.151444854914737,"acceleration":-0.3336750478524488,"pose":{"translation":{"x":5.986099686503494,"y":-2.289110692852944},"rotation":{"radians":-1.036502830096503}},"curvature":0.213114239561555},{"time":7.522544048297656,"velocity":2.1337433205329877,"acceleration":-0.3093746312346447,"pose":{"translation":{"x":6.045214748213004,"y":-2.38619396219522},"rotation":{"radians":-1.0106817994780612}},"curvature":0.24048717324695165},{"time":7.579398418820217,"velocity":2.1161540206184926,"acceleration":-0.33581478775041707,"pose":{"translation":{"x":6.110936434080742,"y":-2.4875662904235725},"rotation":{"radians":-0.9799692162621981}},"curvature":0.268140152729885},{"time":7.639440816396748,"velocity":2.0959908956203037,"acceleration":-0.3735486358998288,"pose":{"translation":{"x":6.183215372711115,"y":-2.5913269672869315},"rotation":{"radians":-0.9440730746526556}},"curvature":0.3004105270126269},{"time":7.670421143043989,"velocity":2.0844182368614956,"acceleration":-0.4041279638653396,"pose":{"translation":{"x":6.221712583308482,"y":-2.643396183933455},"rotation":{"radians":-0.9240203826629769}},"curvature":0.3192141578830804},{"time":7.701906159460617,"velocity":2.071694261284777,"acceleration":-0.436201410697348,"pose":{"translation":{"x":6.261694992913742,"y":-2.695185974038524},"rotation":{"radians":-0.9024613180306008}},"curvature":0.3401309521785601},{"time":7.7337919313537675,"velocity":2.057785642603811,"acceleration":-0.4673336125305373,"pose":{"translation":{"x":6.303080830152945,"y":-2.746387229974519},"rotation":{"radians":-0.8793175367735468}},"curvature":0.3632910841980558},{"time":7.7659751589796855,"velocity":2.0427453385744982,"acceleration":-0.4943439924777972,"pose":{"translation":{"x":6.345777352230901,"y":-2.7966954450324084},"rotation":{"radians":-0.854519424349722}},"curvature":0.3886905790965148},{"time":7.798354753640453,"velocity":2.0267386804750815,"acceleration":-0.5129590932370772,"pose":{"translation":{"x":6.38968290207266,"y":-2.845817946596636},"rotation":{"radians":-0.8280167837866583}},"curvature":0.41613610203485546},{"time":7.830832805547449,"velocity":2.010078768418762,"acceleration":-0.5174605635422469,"pose":{"translation":{"x":6.434688965464995,"y":-2.8934811293200147},"rotation":{"radians":-0.7997928253633825}},"curvature":0.44516594575812946},{"time":7.863314780620968,"velocity":1.993270627292254,"acceleration":-0.5003429773996282,"pose":{"translation":{"x":6.480682228197883,"y":-2.9394376882986193},"rotation":{"radians":-0.7698822138342156}},"curvature":0.4749458411791411},{"time":7.89570879416742,"velocity":1.9770625101044983,"acceleration":-0.4065882226139615,"pose":{"translation":{"x":6.527546633205994,"y":-2.983473852246677},"rotation":{"radians":-0.7383937567295757}},"curvature":0.5041422022477877},{"time":7.959834125858785,"velocity":1.9509899054675754,"acceleration":-0.09856017992256247,"pose":{"translation":{"x":6.623423270358906,"y":-3.0651409770481726},"rotation":{"radians":-0.6716584586849247}},"curvature":0.5521256910518322},{"time":8.022435079955876,"velocity":1.944819944168442,"acceleration":0.5667222018146711,"pose":{"translation":{"x":6.721413734671216,"y":-3.1377178664472583},"rotation":{"radians":-0.603075652265203}},"curvature":0.5636690139403011},{"time":8.082569819206737,"velocity":1.9788996360022406,"acceleration":1.845172029538773,"pose":{"translation":{"x":6.820700655260357,"y":-3.2014393442502067},"rotation":{"radians":-0.5393089663360785}},"curvature":0.5008088778913703},{"time":8.139046722854731,"velocity":2.0831092389284764,"acceleration":0.09468953990438077,"pose":{"translation":{"x":6.920620261141151,"y":-3.2577711569433414},"rotation":{"radians":-0.49081988063893517}},"curvature":0.3213542125987763},{"time":8.19310519985023,"velocity":2.0882280112431117,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.020728209753277,"y":-3.309641435289576},"rotation":{"radians":-0.4713397649764582}},"curvature":-2.748345272602222E-15},{"time":8.248827395881511,"velocity":1.9377780819586539,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.121213964564633,"y":-3.359486058952067},"rotation":{"radians":-0.4396131564282893}},"curvature":0.5355319981428928},{"time":8.308650179107198,"velocity":1.7762565672492983,"acceleration":-1.8275906380869638,"pose":{"translation":{"x":7.2234379818093135,"y":-3.40297939764061},"rotation":{"radians":-0.3579916647755827}},"curvature":0.9100555101081744},{"time":8.340121153360961,"velocity":1.718740509331647,"acceleration":-1.2464455054403771,"pose":{"translation":{"x":7.275436388917884,"y":-3.420886620886023},"rotation":{"radians":-0.3041013809602161}},"curvature":1.0437938501637913},{"time":8.372277594675559,"velocity":1.6786592575841097,"acceleration":-0.7729677458134688,"pose":{"translation":{"x":7.328013776284859,"y":-3.4356992961524995},"rotation":{"radians":-0.24422674277283912}},"curvature":1.1424107257775014},{"time":8.404866575386688,"velocity":1.6534690266254701,"acceleration":-0.38163333412131895,"pose":{"translation":{"x":7.381087255486345,"y":-3.447153068593587},"rotation":{"radians":-0.18029034408676015}},"curvature":1.2068360126937745},{"time":8.437661873167324,"velocity":1.6409532477899447,"acceleration":-0.062330268853868526,"pose":{"translation":{"x":7.434522841358387,"y":-3.4550829366605194},"rotation":{"radians":-0.11406592277481635}},"curvature":1.2395812720247257},{"time":8.470464482492673,"velocity":1.6389086523315872,"acceleration":0.18819915026775444,"pose":{"translation":{"x":7.48814215429664,"y":-3.459414824458078},"rotation":{"radians":-0.047115724770196106}},"curvature":1.2449781085330998},{"time":8.503103194050569,"velocity":1.6450512301126174,"acceleration":0.37117690219494415,"pose":{"translation":{"x":7.541729122556039,"y":-3.4601571541004534},"rotation":{"radians":0.0192664474355035}},"curvature":1.2288047834848796},{"time":8.535433628622826,"velocity":1.657051540663764,"acceleration":0.4882448559708084,"pose":{"translation":{"x":7.595036684550467,"y":-3.4573924180671027},"rotation":{"radians":0.08408939479452007}},"curvature":1.197554075063317},{"time":8.567335212728187,"velocity":1.6726273250005264,"acceleration":0.5422604210438157,"pose":{"translation":{"x":7.64779349115243,"y":-3.4512687515586116},"rotation":{"radians":0.14666930874460476}},"curvature":1.1576609969973028},{"time":8.598706611125879,"velocity":1.6896387927043919,"acceleration":0.5369412074723965,"pose":{"translation":{"x":7.699710607992721,"y":-3.441991504852553},"rotation":{"radians":0.20660845555743604}},"curvature":1.1149311289779444},{"time":8.629460693504836,"velocity":1.7061519268316543,"acceleration":0.47582484377649514,"pose":{"translation":{"x":7.750488217760097,"y":-3.429814815659348},"rotation":{"radians":0.2637568789051247}},"curvature":1.0742680030627423},{"time":8.65952015367377,"velocity":1.7204549647705432,"acceleration":0.3609523758144773,"pose":{"translation":{"x":7.799822322500947,"y":-3.4150331814781265},"rotation":{"radians":0.3181675080155117}},"curvature":1.0396780393341603},{"time":8.688814601937278,"velocity":1.7310288654694308,"acceleration":0.19157519389011213,"pose":{"translation":{"x":7.847411445918957,"y":-3.397973031952586},"rotation":{"radians":0.37005317089680007}},"curvature":1.0144739834103886},{"time":8.717279548795513,"velocity":1.736482043182869,"acceleration":-0.036918212096071296,"pose":{"translation":{"x":7.892963335674792,"y":-3.3789843012268506},"rotation":{"radians":0.41975090976188667}},"curvature":1.0015957032019438},{"time":8.744857349712465,"velocity":1.7354639200794737,"acceleration":-0.3336648423045404,"pose":{"translation":{"x":7.936201665685752,"y":-3.3584320003013355},"rotation":{"radians":0.4676960765787936}},"curvature":1.0039939685504349},{"time":8.771499941307416,"velocity":1.72657422395636,"acceleration":-2.521812303585073,"pose":{"translation":{"x":7.976872738425457,"y":-3.336687789388601},"rotation":{"radians":0.5144065235828345}},"curvature":1.0250544792997753},{"time":8.797532003145564,"velocity":1.6609262501252315,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.014752187223506,"y":-3.3141215502692187},"rotation":{"radians":0.5604757214801009}},"curvature":1.0690606597545818},{"time":8.823243577678356,"velocity":1.59150499888669,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.049651678565148,"y":-3.291092958647626},"rotation":{"radians":0.6065723581266831}},"curvature":1.1416922338416564},{"time":8.84848574503974,"velocity":1.523351147010952,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.081425614390966,"y":-3.26794305650799},"rotation":{"radians":0.6534421052320952}},"curvature":1.2505099136373756},{"time":8.873071637429033,"velocity":1.45696923755986,"acceleration":-2.7,"pose":{"translation":{"x":8.109977834396528,"y":-3.2449858244700662},"rotation":{"radians":0.7019035822151983}},"curvature":1.405231181150551},{"time":8.896821451201692,"velocity":1.3928447403736806,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.135268318332068,"y":-3.222499754145058},"rotation":{"radians":0.7528231994228818}},"curvature":1.617240499656143},{"time":8.919575898525444,"velocity":1.3314077325995515,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.15731988830216,"y":-3.200719420491476},"rotation":{"radians":0.8070398075041038}},"curvature":1.8969845916877746},{"time":8.941213224870651,"velocity":1.272986951467492,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":8.176224911065377,"y":-3.179827054171004},"rotation":{"radians":0.8651874385981788}},"curvature":2.246436311512615},{"time":8.961669414122929,"velocity":1.2177552404863434,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.192152000333973,"y":-3.1599441139043485},"rotation":{"radians":0.9273360684503756}},"curvature":2.6419596850469254},{"time":8.980960220312392,"velocity":1.1656700637747925,"acceleration":-1.5859505678356136,"pose":{"translation":{"x":8.205352719073545,"y":-3.141122858827109},"rotation":{"radians":0.9923608800873772}},"curvature":3.0034384775614646},{"time":8.999039593229682,"velocity":1.1369970720305058,"acceleration":2.7000000000000117,"pose":{"translation":{"x":8.216168281802704,"y":-3.123337920845632},"rotation":{"radians":1.0570336101305635}},"curvature":3.1570135914000677},{"time":9.015473572502115,"velocity":1.1813688160660765,"acceleration":2.700000000000055,"pose":{"translation":{"x":8.225036256892754,"y":-3.106477876992873},"rotation":{"radians":1.1151278967832439}},"curvature":2.8323970513192185},{"time":9.04406299066646,"velocity":1.2585602451098095,"acceleration":2.7000000000000104,"pose":{"translation":{"x":8.239201700702177,"y":-3.074605939573534},"rotation":{"radians":1.1733782429103508}},"curvature":7.945399402373078E-14},{"time":9.097799229769311,"velocity":1.4036480906875106,"acceleration":-0.13160357872518907,"pose":{"translation":{"x":8.267196462155338,"y":-3.00878326720346},"rotation":{"radians":1.1689508576181875}},"curvature":0.32078129462267024},{"time":9.159421931037782,"velocity":1.3955383226698665,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.298212399607134,"y":-2.9283065170684224},"rotation":{"radians":1.2559759238602666}},"curvature":1.6435802431255513},{"time":9.176996486028093,"velocity":1.348087024196026,"acceleration":-2.699999999999995,"pose":{"translation":{"x":8.305191956852381,"y":-2.9052299157195325},"rotation":{"radians":1.2994962829981471}},"curvature":1.9643429400079577},{"time":9.195892358036605,"velocity":1.2970681697730455,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.311263497864608,"y":-2.880987405208569},"rotation":{"radians":1.3526304660022819}},"curvature":2.285699439530784},{"time":9.21621075927942,"velocity":1.2422084864174476,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.316066779638328,"y":-2.85564150266348},"rotation":{"radians":1.4157618360314355}},"curvature":2.6055443243069942},{"time":9.238104740256691,"velocity":1.1830947377788155,"acceleration":-2.2091788545008963,"pose":{"translation":{"x":8.319219901593776,"y":-2.829279632861287},"rotation":{"radians":1.4891090333021992}},"curvature":2.9137467639469},{"time":9.261692258875009,"velocity":1.1309856904170834,"acceleration":-1.6687342994713446,"pose":{"translation":{"x":8.320327598276025,"y":-2.8020104137423423},"rotation":{"radians":1.5725466881749024}},"curvature":3.190198503224932},{"time":9.274132084963878,"velocity":1.1102269259431303,"acceleration":-1.3026172403984058,"pose":{"translation":{"x":8.319989278008407,"y":-2.7880743721893215},"rotation":{"radians":1.6178625499339785}},"curvature":3.3075572494695313},{"time":9.286973783514119,"velocity":1.093499108015586,"acceleration":-0.9312174728855263,"pose":{"translation":{"x":8.318989532054104,"y":-2.7739599419245895},"rotation":{"radians":1.6653876924200757}},"curvature":3.405369202261849},{"time":9.30019598807759,"velocity":1.0811863600960152,"acceleration":-0.5546762505485211,"pose":{"translation":{"x":8.317278886202686,"y":-2.759685006660945},"rotation":{"radians":1.7149160185273276}},"curvature":3.4792988816440036},{"time":9.31377195686723,"velocity":1.0736560926302137,"acceleration":-0.17393241054379874,"pose":{"translation":{"x":8.314808585820112,"y":-2.7452680782178183},"rotation":{"radians":1.7661874420271608}},"curvature":3.525348652854817},{"time":9.327669858652404,"velocity":1.0712387970712172,"acceleration":0.20933897540255403,"pose":{"translation":{"x":8.311530854995569,"y":-2.730728180443593},"rotation":{"radians":1.8188898782845444}},"curvature":3.5402683873234446},{"time":9.341853545715285,"velocity":1.0742079955883912,"acceleration":0.5927069626851036,"pose":{"translation":{"x":8.307399155688334,"y":-2.716084733137924},"rotation":{"radians":1.8726652261469032}},"curvature":3.521951680800048},{"time":9.356283812378988,"velocity":1.0827609151133712,"acceleration":0.9729079651153859,"pose":{"translation":{"x":8.302368446874606,"y":-2.70135743597406},"rotation":{"radians":1.9271193561290554}},"curvature":3.4697509887762785},{"time":9.370920060920202,"velocity":1.0970006378985264,"acceleration":1.3457559959332457,"pose":{"translation":{"x":8.296395443694362,"y":-2.6865661524211646},"rotation":{"radians":1.9818355407889445}},"curvature":3.384647980928342},{"time":9.385722222587782,"velocity":1.1169207357154463,"acceleration":1.7060997210567348,"pose":{"translation":{"x":8.289438876598206,"y":-2.671730793666633},"rotation":{"radians":2.0363901990056696}},"curvature":3.2692375510566833},{"time":9.400652729032574,"velocity":1.1423936685961416,"acceleration":2.0478902029091786,"pose":{"translation":{"x":8.281459750494209,"y":-2.656871202538418},"rotation":{"radians":2.0903694169791702}},"curvature":3.1275200009935},{"time":9.4156783137047,"velocity":1.1731644162391681,"acceleration":2.36441022601655,"pose":{"translation":{"x":8.272421603894761,"y":-2.6420070374273457},"rotation":{"radians":2.143384567084184}},"curvature":2.9645355382915697},{"time":9.430771448672461,"velocity":1.2088507788995924,"acceleration":2.648684735679511,"pose":{"translation":{"x":8.262290768063423,"y":-2.62715765620944},"rotation":{"radians":2.195085511631391}},"curvature":2.785905893723948},{"time":9.445911282709625,"velocity":1.248951426214549,"acceleration":2.699999999999983,"pose":{"translation":{"x":8.25103662616176,"y":-2.6123420001682405},"rotation":{"radians":2.2451703046113103}},"curvature":2.5973604829588184},{"time":9.461101340495071,"velocity":1.289964582235254,"acceleration":2.7000000000000357,"pose":{"translation":{"x":8.238631872396208,"y":-2.597578477917124},"rotation":{"radians":2.293390874402248}},"curvature":2.4043171645313866},{"time":9.476367452124508,"velocity":1.3311830836347351,"acceleration":2.7000000000000823,"pose":{"translation":{"x":8.225052771164902,"y":-2.5828848493216245},"rotation":{"radians":2.3395547437746638}},"curvature":2.211565482169232},{"time":9.49173453414909,"velocity":1.3726742051011074,"acceleration":2.7000000000000055,"pose":{"translation":{"x":8.210279416204541,"y":-2.5682781094217555},"rotation":{"radians":2.3835233030496834}},"curvature":2.0230723703019358},{"time":9.522837849708221,"velocity":1.4566531571107626,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.177091021617283,"y":-2.539388755275272},"rotation":{"radians":2.4645613768364996}},"curvature":1.6702507841543257},{"time":9.554513705077246,"velocity":1.5421779666071322,"acceleration":2.699999999999993,"pose":{"translation":{"x":8.138993872879302,"y":-2.511026668335519},"rotation":{"radians":2.5362699730465996}},"curvature":1.360367381081194},{"time":9.586783222623033,"velocity":1.6293056639807575,"acceleration":-0.9512360051223786,"pose":{"translation":{"x":8.095993009050586,"y":-2.483288435280511},"rotation":{"radians":2.5988809506084216}},"curvature":1.0972604162829855},{"time":9.620835692827225,"velocity":1.5969137282591743,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.048179616705363,"y":-2.4562472621226847},"rotation":{"radians":2.652884005862802}},"curvature":0.8781191741977286},{"time":9.658789900313396,"velocity":1.4944373680465117,"acceleration":-2.7,"pose":{"translation":{"x":7.995739322631212,"y":-2.429949259723161},"rotation":{"radians":2.6988620452013135}},"curvature":0.6968386517433888},{"time":9.702148216174521,"velocity":1.377369915221474,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.938960486528183,"y":-2.404409729306},"rotation":{"radians":2.737374960626326}},"curvature":0.5461723408392043},{"time":9.752223939513568,"velocity":1.2421654622060494,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.878242493707917,"y":-2.3796094479724577},"rotation":{"radians":2.7688806508901833}},"curvature":0.41882319730383444},{"time":9.81116380998866,"velocity":1.0830278119232994,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.814104047792759,"y":-2.355490954215249},"rotation":{"radians":2.793677516096594}},"curvature":0.3077822438542416},{"time":9.883109407564529,"velocity":0.888774698468455,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.747191463414869,"y":-2.3319548334328006},"rotation":{"radians":2.81185226403742}},"curvature":0.20615444175894368},{"time":9.978779860106151,"velocity":0.6304644766060757,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.678286958915353,"y":-2.308856003443509},"rotation":{"radians":2.8232162622886428}},"curvature":0.10655977759973516},{"time":10.212285221812104,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.608316949043368,"y":-2.286},"rotation":{"radians":2.827209681891029}},"curvature":-3.3066954667926678E-15}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21995843497087947,"velocity":0.5938877744213746,"acceleration":2.7,"pose":{"translation":{"x":1.2596371860063038,"y":-2.286114604163076},"rotation":{"radians":-0.004717738749593126}},"curvature":-0.11091189406565112},{"time":0.32805322173265505,"velocity":0.8857436986781688,"acceleration":2.7,"pose":{"translation":{"x":1.3396041632590046,"y":-2.2868352436816917},"rotation":{"radians":-0.01292993512066191}},"curvature":-0.08598009544926018},{"time":0.4293221771093436,"velocity":1.159169878195228,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.4431329628889655,"y":-2.28855791607934},"rotation":{"radians":-0.01971074118193509}},"curvature":-0.04910898934204286},{"time":0.479752378572356,"velocity":1.2953314221453613,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.5050096954304724,"y":-2.289863157419425},"rotation":{"radians":-0.02234665887740294}},"curvature":-0.0369666977614141},{"time":0.5301577107971465,"velocity":1.4314258191522957,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.573712261644012,"y":-2.2914784435293596},"rotation":{"radians":-0.0245690978680407}},"curvature":-0.02836014107028769},{"time":0.5803796333621171,"velocity":1.5670250100777166,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.6489816643694262,"y":-2.2934022005853105},"rotation":{"radians":-0.02646116960332072}},"curvature":-0.022344463623564306},{"time":0.6301788486065676,"velocity":1.7014828912377329,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.73033588650991,"y":-2.2956243253682205},"rotation":{"radians":-0.028097131601292936}},"curvature":-0.018162980444569293},{"time":0.6792797469639861,"velocity":1.834055316802763,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.8170988451187537,"y":-2.2981271806548476},"rotation":{"radians":-0.0295393815843544}},"curvature":-0.015278127305001249},{"time":0.7273954002799699,"velocity":1.963967580755919,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.908429345486083,"y":-2.3008865906088065},"rotation":{"radians":-0.030839553686859925}},"curvature":-0.013328416788188748},{"time":0.7742418727612451,"velocity":2.0904530564553623,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.0033500352256004,"y":-2.303872836171609},"rotation":{"radians":-0.032040858894095574}},"curvature":-0.012080304623949526},{"time":0.8195465381220971,"velocity":2.2127756529296625,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.100776358361328,"y":-2.3070516504537024},"rotation":{"radians":-0.03318060478424806}},"curvature":-0.0113919906097702},{"time":0.8630530234331352,"velocity":2.3302431632694653,"acceleration":2.7,"pose":{"translation":{"x":2.199545509414344,"y":-2.3103852141255117},"rotation":{"radians":-0.03429259544341071}},"curvature":-0.011190651955298336},{"time":0.9045242932506901,"velocity":2.4422155917768635,"acceleration":-0.7031320023284497,"pose":{"translation":{"x":2.298445387489531,"y":-2.3138331508084775},"rotation":{"radians":-0.03540943097072418}},"curvature":-0.011461455773937423},{"time":0.9448289285354123,"velocity":2.413876112865999,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":2.3962435503623105,"y":-2.3173535224660986},"rotation":{"radians":-0.036564870917404305}},"curvature":-0.012247472973052962},{"time":0.9853250067697993,"velocity":2.304536701633154,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.4917161685653864,"y":-2.32090382479497},"rotation":{"radians":-0.03779652511036476}},"curvature":-0.013661914850858251},{"time":1.0262394058291324,"velocity":2.1940678241729543,"acceleration":-2.699999999999999,"pose":{"translation":{"x":2.583676979475488,"y":-2.324441982615825},"rotation":{"radians":-0.03914925858434874}},"curvature":-0.01591795081849493},{"time":1.0671008709132659,"velocity":2.0837418684457942,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":2.671006241400109,"y":-2.3279273452645737},"rotation":{"radians":-0.04067990455134787}},"curvature":-0.01938833600345526},{"time":1.1073814649866933,"velocity":1.97498426444754,"acceleration":-2.7,"pose":{"translation":{"x":2.7526796876642488,"y":-2.3313216819833444},"rotation":{"radians":-0.04246425495275823}},"curvature":-0.024721218180152868},{"time":1.1464979820673613,"velocity":1.8693696683297365,"acceleration":-2.699999999999996,"pose":{"translation":{"x":2.8277974806971535,"y":-2.334590177311522},"rotation":{"radians":-0.044607995578091406}},"curvature":-0.033069517325402885},{"time":1.1838193633451912,"velocity":1.7686019388795957,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":2.89561316611906,"y":-2.33770242647679},"rotation":{"radians":-0.0472645740844426}},"curvature":-0.046563575795835865},{"time":1.2186842311749613,"velocity":1.6744667957392165,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.9555626268279314,"y":-2.3406334307861707},"rotation":{"radians":-0.05066554294801528}},"curvature":-0.06933475035911639},{"time":1.278463450881182,"velocity":1.5130629025324203,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.0506918166075225,"y":-2.345884712808287},"rotation":{"radians":-0.06138062183232523}},"curvature":-0.18663034254740998},{"time":1.3216898778595465,"velocity":1.3963515496908365,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.113419114070398,"y":-2.35028998028033},"rotation":{"radians":-0.08357759441958654}},"curvature":-0.6813287286094732},{"time":1.3477848891286885,"velocity":1.325895019264153,"acceleration":2.6999999999999917,"pose":{"translation":{"x":3.1487490412461314,"y":-2.353945392400739},"rotation":{"radians":-0.1351842579411842}},"curvature":-2.9658628495575257},{"time":1.3618413256540374,"velocity":1.363847397882595,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.1673831089351223,"y":-2.3571291631772167},"rotation":{"radians":-0.1973955598498366}},"curvature":5.910364348196575E-13},{"time":1.3928790840126288,"velocity":1.4476493454507917,"acceleration":2.7000000000000046,"pose":{"translation":{"x":3.2103259595121325,"y":-2.3648492686192966},"rotation":{"radians":-0.1636476840440878}},"curvature":0.2577374321627569},{"time":1.4568053114352437,"velocity":1.6202501594918521,"acceleration":2.700000000000006,"pose":{"translation":{"x":3.3070864390239483,"y":-2.3807583484990014},"rotation":{"radians":-0.16756108672451808}},"curvature":-0.14312958272013895},{"time":1.5011393625249316,"velocity":1.73995209743401,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.38045474540589,"y":-2.3936117341987004},"rotation":{"radians":-0.17973666949408582}},"curvature":-0.1793551137293276},{"time":1.550679237483969,"velocity":1.873709759823411,"acceleration":2.7000000000000037,"pose":{"translation":{"x":3.4683839799413696,"y":-2.4103605171119566},"rotation":{"radians":-0.1971716404383829}},"curvature":-0.21027873325626648},{"time":1.602670015137433,"velocity":2.0140848594877636,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.567260828915034,"y":-2.4312757975185053},"rotation":{"radians":-0.22045043290999583}},"curvature":-0.25262298331671973},{"time":1.654564398554681,"velocity":2.154199694714333,"acceleration":-1.4577645143164024,"pose":{"translation":{"x":3.672438824647297,"y":-2.4564780487019258},"rotation":{"radians":-0.2511008183245337}},"curvature":-0.31884699701426217},{"time":1.7066894481879715,"velocity":2.078213647051941,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.778737368202467,"y":-2.485945610953185},"rotation":{"radians":-0.2917160038125738}},"curvature":-0.42645685878518147},{"time":1.7603225778364602,"velocity":1.9334041970010214,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.8809407520968753,"y":-2.519523185574178},"rotation":{"radians":-0.3463293863555203}},"curvature":-0.6055687861366283},{"time":1.8143811647221162,"velocity":1.78744601240975,"acceleration":-2.699999999999996,"pose":{"translation":{"x":3.974297183007007,"y":-2.556930328881273},"rotation":{"radians":-0.4209024502626429}},"curvature":-0.9076004949200812},{"time":1.8410101213852321,"velocity":1.7155478294193371,"acceleration":-2.700000000000006,"pose":{"translation":{"x":4.016422513577116,"y":-2.5769502211301774},"rotation":{"radians":-0.46809943892861394}},"curvature":-1.1271265202274396},{"time":1.8671080022703386,"velocity":1.6450835510295498,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.05501780447763,"y":-2.5977699462088513},"rotation":{"radians":-0.5233144954460176}},"curvature":-1.4036830365596071},{"time":1.8925333897670353,"velocity":1.5764350047884685,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.089841778450364,"y":-2.6193230341156144},"rotation":{"radians":-0.5873892582608637}},"curvature":-1.7376487862067003},{"time":1.917213030672031,"velocity":1.5097999743449801,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.120775719629922,"y":-2.6415367859128533},"rotation":{"radians":-0.6605254218834783}},"curvature":-2.110135704610153},{"time":1.9411625269105761,"velocity":1.445136334500908,"acceleration":-2.5334200754633796,"pose":{"translation":{"x":4.147839068003316,"y":-2.6643325391646355},"rotation":{"radians":-0.7416144660796419}},"curvature":-2.466475960933599},{"time":1.964469152177131,"velocity":1.3860908621593162,"acceleration":0.2926526600138432,"pose":{"translation":{"x":4.171205013869603,"y":-2.687625933374318},"rotation":{"radians":-0.827390375875586}},"curvature":-2.70302131250394},{"time":1.9867954545046957,"velocity":1.3926247139237513,"acceleration":2.7000000000000126,"pose":{"translation":{"x":4.19121609229951,"y":-2.7113271754221584},"rotation":{"radians":-0.9117222798950786}},"curvature":-2.6758586825841237},{"time":2.0075804539756468,"velocity":1.4487442124953198,"acceleration":2.699999999999993,"pose":{"translation":{"x":4.208399777595064,"y":-2.735341305002927},"rotation":{"radians":-0.9855700709191157}},"curvature":-2.245653675695606},{"time":2.045301889844417,"velocity":1.550592089340999,"acceleration":0.37396461898141015,"pose":{"translation":{"x":4.237413128905495,"y":-2.783904142240547},"rotation":{"radians":-1.0576535709580908}},"curvature":3.530280679733356E-14},{"time":2.081450583577567,"velocity":1.564110421819592,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.264155932792551,"y":-2.8334428756004644},"rotation":{"radians":-1.1098466877631612}},"curvature":-1.6913198039080635},{"time":2.1001918436769316,"velocity":1.5135090195513081,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.276281892618721,"y":-2.8596089313013575},"rotation":{"radians":-1.1661083014119737}},"curvature":-2.166874411462463},{"time":2.1201174570578116,"velocity":1.4597098634229315,"acceleration":-0.7222870657523127,"pose":{"translation":{"x":4.287024149774729,"y":-2.887214064750629},"rotation":{"radians":-1.2344662584323163}},"curvature":-2.4110366655523325},{"time":2.1412094155063457,"velocity":1.44447541464417,"acceleration":0.8555502140843892,"pose":{"translation":{"x":4.2960428556396675,"y":-2.9164835937701183},"rotation":{"radians":-1.309625694171324}},"curvature":-2.4690166888702487},{"time":2.1631024437296613,"velocity":1.4632059996275832,"acceleration":1.7706394818677125,"pose":{"translation":{"x":4.3030545051494595,"y":-2.947530662247379},"rotation":{"radians":-1.387357096487538}},"curvature":-2.397901224320141},{"time":2.185476557669513,"velocity":1.502822489141292,"acceleration":2.223274208687527,"pose":{"translation":{"x":4.307828751545534,"y":-2.980366525843095},"rotation":{"radians":-1.4646599927309405}},"curvature":-2.253326900964502},{"time":2.20813645254653,"velocity":1.5532016489929341,"acceleration":2.327541487467137,"pose":{"translation":{"x":4.310185221123494,"y":-3.0149108376984954},"rotation":{"radians":-1.5397091877186853}},"curvature":-2.0801285590582044},{"time":2.2309823028996996,"velocity":1.606376313506402,"acceleration":2.1715493372358345,"pose":{"translation":{"x":4.309990327981793,"y":-3.0510019341427688},"rotation":{"radians":-1.6116528399401666}},"curvature":-1.9091042038800374},{"time":2.253977189571427,"velocity":1.6563108444182042,"acceleration":1.8327617851993823,"pose":{"translation":{"x":4.3071540887704,"y":-3.08840712040048},"rotation":{"radians":-1.6803573340398814}},"curvature":-1.758498931753469},{"time":2.277119305352634,"velocity":1.69872482985066,"acceleration":1.3769739201697788,"pose":{"translation":{"x":4.301626937439475,"y":-3.1268329562989807},"rotation":{"radians":-1.7461716615877678}},"curvature":-1.6375303635020129},{"time":2.3004223754514763,"velocity":1.730812549636654,"acceleration":0.8550530442160175,"pose":{"translation":{"x":4.293396539988042,"y":-3.16593554197583},"rotation":{"radians":-1.8097457971255115}},"curvature":-1.549952544831861},{"time":2.3239043081820303,"velocity":1.75089084770199,"acceleration":0.3028616178696759,"pose":{"translation":{"x":4.2824846092126565,"y":-3.2053308035862056},"rotation":{"radians":-1.871907855713834}},"curvature":-1.4967850586566662},{"time":2.347582459692348,"velocity":1.758062050976568,"acceleration":-0.2552541187460359,"pose":{"translation":{"x":4.268943719456078,"y":-3.2446047790103183},"rotation":{"radians":-1.9335897507593147}},"curvature":-1.4780899885163505},{"time":2.371473484194196,"velocity":1.751963768571409,"acceleration":-0.80088228611743,"pose":{"translation":{"x":4.252854121355945,"y":-3.28332390356083},"rotation":{"radians":-1.9957865650202626}},"curvature":-1.4939782562675108},{"time":2.395595861919866,"velocity":1.732644583551886,"acceleration":-1.3154328336610963,"pose":{"translation":{"x":4.234320556593442,"y":-3.3210452956902654},"rotation":{"radians":-2.059535193987709}},"curvature":-1.545050217271978},{"time":2.419973392309341,"velocity":1.700577579673999,"acceleration":-1.7747801586439766,"pose":{"translation":{"x":4.213469072641973,"y":-3.3573270426984294},"rotation":{"radians":-2.1258990848684487}},"curvature":-1.6323837016568952},{"time":2.444637983275128,"velocity":1.6568033530068507,"acceleration":-2.1459836677730317,"pose":{"translation":{"x":4.190443837515835,"y":-3.39173848643982},"rotation":{"radians":-2.1959461312729767}},"curvature":-1.7570587101005817},{"time":2.469629898211745,"velocity":1.603171111726498,"acceleration":-2.387640284686799,"pose":{"translation":{"x":4.165403954518884,"y":-3.4238705090310453},"rotation":{"radians":-2.2707054929214117}},"curvature":-1.9190916981414445},{"time":2.494993331285301,"velocity":1.5426123571621182,"acceleration":-2.4550837102085645,"pose":{"translation":{"x":4.138520276993212,"y":-3.453345818558235},"rotation":{"radians":-2.351087111198557}},"curvature":-2.115594428096073},{"time":2.520765077782506,"velocity":1.479340562153205,"acceleration":-2.374005001591351,"pose":{"translation":{"x":4.109972223067817,"y":-3.47982923478446},"rotation":{"radians":-2.4377477204467652}},"curvature":-2.3380859782677037},{"time":2.533815182141012,"velocity":1.4483595491348227,"acceleration":-2.243523859793004,"pose":{"translation":{"x":4.09513168118401,"y":-3.4918582852456415},"rotation":{"radians":-2.48352153634229}},"curvature":-2.4541184115000187},{"time":2.546969614607764,"velocity":1.4188472660336289,"acceleration":-2.053159347821413,"pose":{"translation":{"x":4.079944590407273,"y":-3.5030379748571425},"rotation":{"radians":-2.5308947319593207}},"curvature":-2.569362620486194},{"time":2.5602209913343055,"velocity":1.391640078036027,"acceleration":-1.8026989087413468,"pose":{"translation":{"x":4.064434368417815,"y":-3.5133428303525687},"rotation":{"radians":-2.5797827490649277}},"curvature":-2.679935703814231},{"time":2.573556565412795,"velocity":1.367600053197294,"acceleration":-1.4930208969764895,"pose":{"translation":{"x":4.048624370960403,"y":-3.5227519390154747},"rotation":{"radians":-2.6300420548434675}},"curvature":-2.7812981804306727},{"time":2.586957404860559,"velocity":1.3475923198647564,"acceleration":-1.1256719762638183,"pose":{"translation":{"x":4.032537792305257,"y":-3.531249270107722},"rotation":{"radians":-2.681464299350209}},"curvature":-2.868416319910824},{"time":2.6003978284338243,"velocity":1.3324628116992159,"acceleration":-0.7022791712174474,"pose":{"translation":{"x":4.016197565708949,"y":-3.5388239962978316},"rotation":{"radians":-2.733773123956576}},"curvature":-2.93603077053551},{"time":2.6138452126806424,"velocity":1.3230189938353178,"acceleration":-0.22383811457136316,"pose":{"translation":{"x":3.999626263875293,"y":-3.545470815089348},"rotation":{"radians":-2.7866245677117862}},"curvature":-2.979019515296118},{"time":2.6272602518940356,"velocity":1.320016196750891,"acceleration":0.3100952897743955,"pose":{"translation":{"x":3.982845999416246,"y":-3.5511902702491875},"rotation":{"radians":-2.8396117236413327}},"curvature":-2.992817287926256},{"time":2.640597694110639,"velocity":1.3241520747598978,"acceleration":0.9023265537517995,"pose":{"translation":{"x":3.965878325312803,"y":-3.555989073236001},"rotation":{"radians":-2.892273778321745}},"curvature":-2.973829300618209},{"time":2.653807498473898,"velocity":1.336071632006733,"acceleration":1.5591492298085865,"pose":{"translation":{"x":3.9487441353758914,"y":-3.5598804246285276},"rotation":{"radians":-2.944108891733186}},"curvature":-2.919763722250067},{"time":2.66683627816486,"velocity":1.356385443827242,"acceleration":2.2918761979178552,"pose":{"translation":{"x":3.9314635647072684,"y":-3.562884335553954},"rotation":{"radians":-2.9945896766566427}},"curvature":-2.829812535120566},{"time":2.679628829338628,"velocity":1.3857043873730477,"acceleration":2.7000000000000126,"pose":{"translation":{"x":3.914055890160417,"y":-3.5650279491162675},"rotation":{"radians":-3.0431794906074257}},"curvature":-2.7046359952738195},{"time":2.6921525886069113,"velocity":1.419518537397412,"acceleration":2.699999999999975,"pose":{"translation":{"x":3.896539430801441,"y":-3.566345861824616},"rotation":{"radians":-3.089347508806707}},"curvature":-2.54614554951642},{"time":2.7044193921854527,"velocity":1.4526389070594732,"acceleration":2.70000000000002,"pose":{"translation":{"x":3.8789314483699613,"y":-3.5668804450216642},"rotation":{"radians":-3.1325806727090293}},"curvature":-2.3571211132426986},{"time":2.7282892948380857,"velocity":1.517087644221583,"acceleration":2.6999999999999837,"pose":{"translation":{"x":3.843504077380939,"y":-3.5658099109902333},"rotation":{"radians":3.0748674014997315}},"curvature":-1.9000068937334926},{"time":2.751403420625874,"velocity":1.579495783848611,"acceleration":1.658656511820641,"pose":{"translation":{"x":3.807886942094716,"y":-3.5623230287111634},"rotation":{"radians":3.0163977383055056}},"curvature":-1.3543873704903602},{"time":2.796177856885264,"velocity":1.653761194113347,"acceleration":-2.699999999999997,"pose":{"translation":{"x":3.7364164143528993,"y":-3.5508620756297127},"rotation":{"radians":2.965070888256593}},"curvature":3.893115126826465E-14},{"time":2.8415511655532293,"velocity":1.531253260709841,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.6655145188579614,"y":-3.536932187054641},"rotation":{"radians":2.9136754307158728}},"curvature":-1.371123050405605},{"time":2.8652352568989055,"velocity":1.4673062140765158,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.6311609526815953,"y":-3.5279473593237545},"rotation":{"radians":2.8544101897020617}},"curvature":-1.9589106486393302},{"time":2.889594725801821,"velocity":1.4015356480386443,"acceleration":-2.700000000000009,"pose":{"translation":{"x":3.5980436227301187,"y":-3.5168043302695615},"rotation":{"radians":2.776561287806673}},"curvature":-2.485293769418521},{"time":2.9020674098950816,"velocity":1.367859400986841,"acceleration":-2.700000000000009,"pose":{"translation":{"x":3.582051154478698,"y":-3.510283228675173},"rotation":{"radians":2.731598694595618}},"curvature":-2.717164228867673},{"time":2.9147684261404163,"velocity":1.3335666571244376,"acceleration":-2.699999999999996,"pose":{"translation":{"x":3.5664855278661114,"y":-3.503070740733872},"rotation":{"radians":2.683185022498464}},"curvature":-2.9215941489957107},{"time":2.9277341672995907,"velocity":1.2985591559946663,"acceleration":-2.084499294746068,"pose":{"translation":{"x":3.551380531752277,"y":-3.4951328563877326},"rotation":{"radians":2.6318122620561417}},"curvature":-3.093268958805927},{"time":2.9409674451434595,"velocity":1.270974397661943,"acceleration":-1.3713865931189595,"pose":{"translation":{"x":3.536767426980368,"y":-3.4864429687996887},"rotation":{"radians":2.5780192413825507}},"curvature":-3.2273906374192745},{"time":2.954420146373513,"velocity":1.2525255435538125,"acceleration":-0.7142190578049209,"pose":{"translation":{"x":3.522675002367559,"y":-3.4769815529251797},"rotation":{"radians":2.5223813694325994}},"curvature":-3.3203887941118233},{"time":2.9680326726821913,"velocity":1.2428032178392838,"acceleration":-0.1072392013316556,"pose":{"translation":{"x":3.509129630695772,"y":-3.4667358440837925},"rotation":{"radians":2.4654939468521664}},"curvature":-3.370508618869586},{"time":2.9817463312825057,"velocity":1.241332576043651,"acceleration":0.4518188975554093,"pose":{"translation":{"x":3.496155324702423,"y":-3.455699516530904},"rotation":{"radians":2.4079509598361932}},"curvature":-3.3781583244508813},{"time":2.9955056135314257,"velocity":1.2475492797805119,"acceleration":0.9625878446124712,"pose":{"translation":{"x":3.4837737930711676,"y":-3.443872362029327},"rotation":{"radians":2.3503220744757396}},"curvature":-3.3459444733884807},{"time":3.0092603451314375,"velocity":1.2607894172245904,"acceleration":1.4227710264424647,"pose":{"translation":{"x":3.4720044964226466,"y":-3.43125996842095},"rotation":{"radians":2.29313082970218}},"curvature":-3.2783952179098157},{"time":3.0229674053322007,"velocity":1.280291425335939,"acceleration":1.8288466229476295,"pose":{"translation":{"x":3.460864703305232,"y":-3.4178733981983838},"rotation":{"radians":2.2368366870297893}},"curvature":-3.1814433281015773},{"time":3.0365918133731915,"velocity":1.3052083779713652,"acceleration":2.1768244195073256,"pose":{"translation":{"x":3.450369546185775,"y":-3.4037288670766026},"rotation":{"radians":2.1818227421386345}},"curvature":-3.0617873021710387},{"time":3.0501071100831503,"velocity":1.3346288058864906,"acceleration":2.4630249494809413,"pose":{"translation":{"x":3.440532077440348,"y":-3.388847422564589},"rotation":{"radians":2.1283898005186788}},"curvature":-2.926256822326255},{"time":3.063495084487129,"velocity":1.3676037208665017,"acceleration":2.6847969299447105,"pose":{"translation":{"x":3.4313633253449956,"y":-3.3732546225369746},"rotation":{"radians":2.0767564711867905}},"curvature":-2.7812824442579376},{"time":3.076744982259848,"velocity":1.4031770057287782,"acceleration":2.7000000000000606,"pose":{"translation":{"x":3.4228723500664753,"y":-3.356980213805686},"rotation":{"radians":2.0270641689255555}},"curvature":-2.6325247031454935},{"time":3.0898607980582393,"velocity":1.4385897083844363,"acceleration":2.699999999999988,"pose":{"translation":{"x":3.4150662996530086,"y":-3.340057810691587},"rotation":{"radians":1.9793855326176142}},"curvature":-2.484672880422059},{"time":3.1028556270141197,"velocity":1.4736757465653125,"acceleration":2.699999999999992,"pose":{"translation":{"x":3.407950466025023,"y":-3.322524573596122},"rotation":{"radians":1.9337347348747038}},"curvature":-2.341390857578998},{"time":3.1285077998971955,"velocity":1.5429366133496174,"acceleration":2.700000000000018,"pose":{"translation":{"x":3.3958016721127238,"y":-3.2857900408996343},"rotation":{"radians":1.8483459431514226}},"curvature":-2.0784533026414564},{"time":3.1537308364341308,"velocity":1.611038811999343,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.386433308785503,"y":-3.247132606261831},"rotation":{"radians":1.7702408512311567}},"curvature":-1.8559317096930499},{"time":3.178497191714216,"velocity":1.6779079712555738,"acceleration":2.3153509446162537,"pose":{"translation":{"x":3.379826601862354,"y":-3.2069444261027815},"rotation":{"radians":1.6984385961854327}},"curvature":-1.6771931178169552},{"time":3.2028126138198947,"velocity":1.7342067067966993,"acceleration":1.5522082453304482,"pose":{"translation":{"x":3.3759384542292077,"y":-3.1656435370095983},"rotation":{"radians":1.6318267246210927}},"curvature":-1.5408783230739005},{"time":3.2267731759398113,"velocity":1.771398488881986,"acceleration":1.0303714138365605,"pose":{"translation":{"x":3.3747032375428074,"y":-3.1236635700290227},"rotation":{"radians":1.5692764450430603}},"curvature":-1.443724880315326},{"time":3.250456232045511,"velocity":1.7958008328855866,"acceleration":0.5026416013556223,"pose":{"translation":{"x":3.376034583934579,"y":-3.0814434649600106},"rotation":{"radians":1.5097031830218968}},"curvature":-1.3821667466370482},{"time":3.273877093699711,"velocity":1.807573132292582,"acceleration":-0.014074931944838434,"pose":{"translation":{"x":3.3798271777145046,"y":-3.039417184646317},"rotation":{"radians":1.4520947193131046}},"curvature":-1.353063891952501},{"time":3.297040167666311,"velocity":1.807247113602869,"acceleration":-0.503313369002695,"pose":{"translation":{"x":3.3859585470749933,"y":-2.9980034292690814},"rotation":{"radians":1.3955246117283013}},"curvature":-1.3538647534562014},{"time":3.319942521012477,"velocity":1.79572005298212,"acceleration":-0.9429425780618159,"pose":{"translation":{"x":3.3942908557947558,"y":-2.9575953506394117},"rotation":{"radians":1.3391643347804278}},"curvature":-1.3823677645994417},{"time":3.342575931138681,"velocity":1.7743780468873869,"acceleration":-1.2994945854553033,"pose":{"translation":{"x":3.404672694942674,"y":-2.9185502664909713},"rotation":{"radians":1.2823050753495577}},"curvature":-1.4361178042856415},{"time":3.364926103962678,"velocity":1.7453341183186124,"acceleration":-1.523397838553363,"pose":{"translation":{"x":3.4169408745816767,"y":-2.8811793747725645},"rotation":{"radians":1.2243992455851416}},"curvature":-1.5113768944433779},{"time":3.386967737485195,"velocity":1.7117559414522245,"acceleration":-1.5449733222763156,"pose":{"translation":{"x":3.4309222154726062,"y":-2.8457374679407175},"rotation":{"radians":1.1651315017206305}},"curvature":-1.6015682735341743},{"time":3.4086542320897784,"velocity":1.6782508858344543,"acceleration":-1.2687611463670552,"pose":{"translation":{"x":3.446435340778098,"y":-2.8124126472522684},"rotation":{"radians":1.1045275485778725}},"curvature":-1.6951605372970895},{"time":3.429901445232481,"velocity":1.6512932473304136,"acceleration":-0.5579315181550127,"pose":{"translation":{"x":3.463292467766446,"y":-2.78131603705695},"rotation":{"radians":1.0431034607917251}},"curvature":-1.7732206354381026},{"time":3.450566376365917,"velocity":1.639763630930567,"acceleration":-0.663486385946196,"pose":{"translation":{"x":3.4813011995154812,"y":-2.752471499089974},"rotation":{"radians":0.9820454156633992}},"curvature":-1.8073900659974893},{"time":3.470603194497863,"velocity":1.626469474882341,"acceleration":-2.699999999999993,"pose":{"translation":{"x":3.500266316616437,"y":-2.725805346764618},"rotation":{"radians":0.9233881284475502}},"curvature":-1.7597282362913125},{"time":3.4903465566513563,"velocity":1.5731623970679092,"acceleration":-2.700000000000003,"pose":{"translation":{"x":3.5199915688778285,"y":-2.701136059464811},"rotation":{"radians":0.8701340694955684}},"curvature":-1.5862860685745421},{"time":3.5101664294271155,"velocity":1.5196487405733592,"acceleration":-2.7,"pose":{"translation":{"x":3.54028146702932,"y":-2.678163996837716},"rotation":{"radians":0.826236244830504}},"curvature":-1.245816373605418},{"time":3.5508223051192633,"velocity":1.4098778762045598,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.581787798750246,"y":-2.6354606712620012},"rotation":{"radians":0.7853981633974251}},"curvature":-6.615091382060244E-14},{"time":3.5725648768033254,"velocity":1.3511729326575928,"acceleration":-2.700000000000003,"pose":{"translation":{"x":3.6033214420616977,"y":-2.614549601912544},"rotation":{"radians":0.7434700872742208}},"curvature":-2.491368838893738},{"time":3.584489767216167,"velocity":1.31897572854292,"acceleration":-0.796098817383949,"pose":{"translation":{"x":3.615270395041822,"y":-2.6040287413309935},"rotation":{"radians":0.6990485117991438}},"curvature":-2.9976128673543023},{"time":3.597424942063238,"velocity":1.3086780511445124,"acceleration":2.6999999999999673,"pose":{"translation":{"x":3.6285577464942604,"y":-2.5934333621932306},"rotation":{"radians":0.6471389826403461}},"curvature":-3.0454866779923693},{"time":3.6112910276572703,"velocity":1.3461164822483993,"acceleration":2.7000000000000064,"pose":{"translation":{"x":3.64354067953295,"y":-2.582742929893157},"rotation":{"radians":0.5931209803819386}},"curvature":-2.7909207425188822},{"time":3.6260322700160854,"velocity":1.3859178366172,"acceleration":2.700000000000041,"pose":{"translation":{"x":3.660533766240386,"y":-2.571938980791031},"rotation":{"radians":0.5408564412336219}},"curvature":-2.3930342617288938},{"time":3.641781327730424,"velocity":1.4284402924459154,"acceleration":2.699999999999991,"pose":{"translation":{"x":3.6798104918601466,"y":-2.5610050537803386},"rotation":{"radians":0.4926393618562821}},"curvature":-1.9668925310976935},{"time":3.6586285133570215,"velocity":1.473927693637728,"acceleration":2.7000000000000086,"pose":{"translation":{"x":3.70160477898943,"y":-2.549926621854654},"rotation":{"radians":0.44951316353928833}},"curvature":-1.5760872296808075},{"time":3.695773753551283,"velocity":1.5742198421622342,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.7534930600886147,"y":-2.5272873951342576},"rotation":{"radians":0.37890217454704694}},"curvature":-0.9792303217167234},{"time":3.737465362240774,"velocity":1.6867871856238592,"acceleration":2.6999999999999904,"pose":{"translation":{"x":3.817336656703996,"y":-2.503941166121159},"rotation":{"radians":0.32643077647355156}},"curvature":-0.6063178692585797},{"time":3.783280717293225,"velocity":1.8104886442654762,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.8937381619814313,"y":-2.4798343661875477},"rotation":{"radians":0.2878119541109113}},"curvature":-0.3824478908042748},{"time":3.8325554811840115,"velocity":1.9435305067706001,"acceleration":2.6999999999999864,"pose":{"translation":{"x":3.982813489207546,"y":-2.454937802726196},"rotation":{"radians":0.2593465415081815}},"curvature":-0.24710673766449956},{"time":3.884515587837188,"velocity":2.083822794734177,"acceleration":2.7,"pose":{"translation":{"x":4.084240645970702,"y":-2.4292444692901713},"rotation":{"radians":0.2383067898147524}},"curvature":-0.16304347662623683},{"time":3.938364666828253,"velocity":2.229215308010052,"acceleration":2.700000000000003,"pose":{"translation":{"x":4.197308508321964,"y":-2.4027673557325477},"rotation":{"radians":0.2227854020914125}},"curvature":-0.10889804249204825},{"time":3.993334859220159,"velocity":2.377634827468198,"acceleration":2.700000000000007,"pose":{"translation":{"x":4.320965594936068,"y":-2.375537258346117},"rotation":{"radians":0.21147307764861625}},"curvature":-0.07251609600061923},{"time":4.021014934167957,"velocity":2.4523710298272534,"acceleration":2.6999999999999833,"pose":{"translation":{"x":4.386355445973626,"y":-2.361653794596027},"rotation":{"radians":0.2071043099551129}},"curvature":-0.058655138969910675},{"time":4.048712553990909,"velocity":2.527154603349222,"acceleration":1.5225506463764114,"pose":{"translation":{"x":4.453868841272389,"y":-2.3476005900031023},"rotation":{"radians":0.20347888779772916}},"curvature":-0.046848094007324155},{"time":4.076523638010969,"velocity":2.569498387300393,"acceleration":0.26265861530462475,"pose":{"translation":{"x":4.523300339898158,"y":-2.333385526992952},"rotation":{"radians":0.20053029783993817}},"curvature":-0.03663780464013669},{"time":4.104725345904456,"velocity":2.5769058088449217,"acceleration":0.23242310768943,"pose":{"translation":{"x":4.594432373735905,"y":-2.319017190294866},"rotation":{"radians":0.19820496354151063}},"curvature":-0.027660447470735105},{"time":4.133420571608404,"velocity":2.583575242378883,"acceleration":0.2103943630496891,"pose":{"translation":{"x":4.667036771682282,"y":-2.3045047985086766},"rotation":{"radians":0.1964604694320385}},"curvature":-0.019621528930117278},{"time":4.1625232815494035,"velocity":2.5896982884999393,"acceleration":0.1951691524476969,"pose":{"translation":{"x":4.740876283838171,"y":-2.2898581356716265},"rotation":{"radians":0.19526417508718627}},"curvature":-0.012277648715133488},{"time":4.191943394990652,"velocity":2.595440187105183,"acceleration":0.12182059620333474,"pose":{"translation":{"x":4.8157061057011985,"y":-2.2750874828252354},"rotation":{"radians":0.19459215716483777}},"curvature":-0.005422392956255846},{"time":4.221598301498872,"velocity":2.5990527654963684,"acceleration":-0.18016825976871922,"pose":{"translation":{"x":4.891275402358279,"y":-2.2602035495821653},"rotation":{"radians":0.19442843177781446}},"curvature":0.0011248572255344999},{"time":4.251453854763379,"velocity":2.59367374242027,"acceleration":-0.17881762697937803,"pose":{"translation":{"x":4.9673288326781355,"y":-2.2452174056930856},"rotation":{"radians":0.19476442173387107}},"curvature":0.0075281196851581175},{"time":4.28146360807396,"velocity":2.5883074695470354,"acceleration":-0.18231540776458705,"pose":{"translation":{"x":5.043608073503833,"y":-2.2301404126135402},"rotation":{"radians":0.19559864395482832}},"curvature":0.013942724107623242},{"time":4.311529387212868,"velocity":2.5828260147635653,"acceleration":-0.19074343616439401,"pose":{"translation":{"x":5.11985334384531,"y":-2.2149841550708147},"rotation":{"radians":0.19693660203065494}},"curvature":0.020522531122871182},{"time":4.341553968003767,"velocity":2.5770990230541138,"acceleration":-0.20446829789898496,"pose":{"translation":{"x":5.195804929071908,"y":-2.1997603726307995},"rotation":{"radians":0.19879087775974688}},"curvature":0.02742697388748155},{"time":4.37144171687497,"velocity":2.5709879259143866,"acceleration":-0.2241632211965601,"pose":{"translation":{"x":5.2712047051049,"y":-2.184480891264857},"rotation":{"radians":0.2011814240763657}},"curvature":0.034828416591648786},{"time":4.401099259513552,"velocity":2.5643397956237477,"acceleration":-0.25085567415334553,"pose":{"translation":{"x":5.345797662610025,"y":-2.169157554916689},"rotation":{"radians":0.20413607037302173}},"curvature":0.042920349079242213},{"time":4.430436180671896,"velocity":2.556980462488988,"acceleration":-0.2860040335064173,"pose":{"translation":{"x":5.41933343119001,"y":-2.1538021570692},"rotation":{"radians":0.20769126028810175}},"curvature":0.05192701011621536},{"time":4.459365759509889,"velocity":2.54870648625368,"acceleration":-0.33160909970985974,"pose":{"translation":{"x":5.491567803577112,"y":-2.1384263723113666},"rotation":{"radians":0.21189305193549995}},"curvature":0.06211516111631768},{"time":4.487805746350115,"velocity":2.5392755278218324,"acceleration":-2.266064121959887,"pose":{"translation":{"x":5.562264259825637,"y":-2.1230416879051006},"rotation":{"radians":0.21679842166243576}},"curvature":0.07380893029249594},{"time":4.515973496170911,"velocity":2.475445600556583,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":5.631195491504479,"y":-2.107659335352115},"rotation":{"radians":0.22247692501533664}},"curvature":0.08740893357326683},{"time":4.544155526074707,"velocity":2.399354119816333,"acceleration":-2.699999999999992,"pose":{"translation":{"x":5.698144925889643,"y":-2.092290221960793},"rotation":{"radians":0.2290127827698207}},"curvature":0.10341727942498763},{"time":4.572341877789372,"velocity":2.32325097018674,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.762908250156778,"y":-2.0769448624130504},"rotation":{"radians":0.2365074753425065}},"curvature":0.12247061240037477},{"time":4.628397364090956,"velocity":2.171901157172461,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.885129761692976,"y":-2.0463650898448362},"rotation":{"radians":0.254885514865103}},"curvature":0.17321003594388829},{"time":4.683443842274759,"velocity":2.0232756660761932,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.996528640827316,"y":-2.0159936821143933},"rotation":{"radians":0.27890865770143874}},"curvature":0.24949098310397802},{"time":4.73673570086723,"velocity":1.8793876478765192,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.096067208990293,"y":-1.9858936419446132},"rotation":{"radians":0.3104397122955698}},"curvature":0.3681542915824516},{"time":4.787507090070636,"velocity":1.7423048970273236,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.183050268489609,"y":-1.956115120454069},"rotation":{"radians":0.3521311400316291}},"curvature":0.5580728127925462},{"time":4.835029266921473,"velocity":1.613995019530064,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.25717387667116,"y":-1.926693227296727},"rotation":{"radians":0.4076554592975697}},"curvature":0.8670609136047129},{"time":4.8787098957641915,"velocity":1.4960573216547235,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.318574120079985,"y":-1.8976458408016583},"rotation":{"radians":0.4816985001147482}},"curvature":1.3642498677922088},{"time":4.8990031309672375,"velocity":1.441265586606499,"acceleration":-2.7,"pose":{"translation":{"x":6.344677830540265,"y":-1.8832629239289798},"rotation":{"radians":0.5271987902255599}},"curvature":1.7046949456906095},{"time":4.918255190043418,"velocity":1.3892850271008135,"acceleration":-2.7,"pose":{"translation":{"x":6.367875888621235,"y":-1.8689714181127508},"rotation":{"radians":0.5789260060981627}},"curvature":2.107359175244347},{"time":4.936503651997081,"velocity":1.3400141798259224,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.388330783096846,"y":-1.8547677366618185},"rotation":{"radians":0.6368299339700696}},"curvature":2.553298780523487},{"time":4.953826606281451,"velocity":1.2932422032581232,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.4062416497211565,"y":-1.8406468053284204},"rotation":{"radians":0.7001062963280319}},"curvature":2.993741926938434},{"time":4.970345021788313,"velocity":1.2486424813895953,"acceleration":-1.5506217308791896,"pose":{"translation":{"x":6.42184579542092,"y":-1.82660199387505},"rotation":{"radians":0.7668227999097496}},"curvature":3.3403128606351102},{"time":4.986103229828506,"velocity":1.224207461562757,"acceleration":2.700000000000022,"pose":{"translation":{"x":6.435420222488045,"y":-1.8126250476413226},"rotation":{"radians":0.833618392291068}},"curvature":3.4685895978456553},{"time":5.000803948224642,"velocity":1.263899401232325,"acceleration":2.6999999999999718,"pose":{"translation":{"x":6.447283152772176,"y":-1.7987060191108422},"rotation":{"radians":0.8956689646933972}},"curvature":3.2456906139621218},{"time":5.014378714119967,"velocity":1.3005512691497036,"acceleration":2.700000000000012,"pose":{"translation":{"x":6.457795551873204,"y":-1.784833199478066},"rotation":{"radians":0.9470816600490577}},"curvature":2.57886080448442},{"time":5.039378355393342,"velocity":1.3680503005878142,"acceleration":2.6999999999999673,"pose":{"translation":{"x":6.476435482831937,"y":-1.7571701346389204},"rotation":{"radians":0.9941753455794762}},"curvature":-1.1537308796874966E-13},{"time":5.085849250939629,"velocity":1.493521718562789,"acceleration":2.700000000000044,"pose":{"translation":{"x":6.511836908769155,"y":-1.7008882832027372},"rotation":{"radians":1.0376842058358065}},"curvature":1.1878752233949776},{"time":5.108290653878585,"velocity":1.5541135064979716,"acceleration":2.700000000000053,"pose":{"translation":{"x":6.528551735576062,"y":-1.6710550406427558},"rotation":{"radians":1.0843439095531366}},"curvature":1.5097092921826685},{"time":5.130530357927187,"velocity":1.6141607074291962,"acceleration":2.7000000000000584,"pose":{"translation":{"x":6.544151189118817,"y":-1.6394660849698703},"rotation":{"radians":1.1407861154018248}},"curvature":1.6689832791211872},{"time":5.152732977067787,"velocity":1.6741077791088177,"acceleration":0.7555274107975205,"pose":{"translation":{"x":6.558338532268451,"y":-1.6058317629213466},"rotation":{"radians":1.2026831370964817}},"curvature":1.704457219523111},{"time":5.175293345271155,"velocity":1.6911527556841468,"acceleration":1.40515421308921,"pose":{"translation":{"x":6.5708529150609625,"y":-1.5699931050181222},"rotation":{"radians":1.2667148813546463}},"curvature":1.6586816761326961},{"time":5.1984480179624475,"velocity":1.7236886415690185,"acceleration":1.6875077650440495,"pose":{"translation":{"x":6.581468047509262,"y":-1.5319100799505325},"rotation":{"radians":1.3306105140724585}},"curvature":1.569114410392242},{"time":5.222049984611701,"velocity":1.7635171435599437,"acceleration":1.6877718955548833,"pose":{"translation":{"x":6.589990872415124,"y":-1.4916498489640366},"rotation":{"radians":1.3930316926117545}},"curvature":1.4639705775828686},{"time":5.246009344028575,"velocity":1.8039550770192427,"acceleration":1.4961638131977417,"pose":{"translation":{"x":6.596260238181128,"y":-1.4493750202449438},"rotation":{"radians":1.4533788886387289}},"curvature":1.361967826101115},{"time":5.270274739071161,"velocity":1.8402600829949076,"acceleration":1.1801414133446795,"pose":{"translation":{"x":6.600145571622606,"y":-1.4053319033061396},"rotation":{"radians":1.511588903367418}},"curvature":1.274209177670482},{"time":5.2948143892155946,"velocity":1.8692203403993433,"acceleration":0.7875706055569868,"pose":{"translation":{"x":6.601545550779591,"y":-1.3598387633728115},"rotation":{"radians":1.5679636764872886}},"curvature":1.2066489582835216},{"time":5.319603930110609,"velocity":1.8887438541335093,"acceleration":0.34926322042154967,"pose":{"translation":{"x":6.600386777728762,"y":-1.313274075768177},"rotation":{"radians":1.62304464023289}},"curvature":1.1622724877712713},{"time":5.344620475522485,"velocity":1.8974812133478833,"acceleration":-0.11719412938421356,"pose":{"translation":{"x":6.596622451395392,"y":-1.266064780299207},"rotation":{"radians":1.6775307997854143}},"curvature":1.1427084730982622},{"time":5.369841580847506,"velocity":1.89452544786721,"acceleration":-0.6025190965393088,"pose":{"translation":{"x":6.590231040365293,"y":-1.2186745356423547},"rotation":{"radians":1.7322317754152563}},"curvature":1.1493065957248914},{"time":5.39524768571289,"velocity":1.8792177845171356,"acceleration":-1.1002088568559278,"pose":{"translation":{"x":6.58121495569676,"y":-1.1715919737292804},"rotation":{"radians":1.7880455282286671}},"curvature":1.18380982016479},{"time":5.42082673296384,"velocity":1.8510754901817048,"acceleration":-1.6006481651313722,"pose":{"translation":{"x":6.569599223732524,"y":-1.1253189541325774},"rotation":{"radians":1.845951012417962}},"curvature":1.2487310284935216},{"time":5.4465797359283865,"velocity":1.809853993239881,"acceleration":-2.636158671715059,"pose":{"translation":{"x":6.555430158911694,"y":-1.0803588184514998},"rotation":{"radians":1.9070063271107445}},"curvature":1.3474690512029361},{"time":5.472632461326285,"velocity":1.7411748752604006,"acceleration":-2.7,"pose":{"translation":{"x":6.538774036581702,"y":-1.0372046446976864},"rotation":{"radians":1.972341771283851}},"curvature":1.484090726709411},{"time":5.499077690779962,"velocity":1.6697727557354731,"acceleration":-2.699999999999994,"pose":{"translation":{"x":6.519715765810254,"y":-0.9963275016808895},"rotation":{"radians":2.0431337924232933}},"curvature":1.662563350736759},{"time":5.525848066704189,"velocity":1.5974927407400616,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.498357562197272,"y":-0.9581647033946987},"rotation":{"radians":2.1205401166611697}},"curvature":1.8850609599019006},{"time":5.552899609055557,"velocity":1.5244535763913667,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.474817620686844,"y":-0.9231080634022691},"rotation":{"radians":2.205570086461336}},"curvature":2.1488854995789755},{"time":5.566534896469862,"velocity":1.4876383003727436,"acceleration":-2.6999999999999846,"pose":{"translation":{"x":6.46227047687935,"y":-0.9068516624584909},"rotation":{"radians":2.2511664676814833}},"curvature":2.293000044192321},{"time":5.580250190233467,"velocity":1.4506070072110093,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.44922878837917,"y":-0.8914921492220463},"rotation":{"radians":2.2988632978482455}},"curvature":2.441823328182632},{"time":5.594058947060381,"velocity":1.4133233637783422,"acceleration":-2.537312092833977,"pose":{"translation":{"x":6.435711232731428,"y":-0.8770604729234138},"rotation":{"radians":2.348629578187915}},"curvature":2.5914679573181467},{"time":5.607969496965648,"velocity":1.378027957285738,"acceleration":-2.230861580127382,"pose":{"translation":{"x":6.421737237342504,"y":-0.8635825367134929},"rotation":{"radians":2.400366669751328}},"curvature":2.736895598098976},{"time":5.6219732103529925,"velocity":1.3467876111107964,"acceleration":-1.854090279696842,"pose":{"translation":{"x":6.407326938005398,"y":-0.8510788306131584},"rotation":{"radians":2.453896409749625}},"curvature":2.8719743484201485},{"time":5.636048045937509,"velocity":1.3206915952652145,"acceleration":-1.4099472329406222,"pose":{"translation":{"x":6.392501137425109,"y":-0.8395640644628148},"rotation":{"radians":2.5089516531493756}},"curvature":2.9897083806836866},{"time":5.650162347887397,"velocity":1.3007911742860812,"acceleration":-0.9013185226099829,"pose":{"translation":{"x":6.377281263744003,"y":-0.8290468008719494},"rotation":{"radians":2.5651710989544223}},"curvature":3.0826652750534103},{"time":5.664274589607386,"velocity":1.288071549428306,"acceleration":-0.32984432346106834,"pose":{"translation":{"x":6.361689329067192,"y":-0.8195290881686872},"rotation":{"radians":2.62210015400647}},"curvature":3.1435845984469615},{"time":5.678333907325434,"velocity":1.2834341632872721,"acceleration":0.30534677758503326,"pose":{"translation":{"x":6.345747887987907,"y":-0.8110060933493437},"rotation":{"radians":2.679199015485575}},"curvature":3.166095247348798},{"time":5.692281453633361,"velocity":1.2876930016076156,"acceleration":1.0090164781423483,"pose":{"translation":{"x":6.329479996112863,"y":-0.8034657350279817},"rotation":{"radians":2.7358581051324795}},"curvature":3.145416055608894},{"time":5.706052443063017,"velocity":1.3015881568624634,"acceleration":1.7914979769033177,"pose":{"translation":{"x":6.312909168587646,"y":-0.7968883163859597},"rotation":{"radians":2.7914196306165877}},"curvature":3.0788878487963216},{"time":5.719578605085215,"velocity":1.325820248760498,"acceleration":2.6710886969907808,"pose":{"translation":{"x":6.296059338622073,"y":-0.7912461581214907},"rotation":{"radians":2.845202719492807}},"curvature":2.966204172009709},{"time":5.732790653022815,"velocity":1.3611108006707215,"acceleration":2.6999999999999162,"pose":{"translation":{"x":6.278954816015575,"y":-0.786503231399196},"rotation":{"radians":2.89652867037854}},"curvature":2.809273201572616},{"time":5.745678014074143,"velocity":1.3959066755093055,"acceleration":2.699999999999944,"pose":{"translation":{"x":6.261620245682562,"y":-0.7826147907996557},"rotation":{"radians":2.944742692560561}},"curvature":2.6117334770659797},{"time":5.770633440500039,"velocity":1.463286326859226,"acceleration":2.7000000000000433,"pose":{"translation":{"x":6.226360968221806,"y":-0.7771766010682919},"rotation":{"radians":3.0294182129604774}},"curvature":2.1135731004468514},{"time":5.794691759455379,"velocity":1.5282437880386428,"acceleration":1.7707716958571267,"pose":{"translation":{"x":6.1904837918189655,"y":-0.7743853459743151},"rotation":{"radians":3.0948350542688234}},"curvature":1.5064408696404095},{"time":5.841074941239614,"velocity":1.6103778135059632,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.117697094633763,"y":-0.7737321394060479},"rotation":{"radians":-3.131011037968703}},"curvature":3.2691234110058424E-14},{"time":5.888129682781385,"velocity":1.4833300113431813,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0449470691291385,"y":-0.7760459354641217},"rotation":{"radians":-3.068756831721592}},"curvature":1.6384734703251902},{"time":5.912959227298021,"velocity":1.4162902411482645,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.009152752578783,"y":-0.7798711036001675},"rotation":{"radians":-2.9975271500293448}},"curvature":2.3009266660559278},{"time":5.925751951351705,"velocity":1.3817498862033177,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":5.9915001252635305,"y":-0.782820221278785},"rotation":{"radians":-2.953734424904121}},"curvature":2.586856880863319},{"time":5.9388385973167725,"velocity":1.3464159420976354,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.974047450499043,"y":-0.786571486405442},"rotation":{"radians":-2.9052760749508306}},"curvature":2.834946198031252},{"time":5.952265867378283,"velocity":1.310162312931557,"acceleration":-2.3146761345709606,"pose":{"translation":{"x":5.956821917426144,"y":-0.7911952103963042},"rotation":{"radians":-2.8528213784379948}},"curvature":3.0385399399374347},{"time":5.966064513379698,"velocity":1.2782229163426875,"acceleration":-1.3932729236405366,"pose":{"translation":{"x":5.939850265047709,"y":-0.7967517341672854},"rotation":{"radians":-2.7971054339531736}},"curvature":3.191586418939757},{"time":5.980198370613514,"velocity":1.2585305957522115,"acceleration":-0.5711257295206619,"pose":{"translation":{"x":5.923158746975232,"y":-0.803291807626881},"rotation":{"radians":-2.738916320605026}},"curvature":3.2898188422322834},{"time":5.994585671449925,"velocity":1.2503136380661828,"acceleration":0.16977674398371026,"pose":{"translation":{"x":5.906773096175396,"y":-0.8108569691690026},"rotation":{"radians":-2.679070590212349}},"curvature":3.3317229542395648},{"time":6.009146634660085,"velocity":1.2527857509892704,"acceleration":0.8387001223138155,"pose":{"translation":{"x":5.890718489716635,"y":-0.8194799251658117},"rotation":{"radians":-2.61838041241231}},"curvature":3.3190580803643055},{"time":6.023807113396088,"velocity":1.2650814962983348,"acceleration":1.438654698033468,"pose":{"translation":{"x":5.875019513515706,"y":-0.8291849294605538},"rotation":{"radians":-2.5576174683985538}},"curvature":3.256801123596364},{"time":6.038501946405955,"velocity":1.2862222868447974,"acceleration":1.9683004526340167,"pose":{"translation":{"x":5.859700127084254,"y":-0.8399881628603925},"rotation":{"radians":-2.4974792978639573}},"curvature":3.1525417702050786},{"time":6.053177455558309,"velocity":1.3151080981520118,"acceleration":2.423704020046891,"pose":{"translation":{"x":5.84478362827538,"y":-0.8518981126292435},"rotation":{"radians":-2.438563001129407}},"curvature":3.0155055329801606},{"time":6.067792760934236,"velocity":1.3505312725458587,"acceleration":2.699999999999953,"pose":{"translation":{"x":5.8302926180302075,"y":-0.864915951980609},"rotation":{"radians":-2.3813492900766753}},"curvature":2.8554577296152663},{"time":6.082327457788727,"velocity":1.3897749540529831,"acceleration":2.699999999999952,"pose":{"translation":{"x":5.81624896512445,"y":-0.8790359195704112},"rotation":{"radians":-2.326197558986753}},"curvature":2.6817251930623986},{"time":6.096793351827787,"velocity":1.4288328679584446,"acceleration":2.7000000000001108,"pose":{"translation":{"x":5.802673770914981,"y":-0.8942456989898268},"rotation":{"radians":-2.2733506374222436}},"curvature":2.5024885444076403},{"time":6.111216081198585,"velocity":1.4677742372596017,"acceleration":2.700000000000116,"pose":{"translation":{"x":5.789587334086397,"y":-0.9105267982581206},"rotation":{"radians":-2.2229466513909437}},"curvature":2.324393932603669},{"time":6.125613533111909,"velocity":1.5066473574255774,"acceleration":2.699999999999895,"pose":{"translation":{"x":5.777009115397588,"y":-0.9278549293154803},"rotation":{"radians":-2.1750350439084185}},"curvature":2.152449986483261},{"time":6.139996782455888,"velocity":1.5454821306543198,"acceleration":2.6999999999999686,"pose":{"translation":{"x":5.764957702428303,"y":-0.9462003875158498},"rotation":{"radians":-2.129594097388233}},"curvature":1.9901313717567557},{"time":6.168730276131649,"velocity":1.623062563578875,"acceleration":2.7000000000000206,"pose":{"translation":{"x":5.742505066551006,"y":-0.985799660787181},"rotation":{"radians":-2.045781852248872}},"curvature":1.7019840274441302},{"time":6.19741063801404,"velocity":1.7004995406613306,"acceleration":2.6999999999999607,"pose":{"translation":{"x":5.722359323879257,"y":-1.0289930699064902},"rotation":{"radians":-1.970510835291994}},"curvature":1.4663302872355204},{"time":6.225968919893883,"velocity":1.777606901736903,"acceleration":2.6999999999999855,"pose":{"translation":{"x":5.7046341447518705,"y":-1.075386688869638},"rotation":{"radians":-1.902511114177524}},"curvature":1.2805447646385932},{"time":6.2543020123344615,"velocity":1.8541062513264657,"acceleration":2.6999999999999647,"pose":{"translation":{"x":5.689425844311882,"y":-1.1245363576046574},"rotation":{"radians":-1.8404671033267157}},"curvature":1.1383926839053047},{"time":6.282288789225878,"velocity":1.929670548933288,"acceleration":1.9657812239924726,"pose":{"translation":{"x":5.6768122543967,"y":-1.1759598257424462},"rotation":{"radians":-1.7831333034109265}},"curvature":1.0330075350008525},{"time":6.309942247906239,"velocity":1.9840311987855936,"acceleration":0.8890307847991401,"pose":{"translation":{"x":5.666851595428265,"y":-1.229148896387455},"rotation":{"radians":-1.7293822797989498}},"curvature":0.9582199496241663},{"time":6.337451720856844,"velocity":2.0084879671122806,"acceleration":0.510737450267887,"pose":{"translation":{"x":5.659581348303197,"y":-1.2835815698883772},"rotation":{"radians":-1.6782168175536412}},"curvature":0.9089695593834256},{"time":6.364909502611099,"velocity":2.022511684555461,"acceleration":0.17419208368409705,"pose":{"translation":{"x":5.6550171262829565,"y":-1.3387341876088406},"rotation":{"radians":-1.6287669823306459}},"curvature":0.8812662777552182},{"time":6.392264420180703,"velocity":2.027276694645917,"acceleration":-0.11916106969598199,"pose":{"translation":{"x":5.653151546883995,"y":-1.394093575698094},"rotation":{"radians":-1.5802847249986411}},"curvature":0.8719404348534313},{"time":6.419456317386992,"velocity":2.0240364790877523,"acceleration":-0.3631554192647131,"pose":{"translation":{"x":5.653953103767913,"y":-1.4491691888617009},"rotation":{"radians":-1.5321439515571968}},"curvature":0.8782772476521622},{"time":6.446419811388478,"velocity":2.014244540118801,"acceleration":-0.5437310626091625,"pose":{"translation":{"x":5.65736503863161,"y":-1.503505254132226},"rotation":{"radians":-1.4838516852985606}},"curvature":0.8975510102407546},{"time":6.47308566276278,"velocity":1.9997454884156736,"acceleration":-0.6359254088330986,"pose":{"translation":{"x":5.663304213097443,"y":-1.5566929146399278},"rotation":{"radians":-1.4350750016771974}},"curvature":0.9264365851380836},{"time":6.499379156014185,"velocity":1.9830247879701237,"acceleration":-0.6006552419154738,"pose":{"translation":{"x":5.671659980603378,"y":-1.608382373383446},"rotation":{"radians":-1.3856877916539514}},"curvature":0.9602726567643805},{"time":6.525215023142269,"velocity":1.9675063389502085,"acceleration":-0.3804284178305278,"pose":{"translation":{"x":5.682293058293147,"y":-1.6582950370004927},"rotation":{"radians":-1.3358399998154773}},"curvature":0.992190414089144},{"time":6.550488838382616,"velocity":1.957891461405782,"acceleration":0.10836561823233697,"pose":{"translation":{"x":5.695034398906402,"y":-1.7062356595385424},"rotation":{"radians":-1.2860485147478666}},"curvature":1.0122197865451066},{"time":6.575065645177397,"velocity":1.9605547422682752,"acceleration":0.99207248465599,"pose":{"translation":{"x":5.709684062668866,"y":-1.7521044862255204},"rotation":{"radians":-1.2373021315956187}},"curvature":1.006652062261352},{"time":6.598767961749525,"velocity":1.984069158362089,"acceleration":2.6999999999999873,"pose":{"translation":{"x":5.726010089182495,"y":-1.7959093972404965},"rotation":{"radians":-1.1911624945605006}},"curvature":0.9581425668325718},{"time":6.642736826741457,"velocity":2.1027850938403057,"acceleration":2.69999999999999,"pose":{"translation":{"x":5.762596517093122,"y":-1.8779700303505567},"rotation":{"radians":-1.116131844513597}},"curvature":0.6555467152984675},{"time":6.68294138000831,"velocity":2.2113373876608087,"acceleration":2.6999999999999886,"pose":{"translation":{"x":5.8022547188043525,"y":-1.955094762610317},"rotation":{"radians":-1.0850639555975656}},"curvature":7.392517864129425E-16},{"time":6.721337753287617,"velocity":2.315007595514939,"acceleration":2.7000000000000037,"pose":{"translation":{"x":5.842897564281809,"y":-2.031902019690447},"rotation":{"radians":-1.0821277155671014}},"curvature":0.06877429931458977},{"time":6.759787560547191,"velocity":2.4188220751157887,"acceleration":0.9502774459105872,"pose":{"translation":{"x":5.885955951002834,"y":-2.1120788597731615},"rotation":{"radians":-1.0728095769407453}},"curvature":0.13281614884884918},{"time":6.799876865943733,"velocity":2.4569180378563438,"acceleration":-0.5748619627363915,"pose":{"translation":{"x":5.933267592025557,"y":-2.1975964225555735},"rotation":{"radians":-1.0573682598148408}},"curvature":0.1797418503450967},{"time":6.843104532074082,"velocity":2.432068096860138,"acceleration":-0.4263976036828867,"pose":{"translation":{"x":5.986099686503494,"y":-2.289110692852944},"rotation":{"radians":-1.036502830096503}},"curvature":0.213114239561555},{"time":6.890033572007323,"velocity":2.4120576666894653,"acceleration":-0.39534451930931425,"pose":{"translation":{"x":6.045214748213004,"y":-2.38619396219522},"rotation":{"radians":-1.0106817994780612}},"curvature":0.24048717324695165},{"time":6.940327822854204,"velocity":2.392174110264383,"acceleration":-0.4291319404901375,"pose":{"translation":{"x":6.110936434080742,"y":-2.4875662904235725},"rotation":{"radians":-0.9799692162621981}},"curvature":0.268140152729885},{"time":6.993442251479597,"velocity":2.3693810124403436,"acceleration":-0.4773513759324826,"pose":{"translation":{"x":6.183215372711115,"y":-2.5913269672869315},"rotation":{"radians":-0.9440730746526556}},"curvature":0.3004105270126269},{"time":7.0208479250521565,"velocity":2.3562988764521258,"acceleration":-0.5164281731057884,"pose":{"translation":{"x":6.221712583308482,"y":-2.643396183933455},"rotation":{"radians":-0.9240203826629769}},"curvature":0.3192141578830804},{"time":7.048700054959173,"velocity":2.34191525188714,"acceleration":-0.5574142790764012,"pose":{"translation":{"x":6.261694992913742,"y":-2.695185974038524},"rotation":{"radians":-0.9024613180306008}},"curvature":0.3401309521785601},{"time":7.076906699326191,"velocity":2.3261924655521344,"acceleration":-0.5971975842545365,"pose":{"translation":{"x":6.303080830152945,"y":-2.746387229974519},"rotation":{"radians":-0.8793175367735468}},"curvature":0.3632910841980558},{"time":7.1053764776106565,"velocity":2.3091903827363893,"acceleration":-0.6317136841493075,"pose":{"translation":{"x":6.345777352230901,"y":-2.7966954450324084},"rotation":{"radians":-0.854519424349722}},"curvature":0.3886905790965148},{"time":7.134019965195182,"velocity":2.291095899667484,"acceleration":-0.6555016011876356,"pose":{"translation":{"x":6.38968290207266,"y":-2.845817946596636},"rotation":{"radians":-0.8280167837866583}},"curvature":0.41613610203485546},{"time":7.162750549574448,"velocity":2.2722629556038183,"acceleration":-0.6612539526551352,"pose":{"translation":{"x":6.434688965464995,"y":-2.8934811293200147},"rotation":{"radians":-0.7997928253633825}},"curvature":0.44516594575812946},{"time":7.191484604447176,"velocity":2.253262448243418,"acceleration":-0.6393796837847668,"pose":{"translation":{"x":6.480682228197883,"y":-2.9394376882986193},"rotation":{"radians":-0.7698822138342156}},"curvature":0.4749458411791411},{"time":7.220140847199807,"velocity":2.234940228813781,"acceleration":-0.5195720954386389,"pose":{"translation":{"x":6.527546633205994,"y":-2.983473852246677},"rotation":{"radians":-0.7383937567295757}},"curvature":0.5041422022477877},{"time":7.276867102157553,"velocity":2.2054668496589986,"acceleration":-0.12594835846437635,"pose":{"translation":{"x":6.623423270358906,"y":-3.0651409770481726},"rotation":{"radians":-0.6716584586849247}},"curvature":0.5521256910518322},{"time":7.332244869243441,"velocity":2.1984921107991084,"acceleration":0.7242045527915332,"pose":{"translation":{"x":6.721413734671216,"y":-3.1377178664472583},"rotation":{"radians":-0.603075652265203}},"curvature":0.5636690139403011},{"time":7.385440984734586,"velocity":2.23701697982862,"acceleration":2.357913595403039,"pose":{"translation":{"x":6.820700655260357,"y":-3.2014393442502067},"rotation":{"radians":-0.5393089663360785}},"curvature":0.5008088778913703},{"time":7.435401322577043,"velocity":2.354819139658278,"acceleration":-1.3646905151326625,"pose":{"translation":{"x":6.920620261141151,"y":-3.2577711569433414},"rotation":{"radians":-0.49081988063893517}},"curvature":0.3213542125987763},{"time":7.48396441287999,"velocity":2.288545550936315,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.020728209753277,"y":-3.309641435289576},"rotation":{"radians":-0.4713397649764582}},"curvature":-2.748345272602222E-15},{"time":7.534483109147553,"velocity":2.152145071013894,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":7.121213964564633,"y":-3.359486058952067},"rotation":{"radians":-0.4396131564282893}},"curvature":0.5355319981428928},{"time":7.587891577502429,"velocity":2.0079422064557284,"acceleration":-2.3354466377065757,"pose":{"translation":{"x":7.2234379818093135,"y":-3.40297939764061},"rotation":{"radians":-0.3579916647755827}},"curvature":0.9100555101081744},{"time":7.615731285496142,"velocity":1.9429240540270796,"acceleration":-1.592811269712097,"pose":{"translation":{"x":7.275436388917884,"y":-3.420886620886023},"rotation":{"radians":-0.3041013809602161}},"curvature":1.0437938501637913},{"time":7.644177368197516,"velocity":1.8976148129211676,"acceleration":-0.9877621855763784,"pose":{"translation":{"x":7.328013776284859,"y":-3.4356992961524995},"rotation":{"radians":-0.24422674277283912}},"curvature":1.1424107257775014},{"time":7.673006081903514,"velocity":1.8691388996635752,"acceleration":-0.48768267271456667,"pose":{"translation":{"x":7.381087255486345,"y":-3.447153068593587},"rotation":{"radians":-0.18029034408676015}},"curvature":1.2068360126937745},{"time":7.702017306863308,"velocity":1.8549906279364596,"acceleration":-0.07965077834635778,"pose":{"translation":{"x":7.434522841358387,"y":-3.4550829366605194},"rotation":{"radians":-0.11406592277481635}},"curvature":1.2395812720247257},{"time":7.731034999728041,"velocity":1.8526793461139681,"acceleration":0.24049645667485844,"pose":{"translation":{"x":7.48814215429664,"y":-3.459414824458078},"rotation":{"radians":-0.047115724770196106}},"curvature":1.2449781085330998},{"time":7.75990770610618,"velocity":1.859623129692524,"acceleration":0.4743205782302229,"pose":{"translation":{"x":7.541729122556039,"y":-3.4601571541004534},"rotation":{"radians":0.0192664474355035}},"curvature":1.2288047834848796},{"time":7.788507705920099,"velocity":1.8731886981416466,"acceleration":0.6239197025260226,"pose":{"translation":{"x":7.595036684550467,"y":-3.4573924180671027},"rotation":{"radians":0.08408939479452007}},"curvature":1.197554075063317},{"time":7.816728338013303,"velocity":1.8907961065223344,"acceleration":0.692945263942573,"pose":{"translation":{"x":7.64779349115243,"y":-3.4512687515586116},"rotation":{"radians":0.14666930874460476}},"curvature":1.1576609969973028},{"time":7.8444799596728,"velocity":1.9100264613180085,"acceleration":0.6861479324221884,"pose":{"translation":{"x":7.699710607992721,"y":-3.441991504852553},"rotation":{"radians":0.20660845555743604}},"curvature":1.1149311289779444},{"time":7.871685494084954,"velocity":1.9286934825053486,"acceleration":0.6080483825952946,"pose":{"translation":{"x":7.750488217760097,"y":-3.429814815659348},"rotation":{"radians":0.2637568789051247}},"curvature":1.0742680030627423},{"time":7.898276555003626,"velocity":1.9448621340884402,"acceleration":0.4612548318536592,"pose":{"translation":{"x":7.799822322500947,"y":-3.4150331814781265},"rotation":{"radians":0.3181675080155117}},"curvature":1.0396780393341603},{"time":7.924190874621345,"velocity":1.9568152392263132,"acceleration":0.2448106447442557,"pose":{"translation":{"x":7.847411445918957,"y":-3.397973031952586},"rotation":{"radians":0.37005317089680007}},"curvature":1.0144739834103886},{"time":7.949371404534399,"velocity":1.96297970098933,"acceleration":-2.4009988931605037,"pose":{"translation":{"x":7.892963335674792,"y":-3.3789843012268506},"rotation":{"radians":0.41975090976188667}},"curvature":1.0015957032019438},{"time":7.974135037369177,"velocity":1.903522245962396,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.936201665685752,"y":-3.3584320003013355},"rotation":{"radians":0.4676960765787936}},"curvature":1.0039939685504349},{"time":7.998794455779148,"velocity":1.8369418162554745,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.976872738425457,"y":-3.336687789388601},"rotation":{"radians":0.5144065235828345}},"curvature":1.0250544792997753},{"time":8.023236334023782,"velocity":1.7709487449949632,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.014752187223506,"y":-3.3141215502692187},"rotation":{"radians":0.5604757214801009}},"curvature":1.0690606597545818},{"time":8.047287559275208,"velocity":1.7060104368161104,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.049651678565148,"y":-3.291092958647626},"rotation":{"radians":0.6065723581266831}},"curvature":1.1416922338416564},{"time":8.070767561743377,"velocity":1.6426144301520536,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.081425614390966,"y":-3.26794305650799},"rotation":{"radians":0.6534421052320952}},"curvature":1.2505099136373756},{"time":8.093496153706322,"velocity":1.5812472318521011,"acceleration":-2.7,"pose":{"translation":{"x":8.109977834396528,"y":-3.2449858244700662},"rotation":{"radians":0.7019035822151983}},"curvature":1.405231181150551},{"time":8.11530381276697,"velocity":1.5223665523883525,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.135268318332068,"y":-3.222499754145058},"rotation":{"radians":0.7528231994228818}},"curvature":1.617240499656143},{"time":8.136044662935825,"velocity":1.466366256932439,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.15731988830216,"y":-3.200719420491476},"rotation":{"radians":0.8070398075041038}},"curvature":1.8969845916877746},{"time":8.155612053033177,"velocity":1.4135343036695898,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":8.176224911065377,"y":-3.179827054171004},"rotation":{"radians":0.8651874385981788}},"curvature":2.246436311512615},{"time":8.173956017634278,"velocity":1.3640055992466178,"acceleration":-2.700000000000007,"pose":{"translation":{"x":8.192152000333973,"y":-3.1599441139043485},"rotation":{"radians":0.9273360684503756}},"curvature":2.6419596850469254},{"time":8.191101059897203,"velocity":1.317713985136722,"acceleration":-2.026658948689739,"pose":{"translation":{"x":8.205352719073545,"y":-3.141122858827109},"rotation":{"radians":0.9923608800873772}},"curvature":3.0034384775614646},{"time":8.207094351324036,"velocity":1.2853010379475285,"acceleration":2.7000000000000117,"pose":{"translation":{"x":8.216168281802704,"y":-3.123337920845632},"rotation":{"radians":1.0570336101305635}},"curvature":3.1570135914000677},{"time":8.221691956339553,"velocity":1.3247145714894262,"acceleration":2.700000000000061,"pose":{"translation":{"x":8.225036256892754,"y":-3.106477876992873},"rotation":{"radians":1.1151278967832439}},"curvature":2.8323970513192185},{"time":8.247349812962709,"velocity":1.3939907843719466,"acceleration":2.699999999999965,"pose":{"translation":{"x":8.239201700702177,"y":-3.074605939573534},"rotation":{"radians":1.1733782429103508}},"curvature":7.945399402373078E-14},{"time":8.271398477212346,"velocity":1.4589221778459642,"acceleration":-1.166142110950601,"pose":{"translation":{"x":8.252190111565142,"y":-3.042855487783552},"rotation":{"radians":1.2001663574102126}},"curvature":1.4876912613784543},{"time":8.296395570585693,"velocity":1.4297720146119393,"acceleration":-2.7000000000000095,"pose":{"translation":{"x":8.264132356122328,"y":-3.00878326720346},"rotation":{"radians":1.272783743391758}},"curvature":2.4203099852365595},{"time":8.309948241790547,"velocity":1.3931798023588318,"acceleration":-2.3692442613701212,"pose":{"translation":{"x":8.269307449255246,"y":-2.9903673137998763},"rotation":{"radians":1.3217213737461142}},"curvature":2.6735628022433815},{"time":8.324482301513944,"velocity":1.3587450647647628,"acceleration":-0.975583484032184,"pose":{"translation":{"x":8.273706165763924,"y":-2.9708587489280163},"rotation":{"radians":1.3768203722137131}},"curvature":2.819538300504739},{"time":8.339992520991249,"velocity":1.34361355080899,"acceleration":-0.13652229404527638,"pose":{"translation":{"x":8.277130479236863,"y":-2.9501833142621074},"rotation":{"radians":1.4367379661320445}},"curvature":2.886050049107093},{"time":8.356373681268694,"velocity":1.3413771572287898,"acceleration":0.38994396346974824,"pose":{"translation":{"x":8.279374939857387,"y":-2.9283065170684224},"rotation":{"radians":1.500414197522369}},"curvature":2.89600757153215},{"time":8.373546277128785,"velocity":1.3480735073215375,"acceleration":0.7407603433228952,"pose":{"translation":{"x":8.28022966057676,"y":-2.9052299157195325},"rotation":{"radians":1.5670200465574304}},"curvature":2.8662907737815124},{"time":8.391449808661351,"velocity":1.361335733486293,"acceleration":0.9966929940422219,"pose":{"translation":{"x":8.279483303287305,"y":-2.880987405208569},"rotation":{"radians":1.63589224408233}},"curvature":2.8082990592039},{"time":8.410036276741007,"velocity":1.379860736005276,"acceleration":1.2057523997677417,"pose":{"translation":{"x":8.276926064995532,"y":-2.85564150266348},"rotation":{"radians":1.7064704260926948}},"curvature":2.7291608693873606},{"time":8.429264834822408,"velocity":1.4030456160559983,"acceleration":1.3953535918012143,"pose":{"translation":{"x":8.272352663995248,"y":-2.829279632861287},"rotation":{"radians":1.7782447514073065}},"curvature":2.633060259674912},{"time":8.449097961546286,"velocity":1.4307198406668096,"acceleration":1.5792548078458974,"pose":{"translation":{"x":8.265565326040687,"y":-2.8020104137423423},"rotation":{"radians":1.8507175878970623}},"curvature":2.522429114407203},{"time":8.469499186854629,"velocity":1.4629385738209557,"acceleration":1.7619465976914581,"pose":{"translation":{"x":8.256376770519621,"y":-2.7739599419245895},"rotation":{"radians":1.9233802290068749}},"curvature":2.3989037605765726},{"time":8.490432203274322,"velocity":1.499821430881055,"acceleration":1.9417342540012865,"pose":{"translation":{"x":8.244613196626494,"y":-2.7452680782178183},"rotation":{"radians":1.995703889926925}},"curvature":2.2640114334520125},{"time":8.511861052739865,"velocity":1.541430561912138,"acceleration":2.113129578378768,"pose":{"translation":{"x":8.230117269535528,"y":-2.716084733137924},"rotation":{"radians":2.067142906936068}},"curvature":2.1195827463515675},{"time":8.53375097560458,"velocity":1.5876868053859972,"acceleration":2.268864008063763,"pose":{"translation":{"x":8.212751106573851,"y":-2.6865661524211646},"rotation":{"radians":2.137146970304793}},"curvature":1.9679091805559652},{"time":8.556069451974345,"velocity":1.6383243931361786,"acceleration":2.401653542887488,"pose":{"translation":{"x":8.192399263394615,"y":-2.656871202538418},"rotation":{"radians":2.2051784757485464}},"curvature":1.8116891877585295},{"time":8.57878697472429,"velocity":1.6928840121342097,"acceleration":2.5057171582513393,"pose":{"translation":{"x":8.16897172015012,"y":-2.62715765620944},"rotation":{"radians":2.2707308795075085}},"curvature":1.6538290179489963},{"time":8.601877174974382,"velocity":1.7507415230883239,"acceleration":0.8670116216807522,"pose":{"translation":{"x":8.142406867664931,"y":-2.597578477917124},"rotation":{"radians":2.333344387116115}},"curvature":1.4971759703240033},{"time":8.625581409352904,"velocity":1.7712933697775466,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.112674493609,"y":-2.5682781094217555},"rotation":{"radians":2.3926162976640946}},"curvature":1.344256554492934},{"time":8.650782062205616,"velocity":1.703251607075222,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.079778768670781,"y":-2.539388755275272},"rotation":{"radians":2.448204589385881}},"curvature":1.197071521739074},{"time":8.678297717595935,"velocity":1.6289593375213598,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":8.043761232730366,"y":-2.511026668335519},"rotation":{"radians":2.499824530990805}},"curvature":1.0569715762338088},{"time":8.708460065846056,"velocity":1.547520997246031,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.004703781032585,"y":-2.483288435280511},"rotation":{"radians":2.5472389638544963}},"curvature":0.92461106426334},{"time":8.77851268429837,"velocity":1.3583789274247844,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.91801640520672,"y":-2.429949259723161},"rotation":{"radians":2.6286461294402805}},"curvature":0.6823328221670243},{"time":8.866474004842956,"velocity":1.1208833619544007,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.82129238502539,"y":-2.3796094479724577},"rotation":{"radians":2.690804775377172}},"curvature":0.46234330161186715},{"time":8.98603365066314,"velocity":0.7980723182399047,"acceleration":-2.7,"pose":{"translation":{"x":7.716944265236471,"y":-2.3319548334328006},"rotation":{"radians":2.731454661555859}},"curvature":0.24619970832243468},{"time":9.281615990751995,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":7.608316949043366,"y":-2.286},"rotation":{"radians":2.7464762271546137}},"curvature":-5.2492551128147E-15}] \ 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 4b27c66..a64479f 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":2.7,"pose":{"translation":{"x":1.2831,"y":-2.134},"rotation":{"radians":0.041244121615251594}},"curvature":0.0},{"time":0.18380765181033398,"velocity":0.4962806598879018,"acceleration":2.7,"pose":{"translation":{"x":1.328701020098905,"y":-2.13309038448002},"rotation":{"radians":-0.002192825072650614}},"curvature":-0.689808942457635},{"time":0.315557187616596,"velocity":0.8520044065648092,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4175021436823556,"y":-2.1348199805858163},"rotation":{"radians":-0.02941541324799535}},"curvature":-0.13319138864044253},{"time":0.384256662470725,"velocity":1.0374929886709574,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4823709238367437,"y":-2.1369499450918252},"rotation":{"radians":-0.035527450472486254}},"curvature":-0.06655947522413319},{"time":0.4526231845634395,"velocity":1.2220825983212864,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.5595559406263007,"y":-2.1398548704498053},"rotation":{"radians":-0.039323166805577854}},"curvature":-0.036078889012661715},{"time":0.5189383163519037,"velocity":1.4011334541501397,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6464636394509342,"y":-2.1433873190170396},"rotation":{"radians":-0.041698315363887344}},"curvature":-0.020318490070223707},{"time":0.5817247975467252,"velocity":1.5706569533761578,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.739673599424829,"y":-2.1473494258831494},"rotation":{"radians":-0.04311984981859731}},"curvature":-0.010895277704161184},{"time":0.6397777460364116,"velocity":1.727399914298311,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.8353138934017652,"y":-2.1515149261838},"rotation":{"radians":-0.043824239355590995}},"curvature":-0.004054002142586204},{"time":0.6921728575477569,"velocity":1.8688667153789433,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.9294364480004413,"y":-2.1556511824144113},"rotation":{"radians":-0.04391028317758082}},"curvature":0.0023372255165545136},{"time":0.73828147676292,"velocity":1.9933599872598837,"acceleration":2.700000000000005,"pose":{"translation":{"x":2.0183924036297953,"y":-2.1595412117438633},"rotation":{"radians":-0.0433799936385976}},"curvature":0.010048656868101502},{"time":0.7778030194684855,"velocity":2.1000681525649108,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.0992074745143237,"y":-2.1630057133282055},"rotation":{"radians":-0.04215825394754191}},"curvature":0.021125363972620232},{"time":0.8108202136927035,"velocity":2.1892145769702993,"acceleration":2.5367517877682015,"pose":{"translation":{"x":2.1699573087194044,"y":-2.165925095624365},"rotation":{"radians":-0.0401276341206716}},"curvature":0.03764031067752341},{"time":0.8379076576694539,"velocity":2.257928698904392,"acceleration":0.9975163676250779,"pose":{"translation":{"x":2.230142848176617,"y":-2.168261503703853},"rotation":{"radians":-0.03727112513114321}},"curvature":0.05750832380249039},{"time":0.880083708570482,"velocity":2.299999999999956,"acceleration":-0.41233892379854215,"pose":{"translation":{"x":2.3262034400566898,"y":-2.171574824454032},"rotation":{"radians":-0.03249504231442196}},"curvature":5.901764018577339E-14},{"time":0.9221777924749334,"velocity":2.282642970744509,"acceleration":0.20926373131235862,"pose":{"translation":{"x":2.422606086808268,"y":-2.174631016861803},"rotation":{"radians":-0.030556205404193983}},"curvature":0.0234688817461335},{"time":0.9488318096695327,"velocity":2.2882206898371145,"acceleration":0.14556834929629817,"pose":{"translation":{"x":2.4834947624457717,"y":-2.1764533340992185},"rotation":{"radians":-0.029361434090119997}},"curvature":0.01588828198518307},{"time":0.9802517335298195,"velocity":2.292794436288472,"acceleration":0.08212533422932253,"pose":{"translation":{"x":2.5554323373714154,"y":-2.178531051799546},"rotation":{"radians":-0.02846091699651151}},"curvature":0.009699689522704499},{"time":1.0162223777298252,"velocity":2.2957485374658413,"acceleration":-2.1386599920791474,"pose":{"translation":{"x":2.6379261260684697,"y":-2.1808516934760047},"rotation":{"radians":-0.02784084595448294}},"curvature":0.005715694785727201},{"time":1.0566709129894525,"velocity":2.2092428733678737,"acceleration":-2.700000000000006,"pose":{"translation":{"x":2.729001517780213,"y":-2.1833682020138534},"rotation":{"radians":-0.027445618055253494}},"curvature":0.00316721789371224},{"time":1.1016437066007674,"velocity":2.087816330617323,"acceleration":-2.7,"pose":{"translation":{"x":2.8255908280445983,"y":-2.186008066691889},"rotation":{"radians":-0.027231453600986295}},"curvature":0.001353368946051485},{"time":1.150288917286457,"velocity":1.9564742617659607,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.9239221502289103,"y":-2.188682450203946},"rotation":{"radians":-0.02717637198581686}},"curvature":-2.3363471267749878E-4},{"time":1.2011530019251173,"velocity":1.819141233241578,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.01990820706443,"y":-2.191295315680394},"rotation":{"radians":-0.027281851086556178}},"curvature":-0.002062618750954218},{"time":1.2523884516559922,"velocity":1.6808055189682156,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.1095352021810947,"y":-2.1937525537096376},"rotation":{"radians":-0.0275775759098918}},"curvature":-0.004811312721425314},{"time":1.3017949325827087,"velocity":1.547408020466081,"acceleration":-2.7,"pose":{"translation":{"x":3.1892516716421593,"y":-2.195971109359616},"rotation":{"radians":-0.028135419193203212}},"curvature":-0.009876676219632861},{"time":1.3469586632558304,"velocity":1.4254659476486526,"acceleration":-2.7,"pose":{"translation":{"x":3.2563573354788593,"y":-2.1978881091992997},"rotation":{"radians":-0.02910149342791912}},"curvature":-0.0207391501469607},{"time":1.4161851334655402,"velocity":1.2385544780824362,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.3485241554519773,"y":-2.2007216173578197},"rotation":{"radians":-0.03359028303482695}},"curvature":-0.10991559861675788},{"time":1.4565039296873594,"velocity":1.1296937282835244,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.3962334600270623,"y":-2.2025005475745654},"rotation":{"radians":-0.04079368286785503}},"curvature":3.6219771054025265E-14},{"time":1.4744258087618716,"velocity":1.0813046547823417,"acceleration":2.7000000000000175,"pose":{"translation":{"x":3.4160134363701244,"y":-2.2036374553006297},"rotation":{"radians":-0.08555363900999823}},"curvature":-3.4785805922858946},{"time":1.4963544926168473,"velocity":1.1405121011907764,"acceleration":2.6999999999999846,"pose":{"translation":{"x":3.4401793895961306,"y":-2.2067120715149344},"rotation":{"radians":-0.16386639555816465}},"curvature":-2.6772660424794057},{"time":1.5234728678754255,"velocity":1.213731714388937,"acceleration":2.7000000000000126,"pose":{"translation":{"x":3.4714694950107217,"y":-2.2130302988096493},"rotation":{"radians":-0.22838295670071146}},"curvature":-1.501876024390862},{"time":1.5559943835995935,"velocity":1.301539806844191,"acceleration":2.7000000000000046,"pose":{"translation":{"x":3.5110612602764317,"y":-2.22329286254503},"rotation":{"radians":-0.274539493228866}},"curvature":-0.8551389988750135},{"time":1.6326100731146695,"velocity":1.5084021685348967,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.6136202277077123,"y":-2.255982847340365},"rotation":{"radians":-0.3349074833174572}},"curvature":-0.39927370398729},{"time":1.6733260613879486,"velocity":1.61833533687275,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.6734847543506883,"y":-2.277618082042938},"rotation":{"radians":-0.35806242406953204}},"curvature":-0.33961788929602654},{"time":1.7133864639126415,"velocity":1.726498423689421,"acceleration":-0.9469439841861756,"pose":{"translation":{"x":3.735966844770239,"y":-2.301798224711784},"rotation":{"radians":-0.3803645019310016}},"curvature":-0.3340616899284977},{"time":1.7529130501746462,"velocity":1.6890689606131997,"acceleration":-2.7,"pose":{"translation":{"x":3.7983500806931723,"y":-2.327585196350376},"rotation":{"radians":-0.40405660296760854}},"curvature":-0.3764682297779519},{"time":1.7927601583263293,"velocity":1.581481768603655,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":3.85792114111512,"y":-2.3539905734513846},"rotation":{"radians":-0.4315251130863453}},"curvature":-0.4799987077640321},{"time":1.8695914968628424,"velocity":1.3740371545550694,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":3.959352702694642,"y":-2.4050059601784426},"rotation":{"radians":-0.5110247139187495}},"curvature":-1.0614527710753054},{"time":1.9036329463843513,"velocity":1.2821252408469954,"acceleration":-2.7,"pose":{"translation":{"x":3.9981476955555033,"y":-2.4282196493174926},"rotation":{"radians":-0.5724367337320869}},"curvature":-1.7334363452664492},{"time":1.933470815272343,"velocity":1.2015629948494178,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.028520751292598,"y":-2.4494440471853323},"rotation":{"radians":-0.6532722519134561}},"curvature":-2.6740328887013582},{"time":1.9468404915356683,"velocity":1.1654648689384393,"acceleration":2.20149833216421,"pose":{"translation":{"x":4.040869519420265,"y":-2.4593375563986917},"rotation":{"radians":-0.6985297569203345}},"curvature":-3.0045106741555943},{"time":1.9590438964834531,"velocity":1.1923306445777122,"acceleration":2.7000000000000024,"pose":{"translation":{"x":4.051683447525521,"y":-2.4688260895234024},"rotation":{"radians":-0.7415807871716069}},"curvature":-2.8672689023057556},{"time":1.980425004774908,"velocity":1.2500596369646404,"acceleration":2.70000000000001,"pose":{"translation":{"x":4.070414224054623,"y":-2.487017200283452},"rotation":{"radians":-0.787423662158867}},"curvature":-2.06504897929721E-13},{"time":2.0211660475007305,"velocity":1.3600604523243622,"acceleration":2.6999999999999824,"pose":{"translation":{"x":4.107095964998534,"y":-2.525506761986001},"rotation":{"radians":-0.8450952702667438}},"curvature":-1.5721451016505619},{"time":2.043073323766812,"velocity":1.4192100982427822,"acceleration":2.7000000000000264,"pose":{"translation":{"x":4.126757840425221,"y":-2.548748845510642},"rotation":{"radians":-0.8914565110823546}},"curvature":-1.43162585080387},{"time":2.0664551796468014,"velocity":1.482341109118754,"acceleration":2.700000000000005,"pose":{"translation":{"x":4.147463490162325,"y":-2.575618277092462},"rotation":{"radians":-0.9355286310691155}},"curvature":-1.1696919230943286},{"time":2.116589092434615,"velocity":1.6177026736458502,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.1910752370933855,"y":-2.639935084611638},"rotation":{"radians":-1.0094351855677002}},"curvature":-0.7885693519218696},{"time":2.167609407526728,"velocity":1.7554575243945556,"acceleration":-2.5112887899165734,"pose":{"translation":{"x":4.234576840406595,"y":-2.7141791878373365},"rotation":{"radians":-1.0704526428626095}},"curvature":-0.6689931062565239},{"time":2.2182389448123896,"velocity":1.6283121349704106,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.273449864565585,"y":-2.790510122335995},"rotation":{"radians":-1.1305323578994944}},"curvature":-0.7734089192576035},{"time":2.267254101833861,"velocity":1.495971211012439,"acceleration":-2.699999999999995,"pose":{"translation":{"x":4.3037605366639955,"y":-2.860823823934308},"rotation":{"radians":-1.2017779337337726}},"curvature":-1.147399466913196},{"time":2.310783565204666,"velocity":1.3784416599112652,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.323908479206728,"y":-2.9200514967068565},"rotation":{"radians":-1.288949009645819}},"curvature":-1.5813686366376538},{"time":2.3491946394985086,"velocity":1.2747317593178906,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.336375442891196,"y":-2.969458480963734},"rotation":{"radians":-1.3451950829588586}},"curvature":1.2652507390984346E-13},{"time":2.368879092798488,"velocity":1.2215837354079457,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.3415758951471215,"y":-2.993471101411822},"rotation":{"radians":-1.380095402243127}},"curvature":-2.4888876638790376},{"time":2.3911736800169696,"velocity":1.161388349918046,"acceleration":2.6999999999999837,"pose":{"translation":{"x":4.345633651235341,"y":-3.019723038773883},"rotation":{"radians":-1.4570354405213441}},"curvature":-3.0258900807428013},{"time":2.416195004010385,"velocity":1.228945924700267,"acceleration":2.699999999999996,"pose":{"translation":{"x":4.347734321015223,"y":-3.0495538303411593},"rotation":{"radians":-1.5415280334385852}},"curvature":-2.55732771771104},{"time":2.4429931328766146,"velocity":1.3013008726390862,"acceleration":2.7000000000000037,"pose":{"translation":{"x":4.34738157991217,"y":-3.083454935123909},"rotation":{"radians":-1.617374818363511}},"curvature":-1.9414977440995753},{"time":2.4712749003389765,"velocity":1.3776616447874632,"acceleration":2.699999999999998,"pose":{"translation":{"x":4.344353073807754,"y":-3.1212165832895953},"rotation":{"radians":-1.6813185286194525}},"curvature":-1.4719532636371344},{"time":2.5003887209110167,"velocity":1.456268960331972,"acceleration":0.6365323277808116,"pose":{"translation":{"x":4.338656323929853,"y":-3.1620746256010692},"rotation":{"radians":-1.7353123362084182}},"curvature":-1.1751520795245802},{"time":2.530105161701167,"velocity":1.475184435561487,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.3304846317427925,"y":-3.20485738285476},"rotation":{"radians":-1.7826048249495483}},"curvature":-1.0176661157517188},{"time":2.561143482532795,"velocity":1.3913809693160908,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.320172983837481,"y":-3.2481324953188606},"rotation":{"radians":-1.8264983721146553}},"curvature":-0.9733368788098502},{"time":2.5937238233139888,"velocity":1.3034140492068678,"acceleration":-2.7,"pose":{"translation":{"x":4.308153956821549,"y":-3.290353772171517},"rotation":{"radians":-1.870231472474327}},"curvature":-1.0387367571502901},{"time":2.626941114183085,"velocity":1.2137273638603074,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.294913622209486,"y":-3.3300080409390134},"rotation":{"radians":-1.9172617857402379}},"curvature":-1.2399705067182853},{"time":2.65976512036399,"velocity":1.1251025471718643,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.280947451312782,"y":-3.365761996933961},"rotation":{"radians":-1.9716805078766622}},"curvature":-1.644328539420413},{"time":2.69114052685412,"velocity":1.0403889496485124,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.266716220130062,"y":-3.396609052693486},"rotation":{"radians":-2.0384996772702273}},"curvature":-2.371983666622517},{"time":2.720170062808513,"velocity":0.9620092025716516,"acceleration":-2.700000000000006,"pose":{"translation":{"x":4.2526019142372276,"y":-3.4220161874174133},"rotation":{"radians":-2.122902589403081}},"curvature":-3.5427973786791616},{"time":2.73364167123934,"velocity":0.9256358598084189,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.245675582979829,"y":-3.4326788450042356},"rotation":{"radians":-2.172363935580213}},"curvature":-4.250069188120277},{"time":2.74641390876795,"velocity":0.8911508184811716,"acceleration":-2.346656625826124,"pose":{"translation":{"x":4.238863633677591,"y":-3.4420707964064596},"rotation":{"radians":-2.225461581397636}},"curvature":-4.879420915945911},{"time":2.758530109026397,"velocity":0.8627182568648513,"acceleration":2.7000000000000464,"pose":{"translation":{"x":4.232172018617497,"y":-3.450323998538391},"rotation":{"radians":-2.27918481261407}},"curvature":-5.141950720833918},{"time":2.769727522879719,"velocity":0.8929512742688215,"acceleration":2.6999999999999647,"pose":{"translation":{"x":4.225593497852015,"y":-3.457627540500415},"rotation":{"radians":-2.3279932169747504}},"curvature":-4.611580696638505},{"time":2.789524819690437,"velocity":0.946403975657759,"acceleration":2.2779481435788473,"pose":{"translation":{"x":4.212672550409055,"y":-3.4704551955163354},"rotation":{"radians":-2.3775358768287482}},"curvature":-1.4509492896866132E-12},{"time":2.8081552778413816,"velocity":0.9888431932167264,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.1995018615661195,"y":-3.482764356500721},"rotation":{"radians":-2.4130782371283543}},"curvature":-3.514623529874011},{"time":2.828227150513118,"velocity":0.9346491370030376,"acceleration":1.9287186413052504,"pose":{"translation":{"x":4.1846069349365,"y":-3.4950439075764557},"rotation":{"radians":-2.494305163545657}},"curvature":-4.5086928416365915},{"time":2.8392821389814555,"velocity":0.9559710993413347,"acceleration":2.700000000000058,"pose":{"translation":{"x":4.176125303615964,"y":-3.501149039238779},"rotation":{"radians":-2.540787483566944}},"curvature":-4.33929158587542},{"time":2.850718192940695,"velocity":0.9868484450312818,"acceleration":2.7000000000000024,"pose":{"translation":{"x":4.166816867221693,"y":-3.5072124536305975},"rotation":{"radians":-2.5869849328931567}},"curvature":-3.958115358726707},{"time":2.874693799883918,"velocity":1.0515825837779835,"acceleration":2.6999999999999678,"pose":{"translation":{"x":4.145491488542144,"y":-3.51914398740226},"rotation":{"radians":-2.672180051426069}},"curvature":-3.0312526952992744},{"time":2.900092176293417,"velocity":1.1201582000836308,"acceleration":2.7000000000000086,"pose":{"translation":{"x":4.120441167812345,"y":-3.530680958364998},"rotation":{"radians":-2.7442002884146324}},"curvature":-2.24379037322869},{"time":2.926586372661094,"velocity":1.1916925302763586,"acceleration":2.6999999999999846,"pose":{"translation":{"x":4.091846618115918,"y":-3.5416473416091985},"rotation":{"radians":-2.8037409475329813}},"curvature":-1.6895999205313315},{"time":2.9536770008204525,"velocity":1.2648372263066263,"acceleration":2.700000000000032,"pose":{"translation":{"x":4.0601787020806945,"y":-3.5518617067244715},"rotation":{"radians":-2.8534261096403184}},"curvature":-1.3278957233890747},{"time":2.980803718142716,"velocity":1.3380793630767378,"acceleration":2.699999999999997,"pose":{"translation":{"x":4.026118237253801,"y":-3.5611502866820404},"rotation":{"radians":-2.895969747404089}},"curvature":-1.1024689835058716},{"time":3.0330521736774885,"velocity":1.479150193020624,"acceleration":1.2527278734791893,"pose":{"translation":{"x":3.954111538260461,"y":-3.5763717532113795},"rotation":{"radians":-2.9681704661116073}},"curvature":-0.9030690719457863},{"time":3.0810303490675452,"velocity":1.5392537906504211,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.882424764151878,"y":-3.5865714901301473},"rotation":{"radians":-3.032028794505532}},"curvature":-0.8731590609909291},{"time":3.126190911594694,"velocity":1.4173202718271187,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.8158829806579693,"y":-3.591968268950124},"rotation":{"radians":-3.088078485604461}},"curvature":-0.7510851526245056},{"time":3.1711174661600134,"velocity":1.2960185745007573,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.754971848225213,"y":-3.594158087998451},"rotation":{"radians":-3.1156244663782533}},"curvature":-6.238602905595439E-14},{"time":3.1947511105815014,"velocity":1.2322077345627394,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.7250996475323115,"y":-3.5946088086292822},"rotation":{"radians":3.136061727913206}},"curvature":-1.9531662342533467},{"time":3.220139671388396,"velocity":1.163658620384124,"acceleration":-2.69999999999999,"pose":{"translation":{"x":3.694712240744392,"y":-3.59334204199147},"rotation":{"radians":3.058543079259456}},"curvature":-2.9931355679675957},{"time":3.2337183348240743,"velocity":1.1269962291077928,"acceleration":-0.7988330458019103,"pose":{"translation":{"x":3.6792491868301713,"y":-3.59168097196776},"rotation":{"radians":3.010052712224437}},"curvature":-3.212417145168894},{"time":3.247844924315237,"velocity":1.115711442597774,"acceleration":0.6433414728895844,"pose":{"translation":{"x":3.663603722960406,"y":-3.5892002983800015},"rotation":{"radians":2.9584735611647806}},"curvature":-3.2761262969660088},{"time":3.262271679201638,"velocity":1.1249927723354085,"acceleration":1.6388573645588949,"pose":{"translation":{"x":3.6477941566508547,"y":-3.5858385065121516},"rotation":{"radians":2.9058109570288546}},"curvature":-3.2236345038509038},{"time":3.2767891192739276,"velocity":1.148784785912422,"acceleration":2.329338759130971,"pose":{"translation":{"x":3.631852976097636,"y":-3.5815624837629936},"rotation":{"radians":2.8535988153254137}},"curvature":-3.0929495414508255},{"time":3.291244593216327,"velocity":1.1824564816480605,"acceleration":2.6999999999999895,"pose":{"translation":{"x":3.6158250409293315,"y":-3.576364958338765},"rotation":{"radians":2.8029224241077566}},"curvature":-2.9169854819246734},{"time":3.3055402134750587,"velocity":1.2210546563466362,"acceleration":2.6999999999999797,"pose":{"translation":{"x":3.5997657729590933,"y":-3.5702619379457867},"rotation":{"radians":2.754474861643414}},"curvature":-2.7216538702201953},{"time":3.3196338011229547,"velocity":1.2591073429959554,"acceleration":2.70000000000002,"pose":{"translation":{"x":3.583739346936751,"y":-3.5632901484830892},"rotation":{"radians":2.7086307970219012}},"curvature":-2.525656347456435},{"time":3.333504197686556,"velocity":1.2965574137176799,"acceleration":2.6999999999999797,"pose":{"translation":{"x":3.5678168813009155,"y":-3.5555044727350418},"rotation":{"radians":2.6655227947601507}},"curvature":-2.3414087478565757},{"time":3.3604386397252264,"velocity":1.3692804072220892,"acceleration":2.250430090670244,"pose":{"translation":{"x":3.536592167899765,"y":-3.5377864101028305},"rotation":{"radians":2.5872339667863717}},"curvature":-2.0349933743697015},{"time":3.3861330679596384,"velocity":1.4271039216833767,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":3.506730702620229,"y":-3.517812620350732},"rotation":{"radians":2.5181136337500356}},"curvature":-1.8294375517087662},{"time":3.411352546565092,"velocity":1.3590113294486523,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.4788668624822137,"y":-3.4964145602739234},"rotation":{"radians":2.455865619207337}},"curvature":-1.731324515687479},{"time":3.4366286305070566,"velocity":1.2907659028053469,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.453572435728348,"y":-3.4744683113252766},"rotation":{"radians":2.3979526824914337}},"curvature":-1.7469589539304369},{"time":3.461334803812951,"velocity":1.2240592348794317,"acceleration":-2.7,"pose":{"translation":{"x":3.431298725891377,"y":-3.452812617779449},"rotation":{"radians":2.3418331076250425}},"curvature":-1.8905310113261928},{"time":3.4848559427004178,"velocity":1.1605521598832718,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.4123186558615646,"y":-3.4321669248969804},"rotation":{"radians":2.2852009489965104}},"curvature":-2.1772564962953607},{"time":3.506699248399717,"velocity":1.1015752344951637,"acceleration":-2.7,"pose":{"translation":{"x":3.396668871954087,"y":-3.413049417088383},"rotation":{"radians":2.226719709327411}},"curvature":-2.573637538496012},{"time":3.526643001441019,"velocity":1.0477271012836487,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.3840918479764355,"y":-3.395695056078237},"rotation":{"radians":2.1681420803039746}},"curvature":-2.832482643163},{"time":3.562386199444234,"velocity":0.9512204666749676,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.365307736906527,"y":-3.365307736906524},"rotation":{"radians":2.097223446246329}},"curvature":-8.563770366091795E-13},{"time":3.5808174698351944,"velocity":0.9014560366193747,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.3569601150851334,"y":-3.3504139559098243},"rotation":{"radians":2.0534269352898393}},"curvature":-4.408270501759967},{"time":3.591127953419222,"velocity":0.8736177309425003,"acceleration":1.1820289179706307,"pose":{"translation":{"x":3.352888417839121,"y":-3.34221878152369},"rotation":{"radians":2.00945046974988}},"curvature":-5.039291505589935},{"time":3.6022874059549386,"velocity":0.8868085265484378,"acceleration":2.6999999999999424,"pose":{"translation":{"x":3.348938187910332,"y":-3.3332253921389725},"rotation":{"radians":1.9600889401197457}},"curvature":-4.918425960032723},{"time":3.614081919408099,"velocity":0.9186537128719705,"acceleration":2.699999999999968,"pose":{"translation":{"x":3.3451483772153683,"y":-3.323275428034386},"rotation":{"radians":1.910261081074239}},"curvature":-4.408855443013236},{"time":3.626469762462222,"velocity":0.9521008891181022,"acceleration":2.6999999999999593,"pose":{"translation":{"x":3.3415568043329786,"y":-3.312258790961145},"rotation":{"radians":1.862852105947923}},"curvature":-3.777559351932002},{"time":3.653047905816709,"velocity":1.023861876175217,"acceleration":2.700000000000035,"pose":{"translation":{"x":3.3351126798982738,"y":-3.2868030813034936},"rotation":{"radians":1.7795466119070087}},"curvature":-2.6531826547037785},{"time":3.6817157301363297,"velocity":1.101265001838194,"acceleration":2.699999999999981,"pose":{"translation":{"x":3.329877464834413,"y":-3.256794943799528},"rotation":{"radians":1.7112422440915225}},"curvature":-1.9091065013963306},{"time":3.7117641198432945,"velocity":1.1823956540469982,"acceleration":2.69999999999998,"pose":{"translation":{"x":3.3260908121412434,"y":-3.222694378935494},"rotation":{"radians":1.6539720869679109}},"curvature":-1.4789022701863384},{"time":3.7423244684397963,"velocity":1.264908595257553,"acceleration":2.6999999999999784,"pose":{"translation":{"x":3.323953445678914,"y":-3.185360275196754},"rotation":{"radians":1.6033565305589343}},"curvature":-1.258675171105693},{"time":3.7725275968183825,"velocity":1.3464570418797353,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.323620228256534,"y":-3.14592597721417},"rotation":{"radians":1.5556306743323207}},"curvature":-1.1826036185598943},{"time":3.8015972487072527,"velocity":1.4249451019796844,"acceleration":2.7000000000000246,"pose":{"translation":{"x":3.3251932297208238,"y":-3.1056748539104833},"rotation":{"radians":1.5075886225922053}},"curvature":-1.2202906053347709},{"time":3.8289022513494992,"velocity":1.4986686091137513,"acceleration":-2.3946686860619453,"pose":{"translation":{"x":3.32871479504477,"y":-3.0659158666466917},"rotation":{"radians":1.4563571202624555}},"curvature":-1.36525699772591},{"time":3.8551030706463627,"velocity":1.4359263275943852,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.3341606124162797,"y":-3.0278591373684343},"rotation":{"radians":1.399322649027205}},"curvature":-1.6228221607848625},{"time":3.8808732348380013,"velocity":1.3663468842769615,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.341432781326834,"y":-2.9924915167523713},"rotation":{"radians":1.3344964277889204}},"curvature":-1.9866050113100104},{"time":3.9058293478285298,"velocity":1.2989653792025342,"acceleration":-1.4756855552953065,"pose":{"translation":{"x":3.3503528806601435,"y":-2.9604521523525613},"rotation":{"radians":1.2618308191102119}},"curvature":-2.378518378256901},{"time":3.9295097993300496,"velocity":1.26402047897887,"acceleration":2.7000000000000175,"pose":{"translation":{"x":3.3606550367807997,"y":-2.9319080567468454},"rotation":{"radians":1.1861977292409747}},"curvature":-2.529601150177309},{"time":3.9510711044084377,"velocity":1.3222360026905187,"acceleration":2.7000000000000144,"pose":{"translation":{"x":3.3719789916229312,"y":-2.906429675683226},"rotation":{"radians":1.1218144675690096}},"curvature":-1.8952434569659933},{"time":3.970639156839079,"velocity":1.37506974425325,"acceleration":1.6410706380060673,"pose":{"translation":{"x":3.383863170778858,"y":-2.8828664562262487},"rotation":{"radians":1.093904459129229}},"curvature":-8.800441833469826E-13},{"time":4.00859080375567,"velocity":1.4373510776720406,"acceleration":-1.461662848066054,"pose":{"translation":{"x":3.409421332559775,"y":-2.836016441307421},"rotation":{"radians":1.03246981422163}},"curvature":-1.8523635006166714},{"time":4.02862654620171,"velocity":1.4080655773052437,"acceleration":2.083859078711987,"pose":{"translation":{"x":3.4246997039230482,"y":-2.8119517909191396},"rotation":{"radians":0.9773027697049732}},"curvature":-1.9550822525832192},{"time":4.0497303486350145,"velocity":1.4520429276012297,"acceleration":2.7000000000000166,"pose":{"translation":{"x":3.4422944489302507,"y":-2.7874317553821495},"rotation":{"radians":0.9202382607450275}},"curvature":-1.8023926209567516},{"time":4.071249066181809,"velocity":1.5101434649775767,"acceleration":2.7,"pose":{"translation":{"x":3.462286745117756,"y":-2.7626107330513356},"rotation":{"radians":0.8664839706618565}},"curvature":-1.5685015112746035},{"time":4.092910098546405,"velocity":1.568628252361985,"acceleration":2.6999999999999904,"pose":{"translation":{"x":3.484502239456919,"y":-2.737744290681301},"rotation":{"radians":0.8180642063277515}},"curvature":-1.342067422892275},{"time":4.135531220940136,"velocity":1.6837052828250578,"acceleration":-0.9556967009508567,"pose":{"translation":{"x":3.5339759346661554,"y":-2.689204633831253},"rotation":{"radians":0.7374177803804196}},"curvature":-1.0172793016020754},{"time":4.176896280284148,"velocity":1.6441728320753493,"acceleration":-2.700000000000004,"pose":{"translation":{"x":3.58641522012724,"y":-2.6446227538041613},"rotation":{"radians":0.6735347286417496}},"curvature":-0.8614819661815898},{"time":4.21687405089888,"velocity":1.536232851415574,"acceleration":-2.7,"pose":{"translation":{"x":3.637145180535536,"y":-2.6063086898682277},"rotation":{"radians":0.6207461925587068}},"curvature":-0.8052427483987902},{"time":4.289290376362448,"velocity":1.3407087726639386,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.7240461251046875,"y":-2.54886864652451},"rotation":{"radians":0.560204132562198}},"curvature":-7.457536366926828E-14},{"time":4.307682212978154,"velocity":1.2910508138015317,"acceleration":-0.05618688513809634,"pose":{"translation":{"x":3.74470895187347,"y":-2.536268742306378},"rotation":{"radians":0.525164211505784}},"curvature":-2.412020243396965},{"time":4.32900382254988,"velocity":1.2898528189735659,"acceleration":2.699999999999994,"pose":{"translation":{"x":3.768986043093209,"y":-2.523319955048472},"rotation":{"radians":0.4550216790642493}},"curvature":-2.4171271072040383},{"time":4.353976639716183,"velocity":1.3572794253225848,"acceleration":2.69999999999999,"pose":{"translation":{"x":3.7991771465695363,"y":-2.5098659729744166},"rotation":{"radians":0.3875545561952699}},"curvature":-1.6762547697600338},{"time":4.382410925212522,"velocity":1.4340519961626985,"acceleration":2.699999999999997,"pose":{"translation":{"x":3.8363339474620317,"y":-2.495928537502044},"rotation":{"radians":0.33410749913838633}},"curvature":-1.0765892532870953},{"time":4.447232369490627,"velocity":1.609069895713582,"acceleration":2.6999999999999917,"pose":{"translation":{"x":3.9307383752858023,"y":-2.4673691759900973},"rotation":{"radians":0.26253003994804947}},"curvature":-0.5025745932489095},{"time":4.51539636982786,"velocity":1.79311269662411,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.043424495340928,"y":-2.4400382396468108},"rotation":{"radians":0.21658966865915344}},"curvature":-0.3307318527140351},{"time":4.578031704080539,"velocity":1.9622280991063443,"acceleration":-1.082255579942816,"pose":{"translation":{"x":4.1587397421442835,"y":-2.416926420557603},"rotation":{"radians":0.1789817998898148}},"curvature":-0.33293505130574713},{"time":4.631450540159838,"velocity":1.9044152656854727,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.26069944999191,"y":-2.4004914696810618},"rotation":{"radians":0.13770571538347967}},"curvature":-0.5090235244777953},{"time":4.674420873154853,"velocity":1.788395366598933,"acceleration":2.6999999999999895,"pose":{"translation":{"x":4.339532486997731,"y":-2.3915309327708725},"rotation":{"radians":0.08351328684758205}},"curvature":-0.8829292872204715},{"time":4.706520178705759,"velocity":1.8750634915863778,"acceleration":2.6999999999999895,"pose":{"translation":{"x":4.398226889132253,"y":-2.3880548862977498},"rotation":{"radians":0.04283093266875069}},"curvature":2.1870361463148794E-13},{"time":4.7390500086620655,"velocity":1.9628940324684054,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.4605554149507745,"y":-2.3846027507878573},"rotation":{"radians":0.07140677468934067}},"curvature":0.46248437159092276},{"time":4.7881466667853365,"velocity":2.0954550094012365,"acceleration":2.7000000000000015,"pose":{"translation":{"x":4.559798928251242,"y":-2.375884796737991},"rotation":{"radians":0.09901680638524288}},"curvature":0.16389428767248937},{"time":4.819603280451013,"velocity":2.180387866298564,"acceleration":1.760088075217515,"pose":{"translation":{"x":4.626689055476373,"y":-2.368919793112227},"rotation":{"radians":0.10786271121781651}},"curvature":0.10729434350126203},{"time":4.854676977185587,"velocity":2.2421206616748828,"acceleration":0.22486682639273278,"pose":{"translation":{"x":4.7037635578065276,"y":-2.3602833673590338},"rotation":{"radians":0.11495998516848317}},"curvature":0.07967454033841612},{"time":4.8927255918762,"velocity":2.250676532909001,"acceleration":0.03889031310701547,"pose":{"translation":{"x":4.788640059601188,"y":-2.350208504783425},"rotation":{"radians":0.12116549370035413}},"curvature":0.06763873923882119},{"time":4.932825482063856,"velocity":2.2522360301939557,"acceleration":-0.1063626521482798,"pose":{"translation":{"x":4.878228286759015,"y":-2.3390283140025687},"rotation":{"radians":0.1271091573384734}},"curvature":0.06545480043781335},{"time":4.9735402912726805,"velocity":2.247905495104794,"acceleration":-0.27661701195742483,"pose":{"translation":{"x":4.9690644657883905,"y":-2.3271371039724635},"rotation":{"radians":0.13331936365426306}},"curvature":0.0715268098618738},{"time":5.013415365624056,"velocity":2.2368753711861364,"acceleration":-0.5403654067791605,"pose":{"translation":{"x":5.057645722877963,"y":-2.3149514610146213},"rotation":{"radians":0.14032425405552681}},"curvature":0.08709877348868322},{"time":5.051136036824901,"velocity":2.216492425348709,"acceleration":-0.988163322347898,"pose":{"translation":{"x":5.140764482967187,"y":-2.302871325842744},"rotation":{"radians":0.14873190751053336}},"curvature":0.11628256654002964},{"time":5.08567862723153,"velocity":2.182358704449991,"acceleration":-1.8563245295360695,"pose":{"translation":{"x":5.2158428688168685,"y":-2.291241070589405},"rotation":{"radians":0.15927115137087328}},"curvature":0.16637522402887112},{"time":5.143313719016917,"velocity":2.0753692698067154,"acceleration":2.700000000000003,"pose":{"translation":{"x":5.336721892370825,"y":-2.270196307623063},"rotation":{"radians":0.18899271125240838}},"curvature":0.3340633076268626},{"time":5.185566079581521,"velocity":2.189450643331146,"acceleration":1.4510836328687124,"pose":{"translation":{"x":5.424960896733882,"y":-2.2519817045674144},"rotation":{"radians":0.2135821982191385}},"curvature":2.8293419745669658E-14},{"time":5.225978872166235,"velocity":2.248092985209343,"acceleration":-1.7117137938775322,"pose":{"translation":{"x":5.512562284564335,"y":-2.2328472953059184},"rotation":{"radians":0.2175917176114819}},"curvature":0.07126343831312376},{"time":5.280491959970932,"velocity":2.154782180867187,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.629621271591719,"y":-2.2064103501350836},"rotation":{"radians":0.22675370914173432}},"curvature":0.0784618855539497},{"time":5.315288322303678,"velocity":2.0608320025687736,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.701039343573113,"y":-2.1897129203864143},"rotation":{"radians":0.23264582386144253}},"curvature":0.08287731638800282},{"time":5.355358539478682,"velocity":1.9526424161962619,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.779219088344069,"y":-2.1709044313680397},"rotation":{"radians":0.23967700417373605}},"curvature":0.0930578565526003},{"time":5.4002216948149115,"velocity":1.831511896788443,"acceleration":-2.700000000000004,"pose":{"translation":{"x":5.86159218441938,"y":-2.150409063454151},"rotation":{"radians":0.2483098811484462}},"curvature":0.11204410996316728},{"time":5.449033756225019,"velocity":1.6997193309811538,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.945020070517284,"y":-2.1287906562351426},"rotation":{"radians":0.25926391233015494}},"curvature":0.14522001708215543},{"time":5.50059654352132,"velocity":1.560499805281139,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.026115603624698,"y":-2.106690427034547},"rotation":{"radians":0.2736653710251387}},"curvature":0.20347656023914576},{"time":5.553353939410567,"velocity":1.4180548363801728,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.101564717062441,"y":-2.0847646894259713},"rotation":{"radians":0.29334248603288626}},"curvature":0.3101401619944382},{"time":5.605398492115834,"velocity":1.2775345440759494,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.168448078550471,"y":-2.063622571750037},"rotation":{"radians":0.3213823094217437}},"curvature":0.5181893519919437},{"time":5.654544504934541,"velocity":1.1448403094654411,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.224562748273107,"y":-2.043763735631316},"rotation":{"radians":0.36313791554131464}},"curvature":0.9537347404851392},{"time":5.698585172891805,"velocity":1.0259305059808261,"acceleration":-2.699999999999992,"pose":{"translation":{"x":6.268743836944259,"y":-2.0255160944952677},"rotation":{"radians":0.42765441576926394}},"curvature":1.9073311819533667},{"time":5.718143568557615,"velocity":0.9731228376831413,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.286358260464801,"y":-2.0170366555092842},"rotation":{"radians":0.47230023333605764}},"curvature":2.72474683368831},{"time":5.7359268740414,"velocity":0.9251079128769197,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.301186163872659,"y":-2.0089735320851756},"rotation":{"radians":0.5268349435677362}},"curvature":3.799019022660335},{"time":5.752008412309146,"velocity":0.8816877595540054,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.313517126075689,"y":-2.001291674497198},"rotation":{"radians":0.5901736953658032}},"curvature":4.912733599851115},{"time":5.766646081867032,"velocity":0.8421660517477138,"acceleration":2.7000000000000814,"pose":{"translation":{"x":6.3237659150270815,"y":-1.9939336209790866},"rotation":{"radians":0.6561293798924004}},"curvature":5.342755725273197},{"time":5.791512234161344,"velocity":0.9093046629423573,"acceleration":2.7000000000000455,"pose":{"translation":{"x":6.340362301101588,"y":-1.9798353411067464},"rotation":{"radians":0.7328151017865228}},"curvature":1.8353266480505222E-13},{"time":5.84035287704536,"velocity":1.0411743987292033,"acceleration":2.69999999999998,"pose":{"translation":{"x":6.37697674152807,"y":-1.9493701817338582},"rotation":{"radians":0.6457469422851974}},"curvature":-1.7204302495884551},{"time":5.906344459594509,"velocity":1.2193516716119046,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.438321945157991,"y":-1.9069424452828057},"rotation":{"radians":0.5809137799392667}},"curvature":-0.3491452916283957},{"time":5.985991087550238,"velocity":1.4343975670923714,"acceleration":-1.2573099147239724,"pose":{"translation":{"x":6.527127318463052,"y":-1.8496528452110372},"rotation":{"radians":0.5725840871850425}},"curvature":0.1046707480801797},{"time":6.0754640196957626,"velocity":1.321902362406378,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.629904383817561,"y":-1.7815241415963405},"rotation":{"radians":0.6047141395885902}},"curvature":0.4308776058143337},{"time":6.176001068527307,"velocity":1.0504523305612086,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.725508735069408,"y":-1.7102394437764725},"rotation":{"radians":0.6905372555948094}},"curvature":1.1562933779558546},{"time":6.228611328018298,"velocity":0.9084046299355337,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.764027141781647,"y":-1.6760127621236425},"rotation":{"radians":0.7699456111541707}},"curvature":2.0478463668141664},{"time":6.254854117665564,"velocity":0.8375490978879131,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.780054758356363,"y":-1.6596434694638007},"rotation":{"radians":0.8247821045611262}},"curvature":2.794381568208461},{"time":6.280836148659215,"velocity":0.7673976142050584,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.7937019931110285,"y":-1.6438805129887903},"rotation":{"radians":0.893329849782553}},"curvature":3.8590179004327334},{"time":6.306468626047061,"velocity":0.6981899252578718,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.804874847951749,"y":-1.6287814926601347},"rotation":{"radians":0.9787812683939338}},"curvature":5.339130586883095},{"time":6.319162106930541,"velocity":0.663917526872476,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.809523037922811,"y":-1.621492503704268},"rotation":{"radians":1.0287636880120912}},"curvature":6.24997629528533},{"time":6.331797275261239,"velocity":0.6298025723795941,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.813549754230675,"y":-1.614380083662712},"rotation":{"radians":1.083887043777851}},"curvature":7.261113309248849},{"time":6.3444135711716765,"velocity":0.5957385734214127,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.81696442716858,"y":-1.6074441811069298},"rotation":{"radians":1.1441255931324854}},"curvature":8.33645997598355},{"time":6.357072157000314,"velocity":0.5615603916840921,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.819781934030736,"y":-1.6006828511534277},"rotation":{"radians":1.2091259039315982}},"curvature":9.41011889472159},{"time":6.369861648606049,"velocity":0.5270287643486059,"acceleration":-2.1345869287406334,"pose":{"translation":{"x":6.822022860402468,"y":-1.5940921559246515},"rotation":{"radians":1.2780972354104383}},"curvature":10.382988203939716},{"time":6.382809240000617,"velocity":0.4993910049990874,"acceleration":-1.0092626886143212,"pose":{"translation":{"x":6.823713761450372,"y":-1.5876660650098837},"rotation":{"radians":1.3497281887712986}},"curvature":11.128424649470922},{"time":6.395751281917166,"velocity":0.4863290849782318,"acceleration":0.26560504907222143,"pose":{"translation":{"x":6.824887423212453,"y":-1.5813963559261373},"rotation":{"radians":1.422165816061351}},"curvature":11.510209672061999},{"time":6.408380693171375,"velocity":0.4896835203741592,"acceleration":1.9358009375880454,"pose":{"translation":{"x":6.825583123888281,"y":-1.5752725145790532},"rotation":{"radians":1.493085625539869}},"curvature":11.410219681858651},{"time":6.420343847915037,"velocity":0.5128418065434509,"acceleration":2.7000000000000974,"pose":{"translation":{"x":6.825846895129134,"y":-1.5692816357237955},"rotation":{"radians":1.559852665501385}},"curvature":10.755598080725491},{"time":6.431472516364502,"velocity":0.5428892113570067,"acceleration":2.7000000000003066,"pose":{"translation":{"x":6.8257317833281475,"y":-1.5634083234259486},"rotation":{"radians":1.619734948503121}},"curvature":9.53226304176092},{"time":6.441868894500187,"velocity":0.5709594323233615,"acceleration":2.7000000000002147,"pose":{"translation":{"x":6.825298110910466,"y":-1.557634591522412},"rotation":{"radians":1.6701044785413044}},"curvature":7.777833370106699},{"time":6.451686880661286,"velocity":0.5974679949583304,"acceleration":2.700000000000143,"pose":{"translation":{"x":6.824613737623385,"y":-1.5519397640822963},"rotation":{"radians":1.7085676072589593}},"curvature":5.558902411739207},{"time":6.4700002187405685,"velocity":0.6469140077723963,"acceleration":2.6999999999999784,"pose":{"translation":{"x":6.822803581781871,"y":-1.540690072795206},"rotation":{"radians":1.7415315382701735}},"curvature":-1.6534851170586008E-13},{"time":6.59926672065553,"velocity":0.9959335629427903,"acceleration":2.699999999999988,"pose":{"translation":{"x":6.803420643208867,"y":-1.4362915965422276},"rotation":{"radians":1.7768034103593557}},"curvature":0.5428387418367638},{"time":6.663465818087568,"velocity":1.169271126009293,"acceleration":-0.07026634243346722,"pose":{"translation":{"x":6.787780540108011,"y":-1.3685721151426513},"rotation":{"radians":1.8210435892908459}},"curvature":0.744883878028891},{"time":6.727535525957694,"velocity":1.1647691819764785,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.766943994395411,"y":-1.2967634316820202},"rotation":{"radians":1.8907014865260774}},"curvature":1.17914357977271},{"time":6.760208989971577,"velocity":1.0765508291389927,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.754604749550423,"y":-1.2622893385815572},"rotation":{"radians":1.940855826112598}},"curvature":1.5949639208076312},{"time":6.793791472920938,"velocity":0.9858781251757194,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.741086548810946,"y":-1.2304060109394124},"rotation":{"radians":2.006585152286982}},"curvature":2.260494128170485},{"time":6.827589065324915,"velocity":0.894624625684981,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.726508839101797,"y":-1.2021686871290314},"rotation":{"radians":2.093713449668494}},"curvature":3.3172628239832775},{"time":6.844386497213489,"velocity":0.8492715595858298,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.718867524574831,"y":-1.1896734903144872},"rotation":{"radians":2.147358297607383}},"curvature":4.036901971053304},{"time":6.861049659970613,"velocity":0.8042810201415951,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.711017965025681,"y":-1.1783517371400503},"rotation":{"radians":2.2086397873261827}},"curvature":4.887089647595456},{"time":6.877570274197182,"velocity":0.759675361729859,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":6.702981611131262,"y":-1.1682368285050675},"rotation":{"radians":2.2777482284698416}},"curvature":5.829074825841},{"time":6.8939868147281365,"velocity":0.7153507022962803,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.694780798360527,"y":-1.1593297465286987},"rotation":{"radians":2.354007642841456}},"curvature":6.760301051353967},{"time":6.910397814120253,"velocity":0.6710410039375673,"acceleration":-1.0147061583323185,"pose":{"translation":{"x":6.686438547896253,"y":-1.151595338423366},"rotation":{"radians":2.4353622071565666}},"curvature":7.492315958210328},{"time":6.926620734430396,"velocity":0.6545795067927298,"acceleration":2.0043732955930778,"pose":{"translation":{"x":6.677978367556838,"y":-1.1449586003682035},"rotation":{"radians":2.517915841309007}},"curvature":7.7583521324265865},{"time":6.941929949062963,"velocity":0.6852648877787506,"acceleration":2.699999999999822,"pose":{"translation":{"x":6.669424052718093,"y":-1.1393009613825091},"rotation":{"radians":2.5957832379113794}},"curvature":7.272735602310573},{"time":6.95597651400642,"velocity":0.7231906131260808,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.660799487235031,"y":-1.134456567199192},"rotation":{"radians":2.6614628811009973}},"curvature":5.827014880241687},{"time":6.9813152844518305,"velocity":0.7916052933286872,"acceleration":2.699999999999988,"pose":{"translation":{"x":6.643434387682778,"y":-1.1262853829800938},"rotation":{"radians":2.7233683240106124}},"curvature":2.857920997036638E-13},{"time":7.081809174686464,"velocity":1.0629387969621982,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.557458461335598,"y":-1.0903463102130708},"rotation":{"radians":2.7764324811994667}},"curvature":0.6824307842488376},{"time":7.141236927941386,"velocity":1.2233937307504867,"acceleration":2.7000000000000255,"pose":{"translation":{"x":6.4934676587356,"y":-1.067532926742651},"rotation":{"radians":2.821569779198928}},"curvature":0.660081199313374},{"time":7.202756693745871,"velocity":1.3894970984225985,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.416516894285899,"y":-1.0443322167106872},"rotation":{"radians":2.8769434882594798}},"curvature":0.7339257145340377},{"time":7.261584199495601,"velocity":1.54833136394687,"acceleration":2.6999999999999744,"pose":{"translation":{"x":6.332393415733536,"y":-1.0245744094480014},"rotation":{"radians":2.9474796460916703}},"curvature":0.9147263793149333},{"time":7.288883261749803,"velocity":1.6220388320332149,"acceleration":2.0113960022317894,"pose":{"translation":{"x":6.2897687717642485,"y":-1.0171055023634714},"rotation":{"radians":2.9896599459326296}},"curvature":1.0367547305871343},{"time":7.3145713203094065,"velocity":1.6737076903250965,"acceleration":-2.384993455440344,"pose":{"translation":{"x":6.247790497870101,"y":-1.0116548413040323},"rotation":{"radians":3.036120298498697}},"curvature":1.154921475811154},{"time":7.339456691085137,"velocity":1.614356243888774,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.207013181699064,"y":-1.0083336269327297},"rotation":{"radians":3.084965450035757}},"curvature":1.2172066136669202},{"time":7.36432358781601,"velocity":1.5472156227154161,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.167725265454773,"y":-1.0070390110233345},"rotation":{"radians":3.131770556722323}},"curvature":1.1275940538193328},{"time":7.4148924704647765,"velocity":1.4106796395637458,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.092956516137359,"y":-1.0087676351220758},"rotation":{"radians":-3.099512246147905}},"curvature":-6.697727526491845E-15},{"time":7.441616997261894,"velocity":1.338523417211527,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.056270067001254,"y":-1.010666831883629},"rotation":{"radians":-3.0714042194171935}},"curvature":1.4429829756220756},{"time":7.469784526731702,"velocity":1.2624710876430465,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.019833008757685,"y":-1.0144389888611642},"rotation":{"radians":-2.9996265532233775}},"curvature":2.3996894191340905},{"time":7.484495906733441,"velocity":1.2227503616383506,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.001800574747993,"y":-1.017440435624046},"rotation":{"radians":-2.9527368640935663}},"curvature":2.712112322774948},{"time":7.499693848719892,"velocity":1.1817159182749322,"acceleration":-1.3953017039626114,"pose":{"translation":{"x":5.983947241549731,"y":-1.0213269626030523},"rotation":{"radians":-2.9011178926280503}},"curvature":2.9207477245773625},{"time":7.515307728940399,"velocity":1.159929844597792,"acceleration":-0.34097698745006616,"pose":{"translation":{"x":5.966316753559176,"y":-1.026160603062821},"rotation":{"radians":-2.846547030576161}},"curvature":3.0335757493659514},{"time":7.531129348973756,"velocity":1.1545350362622382,"acceleration":0.4885728522267771,"pose":{"translation":{"x":5.948954091659565,"y":-1.0319716394538048},"rotation":{"radians":-2.7906172131214007}},"curvature":3.0621727184601677},{"time":7.546971425412436,"velocity":1.1622750447330787,"acceleration":1.1583604359613415,"pose":{"translation":{"x":5.931904859397732,"y":-1.0387615395740486},"rotation":{"radians":-2.734696136753045}},"curvature":3.0212270249006488},{"time":7.562678970778762,"velocity":1.1804700438314994,"acceleration":1.702820751723479,"pose":{"translation":{"x":5.91521466916074,"y":-1.046505892730968},"rotation":{"radians":-2.679898133184243}},"curvature":2.9270877214938027},{"time":7.578128909018543,"velocity":1.206778519279043,"acceleration":2.140969123940901,"pose":{"translation":{"x":5.898928528352517,"y":-1.0551573459031274},"rotation":{"radians":-2.627076582055845}},"curvature":2.7959897517991403},{"time":7.593227276839234,"velocity":1.2391036586050455,"acceleration":2.4849268603318815,"pose":{"translation":{"x":5.8830902255704896,"y":-1.064648539902017},"rotation":{"radians":-2.5768374954167412}},"curvature":2.6425322863986325},{"time":7.607904672645226,"velocity":1.275575913683079,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.867741716782219,"y":-1.0748950455338309},"rotation":{"radians":-2.5295695051574274}},"curvature":2.4787256498256607},{"time":7.622114338510707,"velocity":1.3139420115198757,"acceleration":2.70000000000003,"pose":{"translation":{"x":5.852922511502031,"y":-1.085798299761246},"rotation":{"radians":-2.4854831393477625}},"curvature":2.3136440710267823},{"time":7.649052624362831,"velocity":1.386675383320611,"acceleration":2.6999999999999895,"pose":{"translation":{"x":5.825014134316866,"y":-1.1091277496066647},"rotation":{"radians":-2.4070550806350965}},"curvature":2.0022367587775456},{"time":7.673927377712182,"velocity":1.4538372173638583,"acceleration":2.699999999999954,"pose":{"translation":{"x":5.799608915777081,"y":-1.1336772824168888},"rotation":{"radians":-2.3411810248049654}},"curvature":1.7318555147837016},{"time":7.696578935576929,"velocity":1.5149964235986748,"acceleration":-0.9582705350140373,"pose":{"translation":{"x":5.776872249697647,"y":-1.1584490640280332},"rotation":{"radians":-2.28688021918005}},"curvature":1.500705014874128},{"time":7.736484035096261,"velocity":1.4767565425324967,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.73955615635796,"y":-1.2050406443463997},"rotation":{"radians":-2.2095648455617143}},"curvature":1.0663928346364093},{"time":7.797424501598795,"velocity":1.3122172829756544,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.690922115570445,"y":-1.274728853958644},"rotation":{"radians":-2.1693760585828277}},"curvature":3.1335638411944943E-13},{"time":7.82679630243956,"velocity":1.2329134207055883,"acceleration":2.7000000000000344,"pose":{"translation":{"x":5.670719824074197,"y":-1.3061763915577729},"rotation":{"radians":-2.098117234402559}},"curvature":2.6712963305264807},{"time":7.844230379248076,"velocity":1.279985428088582,"acceleration":2.699999999999989,"pose":{"translation":{"x":5.660237215121693,"y":-1.325410358950791},"rotation":{"radians":-2.042827111467029}},"curvature":2.3158433081657974},{"time":7.863262883409034,"velocity":1.3313731893231682,"acceleration":2.7000000000000184,"pose":{"translation":{"x":5.649530250959005,"y":-1.3478358056189745},"rotation":{"radians":-1.9917510069921995}},"curvature":1.81204918755287},{"time":7.905239713766558,"velocity":1.4447106312884834,"acceleration":2.7000000000000255,"pose":{"translation":{"x":5.628124936299732,"y":-1.4020270652847455},"rotation":{"radians":-1.9084936558970085}},"curvature":1.1568728406117137},{"time":7.94915346895914,"velocity":1.5632777703084557,"acceleration":-0.5007849225984298,"pose":{"translation":{"x":5.608437397281406,"y":-1.4650705368070434},"rotation":{"radians":-1.8405552071831355}},"curvature":0.9641029631624295},{"time":7.992281597779015,"velocity":1.5416798536555796,"acceleration":-2.7,"pose":{"translation":{"x":5.592730716987842,"y":-1.5301577091511764},"rotation":{"radians":-1.7730180659913646}},"curvature":1.109354512967466},{"time":8.03324372045504,"velocity":1.4310821224303096,"acceleration":-2.7,"pose":{"translation":{"x":5.582765133190253,"y":-1.590221919599695},"rotation":{"radians":-1.692271666944514}},"curvature":1.618095112807508},{"time":8.052245080768923,"velocity":1.3797784495828251,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.580142978819237,"y":-1.616797961292224},"rotation":{"radians":-1.6444556077438146}},"curvature":1.965592287262108},{"time":8.06997573407125,"velocity":1.331905685666546,"acceleration":-2.700000000000003,"pose":{"translation":{"x":5.578965627135864,"y":-1.6408090793562817},"rotation":{"radians":-1.594373317417499}},"curvature":2.142855644621934},{"time":8.102703206015772,"velocity":1.2435415114163366,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.57958951233653,"y":-1.682948399149645},"rotation":{"radians":-1.532353736773731}},"curvature":-2.6030625004116267E-13},{"time":8.11956824715777,"velocity":1.1980059003329375,"acceleration":-1.2717371069062728,"pose":{"translation":{"x":5.580636488585997,"y":-1.70351015989227},"rotation":{"radians":-1.4976774519414668}},"curvature":2.8390647792735195},{"time":8.139059537569695,"velocity":1.1732181030546076,"acceleration":2.699999999999917,"pose":{"translation":{"x":5.5831362558935815,"y":-1.7264836669952166},"rotation":{"radians":-1.4268690661317296}},"curvature":2.9642586447462738},{"time":8.161775412916153,"velocity":1.2345509664900443,"acceleration":2.7000000000000046,"pose":{"translation":{"x":5.588051475487735,"y":-1.7533856175315756},"rotation":{"radians":-1.3572066561108003}},"curvature":2.123002558233247},{"time":8.187349951111981,"velocity":1.30360221961878,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.595876671185639,"y":-1.784884210377094},"rotation":{"radians":-1.3013911397639204}},"curvature":1.3808360671463697},{"time":8.245176399465919,"velocity":1.4597336301744117,"acceleration":2.7000000000000015,"pose":{"translation":{"x":5.620333626964432,"y":-1.860945894277565},"rotation":{"radians":-1.2278665371192978}},"curvature":0.6164973483276125},{"time":8.30592584002693,"velocity":1.6237571196891414,"acceleration":2.700000000000021,"pose":{"translation":{"x":5.653882341984434,"y":-1.948391368605034},"rotation":{"radians":-1.1852016413917261}},"curvature":0.34429303450358095},{"time":8.362130194001542,"velocity":1.775508875420597,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6910929335858285,"y":-2.0363728242775925},"rotation":{"radians":-1.157614889516426}},"curvature":0.250824190081751},{"time":8.408441458610591,"velocity":1.9005492898650287,"acceleration":2.699999999999994,"pose":{"translation":{"x":5.726072966277464,"y":-2.1139747493065837},"rotation":{"radians":-1.137158827759031}},"curvature":0.23973350843623825},{"time":8.46839464260875,"velocity":2.062422886660056,"acceleration":-0.21426579119597094,"pose":{"translation":{"x":5.777514140307939,"y":-2.2210559814468906},"rotation":{"radians":-1.1120651152156062}},"curvature":7.415129403439226E-13},{"time":8.525475848475507,"velocity":2.050192336922595,"acceleration":1.8120326761820957,"pose":{"translation":{"x":5.8321094711134105,"y":-2.3249626552403284},"rotation":{"radians":-1.0595108560474091}},"curvature":0.37606779223054376},{"time":8.565414318799556,"velocity":2.1225621501865013,"acceleration":-1.02121563400332,"pose":{"translation":{"x":5.8738585015412665,"y":-2.3970761768256},"rotation":{"radians":-1.034118767531428}},"curvature":0.25801255551525},{"time":8.610260360307139,"velocity":2.0767646714757957,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.922937566024633,"y":-2.47743568731872},"rotation":{"radians":-1.011078310159012}},"curvature":0.24682650774200235},{"time":8.656941145129517,"velocity":1.9507265524553745,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.973842079584267,"y":-2.556463131427119},"rotation":{"radians":-0.984652151326193}},"curvature":0.33648044009236144},{"time":8.700764158149507,"velocity":1.8324044173014014,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.020836874199711,"y":-2.6247487148752473},"rotation":{"radians":-0.9478666066253401}},"curvature":0.5972577166583145},{"time":8.737476194745602,"velocity":1.7332819184919446,"acceleration":2.6999999999999904,"pose":{"translation":{"x":6.0602816649471665,"y":-2.6769794250048706},"rotation":{"radians":-0.8953468353017389}},"curvature":1.0091433266202567},{"time":8.76614077308406,"velocity":1.8106762800057812,"acceleration":2.5471318499707083,"pose":{"translation":{"x":6.092956516137359,"y":-2.715867551375374},"rotation":{"radians":-0.8567769112421174}},"curvature":1.0663044450359554E-12},{"time":8.82669699878176,"velocity":1.9649209711944038,"acceleration":2.385891313498878,"pose":{"translation":{"x":6.170600090278266,"y":-2.7997726840652826},"rotation":{"radians":-0.7873857382126814}},"curvature":0.526328818569205},{"time":8.866254200300393,"velocity":2.0593001546840353,"acceleration":-0.8553064430691733,"pose":{"translation":{"x":6.227780816941333,"y":-2.8551394959037495},"rotation":{"radians":-0.7533443455108731}},"curvature":0.3607539947288666},{"time":8.910136164085984,"velocity":2.0217676283236914,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.2940233809814625,"y":-2.9153873678345397},"rotation":{"radians":-0.7231140936947572}},"curvature":0.33482336172709365},{"time":8.955819384485745,"velocity":1.8984229332443363,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.3620947877486485,"y":-2.973562239163896},"rotation":{"radians":-0.6897416607055867}},"curvature":0.4357400030667607},{"time":8.999091874035042,"velocity":1.7815872114612326,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.424531030879996,"y":-3.022971901905611},"rotation":{"radians":-0.6453367149026817}},"curvature":0.7280859324189437},{"time":9.036026974873353,"velocity":1.6818624391977914,"acceleration":2.700000000000012,"pose":{"translation":{"x":6.476677851129974,"y":-3.060009366714813},"rotation":{"radians":-0.5851966645364406}},"curvature":1.1343567305626876},{"time":9.065533826967782,"velocity":1.7615309398527461,"acceleration":2.6999999999999957,"pose":{"translation":{"x":6.519731495200667,"y":-3.0869762288217513},"rotation":{"radians":-0.5431895762878614}},"curvature":-2.4028166487429024E-13},{"time":9.130216033223192,"velocity":1.9361728967423535,"acceleration":1.690784709961448,"pose":{"translation":{"x":6.620964916978032,"y":-3.1506397291519033},"rotation":{"radians":-0.575172925172979}},"curvature":-0.07232842695966049},{"time":9.174651662853817,"velocity":2.0113039798993237,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.694563003851643,"y":-3.1983405430022183},"rotation":{"radians":-0.5722340595243901}},"curvature":0.11687801308505284},{"time":9.226415795353638,"velocity":1.8715408221498082,"acceleration":-2.7,"pose":{"translation":{"x":6.779507569413129,"y":-3.252042275977582},"rotation":{"radians":-0.5526375417800315}},"curvature":0.2770577720867128},{"time":9.282899842529261,"velocity":1.7190338947756265,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.866747403487466,"y":-3.3037356490042007},"rotation":{"radians":-0.5128063438169186}},"curvature":0.5411839360043872},{"time":9.337919452995935,"velocity":1.5704809465156067,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.946941367245376,"y":-3.345665070580753},"rotation":{"radians":-0.44247213739924307}},"curvature":1.0953202240802196},{"time":9.363133396131015,"velocity":1.5024033000508898,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.9823342283956995,"y":-3.3614167282614686},"rotation":{"radians":-0.3922858736351156}},"curvature":1.5123651624295884},{"time":9.386362791682823,"velocity":1.4396839320610124,"acceleration":2.6999999999999953,"pose":{"translation":{"x":7.014263706790425,"y":-3.373590334138761},"rotation":{"radians":-0.33426693389435}},"curvature":1.8443607286658248},{"time":9.425437351314198,"velocity":1.5451852430657267,"acceleration":2.6999999999999713,"pose":{"translation":{"x":7.070209366746114,"y":-3.390048315402955},"rotation":{"radians":-0.25518239062085707}},"curvature":-1.8132484378761044E-13},{"time":9.46306631659054,"velocity":1.6467834493118503,"acceleration":2.700000000000002,"pose":{"translation":{"x":7.128376322966789,"y":-3.404989433190729},"rotation":{"radians":-0.24520035237996882}},"curvature":0.2492777547639235},{"time":9.510855405071023,"velocity":1.7758139882091557,"acceleration":1.387971385778909,"pose":{"translation":{"x":7.207910127848667,"y":-3.424030762711756},"rotation":{"radians":-0.22499701300842825}},"curvature":0.23841630772792802},{"time":9.569704735089486,"velocity":1.857495174347041,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.312420158101617,"y":-3.446551143286501},"rotation":{"radians":-0.19918865444571962}},"curvature":0.2548563109643631},{"time":9.638758200581751,"velocity":1.6710508175179248,"acceleration":-2.7,"pose":{"translation":{"x":7.432235068616428,"y":-3.46861315877339},"rotation":{"radians":-0.16290060233774908}},"curvature":0.35974289680472626},{"time":9.715295517454281,"velocity":1.4644000619620932,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.551102964805459,"y":-3.4849809034558943},"rotation":{"radians":-0.10482452381162873}},"curvature":0.6649660243235408},{"time":9.75354819020823,"velocity":1.3611178455264301,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.604952567008113,"y":-3.489534707539711},"rotation":{"radians":-0.06098067375726722}},"curvature":0.9923549168727308},{"time":9.790114360642146,"velocity":1.2623891853548563,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.652891574943272,"y":-3.491137747929619},"rotation":{"radians":-0.0014480194049227254}},"curvature":1.550322661699486},{"time":9.823939617394199,"velocity":1.171060992124312,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.69402139274211,"y":-3.4896688725896885},"rotation":{"radians":0.07887812613398294}},"curvature":2.431916868850513},{"time":9.83963748739104,"velocity":1.1286767431328422,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.711977373019305,"y":-3.4878241412718762},"rotation":{"radians":0.12747584694943273}},"curvature":2.9621222189858756},{"time":9.854525546399758,"velocity":1.0884789838093014,"acceleration":-2.3656815629064316,"pose":{"translation":{"x":7.728288422507271,"y":-3.4853041049893867},"rotation":{"radians":0.1804105063452546}},"curvature":3.435309685598314},{"time":9.86866102830493,"velocity":1.0550389348834415,"acceleration":2.7000000000000473,"pose":{"translation":{"x":7.743114223871402,"y":-3.4821875453397415},"rotation":{"radians":0.23451927568524963}},"curvature":3.642019546533382},{"time":9.881758870488722,"velocity":1.0904031087796844,"acceleration":2.699999999999938,"pose":{"translation":{"x":7.756693444698509,"y":-3.478579699287545},"rotation":{"radians":0.2840231048140363}},"curvature":3.277554686061499},{"time":9.905028324846116,"velocity":1.1532306355446469,"acceleration":2.699999999999969,"pose":{"translation":{"x":7.781500998518338,"y":-3.4704551955163327},"rotation":{"radians":0.334596037737058}},"curvature":-5.132465821278171E-13},{"time":9.95067569371896,"velocity":1.2764785315013265,"acceleration":2.700000000000011,"pose":{"translation":{"x":7.833447024223365,"y":-3.4510423635620047},"rotation":{"radians":0.39254881507743633}},"curvature":1.3677490159669776},{"time":10.005996260414463,"velocity":1.4258440615791843,"acceleration":2.3348820357814284,"pose":{"translation":{"x":7.901158874893261,"y":-3.419384496028943},"rotation":{"radians":0.4758975294365203}},"curvature":0.8904599775336938},{"time":10.070431270187717,"velocity":1.5762922083741544,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.9853671627654474,"y":-3.371803177689887},"rotation":{"radians":0.549832174956981}},"curvature":0.7039396292198273},{"time":10.144155056883033,"velocity":1.3772379842968028,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.075873769881282,"y":-3.311290186263007},"rotation":{"radians":0.6315393320207507}},"curvature":0.8540924602937693},{"time":10.185144936484924,"velocity":1.2665653093716955,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.118795351472711,"y":-3.278218936564209},"rotation":{"radians":0.6835958496294005}},"curvature":1.093186733478195},{"time":10.22760503615469,"velocity":1.1519230402633298,"acceleration":-2.699999999999996,"pose":{"translation":{"x":8.157572500143276,"y":-3.2445647602300918},"rotation":{"radians":0.7496538311905988}},"curvature":1.526076108357068},{"time":10.249045633272154,"velocity":1.0940334280461776,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.174870639830251,"y":-3.2278168681512915},"rotation":{"radians":0.7901372563780413}},"curvature":1.8546232864765004},{"time":10.270441035959646,"velocity":1.03626584078995,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.190537817399736,"y":-3.2112671858166166},"rotation":{"radians":0.8370741150846182}},"curvature":2.2881760932818747},{"time":10.291667148628267,"velocity":0.9789553365846696,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.204436738335747,"y":-3.195011361601182},"rotation":{"radians":0.8917358774589793}},"curvature":2.8530535321848056},{"time":10.312625645510218,"velocity":0.9223673950034007,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.216469731372321,"y":-3.179130866654747},"rotation":{"radians":0.9553873603355952}},"curvature":3.57033454579607},{"time":10.33326133274671,"velocity":0.8666510394648697,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.226584628036536,"y":-3.1636901211398203},"rotation":{"radians":1.029001139265827}},"curvature":4.437665818390812},{"time":10.353583828705007,"velocity":0.8117803003774665,"acceleration":-2.7,"pose":{"translation":{"x":8.23478064219153,"y":-3.1487336204697636},"rotation":{"radians":1.1127251655233006}},"curvature":5.3958425367236345},{"time":10.363657009251199,"velocity":0.7845827129027501,"acceleration":-2.70000000000001,"pose":{"translation":{"x":8.238174319436613,"y":-3.1414447113798},"rotation":{"radians":1.158002711283498}},"curvature":5.864038435994419},{"time":10.373697636017296,"velocity":0.7574730206342893,"acceleration":-2.602632381092085,"pose":{"translation":{"x":8.24111424957954,"y":-3.1342830615468933},"rotation":{"radians":1.205066634532256}},"curvature":6.2852215314499364},{"time":10.383729265314985,"velocity":0.7313643773890126,"acceleration":-1.501199389051514,"pose":{"translation":{"x":8.243617403869228,"y":-3.1272473493399215},"rotation":{"radians":1.2533170615616034}},"curvature":6.619775478135422},{"time":10.393705049466023,"velocity":0.716388736316165,"acceleration":-0.1835455637189235,"pose":{"translation":{"x":8.245705067364913,"y":-3.120334469000586},"rotation":{"radians":1.3019467711157602}},"curvature":6.822677183029916},{"time":10.403494084517881,"velocity":0.7145920023593075,"acceleration":1.5179892594034754,"pose":{"translation":{"x":8.24740302267187,"y":-3.11353944083835},"rotation":{"radians":1.3499409195907763}},"curvature":6.8475921147505785},{"time":10.412938853405956,"velocity":0.7289290600889545,"acceleration":2.7000000000000335,"pose":{"translation":{"x":8.248741733677136,"y":-3.1068553214253827},"rotation":{"radians":1.3960966505362804}},"curvature":6.652203414485566},{"time":10.430464657748473,"velocity":0.7762487318137509,"acceleration":2.6999999999999815,"pose":{"translation":{"x":8.250487787153858,"y":-3.0937816776190905},"rotation":{"radians":1.4773917957150662}},"curvature":5.482334585140444},{"time":10.46149138702795,"velocity":0.8600209008683364,"acceleration":2.699999999999986,"pose":{"translation":{"x":8.251571989950385,"y":-3.0684207949494264},"rotation":{"radians":1.5554129250143873}},"curvature":5.273401634486186E-13},{"time":10.570712684551891,"velocity":1.154918404182978,"acceleration":2.7000000000000357,"pose":{"translation":{"x":8.254148474668197,"y":-2.9584138202053554},"rotation":{"radians":1.5421516992088637}},"curvature":0.05128617575513097},{"time":10.62384196004808,"velocity":1.298367448022692,"acceleration":1.8395182686121636,"pose":{"translation":{"x":8.255689811721828,"y":-2.8932613997144565},"rotation":{"radians":1.5554456717888383}},"curvature":0.3575128362474735},{"time":10.674466604878939,"velocity":1.3914924070310581,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.2556299400458,"y":-2.8251748261349796},"rotation":{"radians":1.592384185162404}},"curvature":0.756216223123778},{"time":10.723609197332907,"velocity":1.2588074074053452,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.252213394187066,"y":-2.76014320946633},"rotation":{"radians":1.6617221753614868}},"curvature":1.4597497152991845},{"time":10.74786199561932,"velocity":1.1933248520320276,"acceleration":-2.7,"pose":{"translation":{"x":8.248796259470703,"y":-2.7306046718568364},"rotation":{"radians":1.7130187043878793}},"curvature":2.026892091545416},{"time":10.771312118448478,"velocity":1.1300095203933036,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.244108709641967,"y":-2.703769770413914},"rotation":{"radians":1.777802853097311}},"curvature":2.765439073223154},{"time":10.793693964764097,"velocity":1.0695785353411305,"acceleration":-2.6139737532783287,"pose":{"translation":{"x":8.238155344430247,"y":-2.6798851228498424},"rotation":{"radians":1.855597704537579}},"curvature":3.550554716333623},{"time":10.81498650319664,"velocity":1.0139203987377963,"acceleration":2.700000000000104,"pose":{"translation":{"x":8.231047098019703,"y":-2.6588734271398673},"rotation":{"radians":1.939843179696697}},"curvature":3.9148847289378472},{"time":10.834473965141154,"velocity":1.0665365459879894,"acceleration":2.6999999999999167,"pose":{"translation":{"x":8.223021197648123,"y":-2.640258511108161},"rotation":{"radians":2.0127379836456667}},"curvature":2.9601488982812163},{"time":10.852069132671215,"velocity":1.1140434983191505,"acceleration":2.7000000000000437,"pose":{"translation":{"x":8.214461122205776,"y":-2.6230903820137828},"rotation":{"radians":2.044402009767088}},"curvature":-1.9127579647249863E-12},{"time":10.869113244673356,"velocity":1.160062600724933,"acceleration":-2.1091387441492815,"pose":{"translation":{"x":8.205434254079831,"y":-2.6059409692202697},"rotation":{"radians":2.0752518765925263}},"curvature":2.7702377132219254},{"time":10.887961125024518,"velocity":1.1203098060312084,"acceleration":2.7000000000000424,"pose":{"translation":{"x":8.194427713487322,"y":-2.587483445894486},"rotation":{"radians":2.1433286645040965}},"curvature":3.2500109323208037},{"time":10.909746894190691,"velocity":1.1791313827798793,"acceleration":2.700000000000007,"pose":{"translation":{"x":8.180054262713316,"y":-2.5669704366716672},"rotation":{"radians":2.2181891680835317}},"curvature":2.6785037146159185},{"time":10.933997491307352,"velocity":1.2446079949948643,"acceleration":2.699999999999974,"pose":{"translation":{"x":8.161498438823216,"y":-2.544180766440671},"rotation":{"radians":2.28699854991549}},"curvature":2.045244584881243},{"time":10.96048041846072,"velocity":1.3161118983089592,"acceleration":2.7000000000000255,"pose":{"translation":{"x":8.138434584219091,"y":-2.5193253984219712},"rotation":{"radians":2.348196300686289}},"curvature":1.608294074742276},{"time":10.988613088827181,"velocity":1.3920701082984044,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.110944877196024,"y":-2.4929533722456467},"rotation":{"radians":2.404112044577651}},"curvature":1.3581190803570464},{"time":11.01764747567881,"velocity":1.470462952797805,"acceleration":2.6999999999999544,"pose":{"translation":{"x":8.079437362498448,"y":-2.4658577420293706},"rotation":{"radians":2.457791988985669}},"curvature":1.2459408757965535},{"time":11.046808514405868,"velocity":1.5491977573608569,"acceleration":2.2444510953835453,"pose":{"translation":{"x":8.044563981876507,"y":-2.4389815144563993},"rotation":{"radians":2.5121195942762}},"curvature":1.2369451011023602},{"time":11.075502151394515,"velocity":1.613599222330565,"acceleration":-1.869932650026609,"pose":{"translation":{"x":8.007138604642394,"y":-2.4133235868535627},"rotation":{"radians":2.569682746459214}},"curvature":1.3129164227490062},{"time":11.10423644280719,"velocity":1.5598680326426244,"acceleration":-2.3833699462077007,"pose":{"translation":{"x":7.968055058226695,"y":-2.3898446852692525},"rotation":{"radians":2.632733821893998}},"curvature":1.4644558873820304},{"time":11.133616645131482,"velocity":1.4898441414094032,"acceleration":-2.378162350110212,"pose":{"translation":{"x":7.9282051587347455,"y":-2.3693733025514128},"rotation":{"radians":2.702938045733387}},"curvature":1.6783507586687776},{"time":11.163339712888295,"velocity":1.4191578607403776,"acceleration":-1.5041189138055215,"pose":{"translation":{"x":7.888396741502968,"y":-2.352511636425528},"rotation":{"radians":2.7806507718208806}},"curvature":1.915677355684358},{"time":11.192845654669005,"velocity":1.374777415638365,"acceleration":1.0263594922960835,"pose":{"translation":{"x":7.84927169165522,"y":-2.3395415275726137},"rotation":{"radians":2.8634625178316826}},"curvature":2.0771546200076565},{"time":11.221024281259968,"velocity":1.4036988165198667,"acceleration":2.7000000000000273,"pose":{"translation":{"x":7.811223974659145,"y":-2.330330397707205},"rotation":{"radians":2.9440166390224687}},"curvature":1.970765840115436},{"time":11.247022347328729,"velocity":1.4738935949055219,"acceleration":2.7000000000000086,"pose":{"translation":{"x":7.774317666882516,"y":-2.324237187655345},"rotation":{"radians":3.0079946605424093}},"curvature":1.336397472946046},{"time":11.271157015137772,"velocity":1.5390571979899403,"acceleration":2.699999999999991,"pose":{"translation":{"x":7.738204986149579,"y":-2.320018295432578},"rotation":{"radians":3.034477330237536}},"curvature":-1.0088454191876547E-13},{"time":11.318790765649583,"velocity":1.6676683243718295,"acceleration":2.700000000000002,"pose":{"translation":{"x":7.662169309014874,"y":-2.3128355772813043},"rotation":{"radians":3.0676123667018627}},"curvature":0.5942317924245504},{"time":11.373016063165945,"velocity":1.8140766276660063,"acceleration":2.700000000000024,"pose":{"translation":{"x":7.567883982135379,"y":-2.3081976625913962},"rotation":{"radians":3.113407320888338}},"curvature":0.36306293548787466},{"time":11.433877535835977,"velocity":1.978402603875094,"acceleration":2.7000000000000064,"pose":{"translation":{"x":7.452483694982721,"y":-2.3068690116816954},"rotation":{"radians":-3.139946899721214}},"curvature":0.1783033856731683},{"time":11.465164093384388,"velocity":2.0628763092558042,"acceleration":2.699999999999955,"pose":{"translation":{"x":7.389266236013598,"y":-2.307288786516495},"rotation":{"radians":-3.1305459111583245}},"curvature":0.12232300766053553},{"time":11.495909273088277,"velocity":2.1458882944563014,"acceleration":2.6520803467915255,"pose":{"translation":{"x":7.324573439412484,"y":-2.3082278634928812},"rotation":{"radians":-3.124070211505066}},"curvature":0.07945790971239777},{"time":11.552731935827202,"velocity":2.296586561558567,"acceleration":-1.511315138614631,"pose":{"translation":{"x":7.198384635226886,"y":-2.3108778038425464},"rotation":{"radians":-3.118673981691051}},"curvature":0.0045873750234051046},{"time":11.601624244308105,"velocity":2.222694875589561,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":7.087931255737455,"y":-2.3132593336802647},"rotation":{"radians":-3.123346948102081}},"curvature":-0.10346701650846496},{"time":11.641635259750787,"velocity":2.1146651338943223,"acceleration":2.7000000000000637,"pose":{"translation":{"x":7.001165953327701,"y":-2.3142614373426604},"rotation":{"radians":-3.1392380754450837}},"curvature":-0.2705020206347128},{"time":11.672716755970916,"velocity":2.198585173688673,"acceleration":2.7000000000000144,"pose":{"translation":{"x":6.934136185015789,"y":-2.313833150808478},"rotation":{"radians":3.1292476017455666}},"curvature":-6.062274898594957E-14},{"time":11.705643004334739,"velocity":2.2874860442709988,"acceleration":0.20538750631152003,"pose":{"translation":{"x":6.860287053148578,"y":-2.312922404873073},"rotation":{"radians":3.129296891322637}},"curvature":0.0014924465391863752},{"time":11.759719765971054,"velocity":2.298592735492884,"acceleration":-0.0021722778509225254,"pose":{"translation":{"x":6.736296119568543,"y":-2.3114110385093887},"rotation":{"radians":3.1295176367139357}},"curvature":0.0018895948401434176},{"time":11.796776821620401,"velocity":2.2985122372716766,"acceleration":-0.003774045346999819,"pose":{"translation":{"x":6.651124657937425,"y":-2.3103895107125028},"rotation":{"radians":3.1296827835352397}},"curvature":0.0019977532414847585},{"time":11.839668405378445,"velocity":2.298350362489569,"acceleration":-0.00618164754105109,"pose":{"translation":{"x":6.552548172265423,"y":-2.309225437020054},"rotation":{"radians":3.1298895131925843}},"curvature":0.0022152731283798864},{"time":11.886898061550939,"velocity":2.2980584054016258,"acceleration":-0.009977506823667817,"pose":{"translation":{"x":6.444012042739514,"y":-2.307968896661262},"rotation":{"radians":3.1301495819876677}},"curvature":0.0026076691118130375},{"time":11.936551601757703,"velocity":2.2975629868653935,"acceleration":-0.016736951565141923,"pose":{"translation":{"x":6.329924869548411,"y":-2.306681577336855},"rotation":{"radians":3.1304819996921873}},"curvature":0.003273749411955144},{"time":11.986502578633372,"velocity":2.296726959784794,"acceleration":-0.030081090409054306,"pose":{"translation":{"x":6.215187055685942,"y":-2.3054304047164127},"rotation":{"radians":3.1309162986616137}},"curvature":0.0043984226900895965},{"time":12.03461820848804,"velocity":2.295279589173047,"acceleration":-0.058847639422077956,"pose":{"translation":{"x":6.10471938975444,"y":-2.3042811719357092},"rotation":{"radians":3.1314986553020616}},"curvature":0.006347448601779398},{"time":12.078965937352278,"velocity":2.2926698300156563,"acceleration":-0.1252314044317332,"pose":{"translation":{"x":6.002991628768123,"y":-2.3032921690940555},"rotation":{"radians":3.1323021757360943}},"curvature":0.009867963165462013},{"time":12.118020620043334,"velocity":2.2877789572526197,"acceleration":-0.2788727584047615,"pose":{"translation":{"x":5.91355108095648,"y":-2.3025078127516436},"rotation":{"radians":3.133441755228929}},"curvature":0.016487286771849626},{"time":12.150870128530531,"velocity":2.2786181242085544,"acceleration":-0.5514024952047081,"pose":{"translation":{"x":5.8385511885676555,"y":-2.301952275426889},"rotation":{"radians":3.135083469587124}},"curvature":0.02896204638224711},{"time":12.177406439384209,"velocity":2.263985936190309,"acceleration":-2.048005902155554,"pose":{"translation":{"x":5.778280110671833,"y":-2.3016231150937716},"rotation":{"radians":3.137382289896891}},"curvature":0.04909682350685769},{"time":12.216690436346084,"velocity":2.183532078552128,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":5.690922115570432,"y":-2.3014628615602692},"rotation":{"radians":-3.1415926535897665}},"curvature":1.5160379877009949E-13},{"time":12.238903316426512,"velocity":2.1235573023349734,"acceleration":2.6999999999999864,"pose":{"translation":{"x":5.643087007984952,"y":-2.301107174500496},"rotation":{"radians":3.1259563437473834}},"curvature":-0.2564452707550669},{"time":12.28374342503454,"velocity":2.2446255955766494,"acceleration":1.1069684326644866,"pose":{"translation":{"x":5.545177283895205,"y":-2.2988867844326832},"rotation":{"radians":3.114910243059119}},"curvature":-0.048303885617808295},{"time":12.318320619660085,"velocity":2.282901458517223,"acceleration":0.1826609033837987,"pose":{"translation":{"x":5.466933694686984,"y":-2.2966839430591177},"rotation":{"radians":3.1123017105156574}},"curvature":-0.02311675608446392},{"time":12.362522513404826,"velocity":2.2909754163599123,"acceleration":0.07069083867975189,"pose":{"translation":{"x":5.365892858771759,"y":-2.2936289421802316},"rotation":{"radians":3.1106117735667183}},"curvature":-0.012157988693917538},{"time":12.417063590852642,"velocity":2.2948309708671957,"acceleration":0.03684928062538897,"pose":{"translation":{"x":5.240897911668853,"y":-2.2896768338150806},"rotation":{"radians":3.1094648702768963}},"curvature":-0.006952056087049509},{"time":12.448266570881984,"velocity":2.2959807782346453,"acceleration":0.024940782992936974,"pose":{"translation":{"x":5.169311897270308,"y":-2.287359762501242},"rotation":{"radians":3.1090261462746804}},"curvature":-0.005402922170003197},{"time":12.482073992960416,"velocity":2.296823961812254,"acceleration":0.017286976581484682,"pose":{"translation":{"x":5.091718109569268,"y":-2.284816869650076},"rotation":{"radians":3.1086535260838972}},"curvature":-0.00426788781473713},{"time":12.51844388925495,"velocity":2.2974526873577688,"acceleration":0.012248638527558864,"pose":{"translation":{"x":5.0082172026805205,"y":-2.2820515977288736},"rotation":{"radians":3.1083343828684717}},"curvature":-0.003422083988728292},{"time":12.557313737731334,"velocity":2.297928790081377,"acceleration":0.008857353198670521,"pose":{"translation":{"x":4.918956125250145,"y":-2.279069101776301},"rotation":{"radians":3.1080589327362067}},"curvature":-0.0027819065730931487},{"time":12.59860182763281,"velocity":2.298294493276533,"acceleration":0.006527027408640916,"pose":{"translation":{"x":4.8241252234528345,"y":-2.2758761431754393},"rotation":{"radians":3.1078195150517045}},"curvature":-0.002290354719871733},{"time":12.642208595742723,"velocity":2.2985791158471884,"acceleration":0.004894746952454674,"pose":{"translation":{"x":4.723955343989223,"y":-2.2724809834268274},"rotation":{"radians":3.107610071619079}},"curvature":-0.0019078938313890383},{"time":12.688017942083006,"velocity":2.2988033410055815,"acceleration":0.003730900026523998,"pose":{"translation":{"x":4.618714937083213,"y":-2.2688932779215},"rotation":{"radians":3.1074257661829727}},"curvature":-0.0016066585132357382},{"time":12.73589853102989,"velocity":2.2989819786961534,"acceleration":0.002887248574815439,"pose":{"translation":{"x":4.5087071594793,"y":-2.2651239697140326},"rotation":{"radians":3.1072627036826765}},"curvature":-0.001366709739515263},{"time":12.785705081996733,"velocity":2.299125782589449,"acceleration":0.002266261824275535,"pose":{"translation":{"x":4.394266977439903,"y":-2.26118518329558},"rotation":{"radians":3.1071177210472736}},"curvature":-0.001173577324411188},{"time":12.837279652581648,"velocity":2.299242664069869,"acceleration":0.001802625540388032,"pose":{"translation":{"x":4.275758269742692,"y":-2.2570901183669183},"rotation":{"radians":3.106988229782986}},"curvature":-0.001016620216302387},{"time":12.890452916218111,"velocity":2.2993385155529658,"acceleration":0.0014518710672890203,"pose":{"translation":{"x":4.153570930677908,"y":-2.2528529436114857},"rotation":{"radians":3.106872096417754}},"curvature":-8.879156548177992E-4},{"time":12.945045435778159,"velocity":2.2994177768526054,"acceleration":0.0012423259089113807,"pose":{"translation":{"x":4.028117973045698,"y":-2.2484886904684247},"rotation":{"radians":3.1067675508844657}},"curvature":-7.814956642117533E-4},{"time":12.972815380072563,"velocity":2.2994522761738914,"acceleration":0.0011247752523861779,"pose":{"translation":{"x":3.964301562300153,"y":-2.2462638165942375},"rotation":{"radians":3.106719152014391}},"curvature":-7.351775262541323E-4},{"time":13.000868914267175,"velocity":2.2994838300948954,"acceleration":0.0010211666751222732,"pose":{"translation":{"x":3.899832631153436,"y":-2.244013146905622},"rotation":{"radians":3.106673115719258}},"curvature":-6.92815044059811E-4},{"time":13.02918133045015,"velocity":2.2995127417907937,"acceleration":9.296111221353394E-4,"pose":{"translation":{"x":3.834768018214972,"y":-2.24173875567832},"rotation":{"radians":3.1066292939971802}},"curvature":-6.540008821937127E-4},{"time":13.057727526669087,"velocity":2.2995392786522935,"acceleration":8.485077358903039E-4,"pose":{"translation":{"x":3.7691654638130547,"y":-2.23944275119275},"rotation":{"radians":3.106587550912568}},"curvature":-6.183758118112734E-4},{"time":13.086482046478535,"velocity":2.2995636770847936,"acceleration":7.764959998776291E-4,"pose":{"translation":{"x":3.7030835194635108,"y":-2.237127272414415},"rotation":{"radians":3.1065477614746375}},"curvature":-5.856222541849724E-4},{"time":13.115419118469863,"velocity":2.299586146605443,"acceleration":7.124165379833924E-4,"pose":{"translation":{"x":3.636581457338368,"y":-2.234794485674309},"rotation":{"radians":3.1065098106389764}},"curvature":-5.554587697130728E-4},{"time":13.144512695784789,"velocity":2.2996068733510713,"acceleration":6.552789042162847E-4,"pose":{"translation":{"x":3.569719179734522,"y":-2.2324465813493264},"rotation":{"radians":3.1064735924174554}},"curvature":-5.276353401003713E-4},{"time":13.173736495615493,"velocity":2.2996260230906014,"acceleration":6.042350399759103E-4,"pose":{"translation":{"x":3.502557128542401,"y":-2.2300857705426673},"rotation":{"radians":3.1064390090837595}},"curvature":-5.019293175396752E-4},{"time":13.203064038694114,"velocity":2.299643743819766,"acceleration":5.585573460906762E-4,"pose":{"translation":{"x":3.4351561947146347,"y":-2.2277142817642464},"rotation":{"radians":3.1064059704634985}},"curvature":-4.781419360229845E-4},{"time":13.232468688770485,"velocity":2.2996601680030753,"acceleration":5.176205263979912E-4,"pose":{"translation":{"x":3.3675776277347165,"y":-2.225334357611101},"rotation":{"radians":3.106374393299335}},"curvature":-4.560952973110672E-4},{"time":13.261923692079224,"velocity":2.299675414517393,"acceleration":4.808865294449189E-4,"pose":{"translation":{"x":3.2998829450856757,"y":-2.2229482514477974},"rotation":{"radians":3.1063442006828037}},"curvature":-4.356297583384139E-4},{"time":13.29140221680145,"velocity":2.29968959034284,"acceleration":4.4789204599141725E-4,"pose":{"translation":{"x":3.2321338417187393,"y":-2.220558224086839},"rotation":{"radians":3.1063153215456016}},"curvature":-4.166016585155195E-4},{"time":13.320877392516822,"velocity":2.299702792039597,"acceleration":4.1823812839438554E-4,"pose":{"translation":{"x":3.1643920995220007,"y":-2.218166540469073},"rotation":{"radians":3.1062876902040606}},"curvature":-3.9888133498686357E-4},{"time":13.350322349648005,"velocity":2.299715107043358,"acceleration":3.9158158194690213E-4,"pose":{"translation":{"x":3.096719496789086,"y":-2.2157754663441005},"rotation":{"radians":3.1062612459513366}},"curvature":-3.8235138178703836E-4},{"time":13.379710258902389,"velocity":2.299726614807354,"acceleration":3.676278495070218E-4,"pose":{"translation":{"x":3.029177717687821,"y":-2.2133872649506796},"rotation":{"radians":3.106235932692574}},"curvature":-3.6690511530848753E-4},{"time":13.409014370703964,"velocity":2.2997373878149574,"acceleration":3.46125166329978E-4,"pose":{"translation":{"x":2.9618282617288925,"y":-2.2110041936971374},"rotation":{"radians":3.1062116986189245}},"curvature":-3.5244521379287165E-4},{"time":13.438208054624152,"velocity":2.29974749248366,"acceleration":3.268598105900365E-4,"pose":{"translation":{"x":2.894732353234525,"y":-2.2086285008417756},"rotation":{"radians":3.10618849591686}},"curvature":-3.388825028747779E-4},{"time":13.467264838804631,"velocity":2.2997569899786336,"acceleration":3.096523148128709E-4,"pose":{"translation":{"x":2.8279508508071354,"y":-2.206262422173277},"rotation":{"radians":3.106166280509728}},"curvature":-3.261348626875983E-4},{"time":13.496158449380598,"velocity":2.299765936952032,"acceleration":2.943545387873434E-4,"pose":{"translation":{"x":2.7615441567980117,"y":-2.203908177691115},"rotation":{"radians":3.1061450118289153}},"curvature":-3.141262348087156E-4},{"time":13.524862849894058,"velocity":2.299774386222606,"acceleration":2.8084753567168174E-4,"pose":{"translation":{"x":2.6955721267759674,"y":-2.20156796828596},"rotation":{"radians":3.106124652612419}},"curvature":-3.027857094543436E-4},{"time":13.553352280707031,"velocity":2.2997823874090426,"acceleration":2.690401731803277E-4,"pose":{"translation":{"x":2.6300939789960145,"y":-2.1992439724200876},"rotation":{"radians":3.106105168728973}},"curvature":-2.920466749060609E-4},{"time":13.581601298413633,"velocity":2.2997899875296586,"acceleration":2.588685001971343E-4,"pose":{"translation":{"x":2.5651682038680335,"y":-2.1969383428077847},"rotation":{"radians":3.10608652902623}},"curvature":-2.818460121884068E-4},{"time":13.609584815243226,"velocity":2.2997972315806905,"acceleration":2.502958807728396E-4,"pose":{"translation":{"x":2.500852473425429,"y":-2.1946532030957595},"rotation":{"radians":3.106068705201823}},"curvature":-2.7212331855363533E-4},{"time":13.637278138465824,"velocity":2.299804163105418,"acceleration":2.4064589703237405E-4,"pose":{"translation":{"x":2.43720355079381,"y":-2.192390644543546},"rotation":{"radians":3.1060516716964464}},"curvature":-2.6282014334819533E-4},{"time":13.691697645623307,"velocity":2.299817258936534,"acceleration":2.3327794944409913E-4,"pose":{"translation":{"x":2.312128093738924,"y":-2.187941454103279},"rotation":{"radians":3.106019886629307}},"curvature":-2.452436713349287E-4},{"time":13.74467167452949,"velocity":2.299829616609371,"acceleration":2.332582692629783E-4,"pose":{"translation":{"x":2.1903743193614797,"y":-2.1836067276752953},"rotation":{"radians":3.105991021495357}},"curvature":-2.2865809651185191E-4},{"time":13.796020923154984,"velocity":2.2998415942462334,"acceleration":2.4210721555108144E-4,"pose":{"translation":{"x":2.0723543777893876,"y":-2.1794016907992315},"rotation":{"radians":3.1059649646113354}},"curvature":-2.1258274858971933E-4},{"time":13.845576191706101,"velocity":2.299853591934318,"acceleration":2.6243961063741135E-4,"pose":{"translation":{"x":1.9584571856176902,"y":-2.1753407321390834},"rotation":{"radians":3.1059416453785786}},"curvature":-1.9648065751472473E-4},{"time":13.893179642735445,"velocity":2.2998660849654713,"acceleration":-0.8496559000671197,"pose":{"translation":{"x":1.8490455289058936,"y":-2.1714372972562517},"rotation":{"radians":3.1059210363599044}},"curvature":-1.797139453059818E-4},{"time":13.939075288441355,"velocity":2.2608705788040555,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":1.7444531661752865,"y":-2.16770378238258},"rotation":{"radians":3.105903157309331}},"curvature":-1.614821297554598E-4},{"time":13.98432269889821,"velocity":2.138702570570551,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.6449819314062735,"y":-2.1641514281933985},"rotation":{"radians":3.1058880816470227}},"curvature":-1.4073311455829206E-4},{"time":14.029637682088028,"velocity":2.0163521159580413,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.550898837035696,"y":-2.160790213580565},"rotation":{"radians":3.1058759461209915}},"curvature":-1.1603056094598862E-4},{"time":14.074912182978204,"velocity":1.894110963554563,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":1.4624331769541712,"y":-2.1576287494255024},"rotation":{"radians":3.105866964755472}},"curvature":-8.535100121724553E-5},{"time":14.120031278755732,"velocity":1.7722894049552367,"acceleration":-2.7,"pose":{"translation":{"x":1.379773629503398,"y":-2.154674172372246},"rotation":{"radians":3.1058614487117278}},"curvature":-4.5766216699449016E-5},{"time":14.164872582837335,"velocity":1.651217883934912,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":1.3030653604735054,"y":-2.1519320386004788},"rotation":{"radians":3.105859834469105}},"curvature":7.064917537773632E-6},{"time":14.209305644561272,"velocity":1.5312486172802824,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.2324071261003695,"y":-2.149406217598576},"rotation":{"radians":3.1058627239070753}},"curvature":7.972688925949573E-5},{"time":14.296381878835463,"velocity":1.296142784739966,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.1093863564805693,"y":-2.1450099210395703},"rotation":{"radians":3.1058856175084033}},"curvature":3.3139229168704297E-4},{"time":14.380041520294977,"velocity":1.070261752799279,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.0104630933443568,"y":-2.141478468151622},"rotation":{"radians":3.105941160430028}},"curvature":8.906678409643786E-4},{"time":14.458953800370342,"velocity":0.857198596595795,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.9344611483530123,"y":-2.138771258804821},"rotation":{"radians":3.1060505660249467}},"curvature":0.0022646239829141085},{"time":14.598227246263892,"velocity":0.48116029268321003,"acceleration":-2.7,"pose":{"translation":{"x":0.8413204297411818,"y":-2.1354778467074014},"rotation":{"radians":3.1066257443819945}},"curvature":0.015730336013924266},{"time":14.776434762072489,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":1.2831,"y":-2.134},"rotation":{"radians":0.041244121615251594}},"curvature":0.0},{"time":0.18380765181033398,"velocity":0.4962806598879018,"acceleration":2.7,"pose":{"translation":{"x":1.328701020098905,"y":-2.13309038448002},"rotation":{"radians":-0.002192825072650614}},"curvature":-0.689808942457635},{"time":0.315557187616596,"velocity":0.8520044065648092,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4175021436823556,"y":-2.1348199805858163},"rotation":{"radians":-0.02941541324799535}},"curvature":-0.13319138864044253},{"time":0.384256662470725,"velocity":1.0374929886709574,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4823709238367437,"y":-2.1369499450918252},"rotation":{"radians":-0.035527450472486254}},"curvature":-0.06655947522413319},{"time":0.4526231845634395,"velocity":1.2220825983212864,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.5595559406263007,"y":-2.1398548704498053},"rotation":{"radians":-0.039323166805577854}},"curvature":-0.036078889012661715},{"time":0.5189383163519037,"velocity":1.4011334541501397,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6464636394509342,"y":-2.1433873190170396},"rotation":{"radians":-0.041698315363887344}},"curvature":-0.020318490070223707},{"time":0.5817247975467252,"velocity":1.5706569533761578,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.739673599424829,"y":-2.1473494258831494},"rotation":{"radians":-0.04311984981859731}},"curvature":-0.010895277704161184},{"time":0.6397777460364116,"velocity":1.727399914298311,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.8353138934017652,"y":-2.1515149261838},"rotation":{"radians":-0.043824239355590995}},"curvature":-0.004054002142586204},{"time":0.6921728575477569,"velocity":1.8688667153789433,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.9294364480004413,"y":-2.1556511824144113},"rotation":{"radians":-0.04391028317758082}},"curvature":0.0023372255165545136},{"time":0.73828147676292,"velocity":1.9933599872598837,"acceleration":2.700000000000005,"pose":{"translation":{"x":2.0183924036297953,"y":-2.1595412117438633},"rotation":{"radians":-0.0433799936385976}},"curvature":0.010048656868101502},{"time":0.7778030194684855,"velocity":2.1000681525649108,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.0992074745143237,"y":-2.1630057133282055},"rotation":{"radians":-0.04215825394754191}},"curvature":0.021125363972620232},{"time":0.8108202136927035,"velocity":2.1892145769702993,"acceleration":2.7000000000000037,"pose":{"translation":{"x":2.1699573087194044,"y":-2.165925095624365},"rotation":{"radians":-0.0401276341206716}},"curvature":0.03764031067752341},{"time":0.8378811847750424,"velocity":2.2622791988926143,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.230142848176617,"y":-2.168261503703853},"rotation":{"radians":-0.03727112513114321}},"curvature":0.05750832380249039},{"time":0.8793424749479167,"velocity":2.374224682359375,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.3262034400566898,"y":-2.171574824454032},"rotation":{"radians":-0.03249504231442196}},"curvature":5.901764018577339E-14},{"time":0.9190693291833593,"velocity":2.48148718879507,"acceleration":2.699999999999986,"pose":{"translation":{"x":2.422606086808268,"y":-2.174631016861803},"rotation":{"radians":-0.030556205404193983}},"curvature":0.0234688817461335},{"time":0.9432981235255247,"velocity":2.546904933518916,"acceleration":-2.3859850182497495,"pose":{"translation":{"x":2.4834947624457717,"y":-2.1764533340992185},"rotation":{"radians":-0.029361434090119997}},"curvature":0.01588828198518307},{"time":0.9719392401235641,"velocity":2.4785676584100496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.5554323373714154,"y":-2.178531051799546},"rotation":{"radians":-0.02846091699651151}},"curvature":0.009699689522704499},{"time":1.005862035714532,"velocity":2.3869761103144365,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.6379261260684697,"y":-2.1808516934760047},"rotation":{"radians":-0.02784084595448294}},"curvature":0.005715694785727201},{"time":1.0448933438320138,"velocity":2.2815915783972356,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.729001517780213,"y":-2.1833682020138534},"rotation":{"radians":-0.027445618055253494}},"curvature":0.00316721789371224},{"time":1.0883613143114843,"velocity":2.1642280581026654,"acceleration":-2.699999999999998,"pose":{"translation":{"x":2.8255908280445983,"y":-2.186008066691889},"rotation":{"radians":-0.027231453600986295}},"curvature":0.001353368946051485},{"time":1.135180273015015,"velocity":2.037816869603133,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.9239221502289103,"y":-2.188682450203946},"rotation":{"radians":-0.02717637198581686}},"curvature":-2.3363471267749878E-4},{"time":1.1838706802871433,"velocity":1.9063527699683864,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.01990820706443,"y":-2.191295315680394},"rotation":{"radians":-0.027281851086556178}},"curvature":-0.002062618750954218},{"time":1.232583681164114,"velocity":1.7748276676005654,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.1095352021810947,"y":-2.1937525537096376},"rotation":{"radians":-0.0275775759098918}},"curvature":-0.004811312721425314},{"time":1.2791666845248462,"velocity":1.6490535585265889,"acceleration":-2.7,"pose":{"translation":{"x":3.1892516716421593,"y":-2.195971109359616},"rotation":{"radians":-0.028135419193203212}},"curvature":-0.009876676219632861},{"time":1.321332234332681,"velocity":1.535206574045435,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.2563573354788593,"y":-2.1978881091992997},"rotation":{"radians":-0.02910149342791912}},"curvature":-0.0207391501469607},{"time":1.3849556478017544,"velocity":1.363423357678937,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.3485241554519773,"y":-2.2007216173578197},"rotation":{"radians":-0.03359028303482695}},"curvature":-0.10991559861675788},{"time":1.4212786227026035,"velocity":1.2653513254466444,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.3962334600270623,"y":-2.2025005475745654},"rotation":{"radians":-0.04079368286785503}},"curvature":3.6219771054025265E-14},{"time":1.4372071164374172,"velocity":1.2223443923626474,"acceleration":2.7000000000000175,"pose":{"translation":{"x":3.4160134363701244,"y":-2.2036374553006297},"rotation":{"radians":-0.08555363900999823}},"curvature":-3.4785805922858946},{"time":1.456716297142779,"velocity":1.2750191802671245,"acceleration":2.6999999999999846,"pose":{"translation":{"x":3.4401793895961306,"y":-2.2067120715149344},"rotation":{"radians":-0.16386639555816465}},"curvature":-2.6772660424794057},{"time":1.481121837887889,"velocity":1.3409141402789213,"acceleration":2.7000000000000126,"pose":{"translation":{"x":3.4714694950107217,"y":-2.2130302988096493},"rotation":{"radians":-0.22838295670071146}},"curvature":-1.501876024390862},{"time":1.5107403806206332,"velocity":1.420884205657331,"acceleration":2.7000000000000037,"pose":{"translation":{"x":3.5110612602764317,"y":-2.22329286254503},"rotation":{"radians":-0.274539493228866}},"curvature":-0.8551389988750135},{"time":1.581712283671189,"velocity":1.6125083438938321,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.6136202277077123,"y":-2.255982847340365},"rotation":{"radians":-0.3349074833174572}},"curvature":-0.39927370398729},{"time":1.6199625898128915,"velocity":1.715784170476429,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.6734847543506883,"y":-2.277618082042938},"rotation":{"radians":-0.35806242406953204}},"curvature":-0.33961788929602654},{"time":1.657879266145518,"velocity":1.8181591965745205,"acceleration":-0.5577421724174355,"pose":{"translation":{"x":3.735966844770239,"y":-2.301798224711784},"rotation":{"radians":-0.3803645019310016}},"curvature":-0.3340616899284977},{"time":1.6952201664660207,"velocity":1.7973326017097404,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":3.7983500806931723,"y":-2.327585196350376},"rotation":{"radians":-0.40405660296760854}},"curvature":-0.3764682297779519},{"time":1.7325194177835028,"velocity":1.6966246231525388,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":3.85792114111512,"y":-2.3539905734513846},"rotation":{"radians":-0.4315251130863453}},"curvature":-0.4799987077640321},{"time":1.8034418373860364,"velocity":1.5051340902256984,"acceleration":-2.7,"pose":{"translation":{"x":3.959352702694642,"y":-2.4050059601784426},"rotation":{"radians":-0.5110247139187495}},"curvature":-1.0614527710753054},{"time":1.8343349155720272,"velocity":1.4217227791235234,"acceleration":-2.700000000000006,"pose":{"translation":{"x":3.9981476955555033,"y":-2.4282196493174926},"rotation":{"radians":-0.5724367337320869}},"curvature":-1.7334363452664492},{"time":1.8610766955454148,"velocity":1.3495199731953769,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":4.028520751292598,"y":-2.4494440471853323},"rotation":{"radians":-0.6532722519134561}},"curvature":-2.6740328887013582},{"time":1.8729426020042592,"velocity":1.3174820257564965,"acceleration":2.6999999999999678,"pose":{"translation":{"x":4.040869519420265,"y":-2.4593375563986917},"rotation":{"radians":-0.6985297569203345}},"curvature":-3.0045106741555943},{"time":1.8837428224336774,"velocity":1.3466426209159255,"acceleration":2.700000000000007,"pose":{"translation":{"x":4.051683447525521,"y":-2.4688260895234024},"rotation":{"radians":-0.7415807871716069}},"curvature":-2.8672689023057556},{"time":1.9027692504207634,"velocity":1.3980139764810575,"acceleration":2.7000000000000077,"pose":{"translation":{"x":4.070414224054623,"y":-2.487017200283452},"rotation":{"radians":-0.787423662158867}},"curvature":-2.06504897929721E-13},{"time":1.9394987015687892,"velocity":1.4971834945807274,"acceleration":2.699999999999997,"pose":{"translation":{"x":4.107095964998534,"y":-2.525506761986001},"rotation":{"radians":-0.8450952702667438}},"curvature":-1.5721451016505619},{"time":1.9594725622181353,"velocity":1.5511129183339614,"acceleration":2.7000000000000264,"pose":{"translation":{"x":4.126757840425221,"y":-2.548748845510642},"rotation":{"radians":-0.8914565110823546}},"curvature":-1.43162585080387},{"time":1.9809407813911863,"velocity":1.6090771101011998,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.147463490162325,"y":-2.575618277092462},"rotation":{"radians":-0.9355286310691155}},"curvature":-1.1696919230943286},{"time":2.0274220677030814,"velocity":1.7345765831433164,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.1910752370933855,"y":-2.639935084611638},"rotation":{"radians":-1.0094351855677002}},"curvature":-0.7885693519218696},{"time":2.0752502665122483,"velocity":1.8637127199280668,"acceleration":-2.6103982411251976,"pose":{"translation":{"x":4.234576840406595,"y":-2.7141791878373365},"rotation":{"radians":-1.0704526428626095}},"curvature":-0.6689931062565239},{"time":2.1227950151233834,"velocity":1.73960199177882,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.273449864565585,"y":-2.790510122335995},"rotation":{"radians":-1.1305323578994944}},"curvature":-0.7734089192576035},{"time":2.1684258882499323,"velocity":1.6163986343371375,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":4.3037605366639955,"y":-2.860823823934308},"rotation":{"radians":-1.2017779337337726}},"curvature":-1.147399466913196},{"time":2.2084689020869357,"velocity":1.5082824969772284,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.323908479206728,"y":-2.9200514967068565},"rotation":{"radians":-1.288949009645819}},"curvature":-1.5813686366376538},{"time":2.2433412341248813,"velocity":1.4141272004747747,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":4.336375442891196,"y":-2.969458480963734},"rotation":{"radians":-1.3451950829588586}},"curvature":1.2652507390984346E-13},{"time":2.2610135645087377,"velocity":1.3664119084383628,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.3415758951471215,"y":-2.993471101411822},"rotation":{"radians":-1.380095402243127}},"curvature":-2.4888876638790376},{"time":2.2808424984252134,"velocity":1.3128737868638782,"acceleration":2.699999999999965,"pose":{"translation":{"x":4.345633651235341,"y":-3.019723038773883},"rotation":{"radians":-1.4570354405213441}},"curvature":-3.0258900807428013},{"time":2.3031106255344054,"velocity":1.372997730058696,"acceleration":2.699999999999996,"pose":{"translation":{"x":4.347734321015223,"y":-3.0495538303411593},"rotation":{"radians":-1.5415280334385852}},"curvature":-2.55732771771104},{"time":2.3272312090592484,"velocity":1.4381233055757718,"acceleration":2.6999999999999917,"pose":{"translation":{"x":4.34738157991217,"y":-3.083454935123909},"rotation":{"radians":-1.617374818363511}},"curvature":-1.9414977440995753},{"time":2.352952082133822,"velocity":1.5075696628771207,"acceleration":2.6999999999999926,"pose":{"translation":{"x":4.344353073807754,"y":-3.1212165832895953},"rotation":{"radians":-1.6813185286194525}},"curvature":-1.4719532636371344},{"time":2.3796766198648203,"velocity":1.579725914750815,"acceleration":-1.2057167719417783,"pose":{"translation":{"x":4.338656323929853,"y":-3.1620746256010692},"rotation":{"radians":-1.7353123362084182}},"curvature":-1.1751520795245802},{"time":2.40754499111003,"velocity":1.5461245521337652,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.3304846317427925,"y":-3.20485738285476},"rotation":{"radians":-1.7826048249495483}},"curvature":-1.0176661157517188},{"time":2.4370796682860383,"velocity":1.466380923758543,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.320172983837481,"y":-3.2481324953188606},"rotation":{"radians":-1.8264983721146553}},"curvature":-0.9733368788098502},{"time":2.467890369195807,"velocity":1.3831920313021677,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.308153956821549,"y":-3.290353772171517},"rotation":{"radians":-1.870231472474327}},"curvature":-1.0387367571502901},{"time":2.4990633188123406,"velocity":1.2990250673375265,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.294913622209486,"y":-3.3300080409390134},"rotation":{"radians":-1.9172617857402379}},"curvature":-1.2399705067182853},{"time":2.5295801327146816,"velocity":1.2166296698012058,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.280947451312782,"y":-3.365761996933961},"rotation":{"radians":-1.9716805078766622}},"curvature":-1.644328539420413},{"time":2.5584261435541054,"velocity":1.1387454405347617,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.266716220130062,"y":-3.396609052693486},"rotation":{"radians":-2.0384996772702273}},"curvature":-2.371983666622517},{"time":2.5847721510640618,"velocity":1.0676112202578796,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.2526019142372276,"y":-3.4220161874174133},"rotation":{"radians":-2.122902589403081}},"curvature":-3.5427973786791616},{"time":2.596866706642089,"velocity":1.0349559201972056,"acceleration":-2.7000000000000113,"pose":{"translation":{"x":4.245675582979829,"y":-3.4326788450042356},"rotation":{"radians":-2.172363935580213}},"curvature":-4.250069188120277},{"time":2.608245957875191,"velocity":1.0042319418678314,"acceleration":-2.7000000000000095,"pose":{"translation":{"x":4.238863633677591,"y":-3.4420707964064596},"rotation":{"radians":-2.225461581397636}},"curvature":-4.879420915945911},{"time":2.6189812233256577,"velocity":0.9752467251515712,"acceleration":2.700000000000035,"pose":{"translation":{"x":4.232172018617497,"y":-3.450323998538391},"rotation":{"radians":-2.27918481261407}},"curvature":-5.141950720833918},{"time":2.628923360720489,"velocity":1.0020904961176154,"acceleration":2.6999999999999766,"pose":{"translation":{"x":4.225593497852015,"y":-3.457627540500415},"rotation":{"radians":-2.3279932169747504}},"curvature":-4.611580696638505},{"time":2.646668303838895,"velocity":1.0500018425373114,"acceleration":2.6999999999999593,"pose":{"translation":{"x":4.212672550409055,"y":-3.4704551955163354},"rotation":{"radians":-2.3775358768287482}},"curvature":-1.4509492896866132E-12},{"time":2.6634739783999266,"velocity":1.0953771638520964,"acceleration":-2.1635961448600383,"pose":{"translation":{"x":4.1995018615661195,"y":-3.482764356500721},"rotation":{"radians":-2.4130782371283543}},"curvature":-3.514623529874011},{"time":2.681415066870101,"velocity":1.056559894003434,"acceleration":2.4646763733881785,"pose":{"translation":{"x":4.1846069349365,"y":-3.4950439075764557},"rotation":{"radians":-2.494305163545657}},"curvature":-4.5086928416365915},{"time":2.691194479745938,"velocity":1.0806629818641176,"acceleration":2.700000000000058,"pose":{"translation":{"x":4.176125303615964,"y":-3.501149039238779},"rotation":{"radians":-2.540787483566944}},"curvature":-4.33929158587542},{"time":2.701345639357568,"velocity":1.10807111281552,"acceleration":2.7,"pose":{"translation":{"x":4.166816867221693,"y":-3.5072124536305975},"rotation":{"radians":-2.5869849328931567}},"curvature":-3.958115358726707},{"time":2.72283598685459,"velocity":1.1660950510574795,"acceleration":2.6999999999999678,"pose":{"translation":{"x":4.145491488542144,"y":-3.51914398740226},"rotation":{"radians":-2.672180051426069}},"curvature":-3.0312526952992744},{"time":2.7458726316521673,"velocity":1.2282939920109377,"acceleration":2.7000000000000015,"pose":{"translation":{"x":4.120441167812345,"y":-3.530680958364998},"rotation":{"radians":-2.7442002884146324}},"curvature":-2.24379037322869},{"time":2.7701576442977993,"velocity":1.293863526154144,"acceleration":2.6999999999999815,"pose":{"translation":{"x":4.091846618115918,"y":-3.5416473416091985},"rotation":{"radians":-2.8037409475329813}},"curvature":-1.6895999205313315},{"time":2.7952194380719013,"velocity":1.361530369344219,"acceleration":2.700000000000029,"pose":{"translation":{"x":4.0601787020806945,"y":-3.5518617067244715},"rotation":{"radians":-2.8534261096403184}},"curvature":-1.3278957233890747},{"time":2.820514858115949,"velocity":1.4298280034631485,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.026118237253801,"y":-3.5611502866820404},"rotation":{"radians":-2.895969747404089}},"curvature":-1.1024689835058716},{"time":2.869703687897904,"velocity":1.5626378438744257,"acceleration":1.9362978133552988,"pose":{"translation":{"x":3.954111538260461,"y":-3.5763717532113795},"rotation":{"radians":-2.9681704661116073}},"curvature":-0.9030690719457863},{"time":2.9147822123500657,"velocity":1.6499232922004299,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.882424764151878,"y":-3.5865714901301473},"rotation":{"radians":-3.032028794505532}},"curvature":-0.8731590609909291},{"time":2.9566812762874926,"velocity":1.536795819569377,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.8158829806579693,"y":-3.591968268950124},"rotation":{"radians":-3.088078485604461}},"curvature":-0.7510851526245056},{"time":2.997829396687372,"velocity":1.4256958944897016,"acceleration":-2.7,"pose":{"translation":{"x":3.754971848225213,"y":-3.594158087998451},"rotation":{"radians":-3.1156244663782533}},"curvature":-6.238602905595439E-14},{"time":3.019217667052768,"velocity":1.3679475645031332,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.7250996475323115,"y":-3.5946088086292822},"rotation":{"radians":3.136061727913206}},"curvature":-1.9531662342533467},{"time":3.0419613155787633,"velocity":1.3065397134829457,"acceleration":-2.699999999999997,"pose":{"translation":{"x":3.694712240744392,"y":-3.59334204199147},"rotation":{"radians":3.058543079259456}},"curvature":-2.9931355679675957},{"time":3.0540146401086368,"velocity":1.2739957372522877,"acceleration":-1.0208150074897688,"pose":{"translation":{"x":3.6792491868301713,"y":-3.59168097196776},"rotation":{"radians":3.010052712224437}},"curvature":-3.212417145168894},{"time":3.0665112385046656,"velocity":1.261239022067049,"acceleration":0.8221150012728835,"pose":{"translation":{"x":3.663603722960406,"y":-3.5892002983800015},"rotation":{"radians":2.9584735611647806}},"curvature":-3.2761262969660088},{"time":3.0792733678272515,"velocity":1.2717309600313313,"acceleration":2.094267634105526,"pose":{"translation":{"x":3.6477941566508547,"y":-3.5858385065121516},"rotation":{"radians":2.9058109570288546}},"curvature":-3.2236345038509038},{"time":3.0921157186604304,"velocity":1.298626279727086,"acceleration":2.699999999999984,"pose":{"translation":{"x":3.631852976097636,"y":-3.5815624837629936},"rotation":{"radians":2.8535988153254137}},"curvature":-3.0929495414508255},{"time":3.1049202178745237,"velocity":1.3331984276051374,"acceleration":2.700000000000009,"pose":{"translation":{"x":3.6158250409293315,"y":-3.576364958338765},"rotation":{"radians":2.8029224241077566}},"curvature":-2.9169854819246734},{"time":3.1176425062218045,"velocity":1.3675486061427957,"acceleration":2.6999999999999797,"pose":{"translation":{"x":3.5997657729590933,"y":-3.5702619379457867},"rotation":{"radians":2.754474861643414}},"curvature":-2.7216538702201953},{"time":3.130265160217474,"velocity":1.401629771931103,"acceleration":2.70000000000002,"pose":{"translation":{"x":3.583739346936751,"y":-3.5632901484830892},"rotation":{"radians":2.7086307970219012}},"curvature":-2.525656347456435},{"time":3.14276009685078,"velocity":1.4353661008410294,"acceleration":2.699999999999983,"pose":{"translation":{"x":3.5678168813009155,"y":-3.5555044727350418},"rotation":{"radians":2.6655227947601507}},"curvature":-2.3414087478565757},{"time":3.167209892103084,"velocity":1.5013805480222502,"acceleration":-0.07565032596922755,"pose":{"translation":{"x":3.536592167899765,"y":-3.5377864101028305},"rotation":{"radians":2.5872339667863717}},"curvature":-2.0349933743697015},{"time":3.1911528105418494,"velocity":1.499569258437703,"acceleration":-2.7,"pose":{"translation":{"x":3.506730702620229,"y":-3.517812620350732},"rotation":{"radians":2.5181136337500356}},"curvature":-1.8294375517087662},{"time":3.2150971423329526,"velocity":1.434919562601724,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.4788668624822137,"y":-3.4964145602739234},"rotation":{"radians":2.455865619207337}},"curvature":-1.731324515687479},{"time":3.2389712757699605,"velocity":1.3704594023218022,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.453572435728348,"y":-3.4744683113252766},"rotation":{"radians":2.3979526824914337}},"curvature":-1.7469589539304369},{"time":3.2621696078888474,"velocity":1.3078239056008072,"acceleration":-2.7,"pose":{"translation":{"x":3.431298725891377,"y":-3.452812617779449},"rotation":{"radians":2.3418331076250425}},"curvature":-1.8905310113261928},{"time":3.2841100662280165,"velocity":1.2485846680850508,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.4123186558615646,"y":-3.4321669248969804},"rotation":{"radians":2.2852009489965104}},"curvature":-2.1772564962953607},{"time":3.304339893427753,"velocity":1.1939641346457623,"acceleration":-2.699999999999995,"pose":{"translation":{"x":3.396668871954087,"y":-3.413049417088383},"rotation":{"radians":2.226719709327411}},"curvature":-2.573637538496012},{"time":3.322670592374291,"velocity":1.144471247490109,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.3840918479764355,"y":-3.395695056078237},"rotation":{"radians":2.1681420803039746}},"curvature":-2.832482643163},{"time":3.3551280208474212,"velocity":1.056836190612657,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.365307736906527,"y":-3.365307736906524},"rotation":{"radians":2.097223446246329}},"curvature":-8.563770366091795E-13},{"time":3.371631311576011,"velocity":1.0122773056454644,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.3569601150851334,"y":-3.3504139559098243},"rotation":{"radians":2.0534269352898393}},"curvature":-4.408270501759967},{"time":3.3807829544961505,"velocity":0.9875678697610875,"acceleration":1.5104944206959212,"pose":{"translation":{"x":3.352888417839121,"y":-3.34221878152369},"rotation":{"radians":2.00945046974988}},"curvature":-5.039291505589935},{"time":3.3906547778931304,"velocity":1.002479203924321,"acceleration":2.6999999999999478,"pose":{"translation":{"x":3.348938187910332,"y":-3.3332253921389725},"rotation":{"radians":1.9600889401197457}},"curvature":-4.918425960032723},{"time":3.4011280074324377,"velocity":1.0307569236804506,"acceleration":2.6999999999999638,"pose":{"translation":{"x":3.3451483772153683,"y":-3.323275428034386},"rotation":{"radians":1.910261081074239}},"curvature":-4.408855443013236},{"time":3.4122087483262398,"velocity":1.0606749240937159,"acceleration":2.699999999999951,"pose":{"translation":{"x":3.3415568043329786,"y":-3.312258790961145},"rotation":{"radians":1.862852105947923}},"curvature":-3.777559351932002},{"time":3.4362308829641095,"velocity":1.1255346876159633,"acceleration":2.7000000000000277,"pose":{"translation":{"x":3.3351126798982738,"y":-3.2868030813034936},"rotation":{"radians":1.7795466119070087}},"curvature":-2.6531826547037785},{"time":3.4624690658452004,"velocity":1.1963777813949095,"acceleration":2.699999999999978,"pose":{"translation":{"x":3.329877464834413,"y":-3.256794943799528},"rotation":{"radians":1.7112422440915225}},"curvature":-1.9091065013963306},{"time":3.4902749853666095,"velocity":1.2714537641027128,"acceleration":2.6999999999999775,"pose":{"translation":{"x":3.3260908121412434,"y":-3.222694378935494},"rotation":{"radians":1.6539720869679109}},"curvature":-1.4789022701863384},{"time":3.5188211605824837,"velocity":1.348528437185573,"acceleration":2.699999999999973,"pose":{"translation":{"x":3.323953445678914,"y":-3.185360275196754},"rotation":{"radians":1.6033565305589343}},"curvature":-1.258675171105693},{"time":3.547255289346502,"velocity":1.4253005848484224,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.323620228256534,"y":-3.14592597721417},"rotation":{"radians":1.5556306743323207}},"curvature":-1.1826036185598943},{"time":3.5747987301298743,"velocity":1.4996678749635268,"acceleration":2.7000000000000246,"pose":{"translation":{"x":3.3251932297208238,"y":-3.1056748539104833},"rotation":{"radians":1.5075886225922053}},"curvature":-1.2202906053347709},{"time":3.600805530219137,"velocity":1.5698862352045364,"acceleration":0.8611963117504078,"pose":{"translation":{"x":3.32871479504477,"y":-3.0659158666466917},"rotation":{"radians":1.4563571202624555}},"curvature":-1.36525699772591},{"time":3.625131866498666,"velocity":1.590835986286867,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.3341606124162797,"y":-3.0278591373684343},"rotation":{"radians":1.399322649027205}},"curvature":-1.6228221607848625},{"time":3.6482839358724766,"velocity":1.5283253989775776,"acceleration":-2.700000000000008,"pose":{"translation":{"x":3.341432781326834,"y":-2.9924915167523713},"rotation":{"radians":1.3344964277889204}},"curvature":-1.9866050113100104},{"time":3.670480140658602,"velocity":1.4683956460550387,"acceleration":-1.8857531859728194,"pose":{"translation":{"x":3.3503528806601435,"y":-2.9604521523525613},"rotation":{"radians":1.2618308191102119}},"curvature":-2.378518378256901},{"time":3.6914282323714853,"velocity":1.4288927153674185,"acceleration":2.7000000000000335,"pose":{"translation":{"x":3.3606550367807997,"y":-2.9319080567468454},"rotation":{"radians":1.1861977292409747}},"curvature":-2.529601150177309},{"time":3.7105938755818126,"velocity":1.480639952035303,"acceleration":2.7000000000000184,"pose":{"translation":{"x":3.3719789916229312,"y":-2.906429675683226},"rotation":{"radians":1.1218144675690096}},"curvature":-1.8952434569659933},{"time":3.728136987959712,"velocity":1.5280063554556316,"acceleration":2.6999999999999775,"pose":{"translation":{"x":3.383863170778858,"y":-2.8828664562262487},"rotation":{"radians":1.093904459129229}},"curvature":-8.800441833469826E-13},{"time":3.7620475785870027,"velocity":1.6195649501493161,"acceleration":-1.5681098604972095,"pose":{"translation":{"x":3.409421332559775,"y":-2.836016441307421},"rotation":{"radians":1.03246981422163}},"curvature":-1.8523635006166714},{"time":3.7798005728578556,"velocity":1.591726304779841,"acceleration":2.662927669582814,"pose":{"translation":{"x":3.4246997039230482,"y":-2.8119517909191396},"rotation":{"radians":0.9773027697049732}},"curvature":-1.9550822525832192},{"time":3.7984693211642404,"velocity":1.6414398312013905,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.4422944489302507,"y":-2.7874317553821495},"rotation":{"radians":0.9202382607450275}},"curvature":-1.8023926209567516},{"time":3.8175854058471024,"velocity":1.6930532598451178,"acceleration":2.699999999999987,"pose":{"translation":{"x":3.462286745117756,"y":-2.7626107330513356},"rotation":{"radians":0.8664839706618565}},"curvature":-1.5685015112746035},{"time":3.8369804601594226,"velocity":1.7454199064883822,"acceleration":2.6999999999999935,"pose":{"translation":{"x":3.484502239456919,"y":-2.737744290681301},"rotation":{"radians":0.8180642063277515}},"curvature":-1.342067422892275},{"time":3.8755395852780548,"velocity":1.8495295443086888,"acceleration":-1.8471648914381482,"pose":{"translation":{"x":3.5339759346661554,"y":-2.689204633831253},"rotation":{"radians":0.7374177803804196}},"curvature":-1.0172793016020754},{"time":3.9134724099259603,"velocity":1.7794613623859978,"acceleration":-2.700000000000004,"pose":{"translation":{"x":3.58641522012724,"y":-2.6446227538041613},"rotation":{"radians":0.6735347286417496}},"curvature":-0.8614819661815898},{"time":3.9502228972061117,"velocity":1.6802350467295883,"acceleration":-2.7,"pose":{"translation":{"x":3.637145180535536,"y":-2.6063086898682277},"rotation":{"radians":0.6207461925587068}},"curvature":-0.8052427483987902},{"time":4.0156598513480155,"velocity":1.5035552705464477,"acceleration":-2.7,"pose":{"translation":{"x":3.7240461251046875,"y":-2.54886864652451},"rotation":{"radians":0.560204132562198}},"curvature":-7.457536366926828E-14},{"time":4.03199560116651,"velocity":1.4594487460365144,"acceleration":-0.07180025397610577,"pose":{"translation":{"x":3.74470895187347,"y":-2.536268742306378},"rotation":{"radians":0.525164211505784}},"curvature":-2.412020243396965},{"time":4.050857025018421,"velocity":1.4580944910135962,"acceleration":2.6999999999999904,"pose":{"translation":{"x":3.768986043093209,"y":-2.523319955048472},"rotation":{"radians":0.4550216790642493}},"curvature":-2.4171271072040383},{"time":4.073068976579923,"velocity":1.5180667602296514,"acceleration":2.69999999999999,"pose":{"translation":{"x":3.7991771465695363,"y":-2.5098659729744166},"rotation":{"radians":0.3875545561952699}},"curvature":-1.6762547697600338},{"time":4.098629605108719,"velocity":1.587080457257402,"acceleration":2.699999999999997,"pose":{"translation":{"x":3.8363339474620317,"y":-2.495928537502044},"rotation":{"radians":0.33410749913838633}},"curvature":-1.0765892532870953},{"time":4.157797176376075,"velocity":1.7468328996792628,"acceleration":2.6999999999999917,"pose":{"translation":{"x":3.9307383752858023,"y":-2.4673691759900973},"rotation":{"radians":0.26253003994804947}},"curvature":-0.5025745932489095},{"time":4.221081200976806,"velocity":1.917699766101235,"acceleration":2.699999999999992,"pose":{"translation":{"x":4.043424495340928,"y":-2.4400382396468108},"rotation":{"radians":0.21658966865915344}},"curvature":-0.3307318527140351},{"time":4.279967989353032,"velocity":2.0766940947170434,"acceleration":0.982358977139098,"pose":{"translation":{"x":4.1587397421442835,"y":-2.416926420557603},"rotation":{"radians":0.1789817998898148}},"curvature":-0.33293505130574713},{"time":4.329127272230145,"velocity":2.124986157561096,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":4.26069944999191,"y":-2.4004914696810618},"rotation":{"radians":0.13770571538347967}},"curvature":-0.5090235244777953},{"time":4.367394616712157,"velocity":2.0216643274596633,"acceleration":2.699999999999982,"pose":{"translation":{"x":4.339532486997731,"y":-2.3915309327708725},"rotation":{"radians":0.08351328684758205}},"curvature":-0.8829292872204715},{"time":4.395934295118967,"velocity":2.098721459158051,"acceleration":2.699999999999986,"pose":{"translation":{"x":4.398226889132253,"y":-2.3880548862977498},"rotation":{"radians":0.04283093266875069}},"curvature":2.1870361463148794E-13},{"time":4.425129850782609,"velocity":2.177549459449883,"acceleration":2.6999999999999975,"pose":{"translation":{"x":4.4605554149507745,"y":-2.3846027507878573},"rotation":{"radians":0.07140677468934067}},"curvature":0.46248437159092276},{"time":4.469652220377344,"velocity":2.2977598573556675,"acceleration":2.7000000000000077,"pose":{"translation":{"x":4.559798928251242,"y":-2.375884796737991},"rotation":{"radians":0.09901680638524288}},"curvature":0.16389428767248937},{"time":4.498433925592082,"velocity":2.375470461435462,"acceleration":2.7000000000000113,"pose":{"translation":{"x":4.626689055476373,"y":-2.368919793112227},"rotation":{"radians":0.10786271121781651}},"curvature":0.10729434350126203},{"time":4.5304986735286885,"velocity":2.462045280864299,"acceleration":2.4072442423712865,"pose":{"translation":{"x":4.7037635578065276,"y":-2.3602833673590338},"rotation":{"radians":0.11495998516848317}},"curvature":0.07967454033841612},{"time":4.564644671217819,"velocity":2.54424303720148,"acceleration":0.04969726211783639,"pose":{"translation":{"x":4.788640059601188,"y":-2.350208504783425},"rotation":{"radians":0.12116549370035413}},"curvature":0.06763873923882119},{"time":4.600117650999203,"velocity":2.546005947175776,"acceleration":-0.1359190035013976,"pose":{"translation":{"x":4.878228286759015,"y":-2.3390283140025687},"rotation":{"radians":0.1271091573384734}},"curvature":0.06545480043781335},{"time":4.636134597607009,"velocity":2.54111055968368,"acceleration":-0.35348412114028754,"pose":{"translation":{"x":4.9690644657883905,"y":-2.3271371039724635},"rotation":{"radians":0.13331936365426306}},"curvature":0.0715268098618738},{"time":4.671408701840918,"velocity":2.528641723949546,"acceleration":-0.6905236578123065,"pose":{"translation":{"x":5.057645722877963,"y":-2.3149514610146213},"rotation":{"radians":0.14032425405552681}},"curvature":0.08709877348868322},{"time":4.704776987903204,"velocity":2.505600133002889,"acceleration":-1.2627569109776549,"pose":{"translation":{"x":5.140764482967187,"y":-2.302871325842744},"rotation":{"radians":0.14873190751053336}},"curvature":0.11628256654002964},{"time":4.735333894801377,"velocity":2.467014187639121,"acceleration":-2.372165183301291,"pose":{"translation":{"x":5.2158428688168685,"y":-2.291241070589405},"rotation":{"radians":0.15927115137087328}},"curvature":0.16637522402887112},{"time":4.78631878368845,"velocity":2.3460696093467224,"acceleration":2.5991831332017834,"pose":{"translation":{"x":5.336721892370825,"y":-2.270196307623063},"rotation":{"radians":0.18899271125240838}},"curvature":0.3340633076268626},{"time":4.823939172408539,"velocity":2.4438518891724725,"acceleration":-2.700000000000004,"pose":{"translation":{"x":5.424960896733882,"y":-2.2519817045674144},"rotation":{"radians":0.2135821982191385}},"curvature":2.8293419745669658E-14},{"time":4.86140534605643,"velocity":2.3426932203231665,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.512562284564335,"y":-2.2328472953059184},"rotation":{"radians":0.2175917176114819}},"curvature":0.07126343831312376},{"time":4.914240136614097,"velocity":2.200039285817464,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.629621271591719,"y":-2.2064103501350836},"rotation":{"radians":0.22675370914173432}},"curvature":0.0784618855539497},{"time":4.948289128592446,"velocity":2.1081070074759225,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.701039343573113,"y":-2.1897129203864143},"rotation":{"radians":0.23264582386144253}},"curvature":0.08287731638800282},{"time":4.9874127516535935,"velocity":2.002473225210825,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.779219088344069,"y":-2.1709044313680397},"rotation":{"radians":0.23967700417373605}},"curvature":0.0930578565526003},{"time":5.031088635611529,"velocity":1.8845483385243977,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.86159218441938,"y":-2.150409063454151},"rotation":{"radians":0.2483098811484462}},"curvature":0.11204410996316728},{"time":5.0784253747241435,"velocity":1.7567391429203398,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.945020070517284,"y":-2.1287906562351426},"rotation":{"radians":0.25926391233015494}},"curvature":0.14522001708215543},{"time":5.12817325131564,"velocity":1.6224198761232993,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.026115603624698,"y":-2.106690427034547},"rotation":{"radians":0.2736653710251387}},"curvature":0.20347656023914576},{"time":5.178727778343494,"velocity":1.485922653148093,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.101564717062441,"y":-2.0847646894259713},"rotation":{"radians":0.29334248603288626}},"curvature":0.3101401619944382},{"time":5.228153862285733,"velocity":1.3524722265040463,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.168448078550471,"y":-2.063622571750037},"rotation":{"radians":0.3213823094217437}},"curvature":0.5181893519919437},{"time":5.274290587366443,"velocity":1.22790306878613,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.224562748273107,"y":-2.043763735631316},"rotation":{"radians":0.36313791554131464}},"curvature":0.9537347404851392},{"time":5.315045782660778,"velocity":1.1178640414914252,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.268743836944259,"y":-2.0255160944952677},"rotation":{"radians":0.42765441576926394}},"curvature":1.9073311819533667},{"time":5.332919534046661,"velocity":1.0696049127495433,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.286358260464801,"y":-2.0170366555092842},"rotation":{"radians":0.47230023333605764}},"curvature":2.72474683368831},{"time":5.349027040992071,"velocity":1.0261146439969362,"acceleration":-2.699999999999993,"pose":{"translation":{"x":6.301186163872659,"y":-2.0089735320851756},"rotation":{"radians":0.5268349435677362}},"curvature":3.799019022660335},{"time":5.363459367057056,"velocity":0.9871473636214759,"acceleration":-2.7,"pose":{"translation":{"x":6.313517126075689,"y":-2.001291674497198},"rotation":{"radians":0.5901736953658032}},"curvature":4.912733599851115},{"time":5.376471798906547,"velocity":0.9520137976278504,"acceleration":2.700000000000084,"pose":{"translation":{"x":6.3237659150270815,"y":-1.9939336209790866},"rotation":{"radians":0.6561293798924004}},"curvature":5.342755725273197},{"time":5.398648208606854,"velocity":1.011890103818682,"acceleration":2.7000000000000455,"pose":{"translation":{"x":6.340362301101588,"y":-1.9798353411067464},"rotation":{"radians":0.7328151017865228}},"curvature":1.8353266480505222E-13},{"time":5.443085377972899,"velocity":1.1318704611070063,"acceleration":2.69999999999998,"pose":{"translation":{"x":6.37697674152807,"y":-1.9493701817338582},"rotation":{"radians":0.6457469422851974}},"curvature":-1.7204302495884551},{"time":5.504486575578764,"velocity":1.2976536946428407,"acceleration":2.6999999999999944,"pose":{"translation":{"x":6.438321945157991,"y":-1.9069424452828057},"rotation":{"radians":0.5809137799392667}},"curvature":-0.3491452916283957},{"time":5.579995165372011,"velocity":1.5015268870846048,"acceleration":-1.7449982613701778,"pose":{"translation":{"x":6.527127318463052,"y":-1.8496528452110372},"rotation":{"radians":0.5725840871850425}},"curvature":0.1046707480801797},{"time":5.666460587909131,"velocity":1.3506448750886926,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.629904383817561,"y":-1.7815241415963405},"rotation":{"radians":0.6047141395885902}},"curvature":0.4308776058143337},{"time":5.764328913289526,"velocity":1.0864003965616273,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.725508735069408,"y":-1.7102394437764725},"rotation":{"radians":0.6905372555948094}},"curvature":1.1562933779558546},{"time":5.8149421928548115,"velocity":0.9497445417353554,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.764027141781647,"y":-1.6760127621236425},"rotation":{"radians":0.7699456111541707}},"curvature":2.0478463668141664},{"time":5.839952943637351,"velocity":0.8822155146225005,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.780054758356363,"y":-1.6596434694638007},"rotation":{"radians":0.8247821045611262}},"curvature":2.794381568208461},{"time":5.864509249508972,"velocity":0.8159134887691232,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.7937019931110285,"y":-1.6438805129887903},"rotation":{"radians":0.893329849782553}},"curvature":3.8590179004327334},{"time":5.88848128710034,"velocity":0.7511889872724301,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.804874847951749,"y":-1.6287814926601347},"rotation":{"radians":0.9787812683939338}},"curvature":5.339130586883095},{"time":5.900238036970483,"velocity":0.7194457626230426,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.809523037922811,"y":-1.621492503704268},"rotation":{"radians":1.0287636880120912}},"curvature":6.24997629528533},{"time":5.911851509815932,"velocity":0.68808938594033,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.813549754230675,"y":-1.614380083662712},"rotation":{"radians":1.083887043777851}},"curvature":7.261113309248849},{"time":5.923346037503248,"velocity":0.6570541611845757,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.81696442716858,"y":-1.6074441811069298},"rotation":{"radians":1.1441255931324854}},"curvature":8.33645997598355},{"time":5.934761866098671,"velocity":0.6262314239769332,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.819781934030736,"y":-1.6006828511534277},"rotation":{"radians":1.2091259039315982}},"curvature":9.41011889472159},{"time":5.94615793416437,"velocity":0.5954620401995453,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.822022860402468,"y":-1.5940921559246515},"rotation":{"radians":1.2780972354104383}},"curvature":10.382988203939716},{"time":5.957614629729801,"velocity":0.5645289621728814,"acceleration":-1.2897194281725386,"pose":{"translation":{"x":6.823713761450372,"y":-1.5876660650098837},"rotation":{"radians":1.3497281887712986}},"curvature":11.128424649470922},{"time":5.969063359117517,"velocity":0.5497633134536535,"acceleration":0.339412123200039,"pose":{"translation":{"x":6.824887423212453,"y":-1.5813963559261373},"rotation":{"radians":1.422165816061351}},"curvature":11.510209672061999},{"time":5.980235530611625,"velocity":0.5535552839012235,"acceleration":2.473726717976394,"pose":{"translation":{"x":6.825583123888281,"y":-1.5752725145790532},"rotation":{"radians":1.493085625539869}},"curvature":11.410219681858651},{"time":5.990818321346403,"velocity":0.5797342160925967,"acceleration":2.7000000000000925,"pose":{"translation":{"x":6.825846895129134,"y":-1.5692816357237955},"rotation":{"radians":1.559852665501385}},"curvature":10.755598080725491},{"time":6.000722868964722,"velocity":0.6064764946620602,"acceleration":2.700000000000302,"pose":{"translation":{"x":6.8257317833281475,"y":-1.5634083234259486},"rotation":{"radians":1.619734948503121}},"curvature":9.53226304176092},{"time":6.010075117164141,"velocity":0.6317275648004941,"acceleration":2.7000000000002147,"pose":{"translation":{"x":6.825298110910466,"y":-1.557634591522412},"rotation":{"radians":1.6701044785413044}},"curvature":7.777833370106699},{"time":6.01898501898901,"velocity":0.6557842997276426,"acceleration":2.7000000000001383,"pose":{"translation":{"x":6.824613737623385,"y":-1.5519397640822963},"rotation":{"radians":1.7085676072589593}},"curvature":5.558902411739207},{"time":6.035779590552501,"velocity":0.7011296429490704,"acceleration":2.6999999999999784,"pose":{"translation":{"x":6.822803581781871,"y":-1.540690072795206},"rotation":{"radians":1.7415315382701735}},"curvature":-1.6534851170586008E-13},{"time":6.158314244730122,"velocity":1.0319732092286447,"acceleration":2.699999999999986,"pose":{"translation":{"x":6.803420643208867,"y":-1.4362915965422276},"rotation":{"radians":1.7768034103593557}},"curvature":0.5428387418367638},{"time":6.220589598608115,"velocity":1.2001166646992227,"acceleration":0.27776115423208386,"pose":{"translation":{"x":6.787780540108011,"y":-1.3685721151426513},"rotation":{"radians":1.8210435892908459}},"curvature":0.744883878028891},{"time":6.282449577884286,"velocity":1.2172989639437448,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.766943994395411,"y":-1.2967634316820202},"rotation":{"radians":1.8907014865260774}},"curvature":1.17914357977271},{"time":6.313605681924779,"velocity":1.1331774830344152,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.754604749550423,"y":-1.2622893385815572},"rotation":{"radians":1.940855826112598}},"curvature":1.5949639208076312},{"time":6.3453683241218295,"velocity":1.047418349102378,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.741086548810946,"y":-1.2304060109394124},"rotation":{"radians":2.006585152286982}},"curvature":2.260494128170485},{"time":6.376997292101359,"velocity":0.9620201355576462,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.726508839101797,"y":-1.2021686871290314},"rotation":{"radians":2.093713449668494}},"curvature":3.3172628239832775},{"time":6.392561975512933,"velocity":0.9199954903463968,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.718867524574831,"y":-1.1896734903144872},"rotation":{"radians":2.147358297607383}},"curvature":4.036901971053304},{"time":6.407881093699186,"velocity":0.8786338712435142,"acceleration":-2.7,"pose":{"translation":{"x":6.711017965025681,"y":-1.1783517371400503},"rotation":{"radians":2.2086397873261827}},"curvature":4.887089647595456},{"time":6.422932404728571,"velocity":0.8379953314641744,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.702981611131262,"y":-1.1682368285050675},"rotation":{"radians":2.2777482284698416}},"curvature":5.829074825841},{"time":6.437733389243614,"velocity":0.7980326732735578,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.694780798360527,"y":-1.1593297465286987},"rotation":{"radians":2.354007642841456}},"curvature":6.760301051353967},{"time":6.452349901045789,"velocity":0.7585680914076848,"acceleration":-1.2966755444851612,"pose":{"translation":{"x":6.686438547896253,"y":-1.151595338423366},"rotation":{"radians":2.4353622071565666}},"curvature":7.492315958210328},{"time":6.466700945935532,"velocity":0.7399594424613467,"acceleration":2.5613541546709486,"pose":{"translation":{"x":6.677978367556838,"y":-1.1449586003682035},"rotation":{"radians":2.517915841309007}},"curvature":7.7583521324265865},{"time":6.48024371272588,"velocity":0.7746472644455444,"acceleration":2.6999999999998137,"pose":{"translation":{"x":6.669424052718093,"y":-1.1393009613825091},"rotation":{"radians":2.5957832379113794}},"curvature":7.272735602310573},{"time":6.492741179958136,"velocity":0.8083904259726349,"acceleration":2.6999999999999966,"pose":{"translation":{"x":6.660799487235031,"y":-1.134456567199192},"rotation":{"radians":2.6614628811009973}},"curvature":5.827014880241687},{"time":6.515608357427603,"velocity":0.8701318051401974,"acceleration":2.699999999999989,"pose":{"translation":{"x":6.643434387682778,"y":-1.1262853829800938},"rotation":{"radians":2.7233683240106124}},"curvature":2.857920997036638E-13},{"time":6.609131351857016,"velocity":1.1226438900996107,"acceleration":2.699999999999998,"pose":{"translation":{"x":6.557458461335598,"y":-1.0903463102130708},"rotation":{"radians":2.7764324811994667}},"curvature":0.6824307842488376},{"time":6.665785723045256,"velocity":1.2756106923078592,"acceleration":2.70000000000003,"pose":{"translation":{"x":6.4934676587356,"y":-1.067532926742651},"rotation":{"radians":2.821569779198928}},"curvature":0.660081199313374},{"time":6.7250726565465015,"velocity":1.4356854127612226,"acceleration":2.7000000000000033,"pose":{"translation":{"x":6.416516894285899,"y":-1.0443322167106872},"rotation":{"radians":2.8769434882594798}},"curvature":0.7339257145340377},{"time":6.782193645384373,"velocity":1.5899120826234756,"acceleration":2.699999999999969,"pose":{"translation":{"x":6.332393415733536,"y":-1.0245744094480014},"rotation":{"radians":2.9474796460916703}},"curvature":0.9147263793149333},{"time":6.808810013194377,"velocity":1.6617762757104875,"acceleration":2.7000000000000273,"pose":{"translation":{"x":6.2897687717642485,"y":-1.0171055023634714},"rotation":{"radians":2.9896599459326296}},"curvature":1.0367547305871343},{"time":6.833776766018174,"velocity":1.7291865083347373,"acceleration":0.050232177659426266,"pose":{"translation":{"x":6.247790497870101,"y":-1.0116548413040323},"rotation":{"radians":3.036120298498697}},"curvature":1.154921475811154},{"time":6.857428520639976,"velocity":1.7303745874748568,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.207013181699064,"y":-1.0083336269327297},"rotation":{"radians":3.084965450035757}},"curvature":1.2172066136669202},{"time":6.8805632703744735,"velocity":1.6679107631917132,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.167725265454773,"y":-1.0070390110233345},"rotation":{"radians":3.131770556722323}},"curvature":1.1275940538193328},{"time":6.927160477833632,"velocity":1.5420983030519844,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.092956516137359,"y":-1.0087676351220758},"rotation":{"radians":-3.099512246147905}},"curvature":-6.697727526491845E-15},{"time":6.951500945697341,"velocity":1.476379039819969,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.056270067001254,"y":-1.010666831883629},"rotation":{"radians":-3.0714042194171935}},"curvature":1.4429829756220756},{"time":6.976902887080119,"velocity":1.4077937980864694,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.019833008757685,"y":-1.0144389888611642},"rotation":{"radians":-2.9996265532233775}},"curvature":2.3996894191340905},{"time":6.990053962288305,"velocity":1.3722858950243666,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.001800574747993,"y":-1.017440435624046},"rotation":{"radians":-2.9527368640935663}},"curvature":2.712112322774948},{"time":7.003547709637937,"velocity":1.3358527771803583,"acceleration":-1.7830320451393713,"pose":{"translation":{"x":5.983947241549731,"y":-1.0213269626030523},"rotation":{"radians":-2.9011178926280503}},"curvature":2.9207477245773625},{"time":7.0173599882945386,"velocity":1.3112250417192433,"acceleration":-0.4357286266847655,"pose":{"translation":{"x":5.966316753559176,"y":-1.026160603062821},"rotation":{"radians":-2.846547030576161}},"curvature":3.0335757493659514},{"time":7.031356036785585,"velocity":1.305126562731226,"acceleration":0.6243388432992434,"pose":{"translation":{"x":5.948954091659565,"y":-1.0319716394538048},"rotation":{"radians":-2.7906172131214007}},"curvature":3.0621727184601677},{"time":7.0453701813274945,"velocity":1.3138761375243502,"acceleration":1.4802488746878288,"pose":{"translation":{"x":5.931904859397732,"y":-1.0387615395740486},"rotation":{"radians":-2.734696136753045}},"curvature":3.0212270249006488},{"time":7.059265317613091,"velocity":1.3344443973747386,"acceleration":2.176005346247779,"pose":{"translation":{"x":5.91521466916074,"y":-1.046505892730968},"rotation":{"radians":-2.679898133184243}},"curvature":2.9270877214938027},{"time":7.072932570671358,"velocity":1.3641844130980487,"acceleration":2.699999999999893,"pose":{"translation":{"x":5.898928528352517,"y":-1.0551573459031274},"rotation":{"radians":-2.627076582055845}},"curvature":2.7959897517991403},{"time":7.086291106412396,"velocity":1.400252459598852,"acceleration":2.7000000000000335,"pose":{"translation":{"x":5.8830902255704896,"y":-1.064648539902017},"rotation":{"radians":-2.5768374954167412}},"curvature":2.6425322863986325},{"time":7.099307159181203,"velocity":1.4353958020746305,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.867741716782219,"y":-1.0748950455338309},"rotation":{"radians":-2.5295695051574274}},"curvature":2.4787256498256607},{"time":7.111973697972756,"velocity":1.4695954568118217,"acceleration":2.700000000000033,"pose":{"translation":{"x":5.852922511502031,"y":-1.085798299761246},"rotation":{"radians":-2.4854831393477625}},"curvature":2.3136440710267823},{"time":7.136186843406003,"velocity":1.5349709494815897,"acceleration":2.6999999999999797,"pose":{"translation":{"x":5.825014134316866,"y":-1.1091277496066647},"rotation":{"radians":-2.4070550806350965}},"curvature":2.0022367587775456},{"time":7.15875467173755,"velocity":1.5959040859767657,"acceleration":2.6999999999999473,"pose":{"translation":{"x":5.799608915777081,"y":-1.1336772824168888},"rotation":{"radians":-2.3411810248049654}},"curvature":1.7318555147837016},{"time":7.179461135841337,"velocity":1.6518115390569907,"acceleration":-1.049272372194639,"pose":{"translation":{"x":5.776872249697647,"y":-1.1584490640280332},"rotation":{"radians":-2.28688021918005}},"curvature":1.500705014874128},{"time":7.2160236871534975,"velocity":1.6134474641081924,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.73955615635796,"y":-1.2050406443463997},"rotation":{"radians":-2.2095648455617143}},"curvature":1.0663928346364093},{"time":7.271245462251638,"velocity":1.4643486713432126,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.690922115570445,"y":-1.274728853958644},"rotation":{"radians":-2.1693760585828277}},"curvature":3.1335638411944943E-13},{"time":7.29740118693036,"velocity":1.3937282147106653,"acceleration":2.700000000000024,"pose":{"translation":{"x":5.670719824074197,"y":-1.3061763915577729},"rotation":{"radians":-2.098117234402559}},"curvature":2.6712963305264807},{"time":7.31288579983653,"velocity":1.435536669557324,"acceleration":2.699999999999989,"pose":{"translation":{"x":5.660237215121693,"y":-1.325410358950791},"rotation":{"radians":-2.042827111467029}},"curvature":2.3158433081657974},{"time":7.329923649283971,"velocity":1.4815388630654167,"acceleration":2.7000000000000184,"pose":{"translation":{"x":5.649530250959005,"y":-1.3478358056189745},"rotation":{"radians":-1.9917510069921995}},"curvature":1.81204918755287},{"time":7.367934836960126,"velocity":1.5841690697910344,"acceleration":2.7000000000000224,"pose":{"translation":{"x":5.628124936299732,"y":-1.4020270652847455},"rotation":{"radians":-1.9084936558970085}},"curvature":1.1568728406117137},{"time":7.408241628579871,"velocity":1.6929974071643463,"acceleration":-0.676875012390922,"pose":{"translation":{"x":5.608437397281406,"y":-1.4650705368070434},"rotation":{"radians":-1.8405552071831355}},"curvature":0.9641029631624295},{"time":7.448107838419827,"velocity":1.6660129658849467,"acceleration":-2.7,"pose":{"translation":{"x":5.592730716987842,"y":-1.5301577091511764},"rotation":{"radians":-1.7730180659913646}},"curvature":1.109354512967466},{"time":7.485804880448602,"velocity":1.5642309524072546,"acceleration":-2.7,"pose":{"translation":{"x":5.582765133190253,"y":-1.590221919599695},"rotation":{"radians":-1.692271666944514}},"curvature":1.618095112807508},{"time":7.503136467907556,"velocity":1.5174356662680801,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":5.580142978819237,"y":-1.616797961292224},"rotation":{"radians":-1.6444556077438146}},"curvature":1.965592287262108},{"time":7.519208777942316,"velocity":1.4740404291742273,"acceleration":-2.700000000000003,"pose":{"translation":{"x":5.578965627135864,"y":-1.6408090793562817},"rotation":{"radians":-1.594373317417499}},"curvature":2.142855644621934},{"time":7.548590161076359,"velocity":1.39471069471231,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.57958951233653,"y":-1.682948399149645},"rotation":{"radians":-1.532353736773731}},"curvature":-2.6030625004116267E-13},{"time":7.563569107448771,"velocity":1.3542675395067991,"acceleration":-1.6251309721524427,"pose":{"translation":{"x":5.580636488585997,"y":-1.70351015989227},"rotation":{"radians":-1.4976774519414668}},"curvature":2.8390647792735195},{"time":7.580811402813165,"velocity":1.3262465512791217,"acceleration":2.699999999999917,"pose":{"translation":{"x":5.5831362558935815,"y":-1.7264836669952166},"rotation":{"radians":-1.4268690661317296}},"curvature":2.9642586447462738},{"time":7.601015934042018,"velocity":1.3807987855970234,"acceleration":2.700000000000008,"pose":{"translation":{"x":5.588051475487735,"y":-1.7533856175315756},"rotation":{"radians":-1.3572066561108003}},"curvature":2.123002558233247},{"time":7.624004516441294,"velocity":1.44286795807507,"acceleration":2.6999999999999984,"pose":{"translation":{"x":5.595876671185639,"y":-1.784884210377094},"rotation":{"radians":-1.3013911397639204}},"curvature":1.3808360671463697},{"time":7.676772938449395,"velocity":1.5853426974969413,"acceleration":2.700000000000006,"pose":{"translation":{"x":5.620333626964432,"y":-1.860945894277565},"rotation":{"radians":-1.2278665371192978}},"curvature":0.6164973483276125},{"time":7.733145627496786,"velocity":1.7375489579248953,"acceleration":2.7000000000000117,"pose":{"translation":{"x":5.653882341984434,"y":-1.948391368605034},"rotation":{"radians":-1.1852016413917261}},"curvature":0.34429303450358095},{"time":7.785956587223789,"velocity":1.880138549187805,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6910929335858285,"y":-2.0363728242775925},"rotation":{"radians":-1.157614889516426}},"curvature":0.250824190081751},{"time":7.829847398747826,"velocity":1.9986437403027024,"acceleration":2.6999999999999957,"pose":{"translation":{"x":5.726072966277464,"y":-2.1139747493065837},"rotation":{"radians":-1.137158827759031}},"curvature":0.23973350843623825},{"time":7.887073869222284,"velocity":2.1531552105837397,"acceleration":2.699999999999991,"pose":{"translation":{"x":5.777514140307939,"y":-2.2210559814468906},"rotation":{"radians":-1.1120651152156062}},"curvature":7.415129403439226E-13},{"time":7.939841782317792,"velocity":2.2956285759416106,"acceleration":2.3182687433733964,"pose":{"translation":{"x":5.8321094711134105,"y":-2.3249626552403284},"rotation":{"radians":-1.0595108560474091}},"curvature":0.37606779223054376},{"time":7.975497831617854,"velocity":2.3782888805461266,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.8738585015412665,"y":-2.3970761768256},"rotation":{"radians":-1.034118767531428}},"curvature":0.25801255551525},{"time":8.016022173883034,"velocity":2.2688731564301423,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.922937566024633,"y":-2.47743568731872},"rotation":{"radians":-1.011078310159012}},"curvature":0.24682650774200235},{"time":8.058528930234209,"velocity":2.1541049142819713,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":5.973842079584267,"y":-2.556463131427119},"rotation":{"radians":-0.984652151326193}},"curvature":0.33648044009236144},{"time":8.097986582380523,"velocity":2.0475692534869236,"acceleration":-2.700000000000007,"pose":{"translation":{"x":6.020836874199711,"y":-2.6247487148752473},"rotation":{"radians":-0.9478666066253401}},"curvature":0.5972577166583145},{"time":8.130655873031227,"velocity":1.9593621687300244,"acceleration":2.699999999999986,"pose":{"translation":{"x":6.0602816649471665,"y":-2.6769794250048706},"rotation":{"radians":-0.8953468353017389}},"curvature":1.0091433266202567},{"time":8.156131940687237,"velocity":2.0281475514012492,"acceleration":2.6999999999999837,"pose":{"translation":{"x":6.092956516137359,"y":-2.715867551375374},"rotation":{"radians":-0.8567769112421174}},"curvature":1.0663044450359554E-12},{"time":8.210528077208483,"velocity":2.1750171200086124,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.170600090278266,"y":-2.7997726840652826},"rotation":{"radians":-0.7873857382126814}},"curvature":0.526328818569205},{"time":8.246327036619663,"velocity":2.2716743104187995,"acceleration":-1.6021615057631478,"pose":{"translation":{"x":6.227780816941333,"y":-2.8551394959037495},"rotation":{"radians":-0.7533443455108731}},"curvature":0.3607539947288666},{"time":8.286307735651201,"velocity":2.2076187734569674,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.2940233809814625,"y":-2.9153873678345397},"rotation":{"radians":-0.7231140936947572}},"curvature":0.33482336172709365},{"time":8.327928152932062,"velocity":2.0952436467986417,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.3620947877486485,"y":-2.973562239163896},"rotation":{"radians":-0.6897416607055867}},"curvature":0.4357400030667607},{"time":8.366908277279872,"velocity":1.989997311059553,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.424531030879996,"y":-3.022971901905611},"rotation":{"radians":-0.6453367149026817}},"curvature":0.7280859324189437},{"time":8.399782910697379,"velocity":1.9012358008322863,"acceleration":2.7000000000000033,"pose":{"translation":{"x":6.476677851129974,"y":-3.060009366714813},"rotation":{"radians":-0.5851966645364406}},"curvature":1.1343567305626876},{"time":8.426014744870672,"velocity":1.9720617531001758,"acceleration":2.6999999999999917,"pose":{"translation":{"x":6.519731495200667,"y":-3.0869762288217513},"rotation":{"radians":-0.5431895762878614}},"curvature":-2.4028166487429024E-13},{"time":8.48432794963559,"velocity":2.1295074059654535,"acceleration":0.4931727668540616,"pose":{"translation":{"x":6.620964916978032,"y":-3.1506397291519033},"rotation":{"radians":-0.575172925172979}},"curvature":-0.07232842695966049},{"time":8.525318643738157,"velocity":2.1497228999912847,"acceleration":-2.699999999999994,"pose":{"translation":{"x":6.694563003851643,"y":-3.1983405430022183},"rotation":{"radians":-0.5722340595243901}},"curvature":0.11687801308505284},{"time":8.573526455602458,"velocity":2.0195618079576723,"acceleration":-2.7,"pose":{"translation":{"x":6.779507569413129,"y":-3.252042275977582},"rotation":{"radians":-0.5526375417800315}},"curvature":0.2770577720867128},{"time":8.625546827661704,"velocity":1.8791068033977052,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.866747403487466,"y":-3.3037356490042007},"rotation":{"radians":-0.5128063438169186}},"curvature":0.5411839360043872},{"time":8.675497275501934,"velocity":1.7442405942290868,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.946941367245376,"y":-3.345665070580753},"rotation":{"radians":-0.44247213739924307}},"curvature":1.0953202240802196},{"time":8.698102891485863,"velocity":1.6832054310724778,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.9823342283956995,"y":-3.3614167282614686},"rotation":{"radians":-0.3922858736351156}},"curvature":1.5123651624295884},{"time":8.718746090859144,"velocity":1.627468792764623,"acceleration":2.6999999999999993,"pose":{"translation":{"x":7.014263706790425,"y":-3.373590334138761},"rotation":{"radians":-0.33426693389435}},"curvature":1.8443607286658248},{"time":8.753572467413568,"velocity":1.7215000094615656,"acceleration":2.6999999999999713,"pose":{"translation":{"x":7.070209366746114,"y":-3.390048315402955},"rotation":{"radians":-0.25518239062085707}},"curvature":-1.8132484378761044E-13},{"time":8.787552414846413,"velocity":1.8132458675302467,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.128376322966789,"y":-3.404989433190729},"rotation":{"radians":-0.24520035237996882}},"curvature":0.2492777547639235},{"time":8.83123402223007,"velocity":1.9311862074661235,"acceleration":0.18825007861680637,"pose":{"translation":{"x":7.207910127848667,"y":-3.424030762711756},"rotation":{"radians":-0.22499701300842825}},"curvature":0.23841630772792802},{"time":8.88644464429356,"velocity":1.941579611410058,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.312420158101617,"y":-3.446551143286501},"rotation":{"radians":-0.19918865444571962}},"curvature":0.2548563109643631},{"time":8.952198294626319,"velocity":1.7640447555116092,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.432235068616428,"y":-3.46861315877339},"rotation":{"radians":-0.16290060233774908}},"curvature":0.35974289680472626},{"time":9.024183435628332,"velocity":1.569684874806173,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.551102964805459,"y":-3.4849809034558943},"rotation":{"radians":-0.10482452381162873}},"curvature":0.6649660243235408},{"time":9.059696551490045,"velocity":1.473799461979546,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.604952567008113,"y":-3.489534707539711},"rotation":{"radians":-0.06098067375726722}},"curvature":0.9923549168727308},{"time":9.093275032347227,"velocity":1.383137563665157,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.652891574943272,"y":-3.491137747929619},"rotation":{"radians":-0.0014480194049227254}},"curvature":1.550322661699486},{"time":9.123948943267484,"velocity":1.3003180041804645,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.69402139274211,"y":-3.4896688725896885},"rotation":{"radians":0.07887812613398294}},"curvature":2.431916868850513},{"time":9.138036585826402,"velocity":1.2622813692713872,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.711977373019305,"y":-3.4878241412718762},"rotation":{"radians":0.12747584694943273}},"curvature":2.9621222189858756},{"time":9.151299919731306,"velocity":1.2264703677281479,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.728288422507271,"y":-3.4853041049893867},"rotation":{"radians":0.1804105063452546}},"curvature":3.435309685598314},{"time":9.163824978520001,"velocity":1.1926527089986732,"acceleration":2.7000000000000237,"pose":{"translation":{"x":7.743114223871402,"y":-3.4821875453397415},"rotation":{"radians":0.23451927568524963}},"curvature":3.642019546533382},{"time":9.175452677006108,"velocity":1.2240474949111602,"acceleration":2.6999999999999336,"pose":{"translation":{"x":7.756693444698509,"y":-3.478579699287545},"rotation":{"radians":0.2840231048140363}},"curvature":3.277554686061499},{"time":9.196299397294387,"velocity":1.2803336396895133,"acceleration":2.699999999999969,"pose":{"translation":{"x":7.781500998518338,"y":-3.4704551955163327},"rotation":{"radians":0.334596037737058}},"curvature":-5.132465821278171E-13},{"time":9.23779654732041,"velocity":1.3923759447597726,"acceleration":2.700000000000008,"pose":{"translation":{"x":7.833447024223365,"y":-3.4510423635620047},"rotation":{"radians":0.39254881507743633}},"curvature":1.3677490159669776},{"time":9.288943243559865,"velocity":1.5304720246063013,"acceleration":1.511789120756195,"pose":{"translation":{"x":7.901158874893261,"y":-3.419384496028943},"rotation":{"radians":0.4758975294365203}},"curvature":0.8904599775336938},{"time":9.350282048646328,"velocity":1.6232033628161995,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.9853671627654474,"y":-3.371803177689887},"rotation":{"radians":0.549832174956981}},"curvature":0.7039396292198273},{"time":9.42158295498564,"velocity":1.430690915700058,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.075873769881282,"y":-3.311290186263007},"rotation":{"radians":0.6315393320207507}},"curvature":0.8540924602937693},{"time":9.460915795046738,"velocity":1.3244922475350955,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.118795351472711,"y":-3.278218936564209},"rotation":{"radians":0.6835958496294005}},"curvature":1.093186733478195},{"time":9.501347519876088,"velocity":1.215326590495848,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.157572500143276,"y":-3.2445647602300918},"rotation":{"radians":0.7496538311905988}},"curvature":1.526076108357068},{"time":9.521615221338639,"velocity":1.160603796546961,"acceleration":-2.699999999999993,"pose":{"translation":{"x":8.174870639830251,"y":-3.2278168681512915},"rotation":{"radians":0.7901372563780413}},"curvature":1.8546232864765004},{"time":9.541721171249984,"velocity":1.1063177317863306,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":8.190537817399736,"y":-3.2112671858166166},"rotation":{"radians":0.8370741150846182}},"curvature":2.2881760932818747},{"time":9.561532396852424,"velocity":1.052827422659741,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.204436738335747,"y":-3.195011361601182},"rotation":{"radians":0.8917358774589793}},"curvature":2.8530535321848056},{"time":9.580940060773893,"velocity":1.000426730071777,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":8.216469731372321,"y":-3.179130866654747},"rotation":{"radians":0.9553873603355952}},"curvature":3.57033454579607},{"time":9.599874801116792,"velocity":0.9493029311459477,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.226584628036536,"y":-3.1636901211398203},"rotation":{"radians":1.029001139265827}},"curvature":4.437665818390812},{"time":9.618324646979652,"velocity":0.8994883473162276,"acceleration":-2.699999999999993,"pose":{"translation":{"x":8.23478064219153,"y":-3.1487336204697636},"rotation":{"radians":1.1127251655233006}},"curvature":5.3958425367236345},{"time":9.627386561051477,"velocity":0.8750211793222996,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.238174319436613,"y":-3.1414447113798},"rotation":{"radians":1.158002711283498}},"curvature":5.864038435994419},{"time":9.636358071715264,"velocity":0.850798100530075,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":8.24111424957954,"y":-3.1342830615468933},"rotation":{"radians":1.205066634532256}},"curvature":6.2852215314499364},{"time":9.64526117155548,"velocity":0.8267597309614925,"acceleration":-1.9183568752340427,"pose":{"translation":{"x":8.243617403869228,"y":-3.1272473493399215},"rotation":{"radians":1.2533170615616034}},"curvature":6.619775478135422},{"time":9.65408590368909,"velocity":0.8098307454008823,"acceleration":-0.23454971847637973,"pose":{"translation":{"x":8.245705067364913,"y":-3.120334469000586},"rotation":{"radians":1.3019467711157602}},"curvature":6.822677183029916},{"time":9.662745434696502,"velocity":0.8077996548409564,"acceleration":1.9398123617330032,"pose":{"translation":{"x":8.24740302267187,"y":-3.11353944083835},"rotation":{"radians":1.3499409195907763}},"curvature":6.8475921147505785},{"time":9.67110042255903,"velocity":0.8240067635788183,"acceleration":2.700000000000038,"pose":{"translation":{"x":8.248741733677136,"y":-3.1068553214253827},"rotation":{"radians":1.3960966505362804}},"curvature":6.652203414485566},{"time":9.686708139845742,"velocity":0.866147600252941,"acceleration":2.6999999999999815,"pose":{"translation":{"x":8.250487787153858,"y":-3.0937816776190905},"rotation":{"radians":1.4773917957150662}},"curvature":5.482334585140444},{"time":9.714786193061926,"velocity":0.9419583439366397,"acceleration":2.6999999999999855,"pose":{"translation":{"x":8.251571989950385,"y":-3.0684207949494264},"rotation":{"radians":1.5554129250143873}},"curvature":5.273401634486186E-13},{"time":9.816713892679672,"velocity":1.2171631329045538,"acceleration":2.7000000000000375,"pose":{"translation":{"x":8.254148474668197,"y":-2.9584138202053554},"rotation":{"radians":1.5421516992088637}},"curvature":0.05128617575513097},{"time":9.86740674196255,"velocity":1.3540338259683287,"acceleration":2.7000000000000024,"pose":{"translation":{"x":8.255689811721828,"y":-2.8932613997144565},"rotation":{"radians":1.5554456717888383}},"curvature":0.3575128362474735},{"time":9.915394997872513,"velocity":1.483602116925224,"acceleration":-2.5106197096361087,"pose":{"translation":{"x":8.2556299400458,"y":-2.8251748261349796},"rotation":{"radians":1.592384185162404}},"curvature":0.756216223123778},{"time":9.961052911520039,"velocity":1.3689724590208827,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":8.252213394187066,"y":-2.76014320946633},"rotation":{"radians":1.6617221753614868}},"curvature":1.4597497152991845},{"time":9.983260306304913,"velocity":1.3090124931017182,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.248796259470703,"y":-2.7306046718568364},"rotation":{"radians":1.7130187043878793}},"curvature":2.026892091545416},{"time":10.004537736863565,"velocity":1.2515634305933596,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.244108709641967,"y":-2.703769770413914},"rotation":{"radians":1.777802853097311}},"curvature":2.765439073223154},{"time":10.0246414197318,"velocity":1.1972834868491224,"acceleration":-2.700000000000006,"pose":{"translation":{"x":8.238155344430247,"y":-2.6798851228498424},"rotation":{"radians":1.855597704537579}},"curvature":3.550554716333623},{"time":10.043572012813074,"velocity":1.1461708855296828,"acceleration":2.700000000000093,"pose":{"translation":{"x":8.231047098019703,"y":-2.6588734271398673},"rotation":{"radians":1.939843179696697}},"curvature":3.9148847289378472},{"time":10.060904382796554,"velocity":1.1929682844850804,"acceleration":2.6999999999999225,"pose":{"translation":{"x":8.223021197648123,"y":-2.640258511108161},"rotation":{"radians":2.0127379836456667}},"curvature":2.9601488982812163},{"time":10.076702701625477,"velocity":1.2356237453231693,"acceleration":2.700000000000038,"pose":{"translation":{"x":8.214461122205776,"y":-2.6230903820137828},"rotation":{"radians":2.044402009767088}},"curvature":-1.9127579647249863E-12},{"time":10.092127198140195,"velocity":1.277269885912911,"acceleration":-0.6411152005864023,"pose":{"translation":{"x":8.205434254079831,"y":-2.6059409692202697},"rotation":{"radians":2.0752518765925263}},"curvature":2.7702377132219254},{"time":10.10902387110587,"velocity":1.2664371720352794,"acceleration":2.7000000000000512,"pose":{"translation":{"x":8.194427713487322,"y":-2.587483445894486},"rotation":{"radians":2.1433286645040965}},"curvature":3.2500109323208037},{"time":10.128401562984152,"velocity":1.318756940106638,"acceleration":2.7000000000000104,"pose":{"translation":{"x":8.180054262713316,"y":-2.5669704366716672},"rotation":{"radians":2.2181891680835317}},"curvature":2.6785037146159185},{"time":10.15020017528793,"velocity":1.3776131933268383,"acceleration":2.699999999999974,"pose":{"translation":{"x":8.161498438823216,"y":-2.544180766440671},"rotation":{"radians":2.28699854991549}},"curvature":2.045244584881243},{"time":10.17424687453724,"velocity":1.4425392812999738,"acceleration":2.7000000000000255,"pose":{"translation":{"x":8.138434584219091,"y":-2.5193253984219712},"rotation":{"radians":2.348196300686289}},"curvature":1.608294074742276},{"time":10.200032371224319,"velocity":1.5121601223550911,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.110944877196024,"y":-2.4929533722456467},"rotation":{"radians":2.404112044577651}},"curvature":1.3581190803570464},{"time":10.226870508255379,"velocity":1.584623092338955,"acceleration":2.6999999999999544,"pose":{"translation":{"x":8.079437362498448,"y":-2.4658577420293706},"rotation":{"radians":2.457791988985669}},"curvature":1.2459408757965535},{"time":10.254026895184179,"velocity":1.6579453370467137,"acceleration":2.700000000000047,"pose":{"translation":{"x":8.044563981876507,"y":-2.4389815144563993},"rotation":{"radians":2.5121195942762}},"curvature":1.2369451011023602},{"time":10.280811588552135,"velocity":1.7302640091401946,"acceleration":0.6056887642854973,"pose":{"translation":{"x":8.007138604642394,"y":-2.4133235868535627},"rotation":{"radians":2.569682746459214}},"curvature":1.3129164227490062},{"time":10.307041863811865,"velocity":1.7461513921491287,"acceleration":-2.699999999999993,"pose":{"translation":{"x":7.968055058226695,"y":-2.3898446852692525},"rotation":{"radians":2.632733821893998}},"curvature":1.4644558873820304},{"time":10.333228797235105,"velocity":1.6754466719063816,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.9282051587347455,"y":-2.3693733025514128},"rotation":{"radians":2.702938045733387}},"curvature":1.6783507586687776},{"time":10.359592228388035,"velocity":1.6042654077934704,"acceleration":-1.9220876856947622,"pose":{"translation":{"x":7.888396741502968,"y":-2.352511636425528},"rotation":{"radians":2.7806507718208806}},"curvature":1.915677355684358},{"time":10.385693638424819,"velocity":1.5540962089824997,"acceleration":1.3115671394936725,"pose":{"translation":{"x":7.84927169165522,"y":-2.3395415275726137},"rotation":{"radians":2.8634625178316826}},"curvature":2.0771546200076565},{"time":10.410620885024517,"velocity":1.586789966500719,"acceleration":2.700000000000033,"pose":{"translation":{"x":7.811223974659145,"y":-2.330330397707205},"rotation":{"radians":2.9440166390224687}},"curvature":1.970765840115436},{"time":10.433739498514012,"velocity":1.6492102229223542,"acceleration":2.7000000000000086,"pose":{"translation":{"x":7.774317666882516,"y":-2.324237187655345},"rotation":{"radians":3.0079946605424093}},"curvature":1.336397472946046},{"time":10.45540127269965,"velocity":1.707697013223577,"acceleration":2.699999999999991,"pose":{"translation":{"x":7.738204986149579,"y":-2.320018295432578},"rotation":{"radians":3.034477330237536}},"curvature":-1.0088454191876547E-13},{"time":10.498646354299426,"velocity":1.8244587335429718,"acceleration":2.700000000000002,"pose":{"translation":{"x":7.662169309014874,"y":-2.3128355772813043},"rotation":{"radians":3.0676123667018627}},"curvature":0.5942317924245504},{"time":10.548544988246173,"velocity":1.9591850451991892,"acceleration":2.7000000000000264,"pose":{"translation":{"x":7.567883982135379,"y":-2.3081976625913962},"rotation":{"radians":3.113407320888338}},"curvature":0.36306293548787466},{"time":10.605236486460687,"velocity":2.112252090378379,"acceleration":2.70000000000001,"pose":{"translation":{"x":7.452483694982721,"y":-2.3068690116816954},"rotation":{"radians":-3.139946899721214}},"curvature":0.1783033856731683},{"time":10.634614472971693,"velocity":2.191572653958095,"acceleration":2.699999999999955,"pose":{"translation":{"x":7.389266236013598,"y":-2.307288786516495},"rotation":{"radians":-3.1305459111583245}},"curvature":0.12232300766053553},{"time":10.663618285983766,"velocity":2.2698829490906913,"acceleration":2.700000000000031,"pose":{"translation":{"x":7.324573439412484,"y":-2.3082278634928812},"rotation":{"radians":-3.124070211505066}},"curvature":0.07945790971239777},{"time":10.717496716235472,"velocity":2.4153547107702993,"acceleration":1.5798145456794965,"pose":{"translation":{"x":7.198384635226886,"y":-2.3108778038425464},"rotation":{"radians":-3.118673981691051}},"curvature":0.0045873750234051046},{"time":10.762572536216181,"velocity":2.486566146834255,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.087931255737455,"y":-2.3132593336802647},"rotation":{"radians":-3.123346948102081}},"curvature":-0.10346701650846496},{"time":10.798155916182935,"velocity":2.390491020924017,"acceleration":2.7000000000000637,"pose":{"translation":{"x":7.001165953327701,"y":-2.3142614373426604},"rotation":{"radians":-3.1392380754450837}},"curvature":-0.2705020206347128},{"time":10.825766142606634,"velocity":2.4650386322680036,"acceleration":2.7000000000000086,"pose":{"translation":{"x":6.934136185015789,"y":-2.313833150808478},"rotation":{"radians":3.1292476017455666}},"curvature":-6.062274898594957E-14},{"time":10.855250922703513,"velocity":2.5446475385295777,"acceleration":1.1149146985869347,"pose":{"translation":{"x":6.860287053148578,"y":-2.312922404873073},"rotation":{"radians":3.129296891322637}},"curvature":0.0014924465391863752},{"time":10.903471329871333,"velocity":2.598409179252826,"acceleration":-0.0027759164975894933,"pose":{"translation":{"x":6.736296119568543,"y":-2.3114110385093887},"rotation":{"radians":3.1295176367139357}},"curvature":0.0018895948401434176},{"time":10.93625257140724,"velocity":2.598318181263635,"acceleration":-0.004822787626798488,"pose":{"translation":{"x":6.651124657937425,"y":-2.3103895107125028},"rotation":{"radians":3.1296827835352397}},"curvature":0.0019977532414847585},{"time":10.974195126270121,"velocity":2.5981351923795133,"acceleration":-0.007899421054351935,"pose":{"translation":{"x":6.552548172265423,"y":-2.309225437020054},"rotation":{"radians":3.1298895131925843}},"curvature":0.0022152731283798864},{"time":11.0159752067304,"velocity":2.597805153932273,"acceleration":-0.012750084334215275,"pose":{"translation":{"x":6.444012042739514,"y":-2.307968896661262},"rotation":{"radians":3.1301495819876677}},"curvature":0.0026076691118130375},{"time":11.05989949229793,"velocity":2.5972451155869667,"acceleration":-0.021387862491557125,"pose":{"translation":{"x":6.329924869548411,"y":-2.306681577336855},"rotation":{"radians":3.1304819996921873}},"curvature":0.003273749411955144},{"time":11.104086894918721,"velocity":2.596300041495854,"acceleration":-0.03844010797073836,"pose":{"translation":{"x":6.215187055685942,"y":-2.3054304047164127},"rotation":{"radians":3.1309162986616137}},"curvature":0.0043984226900895965},{"time":11.146650721328616,"velocity":2.59466388341301,"acceleration":-0.0752003861046018,"pose":{"translation":{"x":6.10471938975444,"y":-2.3042811719357092},"rotation":{"radians":3.1314986553020616}},"curvature":0.006347448601779398},{"time":11.185881404554673,"velocity":2.591713720887263,"acceleration":-0.1600310574590505,"pose":{"translation":{"x":6.002991628768123,"y":-2.3032921690940555},"rotation":{"radians":3.1323021757360943}},"curvature":0.009867963165462013},{"time":11.220429777704453,"velocity":2.586184908198614,"acceleration":-0.3563667007214059,"pose":{"translation":{"x":5.91355108095648,"y":-2.3025078127516436},"rotation":{"radians":3.133441755228929}},"curvature":0.016487286771849626},{"time":11.24948895828928,"velocity":2.5758291838879313,"acceleration":-1.1799714291252745,"pose":{"translation":{"x":5.8385511885676555,"y":-2.301952275426889},"rotation":{"radians":3.135083469587124}},"curvature":0.02896204638224711},{"time":11.273014785730414,"velocity":2.5480693796608627,"acceleration":-2.699999999999994,"pose":{"translation":{"x":5.778280110671833,"y":-2.3016231150937716},"rotation":{"radians":3.137382289896891}},"curvature":0.04909682350685769},{"time":11.30794528303826,"velocity":2.4537570369296797,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":5.690922115570432,"y":-2.3014628615602692},"rotation":{"radians":-3.1415926535897665}},"curvature":1.5160379877009949E-13},{"time":11.327654171744754,"velocity":2.4005430374221444,"acceleration":2.6999999999999864,"pose":{"translation":{"x":5.643087007984952,"y":-2.301107174500496},"rotation":{"radians":3.1259563437473834}},"curvature":-0.2564452707550669},{"time":11.36755577327871,"velocity":2.508277361563823,"acceleration":2.353308924459558,"pose":{"translation":{"x":5.545177283895205,"y":-2.2988867844326832},"rotation":{"radians":3.114910243059119}},"curvature":-0.048303885617808295},{"time":11.398318352581295,"velocity":2.5806712139759918,"acceleration":0.2334192262522585,"pose":{"translation":{"x":5.466933694686984,"y":-2.2966839430591177},"rotation":{"radians":3.1123017105156574}},"curvature":-0.02311675608446392},{"time":11.437420027817028,"velocity":2.5897982967546835,"acceleration":0.09033460670606282,"pose":{"translation":{"x":5.365892858771759,"y":-2.2936289421802316},"rotation":{"radians":3.1106117735667183}},"curvature":-0.012157988693917538},{"time":11.485667904020865,"velocity":2.59415674967596,"acceleration":0.047089061819984866,"pose":{"translation":{"x":5.240897911668853,"y":-2.2896768338150806},"rotation":{"radians":3.1094648702768963}},"curvature":-0.006952056087049509},{"time":11.513270540200669,"velocity":2.595456531917425,"acceleration":0.03187139754864205,"pose":{"translation":{"x":5.169311897270308,"y":-2.287359762501242},"rotation":{"radians":3.1090261462746804}},"curvature":-0.005402922170003197},{"time":11.543177105885434,"velocity":2.596409695961679,"acceleration":0.022090729998274876,"pose":{"translation":{"x":5.091718109569268,"y":-2.284816869650076},"rotation":{"radians":3.1086535260838972}},"curvature":-0.00426788781473713},{"time":11.575350475684447,"velocity":2.5971204291870436,"acceleration":0.015652324469987135,"pose":{"translation":{"x":5.0082172026805205,"y":-2.2820515977288736},"rotation":{"radians":3.1083343828684717}},"curvature":-0.003422083988728292},{"time":11.609735341644322,"velocity":2.5976586322659045,"acceleration":0.01131865928600405,"pose":{"translation":{"x":4.918956125250145,"y":-2.279069101776301},"rotation":{"radians":3.1080589327362067}},"curvature":-0.0027819065730931487},{"time":11.646259421172557,"velocity":2.5980720358778195,"acceleration":0.008340776045833916,"pose":{"translation":{"x":4.8241252234528345,"y":-2.2758761431754393},"rotation":{"radians":3.1078195150517045}},"curvature":-0.002290354719871733},{"time":11.684834639115952,"velocity":2.5983937831316046,"acceleration":0.006254912929795522,"pose":{"translation":{"x":4.723955343989223,"y":-2.2724809834268274},"rotation":{"radians":3.107610071619079}},"curvature":-0.0019078938313890383},{"time":11.725358291647717,"velocity":2.598647255049788,"acceleration":0.004767652963955031,"pose":{"translation":{"x":4.618714937083213,"y":-2.2688932779215},"rotation":{"radians":3.1074257661829727}},"curvature":-0.0016066585132357382},{"time":11.767714197254584,"velocity":2.5988491933086957,"acceleration":0.0036895652865170277,"pose":{"translation":{"x":4.5087071594793,"y":-2.2651239697140326},"rotation":{"radians":3.1072627036826765}},"curvature":-0.001366709739515263},{"time":11.811773838494522,"velocity":2.599011754231551,"acceleration":0.002896017000397512,"pose":{"translation":{"x":4.394266977439903,"y":-2.26118518329558},"rotation":{"radians":3.1071177210472736}},"curvature":-0.001173577324411188},{"time":11.857397497088876,"velocity":2.5991438811224605,"acceleration":0.0023035441688254352,"pose":{"translation":{"x":4.275758269742692,"y":-2.2570901183669183},"rotation":{"radians":3.106988229782986}},"curvature":-0.001016620216302387},{"time":11.904435384151865,"velocity":2.5992522349729184,"acceleration":0.001855321061411642,"pose":{"translation":{"x":4.153570930677908,"y":-2.2528529436114857},"rotation":{"radians":3.106872096417754}},"curvature":-8.879156548177992E-4},{"time":11.95272876683963,"velocity":2.5993418347029458,"acceleration":0.0015875469081707107,"pose":{"translation":{"x":4.028117973045698,"y":-2.2484886904684247},"rotation":{"radians":3.1067675508844657}},"curvature":-7.814956642117533E-4},{"time":11.977294486792303,"velocity":2.5993808339357036,"acceleration":0.0014373309463552163,"pose":{"translation":{"x":3.964301562300153,"y":-2.2462638165942375},"rotation":{"radians":3.106719152014391}},"curvature":-7.351775262541323E-4},{"time":12.002111074733724,"velocity":2.5994165035855348,"acceleration":0.001304931327743967,"pose":{"translation":{"x":3.899832631153436,"y":-2.244013146905622},"rotation":{"radians":3.106673115719258}},"curvature":-6.92815044059811E-4},{"time":12.027156673664773,"velocity":2.599449186372202,"acceleration":0.0011879340615703747,"pose":{"translation":{"x":3.834768018214972,"y":-2.24173875567832},"rotation":{"radians":3.1066292939971802}},"curvature":-6.540008821937127E-4},{"time":12.052409078012166,"velocity":2.599479184563463,"acceleration":0.0010842934394180096,"pose":{"translation":{"x":3.7691654638130547,"y":-2.23944275119275},"rotation":{"radians":3.106587550912568}},"curvature":-6.183758118112734E-4},{"time":12.077845768612942,"velocity":2.5995067654002018,"acceleration":9.922708807201387E-4,"pose":{"translation":{"x":3.7030835194635108,"y":-2.237127272414415},"rotation":{"radians":3.1065477614746375}},"curvature":-5.856222541849724E-4},{"time":12.103443947682367,"velocity":2.599532165727892,"acceleration":9.103848387455097E-4,"pose":{"translation":{"x":3.636581457338368,"y":-2.234794485674309},"rotation":{"radians":3.1065098106389764}},"curvature":-5.554587697130728E-4},{"time":12.129180573768492,"velocity":2.599555595962081,"acceleration":8.373696393823414E-4,"pose":{"translation":{"x":3.569719179734522,"y":-2.2324465813493264},"rotation":{"radians":3.1064735924174554}},"curvature":-5.276353401003713E-4},{"time":12.155032396695674,"velocity":2.599577243493723,"acceleration":7.72141563403193E-4,"pose":{"translation":{"x":3.502557128542401,"y":-2.2300857705426673},"rotation":{"radians":3.1064390090837595}},"curvature":-5.019293175396752E-4},{"time":12.180975992496139,"velocity":2.5995972756223447,"acceleration":7.137708240996599E-4,"pose":{"translation":{"x":3.4351561947146347,"y":-2.2277142817642464},"rotation":{"radians":3.1064059704634985}},"curvature":-4.781419360229845E-4},{"time":12.206987798332708,"velocity":2.599615842090433,"acceleration":6.6145836643151E-4,"pose":{"translation":{"x":3.3675776277347165,"y":-2.225334357611101},"rotation":{"radians":3.106374393299335}},"curvature":-4.560952973110672E-4},{"time":12.233044147413604,"velocity":2.599633077280531,"acceleration":6.145166236506952E-4,"pose":{"translation":{"x":3.2998829450856757,"y":-2.2229482514477974},"rotation":{"radians":3.1063442006828037}},"curvature":-4.356297583384139E-4},{"time":12.259121303898635,"velocity":2.5996491021266888,"acceleration":5.723535408195451E-4,"pose":{"translation":{"x":3.2321338417187393,"y":-2.220558224086839},"rotation":{"radians":3.1063153215456016}},"curvature":-4.166016585155195E-4},{"time":12.285195497800576,"velocity":2.5996640257838926,"acceleration":5.344593096135366E-4,"pose":{"translation":{"x":3.1643920995220007,"y":-2.218166540469073},"rotation":{"radians":3.1062876902040606}},"curvature":-3.9888133498686357E-4},{"time":12.311242959878271,"velocity":2.599677947092492,"acceleration":5.003953674715671E-4,"pose":{"translation":{"x":3.096719496789086,"y":-2.2157754663441005},"rotation":{"radians":3.1062612459513366}},"curvature":-3.8235138178703836E-4},{"time":12.337239956526545,"velocity":2.5996909558691828,"acceleration":4.697853048792167E-4,"pose":{"translation":{"x":3.029177717687821,"y":-2.2133872649506796},"rotation":{"radians":3.106235932692574}},"curvature":-3.6690511530848753E-4},{"time":12.36316282465836,"velocity":2.5997031340516914,"acceleration":4.423073959406275E-4,"pose":{"translation":{"x":2.9618282617288925,"y":-2.2110041936971374},"rotation":{"radians":3.1062116986189245}},"curvature":-3.5244521379287165E-4},{"time":12.388988006587835,"velocity":2.5997145567206603,"acceleration":4.1768852919805787E-4,"pose":{"translation":{"x":2.894732353234525,"y":-2.2086285008417756},"rotation":{"radians":3.10618849591686}},"curvature":-3.388825028747779E-4},{"time":12.414692084901473,"velocity":2.5997252930193255,"acceleration":3.9569936636943415E-4,"pose":{"translation":{"x":2.8279508508071354,"y":-2.206262422173277},"rotation":{"radians":3.106166280509728}},"curvature":-3.261348626875983E-4},{"time":12.440251817334262,"velocity":2.5997354069892538,"acceleration":3.761506015343801E-4,"pose":{"translation":{"x":2.7615441567980117,"y":-2.203908177691115},"rotation":{"radians":3.1061450118289153}},"curvature":-3.141262348087156E-4},{"time":12.465644171634285,"velocity":2.599744958338598,"acceleration":3.5889023464889726E-4,"pose":{"translation":{"x":2.6955721267759674,"y":-2.20156796828596},"rotation":{"radians":3.106124652612419}},"curvature":-3.027857094543436E-4},{"time":12.49084636043051,"velocity":2.599754003158049,"acceleration":3.4380180918880615E-4,"pose":{"translation":{"x":2.6300939789960145,"y":-2.1992439724200876},"rotation":{"radians":3.106105168728973}},"curvature":-2.920466749060609E-4},{"time":12.515835876093709,"velocity":2.5997625945987446,"acceleration":3.3080360327645E-4,"pose":{"translation":{"x":2.5651682038680335,"y":-2.1969383428077847},"rotation":{"radians":3.10608652902623}},"curvature":-2.818460121884068E-4},{"time":12.540590525597281,"velocity":2.599770783525998,"acceleration":3.198488003994761E-4,"pose":{"translation":{"x":2.500852473425429,"y":-2.1946532030957595},"rotation":{"radians":3.106068705201823}},"curvature":-2.7212331855363533E-4},{"time":12.565088465370918,"velocity":2.599778619162647,"acceleration":3.075172521544852E-4,"pose":{"translation":{"x":2.43720355079381,"y":-2.192390644543546},"rotation":{"radians":3.1060516716964464}},"curvature":-2.6282014334819533E-4},{"time":12.613228798625842,"velocity":2.5997934231456474,"acceleration":2.981018786791895E-4,"pose":{"translation":{"x":2.312128093738924,"y":-2.187941454103279},"rotation":{"radians":3.106019886629307}},"curvature":-2.452436713349287E-4},{"time":12.660090439580754,"velocity":2.599807392688854,"acceleration":2.980767297423326E-4,"pose":{"translation":{"x":2.1903743193614797,"y":-2.1836067276752953},"rotation":{"radians":3.105991021495357}},"curvature":-2.2865809651185191E-4},{"time":12.705514774903694,"velocity":2.599820932626178,"acceleration":-2.154855110307323,"pose":{"translation":{"x":2.0723543777893876,"y":-2.1794016907992315},"rotation":{"radians":3.1059649646113354}},"curvature":-2.1258274858971933E-4},{"time":12.750178972219699,"velocity":2.50357605879201,"acceleration":-2.7,"pose":{"translation":{"x":1.9584571856176902,"y":-2.1753407321390834},"rotation":{"radians":3.1059416453785786}},"curvature":-1.9648065751472473E-4},{"time":12.794991799289058,"velocity":2.3825814257047413,"acceleration":-2.700000000000005,"pose":{"translation":{"x":1.8490455289058936,"y":-2.1714372972562517},"rotation":{"radians":3.1059210363599044}},"curvature":-1.797139453059818E-4},{"time":12.840069890733757,"velocity":2.2608705788040555,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":1.7444531661752865,"y":-2.16770378238258},"rotation":{"radians":3.105903157309331}},"curvature":-1.614821297554598E-4},{"time":12.88531730119061,"velocity":2.138702570570551,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.6449819314062735,"y":-2.1641514281933985},"rotation":{"radians":3.1058880816470227}},"curvature":-1.4073311455829206E-4},{"time":12.93063228438043,"velocity":2.0163521159580413,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.550898837035696,"y":-2.160790213580565},"rotation":{"radians":3.1058759461209915}},"curvature":-1.1603056094598862E-4},{"time":12.975906785270606,"velocity":1.894110963554563,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":1.4624331769541712,"y":-2.1576287494255024},"rotation":{"radians":3.105866964755472}},"curvature":-8.535100121724553E-5},{"time":13.021025881048134,"velocity":1.7722894049552367,"acceleration":-2.7,"pose":{"translation":{"x":1.379773629503398,"y":-2.154674172372246},"rotation":{"radians":3.1058614487117278}},"curvature":-4.5766216699449016E-5},{"time":13.065867185129736,"velocity":1.651217883934912,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":1.3030653604735054,"y":-2.1519320386004788},"rotation":{"radians":3.105859834469105}},"curvature":7.064917537773632E-6},{"time":13.110300246853674,"velocity":1.5312486172802824,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.2324071261003695,"y":-2.149406217598576},"rotation":{"radians":3.1058627239070753}},"curvature":7.972688925949573E-5},{"time":13.197376481127865,"velocity":1.296142784739966,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.1093863564805693,"y":-2.1450099210395703},"rotation":{"radians":3.1058856175084033}},"curvature":3.3139229168704297E-4},{"time":13.281036122587379,"velocity":1.070261752799279,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.0104630933443568,"y":-2.141478468151622},"rotation":{"radians":3.105941160430028}},"curvature":8.906678409643786E-4},{"time":13.359948402662743,"velocity":0.857198596595795,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.9344611483530123,"y":-2.138771258804821},"rotation":{"radians":3.1060505660249467}},"curvature":0.0022646239829141085},{"time":13.499221848556294,"velocity":0.48116029268321003,"acceleration":-2.7,"pose":{"translation":{"x":0.8413204297411818,"y":-2.1354778467074014},"rotation":{"radians":3.1066257443819945}},"curvature":0.015730336013924266},{"time":13.67742936436489,"velocity":0.0,"acceleration":-2.7,"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 fdb684a..468ca7d 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":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2188475940459555,"velocity":0.5908885039240799,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.2589790305012487,"y":-2.2858363665609196},"rotation":{"radians":0.006910660085654745}},"curvature":0.17075056357529908},{"time":0.32281893834225356,"velocity":0.8716111335240845,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3350011683614382,"y":-2.2848129158160093},"rotation":{"radians":0.01966881796379652}},"curvature":0.14804792138338266},{"time":0.4175887923309011,"velocity":1.127489739293433,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.4296972542602835,"y":-2.2823833063790717},"rotation":{"radians":0.03068958789018729}},"curvature":0.08869772581436862},{"time":0.5108504445029998,"velocity":1.3792962001580995,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.5465193699470139,"y":-2.2782987701213524},"rotation":{"radians":0.038439923607301606}},"curvature":0.04880447334998829},{"time":0.5572729037683885,"velocity":1.504636840174649,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6134056818667721,"y":-2.2756275127352357},"rotation":{"radians":0.041249093077204556}},"curvature":0.03593671023837706},{"time":0.6034431364978833,"velocity":1.629296468544285,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.6856878057355877,"y":-2.272559271651169},"rotation":{"radians":0.04348079898504613}},"curvature":0.026334633534917214},{"time":0.6492007513923905,"velocity":1.7528420287594546,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.7629908484516392,"y":-2.2691248940374864},"rotation":{"radians":0.04522248689609526}},"curvature":0.019085304061727686},{"time":0.6943607455156314,"velocity":1.8747740128922052,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.8448160541546461,"y":-2.2653646677935435},"rotation":{"radians":0.0465455411089632}},"curvature":0.013497070374566182},{"time":0.7387296628346317,"velocity":1.9945700896535061,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.9305603352774277,"y":-2.2613267952834546},"rotation":{"radians":0.047505676827783345}},"curvature":0.00906219839505724},{"time":0.7821155925613033,"velocity":2.1117120999155192,"acceleration":2.7000000000000064,"pose":{"translation":{"x":2.0195358035974658,"y":-2.2570658670698314},"rotation":{"radians":0.048144657272084834}},"curvature":0.0054088341484753},{"time":0.8243344992547258,"velocity":2.2257031479877605,"acceleration":1.7920219624721339,"pose":{"translation":{"x":2.1109893012884644,"y":-2.252641335647522},"rotation":{"radians":0.04849220951314223}},"curvature":0.0022594599563708234},{"time":0.8655443339713573,"velocity":2.299552076869811,"acceleration":-0.04997576501443969,"pose":{"translation":{"x":2.204121931971912,"y":-2.2481159891773497},"rotation":{"radians":0.048567701431190304}},"curvature":-6.011948199765512E-4},{"time":0.9064823798025157,"velocity":2.2975061667112024,"acceleration":-0.050649574183119064,"pose":{"translation":{"x":2.2981085917686412,"y":-2.243554425219849},"rotation":{"radians":0.04838145257570038}},"curvature":-0.0033501613336103402},{"time":0.9474662374978303,"velocity":2.295430351770553,"acceleration":-0.05451139566468182,"pose":{"translation":{"x":2.3921175003503916,"y":-2.239021524469009},"rotation":{"radians":0.04793568863562068}},"curvature":-0.006144317360420896},{"time":0.9881396719382204,"velocity":2.2932131860927316,"acceleration":-0.061776478024620086,"pose":{"translation":{"x":2.485329731991369,"y":-2.2345809244860044},"rotation":{"radians":0.04722521603829856}},"curvature":-0.009134325858122367},{"time":1.0281615690117862,"velocity":2.290740774247663,"acceleration":-0.07295600185322068,"pose":{"translation":{"x":2.5769587466198076,"y":-2.230293493432942},"rotation":{"radians":0.0462379446740676}},"curvature":-0.012475378087983349},{"time":1.0672143714606397,"velocity":2.287891637919831,"acceleration":-0.08877686239366805,"pose":{"translation":{"x":2.66626992086953,"y":-2.2262158038065936},"rotation":{"radians":0.04495545857265369}},"curvature":-0.016334465882192943},{"time":1.105012457824213,"velocity":2.284536042407988,"acceleration":-0.10997768796709827,"pose":{"translation":{"x":2.75260007913151,"y":-2.2223986061721357},"rotation":{"radians":0.04335395993069248}},"curvature":-0.020891884954709627},{"time":1.1413103835086096,"velocity":2.2805440804632164,"acceleration":-0.1367831851970263,"pose":{"translation":{"x":2.8353770246054317,"y":-2.2188853028968896},"rotation":{"radians":0.04140613238077088}},"curvature":-0.02633105621031943},{"time":1.1759108491233388,"velocity":2.2758113185671336,"acceleration":-0.16767887535602183,"pose":{"translation":{"x":2.9141390703512506,"y":-2.215710421884058},"rotation":{"radians":0.03908483682919789}},"curvature":-0.03280431183658823},{"time":1.2086721803932237,"velocity":2.2703179353846332,"acceleration":-0.19686194269779983,"pose":{"translation":{"x":2.988554570340758,"y":-2.2128980903064637},"rotation":{"radians":0.036370115694462725}},"curvature":-0.040351753872629},{"time":1.2395150027603963,"velocity":2.2642461574551485,"acceleration":-0.19343738653381198,"pose":{"translation":{"x":3.058441450509136,"y":-2.2104605083402893},"rotation":{"radians":0.033261717778710294}},"curvature":-0.0487364704212186},{"time":1.2954646107602756,"velocity":2.2534234115060605,"acceleration":-0.1992463209061821,"pose":{"translation":{"x":3.18476610124958,"y":-2.206689601366153},"rotation":{"radians":0.026097529096406974}},"curvature":-0.06379400428035585},{"time":1.3446756226996142,"velocity":2.243618298429077,"acceleration":-2.700000000000005,"pose":{"translation":{"x":3.295390049281255,"y":-2.2041987643203456},"rotation":{"radians":0.01902614736738477}},"curvature":-0.05756025386299252},{"time":1.3909152849911763,"velocity":2.118771210241859,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.015623728620487205}},"curvature":1.9919758598592307E-14},{"time":1.4392404976936228,"velocity":1.9882931359452534,"acceleration":-2.7,"pose":{"translation":{"x":3.495468402033405,"y":-2.2018050715414463},"rotation":{"radians":-0.009428571274368771}},"curvature":-0.47251629093133557},{"time":1.4916878295750844,"velocity":1.846685339865307,"acceleration":-1.0810335033318776,"pose":{"translation":{"x":3.5959601380389303,"y":-2.205700144331257},"rotation":{"radians":-0.07282027506060841}},"curvature":-0.7576381807988044},{"time":1.5482490804907214,"velocity":1.7855407326351425,"acceleration":-0.37767582422006707,"pose":{"translation":{"x":3.6980083294102783,"y":-2.217443180910914},"rotation":{"radians":-0.15855495578930215}},"curvature":-0.889275285593679},{"time":1.5776440317240055,"velocity":1.7744389702002032,"acceleration":-0.09994948334189595,"pose":{"translation":{"x":3.7494660434238085,"y":-2.2269178925541913},"rotation":{"radians":-0.2058343047866693}},"curvature":-0.9141491880352},{"time":1.6075213583992005,"velocity":1.7714527468353805,"acceleration":0.07601965799476648,"pose":{"translation":{"x":3.80104030335027,"y":-2.239001357109209},"rotation":{"radians":-0.25450709320216297}},"curvature":-0.9208931401196707},{"time":1.6377528853716363,"velocity":1.7737509371764846,"acceleration":0.17222362501040064,"pose":{"translation":{"x":3.8525542293078177,"y":-2.2537674845726783},"rotation":{"radians":-0.30376259210720574}},"curvature":-0.9157009975296813},{"time":1.6682307132156091,"velocity":1.7789999391702165,"acceleration":0.2052905069122546,"pose":{"translation":{"x":3.9038000444767205,"y":-2.2712321071920876},"rotation":{"radians":-0.3530427474166501}},"curvature":-0.9038925992624286},{"time":1.6988626471143173,"velocity":1.785288384407985,"acceleration":0.18818733969659224,"pose":{"translation":{"x":3.9545449810861992,"y":-2.291358620014931},"rotation":{"radians":-0.40200912687665896}},"curvature":-0.8898372449967046},{"time":1.7295680021342197,"velocity":1.7910667434836198,"acceleration":0.1310542565034372,"pose":{"translation":{"x":4.004537186401265,"y":-2.3140636214379344},"rotation":{"radians":-0.4505070113590233}},"curvature":-0.8770090012723853},{"time":1.7602742746743536,"velocity":1.795090931201359,"acceleration":0.04169537319800027,"pose":{"translation":{"x":4.053511628709556,"y":-2.3392225537562825},"rotation":{"radians":-0.49853061434834167}},"curvature":-0.8681238907544738},{"time":1.7909149192263678,"velocity":1.7963685043109825,"acceleration":-0.07397966670850244,"pose":{"translation":{"x":4.10119600330818,"y":-2.366675343712849},"rotation":{"radians":-0.5461919132987508}},"curvature":-0.865311428496268},{"time":1.821428252028443,"velocity":1.7941111381201194,"acceleration":-0.21140962464442065,"pose":{"translation":{"x":4.147316638490546,"y":-2.396232043047422},"rotation":{"radians":-0.5936940977906976}},"curvature":-0.8702835309347113},{"time":1.851757335601868,"velocity":1.7876992779460523,"acceleration":-0.3666491590247449,"pose":{"translation":{"x":4.191604401533209,"y":-2.427678469045932},"rotation":{"radians":-0.6413094050073674}},"curvature":-0.8844748597115307},{"time":1.8818505746337024,"velocity":1.7766656171626996,"acceleration":-0.5353985715207105,"pose":{"translation":{"x":4.2338006046827035,"y":-2.4607818450896786},"rotation":{"radians":-0.6893601527819386}},"curvature":-0.9091353831892264},{"time":1.9116626555208593,"velocity":1.7607042716416559,"acceleration":-0.711765119647957,"pose":{"translation":{"x":4.273662911142385,"y":-2.4952964412045606},"rotation":{"radians":-0.7382010066172255}},"curvature":-0.9453563642509774},{"time":1.9411553677195967,"velocity":1.7397123878147789,"acceleration":-0.8867680297444941,"pose":{"translation":{"x":4.310971241059266,"y":-2.5309692146103004},"rotation":{"radians":-0.7881998047509012}},"curvature":-0.9940049664359809},{"time":1.9702977391383607,"velocity":1.7138698645296793,"acceleration":-1.0466878092229122,"pose":{"translation":{"x":4.345533677510854,"y":-2.5675454502696735},"rotation":{"radians":-0.8397135199968498}},"curvature":-1.0555314994649576},{"time":1.9990647987623535,"velocity":1.6837597339140573,"acceleration":-1.1714857305255808,"pose":{"translation":{"x":4.377192372491993,"y":-2.6047744014377354},"rotation":{"radians":-0.8930551619571827}},"curvature":-1.1296006737692692},{"time":2.02743417219943,"velocity":1.650525417748571,"acceleration":-1.2335983306413603,"pose":{"translation":{"x":4.405829452901698,"y":-2.6424149302110496},"rotation":{"radians":-0.9484468081780388}},"curvature":-1.214492765899179},{"time":2.0553796866542813,"velocity":1.6160518777681525,"acceleration":-1.1972448139510508,"pose":{"translation":{"x":4.431372926529995,"y":-2.680241148076914},"rotation":{"radians":-1.0059539912222772}},"curvature":-1.3062396223678578},{"time":2.08286133406725,"velocity":1.5831496179241444,"acceleration":-1.0176669563494738,"pose":{"translation":{"x":4.453802588044757,"y":-2.7180480564625893},"rotation":{"radians":-1.0653982523331798}},"curvature":-1.3975313224959374},{"time":2.109811486755183,"velocity":1.5557233380650621,"acceleration":-0.6381393459279742,"pose":{"translation":{"x":4.47315592497855,"y":-2.755657187284527},"rotation":{"radians":-1.1262490019427633}},"curvature":-1.4765801443939932},{"time":2.136118333014035,"velocity":1.5389359044000104,"acceleration":0.02014524250793445,"pose":{"translation":{"x":4.489534023715459,"y":-2.7929222434975953},"rotation":{"radians":-1.187503840779327}},"curvature":-1.5263554845323177},{"time":2.1616090786970417,"velocity":1.5394494216535026,"acceleration":1.0849455897319005,"pose":{"translation":{"x":4.503107475477936,"y":-2.8297347396443087},"rotation":{"radians":-1.247577593055913}},"curvature":-1.52481679177783},{"time":2.1860371474285567,"velocity":1.5659525470894275,"acceleration":1.9630187948544446,"pose":{"translation":{"x":4.514122282313632,"y":-2.8660296424040546},"rotation":{"radians":-1.3042308693880997}},"curvature":-1.446773443152478},{"time":2.2092159608640207,"velocity":1.611452993505668,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.522905763082244,"y":-2.9017910111423175},"rotation":{"radians":-1.3545726687892008}},"curvature":-1.2676094631183705},{"time":2.2319571281549693,"velocity":1.5500518418201075,"acceleration":-2.7,"pose":{"translation":{"x":4.529872459442342,"y":-2.937057638459915},"rotation":{"radians":-1.3951638977655076}},"curvature":-0.9684653632102034},{"time":2.279271251686541,"velocity":1.422303708284864,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.5404852154867,"y":-3.006569348708373},"rotation":{"radians":-1.4320291524242688}},"curvature":-3.968567798245732E-14},{"time":2.331079789802164,"velocity":1.2824206553726814,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":4.548190539003163,"y":-3.0762082684571026},"rotation":{"radians":-1.5145741224561866}},"curvature":-2.169893522332204},{"time":2.345086525060584,"velocity":1.2446024701749472,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.548825732668718,"y":-3.09389453775449},"rotation":{"radians":-1.5562793153684447}},"curvature":-2.528786618433012},{"time":2.3596545720602906,"velocity":1.2052687432757394,"acceleration":-2.4380409010040616,"pose":{"translation":{"x":4.548666359883473,"y":-3.111738745552366},"rotation":{"radians":-1.6039923682982342}},"curvature":-2.8033583330899354},{"time":2.37486180392352,"velocity":1.1681928900021339,"acceleration":-1.194846667487473,"pose":{"translation":{"x":4.547599951621176,"y":-3.129754101139141},"rotation":{"radians":-1.656413280529951}},"curvature":-2.990286836084652},{"time":2.3906647687220093,"velocity":1.1493107701762368,"acceleration":-0.20700058561726095,"pose":{"translation":{"x":4.545528388523405,"y":-3.1479482625626964},"rotation":{"radians":-1.7122245522507358}},"curvature":-3.090121541319297},{"time":2.4069115157058003,"velocity":1.1459476840362166,"acceleration":0.6028886544934401,"pose":{"translation":{"x":4.542367374171818,"y":-3.1663235999942585},"rotation":{"radians":-1.7701385864463517}},"curvature":-3.1082482330608565},{"time":2.4234636599439283,"velocity":1.155926784004923,"acceleration":1.276130611711102,"pose":{"translation":{"x":4.538045908360385,"y":-3.1848774590922835},"rotation":{"radians":-1.8289529386607495}},"curvature":-3.0547697498540463},{"time":2.4402022468524334,"velocity":1.177287407155653,"acceleration":1.832968164433614,"pose":{"translation":{"x":4.532505760367635,"y":-3.203602424366333},"rotation":{"radians":-1.8876022156922398}},"curvature":-2.9433444225531606},{"time":2.457031793144399,"velocity":1.2081354297306877,"acceleration":2.281766806450292,"pose":{"translation":{"x":4.525700942228897,"y":-3.2224865825409537},"rotation":{"radians":-1.945196738995474}},"curvature":-2.789382956946834},{"time":2.4738818213184,"velocity":1.2465832647058757,"acceleration":2.625331282485916,"pose":{"translation":{"x":4.517597182008538,"y":-3.2415137859195604},"rotation":{"radians":-2.0010422830611705}},"curvature":-2.608158084659283},{"time":2.49070589162083,"velocity":1.2907520227695874,"acceleration":2.700000000000008,"pose":{"translation":{"x":4.50817139707221,"y":-3.260663915748311},"rotation":{"radians":-2.0546403345675577}},"curvature":-2.413293055317187},{"time":2.5074960882975237,"velocity":1.336085553796661,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.497411167359083,"y":-3.2799131455799873},"rotation":{"radians":-2.1056724518812366}},"curvature":-2.21586231757828},{"time":2.5242731744337665,"velocity":1.3813836863645161,"acceleration":2.6999999999999558,"pose":{"translation":{"x":4.485314208654093,"y":-3.2992342046378758},"rotation":{"radians":-2.153974400427438}},"curvature":-2.0241010689115004},{"time":2.541054811025794,"velocity":1.4266941051629891,"acceleration":2.70000000000002,"pose":{"translation":{"x":4.471887845860182,"y":-3.318596641179645},"rotation":{"radians":-2.1995058440559263}},"curvature":-1.8435718497098361},{"time":2.557848747879023,"velocity":1.4720377346667075,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.457148486270537,"y":-3.3379670858612256},"rotation":{"radians":-2.242320194377558}},"curvature":-1.6775922318528667},{"time":2.5914581718452703,"velocity":1.5627831793755746,"acceleration":2.7000000000000157,"pose":{"translation":{"x":4.4238386574614745,"y":-3.376585514442135},"rotation":{"radians":-2.3203223745146797}},"curvature":-1.394429641705354},{"time":2.6250302297295858,"velocity":1.6534277356632274,"acceleration":2.349529353009975,"pose":{"translation":{"x":4.385677612722499,"y":-3.4147741914207166},"rotation":{"radians":-2.389372017089762}},"curvature":-1.1751142944648578},{"time":2.6585271393500842,"velocity":1.732129708051711,"acceleration":1.510523156537762,"pose":{"translation":{"x":4.3430698502165885,"y":-3.452187991497558},"rotation":{"radians":-2.4511090439091}},"curvature":-1.0118676898807777},{"time":2.6921077185839724,"velocity":1.78285395059445,"acceleration":1.0561127037484672,"pose":{"translation":{"x":4.29651462048582,"y":-3.488460390677865},"rotation":{"radians":-2.5071658724276027}},"curvature":-0.8952667051519858},{"time":2.7258888895809434,"velocity":1.8185306744318506,"acceleration":0.6328929716948036,"pose":{"translation":{"x":4.246589071163095,"y":-3.5232118939155996},"rotation":{"radians":-2.559066645798399}},"curvature":-0.8171522525475116},{"time":2.7598163028806972,"velocity":1.8400030958570497,"acceleration":0.23273601211447,"pose":{"translation":{"x":4.193931391683856,"y":-3.556058462757621},"rotation":{"radians":-2.6082117823929067}},"curvature":-0.7715984470363638},{"time":2.7938002926207437,"velocity":1.8479123941048872,"acceleration":-0.16076083935889998,"pose":{"translation":{"x":4.1392239579978085,"y":-3.586619942987824},"rotation":{"radians":-2.6559043536046003}},"curvature":-0.7550856422693734},{"time":2.8277326960395457,"velocity":1.8424573924498158,"acceleration":-0.5671043444746109,"pose":{"translation":{"x":4.083176477280641,"y":-3.6145284922712815},"rotation":{"radians":-2.7033952068445406}},"curvature":-0.7664592666340422},{"time":2.861504713309385,"velocity":1.8233051347344182,"acceleration":-1.0048057109772512,"pose":{"translation":{"x":4.026509132645742,"y":-3.639437007798382},"rotation":{"radians":-2.7519357464854353}},"curvature":-0.8069304584966608},{"time":2.8950250509172637,"velocity":1.7896237080721362,"acceleration":-2.0483459567639715,"pose":{"translation":{"x":3.969935727855927,"y":-3.661027553928971},"rotation":{"radians":-2.80283282301912}},"curvature":-0.880204850778421},{"time":2.9284178084006807,"velocity":1.7212237882957795,"acceleration":-2.7,"pose":{"translation":{"x":3.91414683203515,"y":-3.67901978983649},"rotation":{"radians":-2.8575008286150396}},"curvature":-0.9927107532457584},{"time":2.9619313105030067,"velocity":1.6307373326194996,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.859792924380229,"y":-3.6931793971521163},"rotation":{"radians":-2.9175018479081674}},"curvature":-1.1537386977785027},{"time":2.995551770084081,"velocity":1.5399620917505994,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.807467538872568,"y":-3.7033265076089066},"rotation":{"radians":-2.98455371580211}},"curvature":-1.374978747220705},{"time":3.029097206021455,"velocity":1.4493894147196886,"acceleration":-2.700000000000003,"pose":{"translation":{"x":3.7576904089898706,"y":-3.7093441306859303},"rotation":{"radians":-3.060464819899775}},"curvature":-1.6682983687998736},{"time":3.0624475101632047,"velocity":1.3593435935369642,"acceleration":-2.7,"pose":{"translation":{"x":3.710890612417863,"y":-3.7111865812524147},"rotation":{"radians":3.136263424747276}},"curvature":-2.0396127465065623},{"time":3.079043175093843,"velocity":1.3145352982242409,"acceleration":-2.7,"pose":{"translation":{"x":3.68871236422594,"y":-3.7105494117990094},"rotation":{"radians":3.0886940080028404}},"curvature":-2.2517540717159137},{"time":3.0955943513070516,"velocity":1.269847122448577,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.6673897157620186,"y":-3.708887907211884},"rotation":{"radians":3.0381612940763745}},"curvature":-2.476098247466147},{"time":3.1121227363419974,"velocity":1.2252204828542232,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.64694329892476,"y":-3.706220164425954},"rotation":{"radians":2.9847532628264495}},"curvature":-2.7048566294224945},{"time":3.128662901164883,"velocity":1.1805620378324326,"acceleration":-2.2921488110565056,"pose":{"translation":{"x":3.6273849192592724,"y":-3.702570317146297},"rotation":{"radians":2.9287138243171698}},"curvature":-2.926619125524679},{"time":3.145214880218198,"velocity":1.1426224387247446,"acceleration":-1.731894722343291,"pose":{"translation":{"x":3.6087170292293553,"y":-3.6979687992120294},"rotation":{"radians":2.8704785532553947}},"curvature":-3.1262758771705346},{"time":3.1617176898893193,"velocity":1.1140413097514936,"acceleration":-1.046454551105074,"pose":{"translation":{"x":3.590932201489739,"y":-3.692452607960189},"rotation":{"radians":2.810702413372763}},"curvature":-3.2856648096325953},{"time":3.178077072719235,"velocity":1.0969219591358579,"acceleration":-0.21670040872800878,"pose":{"translation":{"x":3.5740126021583305,"y":-3.6860655675896123},"rotation":{"radians":2.7502717349030865}},"curvature":-3.3851121302675136},{"time":3.194169492237898,"velocity":1.093434725248741,"acceleration":0.8000568608534584,"pose":{"translation":{"x":3.5579294640884447,"y":-3.678858592524813},"rotation":{"radians":2.6902938124377727}},"curvature":-3.4057514466931504},{"time":3.2098456521019028,"velocity":1.1059765444997736,"acceleration":2.0879254450505185,"pose":{"translation":{"x":3.5426425601410547,"y":-3.670889950779865},"rotation":{"radians":2.6320615510540275}},"curvature":-3.332129959746317},{"time":3.224936887963345,"velocity":1.1374859198521379,"acceleration":2.70000000000002,"pose":{"translation":{"x":3.528099676457032,"y":-3.6622255273222764},"rotation":{"radians":2.5769970267210054}},"curvature":-3.1543304032069743},{"time":3.239359585897836,"velocity":1.1764272042752637,"acceleration":2.700000000000004,"pose":{"translation":{"x":3.5142360857293804,"y":-3.6529390874368746},"rotation":{"radians":2.5265844229720025}},"curvature":-2.868872675190118},{"time":3.25317117883076,"velocity":1.2137185051941588,"acceleration":2.6999999999999713,"pose":{"translation":{"x":3.5009740204754904,"y":-3.643112540089682},"rotation":{"radians":2.4823065390828343}},"curvature":-2.4780738247730825},{"time":3.2793225493089095,"velocity":1.284327205485162,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.4758750352138703,"y":-3.6222090574632704},"rotation":{"radians":2.417820891298193}},"curvature":-1.4069114432882768},{"time":3.3039502646092167,"velocity":1.3508220367959913,"acceleration":2.7,"pose":{"translation":{"x":3.4518997616440137,"y":-3.600343232622558},"rotation":{"radians":2.3941509353806443}},"curvature":-6.597754040718503E-14},{"time":3.350081140224857,"velocity":1.47537540095822,"acceleration":2.700000000000019,"pose":{"translation":{"x":3.404627493866877,"y":-3.5554573728365666},"rotation":{"radians":2.359151148596555}},"curvature":-0.9974038163995482},{"time":3.372143517545056,"velocity":1.534943819722758,"acceleration":0.03508737770269971,"pose":{"translation":{"x":3.381514791886723,"y":-3.5316134140177007},"rotation":{"radians":2.320298721981781}},"curvature":-1.32202941467885},{"time":3.394202004933635,"velocity":1.5357177942013114,"acceleration":-1.704746588884932,"pose":{"translation":{"x":3.3590372747357247,"y":-3.506280826147151},"rotation":{"radians":2.27159233086776}},"curvature":-1.5360215957752419},{"time":3.4170735018868985,"velocity":1.4967276877875437,"acceleration":-0.6280130425714702,"pose":{"translation":{"x":3.337411959780435,"y":-3.4791712499705354},"rotation":{"radians":2.21598103540442}},"curvature":-1.656437274294512},{"time":3.440987809597589,"velocity":1.4817091906411624,"acceleration":0.03307674451002053,"pose":{"translation":{"x":3.316855510470594,"y":-3.4500892470930604},"rotation":{"radians":2.1559383465680733}},"curvature":-1.7045105299517793},{"time":3.465710981980755,"velocity":1.4825269526975575,"acceleration":0.4178691120645843,"pose":{"translation":{"x":3.297582378275852,"y":-3.4189246686482133},"rotation":{"radians":2.093395544143883}},"curvature":-1.7018678521959556},{"time":3.4910709408732905,"velocity":1.4931240962019756,"acceleration":0.6085852664517968,"pose":{"translation":{"x":3.2798029446224954,"y":-3.385645023966453},"rotation":{"radians":2.029744042707893}},"curvature":-1.6678839582767058},{"time":3.5169486944068846,"velocity":1.5088729157313918,"acceleration":0.6604701887151617,"pose":{"translation":{"x":3.263721662830171,"y":-3.3502878492439034},"rotation":{"radians":1.9658874326741407}},"curvature":-1.6182610441414893},{"time":3.543266672051837,"velocity":1.5262551553931547,"acceleration":0.6147641398817456,"pose":{"translation":{"x":3.2495352000486126,"y":-3.3129530762110466},"rotation":{"radians":1.9023216894634125}},"curvature":-1.5646802985757566},{"time":3.5699768976264528,"velocity":1.5426756442445808,"acceleration":0.5040057759920299,"pose":{"translation":{"x":3.2374305791943634,"y":-3.2737954008014114},"rotation":{"radians":1.839224295925083}},"curvature":-1.5151732380150225},{"time":3.5970507328921104,"velocity":1.556321013596729,"acceleration":0.35424018516283295,"pose":{"translation":{"x":3.2275833208875033,"y":-3.23301665182027},"rotation":{"radians":1.7765388245251448}},"curvature":-1.4748278109320043},{"time":3.6244709449223094,"velocity":1.5660343545835107,"acceleration":0.18627733587029371,"pose":{"translation":{"x":3.2201555853883743,"y":-3.1908581596133265},"rotation":{"radians":1.7140481308573512}},"curvature":-1.4465366353362927},{"time":3.652226106062432,"velocity":1.5712045120573435,"acceleration":0.016829357774529548,"pose":{"translation":{"x":3.215294314534303,"y":-3.147593124735411},"rotation":{"radians":1.6514346645385467}},"curvature":-1.4316206277953818},{"time":3.680306882266458,"velocity":1.5716770934866675,"acceleration":-0.14032125637975712,"pose":{"translation":{"x":3.2131293736763284,"y":-3.103518986619172},"rotation":{"radians":1.5883298080818744}},"curvature":-1.4302621159294333},{"time":3.708703553751136,"velocity":1.5676924368669343,"acceleration":-0.2732496139114301,"pose":{"translation":{"x":3.2137716936159246,"y":-3.0589497922437667},"rotation":{"radians":1.5243558160649924}},"curvature":-1.441742318222538},{"time":3.7374040638357267,"velocity":1.5598500335672587,"acceleration":-0.37109687889815846,"pose":{"translation":{"x":3.217311412541728,"y":-3.014208564803556},"rotation":{"radians":1.4591643386769895}},"curvature":-1.4645083998363497},{"time":3.7663919498596004,"velocity":1.5490927195379436,"acceleration":-0.42369175680170196,"pose":{"translation":{"x":3.2238160179662603,"y":-2.969619672376793},"rotation":{"radians":1.392475069328822}},"curvature":-1.4961112617234316},{"time":3.795643650288727,"velocity":1.53669901519369,"acceleration":-0.4216103584477506,"pose":{"translation":{"x":3.2333284886626554,"y":-2.9255011965943183},"rotation":{"radians":1.3241169263681425}},"curvature":-1.5330700506498158},{"time":3.825124906701268,"velocity":1.5242694121101084,"acceleration":-0.35655853585036507,"pose":{"translation":{"x":3.2458654366013837,"y":-2.8821573013082524},"rotation":{"radians":1.2540723653073398}},"curvature":-1.5707395231544214},{"time":3.8547862941357915,"velocity":1.5136933912351642,"acceleration":-0.22180783595012207,"pose":{"translation":{"x":3.2614152488869763,"y":-2.839870601260684},"rotation":{"radians":1.1825229240815807}},"curvature":-1.6032786185938699},{"time":3.8845582944569843,"velocity":1.5070897282720142,"acceleration":-0.012289766543548603,"pose":{"translation":{"x":3.279936229694752,"y":-2.798894530752366},"rotation":{"radians":1.1098911927305724}},"curvature":-1.6238276190046936},{"time":3.9143466868856693,"velocity":1.506723635883358,"acceleration":0.27611441149696686,"pose":{"translation":{"x":3.3013547422075398,"y":-2.759445712311407},"rotation":{"radians":1.0368718494707698}},"curvature":-1.6249720795219005},{"time":3.944029205428431,"velocity":1.5149194070225405,"acceleration":0.6485845622908233,"pose":{"translation":{"x":3.325563350552406,"y":-2.721696325361962},"rotation":{"radians":0.9644435606186033}},"curvature":-1.5994832719800107},{"time":3.9734542194005336,"velocity":1.534004016830038,"acceleration":1.1153004193914704,"pose":{"translation":{"x":3.3524189617373787,"y":-2.685766474892926},"rotation":{"radians":0.8938558696999009}},"curvature":-1.5411857513425054},{"time":4.002441546564099,"velocity":1.5663335949726003,"acceleration":1.6984326131449459,"pose":{"translation":{"x":3.3817409675881733,"y":-2.6517165601266246},"rotation":{"radians":0.8265912966733785}},"curvature":-1.4456706361406226},{"time":4.030784560594674,"velocity":1.6144722943569536,"acceleration":2.4446713417519312,"pose":{"translation":{"x":3.413309386684915,"y":-2.619539643187509},"rotation":{"radians":0.7643114214044299}},"curvature":-1.3105373560017928},{"time":4.058251908254988,"velocity":1.681620932016059,"acceleration":2.700000000000012,"pose":{"translation":{"x":3.4468630062988685,"y":-2.5891538177708444},"rotation":{"radians":0.7088034703367372}},"curvature":-1.1349629003681903},{"time":4.110280639412981,"velocity":1.8220985061426402,"acceleration":-0.5429496779517917,"pose":{"translation":{"x":3.518663691239497,"y":-2.533007186152166},"rotation":{"radians":0.625718005912554}},"curvature":-0.660271995281064},{"time":4.161029101228424,"velocity":1.7945446451433966,"acceleration":-2.7,"pose":{"translation":{"x":3.594158087998453,"y":-2.480832055659343},"rotation":{"radians":0.5938368430683253}},"curvature":7.783167520969263E-15},{"time":4.215382942128208,"velocity":1.647789274713979,"acceleration":-1.91620572179665,"pose":{"translation":{"x":3.6729157334531477,"y":-2.4303422888333297},"rotation":{"radians":0.5271275245782101}},"curvature":-1.2216344022793857},{"time":4.246166181175171,"velocity":1.5888022559167547,"acceleration":0.6951711821309383,"pose":{"translation":{"x":3.7167581655490505,"y":-2.4066882532055685},"rotation":{"radians":0.46109193928949477}},"curvature":-1.3815783289044108},{"time":4.279478810921311,"velocity":1.6119602361172687,"acceleration":1.968147121270305,"pose":{"translation":{"x":3.7653403839718806,"y":-2.3847329758900475},"rotation":{"radians":0.38839994159262164}},"curvature":-1.317389517790865},{"time":4.314570487169577,"velocity":1.6810258177058448,"acceleration":2.4448624397306347,"pose":{"translation":{"x":3.8195770590783837,"y":-2.364815558964395},"rotation":{"radians":0.3172444469602014}},"curvature":-1.1364573481033169},{"time":4.351094195574267,"velocity":1.770321260544145,"acceleration":2.4266510428752546,"pose":{"translation":{"x":3.8800855534054723,"y":-2.3471732649429318},"rotation":{"radians":0.25240611251046907}},"curvature":-0.923454381236981},{"time":4.38898964083473,"velocity":1.8622802823056697,"acceleration":2.145142834179483,"pose":{"translation":{"x":3.9472104082898145,"y":-2.3319496789831997},"rotation":{"radians":0.19591146597855075}},"curvature":-0.7254476116422978},{"time":4.42833351982918,"velocity":1.94667852239944,"acceleration":1.771678077358157,"pose":{"translation":{"x":4.021047830487421,"y":-2.3192028710924912},"rotation":{"radians":0.14804731126089887}},"curvature":-0.5601841162309223},{"time":4.469222077725159,"velocity":2.0191198840385365,"acceleration":1.4090202426241916,"pose":{"translation":{"x":4.1014701787932335,"y":-2.3089135583343787},"rotation":{"radians":0.10821666970702261}},"curvature":-0.42935238516828855},{"time":4.511701036784777,"velocity":2.078973597239143,"acceleration":1.1030656047578213,"pose":{"translation":{"x":4.188150450660712,"y":-2.300993267035243},"rotation":{"radians":0.07548970423561759}},"curvature":-0.328133198199666},{"time":4.555733626632153,"velocity":2.127544432588192,"acceleration":0.8647122564445731,"pose":{"translation":{"x":4.28058676882142,"y":-2.2952924949908033},"rotation":{"radians":0.04889966743165412}},"curvature":-0.2501805657435863},{"time":4.601192679891926,"velocity":2.166853433108284,"acceleration":0.6885405698389377,"pose":{"translation":{"x":4.378126867904618,"y":-2.291608873672647},"rotation":{"radians":0.02757748940261445}},"curvature":-0.18965112629733474},{"time":4.647865764706884,"velocity":2.198989745522916,"acceleration":0.5641464853449195,"pose":{"translation":{"x":4.479992581056847,"y":-2.2896953304347583},"rotation":{"radians":0.010799442879330516}},"curvature":-0.14177421487166667},{"time":4.695466478742013,"velocity":2.2258435210457423,"acceleration":0.48158671585681334,"pose":{"translation":{"x":4.585304326561518,"y":-2.289268250720046},"rotation":{"radians":-0.0020062622537310986}},"curvature":-0.10282754349067043},{"time":4.743648151117977,"velocity":2.249047174409772,"acceleration":0.4334886485223766,"pose":{"translation":{"x":4.693105594458496,"y":-2.2900156402668754},"rotation":{"radians":-0.011269244203826918}},"curvature":-0.06992374778377763},{"time":4.7920180985455225,"velocity":2.270014997549237,"acceleration":0.41570595560316026,"pose":{"translation":{"x":4.802387433163692,"y":-2.291605287315596},"rotation":{"radians":-0.017290929977297382}},"curvature":-0.0407690274999477},{"time":4.8401516130129565,"velocity":2.2900243861774605,"acceleration":-0.005205252522457246,"pose":{"translation":{"x":4.9121129360886515,"y":-2.293692924815071},"rotation":{"radians":-0.02025729797201243}},"curvature":-0.013444805102027516},{"time":4.887818197377367,"velocity":2.2897762695689607,"acceleration":-0.4472957907196524,"pose":{"translation":{"x":5.021241728260138,"y":-2.295930392629206},"rotation":{"radians":-0.020248277027234744}},"curvature":0.013780701622228518},{"time":4.934997459848349,"velocity":2.268673184056433,"acceleration":-0.4984813993307013,"pose":{"translation":{"x":5.128754452939724,"y":-2.29797379974348},"rotation":{"radians":-0.017243368677326374}},"curvature":0.04261861259216183},{"time":4.981488286721381,"velocity":2.245498371620722,"acceleration":-0.5848806132297526,"pose":{"translation":{"x":5.233677258243375,"y":-2.2994916864714727},"rotation":{"radians":-0.011124064818622562}},"curvature":0.07491205717676216},{"time":5.026928150553396,"velocity":2.218921476197577,"acceleration":-0.712441073328339,"pose":{"translation":{"x":5.335106283761043,"y":-2.300173186661394},"rotation":{"radians":-0.0016746489643250997}},"curvature":0.11277657190632562},{"time":5.071012237773077,"velocity":2.187514161782087,"acceleration":-0.8869956935773082,"pose":{"translation":{"x":5.432232147176249,"y":-2.299736189902615},"rotation":{"radians":0.011415384564784041}},"curvature":0.15870914990347582},{"time":5.113503676575496,"velocity":2.1498244385504384,"acceleration":-1.1092174088512479,"pose":{"translation":{"x":5.524364430885674,"y":-2.297935503732195},"rotation":{"radians":0.028540995117919247}},"curvature":0.21560124211877355},{"time":5.154240701643057,"velocity":2.1046382211606893,"acceleration":-1.3643001876020848,"pose":{"translation":{"x":5.610956168618744,"y":-2.294571015841412},"rotation":{"radians":0.050151449126938294}},"curvature":0.28649505988502666},{"time":5.193137512278421,"velocity":2.0515712951137406,"acceleration":-1.6040928256398876,"pose":{"translation":{"x":5.6916283320572205,"y":-2.289495856282291},"rotation":{"radians":0.07667900426154928}},"curvature":0.37374049043326946},{"time":5.230173541267063,"velocity":1.992162066722869,"acceleration":-1.7221671553670288,"pose":{"translation":{"x":5.766194317454786,"y":-2.2826245596741352},"rotation":{"radians":0.1083912394437538}},"curvature":0.47692760237061954},{"time":5.265363797283392,"velocity":1.9315585636225894,"acceleration":-1.5271617961782655,"pose":{"translation":{"x":5.834684432256632,"y":-2.2739412274100532},"rotation":{"radians":0.14511765281794403}},"curvature":0.5887291995734516},{"time":5.2987032146661095,"velocity":1.8806438790888622,"acceleration":0.19759123046974378,"pose":{"translation":{"x":5.8973703817190515,"y":-2.2635076898634896},"rotation":{"radians":0.18580361449886357}},"curvature":0.688226532173067},{"time":5.358754693779486,"velocity":1.8925095247384023,"acceleration":2.699999999999997,"pose":{"translation":{"x":6.007770514423775,"y":-2.238074938557544},"rotation":{"radians":0.26681484901988206}},"curvature":0.6645602759731501},{"time":5.410669141428082,"velocity":2.0326785333896122,"acceleration":2.700000000000017,"pose":{"translation":{"x":6.105326805385559,"y":-2.20868569219867},"rotation":{"radians":0.3070457320187946}},"curvature":8.59105047691098E-15},{"time":5.458307562058189,"velocity":2.161302269090901,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.200577440375988,"y":-2.178572750839354},"rotation":{"radians":0.3048692689793426}},"curvature":-0.029595210721303496},{"time":5.503502817409516,"velocity":2.2833294585394857,"acceleration":-2.0697533813261364,"pose":{"translation":{"x":6.296414326772042,"y":-2.1485209663055427},"rotation":{"radians":0.30361189387914295}},"curvature":0.015398611853207036},{"time":5.548589372864543,"velocity":2.1900114079340964,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.392576486314869,"y":-2.118151506039237},"rotation":{"radians":0.309929491527005}},"curvature":0.11864532984526228},{"time":5.595864608170273,"velocity":2.0623682726086243,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.488044709362718,"y":-2.0866982109208916},"rotation":{"radians":0.3291905095711391}},"curvature":0.27356912072437833},{"time":5.645504168502344,"velocity":1.9283414597120323,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.581224175967098,"y":-2.0531095233119303},"rotation":{"radians":0.3662729906809996}},"curvature":0.48692207907376905},{"time":5.6973117589789135,"velocity":1.788460965425296,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.670127076948947,"y":-2.016150415097255},"rotation":{"radians":0.42636019208531223}},"curvature":0.7777661806474188},{"time":5.723979061318403,"velocity":1.7164592491086745,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.712291108875692,"y":-1.9959959231225946},"rotation":{"radians":0.466848732457423}},"curvature":0.960038980135589},{"time":5.751149824806081,"velocity":1.6430981876919433,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.7525552349747935,"y":-1.9745043157277584},"rotation":{"radians":0.5153365844410867}},"curvature":1.1700803477242545},{"time":5.778855575928984,"velocity":1.5682926596601068,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.79064177432575,"y":-1.9515150031582686},"rotation":{"radians":0.5725598490972759}},"curvature":1.407510053211681},{"time":5.807174044958673,"velocity":1.4918327932799456,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.826282725632931,"y":-1.926875040262836},"rotation":{"radians":0.6390953532961267}},"curvature":1.667148569693312},{"time":5.836250881436266,"velocity":1.4133253347904442,"acceleration":-2.2934673909271215,"pose":{"translation":{"x":6.859225474134207,"y":-1.9004423117446878},"rotation":{"radians":0.7151883594750411}},"curvature":1.9363200629739135},{"time":5.866191688091803,"velocity":1.3446570710679173,"acceleration":-1.8576487637186117,"pose":{"translation":{"x":6.889238498509579,"y":-1.8720887174128968},"rotation":{"radians":0.8005307337600137}},"curvature":2.192818786492281},{"time":5.881496185967412,"velocity":1.3162266895099568,"acceleration":-1.5272695114388057,"pose":{"translation":{"x":6.903081185910179,"y":-1.857156180383169},"rotation":{"radians":0.8463658748252719}},"curvature":2.306849877953884},{"time":5.896995318278059,"velocity":1.2925553372781509,"acceleration":-1.1721970646119395,"pose":{"translation":{"x":6.916117077789808,"y":-1.8417033574337094},"rotation":{"radians":0.8940346261688494}},"curvature":2.4056201057619213},{"time":5.912667308940898,"velocity":1.2741846758265452,"acceleration":-0.7976144553326744,"pose":{"translation":{"x":6.9283257078718155,"y":-1.8257195962214032},"rotation":{"radians":0.9432557744741863}},"curvature":2.4848020382083926},{"time":5.928484304199526,"velocity":1.2615688117683348,"acceleration":-0.40890975224826037,"pose":{"translation":{"x":6.93968899826505,"y":-1.809195717581875},"rotation":{"radians":0.9936918889062446}},"curvature":2.540515033093385},{"time":5.944413161832559,"velocity":1.2550553465400134,"acceleration":-0.01154825741920611,"pose":{"translation":{"x":6.950191437804758,"y":-1.792124115068593},"rotation":{"radians":1.0449571846304218}},"curvature":2.5697176050539396},{"time":5.9604167617409445,"velocity":1.2548705328486374,"acceleration":0.388970363069531,"pose":{"translation":{"x":6.959820260393476,"y":-1.7744988544919729},"rotation":{"radians":1.096629628516868}},"curvature":2.5705506245541385},{"time":5.976455732808673,"velocity":1.2611092172481135,"acceleration":0.7870997621298491,"pose":{"translation":{"x":6.968565623341928,"y":-1.7563157734584816},"rotation":{"radians":1.148266450264419}},"curvature":2.5425656948108637},{"time":5.992490412390276,"velocity":1.2737301097326212,"acceleration":1.1772314928687388,"pose":{"translation":{"x":6.976420785709916,"y":-1.737572580909742},"rotation":{"radians":1.199421625080546}},"curvature":2.48679028399822},{"time":6.008482806388417,"velocity":1.2925568595935983,"acceleration":1.5537354824157943,"pose":{"translation":{"x":6.983382286647216,"y":-1.7182689566616358},"rotation":{"radians":1.2496635232215603}},"curvature":2.4056136374839077},{"time":6.024398314010684,"velocity":1.317285348506973,"acceleration":1.911103781606698,"pose":{"translation":{"x":6.989450123734476,"y":-1.6984066509434093},"rotation":{"radians":1.298590883559801}},"curvature":2.302515484176023},{"time":6.040207023231422,"velocity":1.3474974324810463,"acceleration":2.244217386906987,"pose":{"translation":{"x":6.994627931324107,"y":-1.6779895839367749},"rotation":{"radians":1.345845573854175}},"curvature":2.181690790937652},{"time":6.055884458377676,"velocity":1.382681005018376,"acceleration":2.6869378659957084,"pose":{"translation":{"x":6.998923158881178,"y":-1.6570239453150175},"rotation":{"radians":1.3911211604277107}},"curvature":2.0476389389286784},{"time":6.086745671938389,"velocity":1.4656031683252355,"acceleration":2.6999999999999766,"pose":{"translation":{"x":7.004915817366584,"y":-1.6134836566117543},"rotation":{"radians":1.4747879462418056}},"curvature":1.7571597270334407},{"time":6.117064548286066,"velocity":1.5474641344639641,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.007570774118427,"y":-1.5678844745372809},"rotation":{"radians":1.548228778076881}},"curvature":1.4607199247005194},{"time":6.146990903969824,"velocity":1.6282652948101108,"acceleration":2.700000000000019,"pose":{"translation":{"x":7.00710315968425,"y":-1.5203677711630594},"rotation":{"radians":1.6108008573105854}},"curvature":1.1774597721431561},{"time":6.1765778782574206,"velocity":1.7081501253866227,"acceleration":2.7000000000000237,"pose":{"translation":{"x":7.0038062671400185,"y":-1.471120786179683},"rotation":{"radians":1.6623324713404102}},"curvature":0.9158224230097983},{"time":6.234553604413803,"velocity":1.8646845860088561,"acceleration":2.700000000000023,"pose":{"translation":{"x":6.990322874119228,"y":-1.3684333797514574},"rotation":{"radians":1.7323819089404568}},"curvature":0.45120655079708105},{"time":6.290117175884226,"velocity":2.014706228978999,"acceleration":-1.5458788605953449,"pose":{"translation":{"x":6.971247052760426,"y":-1.262358564710433},"rotation":{"radians":1.757019167206025}},"curvature":-1.561060768928937E-14},{"time":6.344787797136289,"velocity":1.9301920712898202,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.9504471138436426,"y":-1.1565485738242998},"rotation":{"radians":1.780308861065907}},"curvature":0.4213474449159541},{"time":6.400806418241065,"velocity":1.7789417943069237,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.925936262751364,"y":-1.0555911127842554},"rotation":{"radians":1.8445606453124532}},"curvature":0.8225080369632037},{"time":6.429316155093265,"velocity":1.701965504805983,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.911466814352387,"y":-1.008127788913547},"rotation":{"radians":1.8906170407773308}},"curvature":1.037137176437969},{"time":6.458059444268575,"velocity":1.624358624032646,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.8952370110002885,"y":-0.9631623863235449},"rotation":{"radians":1.9455678688657185}},"curvature":1.2652476416105811},{"time":6.487022297862865,"velocity":1.5461589193280647,"acceleration":-2.6704003737980844,"pose":{"translation":{"x":6.877120042088533,"y":-0.9209742869474389},"rotation":{"radians":2.0090981353401283}},"curvature":1.5048065066202938},{"time":6.516239340097031,"velocity":1.468137718824672,"acceleration":-2.3203882537136242,"pose":{"translation":{"x":6.857051404065739,"y":-0.881778884558397},"rotation":{"radians":2.080714005033709}},"curvature":1.748797911494619},{"time":6.545699691178668,"velocity":1.3997782662245626,"acceleration":-1.894369459966771,"pose":{"translation":{"x":6.835023193527048,"y":-0.8457318317713383},"rotation":{"radians":2.1596208195845645}},"curvature":1.9849301909624535},{"time":6.57530380827179,"velocity":1.3436971309140715,"acceleration":-1.532959473323116,"pose":{"translation":{"x":6.811078400305493,"y":-0.8129332870447026},"rotation":{"radians":2.2446368744994247}},"curvature":2.1965902859911486},{"time":6.590132928497718,"velocity":1.3209646905826864,"acceleration":-1.27690035913744,"pose":{"translation":{"x":6.798413231196656,"y":-0.7977693756994861},"rotation":{"radians":2.2889541556832134}},"curvature":2.2875054416645857},{"time":6.60494501787022,"velocity":1.3020511283433636,"acceleration":-1.0127556055691762,"pose":{"translation":{"x":6.785305200563372,"y":-0.7834321616822232},"rotation":{"radians":2.3341740466388963}},"curvature":2.365566945109314},{"time":6.6197175093267,"velocity":1.2870902048125905,"acceleration":-0.7439156580852166,"pose":{"translation":{"x":6.771771454500179,"y":-0.7699204483116853},"rotation":{"radians":2.380046372070699}},"curvature":2.4289399362000017},{"time":6.634426397948907,"velocity":1.276148032253499,"acceleration":-0.4737665061269836,"pose":{"translation":{"x":6.757831249883614,"y":-0.7572303668346968},"rotation":{"radians":2.4263097387339827}},"curvature":2.476230701785448},{"time":6.649046905148459,"velocity":1.269221325639763,"acceleration":-0.2055962100318171,"pose":{"translation":{"x":6.743505776031319,"y":-0.7453555091449389},"rotation":{"radians":2.472698337390371}},"curvature":2.5065885652386486},{"time":6.663554219041746,"velocity":1.2662386768855614,"acceleration":0.05747121899015056,"pose":{"translation":{"x":6.7288179763611495,"y":-0.7342870605017562},"rotation":{"radians":2.518949181071165}},"curvature":2.5197630003569333},{"time":6.6779242425177125,"velocity":1.2670645396516422,"acceleration":0.3125243306366386,"pose":{"translation":{"x":6.713792370050274,"y":-0.7240139322489613},"rotation":{"radians":2.56480923221966}},"curvature":2.516108934245047},{"time":6.692134281953257,"velocity":1.2715055227145562,"acceleration":0.5569053521400217,"pose":{"translation":{"x":6.698454873694283,"y":-0.7145228945336406},"rotation":{"radians":2.610041889166239}},"curvature":2.4965410011409817},{"time":6.706163620155553,"velocity":1.2793185362463968,"acceleration":0.7882518122739026,"pose":{"translation":{"x":6.682832622966295,"y":-0.7057987090249593},"rotation":{"radians":2.6544323894040414}},"curvature":2.4624449205444345},{"time":6.719993934579295,"velocity":1.2902203066552298,"acceleration":1.1043114803257377,"pose":{"translation":{"x":6.66695379427606,"y":-0.6978242616329673},"rotation":{"radians":2.697791825362691}},"curvature":2.415559556556925},{"time":6.746977721379804,"velocity":1.320018812201694,"acceleration":1.467539927145104,"pose":{"translation":{"x":6.6345432422856385,"y":-0.6840475423565032},"rotation":{"radians":2.780804555455828}},"curvature":2.291356204711142},{"time":6.773016468895721,"velocity":1.358231713834152,"acceleration":1.7565279396666091,"pose":{"translation":{"x":6.601462666779656,"y":-0.6730233521169358},"rotation":{"radians":2.858143863125412}},"curvature":2.140056230204871},{"time":6.7980545350622705,"velocity":1.4022117766109183,"acceleration":1.974037195406033,"pose":{"translation":{"x":6.567956754783603,"y":-0.6645607881846443},"rotation":{"radians":2.9293052802259933}},"curvature":1.9761289649511333},{"time":6.82206480330889,"velocity":1.4496089392014206,"acceleration":2.1310374590498147,"pose":{"translation":{"x":6.534269724383192,"y":-0.6584516766894719},"rotation":{"radians":2.994135910092173}},"curvature":1.810601257289955},{"time":6.845037953236596,"velocity":1.4985655822497301,"acceleration":2.245876231431066,"pose":{"translation":{"x":6.500639617815723,"y":-0.6544748196224954},"rotation":{"radians":3.0527334391691157}},"curvature":1.6506204646941747},{"time":6.866973057441449,"velocity":1.5478291114173732,"acceleration":2.3433219017386793,"pose":{"translation":{"x":6.467292594561459,"y":-0.6524002418377992},"rotation":{"radians":3.1053486814425013}},"curvature":1.49985232290413},{"time":6.887870844789442,"velocity":1.5967993542078034,"acceleration":2.5348051632936053,"pose":{"translation":{"x":6.434437224434994,"y":-0.6519934380542431},"rotation":{"radians":-3.130880951836696}},"curvature":1.3592016791821142},{"time":6.9265193325737435,"velocity":1.69476574059694,"acceleration":2.7000000000000073,"pose":{"translation":{"x":6.370913533043703,"y":-0.6552479627005091},"rotation":{"radians":-3.0526478793201797}},"curvature":1.102221344649246},{"time":6.961074891143467,"velocity":1.788065748735193,"acceleration":2.6999999999999575,"pose":{"translation":{"x":6.311168446317259,"y":-0.6624331346750338},"rotation":{"radians":-2.993627088297191}},"curvature":0.8555434017371669},{"time":6.991858238084595,"velocity":1.8711807854762394,"acceleration":-1.1800282460591123,"pose":{"translation":{"x":6.255655190128021,"y":-0.6719430210413584},"rotation":{"radians":-2.9527564536870425}},"curvature":0.5864715450310406},{"time":7.047943146998179,"velocity":1.8049990087805583,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.154807962378389,"y":-0.6933252592926626},"rotation":{"radians":-2.922923707715869}},"curvature":-7.920403844670763E-14},{"time":7.076675275704216,"velocity":1.7274222612742591,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.105382169772536,"y":-0.7048295258935683},"rotation":{"radians":-2.8944577500936557}},"curvature":0.9898546895007715},{"time":7.109448504601492,"velocity":1.638934543251615,"acceleration":1.2129489576705177,"pose":{"translation":{"x":6.052341211286653,"y":-0.7199832175221093},"rotation":{"radians":-2.829917196360015}},"curvature":1.244909683667625},{"time":7.146927534957017,"velocity":1.6843946940558512,"acceleration":1.7188775517679564,"pose":{"translation":{"x":5.9938320492645705,"y":-0.7413180427175279},"rotation":{"radians":-2.7552319783560915}},"curvature":1.128011375882325},{"time":7.187881989080942,"velocity":1.754790385894375,"acceleration":1.120405876640976,"pose":{"translation":{"x":5.9296421212676345,"y":-0.7702892366367647},"rotation":{"radians":-2.68202517427326}},"curvature":0.9589440061187532},{"time":7.23179846471666,"velocity":1.8039946632779944,"acceleration":0.30942001296642796,"pose":{"translation":{"x":5.860889308945416,"y":-0.8074327001199966},"rotation":{"radians":-2.611946712236002}},"curvature":0.8486059854042763},{"time":7.278318785969487,"velocity":1.8183889816832466,"acceleration":-0.49701538006601903,"pose":{"translation":{"x":5.789711906906409,"y":-0.8525221387561752},"rotation":{"radians":-2.542325324688139}},"curvature":0.8174564272056424},{"time":7.326997398850383,"velocity":1.7941949624011615,"acceleration":-1.690048901702673,"pose":{"translation":{"x":5.718958591588722,"y":-0.9047262019485662},"rotation":{"radians":-2.468754506008543}},"curvature":0.8700986748766842},{"time":7.377644744362307,"velocity":1.7085984717445786,"acceleration":-2.7,"pose":{"translation":{"x":5.651878390130772,"y":-0.9627656219802874},"rotation":{"radians":-2.3856661716116374}},"curvature":1.0217138349834605},{"time":7.403776831058296,"velocity":1.6380418376654102,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.620764202251342,"y":-0.9934900132537403},"rotation":{"radians":-2.3384336466190065}},"curvature":1.1447855846711075},{"time":7.430522103496194,"velocity":1.5658296020830857,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":5.591810649241981,"y":-1.0250703530798466},"rotation":{"radians":-2.2860608095739368}},"curvature":1.307641400645128},{"time":7.457769459484681,"velocity":1.4922617409141699,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.5653983973921815,"y":-1.0572907322940774},"rotation":{"radians":-2.2273948919074336}},"curvature":1.5178449969625756},{"time":7.485425972807925,"velocity":1.4175891549414128,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.541875004073464,"y":-1.0899367104866822},"rotation":{"radians":-2.161206905512003}},"curvature":1.78262484176562},{"time":7.513432887000885,"velocity":1.3419704866204212,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.521545229266584,"y":-1.1228002265984887},"rotation":{"radians":-2.086289231912457}},"curvature":2.105870641944316},{"time":7.541787290388738,"velocity":1.2654135974732166,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.504661347088734,"y":-1.1556845095166994},"rotation":{"radians":-2.0016529465806725}},"curvature":2.4825761096122894},{"time":7.55611989087609,"velocity":1.2267155761573654,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.497573715521403,"y":-1.172077243117104},"rotation":{"radians":-1.9555202317421885}},"curvature":2.6849789156512784},{"time":7.5705789644060095,"velocity":1.187676077626583,"acceleration":-2.6574622742607605,"pose":{"translation":{"x":5.491413457320765,"y":-1.188408988670691},"rotation":{"radians":-1.906861734434117}},"curvature":2.890601730990897},{"time":7.585189909638906,"velocity":1.1488480418788691,"acceleration":-2.3184571086867005,"pose":{"translation":{"x":5.486193030704304,"y":-1.2046605118354696},"rotation":{"radians":-1.8557866949121526}},"curvature":3.092609303262215},{"time":7.599954303830509,"velocity":1.1146174272098952,"acceleration":-1.9175221461685914,"pose":{"translation":{"x":5.481919796934385,"y":-1.2208142046278108},"rotation":{"radians":-1.802501188338778}},"curvature":3.2823712408498213},{"time":7.614841324358632,"velocity":1.0860712356567535,"acceleration":-1.4588088065220075,"pose":{"translation":{"x":5.478595717553475,"y":-1.2368542388785637},"rotation":{"radians":-1.7473215449361288}},"curvature":3.449767928752057},{"time":7.629805929837534,"velocity":1.0642407373980025,"acceleration":-0.9450774003255872,"pose":{"translation":{"x":5.476217051619374,"y":-1.2527667196891765},"rotation":{"radians":-1.6906820251329013}},"curvature":3.583843076219263},{"time":7.644788500516485,"velocity":1.0500810484505447,"acceleration":-0.3761492599771684,"pose":{"translation":{"x":5.474774052940434,"y":-1.268539838887813},"rotation":{"radians":-1.6331340665883607}},"curvature":3.673787416230086},{"time":7.659715787299661,"velocity":1.044466160573586,"acceleration":0.2526871034441883,"pose":{"translation":{"x":5.474250667310791,"y":-1.2841640284854734},"rotation":{"radians":-1.575335273601927}},"curvature":3.7101292401335804},{"time":7.674503215691783,"velocity":1.0482027530213798,"acceleration":0.9524765321455746,"pose":{"translation":{"x":5.474624229745584,"y":-1.299632114132111},"rotation":{"radians":-1.5180279759372337}},"curvature":3.6859011663511714},{"time":7.689058301007653,"velocity":1.0620661302081218,"acceleration":1.7430474537190577,"pose":{"translation":{"x":5.475865161716185,"y":-1.314939468572752},"rotation":{"radians":-1.4620093487673522}},"curvature":3.597500607604957},{"time":7.7032846510623045,"velocity":1.086863333446599,"acceleration":2.6569681841756942,"pose":{"translation":{"x":5.477936668385421,"y":-1.3300841651036155},"rotation":{"radians":-1.4080971495914785}},"curvature":3.445004404528287},{"time":7.717085859859685,"velocity":1.1235327061244038,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.480794435842802,"y":-1.3450671310282283},"rotation":{"radians":-1.3570963862725234}},"curvature":3.231834618507058},{"time":7.730448218674047,"velocity":1.1596110749231807,"acceleration":2.699999999999923,"pose":{"translation":{"x":5.484386328339744,"y":-1.3598923011135475},"rotation":{"radians":-1.3097722138383399}},"curvature":2.963850685290576},{"time":7.74343048627931,"velocity":1.1946631974573896,"acceleration":2.6999999999999322,"pose":{"translation":{"x":5.488652085524795,"y":-1.3745667710460783},"rotation":{"radians":-1.2668330803115047}},"curvature":2.648087362867792},{"time":7.768430192261162,"velocity":1.2621624036083872,"acceleration":2.6999999999999624,"pose":{"translation":{"x":5.498921712950436,"y":-1.403508718533239},"rotation":{"radians":-1.1966444136461991}},"curvature":1.899345368181183},{"time":7.815237089204758,"velocity":1.3885410253560935,"acceleration":2.6999999999999926,"pose":{"translation":{"x":5.52392321071957,"y":-1.460283192681829},"rotation":{"radians":-1.13491935438754}},"curvature":-7.353109500985642E-14},{"time":7.859715229120378,"velocity":1.5086320031282685,"acceleration":2.7000000000000197,"pose":{"translation":{"x":5.550515257840978,"y":-1.5189700209446757},"rotation":{"radians":-1.163072703904685}},"curvature":-0.678009450539781},{"time":7.907959488535907,"velocity":1.6388915035501972,"acceleration":2.6999999999999846,"pose":{"translation":{"x":5.578866578257237,"y":-1.5894029943565342},"rotation":{"radians":-1.2108847916395842}},"curvature":-0.5182812011551416},{"time":7.963340926977234,"velocity":1.7884213873417794,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.610537024935595,"y":-1.6788674905392753},"rotation":{"radians":-1.245859547886145}},"curvature":-0.24234870198317177},{"time":8.025981919030194,"velocity":1.95755206588477,"acceleration":2.7000000000000273,"pose":{"translation":{"x":5.64686504048428,"y":-1.7904273673540871},"rotation":{"radians":-1.262736435050084}},"curvature":-0.06738234164471639},{"time":8.059521347127964,"velocity":2.0481085217487505,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6671323128444335,"y":-1.8544707490894692},"rotation":{"radians":-1.2652420058640297}},"curvature":-0.010542463785330377},{"time":8.094143007738934,"velocity":2.1415870053983665,"acceleration":2.7000000000000126,"pose":{"translation":{"x":5.68896341015074,"y":-1.9236342121972823},"rotation":{"radians":-1.2643227181969958}},"curvature":0.033682368608401604},{"time":8.12951706912589,"velocity":2.2370969711431514,"acceleration":-0.2788532797820463,"pose":{"translation":{"x":5.712461474822781,"y":-1.9974292740545219},"rotation":{"radians":-1.2602603903362708}},"curvature":0.06983320437017627},{"time":8.166167343196287,"velocity":2.2268769220137106,"acceleration":-0.5296333162595044,"pose":{"translation":{"x":5.737715014819868,"y":-2.0752365912961057},"rotation":{"radians":-1.2532264108199724}},"curvature":0.10134754645500449},{"time":8.204736358196515,"velocity":2.206449486694278,"acceleration":-0.5001712341126473,"pose":{"translation":{"x":5.764797770922233,"y":-2.156328123855366},"rotation":{"radians":-1.2432857504234036}},"curvature":0.13086007811161923},{"time":8.245002997566774,"velocity":2.186309271986887,"acceleration":-0.5064885543900148,"pose":{"translation":{"x":5.7937685840122315,"y":-2.2398892990045463},"rotation":{"radians":-1.2304034015084446}},"curvature":0.16049756234329854},{"time":8.286637061654256,"velocity":2.165222095053837,"acceleration":-0.5418192774083456,"pose":{"translation":{"x":5.824671262355529,"y":-2.325041175395291},"rotation":{"radians":-1.2144492946585657}},"curvature":0.19211940846885697},{"time":8.32930779858582,"velocity":2.142102267203095,"acceleration":-0.6032455815118641,"pose":{"translation":{"x":5.857534448882302,"y":-2.4108626070991432},"rotation":{"radians":-1.1952006896112877}},"curvature":0.22750486236506234},{"time":8.37269447617442,"velocity":2.115929445651292,"acceleration":-0.6898251926459572,"pose":{"translation":{"x":5.892371488468428,"y":-2.496412407648039},"rotation":{"radians":-1.1723425586047473}},"curvature":0.2684961902066403},{"time":8.416497149095964,"velocity":2.0857132583647804,"acceleration":-0.800940421684687,"pose":{"translation":{"x":5.9291802952166845,"y":-2.580751514074799},"rotation":{"radians":-1.145467629571454}},"curvature":0.3170995962915798},{"time":8.460447173930971,"velocity":2.0505119069403777,"acceleration":-0.9343294575315514,"pose":{"translation":{"x":5.967943219737937,"y":-2.662965150953622},"rotation":{"radians":-1.1140791773693937}},"curvature":0.3755281673677548},{"time":8.5043166764676,"velocity":2.0095233384331506,"acceleration":-1.083404477253515,"pose":{"translation":{"x":6.008626916432343,"y":-2.742184994440584},"rotation":{"radians":-1.0776018398634073}},"curvature":0.44614207206449225},{"time":8.547925632544871,"velocity":1.9622772001706836,"acceleration":-1.2337702781719602,"pose":{"translation":{"x":6.051182210770537,"y":-2.8176113363141257},"rotation":{"radians":-1.0354091081876633}},"curvature":0.531196265425795},{"time":8.591144452214854,"velocity":1.9089551050041844,"acceleration":-1.359548159819362,"pose":{"translation":{"x":6.095543966574832,"y":-2.8885352480155504},"rotation":{"radians":-0.98688083644898}},"curvature":0.6322457165675689},{"time":8.633889048575487,"velocity":1.850841767679865,"acceleration":-1.4211662581104407,"pose":{"translation":{"x":6.141630953300413,"y":-2.9543607446895193},"rotation":{"radians":-0.9315093392928508}},"curvature":0.7490055955631675},{"time":8.676104722844823,"velocity":1.790846275844903,"acceleration":-1.3669291659195488,"pose":{"translation":{"x":6.189345713316526,"y":-3.014626949224539},"rotation":{"radians":-0.8690753085063544}},"curvature":0.8774969313591167},{"time":8.717735733726853,"velocity":1.7339396328635415,"acceleration":-1.1391736635986869,"pose":{"translation":{"x":6.238574429187683,"y":-3.0690302562934653},"rotation":{"radians":-0.7999077756769518}},"curvature":1.007589806159538},{"time":8.758680593175283,"velocity":1.6872963273201398,"acceleration":-0.6808097485133338,"pose":{"translation":{"x":6.289186790954844,"y":-3.1174464963939883},"rotation":{"radians":-0.7252148738015826}},"curvature":1.1207638442212495},{"time":8.79873997863653,"velocity":1.6600235071786695,"acceleration":0.06871429848890243,"pose":{"translation":{"x":6.341035863416625,"y":-3.1599530998891328},"rotation":{"radians":-0.6474179831418267}},"curvature":1.1898844085116487},{"time":8.837572846792172,"velocity":1.6626918804722965,"acceleration":1.2039881971346202,"pose":{"translation":{"x":6.393957953410482,"y":-3.1968512610477475},"rotation":{"radians":-0.5703597276566561}},"curvature":1.1830215760444607},{"time":8.874680012275237,"velocity":1.7073684697430282,"acceleration":2.699999999999962,"pose":{"translation":{"x":6.44777247709391,"y":-3.228688102085},"rotation":{"radians":-0.4992450883986416}},"curvature":1.0713034085502606},{"time":8.90950388836859,"velocity":1.8013929351950828,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.502281827225639,"y":-3.2562788372028773},"rotation":{"radians":-0.44027497140811567}},"curvature":0.8369901507315796},{"time":8.973037637878175,"velocity":1.972934058870962,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.612508664562251,"y":-3.3034562906654665},"rotation":{"radians":-0.385319817675161}},"curvature":-1.976269077323641E-14},{"time":9.031398730906002,"velocity":2.130509010046093,"acceleration":2.700000000000006,"pose":{"translation":{"x":6.7234542007736255,"y":-3.3484998911755803},"rotation":{"radians":-0.38616325348203456}},"curvature":-0.00775052029837474},{"time":9.086656271823422,"velocity":2.279704370523128,"acceleration":-0.4579092329198754,"pose":{"translation":{"x":6.836325280399195,"y":-3.394404606686512},"rotation":{"radians":-0.385871411003672}},"curvature":0.016818284780042533},{"time":9.14171131063528,"velocity":2.254494159932416,"acceleration":-0.7084141074202462,"pose":{"translation":{"x":6.952052704660515,"y":-3.4411593596019716},"rotation":{"radians":-0.38109255964335487}},"curvature":0.0622978431976038},{"time":9.169988873329512,"velocity":2.234461935596362,"acceleration":-0.7611815368949864,"pose":{"translation":{"x":7.011021157067037,"y":-3.464631799775001},"rotation":{"radians":-0.3762586169224766}},"curvature":0.09052648126693238},{"time":9.198784176233845,"velocity":2.212543482676285,"acceleration":-0.8134929420236763,"pose":{"translation":{"x":7.0706442597275,"y":-3.487965678197271},"rotation":{"radians":-0.36947117142413294}},"curvature":0.12199874249592417},{"time":9.228053405453025,"velocity":2.188733171288009,"acceleration":-0.8734680859841817,"pose":{"translation":{"x":7.1308080293079055,"y":-3.510967768454078},"rotation":{"radians":-0.3605077263161837}},"curvature":0.1569017834174276},{"time":9.257736138958013,"velocity":2.1628062508666286,"acceleration":-0.9473267767903191,"pose":{"translation":{"x":7.191363090792827,"y":-3.533418194194602},"rotation":{"radians":-0.34914230405991764}},"curvature":0.19578152095480106},{"time":9.28776117547533,"velocity":2.134362729799667,"acceleration":-1.0398566593299226,"pose":{"translation":{"x":7.252130251675238,"y":-3.5550760696811365},"rotation":{"radians":-0.33513099909832333}},"curvature":0.2395216780427965},{"time":9.318052226480035,"velocity":2.1028643786943233,"acceleration":-1.2238510984052744,"pose":{"translation":{"x":7.312906076146332,"y":-3.575685140338315},"rotation":{"radians":-0.3181992384585424}},"curvature":0.289340236013027},{"time":9.37916281076296,"velocity":2.028074122995478,"acceleration":-1.5498313484575859,"pose":{"translation":{"x":7.433582201249403,"y":-3.6126888479702024},"rotation":{"radians":-0.274257866961984}},"curvature":0.41382974549395973},{"time":9.4405443934269,"velocity":1.9329430219649613,"acceleration":-1.9414176631950044,"pose":{"translation":{"x":7.551490932809378,"y":-3.642286244604778},"rotation":{"radians":-0.21413859012772005}},"curvature":0.586096897136623},{"time":9.50192677271515,"velocity":1.8137741866058206,"acceleration":-2.2163836410895574,"pose":{"translation":{"x":7.664700592853938,"y":-3.662449351504559},"rotation":{"radians":-0.13376008186290125}},"curvature":0.8273890796343359},{"time":9.532606774825956,"velocity":1.7457755318188362,"acceleration":-2.3342788004288373,"pose":{"translation":{"x":7.718975002313115,"y":-3.6684351932203234},"rotation":{"radians":-0.08454200129452011}},"curvature":0.9798334980992673},{"time":9.56333232173634,"velocity":1.674053539034345,"acceleration":-2.357486664726867,"pose":{"translation":{"x":7.771426732805503,"y":-3.6714457812553443},"rotation":{"radians":-0.02860105185424137}},"curvature":1.154045241954056},{"time":9.594142143405694,"velocity":1.6014197953062275,"acceleration":-2.248015018994704,"pose":{"translation":{"x":7.821884997348414,"y":-3.6713403662105533},"rotation":{"radians":0.034398089470288516}},"curvature":1.3463751036433995},{"time":9.625060968422865,"velocity":1.531913812297958,"acceleration":-1.976207721514804,"pose":{"translation":{"x":7.870210507555628,"y":-3.6680192353414984},"rotation":{"radians":0.10446084607085139}},"curvature":1.547499841548093},{"time":9.656074225956894,"velocity":1.4706251732898825,"acceleration":-1.5268255457821103,"pose":{"translation":{"x":7.916301047827222,"y":-3.661429353107571},"rotation":{"radians":0.1810705566847586}},"curvature":1.7406194959551107},{"time":9.687099740373785,"velocity":1.423254625307142,"acceleration":-0.898365501229456,"pose":{"translation":{"x":7.960097049539393,"y":-3.6515700017212307},"rotation":{"radians":0.2629934616872644}},"curvature":1.9012790787841125},{"time":9.7179645159259,"velocity":1.395526775747933,"acceleration":-0.09333608223338782,"pose":{"translation":{"x":8.001587165234284,"y":-3.6384984216972374},"rotation":{"radians":0.34814741716161446}},"curvature":2.000380124539847},{"time":9.748396980467737,"velocity":1.3926863287348914,"acceleration":0.8997377174962471,"pose":{"translation":{"x":8.040813842809808,"y":-3.6223354524018756},"rotation":{"radians":0.43361406602673813}},"curvature":2.0107548838953653},{"time":9.778041255382071,"velocity":1.4193584009831461,"acceleration":2.133483654352498,"pose":{"translation":{"x":8.077878899709471,"y":-3.6032711726021827},"rotation":{"radians":0.5158386313597844}},"curvature":1.9149706125757466},{"time":9.80648924524891,"velocity":1.480051722363232,"acceleration":2.700000000000111,"pose":{"translation":{"x":8.1129490971122,"y":-3.581570541015176},"rotation":{"radians":0.5909738158152622}},"curvature":1.7098757579677524},{"time":9.833558229601563,"velocity":1.5531379801153986,"acceleration":2.7000000000001094,"pose":{"translation":{"x":8.146261714122165,"y":-3.5575790368570805},"rotation":{"radians":0.6552351688512801}},"curvature":1.404609871190401},{"time":9.859398430750174,"velocity":1.6229065232166526,"acceleration":2.6999999999999424,"pose":{"translation":{"x":8.17813012195861,"y":-3.531728300392559},"rotation":{"radians":0.7051164256130864}},"curvature":1.0130333929709094},{"time":9.908103430517539,"velocity":1.7544100225885342,"acceleration":-1.2354463006153025,"pose":{"translation":{"x":8.23920170070219,"y":-3.4766403401404227},"rotation":{"radians":0.748869568742241}},"curvature":4.8831523287908774E-15},{"time":9.956157425033709,"velocity":1.6950418928337434,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":8.298999001955957,"y":-3.4192524278762755},"rotation":{"radians":0.7947399407672529}},"curvature":1.0053973131987994},{"time":9.981700697955066,"velocity":1.626075055946078,"acceleration":-1.7723702334476878,"pose":{"translation":{"x":8.327989483235584,"y":-3.388289911969262},"rotation":{"radians":0.8437515380607123}},"curvature":1.2791631307667384},{"time":10.008864014618904,"velocity":1.577931602049378,"acceleration":-0.26183358099298537,"pose":{"translation":{"x":8.355956498286437,"y":-3.3549512815204525},"rotation":{"radians":0.9028002222909496}},"curvature":1.4123591691932695},{"time":10.037395465908762,"velocity":1.5704611099872274,"acceleration":0.6635063472636266,"pose":{"translation":{"x":8.382632209499416,"y":-3.318817040035875},"rotation":{"radians":0.9670838683014696}},"curvature":1.4337593121286998},{"time":10.066860378793638,"velocity":1.5900112667079125,"acceleration":1.204820188224507,"pose":{"translation":{"x":8.407783569288261,"y":-3.279633058653029},"rotation":{"radians":1.0327825936378177}},"curvature":1.3781809580749675},{"time":10.096948899760195,"velocity":1.6262625242022368,"acceleration":1.4716213786761485,"pose":{"translation":{"x":8.431210860182695,"y":-3.2372961761505032},"rotation":{"radians":1.0971738248847323}},"curvature":1.2786598859350011},{"time":10.127457368855083,"velocity":1.6711594395529545,"acceleration":1.5394800208211215,"pose":{"translation":{"x":8.452746234921566,"y":-3.191839798957595},"rotation":{"radians":1.1585621253275016}},"curvature":1.1613888426019299},{"time":10.158257201597937,"velocity":1.7185751667052118,"acceleration":1.4690978379870283,"pose":{"translation":{"x":8.472252256545993,"y":-3.1434195011639297},"rotation":{"radians":1.2160910743570117}},"curvature":1.044191214432827},{"time":10.189262296279807,"velocity":1.7641246842689302,"acceleration":1.3095705652404022,"pose":{"translation":{"x":8.489620438492496,"y":-3.09229862452908},"rotation":{"radians":1.2695172563092492}},"curvature":0.9375392648899997},{"time":10.220402198842391,"velocity":1.804904584069345,"acceleration":1.0973134240872533,"pose":{"translation":{"x":8.504769784686152,"y":-3.0388338784921847},"rotation":{"radians":1.319004555192523}},"curvature":0.8466221898255206},{"time":10.251603864670473,"velocity":1.8391425908363828,"acceleration":0.7251611710495734,"pose":{"translation":{"x":8.517645329633723,"y":-2.983460940181568},"rotation":{"radians":1.3649657140810862}},"curvature":0.773403551245016},{"time":10.313889385616806,"velocity":1.884309632145258,"acceleration":-1.040697269048229,"pose":{"translation":{"x":8.536476547284952,"y":-2.8690416337561078},"rotation":{"radians":1.4486037728583467}},"curvature":0.6808833010389941},{"time":10.376471937963785,"velocity":1.8191801408276878,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.54613950267345,"y":-2.7535582764285262},"rotation":{"radians":1.525631707698636}},"curvature":0.6604990554078157},{"time":10.44095391691396,"velocity":1.6450787976622165,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.546982662294555,"y":-2.6418703230172422},"rotation":{"radians":1.6020234830596505}},"curvature":0.7237792991695984},{"time":10.507444340602797,"velocity":1.4655546537023592,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.539630830892188,"y":-2.538718312291076},"rotation":{"radians":1.6850639621096635}},"curvature":0.9114673061415777},{"time":10.54087456317658,"velocity":1.3752930527531464,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.533141109513013,"y":-2.4916787877686075},"rotation":{"radians":1.732053662640259}},"curvature":1.080084520520563},{"time":10.574083974906682,"velocity":1.2856276410818719,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.524938434439374,"y":-2.448263067277064},"rotation":{"radians":1.7848072363117133}},"curvature":1.3259922100408545},{"time":10.606814218617377,"velocity":1.197255983062996,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.515157822723939,"y":-2.4088250731606724},"rotation":{"radians":1.8453753169241311}},"curvature":1.681724662256507},{"time":10.63882664430697,"velocity":1.110822433701092,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.503942803118758,"y":-2.3736248955682737},"rotation":{"radians":1.9162183059775968}},"curvature":2.19086068435081},{"time":10.669934766703724,"velocity":1.0268305032298572,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":8.491443956168402,"y":-2.3428143924629428},"rotation":{"radians":2.0000689723227314}},"curvature":2.9015195104351643},{"time":10.685121722761389,"velocity":0.9858257218741617,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.484761722809528,"y":-2.329069585970461},"rotation":{"radians":2.0476825874754683}},"curvature":3.342586910852986},{"time":10.70006276922589,"velocity":0.9454848964200091,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.477817454303114,"y":-2.3164227896316087},"rotation":{"radians":2.099395510832049}},"curvature":3.8382730062699415},{"time":10.71477413891342,"velocity":0.905764198263676,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.470631306419103,"y":-2.3048561328938084},"rotation":{"radians":2.155260555529645}},"curvature":4.376309011119683},{"time":10.729287570396437,"velocity":0.8665779332595316,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.463223601931938,"y":-2.2943422806946736},"rotation":{"radians":2.215091446443388}},"curvature":4.931381244116806},{"time":10.743652934915362,"velocity":0.8277914490584326,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.45561478499847,"y":-2.284843983462313},"rotation":{"radians":2.278367542822972}},"curvature":5.46172021896825},{"time":10.7579407052575,"velocity":0.7892144691346606,"acceleration":-1.742572020649924,"pose":{"translation":{"x":8.447825375535869,"y":-2.2763136271156306},"rotation":{"radians":2.3441430639341947}},"curvature":5.908303113414307},{"time":10.772116053860294,"velocity":0.764512903276471,"acceleration":-0.35016204691457675,"pose":{"translation":{"x":8.43987592359953,"y":-2.2686927830646217},"rotation":{"radians":2.410985954172766}},"curvature":6.198924420537862},{"time":10.785966505911215,"velocity":0.7596630006356286,"acceleration":1.4910529202195617,"pose":{"translation":{"x":8.43178696376099,"y":-2.2619117582106814},"rotation":{"radians":2.4769747502194055}},"curvature":6.258204674006982},{"time":10.799196107458206,"velocity":0.7793890366556113,"acceleration":2.69999999999981,"pose":{"translation":{"x":8.423578969485837,"y":-2.255889144946899},"rotation":{"radians":2.5397721270625073}},"curvature":6.021695832629082},{"time":10.811611673351623,"velocity":0.8129110645678352,"acceleration":2.7000000000001725,"pose":{"translation":{"x":8.415272307511614,"y":-2.250531371158361},"rotation":{"radians":2.596770016224973}},"curvature":5.449081553925233},{"time":10.834324059875984,"velocity":0.8742345081836169,"acceleration":2.700000000000116,"pose":{"translation":{"x":8.398443640043425,"y":-2.241372531009154},"rotation":{"radians":2.6826764950133546}},"curvature":3.286475585083685},{"time":10.855105238565384,"velocity":0.9303436906449987,"acceleration":2.700000000000072,"pose":{"translation":{"x":8.381460027056619,"y":-2.2334262706951082},"rotation":{"radians":2.714965160462992}},"curvature":3.487523069708681E-13},{"time":10.893976713447671,"velocity":1.0352966728271749,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.346463582231358,"y":-2.218104089006953},"rotation":{"radians":2.7545520891873334}},"curvature":1.8109780507152875},{"time":10.913444423410063,"velocity":1.0878594897256284,"acceleration":2.7000000000001174,"pose":{"translation":{"x":8.327173380001936,"y":-2.2106884245053475},"rotation":{"radians":2.795523702390689}},"curvature":2.078223696314902},{"time":10.93365559968485,"velocity":1.1424296656675537,"acceleration":2.6999999999999558,"pose":{"translation":{"x":8.305798652344691,"y":-2.2035400152901263},"rotation":{"radians":2.841809879998367}},"curvature":1.9834321082345294},{"time":10.95502157018643,"velocity":1.2001177860218188,"acceleration":2.7000000000000877,"pose":{"translation":{"x":8.281720957276432,"y":-2.1967183410720725},"rotation":{"radians":2.8879807249616594}},"curvature":1.6923204633241877},{"time":10.977856487493938,"velocity":1.2617720627520923,"acceleration":2.6999999999999598,"pose":{"translation":{"x":8.254362217026625,"y":-2.1902694232547235},"rotation":{"radians":2.9305923827510907}},"curvature":1.3456953229931459},{"time":11.028724215564525,"velocity":1.3991149285426765,"acceleration":2.70000000000003,"pose":{"translation":{"x":8.187697083309846,"y":-2.1786123536949202},"rotation":{"radians":2.9998025273082716}},"curvature":0.7611104264739775},{"time":11.087080435600399,"velocity":1.5566767226395362,"acceleration":2.699999999999978,"pose":{"translation":{"x":8.102023738143016,"y":-2.168703929394889},"rotation":{"radians":3.048067556970553}},"curvature":0.4064729564834843},{"time":11.15275771364224,"velocity":1.7340053733525045,"acceleration":2.699999999999942,"pose":{"translation":{"x":7.994272200904063,"y":-2.160524770034724},"rotation":{"radians":3.0802010588227335}},"curvature":0.2152373954952757},{"time":11.188121274056584,"velocity":1.8294869864712306,"acceleration":2.699999999999951,"pose":{"translation":{"x":7.931359592791209,"y":-2.1570428463328573},"rotation":{"radians":3.0917953255773063}},"curvature":0.15684417834323894},{"time":11.225005381613952,"velocity":1.9290740768761248,"acceleration":2.699999999999956,"pose":{"translation":{"x":7.862113875913456,"y":-2.153931407096375},"rotation":{"radians":3.101094762621076}},"curvature":0.11436366682445724},{"time":11.263273766689817,"velocity":2.0323987165809587,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.786365043011098,"y":-2.151158119925064},"rotation":{"radians":3.1085091494613573}},"curvature":0.08332021182301048},{"time":11.302784340626483,"velocity":2.139077266209952,"acceleration":2.700000000000034,"pose":{"translation":{"x":7.703993404947496,"y":-2.1486866987695676},"rotation":{"radians":3.114375277578732}},"curvature":0.060511788163897164},{"time":11.343392515262126,"velocity":2.2487193377261914,"acceleration":0.6685793162379902,"pose":{"translation":{"x":7.614930586100122,"y":-2.1464778543971965},"rotation":{"radians":3.1189687884868253}},"curvature":0.043660617025095626},{"time":11.385724012872856,"velocity":2.277021301454104,"acceleration":0.15216170103604149,"pose":{"translation":{"x":7.519160519751599,"y":-2.144490244857738},"rotation":{"radians":3.122515301446174}},"curvature":0.031146792103781143},{"time":11.430652214437062,"velocity":2.2838576530286034,"acceleration":0.10776330566879018,"pose":{"translation":{"x":7.416720443480738,"y":-2.1426814259492666},"rotation":{"radians":3.1252000684454355}},"curvature":0.021814870330304263},{"time":11.478338572179721,"velocity":2.288996492574257,"acceleration":0.07658590583923251,"pose":{"translation":{"x":7.307701894553582,"y":-2.1410088016839555},"rotation":{"radians":3.1271760236025585}},"curvature":0.0148368259987384},{"time":11.528737823166125,"velocity":2.2928563648646696,"acceleration":0.05446149429631531,"pose":{"translation":{"x":7.192251705314444,"y":-2.139430574753885},"rotation":{"radians":3.128570360121532}},"curvature":0.009616065327243215},{"time":11.581777187406344,"velocity":2.2957449678977184,"acceleration":0.04197201051325066,"pose":{"translation":{"x":7.070572998576946,"y":-2.137906696996853},"rotation":{"radians":3.1294898587620077}},"curvature":0.0057205026316680665},{"time":11.60925610452624,"velocity":2.2968983132959675,"acceleration":0.035242457666478474,"pose":{"translation":{"x":7.007477063910285,"y":-2.1371533361932666},"rotation":{"radians":3.1298004106273503}},"curvature":0.004167841064532699},{"time":11.637355461423908,"velocity":2.297888603691889,"acceleration":0.029484695921199514,"pose":{"translation":{"x":6.942926183015063,"y":-2.136399819862188},"rotation":{"radians":3.1300252036406193}},"curvature":0.002835931759910742},{"time":11.666058492664817,"velocity":2.2987349038400438,"acceleration":0.02453584123512621,"pose":{"translation":{"x":6.8769620211975475,"y":-2.1356420571848798},"rotation":{"radians":3.1301736350930325}},"curvature":0.0016985942011494986},{"time":11.695346734645064,"velocity":2.299453515495327,"acceleration":0.016351088494698466,"pose":{"translation":{"x":6.809629948554161,"y":-2.1348762448765544},"rotation":{"radians":3.1302545015872303}},"curvature":7.335136625340631E-4},{"time":11.725200780982414,"velocity":2.299941661648914,"acceleration":-0.016529633454723792,"pose":{"translation":{"x":6.740979071077445,"y":-2.1340988968884256},"rotation":{"radians":3.130276078372261}},"curvature":-7.828748100746206E-5},{"time":11.755605437212074,"velocity":2.2994390838261207,"acceleration":-0.013262342998188627,"pose":{"translation":{"x":6.671062261762034,"y":-2.133306874109768},"rotation":{"radians":3.1302461928608394}},"curvature":-7.52889159388253E-4},{"time":11.78654212218012,"velocity":2.2990287908988476,"acceleration":-1.8383369954454578,"pose":{"translation":{"x":6.599936191710627,"y":-2.132497414069972},"rotation":{"radians":3.1301722933778384}},"curvature":-0.0013038370663474516},{"time":11.81838674199835,"velocity":2.2404876481811,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.527661361239953,"y":-2.1316681606406016},"rotation":{"radians":3.1300615141390145}},"curvature":-0.0017424409420958484},{"time":11.851804360251291,"velocity":2.1502600788981554,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.454302130986741,"y":-2.130817193737451},"rotation":{"radians":3.1299207374275095}},"curvature":-0.00207801625402688},{"time":11.887181521934155,"velocity":2.054741742354424,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.379926753013693,"y":-2.129943059022599},"rotation":{"radians":3.129756653924371}},"curvature":-0.0023180759408619983},{"time":11.924768719479012,"velocity":1.9532563089833077,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.304607401915457,"y":-2.1290447976064693},"rotation":{"radians":3.1295758221602035}},"curvature":-0.0024684771853719866},{"time":11.96488932707679,"velocity":1.8449306684693076,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.2284202059245874,"y":-2.1281219757498833},"rotation":{"radians":3.129384728091001}},"curvature":-0.00253352661596237},{"time":12.007973139201066,"velocity":1.7286043757337595,"acceleration":-2.7,"pose":{"translation":{"x":6.1514452780175235,"y":-2.127174714566119},"rotation":{"radians":3.1291898458659917}},"curvature":-0.002516045835163573},{"time":12.0546125978793,"velocity":1.6026778373025266,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0737667470205565,"y":-2.1262037197229664},"rotation":{"radians":3.1289977009541854}},"curvature":-0.0024173976568687985},{"time":12.105663823343187,"velocity":1.4648395285500306,"acceleration":-2.7,"pose":{"translation":{"x":5.995472788715799,"y":-2.1252103111447855},"rotation":{"radians":3.128814936936327}},"curvature":-0.0022374718180512374},{"time":12.162445669471715,"velocity":1.3115285440030058,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.916655656947155,"y":-2.124196452714562},"rotation":{"radians":3.128648387459547}},"curvature":-0.0019746271120612223},{"time":12.227186118899699,"velocity":1.1367293305474522,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.837411714726291,"y":-2.123164781975962},"rotation":{"radians":3.1285051551060183}},"curvature":-0.001625584740292513},{"time":12.304243311409289,"velocity":0.9286749107715602,"acceleration":-2.7,"pose":{"translation":{"x":5.757841465338608,"y":-2.122118639835392},"rotation":{"radians":3.128392699261511}},"curvature":-0.0011852650274841218},{"time":12.404899122095602,"velocity":0.6569042219185144,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678049583449203,"y":-2.1210621002640537},"rotation":{"radians":3.128318935508259}},"curvature":-6.465562633311351E-4},{"time":12.648196982065421,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.598144946208852,"y":-2.120000000000001},"rotation":{"radians":3.1282923496405335}},"curvature":5.032697995759995E-16}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.1943219738452617,"y":-2.286},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2188475940459555,"velocity":0.5908885039240799,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.2589790305012487,"y":-2.2858363665609196},"rotation":{"radians":0.006910660085654745}},"curvature":0.17075056357529908},{"time":0.32281893834225356,"velocity":0.8716111335240845,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3350011683614382,"y":-2.2848129158160093},"rotation":{"radians":0.01966881796379652}},"curvature":0.14804792138338266},{"time":0.4175887923309011,"velocity":1.127489739293433,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.4296972542602835,"y":-2.2823833063790717},"rotation":{"radians":0.03068958789018729}},"curvature":0.08869772581436862},{"time":0.5108504445029998,"velocity":1.3792962001580995,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.5465193699470139,"y":-2.2782987701213524},"rotation":{"radians":0.038439923607301606}},"curvature":0.04880447334998829},{"time":0.5572729037683885,"velocity":1.504636840174649,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.6134056818667721,"y":-2.2756275127352357},"rotation":{"radians":0.041249093077204556}},"curvature":0.03593671023837706},{"time":0.6034431364978833,"velocity":1.629296468544285,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.6856878057355877,"y":-2.272559271651169},"rotation":{"radians":0.04348079898504613}},"curvature":0.026334633534917214},{"time":0.6492007513923905,"velocity":1.7528420287594546,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.7629908484516392,"y":-2.2691248940374864},"rotation":{"radians":0.04522248689609526}},"curvature":0.019085304061727686},{"time":0.6943607455156314,"velocity":1.8747740128922052,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.8448160541546461,"y":-2.2653646677935435},"rotation":{"radians":0.0465455411089632}},"curvature":0.013497070374566182},{"time":0.7387296628346317,"velocity":1.9945700896535061,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.9305603352774277,"y":-2.2613267952834546},"rotation":{"radians":0.047505676827783345}},"curvature":0.00906219839505724},{"time":0.7821155925613033,"velocity":2.1117120999155192,"acceleration":2.7000000000000064,"pose":{"translation":{"x":2.0195358035974658,"y":-2.2570658670698314},"rotation":{"radians":0.048144657272084834}},"curvature":0.0054088341484753},{"time":0.8243344992547258,"velocity":2.2257031479877605,"acceleration":2.6999999999999957,"pose":{"translation":{"x":2.1109893012884644,"y":-2.252641335647522},"rotation":{"radians":0.04849220951314223}},"curvature":0.0022594599563708234},{"time":0.865214362189041,"velocity":2.3360787779104113,"acceleration":2.6999999999999993,"pose":{"translation":{"x":2.204121931971912,"y":-2.2481159891773497},"rotation":{"radians":0.048567701431190304}},"curvature":-6.011948199765512E-4},{"time":0.9045980263236493,"velocity":2.4424146710738537,"acceleration":2.6999999999999926,"pose":{"translation":{"x":2.2981085917686412,"y":-2.243554425219849},"rotation":{"radians":0.04838145257570038}},"curvature":-0.0033501613336103402},{"time":0.9423453301901908,"velocity":2.5443323915135156,"acceleration":1.3209510585016122,"pose":{"translation":{"x":2.3921175003503916,"y":-2.239021524469009},"rotation":{"radians":0.04793568863562068}},"curvature":-0.006144317360420896},{"time":0.9786794227167213,"velocity":2.5923279494961315,"acceleration":-0.07894309857209453,"pose":{"translation":{"x":2.485329731991369,"y":-2.2345809244860044},"rotation":{"radians":0.04722521603829856}},"curvature":-0.009134325858122367},{"time":1.0140834085894928,"velocity":2.5895330491495323,"acceleration":-0.0932292197595128,"pose":{"translation":{"x":2.5769587466198076,"y":-2.230293493432942},"rotation":{"radians":0.0462379446740676}},"curvature":-0.012475378087983349},{"time":1.0486301184480926,"velocity":2.5863122863441568,"acceleration":-0.11344642528944088,"pose":{"translation":{"x":2.66626992086953,"y":-2.2262158038065936},"rotation":{"radians":0.04495545857265369}},"curvature":-0.016334465882192943},{"time":1.08206688715433,"velocity":2.5825190044612043,"acceleration":-0.14053859558744686,"pose":{"translation":{"x":2.75260007913151,"y":-2.2223986061721357},"rotation":{"radians":0.04335395993069248}},"curvature":-0.020891884954709627},{"time":1.114176590644373,"velocity":2.5780063518279843,"acceleration":-0.17479287938222207,"pose":{"translation":{"x":2.8353770246054317,"y":-2.2188853028968896},"rotation":{"radians":0.04140613238077088}},"curvature":-0.02633105621031943},{"time":1.1447846948420182,"velocity":2.572656273162847,"acceleration":-0.214273950360442,"pose":{"translation":{"x":2.9141390703512506,"y":-2.215710421884058},"rotation":{"radians":0.03908483682919789}},"curvature":-0.03280431183658823},{"time":1.1737658725038393,"velocity":2.5664463617391506,"acceleration":-0.2515664901015116,"pose":{"translation":{"x":2.988554570340758,"y":-2.2128980903064637},"rotation":{"radians":0.036370115694462725}},"curvature":-0.040351753872629},{"time":1.2010499076748002,"velocity":2.559582612775386,"acceleration":-0.24719030868971262,"pose":{"translation":{"x":3.058441450509136,"y":-2.2104605083402893},"rotation":{"radians":0.033261717778710294}},"curvature":-0.0487364704212186},{"time":1.250543791674693,"velocity":2.5473482043111995,"acceleration":-2.2932751325340717,"pose":{"translation":{"x":3.18476610124958,"y":-2.206689601366153},"rotation":{"radians":0.026097529096406974}},"curvature":-0.06379400428035585},{"time":1.2948661677897322,"velocity":2.4457048013517584,"acceleration":-2.700000000000005,"pose":{"translation":{"x":3.295390049281255,"y":-2.2041987643203456},"rotation":{"radians":0.01902614736738477}},"curvature":-0.05756025386299252},{"time":1.3370889406335615,"velocity":2.331703314673419,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.3962334600270525,"y":-2.2025005475745627},"rotation":{"radians":0.015623728620487205}},"curvature":1.9919758598592307E-14},{"time":1.3807528146669472,"velocity":2.2138108547832775,"acceleration":-2.699999999999998,"pose":{"translation":{"x":3.495468402033405,"y":-2.2018050715414463},"rotation":{"radians":-0.009428571274368771}},"curvature":-0.47251629093133557},{"time":1.4275133754321228,"velocity":2.0875573407173036,"acceleration":-1.381434117679294,"pose":{"translation":{"x":3.5959601380389303,"y":-2.205700144331257},"rotation":{"radians":-0.07282027506060841}},"curvature":-0.7576381807988044},{"time":1.4775483281651862,"velocity":2.018437349935379,"acceleration":-0.48262543888990567,"pose":{"translation":{"x":3.6980083294102783,"y":-2.217443180910914},"rotation":{"radians":-0.15855495578930215}},"curvature":-0.889275285593679},{"time":1.5035515542561684,"velocity":2.0058875315306652,"acceleration":-0.12772372540479643,"pose":{"translation":{"x":3.7494660434238085,"y":-2.2269178925541913},"rotation":{"radians":-0.2058343047866693}},"curvature":-0.9141491880352},{"time":1.5299814970842245,"velocity":2.00251180077043,"acceleration":0.09714421324094917,"pose":{"translation":{"x":3.80104030335027,"y":-2.239001357109209},"rotation":{"radians":-0.25450709320216297}},"curvature":-0.9208931401196707},{"time":1.5567247709444556,"velocity":2.0051097550690695,"acceleration":0.2200816077637717,"pose":{"translation":{"x":3.8525542293078177,"y":-2.2537674845726783},"rotation":{"radians":-0.30376259210720574}},"curvature":-0.9157009975296813},{"time":1.5836859263448928,"velocity":2.0110434094967666,"acceleration":0.26233720732076204,"pose":{"translation":{"x":3.9038000444767205,"y":-2.2712321071920876},"rotation":{"radians":-0.3530427474166501}},"curvature":-0.9038925992624286},{"time":1.6107834063322117,"velocity":2.01815208672207,"acceleration":0.24048136414914534,"pose":{"translation":{"x":3.9545449810861992,"y":-2.291358620014931},"rotation":{"radians":-0.40200912687665896}},"curvature":-0.8898372449967046},{"time":1.6379458357728949,"velocity":2.0246841448075705,"acceleration":0.167471979955246,"pose":{"translation":{"x":4.004537186401265,"y":-2.3140636214379344},"rotation":{"radians":-0.4505070113590233}},"curvature":-0.8770090012723853},{"time":1.6651090768660897,"velocity":2.0292332265754496,"acceleration":0.053281800154735166,"pose":{"translation":{"x":4.053511628709556,"y":-2.3392225537562825},"rotation":{"radians":-0.49853061434834167}},"curvature":-0.8681238907544738},{"time":1.6922142624313306,"velocity":2.0306774396558938,"acceleration":-0.09453734346873006,"pose":{"translation":{"x":4.10119600330818,"y":-2.366675343712849},"rotation":{"radians":-0.5461919132987508}},"curvature":-0.865311428496268},{"time":1.7192068260639346,"velocity":2.0281256343966567,"acceleration":-0.27015672260799534,"pose":{"translation":{"x":4.147316638490546,"y":-2.396232043047422},"rotation":{"radians":-0.5936940977906976}},"curvature":-0.8702835309347113},{"time":1.7460363999942723,"velocity":2.020877444634668,"acceleration":-0.4685346531204645,"pose":{"translation":{"x":4.191604401533209,"y":-2.427678469045932},"rotation":{"radians":-0.6413094050073674}},"curvature":-0.8844748597115307},{"time":1.7726573422147414,"velocity":2.0084046107056603,"acceleration":-0.6841766244763692,"pose":{"translation":{"x":4.2338006046827035,"y":-2.4607818450896786},"rotation":{"radians":-0.6893601527819386}},"curvature":-0.9091353831892264},{"time":1.7990295676149184,"velocity":1.9903613505514373,"acceleration":-0.9095524024234753,"pose":{"translation":{"x":4.273662911142385,"y":-2.4952964412045606},"rotation":{"radians":-0.7382010066172255}},"curvature":-0.9453563642509774},{"time":1.8251192745599552,"velocity":1.9666313949210545,"acceleration":-1.1331856107887959,"pose":{"translation":{"x":4.310971241059266,"y":-2.5309692146103004},"rotation":{"radians":-0.7881998047509012}},"curvature":-0.9940049664359809},{"time":1.8508990646611696,"velocity":1.937418107729203,"acceleration":-1.3375443460013228,"pose":{"translation":{"x":4.345533677510854,"y":-2.5675454502696735},"rotation":{"radians":-0.8397135199968498}},"curvature":-1.0555314994649576},{"time":1.8763468481747017,"velocity":1.9033805687724126,"acceleration":-1.4970214628266296,"pose":{"translation":{"x":4.377192372491993,"y":-2.6047744014377354},"rotation":{"radians":-0.8930551619571827}},"curvature":-1.1296006737692692},{"time":1.9014428323690384,"velocity":1.8658113418027327,"acceleration":-1.576394086036989,"pose":{"translation":{"x":4.405829452901698,"y":-2.6424149302110496},"rotation":{"radians":-0.9484468081780388}},"curvature":-1.214492765899179},{"time":1.9261638643867915,"velocity":1.8268412531292157,"acceleration":-1.5299385524213729,"pose":{"translation":{"x":4.431372926529995,"y":-2.680241148076914},"rotation":{"radians":-1.0059539912222772}},"curvature":-1.3062396223678578},{"time":1.9504745524828793,"velocity":1.7896473941751199,"acceleration":-1.300459097338824,"pose":{"translation":{"x":4.453802588044757,"y":-2.7180480564625893},"rotation":{"radians":-1.0653982523331798}},"curvature":-1.3975313224959374},{"time":1.9743150721683584,"velocity":1.7586437734648532,"acceleration":-0.8154672927170344,"pose":{"translation":{"x":4.47315592497855,"y":-2.755657187284527},"rotation":{"radians":-1.1262490019427633}},"curvature":-1.4765801443939932},{"time":1.9975865130896509,"velocity":1.7396666745391425,"acceleration":0.025743258857012695,"pose":{"translation":{"x":4.489534023715459,"y":-2.7929222434975953},"rotation":{"radians":-1.187503840779327}},"curvature":-1.5263554845323177},{"time":2.020136018886157,"velocity":1.7402471723039596,"acceleration":1.3864333055931264,"pose":{"translation":{"x":4.503107475477936,"y":-2.8297347396443087},"rotation":{"radians":-1.247577593055913}},"curvature":-1.52481679177783},{"time":2.041745464302497,"velocity":1.7702072271445703,"acceleration":-2.011964918015128,"pose":{"translation":{"x":4.514122282313632,"y":-2.8660296424040546},"rotation":{"radians":-1.3042308693880997}},"curvature":-1.446773443152478},{"time":2.0627995944777324,"velocity":1.7278470558526733,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.522905763082244,"y":-2.9017910111423175},"rotation":{"radians":-1.3545726687892008}},"curvature":-1.2676094631183705},{"time":2.0839544278694992,"velocity":1.6707290056949031,"acceleration":-2.7,"pose":{"translation":{"x":4.529872459442342,"y":-2.937057638459915},"rotation":{"radians":-1.3951638977655076}},"curvature":-0.9684653632102034},{"time":2.1275799982769845,"velocity":1.5529399655946934,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.5404852154867,"y":-3.006569348708373},"rotation":{"radians":-1.4320291524242688}},"curvature":-3.968567798245732E-14},{"time":2.1746205872407764,"velocity":1.4259303753924555,"acceleration":-2.7000000000000126,"pose":{"translation":{"x":4.548190539003163,"y":-3.0762082684571026},"rotation":{"radians":-1.5145741224561866}},"curvature":-2.169893522332204},{"time":2.187181272433908,"velocity":1.392016525371,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":4.548825732668718,"y":-3.09389453775449},"rotation":{"radians":-1.5562793153684447}},"curvature":-2.528786618433012},{"time":2.2001642154180714,"velocity":1.3569625793137596,"acceleration":-2.700000000000005,"pose":{"translation":{"x":4.548666359883473,"y":-3.111738745552366},"rotation":{"radians":-1.6039923682982342}},"curvature":-2.8033583330899354},{"time":2.21364447603258,"velocity":1.3205658756545864,"acceleration":-1.5268740023091498,"pose":{"translation":{"x":4.547599951621176,"y":-3.129754101139141},"rotation":{"radians":-1.656413280529951}},"curvature":-2.990286836084652},{"time":2.227624021815859,"velocity":1.299220870634007,"acceleration":-0.2645224874806642,"pose":{"translation":{"x":4.545528388523405,"y":-3.1479482625626964},"rotation":{"radians":-1.7122245522507358}},"curvature":-3.090121541319297},{"time":2.241996144147674,"velocity":1.2954191210844188,"acceleration":0.7704210405247226,"pose":{"translation":{"x":4.542367374171818,"y":-3.1663235999942585},"rotation":{"radians":-1.7701385864463517}},"curvature":-3.1082482330608565},{"time":2.256638425589095,"velocity":1.3066998427881742,"acceleration":1.630745356364276,"pose":{"translation":{"x":4.538045908360385,"y":-3.1848774590922835},"rotation":{"radians":-1.8289529386607495}},"curvature":-3.0547697498540463},{"time":2.27144563708508,"velocity":1.3308466341759557,"acceleration":2.3423184861193285,"pose":{"translation":{"x":4.532505760367635,"y":-3.203602424366333},"rotation":{"radians":-1.8876022156922398}},"curvature":-2.9433444225531606},{"time":2.28633331265105,"velocity":1.3657183118694733,"acceleration":2.699999999999998,"pose":{"translation":{"x":4.525700942228897,"y":-3.2224865825409537},"rotation":{"radians":-1.945196738995474}},"curvature":-2.789382956946834},{"time":2.301256160239691,"velocity":1.4060100003588036,"acceleration":2.700000000000026,"pose":{"translation":{"x":4.517597182008538,"y":-3.2415137859195604},"rotation":{"radians":-2.0010422830611705}},"curvature":-2.608158084659283},{"time":2.316221768515143,"velocity":1.4464171427025254,"acceleration":2.700000000000018,"pose":{"translation":{"x":4.50817139707221,"y":-3.260663915748311},"rotation":{"radians":-2.0546403345675577}},"curvature":-2.413293055317187},{"time":2.331257110731494,"velocity":1.487012566686673,"acceleration":2.700000000000006,"pose":{"translation":{"x":4.497411167359083,"y":-3.2799131455799873},"rotation":{"radians":-2.1056724518812366}},"curvature":-2.21586231757828},{"time":2.346379302263412,"velocity":1.5278424838228504,"acceleration":2.69999999999996,"pose":{"translation":{"x":4.485314208654093,"y":-3.2992342046378758},"rotation":{"radians":-2.153974400427438}},"curvature":-2.0241010689115004},{"time":2.3615964866971013,"velocity":1.5689288817938114,"acceleration":2.70000000000002,"pose":{"translation":{"x":4.471887845860182,"y":-3.318596641179645},"rotation":{"radians":-2.1995058440559263}},"curvature":-1.8435718497098361},{"time":2.3769088613443192,"velocity":1.6102722933412998,"acceleration":2.699999999999994,"pose":{"translation":{"x":4.457148486270537,"y":-3.3379670858612256},"rotation":{"radians":-2.242320194377558}},"curvature":-1.6775922318528667},{"time":2.407781042389153,"velocity":1.6936271821623514,"acceleration":2.7000000000000157,"pose":{"translation":{"x":4.4238386574614745,"y":-3.376585514442135},"rotation":{"radians":-2.3203223745146797}},"curvature":-1.394429641705354},{"time":2.4388865951640732,"velocity":1.777612174654636,"acceleration":2.7000000000000055,"pose":{"translation":{"x":4.385677612722499,"y":-3.4147741914207166},"rotation":{"radians":-2.389372017089762}},"curvature":-1.1751142944648578},{"time":2.4700474996547346,"velocity":1.8617466167794219,"acceleration":2.70000000000002,"pose":{"translation":{"x":4.3430698502165885,"y":-3.452187991497558},"rotation":{"radians":-2.4511090439091}},"curvature":-1.0118676898807777},{"time":2.501050634407451,"velocity":1.9454550806117568,"acceleration":2.7000000000000064,"pose":{"translation":{"x":4.29651462048582,"y":-3.488460390677865},"rotation":{"radians":-2.5071658724276027}},"curvature":-0.8952667051519858},{"time":2.531667637261668,"velocity":2.0281209883181437,"acceleration":1.7171442016738554,"pose":{"translation":{"x":4.246589071163095,"y":-3.5232118939155996},"rotation":{"radians":-2.559066645798399}},"curvature":-0.8171522525475116},{"time":2.5618820544875325,"velocity":2.0800034996644916,"acceleration":0.2974093462937164,"pose":{"translation":{"x":4.193931391683856,"y":-3.556058462757621},"rotation":{"radians":-2.6082117823929067}},"curvature":-0.7715984470363638},{"time":2.5919448146421886,"velocity":2.0889444455098727,"acceleration":-0.3578136126621246,"pose":{"translation":{"x":4.1392239579978085,"y":-3.586619942987824},"rotation":{"radians":-2.6559043536046003}},"curvature":-0.7550856422693734},{"time":2.621994973860759,"velocity":2.078192089478804,"acceleration":-2.700000000000004,"pose":{"translation":{"x":4.083176477280641,"y":-3.6145284922712815},"rotation":{"radians":-2.7033952068445406}},"curvature":-0.7664592666340422},{"time":2.652380282530881,"velocity":1.9961517560694746,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":4.026509132645742,"y":-3.639437007798382},"rotation":{"radians":-2.7519357464854353}},"curvature":-0.8069304584966608},{"time":2.683364566148733,"velocity":1.9124941903012749,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.969935727855927,"y":-3.661027553928971},"rotation":{"radians":-2.80283282301912}},"curvature":-0.880204850778421},{"time":2.7147083058213712,"velocity":1.8278660931851507,"acceleration":-2.700000000000004,"pose":{"translation":{"x":3.91414683203515,"y":-3.67901978983649},"rotation":{"radians":-2.8575008286150396}},"curvature":-0.9927107532457584},{"time":2.746167989344528,"velocity":1.7429249476726276,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.859792924380229,"y":-3.6931793971521163},"rotation":{"radians":-2.9175018479081674}},"curvature":-1.1537386977785027},{"time":2.777509727336645,"velocity":1.6583022550939117,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":3.807467538872568,"y":-3.7033265076089066},"rotation":{"radians":-2.98455371580211}},"curvature":-1.374978747220705},{"time":2.808528481465891,"velocity":1.5745516189449469,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":3.7576904089898706,"y":-3.7093441306859303},"rotation":{"radians":-3.060464819899775}},"curvature":-1.6682983687998736},{"time":2.839074095925356,"velocity":1.492078459904391,"acceleration":-2.7,"pose":{"translation":{"x":3.710890612417863,"y":-3.7111865812524147},"rotation":{"radians":3.136263424747276}},"curvature":-2.0396127465065623},{"time":2.8541498616731027,"velocity":1.4513738923854755,"acceleration":-2.7000000000000157,"pose":{"translation":{"x":3.68871236422594,"y":-3.7105494117990094},"rotation":{"radians":3.0886940080028404}},"curvature":-2.2517540717159137},{"time":2.869093464238244,"velocity":1.411026165459593,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.6673897157620186,"y":-3.708887907211884},"rotation":{"radians":3.0381612940763745}},"curvature":-2.476098247466147},{"time":2.883916976255857,"velocity":1.3710026830120383,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":3.64694329892476,"y":-3.706220164425954},"rotation":{"radians":2.9847532628264495}},"curvature":-2.7048566294224945},{"time":2.8986425169503054,"velocity":1.3312437231370287,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.6273849192592724,"y":-3.702570317146297},"rotation":{"radians":2.9287138243171698}},"curvature":-2.926619125524679},{"time":2.913303100288603,"velocity":1.2916601481236245,"acceleration":-2.213158473164586,"pose":{"translation":{"x":3.6087170292293553,"y":-3.6979687992120294},"rotation":{"radians":2.8704785532553947}},"curvature":-3.1262758771705346},{"time":2.927901739613057,"velocity":1.2593510458060364,"acceleration":-1.3372462694650749,"pose":{"translation":{"x":3.590932201489739,"y":-3.692452607960189},"rotation":{"radians":2.810702413372763}},"curvature":-3.2856648096325953},{"time":2.9423735013472134,"velocity":1.2399987364144482,"acceleration":-0.2769177245749227,"pose":{"translation":{"x":3.5740126021583305,"y":-3.6860655675896123},"rotation":{"radians":2.7502717349030865}},"curvature":-3.3851121302675136},{"time":2.9566091032291073,"velocity":1.2360566459333597,"acceleration":1.0223788996917484,"pose":{"translation":{"x":3.5579294640884447,"y":-3.678858592524813},"rotation":{"radians":2.6902938124377727}},"curvature":-3.4057514466931504},{"time":2.970476475416496,"velocity":1.2502343546519181,"acceleration":2.6681240091760903,"pose":{"translation":{"x":3.5426425601410547,"y":-3.670889950779865},"rotation":{"radians":2.6320615510540275}},"curvature":-3.332129959746317},{"time":2.983826414832387,"velocity":1.285853648528504,"acceleration":2.7000000000000335,"pose":{"translation":{"x":3.528099676457032,"y":-3.6622255273222764},"rotation":{"radians":2.5769970267210054}},"curvature":-3.1543304032069743},{"time":2.9966312044570964,"velocity":1.320426580515219,"acceleration":2.7000000000000175,"pose":{"translation":{"x":3.5142360857293804,"y":-3.6529390874368746},"rotation":{"radians":2.5265844229720025}},"curvature":-2.868872675190118},{"time":3.0089758018551445,"velocity":1.3537569934899487,"acceleration":2.699999999999961,"pose":{"translation":{"x":3.5009740204754904,"y":-3.643112540089682},"rotation":{"radians":2.4823065390828343}},"curvature":-2.4780738247730825},{"time":3.0325497678977302,"velocity":1.417406701804929,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.4758750352138703,"y":-3.6222090574632704},"rotation":{"radians":2.417820891298193}},"curvature":-1.4069114432882768},{"time":3.0549643605240986,"velocity":1.4779261018961238,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.4518997616440137,"y":-3.600343232622558},"rotation":{"radians":2.3941509353806443}},"curvature":-6.597754040718503E-14},{"time":3.097424918921701,"velocity":1.5925696095696509,"acceleration":2.700000000000012,"pose":{"translation":{"x":3.404627493866877,"y":-3.5554573728365666},"rotation":{"radians":2.359151148596555}},"curvature":-0.9974038163995482},{"time":3.117920297777255,"velocity":1.6479071324796468,"acceleration":2.7000000000000224,"pose":{"translation":{"x":3.381514791886723,"y":-3.5316134140177007},"rotation":{"radians":2.320298721981781}},"curvature":-1.32202941467885},{"time":3.1381370364987027,"velocity":1.7024923270275554,"acceleration":-0.5158132932467933,"pose":{"translation":{"x":3.3590372747357247,"y":-3.506280826147151},"rotation":{"radians":2.27159233086776}},"curvature":-1.5360215957752419},{"time":3.1585694076628656,"velocity":1.6919530383685277,"acceleration":-0.8025270638531504,"pose":{"translation":{"x":3.337411959780435,"y":-3.4791712499705354},"rotation":{"radians":2.21598103540442}},"curvature":-1.656437274294512},{"time":3.179724372176169,"velocity":1.6749756068117487,"acceleration":0.042268202814321636,"pose":{"translation":{"x":3.316855510470594,"y":-3.4500892470930604},"rotation":{"radians":2.1559383465680733}},"curvature":-1.7045105299517793},{"time":3.201594870822817,"velocity":1.6759000334841956,"acceleration":0.533987750010698,"pose":{"translation":{"x":3.297582378275852,"y":-3.4189246686482133},"rotation":{"radians":2.093395544143883}},"curvature":-1.7018678521959556},{"time":3.2240286806123675,"velocity":1.6878794130978856,"acceleration":0.7777006429516394,"pose":{"translation":{"x":3.2798029446224954,"y":-3.385645023966453},"rotation":{"radians":2.029744042707893}},"curvature":-1.6678839582767058},{"time":3.24692053950747,"velocity":1.705682426478965,"acceleration":0.8440034925736247,"pose":{"translation":{"x":3.263721662830171,"y":-3.3502878492439034},"rotation":{"radians":1.9658874326741407}},"curvature":-1.6182610441414893},{"time":3.2702018274241587,"velocity":1.7253319147922621,"acceleration":0.7855965190171263,"pose":{"translation":{"x":3.2495352000486126,"y":-3.3129530762110466},"rotation":{"radians":1.9023216894634125}},"curvature":-1.5646802985757566},{"time":3.293830103894011,"velocity":1.7438942065373524,"acceleration":0.644060311097568,"pose":{"translation":{"x":3.2374305791943634,"y":-3.2737954008014114},"rotation":{"radians":1.839224295925083}},"curvature":-1.5151732380150225},{"time":3.3177800350905544,"velocity":1.7593194066745634,"acceleration":0.4526774388848353,"pose":{"translation":{"x":3.2275833208875033,"y":-3.23301665182027},"rotation":{"radians":1.7765388245251448}},"curvature":-1.4748278109320043},{"time":3.342036376501884,"velocity":1.7702997051813603,"acceleration":0.23804060311589212,"pose":{"translation":{"x":3.2201555853883743,"y":-3.1908581596133265},"rotation":{"radians":1.7140481308573512}},"curvature":-1.4465366353362927},{"time":3.366589019048916,"velocity":1.7761442310213447,"acceleration":0.0215059467969507,"pose":{"translation":{"x":3.215294314534303,"y":-3.147593124735411},"rotation":{"radians":1.6514346645385467}},"curvature":-1.4316206277953818},{"time":3.39142970569094,"velocity":1.7766784535066678,"acceleration":-0.17931411968375963,"pose":{"translation":{"x":3.2131293736763284,"y":-3.103518986619172},"rotation":{"radians":1.5883298080818744}},"curvature":-1.4302621159294333},{"time":3.416549838158156,"velocity":1.7721740590669695,"acceleration":-0.34918098110422113,"pose":{"translation":{"x":3.2137716936159246,"y":-3.0589497922437667},"rotation":{"radians":1.5243558160649924}},"curvature":-1.441742318222538},{"time":3.441938750925294,"velocity":1.7633087335977708,"acceleration":-0.47421831783582413,"pose":{"translation":{"x":3.217311412541728,"y":-3.014208564803556},"rotation":{"radians":1.4591643386769895}},"curvature":-1.4645083998363497},{"time":3.4675818808694903,"velocity":1.7511482916515886,"acceleration":-0.5414284075575689,"pose":{"translation":{"x":3.2238160179662603,"y":-2.969619672376793},"rotation":{"radians":1.392475069328822}},"curvature":-1.4961112617234316},{"time":3.493458385095256,"velocity":1.7371380171754756,"acceleration":-0.5387686244058197,"pose":{"translation":{"x":3.2333284886626554,"y":-2.9255011965943183},"rotation":{"radians":1.3241169263681425}},"curvature":-1.5330700506498158},{"time":3.519537958075581,"velocity":1.7230871615157748,"acceleration":-0.4556400193475388,"pose":{"translation":{"x":3.2458654366013837,"y":-2.8821573013082524},"rotation":{"radians":1.2540723653073398}},"curvature":-1.5707395231544214},{"time":3.545776877729198,"velocity":1.7111316596571422,"acceleration":-0.28344441796272496,"pose":{"translation":{"x":3.2614152488869763,"y":-2.839870601260684},"rotation":{"radians":1.1825229240815807}},"curvature":-1.6032786185938699},{"time":3.5721136472440986,"velocity":1.7036666493509727,"acceleration":-0.015704881254142745,"pose":{"translation":{"x":3.279936229694752,"y":-2.798894530752366},"rotation":{"radians":1.1098911927305724}},"curvature":-1.6238276190046936},{"time":3.5984649174694745,"velocity":1.7032528057811873,"acceleration":0.35284185665774426,"pose":{"translation":{"x":3.3013547422075398,"y":-2.759445712311407},"rotation":{"radians":1.0368718494707698}},"curvature":-1.6249720795219005},{"time":3.624722530026533,"velocity":1.7125175905472196,"acceleration":0.8288150550257167,"pose":{"translation":{"x":3.325563350552406,"y":-2.721696325361962},"rotation":{"radians":0.9644435606186033}},"curvature":-1.5994832719800107},{"time":3.6507523500787777,"velocity":1.73409149728613,"acceleration":1.4252232202431667,"pose":{"translation":{"x":3.3524189617373787,"y":-2.685766474892926},"rotation":{"radians":0.8938558696999009}},"curvature":-1.5411857513425054},{"time":3.676394985646547,"velocity":1.7706379769255485,"acceleration":2.1703978194442044,"pose":{"translation":{"x":3.3817409675881733,"y":-2.6517165601266246},"rotation":{"radians":0.8265912966733785}},"curvature":-1.4456706361406226},{"time":3.7014676519043634,"velocity":1.8250556370991653,"acceleration":2.6999999999999784,"pose":{"translation":{"x":3.413309386684915,"y":-2.619539643187509},"rotation":{"radians":0.7643114214044299}},"curvature":-1.3105373560017928},{"time":3.7258318886632673,"velocity":1.8908390763482057,"acceleration":2.70000000000001,"pose":{"translation":{"x":3.4468630062988685,"y":-2.5891538177708444},"rotation":{"radians":0.7088034703367372}},"curvature":-1.1349629003681903},{"time":3.7724826299700416,"velocity":2.016796077876496,"acceleration":-0.5043390613346201,"pose":{"translation":{"x":3.518663691239497,"y":-2.533007186152166},"rotation":{"radians":0.625718005912554}},"curvature":-0.660271995281064},{"time":3.8182471377609275,"velocity":1.9937152489747998,"acceleration":-2.7,"pose":{"translation":{"x":3.594158087998453,"y":-2.480832055659343},"rotation":{"radians":0.5938368430683253}},"curvature":7.783167520969263E-15},{"time":3.8667645223640985,"velocity":1.8627183105462377,"acceleration":-2.448686328798753,"pose":{"translation":{"x":3.6729157334531477,"y":-2.4303422888333297},"rotation":{"radians":0.5271275245782101}},"curvature":-1.2216344022793857},{"time":3.893995849213335,"velocity":1.796037332775462,"acceleration":0.8883472951238496,"pose":{"translation":{"x":3.7167581655490505,"y":-2.4066882532055685},"rotation":{"radians":0.46109193928949477}},"curvature":-1.3815783289044108},{"time":3.923464713988766,"velocity":1.8222159190890865,"acceleration":2.5150613496762397,"pose":{"translation":{"x":3.7653403839718806,"y":-2.3847329758900475},"rotation":{"radians":0.38839994159262164}},"curvature":-1.317389517790865},{"time":3.954507350669925,"velocity":1.900290054797912,"acceleration":2.699999999999992,"pose":{"translation":{"x":3.8195770590783837,"y":-2.364815558964395},"rotation":{"radians":0.3172444469602014}},"curvature":-1.1364573481033169},{"time":3.986928189490236,"velocity":1.987826319612752,"acceleration":2.6999999999999833,"pose":{"translation":{"x":3.8800855534054723,"y":-2.3471732649429318},"rotation":{"radians":0.25240611251046907}},"curvature":-0.923454381236981},{"time":4.020775662177537,"velocity":2.079214495868464,"acceleration":2.7000000000000166,"pose":{"translation":{"x":3.9472104082898145,"y":-2.3319496789831997},"rotation":{"radians":0.19591146597855075}},"curvature":-0.7254476116422978},{"time":4.056007190941607,"velocity":2.1743396235314525,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.021047830487421,"y":-2.3192028710924912},"rotation":{"radians":0.14804731126089887}},"curvature":-0.5601841162309223},{"time":4.092470213020962,"velocity":2.272789783145713,"acceleration":2.0542170002697246,"pose":{"translation":{"x":4.1014701787932335,"y":-2.3089135583343787},"rotation":{"radians":0.10821666970702261}},"curvature":-0.42935238516828855},{"time":4.13012654791079,"velocity":2.3501440664442486,"acceleration":1.4095885610893895,"pose":{"translation":{"x":4.188150450660712,"y":-2.300993267035243},"rotation":{"radians":0.07548970423561759}},"curvature":-0.328133198199666},{"time":4.1690784543142385,"velocity":2.4050502281431734,"acceleration":1.105000917498186,"pose":{"translation":{"x":4.28058676882142,"y":-2.2952924949908033},"rotation":{"radians":0.04889966743165412}},"curvature":-0.2501805657435863},{"time":4.209292232197884,"velocity":2.4494864896006696,"acceleration":0.8798741497374671,"pose":{"translation":{"x":4.378126867904618,"y":-2.291608873672647},"rotation":{"radians":0.02757748940261445}},"curvature":-0.18965112629733474},{"time":4.250579961072654,"velocity":2.485814494938949,"acceleration":0.7209130890229893,"pose":{"translation":{"x":4.479992581056847,"y":-2.2896953304347583},"rotation":{"radians":0.010799442879330516}},"curvature":-0.14177421487166667},{"time":4.292688285026806,"velocity":2.5161709368343175,"acceleration":0.6154113798094678,"pose":{"translation":{"x":4.585304326561518,"y":-2.289268250720046},"rotation":{"radians":-0.0020062622537310986}},"curvature":-0.10282754349067043},{"time":4.335310533667082,"velocity":2.542401153680612,"acceleration":0.5539476869586456,"pose":{"translation":{"x":4.693105594458496,"y":-2.2900156402668754},"rotation":{"radians":-0.011269244203826918}},"curvature":-0.06992374778377763},{"time":4.378099333314526,"velocity":2.5661039102730507,"acceleration":0.5312234895798615,"pose":{"translation":{"x":4.802387433163692,"y":-2.291605287315596},"rotation":{"radians":-0.017290929977297382}},"curvature":-0.0407690274999477},{"time":4.420678980728026,"velocity":2.58872321915713,"acceleration":-0.006651702656306532,"pose":{"translation":{"x":4.9121129360886515,"y":-2.293692924815071},"rotation":{"radians":-0.02025729797201243}},"curvature":-0.013444805102027516},{"time":4.462845574588839,"velocity":2.5884427395127387,"acceleration":-0.5715915964583924,"pose":{"translation":{"x":5.021241728260138,"y":-2.295930392629206},"rotation":{"radians":-0.020248277027234744}},"curvature":0.013780701622228518},{"time":4.504581076005477,"velocity":2.564587077629011,"acceleration":-0.6370008051938648,"pose":{"translation":{"x":5.128754452939724,"y":-2.29797379974348},"rotation":{"radians":-0.017243368677326374}},"curvature":0.04261861259216183},{"time":4.545707576700853,"velocity":2.538389463571251,"acceleration":-0.7474088743729884,"pose":{"translation":{"x":5.233677258243375,"y":-2.2994916864714727},"rotation":{"radians":-0.011124064818622562}},"curvature":0.07491205717676216},{"time":4.585904379321481,"velocity":2.508346016571174,"acceleration":-0.9104161920036973,"pose":{"translation":{"x":5.335106283761043,"y":-2.300173186661394},"rotation":{"radians":-0.0016746489643250997}},"curvature":0.11277657190632562},{"time":4.624901841092738,"velocity":2.472842095927577,"acceleration":-1.1334765384844365,"pose":{"translation":{"x":5.432232147176249,"y":-2.299736189902615},"rotation":{"radians":0.011415384564784041}},"curvature":0.15870914990347582},{"time":4.662490421571801,"velocity":2.430236321839626,"acceleration":-1.417449845715377,"pose":{"translation":{"x":5.524364430885674,"y":-2.297935503732195},"rotation":{"radians":0.028540995117919247}},"curvature":0.21560124211877355},{"time":4.698527020670028,"velocity":2.3791562500077363,"acceleration":-1.7434157406786617,"pose":{"translation":{"x":5.610956168618744,"y":-2.294571015841412},"rotation":{"radians":0.050151449126938294}},"curvature":0.28649505988502666},{"time":4.732935737770541,"velocity":2.319167550998142,"acceleration":-2.0498426278498414,"pose":{"translation":{"x":5.6916283320572205,"y":-2.289495856282291},"rotation":{"radians":0.07667900426154928}},"curvature":0.37374049043326946},{"time":4.765698378798955,"velocity":2.2520092928171564,"acceleration":-2.200727782661828,"pose":{"translation":{"x":5.766194317454786,"y":-2.2826245596741352},"rotation":{"radians":0.1083912394437538}},"curvature":0.47692760237061954},{"time":4.796828220659554,"velocity":2.1835009849646667,"acceleration":-1.951533788689058,"pose":{"translation":{"x":5.834684432256632,"y":-2.2739412274100532},"rotation":{"radians":0.14511765281794403}},"curvature":0.5887291995734516},{"time":4.826320782190419,"velocity":2.1259452546221924,"acceleration":0.25249843439989383,"pose":{"translation":{"x":5.8973703817190515,"y":-2.2635076898634896},"rotation":{"radians":0.18580361449886357}},"curvature":0.688226532173067},{"time":4.879443244483022,"velocity":2.139358593182542,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.007770514423775,"y":-2.238074938557544},"rotation":{"radians":0.26681484901988206}},"curvature":0.6645602759731501},{"time":4.925717056028935,"velocity":2.2642978843565076,"acceleration":2.7000000000000215,"pose":{"translation":{"x":6.105326805385559,"y":-2.20868569219867},"rotation":{"radians":0.3070457320187946}},"curvature":8.59105047691098E-15},{"time":4.968732327194171,"velocity":2.3804391165026444,"acceleration":1.046547025369115,"pose":{"translation":{"x":6.200577440375988,"y":-2.178572750839354},"rotation":{"radians":0.3048692689793426}},"curvature":-0.029595210721303496},{"time":5.010541193437925,"velocity":2.4241940611041013,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.296414326772042,"y":-2.1485209663055427},"rotation":{"radians":0.30361189387914295}},"curvature":0.015398611853207036},{"time":5.053151164385684,"velocity":2.309147139545151,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.392576486314869,"y":-2.118151506039237},"rotation":{"radians":0.309929491527005}},"curvature":0.11864532984526228},{"time":5.0978487285937835,"velocity":2.188463716183284,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.488044709362718,"y":-2.0866982109208916},"rotation":{"radians":0.3291905095711391}},"curvature":0.27356912072437833},{"time":5.144447630532185,"velocity":2.0626466809495994,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.581224175967098,"y":-2.0531095233119303},"rotation":{"radians":0.3662729906809996}},"curvature":0.48692207907376905},{"time":5.192645608777552,"velocity":1.9325121396871092,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.670127076948947,"y":-2.016150415097255},"rotation":{"radians":0.42636019208531223}},"curvature":0.7777661806474188},{"time":5.217251262799136,"velocity":1.8660768738288305,"acceleration":-2.7,"pose":{"translation":{"x":6.712291108875692,"y":-1.9959959231225946},"rotation":{"radians":0.466848732457423}},"curvature":0.960038980135589},{"time":5.242158250429408,"velocity":1.7988280072270986,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.7525552349747935,"y":-1.9745043157277584},"rotation":{"radians":0.5153365844410867}},"curvature":1.1700803477242545},{"time":5.267366244528999,"velocity":1.7307664231582023,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.79064177432575,"y":-1.9515150031582686},"rotation":{"radians":0.5725598490972759}},"curvature":1.407510053211681},{"time":5.292909766693304,"velocity":1.6617989133145774,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.826282725632931,"y":-1.926875040262836},"rotation":{"radians":0.6390953532961267}},"curvature":1.667148569693312},{"time":5.318873472340725,"velocity":1.591696908066541,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.859225474134207,"y":-1.9004423117446878},"rotation":{"radians":0.7151883594750411}},"curvature":1.9363200629739135},{"time":5.345410429470589,"velocity":1.5200471238159066,"acceleration":-2.3738573993833225,"pose":{"translation":{"x":6.889238498509579,"y":-1.8720887174128968},"rotation":{"radians":0.8005307337600137}},"curvature":2.192818786492281},{"time":5.358949023745167,"velocity":1.4879084316199513,"acceleration":-1.9516714361675558,"pose":{"translation":{"x":6.903081185910179,"y":-1.857156180383169},"rotation":{"radians":0.8463658748252719}},"curvature":2.306849877953884},{"time":5.372659794635354,"velocity":1.4611495117057358,"acceleration":-1.497930464419021,"pose":{"translation":{"x":6.916117077789808,"y":-1.8417033574337094},"rotation":{"radians":0.8940346261688494}},"curvature":2.4056201057619213},{"time":5.38652347868325,"velocity":1.4403826770213122,"acceleration":-1.0192577916916679,"pose":{"translation":{"x":6.9283257078718155,"y":-1.8257195962214032},"rotation":{"radians":0.9432557744741863}},"curvature":2.4848020382083926},{"time":5.400515436027421,"velocity":1.4261212654772482,"acceleration":-0.5225387382227367,"pose":{"translation":{"x":6.93968899826505,"y":-1.809195717581875},"rotation":{"radians":0.9936918889062446}},"curvature":2.540515033093385},{"time":5.41460634854895,"velocity":1.4187582178278413,"acceleration":-0.014757319499776067,"pose":{"translation":{"x":6.950191437804758,"y":-1.792124115068593},"rotation":{"radians":1.0449571846304218}},"curvature":2.5697176050539396},{"time":5.428763379237135,"velocity":1.4185492980028076,"acceleration":0.49705853579396725,"pose":{"translation":{"x":6.959820260393476,"y":-1.7744988544919729},"rotation":{"radians":1.096629628516868}},"curvature":2.5705506245541385},{"time":5.442951699797049,"velocity":1.4256017238456937,"acceleration":1.0058212461243434,"pose":{"translation":{"x":6.968565623341928,"y":-1.7563157734584816},"rotation":{"radians":1.148266450264419}},"curvature":2.5425656948108637},{"time":5.457136224042313,"velocity":1.439868819697746,"acceleration":1.5043638736848146,"pose":{"translation":{"x":6.976420785709916,"y":-1.737572580909742},"rotation":{"radians":1.199421625080546}},"curvature":2.48679028399822},{"time":5.471283341809899,"velocity":1.4611512325840679,"acceleration":1.9854918452042976,"pose":{"translation":{"x":6.983382286647216,"y":-1.7182689566616358},"rotation":{"radians":1.2496635232215603}},"curvature":2.4056136374839077},{"time":5.48536244470652,"velocity":1.4891051765731003,"acceleration":2.442166647194956,"pose":{"translation":{"x":6.989450123734476,"y":-1.6984066509434093},"rotation":{"radians":1.298590883559801}},"curvature":2.302515484176023},{"time":5.499347072094096,"velocity":1.5232579671524873,"acceleration":2.7000000000000313,"pose":{"translation":{"x":6.994627931324107,"y":-1.6779895839367749},"rotation":{"radians":1.345845573854175}},"curvature":2.181690790937652},{"time":5.513225914734723,"velocity":1.5607308422821804,"acceleration":2.700000000000003,"pose":{"translation":{"x":6.998923158881178,"y":-1.6570239453150175},"rotation":{"radians":1.3911211604277107}},"curvature":2.0476389389286784},{"time":5.540731858148174,"velocity":1.6349968894984983,"acceleration":2.6999999999999718,"pose":{"translation":{"x":7.004915817366584,"y":-1.6134836566117543},"rotation":{"radians":1.4747879462418056}},"curvature":1.7571597270334407},{"time":5.568052253890458,"velocity":1.708761958002665,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.007570774118427,"y":-1.5678844745372809},"rotation":{"radians":1.548228778076881}},"curvature":1.4607199247005194},{"time":5.595275760892049,"velocity":1.7822654269069613,"acceleration":2.7000000000000233,"pose":{"translation":{"x":7.00710315968425,"y":-1.5203677711630594},"rotation":{"radians":1.6108008573105854}},"curvature":1.1774597721431561},{"time":5.622411531648348,"velocity":1.8555320079489686,"acceleration":2.70000000000003,"pose":{"translation":{"x":7.0038062671400185,"y":-1.471120786179683},"rotation":{"radians":1.6623324713404102}},"curvature":0.9158224230097983},{"time":5.676128423590922,"velocity":2.0005676161939183,"acceleration":2.7000000000000166,"pose":{"translation":{"x":6.990322874119228,"y":-1.3684333797514574},"rotation":{"radians":1.7323819089404568}},"curvature":0.45120655079708105},{"time":5.728173489952742,"velocity":2.1410892953708345,"acceleration":-1.2957944258558465,"pose":{"translation":{"x":6.971247052760426,"y":-1.262358564710433},"rotation":{"radians":1.757019167206025}},"curvature":-1.561060768928937E-14},{"time":5.7793299537033915,"velocity":2.0748010347962467,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.9504471138436426,"y":-1.1565485738242998},"rotation":{"radians":1.780308861065907}},"curvature":0.4213474449159541},{"time":5.83114957354628,"velocity":1.9348880612204489,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.925936262751364,"y":-1.0555911127842554},"rotation":{"radians":1.8445606453124532}},"curvature":0.8225080369632037},{"time":5.857270454723036,"velocity":1.8643616820432067,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.911466814352387,"y":-1.008127788913547},"rotation":{"radians":1.8906170407773308}},"curvature":1.037137176437969},{"time":5.883406434325342,"velocity":1.7937945371169803,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.8952370110002885,"y":-0.9631623863235449},"rotation":{"radians":1.9455678688657185}},"curvature":1.2652476416105811},{"time":5.909515262552049,"velocity":1.723300700904871,"acceleration":-2.7,"pose":{"translation":{"x":6.877120042088533,"y":-0.9209742869474389},"rotation":{"radians":2.0090981353401283}},"curvature":1.5048065066202938},{"time":5.935600682465283,"velocity":1.6528700671391385,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.857051404065739,"y":-0.881778884558397},"rotation":{"radians":2.080714005033709}},"curvature":1.748797911494619},{"time":5.961716248042764,"velocity":1.5823580400799406,"acceleration":-2.420782145439587,"pose":{"translation":{"x":6.835023193527048,"y":-0.8457318317713383},"rotation":{"radians":2.1596208195845645}},"curvature":1.9849301909624535},{"time":5.987904505471295,"velocity":1.5189619740767766,"acceleration":-1.958942540579234,"pose":{"translation":{"x":6.811078400305493,"y":-0.8129332870447026},"rotation":{"radians":2.2446368744994247}},"curvature":2.1965902859911486},{"time":6.001022573363463,"velocity":1.4932644328326024,"acceleration":-1.631729003359013,"pose":{"translation":{"x":6.798413231196656,"y":-0.7977693756994861},"rotation":{"radians":2.2889541556832134}},"curvature":2.2875054416645857},{"time":6.014125575500676,"velocity":1.4718838842142372,"acceleration":-1.2941829666630873,"pose":{"translation":{"x":6.785305200563372,"y":-0.7834321616822232},"rotation":{"radians":2.3341740466388963}},"curvature":2.365566945109314},{"time":6.027193548712178,"velocity":1.4549715358751023,"acceleration":-0.9506370224302494,"pose":{"translation":{"x":6.771771454500179,"y":-0.7699204483116853},"rotation":{"radians":2.380046372070699}},"curvature":2.4289399362000017},{"time":6.040205257877977,"velocity":1.442602123416999,"acceleration":-0.6054180683210546,"pose":{"translation":{"x":6.757831249883614,"y":-0.7572303668346968},"rotation":{"radians":2.4263097387339827}},"curvature":2.476230701785448},{"time":6.05313878347758,"velocity":1.4347719333319062,"acceleration":-0.2627278600784591,"pose":{"translation":{"x":6.743505776031319,"y":-0.7453555091449389},"rotation":{"radians":2.472698337390371}},"curvature":2.5065885652386486},{"time":6.065972176537026,"velocity":1.4314002434358521,"acceleration":0.07344148211217627,"pose":{"translation":{"x":6.7288179763611495,"y":-0.7342870605017562},"rotation":{"radians":2.518949181071165}},"curvature":2.5197630003569333},{"time":6.078684120381151,"velocity":1.4323338274322914,"acceleration":0.3993694659931208,"pose":{"translation":{"x":6.713792370050274,"y":-0.7240139322489613},"rotation":{"radians":2.56480923221966}},"curvature":2.516108934245047},{"time":6.091254539881826,"velocity":1.4373540691555853,"acceleration":0.7116597694643911,"pose":{"translation":{"x":6.698454873694283,"y":-0.7145228945336406},"rotation":{"radians":2.610041889166239}},"curvature":2.4965410011409817},{"time":6.1036651082915485,"velocity":1.4461861714089705,"acceleration":1.0072934311855395,"pose":{"translation":{"x":6.682832622966295,"y":-0.7057987090249593},"rotation":{"radians":2.6544323894040414}},"curvature":2.4624449205444345},{"time":6.115899617204859,"velocity":1.4585099118711293,"acceleration":1.411180644045743,"pose":{"translation":{"x":6.66695379427606,"y":-0.6978242616329673},"rotation":{"radians":2.697791825362691}},"curvature":2.415559556556925},{"time":6.139769890143771,"velocity":1.4921951790106107,"acceleration":1.8753440278829758,"pose":{"translation":{"x":6.6345432422856385,"y":-0.6840475423565032},"rotation":{"radians":2.780804555455828}},"curvature":2.291356204711142},{"time":6.1628041667924665,"velocity":1.535392372160346,"acceleration":2.2446368378348374,"pose":{"translation":{"x":6.601462666779656,"y":-0.6730233521169358},"rotation":{"radians":2.858143863125412}},"curvature":2.140056230204871},{"time":6.184953225324414,"velocity":1.5851089648645167,"acceleration":2.522588174091637,"pose":{"translation":{"x":6.567956754783603,"y":-0.6645607881846443},"rotation":{"radians":2.9293052802259933}},"curvature":1.9761289649511333},{"time":6.206193078004116,"velocity":1.6386883660537799,"acceleration":2.70000000000005,"pose":{"translation":{"x":6.534269724383192,"y":-0.6584516766894719},"rotation":{"radians":2.994135910092173}},"curvature":1.810601257289955},{"time":6.226518310657189,"velocity":1.69356649421708,"acceleration":2.700000000000008,"pose":{"translation":{"x":6.500639617815723,"y":-0.6544748196224954},"rotation":{"radians":3.0527334391691157}},"curvature":1.6506204646941747},{"time":6.245945926343095,"velocity":1.7460210565690264,"acceleration":2.6999999999999553,"pose":{"translation":{"x":6.467292594561459,"y":-0.6524002418377992},"rotation":{"radians":3.1053486814425013}},"curvature":1.49985232290413},{"time":6.264498520565237,"velocity":1.7961130609688067,"acceleration":2.6999999999999638,"pose":{"translation":{"x":6.434437224434994,"y":-0.6519934380542431},"rotation":{"radians":-3.130880951836696}},"curvature":1.3592016791821142},{"time":6.299016658924066,"velocity":1.8893120345376446,"acceleration":2.700000000000015,"pose":{"translation":{"x":6.370913533043703,"y":-0.6552479627005091},"rotation":{"radians":-3.0526478793201797}},"curvature":1.102221344649246},{"time":6.330173544667907,"velocity":1.9734356260460149,"acceleration":2.699999999999969,"pose":{"translation":{"x":6.311168446317259,"y":-0.6624331346750338},"rotation":{"radians":-2.993627088297191}},"curvature":0.8555434017371669},{"time":6.358177122085604,"velocity":2.049045285073797,"acceleration":-0.9416241797519793,"pose":{"translation":{"x":6.255655190128021,"y":-0.6719430210413584},"rotation":{"radians":-2.9527564536870425}},"curvature":0.5864715450310406},{"time":6.40908336066959,"velocity":2.001110739922893,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.154807962378389,"y":-0.6933252592926626},"rotation":{"radians":-2.922923707715869}},"curvature":-7.920403844670763E-14},{"time":6.434892135577055,"velocity":1.9314270476727367,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":6.105382169772536,"y":-0.7048295258935683},"rotation":{"radians":-2.8944577500936557}},"curvature":0.9898546895007715},{"time":6.464047110970468,"velocity":1.8527086141105213,"acceleration":1.5500066075336068,"pose":{"translation":{"x":6.052341211286653,"y":-0.7199832175221093},"rotation":{"radians":-2.829917196360015}},"curvature":1.244909683667625},{"time":6.497201637823433,"velocity":1.904098349802267,"acceleration":2.196524054811221,"pose":{"translation":{"x":5.9938320492645705,"y":-0.7413180427175279},"rotation":{"radians":-2.7552319783560915}},"curvature":1.128011375882325},{"time":6.533430578009981,"velocity":1.9836760884023372,"acceleration":1.431747396236863,"pose":{"translation":{"x":5.9296421212676345,"y":-0.7702892366367647},"rotation":{"radians":-2.68202517427326}},"curvature":0.9589440061187532},{"time":6.572279767995425,"velocity":2.039298315009907,"acceleration":0.39540251184367475,"pose":{"translation":{"x":5.860889308945416,"y":-0.8074327001199966},"rotation":{"radians":-2.611946712236002}},"curvature":0.8486059854042763},{"time":6.613432359872926,"velocity":2.0555701532071486,"acceleration":-2.6591357217527984,"pose":{"translation":{"x":5.789711906906409,"y":-0.8525221387561752},"rotation":{"radians":-2.542325324688139}},"curvature":0.8174564272056424},{"time":6.657461631700569,"velocity":1.938490343687499,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.718958591588722,"y":-0.9047262019485662},"rotation":{"radians":-2.468754506008543}},"curvature":0.8700986748766842},{"time":6.704780045507345,"velocity":1.8107306264092036,"acceleration":-2.7,"pose":{"translation":{"x":5.651878390130772,"y":-0.9627656219802874},"rotation":{"radians":-2.3856661716116374}},"curvature":1.0217138349834605},{"time":6.729380240394239,"velocity":1.7443101002145895,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.620764202251342,"y":-0.9934900132537403},"rotation":{"radians":-2.3384336466190065}},"curvature":1.1447855846711075},{"time":6.754428073979885,"velocity":1.6766809495333428,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.591810649241981,"y":-1.0250703530798466},"rotation":{"radians":-2.2860608095739368}},"curvature":1.307641400645128},{"time":6.779794321841218,"velocity":1.6081920803077432,"acceleration":-2.699999999999992,"pose":{"translation":{"x":5.5653983973921815,"y":-1.0572907322940774},"rotation":{"radians":-2.2273948919074336}},"curvature":1.5178449969625756},{"time":6.805363904180817,"velocity":1.539154207990826,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":5.541875004073464,"y":-1.0899367104866822},"rotation":{"radians":-2.161206905512003}},"curvature":1.78262484176562},{"time":6.831049462192171,"velocity":1.4698032013601714,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":5.521545229266584,"y":-1.1228002265984887},"rotation":{"radians":-2.086289231912457}},"curvature":2.105870641944316},{"time":6.856808826125756,"velocity":1.400252918739492,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.504661347088734,"y":-1.1556845095166994},"rotation":{"radians":-2.0016529465806725}},"curvature":2.4825761096122894},{"time":6.86972401340848,"velocity":1.3653819130761384,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.497573715521403,"y":-1.172077243117104},"rotation":{"radians":-1.9555202317421885}},"curvature":2.6849789156512784},{"time":6.882673739679856,"velocity":1.330417652143425,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.491413457320765,"y":-1.188408988670691},"rotation":{"radians":-1.906861734434117}},"curvature":2.890601730990897},{"time":6.895675386765042,"velocity":1.2953132050134222,"acceleration":-2.700000000000007,"pose":{"translation":{"x":5.486193030704304,"y":-1.2046605118354696},"rotation":{"radians":-1.8557866949121526}},"curvature":3.092609303262215},{"time":6.908753496392279,"velocity":1.2600023090198817,"acceleration":-2.4503685648581834,"pose":{"translation":{"x":5.481919796934385,"y":-1.2208142046278108},"rotation":{"radians":-1.802501188338778}},"curvature":3.2823712408498213},{"time":6.921922783782541,"velocity":1.2277327011771995,"acceleration":-1.8641866790337984,"pose":{"translation":{"x":5.478595717553475,"y":-1.2368542388785637},"rotation":{"radians":-1.7473215449361288}},"curvature":3.449767928752057},{"time":6.935160704013879,"velocity":1.2030547466238288,"acceleration":-1.2076981524009318,"pose":{"translation":{"x":5.476217051619374,"y":-1.2527667196891765},"rotation":{"radians":-1.6906820251329013}},"curvature":3.583843076219263},{"time":6.948414516537567,"velocity":1.1870481417267027,"acceleration":-0.4806746687042787,"pose":{"translation":{"x":5.474774052940434,"y":-1.268539838887813},"rotation":{"radians":-1.6331340665883607}},"curvature":3.673787416230086},{"time":6.96161942407653,"velocity":1.1807008771701408,"acceleration":0.3229045026999471,"pose":{"translation":{"x":5.474250667310791,"y":-1.2841640284854734},"rotation":{"radians":-1.575335273601927}},"curvature":3.7101292401335804},{"time":6.9747006107311,"velocity":1.1849248512415598,"acceleration":1.217153375671872,"pose":{"translation":{"x":5.474624229745584,"y":-1.299632114132111},"rotation":{"radians":-1.5180279759372337}},"curvature":3.6859011663511714},{"time":6.9875762631259075,"velocity":1.2005964950178771,"acceleration":2.2274103567374066,"pose":{"translation":{"x":5.475865161716185,"y":-1.314939468572752},"rotation":{"radians":-1.4620093487673522}},"curvature":3.597500607604957},{"time":7.000161111251177,"velocity":1.2286281160700687,"acceleration":2.6999999999998954,"pose":{"translation":{"x":5.477936668385421,"y":-1.3300841651036155},"rotation":{"radians":-1.4080971495914785}},"curvature":3.445004404528287},{"time":7.01241094467999,"velocity":1.261702666327864,"acceleration":2.6999999999998794,"pose":{"translation":{"x":5.480794435842802,"y":-1.3450671310282283},"rotation":{"radians":-1.3570963862725234}},"curvature":3.231834618507058},{"time":7.024348550837519,"velocity":1.2939342029531913,"acceleration":2.699999999999916,"pose":{"translation":{"x":5.484386328339744,"y":-1.3598923011135475},"rotation":{"radians":-1.3097722138383399}},"curvature":2.963850685290576},{"time":7.036016922810817,"velocity":1.325438807281094,"acceleration":2.699999999999936,"pose":{"translation":{"x":5.488652085524795,"y":-1.3745667710460783},"rotation":{"radians":-1.2668330803115047}},"curvature":2.648087362867792},{"time":7.058664174686292,"velocity":1.386586387344877,"acceleration":2.699999999999964,"pose":{"translation":{"x":5.498921712950436,"y":-1.403508718533239},"rotation":{"radians":-1.1966444136461991}},"curvature":1.899345368181183},{"time":7.10160842936383,"velocity":1.5025358749742275,"acceleration":2.6999999999999877,"pose":{"translation":{"x":5.52392321071957,"y":-1.460283192681829},"rotation":{"radians":-1.13491935438754}},"curvature":-7.353109500985642E-14},{"time":7.142953668326477,"velocity":1.6141680201733732,"acceleration":2.7000000000000197,"pose":{"translation":{"x":5.550515257840978,"y":-1.5189700209446757},"rotation":{"radians":-1.163072703904685}},"curvature":-0.678009450539781},{"time":7.1882725784361075,"velocity":1.7365290774693758,"acceleration":2.699999999999987,"pose":{"translation":{"x":5.578866578257237,"y":-1.5894029943565342},"rotation":{"radians":-1.2108847916395842}},"curvature":-0.5182812011551416},{"time":7.2407811207116355,"velocity":1.8783021416133003,"acceleration":2.700000000000007,"pose":{"translation":{"x":5.610537024935595,"y":-1.6788674905392753},"rotation":{"radians":-1.245859547886145}},"curvature":-0.24234870198317177},{"time":7.300667216329456,"velocity":2.0399945997814175,"acceleration":2.700000000000017,"pose":{"translation":{"x":5.64686504048428,"y":-1.7904273673540871},"rotation":{"radians":-1.262736435050084}},"curvature":-0.06738234164471639},{"time":7.332907753683132,"velocity":2.1270440506363437,"acceleration":2.6999999999999753,"pose":{"translation":{"x":5.6671323128444335,"y":-1.8544707490894692},"rotation":{"radians":-1.2652420058640297}},"curvature":-0.010542463785330377},{"time":7.366297755088666,"velocity":2.2171970544312827,"acceleration":2.700000000000007,"pose":{"translation":{"x":5.68896341015074,"y":-1.9236342121972823},"rotation":{"radians":-1.2643227181969958}},"curvature":0.033682368608401604},{"time":7.400514539512276,"velocity":2.3095823723750306,"acceleration":2.700000000000004,"pose":{"translation":{"x":5.712461474822781,"y":-1.9974292740545219},"rotation":{"radians":-1.2602603903362708}},"curvature":0.06983320437017627},{"time":7.435229062713178,"velocity":2.4033115850174664,"acceleration":2.604627568554903,"pose":{"translation":{"x":5.737715014819868,"y":-2.0752365912961057},"rotation":{"radians":-1.2532264108199724}},"curvature":0.10134754645500449},{"time":7.470142177320692,"velocity":2.494247245828314,"acceleration":-0.6391602159927019,"pose":{"translation":{"x":5.764797770922233,"y":-2.156328123855366},"rotation":{"radians":-1.2432857504234036}},"curvature":0.13086007811161923},{"time":7.505762665994382,"velocity":2.4714800465938724,"acceleration":-0.6472330109029323,"pose":{"translation":{"x":5.7937685840122315,"y":-2.2398892990045463},"rotation":{"radians":-1.2304034015084446}},"curvature":0.16049756234329854},{"time":7.542592799610232,"velocity":2.4476423683217288,"acceleration":-0.6923815340794804,"pose":{"translation":{"x":5.824671262355529,"y":-2.325041175395291},"rotation":{"radians":-1.2144492946585657}},"curvature":0.19211940846885697},{"time":7.58033998997277,"velocity":2.421506910751325,"acceleration":-0.7708771514215935,"pose":{"translation":{"x":5.857534448882302,"y":-2.4108626070991432},"rotation":{"radians":-1.1952006896112877}},"curvature":0.22750486236506234},{"time":7.618720512454994,"velocity":2.391920242910156,"acceleration":-0.8815157471241064,"pose":{"translation":{"x":5.892371488468428,"y":-2.496412407648039},"rotation":{"radians":-1.1723425586047473}},"curvature":0.2684961902066403},{"time":7.657469030808667,"velocity":2.3577628138036655,"acceleration":-1.0235079868787365,"pose":{"translation":{"x":5.9291802952166845,"y":-2.580751514074799},"rotation":{"radians":-1.145467629571454}},"curvature":0.3170995962915798},{"time":7.696347898931942,"velocity":2.3179699817586883,"acceleration":-1.1939635411934446,"pose":{"translation":{"x":5.967943219737937,"y":-2.662965150953622},"rotation":{"radians":-1.1140791773693937}},"curvature":0.3755281673677548},{"time":7.735155535791266,"velocity":2.2716350782287793,"acceleration":-1.3844639444676292,"pose":{"translation":{"x":6.008626916432343,"y":-2.742184994440584},"rotation":{"radians":-1.0776018398634073}},"curvature":0.44614207206449225},{"time":7.773732689244237,"velocity":2.2182264001929473,"acceleration":-1.5766138148284432,"pose":{"translation":{"x":6.051182210770537,"y":-2.8176113363141257},"rotation":{"radians":-1.0354091081876633}},"curvature":0.531196265425795},{"time":7.811964722029222,"velocity":2.1579492491351653,"acceleration":-1.7373432061207725,"pose":{"translation":{"x":6.095543966574832,"y":-2.8885352480155504},"rotation":{"radians":-0.98688083644898}},"curvature":0.6322457165675689},{"time":7.849777249579012,"velocity":2.0922559112902825,"acceleration":-1.8160839139558749,"pose":{"translation":{"x":6.141630953300413,"y":-2.9543607446895193},"rotation":{"radians":-0.9315093392928508}},"curvature":0.7490055955631675},{"time":7.887121884509579,"velocity":2.0244349205203256,"acceleration":-1.7467752668461605,"pose":{"translation":{"x":6.189345713316526,"y":-3.014626949224539},"rotation":{"radians":-0.8690753085063544}},"curvature":0.8774969313591167},{"time":7.923949317212913,"velocity":1.9601056719326992,"acceleration":-1.4557304283416024,"pose":{"translation":{"x":6.238574429187683,"y":-3.0690302562934653},"rotation":{"radians":-0.7999077756769518}},"curvature":1.007589806159538},{"time":7.960169769801909,"velocity":1.9073784569705932,"acceleration":-0.8699950661531617,"pose":{"translation":{"x":6.289186790954844,"y":-3.1174464963939883},"rotation":{"radians":-0.7252148738015826}},"curvature":1.1207638442212495},{"time":7.995606918479166,"velocity":1.8765483124628437,"acceleration":0.08780881999716675,"pose":{"translation":{"x":6.341035863416625,"y":-3.1599530998891328},"rotation":{"radians":-0.6474179831418267}},"curvature":1.1898844085116487},{"time":8.029959071078387,"velocity":1.879564734446944,"acceleration":1.5385558057901885,"pose":{"translation":{"x":6.393957953410482,"y":-3.1968512610477475},"rotation":{"radians":-0.5703597276566561}},"curvature":1.1830215760444607},{"time":8.062784640544177,"velocity":1.9300687049269019,"acceleration":2.699999999999962,"pose":{"translation":{"x":6.44777247709391,"y":-3.228688102085},"rotation":{"radians":-0.4992450883986416}},"curvature":1.0713034085502606},{"time":8.093767188658832,"velocity":2.0137215848364725,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.502281827225639,"y":-3.2562788372028773},"rotation":{"radians":-0.44027497140811567}},"curvature":0.8369901507315796},{"time":8.151104027617212,"velocity":2.1685310500240957,"acceleration":2.7,"pose":{"translation":{"x":6.612508664562251,"y":-3.3034562906654665},"rotation":{"radians":-0.385319817675161}},"curvature":-1.976269077323641E-14},{"time":8.204543611097902,"velocity":2.3128179254219607,"acceleration":2.700000000000006,"pose":{"translation":{"x":6.7234542007736255,"y":-3.3484998911755803},"rotation":{"radians":-0.38616325348203456}},"curvature":-0.00775052029837474},{"time":8.25570018039754,"velocity":2.450940662530982,"acceleration":1.9550532989860854,"pose":{"translation":{"x":6.836325280399195,"y":-3.394404606686512},"rotation":{"radians":-0.385871411003672}},"curvature":0.016818284780042533},{"time":8.305631275931058,"velocity":2.5485586155757742,"acceleration":-0.9052702015426775,"pose":{"translation":{"x":6.952052704660515,"y":-3.4411593596019716},"rotation":{"radians":-0.38109255964335487}},"curvature":0.0622978431976038},{"time":8.3306460429298,"velocity":2.525913492413279,"acceleration":-0.9727007919489795,"pose":{"translation":{"x":7.011021157067037,"y":-3.464631799775001},"rotation":{"radians":-0.3762586169224766}},"curvature":0.09052648126693238},{"time":8.356118810883633,"velocity":2.5011361108514527,"acceleration":-1.0395486366880733,"pose":{"translation":{"x":7.0706442597275,"y":-3.487965678197271},"rotation":{"radians":-0.36947117142413294}},"curvature":0.12199874249592417},{"time":8.382010821346753,"velocity":2.4742201066734024,"acceleration":-1.1161898414467202,"pose":{"translation":{"x":7.1308080293079055,"y":-3.510967768454078},"rotation":{"radians":-0.3605077263161837}},"curvature":0.1569017834174276},{"time":8.408268624062705,"velocity":2.444911414023146,"acceleration":-1.2105725918908432,"pose":{"translation":{"x":7.191363090792827,"y":-3.533418194194602},"rotation":{"radians":-0.34914230405991764}},"curvature":0.19578152095480106},{"time":8.434829233289562,"velocity":2.412757868469189,"acceleration":-1.3288149370643034,"pose":{"translation":{"x":7.252130251675238,"y":-3.5550760696811365},"rotation":{"radians":-0.33513099909832333}},"curvature":0.2395216780427965},{"time":8.461625163024493,"velocity":2.377151036784888,"acceleration":-1.5639382656370042,"pose":{"translation":{"x":7.312906076146332,"y":-3.575685140338315},"rotation":{"radians":-0.3181992384585424}},"curvature":0.289340236013027},{"time":8.515684526044003,"velocity":2.292605530342714,"acceleration":-2.1535104800615237,"pose":{"translation":{"x":7.433582201249403,"y":-3.6126888479702024},"rotation":{"radians":-0.274257866961984}},"curvature":0.41382974549395973},{"time":8.570100852048911,"velocity":2.1754194020046986,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.551490932809378,"y":-3.642286244604778},"rotation":{"radians":-0.21413859012772005}},"curvature":0.586096897136623},{"time":8.624818156628956,"velocity":2.027682679638575,"acceleration":-2.7000000000000113,"pose":{"translation":{"x":7.664700592853938,"y":-3.662449351504559},"rotation":{"radians":-0.13376008186290125}},"curvature":0.8273890796343359},{"time":8.652248109101798,"velocity":1.9536218079619048,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.718975002313115,"y":-3.6684351932203234},"rotation":{"radians":-0.08454200129452011}},"curvature":0.9798334980992673},{"time":8.679659998560513,"velocity":1.8796097064233726,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.771426732805503,"y":-3.6714457812553443},"rotation":{"radians":-0.02860105185424137}},"curvature":1.154045241954056},{"time":8.707043713415787,"velocity":1.8056736763141346,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":7.821884997348414,"y":-3.6713403662105533},"rotation":{"radians":0.034398089470288516}},"curvature":1.3463751036433995},{"time":8.734430757465356,"velocity":1.7317286573803006,"acceleration":-2.525361852068066,"pose":{"translation":{"x":7.870210507555628,"y":-3.6680192353414984},"rotation":{"radians":0.10446084607085139}},"curvature":1.547499841548093},{"time":8.761865562206998,"velocity":1.6624458480668238,"acceleration":-1.9511041000920704,"pose":{"translation":{"x":7.916301047827222,"y":-3.661429353107571},"rotation":{"radians":0.1810705566847586}},"curvature":1.7406194959551107},{"time":8.789311209575786,"velocity":1.6088965329559,"acceleration":-1.1480058200966166,"pose":{"translation":{"x":7.960097049539393,"y":-3.6515700017212307},"rotation":{"radians":0.2629934616872644}},"curvature":1.9012790787841125},{"time":8.816614664871887,"velocity":1.577552007367229,"acceleration":-0.11927257389371161,"pose":{"translation":{"x":8.001587165234284,"y":-3.6384984216972374},"rotation":{"radians":0.34814741716161446}},"curvature":2.000380124539847},{"time":8.843535691197358,"velocity":1.5743410672655296,"acceleration":1.1497593516587266,"pose":{"translation":{"x":8.040813842809808,"y":-3.6223354524018756},"rotation":{"radians":0.43361406602673813}},"curvature":2.0107548838953653},{"time":8.869759472852346,"velocity":1.604492105459209,"acceleration":2.699999999999961,"pose":{"translation":{"x":8.077878899709471,"y":-3.6032711726021827},"rotation":{"radians":0.5158386313597844}},"curvature":1.9149706125757466},{"time":8.894929989814912,"velocity":1.6724525012581355,"acceleration":2.7000000000001005,"pose":{"translation":{"x":8.1129490971122,"y":-3.581570541015176},"rotation":{"radians":0.5909738158152622}},"curvature":1.7098757579677524},{"time":8.91900839751197,"velocity":1.7374642020401927,"acceleration":2.70000000000012,"pose":{"translation":{"x":8.146261714122165,"y":-3.5575790368570805},"rotation":{"radians":0.6552351688512801}},"curvature":1.404609871190401},{"time":8.942207853612228,"velocity":1.8001027335108926,"acceleration":2.699999999999945,"pose":{"translation":{"x":8.17813012195861,"y":-3.531728300392559},"rotation":{"radians":0.7051164256130864}},"curvature":1.0130333929709094},{"time":8.986430852607112,"velocity":1.9195048307970797,"acceleration":-0.46197101625589304,"pose":{"translation":{"x":8.23920170070219,"y":-3.4766403401404227},"rotation":{"radians":0.748869568742241}},"curvature":4.8831523287908774E-15},{"time":9.029835347119597,"velocity":1.8994532123570735,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":8.298999001955957,"y":-3.4192524278762755},"rotation":{"radians":0.7947399407672529}},"curvature":1.0053973131987994},{"time":9.052532165631911,"velocity":1.8381718023738276,"acceleration":-2.264881432534295,"pose":{"translation":{"x":8.327989483235584,"y":-3.388289911969262},"rotation":{"radians":0.8437515380607123}},"curvature":1.2791631307667384},{"time":9.076561253449922,"velocity":1.7837487675340797,"acceleration":-0.334592629019376,"pose":{"translation":{"x":8.355956498286437,"y":-3.3549512815204525},"rotation":{"radians":0.9028002222909496}},"curvature":1.4123591691932695},{"time":9.101800614206336,"velocity":1.7753038634638227,"acceleration":0.8478833473538836,"pose":{"translation":{"x":8.382632209499416,"y":-3.318817040035875},"rotation":{"radians":0.9670838683014696}},"curvature":1.4337593121286998},{"time":9.12786572945065,"velocity":1.797404040626336,"acceleration":1.539618992891809,"pose":{"translation":{"x":8.407783569288261,"y":-3.279633058653029},"rotation":{"radians":1.0327825936378177}},"curvature":1.3781809580749675},{"time":9.154482497997988,"velocity":1.8383837230112245,"acceleration":1.8805596445842643,"pose":{"translation":{"x":8.431210860182695,"y":-3.2372961761505032},"rotation":{"radians":1.0971738248847323}},"curvature":1.2786598859350011},{"time":9.181470759120389,"velocity":1.889136757755514,"acceleration":1.9672750360587437,"pose":{"translation":{"x":8.452746234921566,"y":-3.191839798957595},"rotation":{"radians":1.1585621253275016}},"curvature":1.1613888426019299},{"time":9.2087167650083,"velocity":1.942737144971109,"acceleration":1.8773348553482587,"pose":{"translation":{"x":8.472252256545993,"y":-3.1434195011639297},"rotation":{"radians":1.2160910743570117}},"curvature":1.044191214432827},{"time":9.236144348765338,"velocity":1.9942279039561819,"acceleration":1.673477697736329,"pose":{"translation":{"x":8.489620438492496,"y":-3.09229862452908},"rotation":{"radians":1.2695172563092492}},"curvature":0.9375392648899997},{"time":9.263691185647625,"velocity":2.0403269211218684,"acceleration":1.4022379483610314,"pose":{"translation":{"x":8.504769784686152,"y":-3.0388338784921847},"rotation":{"radians":1.319004555192523}},"curvature":0.8466221898255206},{"time":9.291292659264773,"velocity":2.07903075485852,"acceleration":-0.9230933327717589,"pose":{"translation":{"x":8.517645329633723,"y":-2.983460940181568},"rotation":{"radians":1.3649657140810862}},"curvature":0.773403551245016},{"time":9.347776237704707,"velocity":2.0268911401895258,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.536476547284952,"y":-2.8690416337561078},"rotation":{"radians":1.4486037728583467}},"curvature":0.6808833010389941},{"time":9.407311730251577,"velocity":1.8661453103129764,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.54613950267345,"y":-2.7535582764285262},"rotation":{"radians":1.525631707698636}},"curvature":0.6604990554078157},{"time":9.470006465545552,"velocity":1.6968695250192434,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.546982662294555,"y":-2.6418703230172422},"rotation":{"radians":1.6020234830596505}},"curvature":0.7237792991695984},{"time":9.534231971735185,"velocity":1.5234606583072339,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.539630830892188,"y":-2.538718312291076},"rotation":{"radians":1.6850639621096635}},"curvature":0.9114673061415777},{"time":9.566313216327702,"velocity":1.43684129790744,"acceleration":-2.700000000000001,"pose":{"translation":{"x":8.533141109513013,"y":-2.4916787877686075},"rotation":{"radians":1.732053662640259}},"curvature":1.080084520520563},{"time":9.598007693926984,"velocity":1.3512662083893783,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.524938434439374,"y":-2.448263067277064},"rotation":{"radians":1.7848072363117133}},"curvature":1.3259922100408545},{"time":9.629039875283311,"velocity":1.2674793187272957,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.515157822723939,"y":-2.4088250731606724},"rotation":{"radians":1.8453753169241311}},"curvature":1.681724662256507},{"time":9.659153010098708,"velocity":1.186173854725725,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.503942803118758,"y":-2.3736248955682737},"rotation":{"radians":1.9162183059775968}},"curvature":2.19086068435081},{"time":9.688139915689453,"velocity":1.1079092096307128,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.491443956168402,"y":-2.3428143924629428},"rotation":{"radians":2.0000689723227314}},"curvature":2.9015195104351643},{"time":9.70217442945485,"velocity":1.0700160224641408,"acceleration":-2.699999999999989,"pose":{"translation":{"x":8.484761722809528,"y":-2.329069585970461},"rotation":{"radians":2.0476825874754683}},"curvature":3.342586910852986},{"time":9.715895787533201,"velocity":1.0329683556525942,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.477817454303114,"y":-2.3164227896316087},"rotation":{"radians":2.099395510832049}},"curvature":3.8382730062699415},{"time":9.7293136803729,"velocity":0.9967400449854058,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":8.470631306419103,"y":-2.3048561328938084},"rotation":{"radians":2.155260555529645}},"curvature":4.376309011119683},{"time":9.74245088126585,"velocity":0.9612696025744443,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":8.463223601931938,"y":-2.2943422806946736},"rotation":{"radians":2.215091446443388}},"curvature":4.931381244116806},{"time":9.755344828609653,"velocity":0.9264559447461754,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.45561478499847,"y":-2.284843983462313},"rotation":{"radians":2.278367542822972}},"curvature":5.46172021896825},{"time":9.768048701905318,"velocity":0.8921554868478774,"acceleration":-2.2268028089968874,"pose":{"translation":{"x":8.447825375535869,"y":-2.2763136271156306},"rotation":{"radians":2.3441430639341947}},"curvature":5.908303113414307},{"time":9.780588433361636,"velocity":0.8642319776168803,"acceleration":-0.4474660561706162,"pose":{"translation":{"x":8.43987592359953,"y":-2.2686927830646217},"rotation":{"radians":2.410985954172766}},"curvature":6.198924420537862},{"time":9.792840756329758,"velocity":0.8587494789794062,"acceleration":1.9053908772560189,"pose":{"translation":{"x":8.43178696376099,"y":-2.2619117582106814},"rotation":{"radians":2.4769747502194055}},"curvature":6.258204674006982},{"time":9.804543865390558,"velocity":0.8810484762193869,"acceleration":2.6999999999997932,"pose":{"translation":{"x":8.423578969485837,"y":-2.255889144946899},"rotation":{"radians":2.5397721270625073}},"curvature":6.021695832629082},{"time":9.815576551400444,"velocity":0.910836728446077,"acceleration":2.7000000000001725,"pose":{"translation":{"x":8.415272307511614,"y":-2.250531371158361},"rotation":{"radians":2.596770016224973}},"curvature":5.449081553925233},{"time":9.835993804982385,"velocity":0.9659633131173212,"acceleration":2.700000000000128,"pose":{"translation":{"x":8.398443640043425,"y":-2.241372531009154},"rotation":{"radians":2.6826764950133546}},"curvature":3.286475585083685},{"time":9.854905300346184,"velocity":1.0170243505995806,"acceleration":2.700000000000069,"pose":{"translation":{"x":8.381460027056619,"y":-2.2334262706951082},"rotation":{"radians":2.714965160462992}},"curvature":3.487523069708681E-13},{"time":9.890762749120759,"velocity":1.1138394622909353,"acceleration":2.699999999999901,"pose":{"translation":{"x":8.346463582231358,"y":-2.218104089006953},"rotation":{"radians":2.7545520891873334}},"curvature":1.8109780507152875},{"time":9.90891755418468,"velocity":1.1628574359635175,"acceleration":2.7000000000001125,"pose":{"translation":{"x":8.327173380001936,"y":-2.2106884245053475},"rotation":{"radians":2.795523702390689}},"curvature":2.078223696314902},{"time":9.927881925061088,"velocity":1.2140612373298227,"acceleration":2.6999999999999513,"pose":{"translation":{"x":8.305798652344691,"y":-2.2035400152901263},"rotation":{"radians":2.841809879998367}},"curvature":1.9834321082345294},{"time":9.948042911089042,"velocity":1.2684958996052977,"acceleration":2.7000000000000917,"pose":{"translation":{"x":8.281720957276432,"y":-2.1967183410720725},"rotation":{"radians":2.8879807249616594}},"curvature":1.6923204633241877},{"time":9.969702567686836,"velocity":1.3269769724193452,"acceleration":2.6999999999999598,"pose":{"translation":{"x":8.254362217026625,"y":-2.1902694232547235},"rotation":{"radians":2.9305923827510907}},"curvature":1.3456953229931459},{"time":10.018300449375097,"velocity":1.458191252977647,"acceleration":2.700000000000029,"pose":{"translation":{"x":8.187697083309846,"y":-2.1786123536949202},"rotation":{"radians":2.9998025273082716}},"curvature":0.7611104264739775},{"time":10.074519189987008,"velocity":1.609981852629808,"acceleration":2.6999999999999797,"pose":{"translation":{"x":8.102023738143016,"y":-2.168703929394889},"rotation":{"radians":3.048067556970553}},"curvature":0.4064729564834843},{"time":10.138234788236703,"velocity":1.7820139679039837,"acceleration":2.699999999999942,"pose":{"translation":{"x":7.994272200904063,"y":-2.160524770034724},"rotation":{"radians":3.0802010588227335}},"curvature":0.2152373954952757},{"time":10.172693494238052,"velocity":1.8750524741076253,"acceleration":2.699999999999951,"pose":{"translation":{"x":7.931359592791209,"y":-2.1570428463328573},"rotation":{"radians":3.0917953255773063}},"curvature":0.15684417834323894},{"time":10.208725992494692,"velocity":1.9723402194005513,"acceleration":2.699999999999953,"pose":{"translation":{"x":7.862113875913456,"y":-2.153931407096375},"rotation":{"radians":3.101094762621076}},"curvature":0.11436366682445724},{"time":10.246196278930718,"velocity":2.0735099927778187,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.786365043011098,"y":-2.151158119925064},"rotation":{"radians":3.1085091494613573}},"curvature":0.08332021182301048},{"time":10.284961467711517,"velocity":2.1781760024859755,"acceleration":2.700000000000039,"pose":{"translation":{"x":7.703993404947496,"y":-2.1486866987695676},"rotation":{"radians":3.114375277578732}},"curvature":0.060511788163897164},{"time":10.32487536553548,"velocity":2.285943526610678,"acceleration":2.699999999999986,"pose":{"translation":{"x":7.614930586100122,"y":-2.1464778543971965},"rotation":{"radians":3.1189687884868253}},"curvature":0.043660617025095626},{"time":10.36579093300072,"velocity":2.3964155587668285,"acceleration":2.700000000000027,"pose":{"translation":{"x":7.519160519751599,"y":-2.144490244857738},"rotation":{"radians":3.122515301446174}},"curvature":0.031146792103781143},{"time":10.40756188038942,"velocity":2.509197116716316,"acceleration":1.8315968630733677,"pose":{"translation":{"x":7.416720443480738,"y":-2.1426814259492666},"rotation":{"radians":3.1252000684454355}},"curvature":0.021814870330304263},{"time":10.450346478539167,"velocity":2.587561252475247,"acceleration":0.0978678116206621,"pose":{"translation":{"x":7.307701894553582,"y":-2.1410088016839555},"rotation":{"radians":3.1271760236025585}},"curvature":0.0148368259987384},{"time":10.494930431334833,"velocity":2.5919245863687577,"acceleration":0.0695954067000086,"pose":{"translation":{"x":7.192251705314444,"y":-2.139430574753885},"rotation":{"radians":3.128570360121532}},"curvature":0.009616065327243215},{"time":10.54184986893195,"velocity":2.5951899637104647,"acceleration":0.05363531022108166,"pose":{"translation":{"x":7.070572998576946,"y":-2.137906696996853},"rotation":{"radians":3.1294898587620077}},"curvature":0.0057205026316680665},{"time":10.56615814176878,"velocity":2.5964937454650068,"acceleration":0.04503573040178376,"pose":{"translation":{"x":7.007477063910285,"y":-2.1371533361932666},"rotation":{"radians":3.1298004106273503}},"curvature":0.004167841064532699},{"time":10.591015265178257,"velocity":2.59761320417344,"acceleration":0.03767798571403021,"pose":{"translation":{"x":6.942926183015063,"y":-2.136399819862188},"rotation":{"radians":3.1300252036406193}},"curvature":0.002835931759910742},{"time":10.616406408199062,"velocity":2.5985698912974406,"acceleration":-1.559717862259653,"pose":{"translation":{"x":6.8769620211975475,"y":-2.1356420571848798},"rotation":{"radians":3.1301736350930325}},"curvature":0.0016985942011494986},{"time":10.642524001541565,"velocity":2.5578338144419046,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.809629948554161,"y":-2.1348762448765544},"rotation":{"radians":3.1302545015872303}},"curvature":7.335136625340631E-4},{"time":10.669756598649283,"velocity":2.4843058022510656,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.740979071077445,"y":-2.1340988968884256},"rotation":{"radians":3.130276078372261}},"curvature":-7.828748100746206E-5},{"time":10.698345961482197,"velocity":2.4071145226021975,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.671062261762034,"y":-2.133306874109768},"rotation":{"radians":3.1302461928608394}},"curvature":-7.52889159388253E-4},{"time":10.728402813658693,"velocity":2.3259610217256568,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.599936191710627,"y":-2.132497414069972},"rotation":{"radians":3.1301722933778384}},"curvature":-0.0013038370663474516},{"time":10.760059618675196,"velocity":2.2404876481811,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.527661361239953,"y":-2.1316681606406016},"rotation":{"radians":3.1300615141390145}},"curvature":-0.0017424409420958484},{"time":10.793477236928139,"velocity":2.1502600788981554,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.454302130986741,"y":-2.130817193737451},"rotation":{"radians":3.1299207374275095}},"curvature":-0.00207801625402688},{"time":10.828854398611002,"velocity":2.054741742354424,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.379926753013693,"y":-2.129943059022599},"rotation":{"radians":3.129756653924371}},"curvature":-0.0023180759408619983},{"time":10.866441596155859,"velocity":1.9532563089833077,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.304607401915457,"y":-2.1290447976064693},"rotation":{"radians":3.1295758221602035}},"curvature":-0.0024684771853719866},{"time":10.906562203753637,"velocity":1.8449306684693076,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.2284202059245874,"y":-2.1281219757498833},"rotation":{"radians":3.129384728091001}},"curvature":-0.00253352661596237},{"time":10.949646015877914,"velocity":1.7286043757337595,"acceleration":-2.7,"pose":{"translation":{"x":6.1514452780175235,"y":-2.127174714566119},"rotation":{"radians":3.1291898458659917}},"curvature":-0.002516045835163573},{"time":10.996285474556148,"velocity":1.6026778373025266,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.0737667470205565,"y":-2.1262037197229664},"rotation":{"radians":3.1289977009541854}},"curvature":-0.0024173976568687985},{"time":11.047336700020034,"velocity":1.4648395285500306,"acceleration":-2.7,"pose":{"translation":{"x":5.995472788715799,"y":-2.1252103111447855},"rotation":{"radians":3.128814936936327}},"curvature":-0.0022374718180512374},{"time":11.104118546148563,"velocity":1.3115285440030058,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.916655656947155,"y":-2.124196452714562},"rotation":{"radians":3.128648387459547}},"curvature":-0.0019746271120612223},{"time":11.168858995576546,"velocity":1.1367293305474522,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.837411714726291,"y":-2.123164781975962},"rotation":{"radians":3.1285051551060183}},"curvature":-0.001625584740292513},{"time":11.245916188086136,"velocity":0.9286749107715602,"acceleration":-2.7,"pose":{"translation":{"x":5.757841465338608,"y":-2.122118639835392},"rotation":{"radians":3.128392699261511}},"curvature":-0.0011852650274841218},{"time":11.346571998772449,"velocity":0.6569042219185144,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.678049583449203,"y":-2.1210621002640537},"rotation":{"radians":3.128318935508259}},"curvature":-6.465562633311351E-4},{"time":11.589869858742269,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.598144946208852,"y":-2.120000000000001},"rotation":{"radians":3.1282923496405335}},"curvature":5.032697995759995E-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 ac0e8c9..bc0f96c 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":2.6999999999999997,"pose":{"translation":{"x":1.2685437093345355,"y":-2.2829074276879466},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2652623146366335,"velocity":0.7162082495189105,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.3635337579142972,"y":-2.2823770925583378},"rotation":{"radians":0.01656522391975828}},"curvature":0.34186174925200363},{"time":0.37373378554396586,"velocity":1.009081220968708,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.4570402933602506,"y":-2.278868352045021},"rotation":{"radians":0.06336454877370898}},"curvature":0.6574752757115397},{"time":0.45521255551306306,"velocity":1.2290738998852704,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.5477836424258304,"y":-2.2699447388354552},"rotation":{"radians":0.13737717826494814}},"curvature":0.9661649133827227},{"time":0.49013068198402815,"velocity":1.3233528413568763,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.5917772276323061,"y":-2.2628437785903914},"rotation":{"radians":0.18379913152904104}},"curvature":1.1167140968142548},{"time":0.5222343682749143,"velocity":1.4100327943422688,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.6346949926935532,"y":-2.2537246740943626},"rotation":{"radians":0.23598402142786476}},"curvature":1.2606521625592753},{"time":0.5520490888931082,"velocity":1.4905325400113922,"acceleration":1.9458092945904308,"pose":{"translation":{"x":1.676434205874378,"y":-2.2424323752896513},"rotation":{"radians":0.2934081900119383}},"curvature":1.3929410189869018},{"time":0.5801740023964868,"velocity":1.545258258115818,"acceleration":-1.0806203775947303,"pose":{"translation":{"x":1.7169037316223166,"y":-2.228841519103317},"rotation":{"radians":0.3553984957359821}},"curvature":1.5074825249408874},{"time":0.6077889961224077,"velocity":1.5154169331684373,"acceleration":-0.6976311865539756,"pose":{"translation":{"x":1.756023634912863,"y":-2.2128551810609345},"rotation":{"radians":0.4211210635866775}},"curvature":1.5979448443558497},{"time":0.6356660186591413,"velocity":1.4959690528585439,"acceleration":-0.31044547874631534,"pose":{"translation":{"x":1.7937247855946978,"y":-2.194403626900331},"rotation":{"radians":0.48959514366925055}},"curvature":1.6588424691060946},{"time":0.6637234977301598,"velocity":1.4872587353359268,"acceleration":0.06780178985226802,"pose":{"translation":{"x":1.8299484627349156,"y":-2.173443064185321},"rotation":{"radians":0.5597338428966229}},"curvature":1.6866336931220292},{"time":0.6918782572197187,"velocity":1.489167678422179,"acceleration":0.4232346356391764,"pose":{"translation":{"x":1.8646459589642528,"y":-2.1499543939194465},"rotation":{"radians":0.6304072044529919}},"curvature":1.6805151830922482},{"time":0.7200520801134892,"velocity":1.5010918160891866,"acceleration":0.7426723976556212,"pose":{"translation":{"x":1.8977781848223174,"y":-2.1239419621597118},"rotation":{"radians":0.7005168384259233}},"curvature":1.6426483532158769},{"time":0.7481780310880558,"velocity":1.5219801835358124,"acceleration":1.0149858484504795,"pose":{"translation":{"x":1.929315273102815,"y":-2.0954323116303226},"rotation":{"radians":0.7690678650430854}},"curvature":1.577744412052153},{"time":0.7762049964488692,"velocity":1.5504271567520498,"acceleration":1.2322900304444204,"pose":{"translation":{"x":1.9592361831987777,"y":-2.064472933336421},"rotation":{"radians":0.8352250389825973}},"curvature":1.4921671229134739},{"time":0.8040995376488723,"velocity":1.5848013217766348,"acceleration":1.3907771977002132,"pose":{"translation":{"x":1.9875283054477932,"y":-2.0311310181778235},"rotation":{"radians":0.8983450467398526}},"curvature":1.3928580810213431},{"time":0.8318449854087581,"velocity":1.6233890578610664,"acceleration":1.4909767167807157,"pose":{"translation":{"x":2.0141870654772314,"y":-1.9954922085627604},"rotation":{"radians":0.957983695581811}},"curvature":1.2863862589560087},{"time":0.8594383762365965,"velocity":1.664530161122404,"acceleration":1.5373507227044139,"pose":{"translation":{"x":2.039215528549472,"y":-1.9576593500216088},"rotation":{"radians":1.0138823198414246}},"curvature":1.1783064729088002},{"time":0.8868861587676676,"velocity":1.7067270294331798,"acceleration":1.537330106967075,"pose":{"translation":{"x":2.0626240039071364,"y":-1.917751242820633},"rotation":{"radians":1.065940647466107}},"curvature":1.0728660083023431},{"time":0.9141995819095581,"velocity":1.7487167771535392,"acceleration":1.46762001204946,"pose":{"translation":{"x":2.0844296491183103,"y":-1.8759013935757198},"rotation":{"radians":1.1141835730551033}},"curvature":0.9729942840189638},{"time":0.968468615696427,"velocity":1.8283630971737364,"acceleration":1.304151440253794,"pose":{"translation":{"x":2.123332947072237,"y":-1.7869765368481696},"rotation":{"radians":1.1997516315066488}},"curvature":0.7961599396846488},{"time":1.0222979894987156,"velocity":1.898564752545951,"acceleration":1.1084361861216723,"pose":{"translation":{"x":2.1561846145839563,"y":-1.6921995210805318},"rotation":{"radians":1.2721201145966583}},"curvature":0.6525970081693718},{"time":1.0756179302061195,"velocity":1.9576665042678996,"acceleration":0.9184974069237737,"pose":{"translation":{"x":2.183328095128239,"y":-1.5930404923875283},"rotation":{"radians":1.3331573588038412}},"curvature":0.5397164742141854},{"time":1.128231222689262,"velocity":2.005991676983388,"acceleration":0.7521817146451741,"pose":{"translation":{"x":2.2051784225292272,"y":-1.4910850533966182},"rotation":{"radians":1.3846810763942472}},"curvature":0.4523613463316468},{"time":1.1798202438598901,"velocity":2.0447959953843773,"acceleration":-2.074466832726128,"pose":{"translation":{"x":2.2222095600077303,"y":-1.3879943148875862},"rotation":{"radians":1.4282905186070292}},"curvature":0.3852055083687461},{"time":1.2317129543806624,"velocity":1.9371462885487771,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.234941739228524,"y":-1.2854649474321318},"rotation":{"radians":1.465318763281388}},"curvature":0.3336516800642234},{"time":1.2857176074406675,"velocity":1.7913337252867634,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":2.2439287993476493,"y":-1.1851892330334568},"rotation":{"radians":1.4968398091172674}},"curvature":0.2939960105914216},{"time":1.3420032637398147,"velocity":1.6393624532790658,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.249745526059712,"y":-1.0888151167658568},"rotation":{"radians":1.5236939603035344}},"curvature":0.26327995310753305},{"time":1.4002896823753117,"velocity":1.481989122963224,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2529749906451815,"y":-0.9979062584143037},"rotation":{"radians":1.5465124271703523}},"curvature":0.23899112236639475},{"time":1.4602546065184314,"velocity":1.3200838277768006,"acceleration":-2.700000000000002,"pose":{"translation":{"x":2.254195889017688,"y":-0.9139020841140417},"rotation":{"radians":1.5657298061467197}},"curvature":0.21858753058654742},{"time":1.5215341023101432,"velocity":1.1546291891391787,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.253969880771324,"y":-0.8380778379901694},"rotation":{"radians":1.5815729832159753}},"curvature":0.19857758745512785},{"time":1.6463667405997717,"velocity":0.8175810657571813,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2512626354844425,"y":-0.715009506558816},"rotation":{"radians":1.6025690780095874}},"curvature":0.12299943950886183},{"time":1.7710553934654076,"velocity":0.4809217030199643,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2485246889438386,"y":-0.6341015392225571},"rotation":{"radians":1.6008237222364228}},"curvature":-0.3960868135296091},{"time":1.8321545452552155,"velocity":0.3159539931874829,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.248006503641532,"y":-0.6097628402733455},"rotation":{"radians":1.5767489587567318}},"curvature":-2.1962046888019713},{"time":1.8623668226802905,"velocity":0.23438084413978036,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.2480603955574736,"y":-0.6014495805615971},"rotation":{"radians":1.5471722702837498}},"curvature":-5.757187845629485},{"time":1.8928212168617702,"velocity":0.15215397984978507,"acceleration":-2.7,"pose":{"translation":{"x":2.248344593223311,"y":-0.5955706038550939},"rotation":{"radians":1.4854684954730102}},"curvature":-19.438170235336873},{"time":1.9087540631057534,"velocity":0.10913529499103031,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.2485757117192717,"y":-0.5935019335466492},"rotation":{"radians":1.4258223512075379}},"curvature":-42.68912208627659},{"time":1.9173290695543828,"velocity":0.08598277757973077,"acceleration":-2.7,"pose":{"translation":{"x":2.248713717671772,"y":-0.5926768258809587},"rotation":{"radians":1.380840431646731}},"curvature":-67.97988325388131},{"time":1.927011189828235,"velocity":0.0598410528403297,"acceleration":-2.565201683478647,"pose":{"translation":{"x":2.24886668309217,"y":-0.5919876556609345},"rotation":{"radians":1.3184160148576025}},"curvature":-115.54059456499368},{"time":1.9328507446165835,"velocity":0.04486141706649205,"acceleration":-1.697019214222933,"pose":{"translation":{"x":2.2489487639079524,"y":-0.5916931729573576},"rotation":{"radians":1.277509136180691}},"curvature":-155.15123514705294},{"time":1.9399365415516197,"velocity":0.03283668351965363,"acceleration":-1.0759809438036356,"pose":{"translation":{"x":2.2490345667671914,"y":-0.5914316103250665},"rotation":{"radians":1.2274824233368449}},"curvature":-213.09757543784207},{"time":1.948676091093964,"velocity":0.023433094754663264,"acceleration":-0.6502268820301055,"pose":{"translation":{"x":2.2491240817600238,"y":-0.5912025969680825},"rotation":{"radians":1.1653500772262015}},"curvature":-299.85117796589043},{"time":1.9596376098365105,"velocity":0.016305620600382653,"acceleration":-0.4245704325305683,"pose":{"translation":{"x":2.2492172970503557,"y":-0.5910057543277136},"rotation":{"radians":1.0869326476784094}},"curvature":-432.27054126513667},{"time":1.9662770094774975,"velocity":0.01348672782306548,"acceleration":-0.31616129126238385,"pose":{"translation":{"x":2.2492652880786332,"y":-0.5909192765946716},"rotation":{"radians":1.039887314719324}},"curvature":-523.2655260434432},{"time":1.9738040608054612,"velocity":0.011106965555818249,"acceleration":-0.23181467586968113,"pose":{"translation":{"x":2.2493141988638,"y":-0.5908406960444537},"rotation":{"radians":0.9864717617332592}},"curvature":-636.040927533967},{"time":1.9823573884402532,"velocity":0.009124178682551776,"acceleration":-0.16723000045592867,"pose":{"translation":{"x":2.249364027379216,"y":-0.5907699631569989},"rotation":{"radians":0.9256938332403406}},"curvature":-774.9305041892087},{"time":1.992085008417569,"velocity":0.0074974287893101454,"acceleration":-0.11857226993675364,"pose":{"translation":{"x":2.2494147714755917,"y":-0.5907070279199238},"rotation":{"radians":0.8564958726608092}},"curvature":-943.7402366361202},{"time":2.003132553597501,"velocity":0.006187496280096738,"acceleration":-0.09001150105343811,"pose":{"translation":{"x":2.2494664288806048,"y":-0.5906518398273604},"rotation":{"radians":0.7778407286241105}},"curvature":-1144.1894913344634},{"time":2.009218382035609,"velocity":0.005639701727228941,"acceleration":-0.0746479791927447,"pose":{"translation":{"x":2.249492599330014,"y":-0.5906271350419412},"rotation":{"radians":0.7346850372290483}},"curvature":-1255.6265007947031},{"time":2.0156779505371833,"velocity":0.005157507992129329,"acceleration":-0.061516222769320075,"pose":{"translation":{"x":2.249518997198524,"y":-0.5906043478787253},"rotation":{"radians":0.6888687140842368}},"curvature":-1373.3080410857367},{"time":2.0225169032840005,"velocity":0.004736801451447281,"acceleration":-0.050305544772187835,"pose":{"translation":{"x":2.24954562216732,"y":-0.5905834718851497},"rotation":{"radians":0.6403523761627412}},"curvature":-1495.5547001802365},{"time":2.0297343688618006,"velocity":0.004373722913681544,"acceleration":-0.04073028301877214,"pose":{"translation":{"x":2.2495724739098337,"y":-0.5905645005775777},"rotation":{"radians":0.5891430730727714}},"curvature":-1619.9623129164893},{"time":2.0373213887534662,"velocity":0.00406470144622495,"acceleration":-0.03252824777571173,"pose":{"translation":{"x":2.2495995520917234,"y":-0.5905474274412756},"rotation":{"radians":0.5353054115697539}},"curvature":-1743.3556070509815},{"time":2.0452594575799647,"velocity":0.0038064899765759552,"acceleration":-0.025458869933426238,"pose":{"translation":{"x":2.249626856370859,"y":-0.5905322459303739},"rotation":{"radians":0.47897185763463984}},"curvature":-1861.8246862218014},{"time":2.053519381706071,"velocity":0.003596201642589447,"acceleration":-0.019301036412408486,"pose":{"translation":{"x":2.2496543863973235,"y":-0.5905189494678171},"rotation":{"radians":0.42035075274132616}},"curvature":-1970.8755928405556},{"time":2.0620606938724495,"velocity":0.0034313454654564257,"acceleration":-0.013850611024485777,"pose":{"translation":{"x":2.249682141813384,"y":-0.5905075314453323},"rotation":{"radians":0.3597303699783953}},"curvature":-2065.712977906601},{"time":2.070831852528729,"velocity":0.003309859558674244,"acceleration":-0.008917655799009026,"pose":{"translation":{"x":2.249710122253494,"y":-0.5904979852233914},"rotation":{"radians":0.2974774089626341}},"curvature":-2141.646704495272},{"time":2.0797713891851752,"velocity":0.003230139847769431,"acceleration":-0.004323387955507414,"pose":{"translation":{"x":2.249738327344275,"y":-0.5904903041311882},"rotation":{"radians":0.23402879653100003}},"curvature":-2194.57862468783},{"time":2.0888100424903944,"velocity":0.0031910622429356383,"acceleration":1.0307021262976043E-4,"pose":{"translation":{"x":2.2497667567045028,"y":-0.5904844814665764},"rotation":{"radians":0.1698765398993538}},"curvature":-2221.4911320679275},{"time":2.0978737519309947,"velocity":0.0031919964413948954,"acceleration":0.004528071101137373,"pose":{"translation":{"x":2.2497954099451007,"y":-0.5904805104960551},"rotation":{"radians":0.10554654048607402}},"curvature":-2220.840067143835},{"time":2.106887216513231,"velocity":0.003232810049890844,"acceleration":0.009116858886594532,"pose":{"translation":{"x":2.2498242866691305,"y":-0.5904783844547086},"rotation":{"radians":0.041573444827318305}},"curvature":-2192.763420647767},{"time":2.1157776037546934,"velocity":0.0033138624558184393,"acceleration":0.014036925200566201,"pose":{"translation":{"x":2.2498533864717656,"y":-0.5904780965461955},"rotation":{"radians":-0.0215255567023875}},"curvature":-2139.0560278415915},{"time":2.124477961206644,"velocity":0.0034359887225896557,"acceleration":0.01946120819884271,"pose":{"translation":{"x":2.2498827089403024,"y":-0.590479639942687},"rotation":{"radians":-0.08327484291043588}},"curvature":-2062.917285506196},{"time":2.1329299477806876,"velocity":0.0036004745930009463,"acceleration":0.025571052682370973,"pose":{"translation":{"x":2.249912253654122,"y":-0.5904830077848486},"rotation":{"radians":-0.1432596987472278}},"curvature":-1968.5329456212585},{"time":2.141085643433211,"velocity":0.0038090243161930104,"acceleration":0.032558868866005224,"pose":{"translation":{"x":2.249942020184701,"y":-0.5904881931817907},"rotation":{"radians":-0.20113917140840007}},"curvature":-1860.5838650282133},{"time":2.148908368017991,"velocity":0.004063723380123729,"acceleration":0.040630450481207614,"pose":{"translation":{"x":2.2499720080955923,"y":-0.5904951892110364},"rotation":{"radians":-0.25665194394243945}},"curvature":-1743.7759446538928},{"time":2.156372595640973,"velocity":0.004366998310939785,"acceleration":0.050006935745111704,"pose":{"translation":{"x":2.2500022169424048,"y":-0.5905039889184827},"rotation":{"radians":-0.30961581602600724}},"curvature":-1622.4615943864944},{"time":2.1634631565224574,"velocity":0.0047215755333369636,"acceleration":0.0609264143865238,"pose":{"translation":{"x":2.250032646272799,"y":-0.5905145853183664},"rotation":{"radians":-0.3599221296809572}},"curvature":-1500.387448657456},{"time":2.1701739636685096,"velocity":0.005130440950385395,"acceleration":0.07364519865599374,"pose":{"translation":{"x":2.250063295626483,"y":-0.5905269713932291},"rotation":{"radians":-0.40752680536732666}},"curvature":-1380.5695857926848},{"time":2.1765064951035282,"velocity":0.0055968014859126836,"acceleration":0.09716592932431414,"pose":{"translation":{"x":2.2500941645351853,"y":-0.5905411400938596},"rotation":{"radians":-0.45243961682484185}},"curvature":-1265.274705787399},{"time":2.1880221410100202,"velocity":0.0067157299221867195,"acceleration":0.13708232678294022,"pose":{"translation":{"x":2.2501565591046324,"y":-0.5905747970167385},"rotation":{"radians":-0.5344317773206304}},"curvature":-1053.9491540936895},{"time":2.198172488206391,"velocity":0.00810716313351989,"acceleration":0.18982894971088632,"pose":{"translation":{"x":2.250219826075088,"y":-0.5906154990572428},"rotation":{"radians":-0.6066494777945393}},"curvature":-872.5300338924795},{"time":2.2070980816977737,"velocity":0.009801499171535388,"acceleration":0.2584225758998983,"pose":{"translation":{"x":2.250283961412187,"y":-0.5906631886754439},"rotation":{"radians":-0.6700924622783515}},"curvature":-721.1666060201952},{"time":2.214947826105902,"velocity":0.011830050341639753,"acceleration":0.3461991153762594,"pose":{"translation":{"x":2.2503489609528726,"y":-0.5907178078200626},"rotation":{"radians":-0.7258241077033081}},"curvature":-596.9757293581793},{"time":2.221864287308861,"velocity":0.014224523091638464,"acceleration":0.4567979995753106,"pose":{"translation":{"x":2.250414820405024,"y":-0.5907792979272535},"rotation":{"radians":-0.7748644795215773}},"curvature":-495.9647882464065},{"time":2.227976610677838,"velocity":0.017016620179344466,"acceleration":0.6806547088039453,"pose":{"translation":{"x":2.2504815353470704,"y":-0.5908475999194347},"rotation":{"radians":-0.8181384292489339}},"curvature":-414.08017133740356},{"time":2.238116942325096,"velocity":0.023918684663884138,"acceleration":1.090856676518814,"pose":{"translation":{"x":2.250617513365092,"y":-0.5910044006725808},"rotation":{"radians":-0.8905198301525137}},"curvature":-293.70103038699074},{"time":2.2462396854192166,"velocity":0.03277943319975263,"acceleration":1.6702763238095406,"pose":{"translation":{"x":2.250756857031159,"y":-0.5911877271387627},"rotation":{"radians":-0.9481614193755699}},"curvature":-213.47514764315304},{"time":2.252854011581932,"velocity":0.043827185587290485,"acceleration":2.6999999999999993,"pose":{"translation":{"x":2.250899526274221,"y":-0.5913970880811568},"rotation":{"radians":-0.9948004543967184}},"curvature":-158.8853184950882},{"time":2.2628947005783706,"velocity":0.0709370458776751,"acceleration":2.7000000000000193,"pose":{"translation":{"x":2.2511946706583874,"y":-0.5918919067383555},"rotation":{"radians":-1.0649961839335877}},"curvature":-93.76563861080118},{"time":2.278408350438417,"velocity":0.11282390049980061,"acceleration":2.6999999999999686,"pose":{"translation":{"x":2.251822867824714,"y":-0.5931714135683435},"rotation":{"radians":-1.1514928562515672}},"curvature":-39.70128664933871},{"time":2.3044660659244562,"velocity":0.1831797323121055,"acceleration":2.6999999999999926,"pose":{"translation":{"x":2.253218551288934,"y":-0.5967665975838226},"rotation":{"radians":-1.2327619809065389}},"curvature":-11.323606113121881},{"time":2.3276408128917163,"velocity":0.24575154912370806,"acceleration":2.70000000000004,"pose":{"translation":{"x":2.2547712174315553,"y":-0.6014880365842958},"rotation":{"radians":-1.2678108831752224}},"curvature":-4.292302842405532},{"time":2.367454083687072,"velocity":0.35324738027116964,"acceleration":2.7000000000000037,"pose":{"translation":{"x":2.2581668491915208,"y":-0.6129183791792854},"rotation":{"radians":-1.2882413743253303}},"curvature":-1.8498380758778174E-13},{"time":2.5118116519421507,"velocity":0.7430128145598833,"acceleration":2.6999999999999935,"pose":{"translation":{"x":2.279153833144643,"y":-0.6892111414878828},"rotation":{"radians":-1.3116532643757461}},"curvature":-0.10570947703782992},{"time":2.6090163435230225,"velocity":1.0054654818282367,"acceleration":2.7000000000000046,"pose":{"translation":{"x":2.3007055621583046,"y":-0.7714130168999085},"rotation":{"radians":-1.3160416885245836}},"curvature":-0.023177621209099813},{"time":2.7185102810958206,"velocity":1.3010991132747927,"acceleration":2.6999999999999917,"pose":{"translation":{"x":2.332424825762578,"y":-0.8936417986616633},"rotation":{"radians":-1.317327006555892}},"curvature":-0.002513854329558546},{"time":2.7758005415285103,"velocity":1.4557828164430542,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.3522252405544055,"y":-0.9700904782854665},"rotation":{"radians":-1.317344152111832}},"curvature":0.0016398265419870037},{"time":2.8338526077725104,"velocity":1.6125233953018543,"acceleration":2.6999999999999935,"pose":{"translation":{"x":2.3745670811140083,"y":-1.056303358575759},"rotation":{"radians":-1.3170714176876508}},"curvature":0.004259751807213772},{"time":2.892073368543519,"velocity":1.769719449383578,"acceleration":2.7000000000000024,"pose":{"translation":{"x":2.3993044032070783,"y":-1.151603498417915},"rotation":{"radians":-1.316555401535147}},"curvature":0.006106446830222473},{"time":2.9499426955263535,"velocity":1.9259666322372313,"acceleration":2.7000000000000064,"pose":{"translation":{"x":2.4262359984887594,"y":-1.255089962745553},"rotation":{"radians":-1.3158202133021315}},"curvature":0.0075882087355301315},{"time":3.007002943417268,"velocity":2.0800293015427003,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.4551137557883838,"y":-1.36567312574276},"rotation":{"radians":-1.3148743169642134}},"curvature":0.00894483945628684},{"time":3.062850296893968,"velocity":2.2308171559297914,"acceleration":1.0912153189181253,"pose":{"translation":{"x":2.4856510223942085,"y":-1.4821099740463164},"rotation":{"radians":-1.3137142323073987}},"curvature":0.010336157893764478},{"time":3.1181626556437685,"velocity":2.2911748491230686,"acceleration":-0.02317786636001978,"pose":{"translation":{"x":2.5175309653381532,"y":-1.603039409947919},"rotation":{"radians":-1.3123263081563568}},"curvature":0.011888276445140903},{"time":3.146024356720376,"velocity":2.290529074338952,"acceleration":-0.02519166297259854,"pose":{"translation":{"x":2.5338692353804695,"y":-1.6647399044234563},"rotation":{"radians":-1.3115399996258135}},"curvature":0.012761790438616126},{"time":3.174161109002495,"velocity":2.2898202627583175,"acceleration":-0.027692949915988155,"pose":{"translation":{"x":2.550414932680538,"y":-1.7270175545964053},"rotation":{"radians":-1.3106872096291706}},"curvature":0.013721138997219719},{"time":3.2024897742125735,"velocity":2.289035758451468,"acceleration":-0.03074464747828331,"pose":{"translation":{"x":2.567123688304864,"y":-1.7896847329884131},"rotation":{"radians":-1.3097634296834657}},"curvature":0.014783627371505856},{"time":3.2309269650275785,"velocity":2.288161467044588,"acceleration":-0.03443313475435511,"pose":{"translation":{"x":2.583950814794819,"y":-1.852553051199978},"rotation":{"radians":-1.308763440839727}},"curvature":0.01596857673175563},{"time":3.259389546894322,"velocity":2.2871814111277136,"acceleration":-0.03887168347778281,"pose":{"translation":{"x":2.6008515674567905,"y":-1.9154344631355147},"rotation":{"radians":-1.307681254346296}},"curvature":0.01729794834359466},{"time":3.2877951416717495,"velocity":2.2860772378385272,"acceleration":-0.04420544784531643,"pose":{"translation":{"x":2.617781405652328,"y":-1.9781423682284274},"rotation":{"radians":-1.3065100398517357}},"curvature":0.018797041255404337},{"time":3.316062633136978,"velocity":2.284827660718843,"acceleration":-0.050618182509203635,"pose":{"translation":{"x":2.6346962540882934,"y":-2.0404927146661795},"rotation":{"radians":-1.3052420409253291}},"curvature":0.02049529094161847},{"time":3.344112674378907,"velocity":2.2834078186118685,"acceleration":-0.06296900914734525,"pose":{"translation":{"x":2.6515527641070076,"y":-2.10230510261536},"rotation":{"radians":-1.3038684777635066}},"curvature":0.02242719673888686},{"time":3.3992564586539915,"velocity":2.2799354691554314,"acceleration":-0.08572210221113358,"pose":{"translation":{"x":2.68492257518015,"y":-2.2236192829604144},"rotation":{"radians":-1.300763751182038}},"curvature":0.027161981193277982},{"time":3.4526455454574108,"velocity":2.2753588443995096,"acceleration":-0.11930646662819422,"pose":{"translation":{"x":2.717568511345133,"y":-2.3407566727314952},"rotation":{"radians":-1.2971006967534642}},"curvature":0.03342459567264441},{"time":3.5037611730442917,"velocity":2.2692604194826362,"acceleration":-0.16921052065313333,"pose":{"translation":{"x":2.749196593812158,"y":-2.4525180734669902},"rotation":{"radians":-1.2927597526453236}},"curvature":0.041808885263160754},{"time":3.5521620303919494,"velocity":2.261070485210781,"acceleration":-0.24320494696353878,"pose":{"translation":{"x":2.779549553812988,"y":-2.557868627977995},"rotation":{"radians":-1.2875929236822399}},"curvature":0.053139795600982094},{"time":3.597500263775237,"velocity":2.250044002565378,"acceleration":-0.3507508482532073,"pose":{"translation":{"x":2.8084151938856836,"y":-2.6559731235505373},"rotation":{"radians":-1.2814219588079645}},"curvature":0.06852540532165513},{"time":3.639536385567588,"velocity":2.2352997971894357,"acceleration":-0.4985646891594288,"pose":{"translation":{"x":2.83563474915934,"y":-2.7462312951478056},"rotation":{"radians":-1.274043492327738}},"curvature":0.0893356605831156},{"time":3.6781514928262222,"velocity":2.216047668242177,"acceleration":-0.6753466889807828,"pose":{"translation":{"x":2.861111248638826,"y":-2.8283131286123693},"rotation":{"radians":-1.265251512387064}},"curvature":0.11692534360533127},{"time":3.7133536933095206,"velocity":2.1922739787009435,"acceleration":-1.973184903679979,"pose":{"translation":{"x":2.8848178764895196,"y":-2.9021941638684003},"rotation":{"radians":-1.2548978568015183}},"curvature":0.1516633975904032},{"time":3.7455513362032504,"velocity":2.128742075808957,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.9068063333220473,"y":-2.968190798123901},"rotation":{"radians":-1.2430266186077292}},"curvature":0.19043091777845456},{"time":3.8032346973619404,"velocity":1.9729970006804942,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.9462782863097625,"y":-3.0797125580978157},"rotation":{"radians":-1.2175085406148443}},"curvature":0.22008272379027985},{"time":3.8560086526936423,"velocity":1.8305073212848988,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.981828770211936,"y":-3.17356825355923},"rotation":{"radians":-1.20362249297669}},"curvature":-2.3018266765920896E-14},{"time":3.9113836185556825,"velocity":1.6809949134573907,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.0184135170177044,"y":-3.2636470549537417},"rotation":{"radians":-1.149752725521268}},"curvature":1.0253360009993309},{"time":3.9413737549907677,"velocity":1.6000215450826607,"acceleration":-2.1608710787136802,"pose":{"translation":{"x":3.0397781571240823,"y":-3.3079652251650327},"rotation":{"radians":-1.0907671614705714}},"curvature":1.3502488992297754},{"time":3.973267883859264,"velocity":1.5311024444299601,"acceleration":-0.8257848314825204,"pose":{"translation":{"x":3.0644006774505215,"y":-3.351404374396686},"rotation":{"radians":-1.0178232366838325}},"curvature":1.549955466562376},{"time":4.006862482197249,"velocity":1.5033605347027037,"acceleration":0.06552704156105547,"pose":{"translation":{"x":3.092904447165867,"y":-3.393660211607728},"rotation":{"radians":-0.9361624231121277}},"curvature":1.6355117252482685},{"time":4.04164152008443,"velocity":1.5056395021637905,"acceleration":0.6531313373842981,"pose":{"translation":{"x":3.125706254194471,"y":-3.4344272778316967},"rotation":{"radians":-0.8504001020085808}},"curvature":1.6283645109402347},{"time":4.077209684730008,"velocity":1.5288701851070616,"acceleration":1.003879171277273,"pose":{"translation":{"x":3.163033425942083,"y":-3.473401733271556},"rotation":{"radians":-0.7642174815982902}},"curvature":1.5567249044841396},{"time":4.113296745082131,"velocity":1.5650972333471842,"acceleration":1.1620999042941946,"pose":{"translation":{"x":3.2049409500217414,"y":-3.510284144394608},"rotation":{"radians":-0.6801986104011517}},"curvature":1.4492507987789358},{"time":4.149740329531806,"velocity":1.6074483193482885,"acceleration":1.1688274951082214,"pose":{"translation":{"x":3.251328594979663,"y":-3.5447822710274033},"rotation":{"radians":-0.5998595128809489}},"curvature":1.3297504880674822},{"time":4.186454932103958,"velocity":1.6503613563065906,"acceleration":1.0648686848724358,"pose":{"translation":{"x":3.301958031021134,"y":-3.5766138534506577},"rotation":{"radians":-0.5238221601472356}},"curvature":1.214920317057597},{"time":4.223398463159749,"velocity":1.6897013656365152,"acceleration":0.8871595491928588,"pose":{"translation":{"x":3.3564699507364013,"y":-3.6055093994941596},"rotation":{"radians":-0.45204665732559746}},"curvature":1.1147755447729981},{"time":4.260544787564808,"velocity":1.722656082049879,"acceleration":0.664720583063422,"pose":{"translation":{"x":3.4144011898265623,"y":-3.631214971631686},"rotation":{"radians":-0.3840502377170955}},"curvature":1.0344059335193307},{"time":4.2978658536361465,"velocity":1.7474641628493677,"acceleration":0.4170271712264547,"pose":{"translation":{"x":3.475201847829454,"y":-3.6534949740759144},"rotation":{"radians":-0.31907711187966553}},"curvature":0.9759041463197408},{"time":4.335323337161123,"velocity":1.76308495124505,"acceleration":0.1549060318774859,"pose":{"translation":{"x":3.5382524088455485,"y":-3.6721349398733327},"rotation":{"radians":-0.25621242555649043}},"curvature":0.9399122889889104},{"time":4.37286794135603,"velocity":1.7689008368992938,"acceleration":-0.11701451308521232,"pose":{"translation":{"x":3.602880862263837,"y":-3.6869443179991546},"rotation":{"radians":-0.19444896564988257}},"curvature":0.9266743017178002},{"time":4.4104440605622175,"velocity":1.7645038856067499,"acceleration":-0.3971514636833808,"pose":{"translation":{"x":3.6683798234877267,"y":-3.697759260452232},"rotation":{"radians":-0.13272016229676237}},"curvature":0.9366744945398773},{"time":4.447997680050593,"velocity":1.749589410660333,"acceleration":-0.683453463599467,"pose":{"translation":{"x":3.7340236546609265,"y":-3.7044454093499635},"rotation":{"radians":-0.06991288500099563}},"curvature":0.9709695914338683},{"time":4.485485610501795,"velocity":1.723968154750283,"acceleration":-0.9695390872466091,"pose":{"translation":{"x":3.7990855853933407,"y":-3.7069006840232133},"rotation":{"radians":-0.0048725525991901285}},"curvature":1.0312696674162594},{"time":4.522884147596107,"velocity":1.6877088112315044,"acceleration":-1.2406325116641046,"pose":{"translation":{"x":3.8628548334869577,"y":-3.705058068111217},"rotation":{"radians":0.06358660570777601}},"curvature":1.1197355889117453},{"time":4.560194871962199,"velocity":1.6414199135491923,"acceleration":-1.470152070249808,"pose":{"translation":{"x":3.9246537256617424,"y":-3.698888396656498},"rotation":{"radians":0.13665070947012398}},"curvature":1.2383513633729393},{"time":4.597444575589161,"velocity":1.586657184645823,"acceleration":-1.6188933963900423,"pose":{"translation":{"x":3.983854818281525,"y":-3.68840314319978},"rotation":{"radians":0.21543465079916263}},"curvature":1.3876188110053984},{"time":4.634675491929209,"velocity":1.5263843000413684,"acceleration":-1.653556168770709,"pose":{"translation":{"x":4.039898018079894,"y":-3.673657206874897},"rotation":{"radians":0.3008449305456563}},"curvature":1.5642867773111826},{"time":4.653301112115837,"velocity":1.495585790884589,"acceleration":-1.6237870169348525,"pose":{"translation":{"x":4.066583008445662,"y":-3.664716198688472},"rotation":{"radians":0.34620762753185813}},"curvature":1.6600585000267516},{"time":4.671935330744565,"velocity":1.465327788604536,"acceleration":-1.5475609530662229,"pose":{"translation":{"x":4.092307702886082,"y":-3.6547516995037075},"rotation":{"radians":0.3933536444045416}},"curvature":1.7580699831377709},{"time":4.690575213848223,"velocity":1.4364814333435956,"acceleration":-1.4206937206144745,"pose":{"translation":{"x":4.117028656107597,"y":-3.643784026288599},"rotation":{"radians":0.44222170029111096}},"curvature":1.855353434733679},{"time":4.709211707842777,"velocity":1.4100046833512625,"acceleration":-1.2402403514088882,"pose":{"translation":{"x":4.140709842350862,"y":-3.631836732691007},"rotation":{"radians":0.492680291366209}},"curvature":1.9481489373001988},{"time":4.727827967837775,"velocity":1.3869160465131474,"acceleration":-1.0044336098017004,"pose":{"translation":{"x":4.16332319041343,"y":-3.6189366961353735},"rotation":{"radians":0.5445168944834294}},"curvature":2.0319617451634606},{"time":4.746397912189128,"velocity":1.368263770274501,"acceleration":-0.7123263102941506,"pose":{"translation":{"x":4.184849118672436,"y":-3.605114204919439},"rotation":{"radians":0.59742977012247}},"curvature":2.101735912742992},{"time":4.764885220345952,"velocity":1.3550947742678796,"acceleration":-0.36312257594447966,"pose":{"translation":{"x":4.205277070107284,"y":-3.590403045310956},"rotation":{"radians":0.6510240044285094}},"curvature":2.1521551177627667},{"time":4.783242972160577,"velocity":1.3484286601404034,"acceleration":0.044797223923551,"pose":{"translation":{"x":4.224606047322325,"y":-3.5748405886444092},"rotation":{"radians":0.7048132228502131}},"curvature":2.178052622752592},{"time":4.801414053401251,"velocity":1.349242674135675,"acceleration":0.5151729955439451,"pose":{"translation":{"x":4.242845147569547,"y":-3.558467878417726},"rotation":{"radians":0.7582277850211014}},"curvature":2.1748765045688128},{"time":4.819332326624246,"velocity":1.35847368462694,"acceleration":1.0555771839819856,"pose":{"translation":{"x":4.260014097771258,"y":-3.5413297173889973},"rotation":{"radians":0.810629260909842}},"curvature":2.139125292379961},{"time":4.836924412005494,"velocity":1.3770434885740492,"acceleration":1.6797934645200683,"pose":{"translation":{"x":4.276143789542765,"y":-3.5234747546731904},"rotation":{"radians":0.8613297753179715}},"curvature":2.068657403880969},{"time":4.854111780142086,"velocity":1.4059147172421957,"acceleration":2.700000000000004,"pose":{"translation":{"x":4.291276814215065,"y":-3.5049555728388677},"rotation":{"radians":0.9096137029781508}},"curvature":1.9627950712832336},{"time":4.886909068578182,"velocity":1.4944673960196582,"acceleration":2.7000000000000233,"pose":{"translation":{"x":4.318784936300568,"y":-3.4661550719371856},"rotation":{"radians":0.9960517560249607}},"curvature":1.6484598896766685},{"time":4.917796388840183,"velocity":1.57786316072706,"acceleration":2.6999999999999997,"pose":{"translation":{"x":4.3431335198514684,"y":-3.4254308539795257},"rotation":{"radians":1.064337755353672}},"curvature":1.2099640477138154},{"time":4.975192825168126,"velocity":1.7328335388125038,"acceleration":0.38956927099637406,"pose":{"translation":{"x":4.385856599884033,"y":-3.340567158410103},"rotation":{"radians":1.1253285328670892}},"curvature":3.9807867305918405E-14},{"time":5.031468534655772,"velocity":1.7547568259324102,"acceleration":-0.2703522832700614,"pose":{"translation":{"x":4.426239291596579,"y":-3.2511278775802035},"rotation":{"radians":1.1838212503329886}},"curvature":0.9590213742485625},{"time":5.062527626710456,"velocity":1.7463599294791314,"acceleration":1.7627751322838772,"pose":{"translation":{"x":4.445402418053016,"y":-3.2002461180467194},"rotation":{"radians":1.2375331981999598}},"curvature":0.9784727769523561},{"time":5.096379350436797,"velocity":1.8060329062488683,"acceleration":2.310326026624509,"pose":{"translation":{"x":4.4634581219405005,"y":-3.142893829377299},"rotation":{"radians":1.2926937750648604}},"curvature":0.8441650150742595},{"time":5.132689478438158,"velocity":1.8899211400004794,"acceleration":2.148841146420195,"pose":{"translation":{"x":4.48017415189866,"y":-3.077909044843525},"rotation":{"radians":1.3433949498868154}},"curvature":0.6696975164928622},{"time":5.171464402767709,"velocity":1.9732422928491493,"acceleration":1.7324228625327238,"pose":{"translation":{"x":4.49537996689762,"y":-3.0045719188687383},"rotation":{"radians":1.3873287758293207}},"curvature":0.5110935669067939},{"time":5.2128378023213395,"velocity":2.04491851613656,"acceleration":1.299582205416518,"pose":{"translation":{"x":4.5089620242691515,"y":-2.9225665809449923},"rotation":{"radians":1.424252394438837}},"curvature":0.38499750685916345},{"time":5.256917133248031,"velocity":2.102203230235554,"acceleration":0.9427147817373919,"pose":{"translation":{"x":4.520859067737793,"y":-2.8319429895500052},"rotation":{"radians":1.454836908363205}},"curvature":0.290401921430435},{"time":5.303704702847608,"velocity":2.146310563698643,"acceleration":0.6773439355157649,"pose":{"translation":{"x":4.531057415451995,"y":-2.733078786064114},"rotation":{"radians":1.4800268263999243}},"curvature":0.22100721119491618},{"time":5.353070100094742,"velocity":2.1797479161483158,"acceleration":0.48971446492734755,"pose":{"translation":{"x":4.539586248015253,"y":-2.626641148687229},"rotation":{"radians":1.5007476615481332}},"curvature":0.17027125210215716},{"time":5.4047505906541256,"velocity":2.205056599929787,"acceleration":0.36025877521838184,"pose":{"translation":{"x":4.546512896517241,"y":-2.5135486463557863},"rotation":{"radians":1.5177986679845619}},"curvature":0.1328923644913342},{"time":5.458364536262003,"velocity":2.224371494309106,"acceleration":0.27213551542849773,"pose":{"translation":{"x":4.551938130564951,"y":-2.3949330926597017},"rotation":{"radians":1.5318299254652354}},"curvature":0.10493809800115456},{"time":5.513429963843043,"velocity":2.239356752826163,"acceleration":0.21307064358231706,"pose":{"translation":{"x":4.555991446313826,"y":-2.2721013997593236},"rotation":{"radians":1.5433522935017865}},"curvature":0.08358226786884908},{"time":5.569384604257197,"velocity":2.251279044070624,"acceleration":0.17494699799168043,"pose":{"translation":{"x":4.558826354498893,"y":-2.1464974323023895},"rotation":{"radians":1.5527567273734477}},"curvature":0.06679461667167785},{"time":5.62560584587565,"velocity":2.261114781515137,"acceleration":0.15301526057513246,"pose":{"translation":{"x":4.560615668465907,"y":-2.019663861340975},"rotation":{"radians":1.5603331477038913}},"curvature":0.053078290149578246},{"time":5.681430012083341,"velocity":2.2696567308537965,"acceleration":-1.254823465893922,"pose":{"translation":{"x":4.561546792202477,"y":-1.8932040182484504},"rotation":{"radians":1.5662851240012707}},"curvature":0.04126265615101617},{"time":5.737124203132868,"velocity":2.1997703530108708,"acceleration":-2.699999999999996,"pose":{"translation":{"x":4.561817008369205,"y":-1.7687437486364352},"rotation":{"radians":1.5707389682490362}},"curvature":0.030331252821885556},{"time":5.794050824152275,"velocity":2.046068476258475,"acceleration":-2.700000000000006,"pose":{"translation":{"x":4.561628766330825,"y":-1.6478932662717476},"rotation":{"radians":1.5737463485485246}},"curvature":0.019253743292658033},{"time":5.85287404709699,"velocity":1.8872457743077422,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.561184970187334,"y":-1.5322090069933623},"rotation":{"radians":1.5752789959015696}},"curvature":0.006777018407799931},{"time":5.913268273341331,"velocity":1.72418136344802,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.5606842668051275,"y":-1.4231554826293622},"rotation":{"radians":1.575212573228892}},"curvature":-0.008901956109935908},{"time":5.974869622186126,"velocity":1.5578577215670744,"acceleration":-2.7,"pose":{"translation":{"x":4.5603163338481405,"y":-1.3220671349138926},"rotation":{"radians":1.5732937758219232}},"curvature":-0.030739564844547373},{"time":6.037271938852936,"velocity":1.3893714665666845,"acceleration":-2.7,"pose":{"translation":{"x":4.560257167808976,"y":-1.230110189404113},"rotation":{"radians":1.5690787354186326}},"curvature":-0.06408761003331041},{"time":6.100021399957767,"velocity":1.2199479215836422,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.560664372040043,"y":-1.1482445093971525},"rotation":{"radians":1.5618181287789326}},"curvature":-0.11948485813595525},{"time":6.162609787312106,"velocity":1.0509592757269288,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.561672444784698,"y":-1.077185449847064},"rotation":{"radians":1.550235745794414}},"curvature":-0.21950551701376778},{"time":6.284951690619862,"velocity":0.7206361367959863,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.565885391429699,"y":-0.968897193720045},"rotation":{"radians":1.5031224005777883}},"curvature":-0.8532327241242842},{"time":6.343405517562308,"velocity":0.5628108040513805,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.569201328551683,"y":-0.9315328505884155},"rotation":{"radians":1.454812037224825}},"curvature":-1.95362210606186},{"time":6.3992490774871555,"velocity":0.4120331922542936,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.573330836692798,"y":-0.9046285426381657},"rotation":{"radians":1.367986047743081}},"curvature":-5.250797357740762},{"time":6.426207642802349,"velocity":0.3392450659032703,"acceleration":-2.699999999999999,"pose":{"translation":{"x":4.575686473202262,"y":-0.8947796407998156},"rotation":{"radians":1.2974111653987683}},"curvature":-9.262822654758509},{"time":6.4395372804348705,"velocity":0.30325504429546096,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.576932656249183,"y":-0.890682836040614},"rotation":{"radians":1.251278714726393}},"curvature":-12.528704057556777},{"time":6.4528700111051185,"velocity":0.26725667148579185,"acceleration":-2.7,"pose":{"translation":{"x":4.578222209018141,"y":-0.8871048918622653},"rotation":{"radians":1.1955708620074401}},"curvature":-17.11255760272324},{"time":6.466365921841904,"velocity":0.23081771249647132,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.57955320943533,"y":-0.8840186887888786},"rotation":{"radians":1.1281096037032832}},"curvature":-23.502515226838202},{"time":6.480329849444616,"velocity":0.19311510796914846,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.580923516329712,"y":-0.8813951091768959},"rotation":{"radians":1.0465366731211305}},"curvature":-32.20887644842355},{"time":6.487666280304209,"velocity":0.17330674464824786,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.5816226795480945,"y":-0.8802471483638525},"rotation":{"radians":0.9997711353063761}},"curvature":-37.53640244697254},{"time":6.4954133637239755,"velocity":0.15238961941487794,"acceleration":-2.249751220756362,"pose":{"translation":{"x":4.582330764831489,"y":-0.8792029999630508},"rotation":{"radians":0.948752438444307}},"curvature":-43.49657887474341},{"time":6.503700848191465,"velocity":0.13374484111714335,"acceleration":-1.7219441519945689,"pose":{"translation":{"x":4.583047440863298,"y":-0.8782584456955855},"rotation":{"radians":0.8934072678493205}},"curvature":-49.99050921706474},{"time":6.512554314531148,"velocity":0.11849966652864419,"acceleration":-1.2952172427486455,"pose":{"translation":{"x":4.583772361770563,"y":-0.8774091354123255},"rotation":{"radians":0.8338214460179867}},"curvature":-56.81894234666965},{"time":6.521935788064208,"velocity":0.10634862024623604,"acceleration":-0.9492559613165958,"pose":{"translation":{"x":4.584505166980162,"y":-0.8766505859297724},"rotation":{"radians":0.7702913480603364}},"curvature":-63.663533520049945},{"time":6.531771491061953,"velocity":0.09701202054188651,"acceleration":-0.6642956986882514,"pose":{"translation":{"x":4.585245481075012,"y":-0.8759781798659367},"rotation":{"radians":0.7033681207659697}},"curvature":-70.08766107160633},{"time":6.5419482273810114,"velocity":0.09025165837845117,"acceleration":-0.4211620437294777,"pose":{"translation":{"x":4.585992913650276,"y":-0.8753871644762232},"rotation":{"radians":0.633881778205852}},"curvature":-75.5688156147956},{"time":6.552314453686526,"velocity":0.08588579732185853,"acceleration":-0.200596316805596,"pose":{"translation":{"x":4.586747059169556,"y":-0.8748726504892876},"rotation":{"radians":0.5629319005702376}},"curvature":-79.56712313126297},{"time":6.562687257231663,"velocity":0.08380505113575598,"acceleration":0.018382667483714272,"pose":{"translation":{"x":4.587507496821104,"y":-0.8744296109429235},"rotation":{"radians":0.4918367937765152}},"curvature":-81.61927919815528},{"time":6.572864927525241,"velocity":0.0839921438645217,"acceleration":0.2617179524850427,"pose":{"translation":{"x":4.5882737903740205,"y":-0.8740528800199336},"rotation":{"radians":0.42204373712551474}},"curvature":-81.43059702349429},{"time":6.582642938480128,"velocity":0.08655122487101119,"acceleration":0.566729124476429,"pose":{"translation":{"x":4.589045488034454,"y":-0.8737371518840007},"rotation":{"radians":0.3550158115213555}},"curvature":-78.9316619399016},{"time":6.5918298541146845,"velocity":0.09175771752522222,"acceleration":0.9956910324641682,"pose":{"translation":{"x":4.5898221223018085,"y":-0.8734769795155599},"rotation":{"radians":0.2921195841125127}},"curvature":-74.27781318075311},{"time":6.600259669399275,"velocity":0.10015120900941876,"acceleration":1.6674426214662235,"pose":{"translation":{"x":4.590603209824941,"y":-0.8732667735476771},"rotation":{"radians":0.23453773231367941}},"curvature":-67.79405690128081},{"time":6.607798391712309,"velocity":0.11272159590557007,"acceleration":2.699999999999529,"pose":{"translation":{"x":4.591388251258368,"y":-0.873100801101927},"rotation":{"radians":0.18322162220787044}},"curvature":-59.88967080941399},{"time":6.620131246902519,"velocity":0.14602030491913148,"acceleration":2.7000000000007414,"pose":{"translation":{"x":4.592968117639659,"y":-0.8728779007208538},"rotation":{"radians":0.1020366764318309}},"curvature":-41.39072927876437},{"time":6.638760068605198,"velocity":0.1963181235163816,"acceleration":-2.6287519059954576,"pose":{"translation":{"x":4.596151517103646,"y":-0.8726944533917305},"rotation":{"radians":0.0351097453586144}},"curvature":2.7794858786544366E-12},{"time":6.657303360430866,"velocity":0.14757240978622724,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.599339673315614,"y":-0.8726525743724289},"rotation":{"radians":-0.030406618335940702}},"curvature":-40.54629506663001},{"time":6.6694615051858435,"velocity":0.11474541894778856,"acceleration":-1.7478825020829163,"pose":{"translation":{"x":4.600930663538121,"y":-0.872760536208599},"rotation":{"radians":-0.10996027848637602}},"curvature":-58.77892961941308},{"time":6.67686379076716,"velocity":0.10180709350478456,"acceleration":-1.0515269612133211,"pose":{"translation":{"x":4.601724905090623,"y":-0.8728680974194418},"rotation":{"radians":-0.1603058199412404}},"curvature":-66.64119143507843},{"time":6.685149957465341,"velocity":0.0930939658165395,"acceleration":-0.6084854021313466,"pose":{"translation":{"x":4.602518146166333,"y":-0.8730191300306107},"rotation":{"radians":-0.21686829524209572}},"curvature":-73.16734567450669},{"time":6.694193520736785,"velocity":0.08759108958261463,"acceleration":-0.29561750568313644,"pose":{"translation":{"x":4.603310271788974,"y":-0.8732192699998336},"rotation":{"radians":-0.27874964560733445}},"curvature":-77.957958915172},{"time":6.703836739267785,"velocity":0.08474038537372297,"acceleration":-0.04865300022159542,"pose":{"translation":{"x":4.60410117377875,"y":-0.8734740126940626},"rotation":{"radians":-0.3448259375227554}},"curvature":-80.68432781658437},{"time":6.713896207409687,"velocity":0.08425096206798588,"acceleration":0.17060154790268706,"pose":{"translation":{"x":4.6048907506814505,"y":-0.8737887140279185},"rotation":{"radians":-0.41378782670479775}},"curvature":-81.17096150234015},{"time":6.724174037121537,"velocity":0.08600437572590769,"acceleration":0.38834623570801613,"pose":{"translation":{"x":4.60567890769756,"y":-0.8741685916021357},"rotation":{"radians":-0.4842198027441893}},"curvature":-79.45316468296875},{"time":6.734472780652836,"velocity":0.09000385400880995,"acceleration":0.6254390228065101,"pose":{"translation":{"x":4.606465556611364,"y":-0.8746187258420064},"rotation":{"radians":-0.5547055769063708}},"curvature":-75.78537424146772},{"time":6.7446109216061405,"velocity":0.09634464297971945,"acceleration":0.9007631672585512,"pose":{"translation":{"x":4.607250615720056,"y":-0.8751440611358262},"rotation":{"radians":-0.6239377149934211}},"curvature":-70.5945365777504},{"time":6.754435573896291,"velocity":0.10519432789380989,"acceleration":1.2329557575181112,"pose":{"translation":{"x":4.60803400976284,"y":-0.875749406973338},"rotation":{"radians":-0.690808144795104}},"curvature":-64.3959775798263},{"time":6.7638300923447,"velocity":0.11677735350388563,"acceleration":1.641169862973118,"pose":{"translation":{"x":4.608815669850046,"y":-0.8764394390841777},"rotation":{"radians":-0.754463313883741}},"curvature":-57.7024679815766},{"time":6.7727160177406045,"velocity":0.13136066646827138,"acceleration":2.145137827186315,"pose":{"translation":{"x":4.609595533392229,"y":-0.8772187005763176},"rotation":{"radians":-0.8143195696666922}},"curvature":-50.9538468118932},{"time":6.781050305742988,"velocity":0.1492388629248489,"acceleration":2.699999999998813,"pose":{"translation":{"x":4.610373544029277,"y":-0.8780916030745127},"rotation":{"radians":-0.8700450182475864}},"curvature":-44.48004713746768},{"time":6.788831044117606,"velocity":0.1702468565363079,"acceleration":2.699999999998389,"pose":{"translation":{"x":4.611149651559521,"y":-0.8790624278587447},"rotation":{"radians":-0.9215198921733626}},"curvature":-38.49538268257514},{"time":6.796174709808192,"velocity":0.1900747539008807,"acceleration":2.7000000000001965,"pose":{"translation":{"x":4.61192381186884,"y":-0.8801353270026662},"rotation":{"radians":-0.9687879366158929}},"curvature":-33.113593635632355},{"time":6.810107276410151,"velocity":0.2276926837261729,"acceleration":2.69999999999992,"pose":{"translation":{"x":4.613466144380597,"y":-0.8826033174632164},"rotation":{"radians":-1.051414566336971}},"curvature":-24.256569207373587},{"time":6.82353608027685,"velocity":0.26395045416625906,"acceleration":2.6999999999995836,"pose":{"translation":{"x":4.6150003077085895,"y":-0.8855262501797181},"rotation":{"radians":-1.1198966691418262}},"curvature":-17.709250675136484},{"time":6.8367804778827725,"velocity":0.29971032770224504,"acceleration":2.6999999999994593,"pose":{"translation":{"x":4.616526160860454,"y":-0.8889328064349341},"rotation":{"radians":-1.1765314391421913}},"curvature":-12.988935207568176},{"time":6.8500078628102505,"velocity":0.33542426700642824,"acceleration":2.700000000000189,"pose":{"translation":{"x":4.618043653438842,"y":-0.8928497095010681},"rotation":{"radians":-1.2234764220767254}},"curvature":-9.61409506696725},{"time":6.876735345001159,"velocity":0.4075884689218857,"acceleration":2.699999999999823,"pose":{"translation":{"x":4.621053794649349,"y":-0.9023118776835003},"rotation":{"radians":-1.2953444990600071}},"curvature":-5.455288410432885},{"time":6.904065118390874,"velocity":0.4813788570741111,"acceleration":2.7000000000001356,"pose":{"translation":{"x":4.624032053855361,"y":-0.9140887650422794},"rotation":{"radians":-1.3464548155001768}},"curvature":-3.2512215183713495},{"time":6.932071930507982,"velocity":0.5569972497903082,"acceleration":2.699999999999938,"pose":{"translation":{"x":4.626981057902935,"y":-0.9283273852585817},"rotation":{"radians":-1.3837572921402705}},"curvature":-2.027835394113568},{"time":6.989973524853607,"velocity":0.7133315545234917,"acceleration":2.6999999999999806,"pose":{"translation":{"x":4.632807893992809,"y":-0.9646398904226058},"rotation":{"radians":-1.432856855356095}},"curvature":-0.8827954206928376},{"time":7.1112031645671925,"velocity":1.0406515817501716,"acceleration":2.7000000000000073,"pose":{"translation":{"x":4.64435387905734,"y":-1.0703284602077703},"rotation":{"radians":-1.480436318200243}},"curvature":-0.22385867341497218},{"time":7.173254931201452,"velocity":1.2081913516626734,"acceleration":2.6999999999999966,"pose":{"translation":{"x":4.650208060269882,"y":-1.139854770157303},"rotation":{"radians":-1.4919605328031207}},"curvature":-0.1200295315059749},{"time":7.235492378330957,"velocity":1.3762324589123351,"acceleration":2.7000000000000215,"pose":{"translation":{"x":4.656227232733742,"y":-1.2200531774681567},"rotation":{"radians":-1.4990439383861234}},"curvature":-0.06255856320907544},{"time":7.297414645033281,"velocity":1.543422579008612,"acceleration":2.7000000000000153,"pose":{"translation":{"x":4.662506693981134,"y":-1.3102306372978625},"rotation":{"radians":-1.5029870566252166}},"curvature":-0.027953133706398608},{"time":7.358574612657027,"velocity":1.7085544915927293,"acceleration":2.6999999999999824,"pose":{"translation":{"x":4.669148672654916,"y":-1.4094539860053201},"rotation":{"radians":-1.504551701568427}},"curvature":-0.005252368583924339},{"time":7.418572340703637,"velocity":1.8705483573185755,"acceleration":2.6999999999999913,"pose":{"translation":{"x":4.67626000547822,"y":-1.5165872457085943},"rotation":{"radians":-1.5041871824623947}},"curvature":0.011106678640585057},{"time":7.477049769652041,"velocity":2.0284374154792655,"acceleration":2.700000000000005,"pose":{"translation":{"x":4.68394981422409,"y":-1.630328928842714},"rotation":{"radians":-1.5021476823740851}},"curvature":0.024195545579616354},{"time":7.533686792196435,"velocity":2.18135737634913,"acceleration":1.515637183762575,"pose":{"translation":{"x":4.692327182685111,"y":-1.7492493427174662},"rotation":{"radians":-1.4985552238745412}},"curvature":0.03588640048597657},{"time":7.588975603452235,"velocity":2.265155154534452,"acceleration":-0.16339110418695946,"pose":{"translation":{"x":4.701498833643041,"y":-1.871827894075197},"rotation":{"radians":-1.4934333913570814}},"curvature":0.04747834563244904},{"time":7.644300045906041,"velocity":2.2561156327933967,"acceleration":-0.18618411598671972,"pose":{"translation":{"x":4.711566805838441,"y":-1.9964903936486045},"rotation":{"radians":-1.4867240600849803}},"curvature":0.0600348562943363},{"time":7.700118857118,"velocity":2.2457230567724684,"acceleration":-0.2252076111664821,"pose":{"translation":{"x":4.72262613094031,"y":-2.1216463607185383},"rotation":{"radians":-1.4782932987774888}},"curvature":0.07459576514094504},{"time":7.755789601759116,"velocity":2.2331855813599835,"acceleration":-0.2847253907378617,"pose":{"translation":{"x":4.734762510515716,"y":-2.2457263276717963},"rotation":{"radians":-1.4679296220185907}},"curvature":0.09234223219189336},{"time":7.810709653998501,"velocity":2.217548448026781,"acceleration":-0.3718988106630473,"pose":{"translation":{"x":4.748049992999426,"y":-2.3672191445589235},"rotation":{"radians":-1.4553363564813817}},"curvature":0.11475740199011944},{"time":7.864334671027122,"velocity":2.197605367972051,"acceleration":-0.4971105751740737,"pose":{"translation":{"x":4.7625486506635415,"y":-2.4847092836520033},"rotation":{"radians":-1.440119537410647}},"curvature":0.1438078098583787},{"time":7.91619744963389,"velocity":2.171823832268715,"acceleration":-0.6736212154763002,"pose":{"translation":{"x":4.778302256587127,"y":-2.596914144002462},"rotation":{"radians":-1.4217735820245503}},"curvature":0.18215356608712557},{"time":7.965926379451821,"velocity":2.1383253701204246,"acceleration":-0.9147464727884201,"pose":{"translation":{"x":4.795335961625842,"y":-2.7027213559988605},"rotation":{"radians":-1.3996697741617767}},"curvature":0.23335820554060774},{"time":8.01326167989701,"velocity":2.095025570999807,"acceleration":-1.224804392082168,"pose":{"translation":{"x":4.813653971381577,"y":-2.801226085924693},"rotation":{"radians":-1.3730591232963623}},"curvature":0.30197107629664477},{"time":8.058065520708947,"velocity":2.040149629991195,"acceleration":-1.577859309482237,"pose":{"translation":{"x":4.83323722317208,"y":-2.891768340516184},"rotation":{"radians":-1.3411147210420618}},"curvature":0.3931120066156374},{"time":8.100318349349388,"velocity":1.9734806109689162,"acceleration":-1.879233842947567,"pose":{"translation":{"x":4.854041063000594,"y":-2.97397027152009},"rotation":{"radians":-1.3030640134183291}},"curvature":0.5106591301023522},{"time":8.140088091623351,"velocity":1.8987439653623812,"acceleration":-1.9144160082920534,"pose":{"translation":{"x":4.875992922525479,"y":-3.0477734802514846},"rotation":{"radians":-1.25850080836969}},"curvature":0.6522441013337538},{"time":8.177453693948703,"velocity":1.827210658111252,"acceleration":-1.2989688825852688,"pose":{"translation":{"x":4.89898999602986,"y":-3.113476322151568},"rotation":{"radians":-1.2080045615750525}},"curvature":0.7986087194579582},{"time":8.212369437650223,"velocity":1.7818561935306563,"acceleration":0.6064102048337765,"pose":{"translation":{"x":4.922896917391241,"y":-3.171771211345458},"rotation":{"radians":-1.154157078106018}},"curvature":0.8974962654296017},{"time":8.24449435255794,"velocity":1.801337069760113,"acceleration":2.382655912460553,"pose":{"translation":{"x":4.947543437051151,"y":-3.22378192519999},"rotation":{"radians":-1.102764029194351}},"curvature":0.8544115056874421},{"time":8.300724669485788,"velocity":1.9353145668477807,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.998185917670555,"y":-3.315826579913677},"rotation":{"radians":-1.047896124130654}},"curvature":8.508859524386322E-15},{"time":8.35555333933283,"velocity":1.7872771582607683,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.050373977924324,"y":-3.4035254617919697},"rotation":{"radians":-1.0072821505772769}},"curvature":0.7549303519675613},{"time":8.384637528026353,"velocity":1.708749848788259,"acceleration":-2.700000000000007,"pose":{"translation":{"x":5.07845932598369,"y":-3.4459032098893174},"rotation":{"radians":-0.96129920767847}},"curvature":1.0446752740044682},{"time":8.415040782226548,"velocity":1.6266610624477338,"acceleration":-1.9532632581468699,"pose":{"translation":{"x":5.108661004057927,"y":-3.4866306095960047},"rotation":{"radians":-0.9021731776348201}},"curvature":1.2775904245573666},{"time":8.446782452811698,"velocity":1.564661223541557,"acceleration":-1.1318999235072307,"pose":{"translation":{"x":5.141389561181544,"y":-3.5252849459870292},"rotation":{"radians":-0.8328106929061733}},"curvature":1.450514712529692},{"time":8.479600168142627,"velocity":1.5275148540687975,"acceleration":-0.47472204334208146,"pose":{"translation":{"x":5.176923694679894,"y":-3.5615034399498886},"rotation":{"radians":-0.7561274696627602}},"curvature":1.5608446667586555},{"time":8.51317414668078,"velocity":1.5115765463740414,"acceleration":0.052974371793896385,"pose":{"translation":{"x":5.215421066751808,"y":-3.5949803947302614},"rotation":{"radians":-0.6749729858536616}},"curvature":1.609846174780237},{"time":8.547223831679863,"velocity":1.5133803070466478,"acceleration":0.46286288940943904,"pose":{"translation":{"x":5.256929121052228,"y":-3.625464342477694},"rotation":{"radians":-0.5919747973575552}},"curvature":1.604248811216469},{"time":8.58151884944728,"velocity":1.5292541980628223,"acceleration":0.7589739222927088,"pose":{"translation":{"x":5.301395899274849,"y":-3.652755190791285},"rotation":{"radians":-0.5093672553939818}},"curvature":1.5555589585568785},{"time":8.615884960684165,"velocity":1.5553371803022285,"acceleration":0.9462195137581277,"pose":{"translation":{"x":5.348680857734751,"y":-3.6767013692653703},"rotation":{"radians":-0.4288680856806841}},"curvature":1.477713042041228},{"time":8.650201616776899,"velocity":1.5878082699441007,"acceleration":1.0342370309458464,"pose":{"translation":{"x":5.398565683951038,"y":-3.6971969760352086},"rotation":{"radians":-0.3516369614361936}},"curvature":1.3843753463424795},{"time":8.68439202840069,"velocity":1.6231692597487077,"acceleration":1.037641517727869,"pose":{"translation":{"x":5.450765113229473,"y":-3.714178924322665},"rotation":{"radians":-0.2783131195479864}},"curvature":1.2869783934493062},{"time":8.718409317598706,"velocity":1.6584670113411235,"acceleration":0.973993395449978,"pose":{"translation":{"x":5.504937745245116,"y":-3.727624088981897},"rotation":{"radians":-0.2091046345049558}},"curvature":1.1938977832620001},{"time":8.752222638112782,"velocity":1.6914009622000672,"acceleration":0.8610286641732015,"pose":{"translation":{"x":5.560696860624957,"y":-3.7375464530450375},"rotation":{"radians":-0.14389676689643216}},"curvature":1.1105539927870254},{"time":8.785805941964195,"velocity":1.720317149453773,"acceleration":0.7144054423978895,"pose":{"translation":{"x":5.617621237530555,"y":-3.743994254267884},"rotation":{"radians":-0.08235481167895972}},"curvature":1.0400085827310375},{"time":8.819130513171148,"velocity":1.7441244044895958,"acceleration":0.546569601495321,"pose":{"translation":{"x":5.675265968240674,"y":-3.7470471316755773},"rotation":{"radians":-0.024008749853449696}},"curvature":0.9836829378831284},{"time":8.852161195358791,"velocity":1.762177971290015,"acceleration":0.366756054965365,"pose":{"translation":{"x":5.733173275733917,"y":-3.746813272108292},"rotation":{"radians":0.03168328917279015}},"curvature":0.9419846122808662},{"time":8.884855581403933,"velocity":1.7741688353354461,"acceleration":0.18185414269647018,"pose":{"translation":{"x":5.790883330271368,"y":-3.7434265567669187},"rotation":{"radians":0.08528997924198803}},"curvature":0.9147583144770235},{"time":8.917165186626526,"velocity":1.7800444708940621,"acceleration":-0.0021512729393492695,"pose":{"translation":{"x":5.84794506597922,"y":-3.7370437077587493},"rotation":{"radians":0.13737484207164488}},"curvature":0.9015510803238661},{"time":8.949037600840677,"velocity":1.7799759046318515,"acceleration":-0.17833897048005717,"pose":{"translation":{"x":5.903926997431419,"y":-3.727841434643161},"rotation":{"radians":0.18847136708754433}},"curvature":0.9017047005235224},{"time":8.980418659724947,"velocity":1.7743794388978569,"acceleration":-0.3366707404131968,"pose":{"translation":{"x":5.958428036232295,"y":-3.7160135809773047},"rotation":{"radians":0.2390592231461033}},"curvature":0.9142834090895979},{"time":9.011253712119828,"velocity":1.7639981789773924,"acceleration":-0.46147086201521403,"pose":{"translation":{"x":6.011088307599203,"y":-3.701768270861783},"rotation":{"radians":0.2895357194769267}},"curvature":0.9378278434808232},{"time":9.041487070445177,"velocity":1.750046365049379,"acceleration":-0.5285431131881131,"pose":{"translation":{"x":6.061599966945155,"y":-3.685325055486344},"rotation":{"radians":0.34017676199896385}},"curvature":0.9699101670059925},{"time":9.07105875921954,"velocity":1.7344164526023471,"acceleration":-0.5017937920288301,"pose":{"translation":{"x":6.109718016461459,"y":-3.6669120596755596},"rotation":{"radians":0.39108186054150706}},"curvature":1.0064642952905776},{"time":9.099897829109448,"velocity":1.7199451863637059,"acceleration":-0.3287507141855249,"pose":{"translation":{"x":6.155271121700352,"y":-3.6467631284345114},"rotation":{"radians":0.4420990014383418}},"curvature":1.0409009827022115},{"time":9.127911959847513,"velocity":1.7107355208762802,"acceleration":0.06696052031208571,"pose":{"translation":{"x":6.198172428157642,"y":-3.6251149734944788},"rotation":{"radians":0.4927286119846969}},"curvature":1.0631202228314272},{"time":9.154974067201039,"velocity":1.7125476136654139,"acceleration":0.44392813109754137,"pose":{"translation":{"x":6.238430377855339,"y":-3.60220431985862},"rotation":{"radians":0.5420128858666482}},"curvature":1.0587294827383742},{"time":9.18097800480952,"velocity":1.7240914930891236,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.276159525924294,"y":-3.578265052347659},"rotation":{"radians":0.5884284546205697}},"curvature":1.009053679624368},{"time":9.232463123950753,"velocity":1.585081671407791,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.345085102739401,"y":-3.528204893345267},"rotation":{"radians":0.6633974864269401}},"curvature":0.6901416764400143},{"time":9.286461171535066,"velocity":1.4392869429301463,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.408398891966756,"y":-3.476640340140431},"rotation":{"radians":0.6941270293290788}},"curvature":4.1185019565407616E-14},{"time":9.31566354843767,"velocity":1.3604405252931167,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.439463799326111,"y":-3.450067936139554},"rotation":{"radians":0.7331828725458773}},"curvature":1.761870818383021},{"time":9.331472879867388,"velocity":1.3177553304328768,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.454897756349233,"y":-3.435577520081772},"rotation":{"radians":0.776349973919035}},"curvature":2.265902921246814},{"time":9.348498709661484,"velocity":1.2717855899888146,"acceleration":0.030434355131050854,"pose":{"translation":{"x":6.470217984312381,"y":-3.4197265761309747},"rotation":{"radians":0.8293329069462884}},"curvature":2.4953115450022763},{"time":9.366749417833201,"velocity":1.2723410385227059,"acceleration":2.034808920496412,"pose":{"translation":{"x":6.485391560898837,"y":-3.402155354066644},"rotation":{"radians":0.887630653218616}},"curvature":2.4928748048734684},{"time":9.38585795176086,"velocity":1.3112232538163158,"acceleration":2.700000000000026,"pose":{"translation":{"x":6.500387987569066,"y":-3.3825489736843726},"rotation":{"radians":0.9473680370503084}},"curvature":2.3274298041402433},{"time":9.40561873108818,"velocity":1.364577358000081,"acceleration":2.699999999999994,"pose":{"translation":{"x":6.515179125275045,"y":-3.3606357906955715},"rotation":{"radians":1.0056060004130027}},"curvature":2.0709243397131565},{"time":9.42605940769512,"velocity":1.4197671848388167,"acceleration":2.6999999999999926,"pose":{"translation":{"x":6.52973913017459,"y":-3.33618576262718},"rotation":{"radians":1.0604038889943062}},"curvature":1.781964691819398},{"time":9.447263599652175,"velocity":1.4770185031228598,"acceleration":2.7000000000000615,"pose":{"translation":{"x":6.544044389345688,"y":-3.3090088147213748},"rotation":{"radians":1.1106938955602945}},"curvature":1.4995917095020082},{"time":9.46927711643276,"velocity":1.5364549984304434,"acceleration":2.6999999999999744,"pose":{"translation":{"x":6.55807345650082,"y":-3.278953205835279},"rotation":{"radians":1.1560664397140645}},"curvature":1.2449184879359827},{"time":9.515745248037177,"velocity":1.6619189537623686,"acceleration":2.699999999999992,"pose":{"translation":{"x":6.585227677071576,"y":-3.209780904023693},"rotation":{"radians":1.2324277101601875}},"curvature":0.8438753319297655},{"time":9.565268760737816,"velocity":1.7956324380540905,"acceleration":2.7000000000000117,"pose":{"translation":{"x":6.611071111421158,"y":-3.1281595045372756},"rotation":{"radians":1.2920553568063147}},"curvature":0.5737620221395537},{"time":9.617355989436685,"velocity":1.9362679555410383,"acceleration":2.699999999999992,"pose":{"translation":{"x":6.635503630952859,"y":-3.034088410141403},"rotation":{"radians":1.3384831632401}},"curvature":0.39763064518893115},{"time":9.67136769436565,"velocity":2.0820995588492432,"acceleration":1.3082772263001612,"pose":{"translation":{"x":6.6584536017974765,"y":-2.9280234878126636},"rotation":{"radians":1.3748607379880866}},"curvature":0.2827492858554198},{"time":9.727595717677106,"velocity":2.1556614012274977,"acceleration":0.6371042116748564,"pose":{"translation":{"x":6.6798758276718395,"y":-2.8108247775295485},"rotation":{"radians":1.4036494835111415}},"curvature":0.2066602399294213},{"time":9.756799452525406,"velocity":2.1742672236959857,"acceleration":0.5218431195415394,"pose":{"translation":{"x":6.69000663518445,"y":-2.7484166619137964},"rotation":{"radians":1.4157909604755585}},"curvature":0.17848041867431724},{"time":9.786789830477208,"velocity":2.189917496082584,"acceleration":0.43013933558683115,"pose":{"translation":{"x":6.699749492737317,"y":-2.683704201063145},"rotation":{"radians":1.4266798900261446}},"curvature":0.15514776934186053},{"time":9.817506874269359,"velocity":2.2031301048905316,"acceleration":0.35706721108596207,"pose":{"translation":{"x":6.709105270295296,"y":-2.6168852877025452},"rotation":{"radians":1.4364693234613446}},"curvature":0.13570744509440963},{"time":9.848880154233743,"velocity":2.2143324744700332,"acceleration":0.29869917402995655,"pose":{"translation":{"x":6.718076104458341,"y":-2.5481732707678226},"rotation":{"radians":1.445289839690417}},"curvature":0.11940661397607263},{"time":9.880830049259126,"velocity":2.223875881724459,"acceleration":0.25194448768929906,"pose":{"translation":{"x":6.726665334175835,"y":-2.4777953213053836},"rotation":{"radians":1.4532528894178407}},"curvature":0.10564932344593325},{"time":9.91326892701108,"velocity":2.232048678160891,"acceleration":0.21439189094600694,"pose":{"translation":{"x":6.734877436460918,"y":-2.4059907983719273},"rotation":{"radians":1.4604536479816943}},"curvature":0.09396134771817073},{"time":9.946102250953412,"velocity":2.23908787656693,"acceleration":0.1841718838026561,"pose":{"translation":{"x":6.742717962104812,"y":-2.3330096149341535},"rotation":{"radians":1.4669734202249385}},"curvature":0.08396293103713041},{"time":9.979229622959458,"velocity":2.245189007074715,"acceleration":0.1598432896270667,"pose":{"translation":{"x":6.750193471391153,"y":-2.2591106037684714},"rotation":{"radians":1.4728816497887625}},"curvature":0.07534765702032908},{"time":10.012545770163877,"velocity":2.250514369641569,"acceleration":0.14030353762383857,"pose":{"translation":{"x":6.757311469810319,"y":-2.184559883360709},"rotation":{"radians":1.4782375850387415}},"curvature":0.06786600836346504},{"time":10.04594148389141,"velocity":2.2551999064190147,"acceleration":0.1247201401856996,"pose":{"translation":{"x":6.764080343773759,"y":-2.1096292238058236},"rotation":{"radians":1.4830916491156405}},"curvature":0.061312477610036886},{"time":10.079304517394592,"velocity":2.259360948634552,"acceleration":0.11248053529221383,"pose":{"translation":{"x":6.770509296328321,"y":-2.034594412707608},"rotation":{"radians":1.4874865548787164}},"curvature":0.05551533098631964},{"time":10.112520447935486,"velocity":2.2630970942820205,"acceleration":0.1031580067354213,"pose":{"translation":{"x":6.776608282870579,"y":-1.9597336210784007},"rotation":{"radians":1.4914581980765491}},"curvature":0.050328312224001436},{"time":10.145473507543416,"velocity":2.266496466227008,"acceleration":0.09649241800699469,"pose":{"translation":{"x":6.782387946861167,"y":-1.885325769238797},"rotation":{"radians":1.4950363545066623}},"curvature":0.045623706004402596},{"time":10.178047385591388,"velocity":2.269639598483722,"acceleration":-0.795192136624419,"pose":{"translation":{"x":6.787859555539102,"y":-1.8116488927173569},"rotation":{"radians":1.4982451993383974}},"curvature":0.041286265455571895},{"time":10.210329510267881,"velocity":2.2439691067874445,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.793034935636114,"y":-1.7389785081503117},"rotation":{"radians":1.5011036590114264}},"curvature":0.03720754653400985},{"time":10.24285587372147,"velocity":2.156147925462752,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.797926409090978,"y":-1.6675859791812757},"rotation":{"radians":1.503625597790456}},"curvature":0.033280180646881756},{"time":10.27601022000917,"velocity":2.066631190485964,"acceleration":-2.7,"pose":{"translation":{"x":6.802546728763838,"y":-1.5977368823609572},"rotation":{"radians":1.5058198315164835}},"curvature":0.02939154430372287},{"time":10.309748133585513,"velocity":1.9755388238298377,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.806909014150539,"y":-1.5296893730468626},"rotation":{"radians":1.5076899493829758}},"curvature":0.025416127459595463},{"time":10.344022871123123,"velocity":1.882997032478291,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.811026687096953,"y":-1.4636925513030068},"rotation":{"radians":1.5092339092253166}},"curvature":0.021205616599728555},{"time":10.378785300234302,"velocity":1.789138473878109,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.814913407513311,"y":-1.3999848277996274},"rotation":{"radians":1.5104433505918702}},"curvature":0.016575214781125676},{"time":10.449564285260065,"velocity":1.5980352143085488,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.822049435004535,"y":-1.2803270666245878},"rotation":{"radians":1.511786810270766}},"curvature":0.005004645974562106},{"time":10.521641030265371,"velocity":1.4034280027942223,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.828428694337683,"y":-1.17234749119695},"rotation":{"radians":1.511472700353067}},"curvature":-0.012557641767089704},{"time":10.594527046887476,"velocity":1.2066357579145401,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.834162477972975,"y":-1.0774018904728022},"rotation":{"radians":1.5090092982329775}},"curvature":-0.04305107850176706},{"time":10.6676858512548,"velocity":1.0091069861227628,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.839359715975894,"y":-0.9965181494798072},"rotation":{"radians":1.5034513570670693}},"curvature":-0.10322945846988668},{"time":10.812437347330174,"velocity":0.6182779467192544,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.848556120523975,"y":-0.8790945198999358},"rotation":{"radians":1.4731280226069126}},"curvature":-0.6139517188140465},{"time":10.882830403005721,"velocity":0.42821669639527854,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.852742820953082,"y":-0.842500260842463},"rotation":{"radians":1.4329181388549581}},"curvature":-1.9712854878838697},{"time":10.917393517236718,"velocity":0.334896287971588,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.854769612254723,"y":-0.8294691567130932},"rotation":{"radians":1.3954997647593534}},"curvature":-4.121795845368698},{"time":10.951770037204566,"velocity":0.24207968405839606,"acceleration":-2.7,"pose":{"translation":{"x":6.856763929234739,"y":-0.81975453815634},"rotation":{"radians":1.3314609484833504}},"curvature":-10.274340412008122},{"time":10.969167348939479,"velocity":0.19510694237413093,"acceleration":-2.7,"pose":{"translation":{"x":6.857751404782446,"y":-0.8160820438591219},"rotation":{"radians":1.2800503315000085}},"curvature":-17.88725969972494},{"time":10.98720334546906,"velocity":0.14640975174426055,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.858733643189715,"y":-0.8131630788036524},"rotation":{"radians":1.2041976966241779}},"curvature":-34.14173535821639},{"time":10.996821566491242,"velocity":0.1204405549843695,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.859223063281665,"y":-0.8119767570760623},"rotation":{"radians":1.1516310876067288}},"curvature":-49.22799526595877},{"time":11.007383653676312,"velocity":0.09192291958467909,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.859711484260491,"y":-0.8109671983026057},"rotation":{"radians":1.084290718460031}},"curvature":-73.33762925133702},{"time":11.013383017288422,"velocity":0.07572463783198335,"acceleration":-2.1398158037571475,"pose":{"translation":{"x":6.8599553500356505,"y":-0.810527394755856},"rotation":{"radians":1.0432887812360019}},"curvature":-90.65804222571367},{"time":11.020191620970657,"velocity":0.061155480071220625,"acceleration":-1.5577118578093045,"pose":{"translation":{"x":6.860199001482833,"y":-0.8101301889076056},"rotation":{"radians":0.9961251940303707}},"curvature":-112.99091990366502},{"time":11.028011241810047,"velocity":0.048974763966129986,"acceleration":-1.1089165657607536,"pose":{"translation":{"x":6.860442449901311,"y":-0.8097750280753129},"rotation":{"radians":0.9415990519877865}},"curvature":-141.86099514427062},{"time":11.037039124953985,"velocity":0.03896359479406519,"acceleration":-0.7713591559720959,"pose":{"translation":{"x":6.860685706338509,"y":-0.8094613490874525},"rotation":{"radians":0.8782962418806787}},"curvature":-179.1032747455333},{"time":11.0474991504805,"velocity":0.030895158332486128,"acceleration":-0.5238121810870738,"pose":{"translation":{"x":6.860928781588039,"y":-0.8091885782336545},"rotation":{"radians":0.8046137606133765}},"curvature":-226.68309156333257},{"time":11.059628476619489,"velocity":0.024541669552505585,"acceleration":-0.38267472949188974,"pose":{"translation":{"x":6.86117168618774,"y":-0.8089561312148175},"rotation":{"radians":0.7188594861447148}},"curvature":-286.1671461834672},{"time":11.06643132072649,"velocity":0.02193839302408329,"acceleration":-0.3090688206511793,"pose":{"translation":{"x":6.861293077716557,"y":-0.8088548436424126},"rotation":{"radians":0.6709562042081583}},"curvature":-320.49085522352703},{"time":11.073732627737765,"velocity":0.01968178667689635,"acceleration":-0.24766544582939712,"pose":{"translation":{"x":6.861414430417712,"y":-0.8087634130932546},"rotation":{"radians":0.6194872041481577}},"curvature":-357.5904612961168},{"time":11.081546644270613,"velocity":0.017746524788570417,"acceleration":-0.19660333801219307,"pose":{"translation":{"x":6.861535745535626,"y":-0.8086817635296635},"rotation":{"radians":0.5643535222922513}},"curvature":-396.9223434651983},{"time":11.089876984488798,"velocity":0.01610875209489815,"acceleration":-0.1541792489061062,"pose":{"translation":{"x":6.861657024298363,"y":-0.808609818242823},"rotation":{"radians":0.5055322370947256}},"curvature":-437.59113182131614},{"time":11.09871322175196,"velocity":0.014746387670507621,"acceleration":-0.11884311553837809,"pose":{"translation":{"x":6.861778267917576,"y":-0.8085474998512141},"rotation":{"radians":0.44310060942695506}},"curvature":-478.3037071521062},{"time":11.108027615774114,"velocity":0.013639436065562949,"acceleration":-0.08918895093739673,"pose":{"translation":{"x":6.861899477588438,"y":-0.8084947302990537},"rotation":{"radians":0.37725915765567114}},"curvature":-517.3724465795085},{"time":11.117772549863865,"velocity":0.012770295617144045,"acceleration":-0.06394160185932513,"pose":{"translation":{"x":6.862020654489588,"y":-0.8084514308547401},"rotation":{"radians":0.3083495925873623}},"curvature":-552.7946377354054},{"time":11.127879373161296,"velocity":0.012124049145797233,"acceleration":-0.041939659083841715,"pose":{"translation":{"x":6.862141799783062,"y":-0.8084175221092829},"rotation":{"radians":0.2368627262319711}},"curvature":-582.4246868691994},{"time":11.138259309268374,"velocity":0.011688718164154288,"acceleration":-0.022115007488655438,"pose":{"translation":{"x":6.862262914614241,"y":-0.808392923974766},"rotation":{"radians":0.163431749669685}},"curvature":-604.2312803064796},{"time":11.148806832873287,"velocity":0.011455459600644868,"acceleration":-0.0034697436006553943,"pose":{"translation":{"x":6.862384000111778,"y":-0.8083775556827746},"rotation":{"radians":0.08880813429926886}},"curvature":-616.5976155953638},{"time":11.15940543319546,"velocity":0.011418685175001109,"acceleration":0.014948574729651031,"pose":{"translation":{"x":6.862505057387549,"y":-0.8083713357828364},"rotation":{"radians":0.013820799436390587}},"curvature":-618.5933378813678},{"time":11.169935096621366,"velocity":0.011576088635601334,"acceleration":0.03407220522241671,"pose":{"translation":{"x":6.862626087536582,"y":-0.8083741821408683},"rotation":{"radians":-0.060676734237531636}},"curvature":-610.1401765142326},{"time":11.180280361784037,"velocity":0.011928574633304212,"acceleration":0.054837819833246926,"pose":{"translation":{"x":6.862747091637001,"y":-0.8083860119376145},"rotation":{"radians":-0.13386317570229916}},"curvature":-592.0195044936582},{"time":11.190337631647962,"velocity":0.012480093386116442,"acceleration":0.07820929757698894,"pose":{"translation":{"x":6.862868070749965,"y":-0.808406741667091},"rotation":{"radians":-0.20500108994272842}},"curvature":-565.7206566423348},{"time":11.200020645303425,"velocity":0.013237395082538628,"acceleration":0.10519779122171384,"pose":{"translation":{"x":6.8629890259196005,"y":-0.8084362871350326},"rotation":{"radians":-0.27347563911542117}},"curvature":-533.1796195874405},{"time":11.209263518785296,"velocity":0.01420972495737316,"acceleration":0.13687844017804318,"pose":{"translation":{"x":6.863109958172949,"y":-0.8084745634573105},"rotation":{"radians":-0.3388162646113045}},"curvature":-496.4845046239759},{"time":11.218021347783978,"velocity":0.01540848293005892,"acceleration":0.174403417758607,"pose":{"translation":{"x":6.863230868519898,"y":-0.8085214850584168},"rotation":{"radians":-0.4007011961051526}},"curvature":-457.6185999637207},{"time":11.226268822443316,"velocity":0.016846870698524974,"acceleration":0.21901128427820157,"pose":{"translation":{"x":6.863351757953127,"y":-0.8085769656698556},"rotation":{"radians":-0.4589478852842984}},"curvature":-418.28355210289493},{"time":11.233997532050468,"velocity":0.018539545315400474,"acceleration":0.27203283252191424,"pose":{"translation":{"x":6.863472627448036,"y":-0.8086409183286181},"rotation":{"radians":-0.5134940930256224}},"curvature":-379.81215253292874},{"time":11.24121264534412,"velocity":0.020502293021639417,"acceleration":0.3348937490325433,"pose":{"translation":{"x":6.863593477962698,"y":-0.8087132553756291},"rotation":{"radians":-0.5643744557798438}},"curvature":-343.15609197993024},{"time":11.247929518332327,"velocity":0.02275173179843537,"acceleration":0.40911448112395793,"pose":{"translation":{"x":6.863714310437783,"y":-0.808793888454153},"rotation":{"radians":-0.611696446335568}},"curvature":-308.92347448217276},{"time":11.254170594862439,"velocity":0.025305046584707114,"acceleration":0.5481764837172323,"pose":{"translation":{"x":6.863835125796507,"y":-0.8088827285082738},"rotation":{"radians":-0.655618342951916}},"curvature":-277.44123738186795},{"time":11.26527737335757,"velocity":0.0313935213655947,"acceleration":0.7860282066621681,"pose":{"translation":{"x":6.864076708770087,"y":-0.8090846698142853},"rotation":{"radians":-0.7340409528611183}},"curvature":-223.03556731009553},{"time":11.274838082977027,"velocity":0.038908508802193875,"acceleration":1.101055019153612,"pose":{"translation":{"x":6.864318233917688,"y":-0.8093183528031318},"rotation":{"radians":-0.8013100677496591}},"curvature":-179.36121575481815},{"time":11.283084343760198,"velocity":0.04798809562675399,"acceleration":1.5090354911179273,"pose":{"translation":{"x":6.864559707990323,"y":-0.8095830396974097},"rotation":{"radians":-0.8590850926003809}},"curvature":-144.84121395240882},{"time":11.290225271632092,"velocity":0.05876400922495639,"acceleration":2.0264135785745574,"pose":{"translation":{"x":6.864801137453804,"y":-0.80987798138296},"rotation":{"radians":-0.9088672119836225}},"curvature":-117.71482450721878},{"time":11.296440715806687,"velocity":0.07135906969722661,"acceleration":2.6999999999970874,"pose":{"translation":{"x":6.8650425284867795,"y":-0.810202417359009},"rotation":{"radians":-0.9519485406069942}},"curvature":-96.39309227276388},{"time":11.306745598156331,"velocity":0.0991822520412331,"acceleration":2.700000000003702,"pose":{"translation":{"x":6.865525218528221,"y":-0.8109366729471326},"rotation":{"radians":-1.0221518547596293}},"curvature":-66.20772740232132},{"time":11.315495656144183,"velocity":0.12280740860846506,"acceleration":2.70000000000077,"pose":{"translation":{"x":6.86600782172602,"y":-0.8117794928281112},"rotation":{"radians":-1.076269291701141}},"curvature":-46.90493873492908},{"time":11.323441029493445,"velocity":0.14425991665147953,"acceleration":2.7000000000008426,"pose":{"translation":{"x":6.866490376971381,"y":-0.8127243779907172},"rotation":{"radians":-1.1187349486794673}},"curvature":-34.157759825945135},{"time":11.33793255306627,"velocity":0.1833870302981213,"acceleration":2.7000000000015496,"pose":{"translation":{"x":6.867455475192086,"y":-0.814893411653415},"rotation":{"radians":-1.1798042323598463}},"curvature":-19.338092353162022},{"time":11.351218815597765,"velocity":0.21925993913317576,"acceleration":2.700000000000377,"pose":{"translation":{"x":6.868420727530992,"y":-0.8173880136542255},"rotation":{"radians":-1.2199860264714897}},"curvature":-11.592569277617375},{"time":11.396266482345323,"velocity":0.34088863935160146,"acceleration":2.7000000000000512,"pose":{"translation":{"x":6.8722847387747334,"y":-0.8293984410230077},"rotation":{"radians":-1.2765617616836251}},"curvature":5.662754279154285E-13},{"time":11.520154754747349,"velocity":0.6753869748370782,"acceleration":2.6999999999999615,"pose":{"translation":{"x":6.890567704069717,"y":-0.8896373582760828},"rotation":{"radians":-1.2746145134475693}},"curvature":0.07833254824964936},{"time":11.645841297612488,"velocity":1.0147406405729509,"acceleration":2.699999999999971,"pose":{"translation":{"x":6.9220714020571785,"y":-0.9910708336452296},"rotation":{"radians":-1.2643271653955044}},"curvature":0.10388628670885901},{"time":11.712212601555919,"velocity":1.1939431612202103,"acceleration":2.700000000000005,"pose":{"translation":{"x":6.944454829417782,"y":-1.0608660734877988},"rotation":{"radians":-1.2565186269244475}},"curvature":0.10957753116453166},{"time":11.778565502587819,"velocity":1.3730959940063423,"acceleration":2.699999999999973,"pose":{"translation":{"x":6.971170523484057,"y":-1.1417325750400185},"rotation":{"radians":-1.2467609450362294}},"curvature":0.12048739350628847},{"time":11.84308998908139,"velocity":1.5473121075389817,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.001699938066302,"y":-1.2308681968838484},"rotation":{"radians":-1.2345624309308487}},"curvature":0.139925158341642},{"time":11.904223684373166,"velocity":1.7123730848267746,"acceleration":2.700000000000033,"pose":{"translation":{"x":7.0352736825775075,"y":-1.3246796814453725},"rotation":{"radians":-1.2191296982170046}},"curvature":0.17233214816706413},{"time":11.960694252724183,"velocity":1.8648436193745224,"acceleration":2.638397146951163,"pose":{"translation":{"x":7.070963789725937,"y":-1.4191676159457582},"rotation":{"radians":-1.199264665475165}},"curvature":0.22544762203572588},{"time":12.011573641975748,"velocity":1.9990836548144693,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.107775983207727,"y":-1.5103113933522132},"rotation":{"radians":-1.173184259865773}},"curvature":0.31334664210525326},{"time":12.059070568702234,"velocity":1.8708419526529558,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":7.144741945399469,"y":-1.5944541733289448},"rotation":{"radians":-1.1382789125555068}},"curvature":0.46128414468694073},{"time":12.104737577496408,"velocity":1.747541028908685,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.181011585050797,"y":-1.6686878431881165},"rotation":{"radians":-1.0909592662375478}},"curvature":0.7102735090663231},{"time":12.14712250572785,"velocity":1.6331017226837936,"acceleration":-2.7,"pose":{"translation":{"x":7.215945304976982,"y":-1.7312379788408077},"rotation":{"radians":-1.027293684323955}},"curvature":1.1015810198786917},{"time":12.18541886923996,"velocity":1.5297015412010968,"acceleration":0.5043819757863125,"pose":{"translation":{"x":7.2492062697515145,"y":-1.7818488057479684},"rotation":{"radians":-0.946811271065399}},"curvature":1.554201466739854},{"time":12.21874277541831,"velocity":1.5465095188402502,"acceleration":2.410248208970781,"pose":{"translation":{"x":7.280852673398701,"y":-1.822168159871382},"rotation":{"radians":-0.8640451127513438}},"curvature":1.5037656583957106},{"time":12.247642749790046,"velocity":1.616165630309027,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.311430007086242,"y":-1.8561324486246196},"rotation":{"radians":-0.823139846740522}},"curvature":-1.636932849247666E-13},{"time":12.276550446476062,"velocity":1.5381148492567824,"acceleration":-1.1586928076928769,"pose":{"translation":{"x":7.342914742195312,"y":-1.889106613799627},"rotation":{"radians":-0.7821644580227984}},"curvature":1.5288178122546148},{"time":12.309868476120567,"velocity":1.4995094879411959,"acceleration":2.7000000000000135,"pose":{"translation":{"x":7.380280010962411,"y":-1.9232326183274575},"rotation":{"radians":-0.6972908732044945}},"curvature":1.6476386101222478},{"time":12.347989044511381,"velocity":1.6024350225963948,"acceleration":2.699999999999993,"pose":{"translation":{"x":7.427252061140204,"y":-1.959138986117052},"rotation":{"radians":-0.6124692269480457}},"curvature":1.2085999896794064},{"time":12.389860515814611,"velocity":1.7154879951151163,"acceleration":2.7000000000000326,"pose":{"translation":{"x":7.485512892488573,"y":-1.9969649827093412},"rotation":{"radians":-0.5440249043502151}},"curvature":0.794250561255612},{"time":12.43487326361058,"velocity":1.8370224141642333,"acceleration":2.6999999999999726,"pose":{"translation":{"x":7.555036727069078,"y":-2.036450409605098},"rotation":{"radians":-0.49266060721110555}},"curvature":0.5178393427363835},{"time":12.481789402002091,"velocity":1.9636959878213136,"acceleration":-0.7947056256331231,"pose":{"translation":{"x":7.6344264795393935,"y":-2.0770253985927907},"rotation":{"radians":-0.4547993886895383}},"curvature":0.3479689426353966},{"time":12.53115158661066,"velocity":1.9244675820193426,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.721250227447748,"y":-2.117900206076431},"rotation":{"radians":-0.42685937253591266}},"curvature":0.2434560826226274},{"time":12.584948065675297,"velocity":1.7792170885448235,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.812377681527366,"y":-2.1581550074034315},"rotation":{"radians":-0.40617444910924005}},"curvature":0.17666200897075124},{"time":12.643619583488208,"velocity":1.6208039904499634,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.9043166559909,"y":-2.196829691192452},"rotation":{"radians":-0.3909543890940912}},"curvature":0.13088966229278023},{"time":12.706300946520459,"velocity":1.4515643102628861,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.99354953882488,"y":-2.2330136536612546},"rotation":{"radians":-0.3800900990624137}},"curvature":0.09544847185693969},{"time":12.772038671636054,"velocity":1.2740724524507787,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.076869762084142,"y":-2.2659355929545537},"rotation":{"radians":-0.3730025444647795}},"curvature":0.06187924763512411},{"time":12.83996370205815,"velocity":1.0906748703111178,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":8.151718272186278,"y":-2.2950533034718688},"rotation":{"radians":-0.36955298253000457}},"curvature":0.02108291118563075},{"time":12.90969451809066,"velocity":0.9024016670233391,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.216520000206065,"y":-2.320143470195376},"rotation":{"radians":-0.36994084814772976}},"curvature":-0.03761188105274304},{"time":12.982431881764217,"velocity":0.7060107851047348,"acceleration":-2.7,"pose":{"translation":{"x":8.271020332169911,"y":-2.3413914630177586},"rotation":{"radians":-0.3743107217306177}},"curvature":-0.11565063019411807},{"time":13.243917357728934,"velocity":0.0,"acceleration":-2.7,"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":2.6999999999999997,"pose":{"translation":{"x":1.2685437093345355,"y":-2.2829074276879466},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2652623146366335,"velocity":0.7162082495189105,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.3635337579142972,"y":-2.2823770925583378},"rotation":{"radians":0.01656522391975828}},"curvature":0.34186174925200363},{"time":0.37373378554396586,"velocity":1.009081220968708,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.4570402933602506,"y":-2.278868352045021},"rotation":{"radians":0.06336454877370898}},"curvature":0.6574752757115397},{"time":0.45521255551306306,"velocity":1.2290738998852704,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.5477836424258304,"y":-2.2699447388354552},"rotation":{"radians":0.13737717826494814}},"curvature":0.9661649133827227},{"time":0.49013068198402815,"velocity":1.3233528413568763,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.5917772276323061,"y":-2.2628437785903914},"rotation":{"radians":0.18379913152904104}},"curvature":1.1167140968142548},{"time":0.5222343682749143,"velocity":1.4100327943422688,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.6346949926935532,"y":-2.2537246740943626},"rotation":{"radians":0.23598402142786476}},"curvature":1.2606521625592753},{"time":0.5520490888931082,"velocity":1.4905325400113922,"acceleration":2.699999999999992,"pose":{"translation":{"x":1.676434205874378,"y":-2.2424323752896513},"rotation":{"radians":0.2934081900119383}},"curvature":1.3929410189869018},{"time":0.579983551583657,"velocity":1.5659555892758736,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.7169037316223166,"y":-2.228841519103317},"rotation":{"radians":0.3553984957359821}},"curvature":1.5074825249408874},{"time":0.6063701993846775,"velocity":1.6371995383386289,"acceleration":2.1368047037500144,"pose":{"translation":{"x":1.756023634912863,"y":-2.2128551810609345},"rotation":{"radians":0.4211210635866775}},"curvature":1.5979448443558497},{"time":0.6315928660253257,"velocity":1.6910954510574845,"acceleration":-0.39671293692345305,"pose":{"translation":{"x":1.7937247855946978,"y":-2.194403626900331},"rotation":{"radians":0.48959514366925055}},"curvature":1.6588424691060946},{"time":0.6564129436650727,"velocity":1.6812490051623523,"acceleration":0.08664274090761981,"pose":{"translation":{"x":1.8299484627349156,"y":-2.173443064185321},"rotation":{"radians":0.5597338428966229}},"curvature":1.6866336931220292},{"time":0.6813190770596816,"velocity":1.683406940825072,"acceleration":0.5408442602874871,"pose":{"translation":{"x":1.8646459589642528,"y":-2.1499543939194465},"rotation":{"radians":0.6304072044529919}},"curvature":1.6805151830922482},{"time":0.7062420742349402,"velocity":1.696886400796472,"acceleration":0.9490482813141848,"pose":{"translation":{"x":1.8977781848223174,"y":-2.1239419621597118},"rotation":{"radians":0.7005168384259233}},"curvature":1.6426483532158769},{"time":0.7311227231739799,"velocity":1.720499337910049,"acceleration":1.2970329556758513,"pose":{"translation":{"x":1.929315273102815,"y":-2.0954323116303226},"rotation":{"radians":0.7690678650430854}},"curvature":1.577744412052153},{"time":0.7559158079162378,"velocity":1.7526567858936217,"acceleration":1.5747222317210368,"pose":{"translation":{"x":1.9592361831987777,"y":-2.064472933336421},"rotation":{"radians":0.8352250389825973}},"curvature":1.4921671229134739},{"time":0.7805917482085483,"velocity":1.791514537660544,"acceleration":1.777250256418414,"pose":{"translation":{"x":1.9875283054477932,"y":-2.0311310181778235},"rotation":{"radians":0.8983450467398526}},"curvature":1.3928580810213431},{"time":0.8051357981499857,"velocity":1.83513545671251,"acceleration":1.9052934981923764,"pose":{"translation":{"x":2.0141870654772314,"y":-1.9954922085627604},"rotation":{"radians":0.957983695581811}},"curvature":1.2863862589560087},{"time":0.8295453361899965,"velocity":1.881642790834022,"acceleration":1.9645540426241683,"pose":{"translation":{"x":2.039215528549472,"y":-1.9576593500216088},"rotation":{"radians":1.0138823198414246}},"curvature":1.1783064729088002},{"time":0.8538260668905595,"velocity":1.9293435984896818,"acceleration":1.9645276981280588,"pose":{"translation":{"x":2.0626240039071364,"y":-1.917751242820633},"rotation":{"radians":1.065940647466107}},"curvature":1.0728660083023431},{"time":0.8779879412083857,"velocity":1.9768102698257404,"acceleration":1.8754463670046035,"pose":{"translation":{"x":2.0844296491183103,"y":-1.8759013935757198},"rotation":{"radians":1.1141835730551033}},"curvature":0.9729942840189638},{"time":0.925995163404462,"velocity":2.0668452402833544,"acceleration":1.6665526911371724,"pose":{"translation":{"x":2.123332947072237,"y":-1.7869765368481696},"rotation":{"radians":1.1997516315066488}},"curvature":0.7961599396846488},{"time":0.973613455614179,"velocity":2.1462036333128145,"acceleration":1.4164515346280684,"pose":{"translation":{"x":2.1561846145839563,"y":-1.6921995210805318},"rotation":{"radians":1.2721201145966583}},"curvature":0.6525970081693718},{"time":1.0207810954707288,"velocity":2.2130143091724084,"acceleration":-0.10601294285553625,"pose":{"translation":{"x":2.183328095128239,"y":-1.5930404923875283},"rotation":{"radians":1.3331573588038412}},"curvature":0.5397164742141854},{"time":1.0679513710594715,"velocity":2.208013649441939,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2051784225292272,"y":-1.4910850533966182},"rotation":{"radians":1.3846810763942472}},"curvature":0.4523613463316468},{"time":1.116728235217462,"velocity":2.076316116215365,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2222095600077303,"y":-1.3879943148875862},"rotation":{"radians":1.4282905186070292}},"curvature":0.3852055083687461},{"time":1.1682112767979191,"velocity":1.9373119039481304,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.234941739228524,"y":-1.2854649474321318},"rotation":{"radians":1.465318763281388}},"curvature":0.3336516800642234},{"time":1.222210937409235,"velocity":1.7915128202975779,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":2.2439287993476493,"y":-1.1851892330334568},"rotation":{"radians":1.4968398091172674}},"curvature":0.2939960105914216},{"time":1.278490445386492,"velocity":1.6395581487589836,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.249745526059712,"y":-1.0888151167658568},"rotation":{"radians":1.5236939603035344}},"curvature":0.26327995310753305},{"time":1.336769168417112,"velocity":1.4822055965763097,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2529749906451815,"y":-0.9979062584143037},"rotation":{"radians":1.5465124271703523}},"curvature":0.23899112236639475},{"time":1.3967242609383788,"velocity":1.3203268467688891,"acceleration":-2.699999999999999,"pose":{"translation":{"x":2.254195889017688,"y":-0.9139020841140417},"rotation":{"radians":1.5657298061467197}},"curvature":0.21858753058654742},{"time":1.457990861920842,"velocity":1.1549070241162385,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.253969880771324,"y":-0.8380778379901694},"rotation":{"radians":1.5815729832159753}},"curvature":0.19857758745512785},{"time":1.5827810962631192,"velocity":0.8179733913920899,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2512626354844425,"y":-0.715009506558816},"rotation":{"radians":1.6025690780095874}},"curvature":0.12299943950886183},{"time":1.7073681426623737,"velocity":0.4815883661141031,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2485246889438386,"y":-0.6341015392225571},"rotation":{"radians":1.6008237222364228}},"curvature":-0.3960868135296091},{"time":1.768338717145532,"velocity":0.31696781500957577,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.248006503641532,"y":-0.6097628402733455},"rotation":{"radians":1.5767489587567318}},"curvature":-2.1962046888019713},{"time":1.7984209702029361,"velocity":0.23574573175458485,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.2480603955574736,"y":-0.6014495805615971},"rotation":{"radians":1.5471722702837498}},"curvature":-5.757187845629485},{"time":1.8286052456391748,"velocity":0.15424818807674034,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.248344593223311,"y":-0.5955706038550939},"rotation":{"radians":1.4854684954730102}},"curvature":-19.438170235336873},{"time":1.8442391955557316,"velocity":0.11203652330203692,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2485757117192717,"y":-0.5935019335466492},"rotation":{"radians":1.4258223512075379}},"curvature":-42.68912208627659},{"time":1.8525354883988276,"velocity":0.0896365326256773,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.248713717671772,"y":-0.5926768258809587},"rotation":{"radians":1.380840431646731}},"curvature":-67.97988325388131},{"time":1.8616669072885736,"velocity":0.0649817016233631,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":2.24886668309217,"y":-0.5919876556609345},"rotation":{"radians":1.3184160148576025}},"curvature":-115.54059456499368},{"time":1.8669516463160867,"velocity":0.05071290624907787,"acceleration":-2.1685916612754625,"pose":{"translation":{"x":2.2489487639079524,"y":-0.5916931729573576},"rotation":{"radians":1.277509136180691}},"curvature":-155.15123514705294},{"time":1.8732198512970804,"velocity":0.037119729196129825,"acceleration":-1.374977538773604,"pose":{"translation":{"x":2.2490345667671914,"y":-0.5914316103250665},"rotation":{"radians":1.2274824233368449}},"curvature":-213.09757543784207},{"time":1.8809509912768467,"velocity":0.02648958537483659,"acceleration":-0.8309137471688792,"pose":{"translation":{"x":2.2491240817600238,"y":-0.5912025969680825},"rotation":{"radians":1.1653500772262015}},"curvature":-299.85117796589043},{"time":1.8906477193952533,"velocity":0.01843244067869354,"acceleration":-0.5425512521562552,"pose":{"translation":{"x":2.2492172970503557,"y":-0.5910057543277136},"rotation":{"radians":1.0869326476784094}},"curvature":-432.27054126513667},{"time":1.8965210344622803,"velocity":0.015245866234769867,"acceleration":-0.40401707541282966,"pose":{"translation":{"x":2.2492652880786332,"y":-0.5909192765946716},"rotation":{"radians":1.039887314719324}},"curvature":-523.2655260434432},{"time":1.9031795798677866,"velocity":0.012555700193533692,"acceleration":-0.2962319865556223,"pose":{"translation":{"x":2.2493141988638,"y":-0.5908406960444537},"rotation":{"radians":0.9864717617332592}},"curvature":-636.040927533967},{"time":1.9107459850831796,"velocity":0.010314288945493022,"acceleration":-0.21370034084725395,"pose":{"translation":{"x":2.249364027379216,"y":-0.5907699631569989},"rotation":{"radians":0.9256938332403406}},"curvature":-774.9305041892087},{"time":1.9193511873708053,"velocity":0.008475354283567826,"acceleration":-0.15152146404012531,"pose":{"translation":{"x":2.2494147714755917,"y":-0.5907070279199238},"rotation":{"radians":0.8564958726608092}},"curvature":-943.7402366361202},{"time":1.929124015799207,"velocity":0.006994561012283462,"acceleration":-0.11502414879421621,"pose":{"translation":{"x":2.2494664288806048,"y":-0.5906518398273604},"rotation":{"radians":0.7778407286241105}},"curvature":-1144.1894913344634},{"time":1.934507633263687,"velocity":0.006375314995997972,"acceleration":-0.0953913684957944,"pose":{"translation":{"x":2.249492599330014,"y":-0.5906271350419412},"rotation":{"radians":0.7346850372290483}},"curvature":-1255.6265007947031},{"time":1.9402218669381563,"velocity":0.0058302264258855985,"acceleration":-0.07861052285837918,"pose":{"translation":{"x":2.249518997198524,"y":-0.5906043478787253},"rotation":{"radians":0.6888687140842368}},"curvature":-1373.3080410857367},{"time":1.946271709752648,"velocity":0.00535464511902739,"acceleration":-0.06428459029487416,"pose":{"translation":{"x":2.24954562216732,"y":-0.5905834718851497},"rotation":{"radians":0.6403523761627412}},"curvature":-1495.5547001802365},{"time":1.9526563908407018,"velocity":0.004944208511118431,"acceleration":-0.052048528016430326,"pose":{"translation":{"x":2.2495724739098337,"y":-0.5905645005775777},"rotation":{"radians":0.5891430730727714}},"curvature":-1619.9623129164893},{"time":1.959367985360252,"velocity":0.004594879895732706,"acceleration":-0.04156728827292966,"pose":{"translation":{"x":2.2495995520917234,"y":-0.5905474274412756},"rotation":{"radians":0.5353054115697539}},"curvature":-1743.3556070509815},{"time":1.9663901231683079,"velocity":0.004302988669173002,"acceleration":-0.03253345193762766,"pose":{"translation":{"x":2.249626856370859,"y":-0.5905322459303739},"rotation":{"radians":0.47897185763463984}},"curvature":-1861.8246862218014},{"time":1.973696979126017,"velocity":0.0040652714220577035,"acceleration":-0.024664462409772926,"pose":{"translation":{"x":2.2496543863973235,"y":-0.5905189494678171},"rotation":{"radians":0.42035075274132616}},"curvature":-1970.8755928405556},{"time":1.9812527552731978,"velocity":0.003878912265298906,"acceleration":-0.01769945756627051,"pose":{"translation":{"x":2.249682141813384,"y":-0.5905075314453323},"rotation":{"radians":0.3597303699783953}},"curvature":-2065.712977906601},{"time":1.9890118571614446,"velocity":0.0037415803706755124,"acceleration":-0.011395718941661342,"pose":{"translation":{"x":2.249710122253494,"y":-0.5904979852233914},"rotation":{"radians":0.2974774089626341}},"curvature":-2141.646704495272},{"time":1.9969199088190699,"velocity":0.0036514624366090764,"acceleration":-0.005524783096240206,"pose":{"translation":{"x":2.249738327344275,"y":-0.5904903041311882},"rotation":{"radians":0.23402879653100003}},"curvature":-2194.57862468783},{"time":2.004915640589071,"velocity":0.003607287752884103,"acceleration":1.3171165165161452E-4,"pose":{"translation":{"x":2.2497667567045028,"y":-0.5904844814665764},"rotation":{"radians":0.1698765398993538}},"curvature":-2221.4911320679275},{"time":2.01293353740191,"velocity":0.003608343803316094,"acceleration":0.005786344167030818,"pose":{"translation":{"x":2.2497954099451007,"y":-0.5904805104960551},"rotation":{"radians":0.10554654048607402}},"curvature":-2220.840067143835},{"time":2.0209069868400418,"velocity":0.0036544809259635436,"acceleration":0.011650277140525283,"pose":{"translation":{"x":2.2498242866691305,"y":-0.5904783844547086},"rotation":{"radians":0.041573444827318305}},"curvature":-2192.763420647767},{"time":2.028771560169028,"velocity":0.0037461053848382164,"acceleration":0.01793754524681243,"pose":{"translation":{"x":2.2498533864717656,"y":-0.5904780965461955},"rotation":{"radians":-0.0215255567023875}},"curvature":-2139.0560278415915},{"time":2.0364680302226765,"velocity":0.0038841611646662777,"acceleration":0.02486914318038113,"pose":{"translation":{"x":2.2498827089403024,"y":-0.590479639942687},"rotation":{"radians":-0.08327484291043588}},"curvature":-2062.917285506196},{"time":2.0439447875766388,"velocity":0.004070101713826935,"acceleration":0.03267680834277452,"pose":{"translation":{"x":2.249912253654122,"y":-0.5904830077848486},"rotation":{"radians":-0.1432596987472278}},"curvature":-1968.5329456212585},{"time":2.051159441423102,"velocity":0.0043058535748272675,"acceleration":0.04160641843740483,"pose":{"translation":{"x":2.249942020184701,"y":-0.5904881931817907},"rotation":{"radians":-0.20113917140840007}},"curvature":-1860.5838650282133},{"time":2.0580795439404067,"velocity":0.004593774255791994,"acceleration":0.05192095373395087,"pose":{"translation":{"x":2.2499720080955923,"y":-0.5904951892110364},"rotation":{"radians":-0.25665194394243945}},"curvature":-1743.7759446538928},{"time":2.0646825145299688,"velocity":0.004936606786279274,"acceleration":0.06390300295605528,"pose":{"translation":{"x":2.2500022169424048,"y":-0.5905039889184827},"rotation":{"radians":-0.30961581602600724}},"curvature":-1622.4615943864944},{"time":2.0709549337712816,"velocity":0.005337433211598519,"acceleration":0.07785681687200015,"pose":{"translation":{"x":2.250032646272799,"y":-0.5905145853183664},"rotation":{"radians":-0.3599221296809572}},"curvature":-1500.387448657456},{"time":2.076891417015866,"velocity":0.005799628900435838,"acceleration":0.09410993249794564,"pose":{"translation":{"x":2.250063295626483,"y":-0.5905269713932291},"rotation":{"radians":-0.40752680536732666}},"curvature":-1380.5695857926848},{"time":2.0824932717468445,"velocity":0.0063268190710314975,"acceleration":0.12416666960919519,"pose":{"translation":{"x":2.2500941645351853,"y":-0.5905411400938596},"rotation":{"radians":-0.45243961682484185}},"curvature":-1265.274705787399},{"time":2.0926801892795104,"velocity":0.007591694694646156,"acceleration":0.17517514726889483,"pose":{"translation":{"x":2.2501565591046324,"y":-0.5905747970167385},"rotation":{"radians":-0.5344317773206304}},"curvature":-1053.9491540936895},{"time":2.1016593425686074,"velocity":0.009164619194413692,"acceleration":0.24257914934697167,"pose":{"translation":{"x":2.250219826075088,"y":-0.5906154990572428},"rotation":{"radians":-0.6066494777945393}},"curvature":-872.5300338924795},{"time":2.109555059887908,"velocity":0.011079955585213686,"acceleration":0.3302337642879865,"pose":{"translation":{"x":2.250283961412187,"y":-0.5906631886754439},"rotation":{"radians":-0.6700924622783515}},"curvature":-721.1666060201952},{"time":2.116499064556637,"velocity":0.01337310038620143,"acceleration":0.44240189412916114,"pose":{"translation":{"x":2.2503489609528726,"y":-0.5907178078200626},"rotation":{"radians":-0.7258241077033081}},"curvature":-596.9757293581793},{"time":2.1226174725438702,"velocity":0.016079895668808408,"acceleration":0.5837343056955541,"pose":{"translation":{"x":2.250414820405024,"y":-0.5907792979272535},"rotation":{"radians":-0.7748644795215773}},"curvature":-495.9647882464065},{"time":2.128024527831811,"velocity":0.01923617933317212,"acceleration":0.8697969435755326,"pose":{"translation":{"x":2.2504815353470704,"y":-0.5908475999194347},"rotation":{"radians":-0.8181384292489339}},"curvature":-414.08017133740356},{"time":2.1369948212120775,"velocity":0.02703851309830374,"acceleration":1.3939869817140387,"pose":{"translation":{"x":2.250617513365092,"y":-0.5910044006725808},"rotation":{"radians":-0.8905198301525137}},"curvature":-293.70103038699074},{"time":2.144180324718415,"velocity":0.03705501144319867,"acceleration":2.1344173816544667,"pose":{"translation":{"x":2.250756857031159,"y":-0.5911877271387627},"rotation":{"radians":-0.9481614193755699}},"curvature":-213.47514764315304},{"time":2.150031459400817,"velocity":0.04954377501171936,"acceleration":2.699999999999996,"pose":{"translation":{"x":2.250899526274221,"y":-0.5913970880811568},"rotation":{"radians":-0.9948004543967184}},"curvature":-158.8853184950882},{"time":2.1593132007174,"velocity":0.07460447656649327,"acceleration":2.7000000000000126,"pose":{"translation":{"x":2.2511946706583874,"y":-0.5918919067383555},"rotation":{"radians":-1.0649961839335877}},"curvature":-93.76563861080118},{"time":2.1743356469456474,"velocity":0.11516508138276094,"acceleration":2.699999999999968,"pose":{"translation":{"x":2.251822867824714,"y":-0.5931714135683435},"rotation":{"radians":-1.1514928562515672}},"curvature":-39.70128664933871},{"time":2.20006373648167,"velocity":0.18463092313002083,"acceleration":2.699999999999993,"pose":{"translation":{"x":2.253218551288934,"y":-0.5967665975838226},"rotation":{"radians":-1.2327619809065389}},"curvature":-11.323606113121881},{"time":2.223102336075486,"velocity":0.2468351420333242,"acceleration":2.700000000000041,"pose":{"translation":{"x":2.2547712174315553,"y":-0.6014880365842958},"rotation":{"radians":-1.2678108831752224}},"curvature":-4.292302842405532},{"time":2.2627937958737796,"velocity":0.3540020834887182,"acceleration":2.7000000000000033,"pose":{"translation":{"x":2.2581668491915208,"y":-0.6129183791792854},"rotation":{"radians":-1.2882413743253303}},"curvature":-1.8498380758778174E-13},{"time":2.407004845088696,"velocity":0.7433719163689927,"acceleration":2.699999999999995,"pose":{"translation":{"x":2.279153833144643,"y":-0.6892111414878828},"rotation":{"radians":-1.3116532643757461}},"curvature":-0.10570947703782992},{"time":2.504174830810078,"velocity":1.0057308778167235,"acceleration":2.7000000000000046,"pose":{"translation":{"x":2.3007055621583046,"y":-0.7714130168999085},"rotation":{"radians":-1.3160416885245836}},"curvature":-0.023177621209099813},{"time":2.6136464380328794,"velocity":1.3013042173182876,"acceleration":2.699999999999993,"pose":{"translation":{"x":2.332424825762578,"y":-0.8936417986616633},"rotation":{"radians":-1.317327006555892}},"curvature":-0.002513854329558546},{"time":2.670928627964549,"velocity":1.4559661301337956,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.3522252405544055,"y":-0.9700904782854665},"rotation":{"radians":-1.317344152111832}},"curvature":0.0016398265419870037},{"time":2.7289740954902317,"velocity":1.6126888924531382,"acceleration":2.6999999999999913,"pose":{"translation":{"x":2.3745670811140083,"y":-1.056303358575759},"rotation":{"radians":-1.3170714176876508}},"curvature":0.004259751807213772},{"time":2.7871894121728644,"velocity":1.769870247496246,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.3993044032070783,"y":-1.151603498417915},"rotation":{"radians":-1.316555401535147}},"curvature":0.006106446830222473},{"time":2.845054208480225,"velocity":1.9261051975261192,"acceleration":2.7000000000000064,"pose":{"translation":{"x":2.4262359984887594,"y":-1.255089962745553},"rotation":{"radians":-1.3158202133021315}},"curvature":0.0075882087355301315},{"time":2.902110655433069,"velocity":2.0801576042987997,"acceleration":2.700000000000002,"pose":{"translation":{"x":2.4551137557883838,"y":-1.36567312574276},"rotation":{"radians":-1.3148743169642134}},"curvature":0.00894483945628684},{"time":2.9579547970951237,"velocity":2.2309367867863474,"acceleration":2.699999999999997,"pose":{"translation":{"x":2.4856510223942085,"y":-1.4821099740463164},"rotation":{"radians":-1.3137142323073987}},"curvature":0.010336157893764478},{"time":3.012229852122742,"velocity":2.3774794353609177,"acceleration":2.700000000000007,"pose":{"translation":{"x":2.5175309653381532,"y":-1.603039409947919},"rotation":{"radians":-1.3123263081563568}},"curvature":0.011888276445140903},{"time":3.0386791326664597,"velocity":2.4488924928289553,"acceleration":2.699999999999993,"pose":{"translation":{"x":2.5338692353804695,"y":-1.6647399044234563},"rotation":{"radians":-1.3115399996258135}},"curvature":0.012761790438616126},{"time":3.0646212816743525,"velocity":2.518936295150265,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.550414932680538,"y":-1.7270175545964053},"rotation":{"radians":-1.3106872096291706}},"curvature":0.013721138997219719},{"time":3.0900230175993126,"velocity":2.587520982147657,"acceleration":-0.035922151162781135,"pose":{"translation":{"x":2.567123688304864,"y":-1.7896847329884131},"rotation":{"radians":-1.3097634296834657}},"curvature":0.014783627371505856},{"time":3.1151794056847426,"velocity":2.5866173105721426,"acceleration":-0.04400151057452758,"pose":{"translation":{"x":2.583950814794819,"y":-1.852553051199978},"rotation":{"radians":-1.308763440839727}},"curvature":0.01596857673175563},{"time":3.140357843489941,"velocity":2.585509421274807,"acceleration":-0.0496734556351146,"pose":{"translation":{"x":2.6008515674567905,"y":-1.9154344631355147},"rotation":{"radians":-1.307681254346296}},"curvature":0.01729794834359466},{"time":3.165485869639202,"velocity":2.5842612253826838,"acceleration":-0.05648938136756743,"pose":{"translation":{"x":2.617781405652328,"y":-1.9781423682284274},"rotation":{"radians":-1.3065100398517357}},"curvature":0.018797041255404337},{"time":3.1904917274738267,"velocity":2.5828486599430405,"acceleration":-0.06468410468094435,"pose":{"translation":{"x":2.6346962540882934,"y":-2.0404927146661795},"rotation":{"radians":-1.3052420409253291}},"curvature":0.02049529094161847},{"time":3.215305225495533,"velocity":2.581243621039504,"acceleration":-0.08046701357958783,"pose":{"translation":{"x":2.6515527641070076,"y":-2.10230510261536},"rotation":{"radians":-1.3038684777635066}},"curvature":0.02242719673888686},{"time":3.2640862654311866,"velocity":2.5773183564365754,"acceleration":-0.10954279980100518,"pose":{"translation":{"x":2.68492257518015,"y":-2.2236192829604144},"rotation":{"radians":-1.300763751182038}},"curvature":0.027161981193277982},{"time":3.3113150729880574,"velocity":2.572144780625533,"acceleration":-0.1524596813623078,"pose":{"translation":{"x":2.717568511345133,"y":-2.3407566727314952},"rotation":{"radians":-1.2971006967534642}},"curvature":0.03342459567264441},{"time":3.3565327435456815,"velocity":2.5652509089803717,"acceleration":-0.21623121353783087,"pose":{"translation":{"x":2.749196593812158,"y":-2.4525180734669902},"rotation":{"radians":-1.2927597526453236}},"curvature":0.041808885263160754},{"time":3.399348886583996,"velocity":2.5559927224121877,"acceleration":-0.3107874180479414,"pose":{"translation":{"x":2.779549553812988,"y":-2.557868627977995},"rotation":{"radians":-1.2875929236822399}},"curvature":0.053139795600982094},{"time":3.439455785346134,"velocity":2.5435280028999925,"acceleration":-0.44821847527253206,"pose":{"translation":{"x":2.8084151938856836,"y":-2.6559731235505373},"rotation":{"radians":-1.2814219588079645}},"curvature":0.06852540532165513},{"time":3.4766415853932138,"velocity":2.526860640301101,"acceleration":-2.056985514649947,"pose":{"translation":{"x":2.83563474915934,"y":-2.7462312951478056},"rotation":{"radians":-1.274043492327738}},"curvature":0.0893356605831156},{"time":3.5111383691869205,"velocity":2.455901255735436,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.861111248638826,"y":-2.8283131286123693},"rotation":{"radians":-1.265251512387064}},"curvature":0.11692534360533127},{"time":3.5433008112383138,"velocity":2.369062662196674,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.8848178764895196,"y":-2.9021941638684003},"rotation":{"radians":-1.2548978568015183}},"curvature":0.1516633975904032},{"time":3.5731724966982794,"velocity":2.288409111454767,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.9068063333220473,"y":-2.968190798123901},"rotation":{"radians":-1.2430266186077292}},"curvature":0.19043091777845456},{"time":3.6265489956918393,"velocity":2.144292564172155,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":2.9462782863097625,"y":-3.0797125580978157},"rotation":{"radians":-1.2175085406148443}},"curvature":0.22008272379027985},{"time":3.6748207196267466,"velocity":2.0139589095479042,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.981828770211936,"y":-3.17356825355923},"rotation":{"radians":-1.20362249297669}},"curvature":-2.3018266765920896E-14},{"time":3.7247684121512967,"velocity":1.8791001397316185,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":3.0184135170177044,"y":-3.2636470549537417},"rotation":{"radians":-1.149752725521268}},"curvature":1.0253360009993309},{"time":3.7514625978139686,"velocity":1.807025838442404,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":3.0397781571240823,"y":-3.3079652251650327},"rotation":{"radians":-1.0907671614705714}},"curvature":1.3502488992297754},{"time":3.779690145784924,"velocity":1.7308114589208248,"acceleration":-1.0552562307791784,"pose":{"translation":{"x":3.0644006774505215,"y":-3.351404374396686},"rotation":{"radians":-1.0178232366838325}},"curvature":1.549955466562376},{"time":3.809408444314681,"velocity":1.6994510392291433,"acceleration":0.08373587919711617,"pose":{"translation":{"x":3.092904447165867,"y":-3.393660211607728},"rotation":{"radians":-0.9361624231121277}},"curvature":1.6355117252482685},{"time":3.840174516291802,"velocity":1.7020272633155893,"acceleration":0.8346253007028052,"pose":{"translation":{"x":3.125706254194471,"y":-3.4344272778316967},"rotation":{"radians":-0.8504001020085808}},"curvature":1.6283645109402347},{"time":3.871638661939813,"velocity":1.7282880353384176,"acceleration":1.2828399239762607,"pose":{"translation":{"x":3.163033425942083,"y":-3.473401733271556},"rotation":{"radians":-0.7642174815982902}},"curvature":1.5567249044841396},{"time":3.9035618307128455,"velocity":1.7692403507402956,"acceleration":1.4850274769430412,"pose":{"translation":{"x":3.2049409500217414,"y":-3.510284144394608},"rotation":{"radians":-0.6801986104011517}},"curvature":1.4492507987789358},{"time":3.9358003861875575,"velocity":1.8171154914371956,"acceleration":1.4936245495144809,"pose":{"translation":{"x":3.251328594979663,"y":-3.5447822710274033},"rotation":{"radians":-0.5998595128809489}},"curvature":1.3297504880674822},{"time":3.9682786884629224,"velocity":1.865625881042233,"acceleration":1.360777374241533,"pose":{"translation":{"x":3.301958031021134,"y":-3.5766138534506577},"rotation":{"radians":-0.5238221601472356}},"curvature":1.214920317057597},{"time":4.000959504396891,"velocity":1.9100971959369306,"acceleration":1.1336859267568418,"pose":{"translation":{"x":3.3564699507364013,"y":-3.6055093994941596},"rotation":{"radians":-0.45204665732559746}},"curvature":1.1147755447729981},{"time":4.03381971444752,"velocity":1.9473503536216026,"acceleration":0.849434998394845,"pose":{"translation":{"x":3.4144011898265623,"y":-3.631214971631686},"rotation":{"radians":-0.3840502377170955}},"curvature":1.0344059335193307},{"time":4.066834503664474,"velocity":1.9753942710471115,"acceleration":0.5329118482969404,"pose":{"translation":{"x":3.475201847829454,"y":-3.6534949740759144},"rotation":{"radians":-0.31907711187966553}},"curvature":0.9759041463197408},{"time":4.099969969859645,"velocity":1.9930525535813608,"acceleration":0.19795175340109766,"pose":{"translation":{"x":3.5382524088455485,"y":-3.6721349398733327},"rotation":{"radians":-0.25621242555649043}},"curvature":0.9399122889889104},{"time":4.133182504339755,"velocity":1.999627033016593,"acceleration":-0.149530833356522,"pose":{"translation":{"x":3.602880862263837,"y":-3.6869443179991546},"rotation":{"radians":-0.19444896564988257}},"curvature":0.9266743017178002},{"time":4.166422917483691,"velocity":1.9946565663380653,"acceleration":-0.5075130235349077,"pose":{"translation":{"x":3.6683798234877267,"y":-3.697759260452232},"rotation":{"radians":-0.13272016229676237}},"curvature":0.9366744945398773},{"time":4.199643427031099,"velocity":1.9777967250942896,"acceleration":-0.8733734241838256,"pose":{"translation":{"x":3.7340236546609265,"y":-3.7044454093499635},"rotation":{"radians":-0.06991288500099563}},"curvature":0.9709695914338683},{"time":4.232805827045624,"velocity":1.9488335662394503,"acceleration":-1.2389573213207965,"pose":{"translation":{"x":3.7990855853933407,"y":-3.7069006840232133},"rotation":{"radians":-0.0048725525991901285}},"curvature":1.0312696674162594},{"time":4.265889148321362,"velocity":1.9078447431312662,"acceleration":-1.5853829449620704,"pose":{"translation":{"x":3.8628548334869577,"y":-3.705058068111217},"rotation":{"radians":0.06358660570777601}},"curvature":1.1197355889117453},{"time":4.298894789106751,"velocity":1.8555181631425655,"acceleration":-1.8786820406216884,"pose":{"translation":{"x":3.9246537256617424,"y":-3.698888396656498},"rotation":{"radians":0.13665070947012398}},"curvature":1.2383513633729393},{"time":4.331846450007525,"velocity":1.7936124695996263,"acceleration":-2.0687560226080715,"pose":{"translation":{"x":3.983854818281525,"y":-3.68840314319978},"rotation":{"radians":0.21543465079916263}},"curvature":1.3876188110053984},{"time":4.36478149138526,"velocity":1.7254779043945905,"acceleration":-2.113050983155014,"pose":{"translation":{"x":4.039898018079894,"y":-3.673657206874897},"rotation":{"radians":0.3008449305456563}},"curvature":1.5642867773111826},{"time":4.381258001550354,"velocity":1.6906621983912746,"acceleration":-2.075009496120902,"pose":{"translation":{"x":4.066583008445662,"y":-3.664716198688472},"rotation":{"radians":0.34620762753185813}},"curvature":1.6600585000267516},{"time":4.397742118029613,"velocity":1.6564575001616495,"acceleration":-1.9776015203644,"pose":{"translation":{"x":4.092307702886082,"y":-3.6547516995037075},"rotation":{"radians":0.3933536444045416}},"curvature":1.7580699831377709},{"time":4.414231245390542,"velocity":1.6238485768231952,"acceleration":-1.8154800664184878,"pose":{"translation":{"x":4.117028656107597,"y":-3.643784026288599},"rotation":{"radians":0.44222170029111096}},"curvature":1.855353434733679},{"time":4.430717374693417,"velocity":1.5939183377014274,"acceleration":-1.5848818101179674,"pose":{"translation":{"x":4.140709842350862,"y":-3.631836732691007},"rotation":{"radians":0.492680291366209}},"curvature":1.9481489373001988},{"time":4.447185604688992,"velocity":1.5678181395366018,"acceleration":-1.2835484314290333,"pose":{"translation":{"x":4.16332319041343,"y":-3.6189366961353735},"rotation":{"radians":0.5445168944834294}},"curvature":2.0319617451634606},{"time":4.463612863153651,"velocity":1.54673295770161,"acceleration":-0.9102695382964796,"pose":{"translation":{"x":4.184849118672436,"y":-3.605114204919439},"rotation":{"radians":0.59742977012247}},"curvature":2.101735912742992},{"time":4.479967020369303,"velocity":1.5318462665636903,"acceleration":-0.46402809326742883,"pose":{"translation":{"x":4.205277070107284,"y":-3.590403045310956},"rotation":{"radians":0.6510240044285094}},"curvature":2.1521551177627667},{"time":4.496206570051472,"velocity":1.524310659289152,"acceleration":0.057245601838036425,"pose":{"translation":{"x":4.224606047322325,"y":-3.5748405886444092},"rotation":{"radians":0.7048132228502131}},"curvature":2.178052622752592},{"time":4.512280988072067,"velocity":1.5252308490229372,"acceleration":0.6583307088614423,"pose":{"translation":{"x":4.242845147569547,"y":-3.558467878417726},"rotation":{"radians":0.7582277850211014}},"curvature":2.1748765045688128},{"time":4.52813176823087,"velocity":1.535665904360889,"acceleration":1.3489039250885222,"pose":{"translation":{"x":4.260014097771258,"y":-3.5413297173889973},"rotation":{"radians":0.810629260909842}},"curvature":2.139125292379961},{"time":4.54369399760659,"velocity":1.5566578566489255,"acceleration":2.1465791720520992,"pose":{"translation":{"x":4.276143789542765,"y":-3.5234747546731904},"rotation":{"radians":0.8613297753179715}},"curvature":2.068657403880969},{"time":4.558898207881267,"velocity":1.5892948977520476,"acceleration":2.700000000000002,"pose":{"translation":{"x":4.291276814215065,"y":-3.5049555728388677},"rotation":{"radians":0.9096137029781508}},"curvature":1.9627950712832336},{"time":4.588100521453264,"velocity":1.6681411443964405,"acceleration":2.700000000000028,"pose":{"translation":{"x":4.318784936300568,"y":-3.4661550719371856},"rotation":{"radians":0.9960517560249607}},"curvature":1.6484598896766685},{"time":4.61591794382852,"velocity":1.7432481848096317,"acceleration":2.700000000000002,"pose":{"translation":{"x":4.3431335198514684,"y":-3.4254308539795257},"rotation":{"radians":1.064337755353672}},"curvature":1.2099640477138154},{"time":4.668295720256451,"velocity":1.8846681811650436,"acceleration":1.9506432472929027,"pose":{"translation":{"x":4.385856599884033,"y":-3.340567158410103},"rotation":{"radians":1.1253285328670892}},"curvature":3.9807867305918405E-14},{"time":4.719032814302907,"velocity":1.9836381510540293,"acceleration":-0.3454785321182718,"pose":{"translation":{"x":4.426239291596579,"y":-3.2511278775802035},"rotation":{"radians":1.1838212503329886}},"curvature":0.9590213742485625},{"time":4.746508164966666,"velocity":1.9741460072372792,"acceleration":2.252620017814547,"pose":{"translation":{"x":4.445402418053016,"y":-3.2002461180467194},"rotation":{"radians":1.2375331981999598}},"curvature":0.9784727769523561},{"time":4.776453920570736,"velocity":2.04160241575959,"acceleration":2.699999999999991,"pose":{"translation":{"x":4.4634581219405005,"y":-3.142893829377299},"rotation":{"radians":1.2926937750648604}},"curvature":0.8441650150742595},{"time":4.80863557468845,"velocity":2.1284928818774183,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.48017415189866,"y":-3.077909044843525},"rotation":{"radians":1.3433949498868154}},"curvature":0.6696975164928622},{"time":4.8430712472389095,"velocity":2.2214691977636583,"acceleration":2.4589407660674816,"pose":{"translation":{"x":4.49537996689762,"y":-3.0045719188687383},"rotation":{"radians":1.3873287758293207}},"curvature":0.5110935669067939},{"time":4.879744688796386,"velocity":2.311647018241329,"acceleration":1.660713744539831,"pose":{"translation":{"x":4.5089620242691515,"y":-2.9225665809449923},"rotation":{"radians":1.424252394438837}},"curvature":0.38499750685916345},{"time":4.918737943077689,"velocity":2.3764036515706266,"acceleration":1.2046790027494734,"pose":{"translation":{"x":4.520859067737793,"y":-2.8319429895500052},"rotation":{"radians":1.454836908363205}},"curvature":0.290401921430435},{"time":4.960126946954238,"velocity":2.4262641154854228,"acceleration":0.8655661633433986,"pose":{"translation":{"x":4.531057415451995,"y":-2.733078786064114},"rotation":{"radians":1.4800268263999243}},"curvature":0.22100721119491618},{"time":5.003796336826703,"velocity":2.464062861732879,"acceleration":0.6257976905309778,"pose":{"translation":{"x":4.539586248015253,"y":-2.626641148687229},"rotation":{"radians":1.5007476615481332}},"curvature":0.17027125210215716},{"time":5.049513693860003,"velocity":2.4926726781814987,"acceleration":0.4603684915834097,"pose":{"translation":{"x":4.546512896517241,"y":-2.5135486463557863},"rotation":{"radians":1.5177986679845619}},"curvature":0.1328923644913342},{"time":5.096941414974665,"velocity":2.514506906610294,"acceleration":0.3477572938178937,"pose":{"translation":{"x":4.551938130564951,"y":-2.3949330926597017},"rotation":{"radians":1.5318299254652354}},"curvature":0.10493809800115456},{"time":5.145653139373277,"velocity":2.5314467640643583,"acceleration":0.27227931013545204,"pose":{"translation":{"x":4.555991446313826,"y":-2.2721013997593236},"rotation":{"radians":1.5433522935017865}},"curvature":0.08358226786884908},{"time":5.195151475124259,"velocity":2.5449241367754887,"acceleration":-1.090384263799719,"pose":{"translation":{"x":4.558826354498893,"y":-2.1464974323023895},"rotation":{"radians":1.5527567273734477}},"curvature":0.06679461667167785},{"time":5.245538178018374,"velocity":2.4899832688349943,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.560615668465907,"y":-2.019663861340975},"rotation":{"radians":1.5603331477038913}},"curvature":0.053078290149578246},{"time":5.297808285275257,"velocity":2.348853979241411,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.561546792202477,"y":-1.8932040182484504},"rotation":{"radians":1.5662851240012707}},"curvature":0.04126265615101617},{"time":5.35251626826382,"velocity":2.20114242517229,"acceleration":-2.7,"pose":{"translation":{"x":4.561817008369205,"y":-1.7687437486364352},"rotation":{"radians":1.5707389682490362}},"curvature":0.030331252821885556},{"time":5.40940474142716,"velocity":2.0475435476312724,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.561628766330825,"y":-1.6478932662717476},"rotation":{"radians":1.5737463485485246}},"curvature":0.019253743292658033},{"time":5.468182025553858,"velocity":1.8888448804891869,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.561184970187334,"y":-1.5322090069933623},"rotation":{"radians":1.5752789959015696}},"curvature":0.006777018407799931},{"time":5.528520293027753,"velocity":1.7259315583096726,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.5606842668051275,"y":-1.4231554826293622},"rotation":{"radians":1.575212573228892}},"curvature":-0.008901956109935908},{"time":5.590052516862073,"velocity":1.5597945539570066,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.5603163338481405,"y":-1.3220671349138926},"rotation":{"radians":1.5732937758219232}},"curvature":-0.030739564844547373},{"time":5.652367970938961,"velocity":1.3915428279494098,"acceleration":-2.7,"pose":{"translation":{"x":4.560257167808976,"y":-1.230110189404113},"rotation":{"radians":1.5690787354186326}},"curvature":-0.06408761003331041},{"time":5.715005957670786,"velocity":1.222420263773482,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.560664372040043,"y":-1.1482445093971525},"rotation":{"radians":1.5618181287789326}},"curvature":-0.11948485813595525},{"time":5.777447481393951,"velocity":1.053828149720936,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.561672444784698,"y":-1.077185449847064},"rotation":{"radians":1.550235745794414}},"curvature":-0.21950551701376778},{"time":5.899304707514432,"velocity":0.7248136391956379,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.565885391429699,"y":-0.968897193720045},"rotation":{"radians":1.5031224005777883}},"curvature":-0.8532327241242842},{"time":5.957328294351914,"velocity":0.5681499547344366,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.569201328551683,"y":-0.9315328505884155},"rotation":{"radians":1.454812037224825}},"curvature":-1.95362210606186},{"time":6.012459129970429,"velocity":0.41929669856444685,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.573330836692798,"y":-0.9046285426381657},"rotation":{"radians":1.367986047743081}},"curvature":-5.250797357740762},{"time":6.038853829052509,"velocity":0.348031011042831,"acceleration":-2.7,"pose":{"translation":{"x":4.575686473202262,"y":-0.8947796407998156},"rotation":{"radians":1.2974111653987683}},"curvature":-9.262822654758509},{"time":6.051808759765727,"velocity":0.31305269811714276,"acceleration":-2.7,"pose":{"translation":{"x":4.576932656249183,"y":-0.890682836040614},"rotation":{"radians":1.251278714726393}},"curvature":-12.528704057556777},{"time":6.06467107461931,"velocity":0.2783244480124687,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.578222209018141,"y":-0.8871048918622653},"rotation":{"radians":1.1955708620074401}},"curvature":-17.11255760272324},{"time":6.077551576626991,"velocity":0.24354709259172977,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.57955320943533,"y":-0.8840186887888786},"rotation":{"radians":1.1281096037032832}},"curvature":-23.502515226838202},{"time":6.09065681366224,"velocity":0.20816295259655782,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.580923516329712,"y":-0.8813951091768959},"rotation":{"radians":1.0465366731211305}},"curvature":-32.20887644842355},{"time":6.0974095711354925,"velocity":0.18993050741877643,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.5816226795480945,"y":-0.8802471483638525},"rotation":{"radians":0.9997711353063761}},"curvature":-37.53640244697254},{"time":6.104399251589368,"velocity":0.17105837019331224,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.582330764831489,"y":-0.8792029999630508},"rotation":{"radians":0.948752438444307}},"curvature":-43.49657887474341},{"time":6.111757973737523,"velocity":0.1511898203932922,"acceleration":-2.2004428104883322,"pose":{"translation":{"x":4.583047440863298,"y":-0.8782584456955855},"rotation":{"radians":0.8934072678493205}},"curvature":-49.99050921706474},{"time":6.119589886268782,"velocity":0.13395614477151052,"acceleration":-1.6551358338338036,"pose":{"translation":{"x":4.583772361770563,"y":-0.8774091354123255},"rotation":{"radians":0.8338214460179867}},"curvature":-56.81894234666965},{"time":6.127888882086489,"velocity":0.12022017940878826,"acceleration":-1.2130378636105745,"pose":{"translation":{"x":4.584505166980162,"y":-0.8766505859297724},"rotation":{"radians":0.7702913480603364}},"curvature":-63.663533520049945},{"time":6.136589696276802,"velocity":0.10966576235169789,"acceleration":-0.8488920459607645,"pose":{"translation":{"x":4.585245481075012,"y":-0.8759781798659367},"rotation":{"radians":0.7033681207659697}},"curvature":-70.08766107160633},{"time":6.145592193789816,"velocity":0.10202361381911906,"acceleration":-0.5381957307394334,"pose":{"translation":{"x":4.585992913650276,"y":-0.8753871644762232},"rotation":{"radians":0.633881778205852}},"curvature":-75.5688156147956},{"time":6.1547623170600785,"velocity":0.09708829262470942,"acceleration":-0.2563385825341664,"pose":{"translation":{"x":4.586747059169556,"y":-0.8748726504892876},"rotation":{"radians":0.5629319005702376}},"curvature":-79.56712313126297},{"time":6.1639382586577,"velocity":0.09473614476215886,"acceleration":0.023490894553871575,"pose":{"translation":{"x":4.587507496821104,"y":-0.8744296109429235},"rotation":{"radians":0.4918367937765152}},"curvature":-81.61927919815528},{"time":6.172941582378941,"velocity":0.09494764089032892,"acceleration":0.33444486933814704,"pose":{"translation":{"x":4.5882737903740205,"y":-0.8740528800199336},"rotation":{"radians":0.42204373712551474}},"curvature":-81.43059702349429},{"time":6.181591361300573,"velocity":0.09784051507157776,"acceleration":0.7242133991419709,"pose":{"translation":{"x":4.589045488034454,"y":-0.8737371518840007},"rotation":{"radians":0.3550158115213555}},"curvature":-78.9316619399016},{"time":6.189718248208065,"velocity":0.10372611546329513,"acceleration":1.2723764422415065,"pose":{"translation":{"x":4.5898221223018085,"y":-0.8734769795155599},"rotation":{"radians":0.2921195841125127}},"curvature":-74.27781318075311},{"time":6.19717539249828,"velocity":0.11321441018456047,"acceleration":2.1307962421761366,"pose":{"translation":{"x":4.590603209824941,"y":-0.8732667735476771},"rotation":{"radians":0.23453773231367941}},"curvature":-67.79405690128081},{"time":6.203844262236733,"velocity":0.12742441276281857,"acceleration":2.6999999999995246,"pose":{"translation":{"x":4.591388251258368,"y":-0.873100801101927},"rotation":{"radians":0.18322162220787044}},"curvature":-59.88967080941399},{"time":6.215038019367559,"velocity":0.15764755701604338,"acceleration":2.7000000000007427,"pose":{"translation":{"x":4.592968117639659,"y":-0.8728779007208538},"rotation":{"radians":0.1020366764318309}},"curvature":-41.39072927876437},{"time":6.2326180709502275,"velocity":0.2051136962892624,"acceleration":-2.6086912295433877,"pose":{"translation":{"x":4.596151517103646,"y":-0.8726944533917305},"rotation":{"radians":0.0351097453586144}},"curvature":2.7794858786544366E-12},{"time":6.250108021814488,"velocity":0.15948781486452107,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.599339673315614,"y":-0.8726525743724289},"rotation":{"radians":-0.030406618335940702}},"curvature":-40.54629506663001},{"time":6.261136022607427,"velocity":0.12971221272358702,"acceleration":-2.233588981867756,"pose":{"translation":{"x":4.600930663538121,"y":-0.872760536208599},"rotation":{"radians":-0.10996027848637602}},"curvature":-58.77892961941308},{"time":6.267684198313976,"velocity":0.11508627961410434,"acceleration":-1.3437282150854897,"pose":{"translation":{"x":4.601724905090623,"y":-0.8728680974194418},"rotation":{"radians":-0.1603058199412404}},"curvature":-66.64119143507843},{"time":6.275014268854674,"velocity":0.10523665701000096,"acceleration":-0.7775730280544069,"pose":{"translation":{"x":4.602518146166333,"y":-0.8730191300306107},"rotation":{"radians":-0.21686829524209572}},"curvature":-73.16734567450669},{"time":6.283014344056336,"velocity":0.09901601431078166,"acceleration":-0.3777645252208071,"pose":{"translation":{"x":4.603310271788974,"y":-0.8732192699998336},"rotation":{"radians":-0.27874964560733445}},"curvature":-77.957958915172},{"time":6.291544883526067,"velocity":0.09579347911812142,"acceleration":-0.06217283204121701,"pose":{"translation":{"x":4.60410117377875,"y":-0.8734740126940626},"rotation":{"radians":-0.3448259375227554}},"curvature":-80.68432781658437},{"time":6.300443643805441,"velocity":0.09524021798989679,"acceleration":0.21800878333125995,"pose":{"translation":{"x":4.6048907506814505,"y":-0.8737887140279185},"rotation":{"radians":-0.41378782670479775}},"curvature":-81.17096150234015},{"time":6.309535570089001,"velocity":0.09722233777711309,"acceleration":0.4962609741750618,"pose":{"translation":{"x":4.60567890769756,"y":-0.8741685916021357},"rotation":{"radians":-0.4842198027441893}},"curvature":-79.45316468296875},{"time":6.318645997058996,"velocity":0.10174348714039372,"acceleration":0.7992377682744629,"pose":{"translation":{"x":4.606465556611364,"y":-0.8746187258420064},"rotation":{"radians":-0.5547055769063708}},"curvature":-75.78537424146772},{"time":6.327614352517689,"velocity":0.10891133554229127,"acceleration":1.1510697562698893,"pose":{"translation":{"x":4.607250615720056,"y":-0.8751440611358262},"rotation":{"radians":-0.6239377149934211}},"curvature":-70.5945365777504},{"time":6.336305391082054,"velocity":0.11891532718430642,"acceleration":1.575572952896559,"pose":{"translation":{"x":4.60803400976284,"y":-0.875749406973338},"rotation":{"radians":-0.690808144795104}},"curvature":-64.3959775798263},{"time":6.34461592663257,"velocity":0.13200918222178393,"acceleration":2.097222736048788,"pose":{"translation":{"x":4.608815669850046,"y":-0.8764394390841777},"rotation":{"radians":-0.754463313883741}},"curvature":-57.7024679815766},{"time":6.3524765529443314,"velocity":0.14849466644239362,"acceleration":2.70000000000164,"pose":{"translation":{"x":4.609595533392229,"y":-0.8772187005763176},"rotation":{"radians":-0.8143195696666922}},"curvature":-50.9538468118932},{"time":6.359855846775826,"velocity":0.16841875978743992,"acceleration":2.699999999998795,"pose":{"translation":{"x":4.610373544029277,"y":-0.8780916030745127},"rotation":{"radians":-0.8700450182475864}},"curvature":-44.48004713746768},{"time":6.36684429374224,"velocity":0.18728756659674906,"acceleration":2.6999999999983837,"pose":{"translation":{"x":4.611149651559521,"y":-0.8790624278587447},"rotation":{"radians":-0.9215198921733626}},"curvature":-38.49538268257514},{"time":6.373581350730268,"velocity":0.2054776204644142,"acceleration":2.700000000000195,"pose":{"translation":{"x":4.61192381186884,"y":-0.8801353270026662},"rotation":{"radians":-0.9687879366158929}},"curvature":-33.113593635632355},{"time":6.38662676008573,"velocity":0.24070022572416605,"acceleration":2.699999999999924,"pose":{"translation":{"x":4.613466144380597,"y":-0.8826033174632164},"rotation":{"radians":-1.051414566336971}},"curvature":-24.256569207373587},{"time":6.399422919089086,"velocity":0.275249855033226,"acceleration":2.6999999999995854,"pose":{"translation":{"x":4.6150003077085895,"y":-0.8855262501797181},"rotation":{"radians":-1.1198966691418262}},"curvature":-17.709250675136484},{"time":6.412185120684548,"velocity":0.3097077993409669,"acceleration":2.6999999999994593,"pose":{"translation":{"x":4.616526160860454,"y":-0.8889328064349341},"rotation":{"radians":-1.1765314391421913}},"curvature":-12.988935207568176},{"time":6.425029093546873,"velocity":0.3443865260692369,"acceleration":2.7000000000001916,"pose":{"translation":{"x":4.618043653438842,"y":-0.8928497095010681},"rotation":{"radians":-1.2234764220767254}},"curvature":-9.61409506696725},{"time":6.451180447307976,"velocity":0.4149951812242217,"acceleration":2.6999999999998243,"pose":{"translation":{"x":4.621053794649349,"y":-0.9023118776835003},"rotation":{"radians":-1.2953444990600071}},"curvature":-5.455288410432885},{"time":6.478095609773233,"velocity":0.4876661198804107,"acceleration":2.7000000000001347,"pose":{"translation":{"x":4.624032053855361,"y":-0.9140887650422794},"rotation":{"radians":-1.3464548155001768}},"curvature":-3.2512215183713495},{"time":6.505789581207256,"velocity":0.5624398427522757,"acceleration":2.699999999999938,"pose":{"translation":{"x":4.626981057902935,"y":-0.9283273852585817},"rotation":{"radians":-1.3837572921402705}},"curvature":-2.027835394113568},{"time":6.563252380220871,"velocity":0.7175894000890334,"acceleration":2.6999999999999815,"pose":{"translation":{"x":4.632807893992809,"y":-0.9646398904226058},"rotation":{"radians":-1.432856855356095}},"curvature":-0.8827954206928376},{"time":6.6839877120741615,"velocity":1.0435747960929163,"acceleration":2.700000000000009,"pose":{"translation":{"x":4.64435387905734,"y":-1.0703284602077703},"rotation":{"radians":-1.480436318200243}},"curvature":-0.22385867341497218},{"time":6.745889682056634,"velocity":1.2107101150455941,"acceleration":2.6999999999999966,"pose":{"translation":{"x":4.650208060269882,"y":-1.139854770157303},"rotation":{"radians":-1.4919605328031207}},"curvature":-0.1200295315059749},{"time":6.808013418419447,"velocity":1.3784442032251905,"acceleration":2.700000000000024,"pose":{"translation":{"x":4.656227232733742,"y":-1.2200531774681567},"rotation":{"radians":-1.4990439383861234}},"curvature":-0.06255856320907544},{"time":6.869847069839196,"velocity":1.5453950620585124,"acceleration":2.7000000000000153,"pose":{"translation":{"x":4.662506693981134,"y":-1.3102306372978625},"rotation":{"radians":-1.5029870566252166}},"curvature":-0.027953133706398608},{"time":6.930936507318235,"velocity":1.7103365432519204,"acceleration":2.6999999999999846,"pose":{"translation":{"x":4.669148672654916,"y":-1.4094539860053201},"rotation":{"radians":-1.504551701568427}},"curvature":-0.005252368583924339},{"time":6.99087712821487,"velocity":1.872176219672833,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.67626000547822,"y":-1.5165872457085943},"rotation":{"radians":-1.5041871824623947}},"curvature":0.011106678640585057},{"time":7.049307664004317,"velocity":2.02993866630434,"acceleration":2.7000000000000126,"pose":{"translation":{"x":4.68394981422409,"y":-1.630328928842714},"rotation":{"radians":-1.5021476823740851}},"curvature":0.024195545579616354},{"time":7.105905733762604,"velocity":2.182753454651716,"acceleration":2.7000000000000077,"pose":{"translation":{"x":4.692327182685111,"y":-1.7492493427174662},"rotation":{"radians":-1.4985552238745412}},"curvature":0.03588640048597657},{"time":7.160384829319084,"velocity":2.329847012654212,"acceleration":2.700000000000018,"pose":{"translation":{"x":4.701498833643041,"y":-1.871827894075197},"rotation":{"radians":-1.4934333913570814}},"curvature":0.04747834563244904},{"time":7.212492483509411,"velocity":2.4705376789680957,"acceleration":1.3576260825410957,"pose":{"translation":{"x":4.711566805838441,"y":-1.9964903936486045},"rotation":{"radians":-1.4867240600849803}},"curvature":0.0600348562943363},{"time":7.2626578253437035,"velocity":2.538643455481921,"acceleration":-0.28778893222786833,"pose":{"translation":{"x":4.72262613094031,"y":-2.1216463607185383},"rotation":{"radians":-1.4782932987774888}},"curvature":0.07459576514094504},{"time":7.311905022526229,"velocity":2.5244706571895468,"acceleration":-0.36384567890131525,"pose":{"translation":{"x":4.734762510515716,"y":-2.2457263276717963},"rotation":{"radians":-1.4679296220185907}},"curvature":0.09234223219189336},{"time":7.360488145661069,"velocity":2.5067938977694046,"acceleration":-0.47524309264313847,"pose":{"translation":{"x":4.748049992999426,"y":-2.3672191445589235},"rotation":{"radians":-1.4553363564813817}},"curvature":0.11475740199011944},{"time":7.40792566072485,"velocity":2.484249546403188,"acceleration":-0.6352490525853819,"pose":{"translation":{"x":4.7625486506635415,"y":-2.4847092836520033},"rotation":{"radians":-1.440119537410647}},"curvature":0.1438078098583787},{"time":7.453804272569298,"velocity":2.45510520169507,"acceleration":-0.8608089634442191,"pose":{"translation":{"x":4.778302256587127,"y":-2.596914144002462},"rotation":{"radians":-1.4217735820245503}},"curvature":0.18215356608712557},{"time":7.497795248946699,"velocity":2.4172373749187406,"acceleration":-1.1689387818619463,"pose":{"translation":{"x":4.795335961625842,"y":-2.7027213559988605},"rotation":{"radians":-1.3996697741617767}},"curvature":0.23335820554060774},{"time":7.539668783955905,"velocity":2.3682897759128254,"acceleration":-1.5651564632278603,"pose":{"translation":{"x":4.813653971381577,"y":-2.801226085924693},"rotation":{"radians":-1.3730591232963623}},"curvature":0.30197107629664477},{"time":7.579302950828004,"velocity":2.306256103468308,"acceleration":-2.016319268827961,"pose":{"translation":{"x":4.83323722317208,"y":-2.891768340516184},"rotation":{"radians":-1.3411147210420618}},"curvature":0.3931120066156374},{"time":7.616680453086857,"velocity":2.230891125443123,"acceleration":-2.4014406008176934,"pose":{"translation":{"x":4.854041063000594,"y":-2.97397027152009},"rotation":{"radians":-1.3030640134183291}},"curvature":0.5106591301023522},{"time":7.651861378944593,"velocity":2.1464062217139963,"acceleration":-2.4463992846983516,"pose":{"translation":{"x":4.875992922525479,"y":-3.0477734802514846},"rotation":{"radians":-1.25850080836969}},"curvature":0.6522441013337538},{"time":7.68491556561702,"velocity":2.065542483082285,"acceleration":-1.6599299898443163,"pose":{"translation":{"x":4.89898999602986,"y":-3.113476322151568},"rotation":{"radians":-1.2080045615750525}},"curvature":0.7986087194579582},{"time":7.715802569660672,"velocity":2.0142722187737854,"acceleration":0.7749211691259513,"pose":{"translation":{"x":4.922896917391241,"y":-3.171771211345458},"rotation":{"radians":-1.154157078106018}},"curvature":0.8974962654296017},{"time":7.744220763617499,"velocity":2.036294078859258,"acceleration":1.5907340120803013,"pose":{"translation":{"x":4.947543437051151,"y":-3.22378192519999},"rotation":{"radians":-1.102764029194351}},"curvature":0.8544115056874421},{"time":7.794813038026131,"velocity":2.1167729305095686,"acceleration":-2.7,"pose":{"translation":{"x":4.998185917670555,"y":-3.315826579913677},"rotation":{"radians":-1.047896124130654}},"curvature":8.508859524386322E-15},{"time":7.844605540961658,"velocity":1.9823331725836455,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.050373977924324,"y":-3.4035254617919697},"rotation":{"radians":-1.0072821505772769}},"curvature":0.7549303519675613},{"time":7.870716154913156,"velocity":1.911834514914602,"acceleration":-2.700000000000007,"pose":{"translation":{"x":5.07845932598369,"y":-3.4459032098893174},"rotation":{"radians":-0.96129920767847}},"curvature":1.0446752740044682},{"time":7.897753292101477,"velocity":1.8388342445061339,"acceleration":-2.496041517026994,"pose":{"translation":{"x":5.108661004057927,"y":-3.4866306095960047},"rotation":{"radians":-0.9021731776348201}},"curvature":1.2775904245573666},{"time":7.925832462234496,"velocity":1.7687474700904557,"acceleration":-1.446435441003569,"pose":{"translation":{"x":5.141389561181544,"y":-3.5252849459870292},"rotation":{"radians":-0.8328106929061733}},"curvature":1.450514712529692},{"time":7.954863518104163,"velocity":1.7267559219908146,"acceleration":-0.6066391328908184,"pose":{"translation":{"x":5.176923694679894,"y":-3.5615034399498886},"rotation":{"radians":-0.7561274696627602}},"curvature":1.5608446667586555},{"time":7.9845635760417615,"velocity":1.7087387045967428,"acceleration":0.06769503843605654,"pose":{"translation":{"x":5.215421066751808,"y":-3.5949803947302614},"rotation":{"radians":-0.6749729858536616}},"curvature":1.609846174780237},{"time":8.014684451233256,"velocity":1.7107777384005587,"acceleration":0.5914845240846432,"pose":{"translation":{"x":5.256929121052228,"y":-3.625464342477694},"rotation":{"radians":-0.5919747973575552}},"curvature":1.604248811216469},{"time":8.04502235156597,"velocity":1.7287221369405819,"acceleration":0.9698797192247156,"pose":{"translation":{"x":5.301395899274849,"y":-3.652755190791285},"rotation":{"radians":-0.5093672553939818}},"curvature":1.5555589585568785},{"time":8.075423142275522,"velocity":1.7582072472981716,"acceleration":1.209157639509438,"pose":{"translation":{"x":5.348680857734751,"y":-3.6767013692653703},"rotation":{"radians":-0.4288680856806841}},"curvature":1.477713042041228},{"time":8.10578018420371,"velocity":1.7949136964585488,"acceleration":1.321633710622672,"pose":{"translation":{"x":5.398565683951038,"y":-3.6971969760352086},"rotation":{"radians":-0.3516369614361936}},"curvature":1.3843753463424795},{"time":8.136025548332448,"velocity":1.8348869892811481,"acceleration":1.3259842457165245,"pose":{"translation":{"x":5.450765113229473,"y":-3.714178924322665},"rotation":{"radians":-0.2783131195479864}},"curvature":1.2869783934493062},{"time":8.166117765699923,"velocity":1.8747887954290965,"acceleration":1.2446494051496733,"pose":{"translation":{"x":5.504937745245116,"y":-3.727624088981897},"rotation":{"radians":-0.2091046345049558}},"curvature":1.1938977832620001},{"time":8.196029549231605,"velocity":1.9120184790087715,"acceleration":1.100293718300747,"pose":{"translation":{"x":5.560696860624957,"y":-3.7375464530450375},"rotation":{"radians":-0.14389676689643216}},"curvature":1.1105539927870254},{"time":8.225737856484779,"velocity":1.9447063428607874,"acceleration":0.9129264254460614,"pose":{"translation":{"x":5.617621237530555,"y":-3.743994254267884},"rotation":{"radians":-0.08235481167895972}},"curvature":1.0400085827310375},{"time":8.25521728486016,"velocity":1.9716188920317173,"acceleration":0.698451891513876,"pose":{"translation":{"x":5.675265968240674,"y":-3.7470471316755773},"rotation":{"radians":-0.024008749853449696}},"curvature":0.9836829378831284},{"time":8.284436734487691,"velocity":1.9920272718930607,"acceleration":0.46867125360412454,"pose":{"translation":{"x":5.733173275733917,"y":-3.746813272108292},"rotation":{"radians":0.03168328917279015}},"curvature":0.9419846122808662},{"time":8.313358691373779,"velocity":2.005582161683548,"acceleration":0.23238828064805692,"pose":{"translation":{"x":5.790883330271368,"y":-3.7434265567669187},"rotation":{"radians":0.08528997924198803}},"curvature":0.9147583144770235},{"time":8.341940265224535,"velocity":2.0122241844889404,"acceleration":-0.0027490746824385937,"pose":{"translation":{"x":5.84794506597922,"y":-3.7370437077587493},"rotation":{"radians":0.13737484207164488}},"curvature":0.9015510803238661},{"time":8.370135093183254,"velocity":2.0121466748012233,"acceleration":-0.22789630254160725,"pose":{"translation":{"x":5.903926997431419,"y":-3.727841434643161},"rotation":{"radians":0.18847136708754433}},"curvature":0.9017047005235224},{"time":8.3978952606578,"velocity":2.0058202352758387,"acceleration":-0.4302257476735754,"pose":{"translation":{"x":5.958428036232295,"y":-3.7160135809773047},"rotation":{"radians":0.2390592231461033}},"curvature":0.9142834090895979},{"time":8.425172422391734,"velocity":1.994084897974444,"acceleration":-0.5897056762235929,"pose":{"translation":{"x":6.011088307599203,"y":-3.701768270861783},"rotation":{"radians":0.2895357194769267}},"curvature":0.9378278434808232},{"time":8.451917316294928,"velocity":1.9783132822297333,"acceleration":-0.6754161522025992,"pose":{"translation":{"x":6.061599966945155,"y":-3.685325055486344},"rotation":{"radians":0.34017676199896385}},"curvature":0.9699101670059925},{"time":8.478076887133787,"velocity":1.9606446855504795,"acceleration":-0.6412336548421311,"pose":{"translation":{"x":6.109718016461459,"y":-3.6669120596755596},"rotation":{"radians":0.39108186054150706}},"curvature":1.0064642952905776},{"time":8.503588372036397,"velocity":1.9442858628459285,"acceleration":-0.42010488239965355,"pose":{"translation":{"x":6.155271121700352,"y":-3.6467631284345114},"rotation":{"radians":0.4420990014383418}},"curvature":1.0409009827022115},{"time":8.528370103073916,"velocity":1.9338749366427517,"acceleration":-0.8272106385572664,"pose":{"translation":{"x":6.198172428157642,"y":-3.6251149734944788},"rotation":{"radians":0.4927286119846969}},"curvature":1.0631202228314272},{"time":8.552446313504097,"velocity":1.9139588392387628,"acceleration":-2.7,"pose":{"translation":{"x":6.238430377855339,"y":-3.60220431985862},"rotation":{"radians":0.5420128858666482}},"curvature":1.0587294827383742},{"time":8.57618984614322,"velocity":1.8498513011131295,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.276159525924294,"y":-3.578265052347659},"rotation":{"radians":0.5884284546205697}},"curvature":1.009053679624368},{"time":8.623901653939761,"velocity":1.721029420062473,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.345085102739401,"y":-3.528204893345267},"rotation":{"radians":0.6633974864269401}},"curvature":0.6901416764400143},{"time":8.673257963816154,"velocity":1.5877673833962147,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.408398891966756,"y":-3.476640340140431},"rotation":{"radians":0.6941270293290788}},"curvature":4.1185019565407616E-14},{"time":8.69959412613091,"velocity":1.516659745146375,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.439463799326111,"y":-3.450067936139554},"rotation":{"radians":0.7331828725458773}},"curvature":1.761870818383021},{"time":8.713730468757463,"velocity":1.4784916200546816,"acceleration":-2.7,"pose":{"translation":{"x":6.454897756349233,"y":-3.435577520081772},"rotation":{"radians":0.776349973919035}},"curvature":2.265902921246814},{"time":8.728849340279982,"velocity":1.4376706669438777,"acceleration":0.03889153888202016,"pose":{"translation":{"x":6.470217984312381,"y":-3.4197265761309747},"rotation":{"radians":0.8293329069462884}},"curvature":2.4953115450022763},{"time":8.744994197508808,"velocity":1.4382985652865372,"acceleration":2.6002473161730943,"pose":{"translation":{"x":6.485391560898837,"y":-3.402155354066644},"rotation":{"radians":0.887630653218616}},"curvature":2.4928748048734684},{"time":8.76189790059866,"velocity":1.4822523738793134,"acceleration":2.700000000000022,"pose":{"translation":{"x":6.500387987569066,"y":-3.3825489736843726},"rotation":{"radians":0.9473680370503084}},"curvature":2.3274298041402433},{"time":8.779453536004606,"velocity":1.5296525894753668,"acceleration":2.699999999999986,"pose":{"translation":{"x":6.515179125275045,"y":-3.3606357906955715},"rotation":{"radians":1.0056060004130027}},"curvature":2.0709243397131565},{"time":8.79776126160924,"velocity":1.5790834486078789,"acceleration":2.6999999999999926,"pose":{"translation":{"x":6.52973913017459,"y":-3.33618576262718},"rotation":{"radians":1.0604038889943062}},"curvature":1.781964691819398},{"time":8.816897450019887,"velocity":1.6307511573166233,"acceleration":2.700000000000055,"pose":{"translation":{"x":6.544044389345688,"y":-3.3090088147213748},"rotation":{"radians":1.1106938955602945}},"curvature":1.4995917095020082},{"time":8.836905493649008,"velocity":1.6847728751152502,"acceleration":2.699999999999968,"pose":{"translation":{"x":6.55807345650082,"y":-3.278953205835279},"rotation":{"radians":1.1560664397140645}},"curvature":1.2449184879359827},{"time":8.8795554866302,"velocity":1.799927856164468,"acceleration":2.699999999999992,"pose":{"translation":{"x":6.585227677071576,"y":-3.209780904023693},"rotation":{"radians":1.2324277101601875}},"curvature":0.8438753319297655},{"time":8.925535614362511,"velocity":1.9240742010417085,"acceleration":2.700000000000014,"pose":{"translation":{"x":6.611071111421158,"y":-3.1281595045372756},"rotation":{"radians":1.2920553568063147}},"curvature":0.5737620221395537},{"time":8.974375699045051,"velocity":2.055942429684568,"acceleration":2.6999999999999944,"pose":{"translation":{"x":6.635503630952859,"y":-3.034088410141403},"rotation":{"radians":1.3384831632401}},"curvature":0.39763064518893115},{"time":9.025446366708975,"velocity":2.1938332323771617,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.6584536017974765,"y":-2.9280234878126636},"rotation":{"radians":1.3748607379880866}},"curvature":0.2827492858554198},{"time":9.0780505223551,"velocity":2.3358644526217036,"acceleration":2.700000000000032,"pose":{"translation":{"x":6.6798758276718395,"y":-2.8108247775295485},"rotation":{"radians":1.4036494835111415}},"curvature":0.2066602399294213},{"time":9.104706941293264,"velocity":2.4078367837547443,"acceleration":2.5267799876192503,"pose":{"translation":{"x":6.69000663518445,"y":-2.7484166619137964},"rotation":{"radians":1.4157909604755585}},"curvature":0.17848041867431724},{"time":9.131508691026987,"velocity":2.475558908615095,"acceleration":0.54966765757409,"pose":{"translation":{"x":6.699749492737317,"y":-2.683704201063145},"rotation":{"radians":1.4266798900261446}},"curvature":0.15514776934186053},{"time":9.15868146053543,"velocity":2.4904949011806012,"acceleration":0.4562900466807417,"pose":{"translation":{"x":6.709105270295296,"y":-2.6168852877025452},"rotation":{"radians":1.4364693234613446}},"curvature":0.13570744509440963},{"time":9.186434746657769,"velocity":2.5031584494009076,"acceleration":0.3817025361895027,"pose":{"translation":{"x":6.718076104458341,"y":-2.5481732707678226},"rotation":{"radians":1.445289839690417}},"curvature":0.11940661397607263},{"time":9.214698115334068,"velocity":2.51394664890591,"acceleration":0.3219555268014519,"pose":{"translation":{"x":6.726665334175835,"y":-2.4777953213053836},"rotation":{"radians":1.4532528894178407}},"curvature":0.10564932344593325},{"time":9.243394045653105,"velocity":2.5231854622688332,"acceleration":0.27396770941305476,"pose":{"translation":{"x":6.734877436460918,"y":-2.4059907983719273},"rotation":{"radians":1.4604536479816943}},"curvature":0.09396134771817073},{"time":9.272438909140552,"velocity":2.5311428169887042,"acceleration":0.23535008213724223,"pose":{"translation":{"x":6.742717962104812,"y":-2.3330096149341535},"rotation":{"radians":1.4669734202249385}},"curvature":0.08396293103713041},{"time":9.301743892068977,"velocity":2.5380397471279394,"acceleration":0.20426099014725926,"pose":{"translation":{"x":6.750193471391153,"y":-2.2591106037684714},"rotation":{"radians":1.4728816497887625}},"curvature":0.07534765702032908},{"time":9.331215868442117,"velocity":2.5440597222035137,"acceleration":0.17929147719037114,"pose":{"translation":{"x":6.757311469810319,"y":-2.184559883360709},"rotation":{"radians":1.4782375850387415}},"curvature":0.06786600836346504},{"time":9.360758230585702,"velocity":2.54935641595193,"acceleration":0.15937772167396247,"pose":{"translation":{"x":6.764080343773759,"y":-2.1096292238058236},"rotation":{"radians":1.4830916491156405}},"curvature":0.061312477610036886},{"time":9.390271683300057,"velocity":2.5540602028042763,"acceleration":-1.9364393175610382,"pose":{"translation":{"x":6.770509296328321,"y":-2.034594412707608},"rotation":{"radians":1.4874865548787164}},"curvature":0.05551533098631964},{"time":9.420014661348016,"velocity":2.4964647306908527,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.776608282870579,"y":-1.9597336210784007},"rotation":{"radians":1.4914581980765491}},"curvature":0.050328312224001436},{"time":9.450409306578104,"velocity":2.414399188569617,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":6.782387946861167,"y":-1.885325769238797},"rotation":{"radians":1.4950363545066623}},"curvature":0.045623706004402596},{"time":9.481551227010097,"velocity":2.3303160034032366,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.787859555539102,"y":-1.8116488927173569},"rotation":{"radians":1.4982451993383974}},"curvature":0.041286265455571895},{"time":9.51340271750626,"velocity":2.2443169790635977,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":6.793034935636114,"y":-1.7389785081503117},"rotation":{"radians":1.5011036590114264}},"curvature":0.03720754653400985},{"time":9.54592383402965,"velocity":2.1565099644504406,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.797926409090978,"y":-1.6675859791812757},"rotation":{"radians":1.503625597790456}},"curvature":0.033280180646881756},{"time":9.57907237327344,"velocity":2.0670089084922068,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":6.802546728763838,"y":-1.5977368823609572},"rotation":{"radians":1.5058198315164835}},"curvature":0.02939154430372287},{"time":9.612803837507906,"velocity":1.9759339550591486,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.806909014150539,"y":-1.5296893730468626},"rotation":{"radians":1.5076899493829758}},"curvature":0.025416127459595463},{"time":9.647071384323565,"velocity":1.8834115786568693,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.811026687096953,"y":-1.4636925513030068},"rotation":{"radians":1.5092339092253166}},"curvature":0.021205616599728555},{"time":9.681825760840356,"velocity":1.7895747620615352,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.814913407513311,"y":-1.3999848277996274},"rotation":{"radians":1.5104433505918702}},"curvature":0.016575214781125676},{"time":9.752585427704396,"velocity":1.5985236615286247,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.822049435004535,"y":-1.2803270666245878},"rotation":{"radians":1.511786810270766}},"curvature":0.005004645974562106},{"time":9.824637096547349,"velocity":1.4039841556526524,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.828428694337683,"y":-1.17234749119695},"rotation":{"radians":1.511472700353067}},"curvature":-0.012557641767089704},{"time":9.897489535869866,"velocity":1.2072825694818543,"acceleration":-2.7,"pose":{"translation":{"x":6.834162477972975,"y":-1.0774018904728022},"rotation":{"radians":1.5090092982329775}},"curvature":-0.04305107850176706},{"time":9.970601480302996,"velocity":1.0098803195124053,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.839359715975894,"y":-0.9965181494798072},"rotation":{"radians":1.5034513570670693}},"curvature":-0.10322945846988668},{"time":10.11517222066287,"velocity":0.6195393205407459,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.848556120523975,"y":-0.8790945198999358},"rotation":{"radians":1.4731280226069126}},"curvature":-0.6139517188140465},{"time":10.185358666651943,"velocity":0.43003591637024713,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.852742820953082,"y":-0.842500260842463},"rotation":{"radians":1.4329181388549581}},"curvature":-1.9712854878838697},{"time":10.219735181512746,"velocity":0.33721932624608103,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.854769612254723,"y":-0.8294691567130932},"rotation":{"radians":1.3954997647593534}},"curvature":-4.121795845368698},{"time":10.253785541618205,"velocity":0.24528335396134188,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.856763929234739,"y":-0.81975453815634},"rotation":{"radians":1.3314609484833504}},"curvature":-10.274340412008122},{"time":10.270902338790675,"velocity":0.19906800159567214,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.857751404782446,"y":-0.8160820438591219},"rotation":{"radians":1.2800503315000085}},"curvature":-17.88725969972494},{"time":10.288465241533112,"velocity":0.15164816419109098,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.858733643189715,"y":-0.8131630788036524},"rotation":{"radians":1.2041976966241779}},"curvature":-34.14173535821639},{"time":10.297684278112202,"velocity":0.12675676542755032,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.859223063281665,"y":-0.8119767570760623},"rotation":{"radians":1.1516310876067288}},"curvature":-49.22799526595877},{"time":10.307573505451515,"velocity":0.10005585161140483,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.859711484260491,"y":-0.8109671983026057},"rotation":{"radians":1.084290718460031}},"curvature":-73.33762925133702},{"time":10.312996370797531,"velocity":0.08541411517715986,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.8599553500356505,"y":-0.810527394755856},"rotation":{"radians":1.0432887812360019}},"curvature":-90.65804222571367},{"time":10.319026679448465,"velocity":0.0691322818196407,"acceleration":-1.990573186917022,"pose":{"translation":{"x":6.860199001482833,"y":-0.8101301889076056},"rotation":{"radians":0.9961251940303707}},"curvature":-112.99091990366502},{"time":10.325944036344849,"velocity":0.05536277665736411,"acceleration":-1.4170654035051942,"pose":{"translation":{"x":6.860442449901311,"y":-0.8097750280753129},"rotation":{"radians":0.9415990519877865}},"curvature":-141.86099514427062},{"time":10.333930240664486,"velocity":0.04404580281068249,"acceleration":-0.9857065962894933,"pose":{"translation":{"x":6.860685706338509,"y":-0.8094613490874525},"rotation":{"radians":0.8782962418806787}},"curvature":-179.1032747455333},{"time":10.34318334016871,"velocity":0.03492496159324521,"acceleration":-0.6693705754534414,"pose":{"translation":{"x":6.860928781588039,"y":-0.8091885782336545},"rotation":{"radians":0.8046137606133765}},"curvature":-226.68309156333257},{"time":10.353913128676279,"velocity":0.027742756885440922,"acceleration":-0.48901345394424306,"pose":{"translation":{"x":6.86117168618774,"y":-0.8089561312148175},"rotation":{"radians":0.7188594861447148}},"curvature":-286.1671461834672},{"time":10.359931029232472,"velocity":0.024799922548963682,"acceleration":-0.3949537292253078,"pose":{"translation":{"x":6.861293077716557,"y":-0.8088548436424126},"rotation":{"radians":0.6709562042081583}},"curvature":-320.49085522352703},{"time":10.366389877742446,"velocity":0.022248976243448126,"acceleration":-0.31648741281787063,"pose":{"translation":{"x":6.861414430417712,"y":-0.8087634130932546},"rotation":{"radians":0.6194872041481577}},"curvature":-357.5904612961168},{"time":10.373302276983042,"velocity":0.020061288891427775,"acceleration":-0.25123602362241715,"pose":{"translation":{"x":6.861535745535626,"y":-0.8086817635296635},"rotation":{"radians":0.5643535222922513}},"curvature":-396.9223434651983},{"time":10.380671424099127,"velocity":0.018209893672493704,"acceleration":-0.19702300994433336,"pose":{"translation":{"x":6.861657024298363,"y":-0.808609818242823},"rotation":{"radians":0.5055322370947256}},"curvature":-437.59113182131614},{"time":10.388488095524233,"velocity":0.01666982954057361,"acceleration":-0.15186757297527048,"pose":{"translation":{"x":6.861778267917576,"y":-0.8085474998512141},"rotation":{"radians":0.44310060942695506}},"curvature":-478.3037071521062},{"time":10.396727751774598,"velocity":0.015418492943680029,"acceleration":-0.11397302615065594,"pose":{"translation":{"x":6.861899477588438,"y":-0.8084947302990537},"rotation":{"radians":0.37725915765567114}},"curvature":-517.3724465795085},{"time":10.405348270392455,"velocity":0.014435986349814911,"acceleration":-0.08170987307541602,"pose":{"translation":{"x":6.862020654489588,"y":-0.8084514308547401},"rotation":{"radians":0.3083495925873623}},"curvature":-552.7946377354054},{"time":10.41428892177095,"velocity":0.013705446860466486,"acceleration":-0.053593968885927906,"pose":{"translation":{"x":6.862141799783062,"y":-0.8084175221092829},"rotation":{"radians":0.2368627262319711}},"curvature":-582.4246868691994},{"time":10.423471172942596,"velocity":0.01321333357687049,"acceleration":-0.028260387641525123,"pose":{"translation":{"x":6.862262914614241,"y":-0.808392923974766},"rotation":{"radians":0.163431749669685}},"curvature":-604.2312803064796},{"time":10.432801674593096,"velocity":0.012949649983337475,"acceleration":-0.004433925659802138,"pose":{"translation":{"x":6.862384000111778,"y":-0.8083775556827746},"rotation":{"radians":0.08880813429926886}},"curvature":-616.5976155953638},{"time":10.44217735949348,"velocity":0.012908078893479447,"acceleration":0.019102526497664335,"pose":{"translation":{"x":6.862505057387549,"y":-0.8083713357828364},"rotation":{"radians":0.013820799436390587}},"curvature":-618.5933378813678},{"time":10.451492061754857,"velocity":0.013086013240245276,"acceleration":0.04354028493447272,"pose":{"translation":{"x":6.862626087536582,"y":-0.8083741821408683},"rotation":{"radians":-0.060676734237531636}},"curvature":-610.1401765142326},{"time":10.460643642475683,"velocity":0.013484475672430829,"acceleration":0.0700763066300425,"pose":{"translation":{"x":6.862747091637001,"y":-0.8083860119376145},"rotation":{"radians":-0.13386317570229916}},"curvature":-592.0195044936582},{"time":10.46954045812454,"velocity":0.014107931653871031,"acceleration":0.09994231599627741,"pose":{"translation":{"x":6.862868070749965,"y":-0.808406741667091},"rotation":{"radians":-0.20500108994272842}},"curvature":-565.7206566423348},{"time":10.478106200973603,"velocity":0.014964011832435009,"acceleration":0.1344304477615857,"pose":{"translation":{"x":6.8629890259196005,"y":-0.8084362871350326},"rotation":{"radians":-0.27347563911542117}},"curvature":-533.1796195874405},{"time":10.486282589053719,"velocity":0.016063167343117524,"acceleration":0.1749146040838369,"pose":{"translation":{"x":6.863109958172949,"y":-0.8084745634573105},"rotation":{"radians":-0.3388162646113045}},"curvature":-496.4845046239759},{"time":10.494029899321784,"velocity":0.017418285051370885,"acceleration":0.2228671274192851,"pose":{"translation":{"x":6.863230868519898,"y":-0.8085214850584168},"rotation":{"radians":-0.4007011961051526}},"curvature":-457.6185999637207},{"time":10.50132574228966,"velocity":0.019044288615723604,"acceleration":0.279870752688266,"pose":{"translation":{"x":6.863351757953127,"y":-0.8085769656698556},"rotation":{"radians":-0.4589478852842984}},"curvature":-418.28355210289493},{"time":10.508162677711372,"velocity":0.020957746878278893,"acceleration":0.3476260770979581,"pose":{"translation":{"x":6.863472627448036,"y":-0.8086409183286181},"rotation":{"radians":-0.5134940930256224}},"curvature":-379.81215253292874},{"time":10.51454527793268,"velocity":0.023176505154896887,"acceleration":0.42795496095647906,"pose":{"translation":{"x":6.863593477962698,"y":-0.8087132553756291},"rotation":{"radians":-0.5643744557798438}},"curvature":-343.15609197993024},{"time":10.520487127114555,"velocity":0.02571934898953554,"acceleration":0.5228003577311843,"pose":{"translation":{"x":6.863714310437783,"y":-0.808793888454153},"rotation":{"radians":-0.611696446335568}},"curvature":-308.92347448217276},{"time":10.526008079429653,"velocity":0.028605704834886225,"acceleration":0.7005052986632548,"pose":{"translation":{"x":6.863835125796507,"y":-0.8088827285082738},"rotation":{"radians":-0.655618342951916}},"curvature":-277.44123738186795},{"time":10.535833306559962,"velocity":0.03548832850023764,"acceleration":1.004451923825367,"pose":{"translation":{"x":6.864076708770087,"y":-0.8090846698142853},"rotation":{"radians":-0.7340409528611183}},"curvature":-223.03556731009553},{"time":10.544290857377174,"velocity":0.043983531689436584,"acceleration":1.407019268332388,"pose":{"translation":{"x":6.864318233917688,"y":-0.8093183528031318},"rotation":{"radians":-0.8013100677496591}},"curvature":-179.36121575481815},{"time":10.551585626531518,"velocity":0.05424741244763487,"acceleration":1.9283704952659784,"pose":{"translation":{"x":6.864559707990323,"y":-0.8095830396974097},"rotation":{"radians":-0.8590850926003809}},"curvature":-144.84121395240882},{"time":10.557902601187424,"velocity":0.06642887999342872,"acceleration":2.589519053150219,"pose":{"translation":{"x":6.864801137453804,"y":-0.80987798138296},"rotation":{"radians":-0.9088672119836225}},"curvature":-117.71482450721878},{"time":10.563400878726489,"velocity":0.08066677444034354,"acceleration":2.699999999997107,"pose":{"translation":{"x":6.8650425284867795,"y":-0.810202417359009},"rotation":{"radians":-0.9519485406069942}},"curvature":-96.39309227276388},{"time":10.572811725728325,"velocity":0.10607606134527403,"acceleration":2.7000000000037003,"pose":{"translation":{"x":6.865525218528221,"y":-0.8109366729471326},"rotation":{"radians":-1.0221518547596293}},"curvature":-66.20772740232132},{"time":10.581094431936299,"velocity":0.12843936810683143,"acceleration":2.700000000000777,"pose":{"translation":{"x":6.86600782172602,"y":-0.8117794928281112},"rotation":{"radians":-1.076269291701141}},"curvature":-46.90493873492908},{"time":10.588740462919883,"velocity":0.14908365176251714,"acceleration":2.7000000000008404,"pose":{"translation":{"x":6.866490376971381,"y":-0.8127243779907172},"rotation":{"radians":-1.1187349486794673}},"curvature":-34.157759825945135},{"time":10.602859582206461,"velocity":0.18720527383628838,"acceleration":2.700000000001553,"pose":{"translation":{"x":6.867455475192086,"y":-0.814893411653415},"rotation":{"radians":-1.1798042323598463}},"curvature":-19.338092353162022},{"time":10.615918121014028,"velocity":0.22246332861673992,"acceleration":2.7000000000003768,"pose":{"translation":{"x":6.868420727530992,"y":-0.8173880136542255},"rotation":{"radians":-1.2199860264714897}},"curvature":-11.592569277617375},{"time":10.660545715712495,"velocity":0.34295783430261784,"acceleration":2.7000000000000512,"pose":{"translation":{"x":6.8722847387747334,"y":-0.8293984410230077},"rotation":{"radians":-1.2765617616836251}},"curvature":5.662754279154285E-13},{"time":10.784055302979647,"velocity":0.6764337199239374,"acceleration":2.69999999999996,"pose":{"translation":{"x":6.890567704069717,"y":-0.8896373582760828},"rotation":{"radians":-1.2746145134475693}},"curvature":0.07833254824964936},{"time":10.90961230650744,"velocity":1.015437629448977,"acceleration":2.6999999999999695,"pose":{"translation":{"x":6.9220714020571785,"y":-0.9910708336452296},"rotation":{"radians":-1.2643271653955044}},"curvature":0.10388628670885901},{"time":10.975944885747875,"velocity":1.1945355933981474,"acceleration":2.700000000000005,"pose":{"translation":{"x":6.944454829417782,"y":-1.0608660734877988},"rotation":{"radians":-1.2565186269244475}},"curvature":0.10957753116453166},{"time":11.04226916988349,"velocity":1.3736111605643062,"acceleration":2.699999999999974,"pose":{"translation":{"x":6.971170523484057,"y":-1.1417325750400185},"rotation":{"radians":-1.2467609450362294}},"curvature":0.12048739350628847},{"time":11.10677218015628,"velocity":1.5477692883008374,"acceleration":2.699999999999994,"pose":{"translation":{"x":7.001699938066302,"y":-1.2308681968838484},"rotation":{"radians":-1.2345624309308487}},"curvature":0.139925158341642},{"time":11.167889557713945,"velocity":1.7127862077065308,"acceleration":2.700000000000033,"pose":{"translation":{"x":7.0352736825775075,"y":-1.3246796814453725},"rotation":{"radians":-1.2191296982170046}},"curvature":0.17233214816706413},{"time":11.224347618674168,"velocity":1.865222972299136,"acceleration":2.700000000000017,"pose":{"translation":{"x":7.070963789725937,"y":-1.4191676159457582},"rotation":{"radians":-1.199264665475165}},"curvature":0.22544762203572588},{"time":11.275177551863791,"velocity":2.0024637919111217,"acceleration":0.7639996745479528,"pose":{"translation":{"x":7.107775983207727,"y":-1.5103113933522132},"rotation":{"radians":-1.173184259865773}},"curvature":0.31334664210525326},{"time":11.320678459378339,"velocity":2.0372264704438727,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.144741945399469,"y":-1.5944541733289448},"rotation":{"radians":-1.1382789125555068}},"curvature":0.46128414468694073},{"time":11.36238652401307,"velocity":1.924614695930097,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.181011585050797,"y":-1.6686878431881165},"rotation":{"radians":-1.0909592662375478}},"curvature":0.7102735090663231},{"time":11.400638046222246,"velocity":1.8213355859653235,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.215945304976982,"y":-1.7312379788408077},"rotation":{"radians":-1.027293684323955}},"curvature":1.1015810198786917},{"time":11.434752030215385,"velocity":1.7292278291838485,"acceleration":0.6445410503431896,"pose":{"translation":{"x":7.2492062697515145,"y":-1.7818488057479684},"rotation":{"radians":-0.946811271065399}},"curvature":1.554201466739854},{"time":11.464230870296232,"velocity":1.7482281517324567,"acceleration":2.3315226938587226,"pose":{"translation":{"x":7.280852673398701,"y":-1.822168159871382},"rotation":{"radians":-0.8640451127513438}},"curvature":1.5037656583957106},{"time":11.489931521883399,"velocity":1.8081498041548907,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.311430007086242,"y":-1.8561324486246196},"rotation":{"radians":-0.823139846740522}},"curvature":-1.636932849247666E-13},{"time":11.51563940296047,"velocity":1.7387385252467977,"acceleration":-1.4806736068060244,"pose":{"translation":{"x":7.342914742195312,"y":-1.889106613799627},"rotation":{"radians":-0.7821644580227984}},"curvature":1.5288178122546148},{"time":11.54511304456907,"velocity":1.6950976820204824,"acceleration":2.7000000000000135,"pose":{"translation":{"x":7.380280010962411,"y":-1.9232326183274575},"rotation":{"radians":-0.6972908732044945}},"curvature":1.6476386101222478},{"time":11.579073882097338,"velocity":1.7867919433468054,"acceleration":2.699999999999993,"pose":{"translation":{"x":7.427252061140204,"y":-1.959138986117052},"rotation":{"radians":-0.6124692269480457}},"curvature":1.2085999896794064},{"time":11.616870435419926,"velocity":1.8888426373177905,"acceleration":2.7000000000000357,"pose":{"translation":{"x":7.485512892488573,"y":-1.9969649827093412},"rotation":{"radians":-0.5440249043502151}},"curvature":0.794250561255612},{"time":11.657991567925185,"velocity":1.9998696950819903,"acceleration":1.2466865281123276,"pose":{"translation":{"x":7.555036727069078,"y":-2.036450409605098},"rotation":{"radians":-0.49266060721110555}},"curvature":0.5178393427363835},{"time":11.701970375707894,"velocity":2.0546974822671356,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.6344264795393935,"y":-2.0770253985927907},"rotation":{"radians":-0.4547993886895383}},"curvature":0.3479689426353966},{"time":11.750203672095966,"velocity":1.9244675820193426,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.721250227447748,"y":-2.117900206076431},"rotation":{"radians":-0.42685937253591266}},"curvature":0.2434560826226274},{"time":11.804000151160603,"velocity":1.7792170885448235,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.812377681527366,"y":-2.1581550074034315},"rotation":{"radians":-0.40617444910924005}},"curvature":0.17666200897075124},{"time":11.862671668973514,"velocity":1.6208039904499634,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.9043166559909,"y":-2.196829691192452},"rotation":{"radians":-0.3909543890940912}},"curvature":0.13088966229278023},{"time":11.925353032005765,"velocity":1.4515643102628861,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.99354953882488,"y":-2.2330136536612546},"rotation":{"radians":-0.3800900990624137}},"curvature":0.09544847185693969},{"time":11.99109075712136,"velocity":1.2740724524507787,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.076869762084142,"y":-2.2659355929545537},"rotation":{"radians":-0.3730025444647795}},"curvature":0.06187924763512411},{"time":12.059015787543455,"velocity":1.0906748703111178,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":8.151718272186278,"y":-2.2950533034718688},"rotation":{"radians":-0.36955298253000457}},"curvature":0.02108291118563075},{"time":12.128746603575966,"velocity":0.9024016670233391,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.216520000206065,"y":-2.320143470195376},"rotation":{"radians":-0.36994084814772976}},"curvature":-0.03761188105274304},{"time":12.201483967249523,"velocity":0.7060107851047348,"acceleration":-2.7,"pose":{"translation":{"x":8.271020332169911,"y":-2.3413914630177586},"rotation":{"radians":-0.3743107217306177}},"curvature":-0.11565063019411807},{"time":12.46296944321424,"velocity":0.0,"acceleration":-2.7,"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/Bounce1.wpilib.json b/src/main/deploy/paths/Bounce1.wpilib.json index 8919bfb..e6d8b91 100644 --- a/src/main/deploy/paths/Bounce1.wpilib.json +++ b/src/main/deploy/paths/Bounce1.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2190625523416865,"y":-2.295277716936159},"rotation":{"radians":-0.13667831434709032}},"curvature":0.0},{"time":0.22438746704252197,"velocity":0.6058461610148095,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.2864606822508553,"y":-2.304092719711363},"rotation":{"radians":-0.1170421427859319}},"curvature":0.5643286724104043},{"time":0.31659154428955705,"velocity":0.8547971695818043,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3535125948797755,"y":-2.3103001998044204},"rotation":{"radians":-0.06200050429081461}},"curvature":1.0620304408056782},{"time":0.3865335497601475,"velocity":1.0436405843523986,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4198872043666615,"y":-2.3117422180116645},"rotation":{"radians":0.02340135914057638}},"curvature":1.499027877863022},{"time":0.416844551908855,"velocity":1.125480290153909,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.4527217018630596,"y":-2.3101287966124655},"rotation":{"radians":0.07581618388523016}},"curvature":1.685127643900189},{"time":0.44497336103755447,"velocity":1.2014280748013975,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.4852704747922563,"y":-2.306721971042591},"rotation":{"radians":0.1336105355281614}},"curvature":1.8407145612445912},{"time":0.471379880600669,"velocity":1.2727256776218068,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.5174970307016695,"y":-2.30137640225166},"rotation":{"radians":0.19578792312700474}},"curvature":1.9585936486426558},{"time":0.4964217065576293,"velocity":1.3403386077055994,"acceleration":1.6039342127688003,"pose":{"translation":{"x":1.549366017414454,"y":-2.2939715408501544},"rotation":{"radians":0.26122235838180147}},"curvature":2.03295328985009},{"time":0.5206154406806623,"velocity":1.3791437656001642,"acceleration":0.20023692496968024,"pose":{"translation":{"x":1.5808432416930818,"y":-2.284410619275986},"rotation":{"radians":0.3287008506010951}},"curvature":2.0608068154284185},{"time":0.5446577565091028,"velocity":1.383957924990801,"acceleration":0.666943222560105,"pose":{"translation":{"x":1.6118956879029251,"y":-2.2726196439610704},"rotation":{"radians":0.3969894480167388}},"curvature":2.0429019581541517},{"time":0.5688507949940165,"velocity":1.40009330804145,"acceleration":1.0755453521210445,"pose":{"translation":{"x":1.6424915366758384,"y":-2.2585463874978995},"rotation":{"radians":0.46491024547085325}},"curvature":1.9837890618025127},{"time":0.5931083036606244,"velocity":1.426183358741856,"acceleration":1.4170898905577722,"pose":{"translation":{"x":1.67260018357374,"y":-2.2421593808061115},"rotation":{"radians":0.5314136858990691}},"curvature":1.8910366087386976},{"time":0.6173654867127724,"velocity":1.4605579676184641,"acceleration":1.684675503735676,"pose":{"translation":{"x":1.7021922577521942,"y":-2.223446905299065},"rotation":{"radians":0.5956324894326599}},"curvature":1.7738908881089923},{"time":0.6415806269226574,"velocity":1.5013526211495822,"acceleration":1.8750481430236636,"pose":{"translation":{"x":1.7312396406239934,"y":-2.2024159850504086},"rotation":{"radians":0.6569096615732013}},"curvature":1.6418268507415719},{"time":0.6657336424327914,"velocity":1.5466406880302808,"acceleration":1.9895386959706989,"pose":{"translation":{"x":1.7597154845227396,"y":-2.179091378960654},"rotation":{"radians":0.7148003790857229}},"curvature":1.5033763689458892},{"time":0.689822355495369,"velocity":1.5945661148044137,"acceleration":2.034082566779173,"pose":{"translation":{"x":1.7875942313664275,"y":-2.153514572923748},"rotation":{"radians":0.7690532266628125}},"curvature":1.3654279101692903},{"time":0.7138575373757465,"velocity":1.6434556592566563,"acceleration":2.0183533127031996,"pose":{"translation":{"x":1.8148516313210254,"y":-2.1257427719936435},"rotation":{"radians":0.8195788318011353}},"curvature":1.2329942768056759},{"time":0.7378577160612598,"velocity":1.6918964994120307,"acceleration":1.9042305983130636,"pose":{"translation":{"x":1.8414647614640578,"y":-2.0958478925508723},"rotation":{"radians":0.8664136765870671}},"curvature":1.1093247469853833},{"time":0.785844633096,"velocity":1.7832746551482932,"acceleration":1.662518327354888,"pose":{"translation":{"x":1.8926732671647957,"y":-2.030044073281779},"rotation":{"radians":0.9495798158971775}},"curvature":0.89432735819266},{"time":0.8339311306074059,"velocity":1.8632193385593108,"acceleration":1.382687896151482,"pose":{"translation":{"x":1.9410636125360727,"y":-1.9569343750220183},"rotation":{"radians":1.0201473202306437}},"curvature":0.7235264433649939},{"time":0.8821729221742909,"velocity":1.9299226798475053,"acceleration":1.114697403983879,"pose":{"translation":{"x":1.9865020866994656,"y":-1.8775209375629944},"rotation":{"radians":1.080021306548925}},"curvature":0.5918444106673741},{"time":0.9305147904150518,"velocity":1.9838092348792122,"acceleration":0.8805814727916166,"pose":{"translation":{"x":2.028878001065319,"y":-1.7929445299122628},"rotation":{"radians":1.1310447963445298}},"curvature":0.49193108190754337},{"time":0.9787908238510442,"velocity":2.0263202155028157,"acceleration":0.6844697281129776,"pose":{"translation":{"x":2.0681042865673716,"y":-1.7044522996238305},"rotation":{"radians":1.1748459816272578}},"curvature":0.41685943141170323},{"time":1.0267403376991409,"velocity":2.059140206209572,"acceleration":0.5212916893138045,"pose":{"translation":{"x":2.1041180908973773,"y":-1.6133655221284542},"rotation":{"radians":1.2128035189738537}},"curvature":0.36102176191660384},{"time":1.07403030782682,"velocity":2.083792074625029,"acceleration":-0.819583672196297,"pose":{"translation":{"x":2.1368813757397325,"y":-1.5210473500639399},"rotation":{"radians":1.2460656619288912}},"curvature":0.32023752262865446},{"time":1.120907748629904,"velocity":2.045372089548473,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.166381514006097,"y":-1.4288705626054419},"rotation":{"radians":1.2755894219550927}},"curvature":0.2916029622975603},{"time":1.1685636764507539,"velocity":1.9167010844321783,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.1926318870700214,"y":-1.3381853147957623},"rotation":{"radians":1.3021844585295703}},"curvature":0.2733200598956795},{"time":1.2176707505183024,"velocity":1.784111984449797,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.215672482001568,"y":-1.250286886875649},"rotation":{"radians":1.326556269034668}},"curvature":0.2646072442463823},{"time":1.2679133672062661,"velocity":1.6484569193922949,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.2355704888019376,"y":-1.1663834336140964},"rotation":{"radians":1.3493482566795647}},"curvature":0.26575243847025265},{"time":1.3189403742533437,"velocity":1.5106840003651854,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.252420897638091,"y":-1.0875637336386417},"rotation":{"radians":1.371184938708623}},"curvature":0.2783830448470933},{"time":1.3703668605927257,"velocity":1.3718324872488539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2663470960773764,"y":-1.014764938765669},"rotation":{"radians":1.3927203241814738}},"curvature":0.3060902519064523},{"time":1.4217787555126837,"velocity":1.2330203709649672,"acceleration":-2.7,"pose":{"translation":{"x":2.27750146632215,"y":-0.9487403233307015},"rotation":{"radians":1.4146968384455714}},"curvature":0.35567097701480005},{"time":1.5228297983828232,"velocity":0.9601825552155909,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2922528076203808,"y":-0.8389138366943976},"rotation":{"radians":1.4638501053751873}},"curvature":0.5793213657302914},{"time":1.6191362560682607,"velocity":0.7001551194649095,"acceleration":-2.7,"pose":{"translation":{"x":2.298496566767544,"y":-0.75920739334815},"rotation":{"radians":1.5292488420790011}},"curvature":1.1903140188336137},{"time":1.6654911004538386,"velocity":0.574997039623849,"acceleration":-2.700000000000002,"pose":{"translation":{"x":2.299134147724131,"y":-0.7296595314270296},"rotation":{"radians":1.5718987210540936}},"curvature":1.739266666769078},{"time":1.7122363578225257,"velocity":0.448784844728394,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2985565261744956,"y":-0.7057380303558152},"rotation":{"radians":1.6201260709062921}},"curvature":2.2622779404584725},{"time":1.8784529669811902,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2952777169361562,"y":-0.6685846807962372},"rotation":{"radians":1.683947308385398}},"curvature":9.41080494104515E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2190625523416865,"y":-2.295277716936159},"rotation":{"radians":-0.13667831434709032}},"curvature":0.0},{"time":0.22438746704252197,"velocity":0.6058461610148095,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.2864606822508553,"y":-2.304092719711363},"rotation":{"radians":-0.1170421427859319}},"curvature":0.5643286724104043},{"time":0.31659154428955705,"velocity":0.8547971695818043,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3535125948797755,"y":-2.3103001998044204},"rotation":{"radians":-0.06200050429081461}},"curvature":1.0620304408056782},{"time":0.3865335497601475,"velocity":1.0436405843523986,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4198872043666615,"y":-2.3117422180116645},"rotation":{"radians":0.02340135914057638}},"curvature":1.499027877863022},{"time":0.416844551908855,"velocity":1.125480290153909,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.4527217018630596,"y":-2.3101287966124655},"rotation":{"radians":0.07581618388523016}},"curvature":1.685127643900189},{"time":0.44497336103755447,"velocity":1.2014280748013975,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.4852704747922563,"y":-2.306721971042591},"rotation":{"radians":0.1336105355281614}},"curvature":1.8407145612445912},{"time":0.471379880600669,"velocity":1.2727256776218068,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.5174970307016695,"y":-2.30137640225166},"rotation":{"radians":0.19578792312700474}},"curvature":1.9585936486426558},{"time":0.4964217065576293,"velocity":1.3403386077055994,"acceleration":2.7,"pose":{"translation":{"x":1.549366017414454,"y":-2.2939715408501544},"rotation":{"radians":0.26122235838180147}},"curvature":2.03295328985009},{"time":0.5203871822425515,"velocity":1.4050453920548895,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.5808432416930818,"y":-2.284410619275986},"rotation":{"radians":0.3287008506010951}},"curvature":2.0608068154284185},{"time":0.5435135951843582,"velocity":1.4674867069977673,"acceleration":2.699999999999998,"pose":{"translation":{"x":1.6118956879029251,"y":-2.2726196439610704},"rotation":{"radians":0.3969894480167388}},"curvature":2.0429019581541517},{"time":0.5659975247394938,"velocity":1.5281933167966335,"acceleration":2.7000000000000064,"pose":{"translation":{"x":1.6424915366758384,"y":-2.2585463874978995},"rotation":{"radians":0.46491024547085325}},"curvature":1.9837890618025127},{"time":0.5880010283970155,"velocity":1.5876027766719423,"acceleration":2.70000000000001,"pose":{"translation":{"x":1.67260018357374,"y":-2.2421593808061115},"rotation":{"radians":0.5314136858990691}},"curvature":1.8910366087386976},{"time":0.6096557249934808,"velocity":1.6460704574823986,"acceleration":2.3824430758266333,"pose":{"translation":{"x":1.7021922577521942,"y":-2.223446905299065},"rotation":{"radians":0.5956324894326599}},"curvature":1.7738908881089923},{"time":0.6311088152873973,"velocity":1.6971812239082236,"acceleration":2.39609176688845,"pose":{"translation":{"x":1.7312396406239934,"y":-2.2024159850504086},"rotation":{"radians":0.6569096615732013}},"curvature":1.6418268507415719},{"time":0.6524749443925159,"velocity":1.748376429947274,"acceleration":2.5423972750022616,"pose":{"translation":{"x":1.7597154845227396,"y":-2.179091378960654},"rotation":{"radians":0.7148003790857229}},"curvature":1.5033763689458892},{"time":0.6737841905632574,"velocity":1.8025529993441198,"acceleration":2.5993191212527873,"pose":{"translation":{"x":1.7875942313664275,"y":-2.153514572923748},"rotation":{"radians":0.7690532266628125}},"curvature":1.3654279101692903},{"time":0.6950460822266684,"velocity":1.857819440898829,"acceleration":2.579218978047936,"pose":{"translation":{"x":1.8148516313210254,"y":-2.1257427719936435},"rotation":{"radians":0.8195788318011353}},"curvature":1.2329942768056759},{"time":0.7162770095253918,"velocity":1.9125786515092522,"acceleration":2.43338352449836,"pose":{"translation":{"x":1.8414647614640578,"y":-2.0958478925508723},"rotation":{"radians":0.8664136765870671}},"curvature":1.1093247469853833},{"time":0.7587269745945849,"velocity":2.015875697124158,"acceleration":2.1245035714402802,"pose":{"translation":{"x":1.8926732671647957,"y":-2.030044073281779},"rotation":{"radians":0.9495798158971775}},"curvature":0.89432735819266},{"time":0.8012650300854439,"velocity":2.1062479479366125,"acceleration":1.7669130771236268,"pose":{"translation":{"x":1.9410636125360727,"y":-1.9569343750220183},"rotation":{"radians":1.0201473202306437}},"curvature":0.7235264433649939},{"time":0.8439404610869192,"velocity":2.1816517250450063,"acceleration":1.4244526372270472,"pose":{"translation":{"x":1.9865020866994656,"y":-1.8775209375629944},"rotation":{"radians":1.080021306548925}},"curvature":0.5918444106673741},{"time":0.8867044214537462,"velocity":2.242566961167806,"acceleration":1.1252799160815283,"pose":{"translation":{"x":2.028878001065319,"y":-1.7929445299122628},"rotation":{"radians":1.1310447963445298}},"curvature":0.49193108190754337},{"time":0.9294101433394317,"velocity":2.290622852307531,"acceleration":-0.06023521002664441,"pose":{"translation":{"x":2.0681042865673716,"y":-1.7044522996238305},"rotation":{"radians":1.1748459816272578}},"curvature":0.41685943141170323},{"time":0.9721945986679412,"velocity":2.288045721654943,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.1041180908973773,"y":-1.6133655221284542},"rotation":{"radians":1.2128035189738537}},"curvature":0.36102176191660384},{"time":1.0161481138765462,"velocity":2.169371230591709,"acceleration":-2.700000000000004,"pose":{"translation":{"x":2.1368813757397325,"y":-1.5210473500639399},"rotation":{"radians":1.2460656619288912}},"curvature":0.32023752262865446},{"time":1.0620737216703373,"velocity":2.045372089548473,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.166381514006097,"y":-1.4288705626054419},"rotation":{"radians":1.2755894219550927}},"curvature":0.2916029622975603},{"time":1.1097296494911872,"velocity":1.9167010844321783,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.1926318870700214,"y":-1.3381853147957623},"rotation":{"radians":1.3021844585295703}},"curvature":0.2733200598956795},{"time":1.1588367235587358,"velocity":1.784111984449797,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.215672482001568,"y":-1.250286886875649},"rotation":{"radians":1.326556269034668}},"curvature":0.2646072442463823},{"time":1.2090793402466995,"velocity":1.6484569193922949,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.2355704888019376,"y":-1.1663834336140964},"rotation":{"radians":1.3493482566795647}},"curvature":0.26575243847025265},{"time":1.260106347293777,"velocity":1.5106840003651854,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.252420897638091,"y":-1.0875637336386417},"rotation":{"radians":1.371184938708623}},"curvature":0.2783830448470933},{"time":1.311532833633159,"velocity":1.3718324872488539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2663470960773764,"y":-1.014764938765669},"rotation":{"radians":1.3927203241814738}},"curvature":0.3060902519064523},{"time":1.362944728553117,"velocity":1.2330203709649672,"acceleration":-2.7,"pose":{"translation":{"x":2.27750146632215,"y":-0.9487403233307015},"rotation":{"radians":1.4146968384455714}},"curvature":0.35567097701480005},{"time":1.4639957714232565,"velocity":0.9601825552155909,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2922528076203808,"y":-0.8389138366943976},"rotation":{"radians":1.4638501053751873}},"curvature":0.5793213657302914},{"time":1.560302229108694,"velocity":0.7001551194649095,"acceleration":-2.7,"pose":{"translation":{"x":2.298496566767544,"y":-0.75920739334815},"rotation":{"radians":1.5292488420790011}},"curvature":1.1903140188336137},{"time":1.606657073494272,"velocity":0.574997039623849,"acceleration":-2.700000000000002,"pose":{"translation":{"x":2.299134147724131,"y":-0.7296595314270296},"rotation":{"radians":1.5718987210540936}},"curvature":1.739266666769078},{"time":1.653402330862959,"velocity":0.448784844728394,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2985565261744956,"y":-0.7057380303558152},"rotation":{"radians":1.6201260709062921}},"curvature":2.2622779404584725},{"time":1.8196189400216236,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2952777169361562,"y":-0.6685846807962372},"rotation":{"radians":1.683947308385398}},"curvature":9.41080494104515E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce2.wpilib.json b/src/main/deploy/paths/Bounce2.wpilib.json index 93aec3d..69f0cc3 100644 --- a/src/main/deploy/paths/Bounce2.wpilib.json +++ b/src/main/deploy/paths/Bounce2.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":2.295,"y":-0.7613618501578302},"rotation":{"radians":-1.6862229871618215}},"curvature":0.0},{"time":0.2238228580660315,"velocity":0.6043217167782851,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.2875627593458607,"y":-0.8285821812917589},"rotation":{"radians":-1.6709663269826212}},"curvature":0.42243831537365},{"time":0.3198225371197324,"velocity":0.8635208502232774,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.281793525880724,"y":-0.8988017878415373},"rotation":{"radians":-1.6319372854089}},"curvature":0.6481967229998912},{"time":0.3979249471682881,"velocity":1.0743973573543777,"acceleration":2.7,"pose":{"translation":{"x":2.2791010756631116,"y":-0.974431918334709},"rotation":{"radians":-1.5803173771814334}},"curvature":0.6905190891267584},{"time":0.4687493308135945,"velocity":1.265623193196705,"acceleration":2.700000000000001,"pose":{"translation":{"x":2.2806273188287203,"y":-1.0572831182899467},"rotation":{"radians":-1.5253509810236108}},"curvature":0.6258138524525175},{"time":0.536240595225811,"velocity":1.4478496071096898,"acceleration":2.7000000000000024,"pose":{"translation":{"x":2.2872648244318845,"y":-1.1486100891732618},"rotation":{"radians":-1.4727132767868774}},"curvature":0.5233946397247444},{"time":0.6021610635649666,"velocity":1.62583487162541,"acceleration":2.700000000000004,"pose":{"translation":{"x":2.2996743452870447,"y":-1.249156547354214},"rotation":{"radians":-1.4249868121113762}},"curvature":0.42244145879152445},{"time":0.6672865377662217,"velocity":1.8016736519687993,"acceleration":2.699999999999998,"pose":{"translation":{"x":2.3183023428102096,"y":-1.3592000830621207},"rotation":{"radians":-1.3827959970636505}},"curvature":0.33807433193501213},{"time":0.7318784624738089,"velocity":1.9760718486792845,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.343398511860425,"y":-1.4785970193422662},"rotation":{"radians":-1.3457701607439638}},"curvature":0.272826204482378},{"time":0.7639755742515466,"velocity":2.0627340504791762,"acceleration":2.544704962670873,"pose":{"translation":{"x":2.3584006997501628,"y":-1.5416539629117005},"rotation":{"radians":-1.3289592448034329}},"curvature":0.24672187819165592},{"time":0.7959531047399616,"velocity":2.144107431007005,"acceleration":0.38146276323869466,"pose":{"translation":{"x":2.3750333055812374,"y":-1.6068272710121114},"rotation":{"radians":-1.3131390093705173}},"curvature":0.2244056885122533},{"time":0.8283243714554023,"velocity":2.156455863857814,"acceleration":0.31702921503677,"pose":{"translation":{"x":2.393280004647849,"y":-1.6740004788825873},"rotation":{"radians":-1.2982003026310438}},"curvature":0.20544703216711874},{"time":0.8615532724646945,"velocity":2.1669903962613244,"acceleration":0.26160094920069016,"pose":{"translation":{"x":2.413115460242161,"y":-1.7430392036175038},"rotation":{"radians":-1.2840367812955156}},"curvature":0.1894440644672511},{"time":0.8955933431585974,"velocity":2.175895311065708,"acceleration":0.213900734334339,"pose":{"translation":{"x":2.4345058713055985,"y":-1.8137925460089055},"rotation":{"radians":-1.2705464213689779}},"curvature":0.1760374965787479},{"time":0.9303897900773054,"velocity":2.1833382966138455,"acceleration":0.1726704728011205,"pose":{"translation":{"x":2.4574095200801422,"y":-1.8860944923888865},"rotation":{"radians":-1.2576321461697906}},"curvature":0.16491580178764134},{"time":0.9658801754878521,"velocity":2.1894664382425786,"acceleration":0.13673482581207974,"pose":{"translation":{"x":2.4817773197596242,"y":-1.9597653164719735},"rotation":{"radians":-1.2452018642435618}},"curvature":0.15581557334166538},{"time":1.001995159265649,"velocity":2.1944046142586418,"acceleration":0.10502507508389719,"pose":{"translation":{"x":2.5075533621410258,"y":-2.0346129811975073},"rotation":{"radians":-1.2331681196882358}},"curvature":0.14851941263212015},{"time":1.0386592776254457,"velocity":2.1982552660422643,"acceleration":0.07657931462180972,"pose":{"translation":{"x":2.5346754652757695,"y":-2.1104345405720215},"rotation":{"radians":-1.2214474910852267}},"curvature":0.14285281673636144},{"time":1.0757917456074437,"velocity":2.201098844990542,"acceleration":0.050529167424812456,"pose":{"translation":{"x":2.56307572112102,"y":-2.1870175415116284},"rotation":{"radians":-1.209959827348416}},"curvature":0.13868094979876497},{"time":1.1133072754890567,"velocity":2.2029944734809606,"acceleration":0.026079098293536107,"pose":{"translation":{"x":2.592681043190974,"y":-2.2641414256843975},"rotation":{"radians":-1.1986273745980418}},"curvature":0.13590582128598253},{"time":1.151116907055334,"velocity":2.20398051457902,"acceleration":0.002481619077418551,"pose":{"translation":{"x":2.6234137142081626,"y":-2.3415789313527373},"rotation":{"radians":-1.187373823781586}},"curvature":0.13446418174940708},{"time":1.1891288483796876,"velocity":2.20407484573778,"acceleration":-0.02099014479521583,"pose":{"translation":{"x":2.655191933754741,"y":-2.419097495215779},"rotation":{"radians":-1.1761232912234905}},"curvature":0.13432633265848715},{"time":1.2272493277866299,"velocity":2.2032746913553654,"acceleration":-0.04507225786731043,"pose":{"translation":{"x":2.687930365923788,"y":-2.4964606542517545},"rotation":{"radians":-1.1647992313623026}},"curvature":0.1354959980230762},{"time":1.2653834592432138,"velocity":2.2015558999488083,"acceleration":-0.0705426838741894,"pose":{"translation":{"x":2.7215406869706,"y":-2.5734294475603816},"rotation":{"radians":-1.153323270987528}},"curvature":0.13801140138203102},{"time":1.3034361247452635,"velocity":2.198871562795727,"acceleration":-0.09825799672187926,"pose":{"translation":{"x":2.755932132963989,"y":-2.649763818205243},"rotation":{"radians":-1.1416139461224635}},"curvature":0.141947720579542},{"time":1.3413128784623627,"velocity":2.1951498688531568,"acceleration":-0.12919558938226808,"pose":{"translation":{"x":2.791012047437576,"y":-2.725224015056169},"rotation":{"radians":-1.1295853154477415}},"curvature":0.14742114899625852},{"time":1.378920878583406,"velocity":2.19029108111203,"acceleration":-0.16450313254138063,"pose":{"translation":{"x":2.826686429041087,"y":-2.79957199463162},"rotation":{"radians":-1.1171454172112107}},"curvature":0.15459487429116978},{"time":1.4161698540270915,"velocity":2.184163507967587,"acceleration":-0.20555708173008896,"pose":{"translation":{"x":2.862860479191651,"y":-2.8725728229410636},"rotation":{"radians":-1.104194529526788}},"curvature":0.1636873960364607},{"time":1.4529731144833444,"velocity":2.1765983371500472,"acceleration":-0.2540316899994154,"pose":{"translation":{"x":2.899439149725094,"y":-2.9439960773273626},"rotation":{"radians":-1.0906231866536258}},"curvature":0.17498374563792934},{"time":1.489248613623333,"velocity":2.1673832107979436,"acceleration":-0.3119788915126339,"pose":{"translation":{"x":2.9363276905472344,"y":-3.013617248309152},"rotation":{"radians":-1.0763098963792286}},"curvature":0.188850349926551},{"time":1.5249200766835225,"velocity":2.1562544672937918,"acceleration":-0.3819169275316917,"pose":{"translation":{"x":2.97343219728518,"y":-3.0812191414232215},"rotation":{"radians":-1.0611184965534355}},"curvature":0.20575449618392444},{"time":1.5599182048117284,"velocity":2.142888089729707,"acceleration":-0.46692058799425773,"pose":{"translation":{"x":3.0106601589386233,"y":-3.146593279066898},"rotation":{"radians":-1.0448950833982154}},"curvature":0.22628960682894933},{"time":1.594181969196913,"velocity":2.12688963271608,"acceleration":-0.5706966925018823,"pose":{"translation":{"x":3.047921005531138,"y":-3.209541302340427},"rotation":{"radians":-1.027464442923879}},"curvature":0.25120779603727555},{"time":1.6276600074193146,"velocity":2.1077838270311036,"acceleration":-0.6976123983113651,"pose":{"translation":{"x":3.085126655761474,"y":-3.269876372889353},"rotation":{"radians":-1.0086259241306357}},"curvature":0.28146140297010774},{"time":1.6603121314714335,"velocity":2.0850053004611446,"acceleration":-0.852617939419943,"pose":{"translation":{"x":3.1221920646548513,"y":-3.327424574746902},"rotation":{"radians":-0.9881487165961091}},"curvature":0.3182552520700264},{"time":1.6921109494963456,"velocity":2.0578930577607544,"acceleration":-1.0409667808035687,"pose":{"translation":{"x":3.159035771214261,"y":-3.3820263161763613},"rotation":{"radians":-0.9657665490960503}},"curvature":0.3631110207931093},{"time":1.72304358812144,"velocity":2.0256932085094297,"acceleration":-1.6871823315808767,"pose":{"translation":{"x":3.1955804460717556,"y":-3.433537731513467},"rotation":{"radians":-0.9411719326651999}},"curvature":0.41794379134302745},{"time":1.7826594629235328,"velocity":1.9251103578616013,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.2674873272623084,"y":-3.5268011626700524},"rotation":{"radians":-0.8838744765709162}},"curvature":0.5676806569335158},{"time":1.8400092037819413,"velocity":1.7702660575438984,"acceleration":-2.700000000000001,"pose":{"translation":{"x":3.337397516613452,"y":-3.6064317343619137},"rotation":{"radians":-0.8127721091644887}},"curvature":0.7936809657354875},{"time":1.8680185367961908,"velocity":1.694640858405425,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.3714700350501103,"y":-3.6409820757754963},"rotation":{"radians":-0.7707196850370257}},"curvature":0.9459943435225653},{"time":1.8955254133237065,"velocity":1.620372291781133,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":3.40489697826008,"y":-3.671987647805823},"rotation":{"radians":-0.7235499490908228}},"curvature":1.130695249383548},{"time":1.9225097278400627,"velocity":1.5475146425869712,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.43764527251514,"y":-3.6994539188824165},"rotation":{"radians":-0.6706829672990798}},"curvature":1.3514118098787564},{"time":1.9489762856019666,"velocity":1.4760549366298308,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.4696903569265034,"y":-3.7234132982463013},"rotation":{"radians":-0.6116251435465475}},"curvature":1.609015470098565},{"time":1.9749622452120499,"velocity":1.4058928456826056,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.50101673109611,"y":-3.7439265377923783},"rotation":{"radians":-0.5460815089409298}},"curvature":1.8989223219106286},{"time":2.0005453188450475,"velocity":1.336818546873512,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":3.5316185027679166,"y":-3.761084133911811},"rotation":{"radians":-0.4741119503459261}},"curvature":2.2076674826616207},{"time":2.025852220265251,"velocity":1.2684899130389624,"acceleration":-2.2243941613990064,"pose":{"translation":{"x":3.5614999354792047,"y":-3.775007729334405},"rotation":{"radians":-0.3963193119780172}},"curvature":2.509813499641639},{"time":2.050942024495907,"velocity":1.2126802989976464,"acceleration":-1.3584978896753637,"pose":{"translation":{"x":3.5906759962118615,"y":-3.785851514970978},"rotation":{"radians":-0.3140302215861748}},"curvature":2.767361691179083},{"time":2.075681746074959,"velocity":1.1790714394413486,"acceleration":-0.26027578912689586,"pose":{"translation":{"x":3.6191729030436903,"y":-3.7938036317557664},"rotation":{"radians":-0.2294002344230172}},"curvature":2.9342208922863526},{"time":2.099792368620703,"velocity":1.1727960281319143,"acceleration":1.1288895845417548,"pose":{"translation":{"x":3.647028672799695,"y":-3.799087572488786},"rotation":{"radians":-0.14536774914813597}},"curvature":2.9664362097752703},{"time":2.1229119541015984,"velocity":1.1988954873802198,"acceleration":2.7000000000000157,"pose":{"translation":{"x":3.674293668703379,"y":-3.801963583678219},"rotation":{"radians":-0.06542301378713838}},"curvature":2.8346680371518382},{"time":2.144688871017202,"velocity":1.2576931630523491,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.701031148028049,"y":-3.8027300673828},"rotation":{"radians":0.006754840436328204}},"curvature":2.5320930769097063},{"time":2.165155224594915,"velocity":1.3129523177121745,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.7273178097480972,"y":-3.8017249830541937},"rotation":{"radians":0.06766296991552057}},"curvature":2.0727623080062316},{"time":2.1845975633111285,"velocity":1.3654466322459509,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.753244342190306,"y":-3.799327249379374},"rotation":{"radians":0.11420977866462667}},"curvature":1.4818865874186298},{"time":2.221153045535372,"velocity":1.464146434251409,"acceleration":2.6999999999999975,"pose":{"translation":{"x":3.804453005218058,"y":-3.7920827159698454},"rotation":{"radians":0.1540722073439685}},"curvature":2.1018634129701798E-14},{"time":2.287365743782871,"velocity":1.6429207195196567,"acceleration":2.078801129566941,"pose":{"translation":{"x":3.905945352536751,"y":-3.775342527336568},"rotation":{"radians":0.18166674717368012}},"curvature":0.5152496280092774},{"time":2.346427954910788,"velocity":1.765699310727091,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":4.0042908602985285,"y":-3.753879519369632},"rotation":{"radians":0.25508593122980006}},"curvature":0.9332989977155163},{"time":2.3748407743710906,"velocity":1.6889846981842744,"acceleration":-2.1876216935179325,"pose":{"translation":{"x":4.051464696436347,"y":-3.7403390721934033},"rotation":{"radians":0.30545051643193}},"curvature":1.1165581896564716},{"time":2.4038885493155155,"velocity":1.625439155567424,"acceleration":-1.726377997164401,"pose":{"translation":{"x":4.096947839509993,"y":-3.7245726058589863},"rotation":{"radians":0.3632329242877742}},"curvature":1.2808710235533614},{"time":2.4333875908293656,"velocity":1.5745126593604737,"acceleration":-1.298269032908415,"pose":{"translation":{"x":4.1405180916955455,"y":-3.7064270480262365},"rotation":{"radians":0.42712073596972033}},"curvature":1.4221279488940135},{"time":2.463161331374885,"velocity":1.5358583340163767,"acceleration":-0.893994033075983,"pose":{"translation":{"x":4.181988434500418,"y":-3.685829904365699},"rotation":{"radians":0.49571870603175944}},"curvature":1.5355986159743502},{"time":2.493038674558016,"velocity":1.509148167486494,"acceleration":-0.515100038409028,"pose":{"translation":{"x":4.221205436137705,"y":-3.6627817599461077},"rotation":{"radians":0.5675665541407077}},"curvature":1.6174029629573279},{"time":2.522854897180406,"velocity":1.4937898300684886,"acceleration":-0.16869579850642372,"pose":{"translation":{"x":4.258047658900505,"y":-3.6373487806218816},"rotation":{"radians":0.6411960052302572}},"curvature":1.6657651187126432},{"time":2.5524558894005285,"velocity":1.4887962670493327,"acceleration":0.13618301391071339,"pose":{"translation":{"x":4.2924240665362685,"y":-3.609655214420623},"rotation":{"radians":0.7152111133964305}},"curvature":1.681704394731275},{"time":2.581703451167647,"velocity":1.4927792881603186,"acceleration":0.3910979527122883,"pose":{"translation":{"x":4.3242724316211225,"y":-3.5798758929306134},"rotation":{"radians":0.7883707746795767}},"curvature":1.6689821260803184},{"time":2.6104794355786476,"velocity":1.5040335167507417,"acceleration":0.5898663071597596,"pose":{"translation":{"x":4.353557742934217,"y":-3.5482287326883135},"rotation":{"radians":0.8596537084032315}},"curvature":1.6333988899413465},{"time":2.6386873606427868,"velocity":1.5206724213409648,"acceleration":0.7294478787875017,"pose":{"translation":{"x":4.380270612832052,"y":-3.514967236565859},"rotation":{"radians":0.9282936788301375}},"curvature":1.5817555438910227},{"time":2.6662512554983553,"velocity":1.540778845974481,"acceleration":0.8101218726017527,"pose":{"translation":{"x":4.404425684622819,"y":-3.480372995158558},"rotation":{"radians":0.9937826934916295}},"curvature":1.520838096179469},{"time":2.6931124349364626,"velocity":1.562539674961172,"acceleration":0.8350921236764874,"pose":{"translation":{"x":4.426060039940733,"y":-3.44474818817239},"rotation":{"radians":1.0558480672371795}},"curvature":1.4566747653136742},{"time":2.719225313944082,"velocity":1.5843463345469522,"acceleration":0.8097791556412798,"pose":{"translation":{"x":4.445231606120371,"y":-3.408408085811502},"rotation":{"radians":1.1144131848363263}},"curvature":1.3941444249022739},{"time":2.7445533045909354,"velocity":1.6048564134270513,"acceleration":0.741144207445957,"pose":{"translation":{"x":4.462017563571007,"y":-3.371673550165707},"rotation":{"radians":1.1695516536197381}},"curvature":1.3368827758543969},{"time":2.7690654857592425,"velocity":1.623023474511808,"acceleration":0.6374146534851978,"pose":{"translation":{"x":4.476512753150946,"y":-3.3348635365979806},"rotation":{"radians":1.221441925798029}},"curvature":1.2873712262671073},{"time":2.7927343162171154,"velocity":1.638110333876513,"acceleration":0.508575166503386,"pose":{"translation":{"x":4.488828083541861,"y":-3.29828759513196},"rotation":{"radians":1.2703261298936033}},"curvature":1.247088976633795},{"time":2.815534303721535,"velocity":1.6497058413178485,"acceleration":0.36801610750060937,"pose":{"translation":{"x":4.499088938623131,"y":-3.262238371839439},"rotation":{"radians":1.3164738875236672}},"curvature":1.2166294659355592},{"time":2.8374412876774544,"velocity":1.6577679642803842,"acceleration":0.19124169193125673,"pose":{"translation":{"x":4.507433584846172,"y":-3.2269841102278676},"rotation":{"radians":1.3601496967784859}},"curvature":1.1957027061808203},{"time":2.8784852974365656,"velocity":1.6656172901503596,"acceleration":0.24063097052823665,"pose":{"translation":{"x":4.518982173629452,"y":-3.159766441580641},"rotation":{"radians":1.4409230493366492}},"curvature":1.1755229357157244},{"time":2.9156272051488785,"velocity":1.6745547834504437,"acceleration":1.3993927340451369,"pose":{"translation":{"x":4.524777113168592,"y":-3.0980075386878987},"rotation":{"radians":1.5133353475667122}},"curvature":1.1527759437373404},{"time":2.9485075221829247,"velocity":1.7205672602009883,"acceleration":2.700000000000014,"pose":{"translation":{"x":4.526225859850603,"y":-3.0422099988175972},"rotation":{"radians":1.5753194476726071}},"curvature":1.0394087433069856},{"time":3.002903618872541,"velocity":1.8674367212629532,"acceleration":2.7000000000000033,"pose":{"translation":{"x":4.521929781614376,"y":-2.9447179024673122},"rotation":{"radians":1.637364490570741}},"curvature":8.157389972981047E-14},{"time":3.0642226417828904,"velocity":2.032998083120897,"acceleration":2.700000000000003,"pose":{"translation":{"x":4.516500603305566,"y":-2.825255782820565},"rotation":{"radians":1.5951301852199393}},"curvature":-0.24032468000285526},{"time":3.1121967444891405,"velocity":2.162528160427773,"acceleration":2.7000000000000153,"pose":{"translation":{"x":4.514951338349686,"y":-2.724629405061662},"rotation":{"radians":1.5795624212135146}},"curvature":-0.0983149126254386},{"time":3.141189487082322,"velocity":2.2408085654293632,"acceleration":0.8465206158157333,"pose":{"translation":{"x":4.514565302662856,"y":-2.6607981682536925},"rotation":{"radians":1.574483868161254}},"curvature":-0.06434781260788851},{"time":3.1735852454464184,"velocity":2.268232242749556,"acceleration":0.2715780757295265,"pose":{"translation":{"x":4.514445998226422,"y":-2.5877613674567574},"rotation":{"radians":1.5706308686232595}},"curvature":-0.0432268934552178},{"time":3.2096467141479064,"velocity":2.2780257470274865,"acceleration":0.1636740519827303,"pose":{"translation":{"x":4.51458763960646,"y":-2.505789119725443},"rotation":{"radians":1.567688548994094}},"curvature":-0.02977216939807691},{"time":3.24925193403369,"velocity":2.2845080938458597,"acceleration":0.10354305790144527,"pose":{"translation":{"x":4.514976407457364,"y":-2.415439878142925},"rotation":{"radians":1.565430673324969}},"curvature":-0.020929899655818117},{"time":3.292072099851694,"velocity":2.288941824754503,"acceleration":0.06905547627732041,"pose":{"translation":{"x":4.515591443912881,"y":-2.3175238677900967},"rotation":{"radians":1.5636973892091912}},"curvature":-0.014910894694518471},{"time":3.3376777619222358,"velocity":2.2920911454697266,"acceleration":0.048844467981466085,"pose":{"translation":{"x":4.516405847977157,"y":-2.213066521714691},"rotation":{"radians":1.5623764440138765}},"curvature":-0.01064968332292037},{"time":3.3855567519781147,"velocity":2.294429769266496,"acceleration":0.03697872746768034,"pose":{"translation":{"x":4.517387670915773,"y":-2.1032719169004075},"rotation":{"radians":1.5613895577067787}},"curvature":-0.0074929598610598246},{"time":3.4351314713292393,"velocity":2.296262979302668,"acceleration":0.030344080669010818,"pose":{"translation":{"x":4.518500911646787,"y":-1.989486210236036},"rotation":{"radians":1.5606831290796792}},"curvature":-0.005022950159411381},{"time":3.4857757007853083,"velocity":2.2977997318867027,"acceleration":0.027372545189979308,"pose":{"translation":{"x":4.519706512131773,"y":-1.8731610744845841},"rotation":{"radians":1.5602221557589944}},"curvature":-0.002955414639808987},{"time":3.5368310621109766,"velocity":2.2991972470717803,"acceleration":-0.47819587040888123,"pose":{"translation":{"x":4.520963352766862,"y":-1.7558171342523996},"rotation":{"radians":1.5599864935682068}},"curvature":-0.0010776076292105799},{"time":3.5879099377845787,"velocity":2.274771539659535,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":4.522229247773783,"y":-1.6390074019582974},"rotation":{"radians":1.5599688959986875}},"curvature":7.937909107890736E-4},{"time":3.639954725210951,"velocity":2.134250613608329,"acceleration":-2.7,"pose":{"translation":{"x":4.523461940590902,"y":-1.5242807138026828},"rotation":{"radians":1.5601745593097016}},"curvature":0.0028474978744367652},{"time":3.6938685573457293,"velocity":1.9886832668444285,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.5246200992642605,"y":-1.4131451657366785},"rotation":{"radians":1.5606221633255757}},"curvature":0.005315644880522435},{"time":3.7493169886440083,"velocity":1.8389725023390757,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.52566431183862,"y":-1.30703154943125},"rotation":{"radians":1.561346690533953}},"curvature":0.008527518514458468},{"time":3.8059275017863823,"velocity":1.6861241168546657,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.526558081748497,"y":-1.2072567882463274},"rotation":{"radians":1.562404704329987}},"curvature":0.01299970154097661},{"time":3.863286066365419,"velocity":1.531255992491267,"acceleration":-2.7,"pose":{"translation":{"x":4.527268823209209,"y":-1.1149873731999345},"rotation":{"radians":1.5638833996031827}},"curvature":0.01960320718040466},{"time":3.9209330958745805,"velocity":1.3756090128165304,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.527768856607906,"y":-1.0312027989373118},"rotation":{"radians":1.5659158328123606}},"curvature":0.029894616392791104},{"time":3.978359515837447,"velocity":1.2205576789167907,"acceleration":-2.7,"pose":{"translation":{"x":4.528036403894624,"y":-0.9566589997000423},"rotation":{"radians":1.5687067032623803}},"curvature":0.046808490349886454},{"time":4.090262437349658,"velocity":0.9184197908338209,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.527822408092872,"y":-0.8369802770643506},"rotation":{"radians":1.5780381916556012}},"curvature":0.13020720457203205},{"time":4.194164115029606,"velocity":0.6378852610979595,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.526608467521291,"y":-0.7561380379791154},"rotation":{"radians":1.5975823573552166}},"curvature":0.4508077327552779},{"time":4.287510583851682,"velocity":0.3858497952783539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.52453434392984,"y":-0.7084020506960766},"rotation":{"radians":1.6399758195515537}},"curvature":1.6410509175160912},{"time":4.430417915436257,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.521929781614379,"y":-0.6809549700444508},"rotation":{"radians":1.6850506547563373}},"curvature":-0.0}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":2.295,"y":-0.7613618501578302},"rotation":{"radians":-1.6862229871618215}},"curvature":0.0},{"time":0.2238228580660315,"velocity":0.6043217167782851,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.2875627593458607,"y":-0.8285821812917589},"rotation":{"radians":-1.6709663269826212}},"curvature":0.42243831537365},{"time":0.3198225371197324,"velocity":0.8635208502232774,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.281793525880724,"y":-0.8988017878415373},"rotation":{"radians":-1.6319372854089}},"curvature":0.6481967229998912},{"time":0.3979249471682881,"velocity":1.0743973573543777,"acceleration":2.7,"pose":{"translation":{"x":2.2791010756631116,"y":-0.974431918334709},"rotation":{"radians":-1.5803173771814334}},"curvature":0.6905190891267584},{"time":0.4687493308135945,"velocity":1.265623193196705,"acceleration":2.700000000000001,"pose":{"translation":{"x":2.2806273188287203,"y":-1.0572831182899467},"rotation":{"radians":-1.5253509810236108}},"curvature":0.6258138524525175},{"time":0.536240595225811,"velocity":1.4478496071096898,"acceleration":2.7000000000000024,"pose":{"translation":{"x":2.2872648244318845,"y":-1.1486100891732618},"rotation":{"radians":-1.4727132767868774}},"curvature":0.5233946397247444},{"time":0.6021610635649666,"velocity":1.62583487162541,"acceleration":2.700000000000004,"pose":{"translation":{"x":2.2996743452870447,"y":-1.249156547354214},"rotation":{"radians":-1.4249868121113762}},"curvature":0.42244145879152445},{"time":0.6672865377662217,"velocity":1.8016736519687993,"acceleration":2.699999999999998,"pose":{"translation":{"x":2.3183023428102096,"y":-1.3592000830621207},"rotation":{"radians":-1.3827959970636505}},"curvature":0.33807433193501213},{"time":0.7318784624738089,"velocity":1.9760718486792845,"acceleration":2.6999999999999966,"pose":{"translation":{"x":2.343398511860425,"y":-1.4785970193422662},"rotation":{"radians":-1.3457701607439638}},"curvature":0.272826204482378},{"time":0.7639755742515466,"velocity":2.0627340504791762,"acceleration":2.699999999999995,"pose":{"translation":{"x":2.3584006997501628,"y":-1.5416539629117005},"rotation":{"radians":-1.3289592448034329}},"curvature":0.24672187819165592},{"time":0.79591615798846,"velocity":2.1489736265688424,"acceleration":2.7,"pose":{"translation":{"x":2.3750333055812374,"y":-1.6068272710121114},"rotation":{"radians":-1.3131390093705173}},"curvature":0.2244056885122533},{"time":0.8276735610582107,"velocity":2.234718614857169,"acceleration":2.700000000000003,"pose":{"translation":{"x":2.393280004647849,"y":-1.6740004788825873},"rotation":{"radians":-1.2982003026310438}},"curvature":0.20544703216711874},{"time":0.8592160254640394,"velocity":2.319883268752907,"acceleration":2.6999999999999935,"pose":{"translation":{"x":2.413115460242161,"y":-1.7430392036175038},"rotation":{"radians":-1.2840367812955156}},"curvature":0.1894440644672511},{"time":0.8905081816354967,"velocity":2.4043720904158414,"acceleration":2.047777485293865,"pose":{"translation":{"x":2.4345058713055985,"y":-1.8137925460089055},"rotation":{"radians":-1.2705464213689779}},"curvature":0.1760374965787479},{"time":0.9216392311444831,"velocity":2.4681215526939124,"acceleration":0.2206526268687534,"pose":{"translation":{"x":2.4574095200801422,"y":-1.8860944923888865},"rotation":{"radians":-1.2576321461697906}},"curvature":0.16491580178764134},{"time":0.9530345720845819,"velocity":2.4750490171437853,"acceleration":0.17473108175605218,"pose":{"translation":{"x":2.4817773197596242,"y":-1.9597653164719735},"rotation":{"radians":-1.2452018642435618}},"curvature":0.15581557334166538},{"time":0.9849824423495558,"velocity":2.4806313030749862,"acceleration":0.13420973678018955,"pose":{"translation":{"x":2.5075533621410258,"y":-2.0346129811975073},"rotation":{"radians":-1.2331681196882358}},"curvature":0.14851941263212015},{"time":1.0174160855139935,"velocity":2.484984213786908,"acceleration":0.09785938881726863,"pose":{"translation":{"x":2.5346754652757695,"y":-2.1104345405720215},"rotation":{"radians":-1.2214474910852267}},"curvature":0.14285281673636144},{"time":1.0502640379596035,"velocity":2.488198694337134,"acceleration":0.06457035383588182,"pose":{"translation":{"x":2.56307572112102,"y":-2.1870175415116284},"rotation":{"radians":-1.209959827348416}},"curvature":0.13868094979876497},{"time":1.0834508528548787,"velocity":2.490341578717608,"acceleration":0.03332603108966507,"pose":{"translation":{"x":2.592681043190974,"y":-2.2641414256843975},"rotation":{"radians":-1.1986273745980418}},"curvature":0.13590582128598253},{"time":1.116897834625043,"velocity":2.491456233871936,"acceleration":0.0031712183295556132,"pose":{"translation":{"x":2.6234137142081626,"y":-2.3415789313527373},"rotation":{"radians":-1.187373823781586}},"curvature":0.13446418174940708},{"time":1.1505237827196821,"velocity":2.4915628690948823,"acceleration":-0.02682294495571368,"pose":{"translation":{"x":2.655191933754741,"y":-2.419097495215779},"rotation":{"radians":-1.1761232912234905}},"curvature":0.13432633265848715},{"time":1.1842457452719746,"velocity":2.4906583467495436,"acceleration":-0.057597062983573956,"pose":{"translation":{"x":2.687930365923788,"y":-2.4964606542517545},"rotation":{"radians":-1.1647992313623026}},"curvature":0.1354959980230762},{"time":1.2179797846374105,"velocity":2.488715365159522,"acceleration":-0.0901452822286447,"pose":{"translation":{"x":2.7215406869706,"y":-2.5734294475603816},"rotation":{"radians":-1.153323270987528}},"curvature":0.13801140138203102},{"time":1.2516417579661474,"velocity":2.48568089707343,"acceleration":-0.12556220375043042,"pose":{"translation":{"x":2.755932132963989,"y":-2.649763818205243},"rotation":{"radians":-1.1416139461224635}},"curvature":0.141947720579542},{"time":1.2851481170235821,"velocity":2.4814737647905254,"acceleration":-0.16509682121438746,"pose":{"translation":{"x":2.791012047437576,"y":-2.725224015056169},"rotation":{"radians":-1.1295853154477415}},"curvature":0.14742114899625852},{"time":1.3184167325152742,"velocity":2.4759812221266433,"acceleration":-0.21021572324758353,"pose":{"translation":{"x":2.826686429041087,"y":-2.79957199463162},"rotation":{"radians":-1.1171454172112107}},"curvature":0.15459487429116978},{"time":1.3513677492539191,"velocity":2.469054400311186,"acceleration":-0.2626778586947929,"pose":{"translation":{"x":2.862860479191651,"y":-2.8725728229410636},"rotation":{"radians":-1.104194529526788}},"curvature":0.1636873960364607},{"time":1.3839244796575274,"velocity":2.4605024680826624,"acceleration":-0.3246227267289251,"pose":{"translation":{"x":2.899439149725094,"y":-2.9439960773273626},"rotation":{"radians":-1.0906231866536258}},"curvature":0.17498374563792934},{"time":1.416014344281363,"velocity":2.450085368728111,"acceleration":-0.39867245871936025,"pose":{"translation":{"x":2.9363276905472344,"y":-3.013617248309152},"rotation":{"radians":-1.0763098963792286}},"curvature":0.188850349926551},{"time":1.4475698692961467,"velocity":2.4375050499842867,"acceleration":-0.4880450718552594,"pose":{"translation":{"x":2.97343219728518,"y":-3.0812191414232215},"rotation":{"radians":-1.0611184965534355}},"curvature":0.20575449618392444},{"time":1.4785297518710978,"velocity":2.4223952318683644,"acceleration":-0.5966697873045588,"pose":{"translation":{"x":3.0106601589386233,"y":-3.146593279066898},"rotation":{"radians":-1.0448950833982154}},"curvature":0.22628960682894933},{"time":1.5088400049810693,"velocity":2.4043100195920903,"acceleration":-0.7292834860704658,"pose":{"translation":{"x":3.047921005531138,"y":-3.209541302340427},"rotation":{"radians":-1.027464442923879}},"curvature":0.25120779603727555},{"time":1.5384551926393475,"velocity":2.38271215229603,"acceleration":-1.463257834974876,"pose":{"translation":{"x":3.085126655761474,"y":-3.269876372889353},"rotation":{"radians":-1.0086259241306357}},"curvature":0.28146140297010774},{"time":1.5674416827015514,"velocity":2.340297443604089,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.1221920646548513,"y":-3.327424574746902},"rotation":{"radians":-0.9881487165961091}},"curvature":0.3182552520700264},{"time":1.5960599653540903,"velocity":2.2630280804422336,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":3.159035771214261,"y":-3.3820263161763613},"rotation":{"radians":-0.9657665490960503}},"curvature":0.3631110207931093},{"time":1.6244494033581764,"velocity":2.186376597831201,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":3.1955804460717556,"y":-3.433537731513467},"rotation":{"radians":-0.9411719326651999}},"curvature":0.41794379134302745},{"time":1.6802341289069935,"velocity":2.0357578388493947,"acceleration":-2.700000000000007,"pose":{"translation":{"x":3.2674873272623084,"y":-3.5268011626700524},"rotation":{"radians":-0.8838744765709162}},"curvature":0.5676806569335158},{"time":1.7342183174106425,"velocity":1.8900005298895424,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":3.337397516613452,"y":-3.6064317343619137},"rotation":{"radians":-0.8127721091644887}},"curvature":0.7936809657354875},{"time":1.7603817903466468,"velocity":1.8193591529623308,"acceleration":-2.699999999999999,"pose":{"translation":{"x":3.3714700350501103,"y":-3.6409820757754963},"rotation":{"radians":-0.7707196850370257}},"curvature":0.9459943435225653},{"time":1.7859257834995834,"velocity":1.7503903714494018,"acceleration":-2.700000000000002,"pose":{"translation":{"x":3.40489697826008,"y":-3.671987647805823},"rotation":{"radians":-0.7235499490908228}},"curvature":1.130695249383548},{"time":1.810822172413577,"velocity":1.6831701213816195,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":3.43764527251514,"y":-3.6994539188824165},"rotation":{"radians":-0.6706829672990798}},"curvature":1.3514118098787564},{"time":1.8350652171193997,"velocity":1.6177139006758978,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":3.4696903569265034,"y":-3.7234132982463013},"rotation":{"radians":-0.6116251435465475}},"curvature":1.609015470098565},{"time":1.8586774034473477,"velocity":1.553960997590438,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.50101673109611,"y":-3.7439265377923783},"rotation":{"radians":-0.5460815089409298}},"curvature":1.8989223219106286},{"time":1.8817153042636172,"velocity":1.4917586653865105,"acceleration":-2.7,"pose":{"translation":{"x":3.5316185027679166,"y":-3.761084133911811},"rotation":{"radians":-0.4741119503459261}},"curvature":2.2076674826616207},{"time":1.904274713041263,"velocity":1.430848261686867,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.5614999354792047,"y":-3.775007729334405},"rotation":{"radians":-0.3963193119780172}},"curvature":2.509813499641639},{"time":1.926494072861861,"velocity":1.3708559901712527,"acceleration":-1.7360010839707936,"pose":{"translation":{"x":3.5906759962118615,"y":-3.785851514970978},"rotation":{"radians":-0.3140302215861748}},"curvature":2.767361691179083},{"time":1.9483792111817912,"velocity":1.332863366325003,"acceleration":-0.33260195359126,"pose":{"translation":{"x":3.6191729030436903,"y":-3.7938036317557664},"rotation":{"radians":-0.2294002344230172}},"curvature":2.9342208922863526},{"time":1.9697078388184115,"velocity":1.3257694231056425,"acceleration":1.4425885806242416,"pose":{"translation":{"x":3.647028672799695,"y":-3.799087572488786},"rotation":{"radians":-0.14536774914813597}},"curvature":2.9664362097752703},{"time":1.990159779820742,"velocity":1.3552731596472052,"acceleration":2.7000000000000197,"pose":{"translation":{"x":3.674293668703379,"y":-3.801963583678219},"rotation":{"radians":-0.06542301378713838}},"curvature":2.8346680371518382},{"time":2.009522893130647,"velocity":1.4075535655839486,"acceleration":2.7000000000000077,"pose":{"translation":{"x":3.701031148028049,"y":-3.8027300673828},"rotation":{"radians":0.006754840436328204}},"curvature":2.5320930769097063},{"time":2.0278884624517373,"velocity":1.4571406027508929,"acceleration":2.7000000000000117,"pose":{"translation":{"x":3.7273178097480972,"y":-3.8017249830541937},"rotation":{"radians":0.06766296991552057}},"curvature":2.0727623080062316},{"time":2.0454707300596353,"velocity":1.5046127252922175,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.753244342190306,"y":-3.799327249379374},"rotation":{"radians":0.11420977866462667}},"curvature":1.4818865874186298},{"time":2.0788447063536872,"velocity":1.5947224612861575,"acceleration":2.699999999999991,"pose":{"translation":{"x":3.804453005218058,"y":-3.7920827159698454},"rotation":{"radians":0.1540722073439685}},"curvature":2.1018634129701798E-14},{"time":2.14016418165343,"velocity":1.7602850445954625,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.905945352536751,"y":-3.775342527336568},"rotation":{"radians":0.18166674717368012}},"curvature":0.5152496280092774},{"time":2.1950389026437223,"velocity":1.9084467912692515,"acceleration":-0.06101285038417527,"pose":{"translation":{"x":4.0042908602985285,"y":-3.753879519369632},"rotation":{"radians":0.25508593122980006}},"curvature":0.9332989977155163},{"time":2.2207660271759426,"velocity":1.9068771060693521,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.051464696436347,"y":-3.7403390721934033},"rotation":{"radians":0.30545051643193}},"curvature":1.1165581896564716},{"time":2.2464786744358793,"velocity":1.837452958467523,"acceleration":-2.206108744958662,"pose":{"translation":{"x":4.096947839509993,"y":-3.7245726058589863},"rotation":{"radians":0.3632329242877742}},"curvature":1.2808710235533614},{"time":2.272573980390439,"velocity":1.7798838757987967,"acceleration":-1.659035663981272,"pose":{"translation":{"x":4.1405180916955455,"y":-3.7064270480262365},"rotation":{"radians":0.42712073596972033}},"curvature":1.4221279488940135},{"time":2.298912289334552,"velocity":1.7361876819315565,"acceleration":-1.1424195961424666,"pose":{"translation":{"x":4.181988434500418,"y":-3.685829904365699},"rotation":{"radians":0.49571870603175944}},"curvature":1.5355986159743502},{"time":2.3253422467657834,"velocity":1.7059935806369064,"acceleration":-0.6582374781937673,"pose":{"translation":{"x":4.221205436137705,"y":-3.6627817599461077},"rotation":{"radians":0.5675665541407077}},"curvature":1.6174029629573279},{"time":2.351718136008667,"velocity":1.6886319818165527,"acceleration":-0.21557345896095534,"pose":{"translation":{"x":4.258047658900505,"y":-3.6373487806218816},"rotation":{"radians":0.6411960052302572}},"curvature":1.6657651187126432},{"time":2.3779036291264677,"velocity":1.6829870844905501,"acceleration":0.1740259308197469,"pose":{"translation":{"x":4.2924240665362685,"y":-3.609655214420623},"rotation":{"radians":0.7152111133964305}},"curvature":1.681704394731275},{"time":2.4037764722281487,"velocity":1.6874896300942734,"acceleration":0.4997773459990627,"pose":{"translation":{"x":4.3242724316211225,"y":-3.5798758929306134},"rotation":{"radians":0.7883707746795767}},"curvature":1.6689821260803184},{"time":2.4292321507455723,"velocity":1.7002118015443168,"acceleration":0.7537800068809029,"pose":{"translation":{"x":4.353557742934217,"y":-3.5482287326883135},"rotation":{"radians":0.8596537084032315}},"curvature":1.6333988899413465},{"time":2.454185315225388,"velocity":1.7190209980376125,"acceleration":0.9321488961443288,"pose":{"translation":{"x":4.380270612832052,"y":-3.514967236565859},"rotation":{"radians":0.9282936788301375}},"curvature":1.5817555438910227},{"time":2.4785687606745443,"velocity":1.7417499997972394,"acceleration":1.0352408050638677,"pose":{"translation":{"x":4.404425684622819,"y":-3.480372995158558},"rotation":{"radians":0.9937826934916295}},"curvature":1.520838096179469},{"time":2.5023305732544086,"velocity":1.7663491977821946,"acceleration":1.0671498593673148,"pose":{"translation":{"x":4.426060039940733,"y":-3.44474818817239},"rotation":{"radians":1.0558480672371795}},"curvature":1.4566747653136742},{"time":2.525430427761149,"velocity":1.791000204270468,"acceleration":1.034802852955576,"pose":{"translation":{"x":4.445231606120371,"y":-3.408408085811502},"rotation":{"radians":1.1144131848363263}},"curvature":1.3941444249022739},{"time":2.5478359579487497,"velocity":1.8141855108305798,"acceleration":0.9470954333336006,"pose":{"translation":{"x":4.462017563571007,"y":-3.371673550165707},"rotation":{"radians":1.1695516536197381}},"curvature":1.3368827758543969},{"time":2.5695198105207138,"velocity":1.8347221885785658,"acceleration":0.8145412207107551,"pose":{"translation":{"x":4.476512753150946,"y":-3.3348635365979806},"rotation":{"radians":1.221441925798029}},"curvature":1.2873712262671073},{"time":2.5904576220796014,"velocity":1.851776899164754,"acceleration":0.6498994566281417,"pose":{"translation":{"x":4.488828083541861,"y":-3.29828759513196},"rotation":{"radians":1.2703261298936033}},"curvature":1.247088976633795},{"time":2.61062684179505,"velocity":1.8648848640984377,"acceleration":0.47028145306316166,"pose":{"translation":{"x":4.499088938623131,"y":-3.262238371839439},"rotation":{"radians":1.3164738875236672}},"curvature":1.2166294659355592},{"time":2.6300060968329784,"velocity":1.8739985683169562,"acceleration":0.24438446832804078,"pose":{"translation":{"x":4.507433584846172,"y":-3.2269841102278676},"rotation":{"radians":1.3601496967784859}},"curvature":1.1957027061808203},{"time":2.666314259312192,"velocity":1.882871719300407,"acceleration":0.30749817783947586,"pose":{"translation":{"x":4.518982173629452,"y":-3.159766441580641},"rotation":{"radians":1.4409230493366492}},"curvature":1.1755229357157244},{"time":2.699170562288469,"velocity":1.892974972596154,"acceleration":1.788259902106825,"pose":{"translation":{"x":4.524777113168592,"y":-3.0980075386878987},"rotation":{"radians":1.5133353475667122}},"curvature":1.1527759437373404},{"time":2.7282569965878176,"velocity":1.9449890767489433,"acceleration":2.7000000000000095,"pose":{"translation":{"x":4.526225859850603,"y":-3.0422099988175972},"rotation":{"radians":1.5753194476726071}},"curvature":1.0394087433069856},{"time":2.776795146099532,"velocity":2.0760420804305726,"acceleration":2.7000000000000126,"pose":{"translation":{"x":4.521929781614376,"y":-2.9447179024673122},"rotation":{"radians":1.637364490570741}},"curvature":8.157389972981047E-14},{"time":2.8323880261439154,"velocity":2.2261428565504087,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.516500603305566,"y":-2.825255782820565},"rotation":{"radians":1.5951301852199393}},"curvature":-0.24032468000285526},{"time":2.876419760993818,"velocity":2.345028540645145,"acceleration":2.700000000000008,"pose":{"translation":{"x":4.514951338349686,"y":-2.724629405061662},"rotation":{"radians":1.5795624212135146}},"curvature":-0.0983149126254386},{"time":2.903226385983193,"velocity":2.417406428116458,"acceleration":2.6999999999999913,"pose":{"translation":{"x":4.514565302662856,"y":-2.6607981682536925},"rotation":{"radians":1.574483868161254}},"curvature":-0.06434781260788851},{"time":2.932946047006225,"velocity":2.497649512878644,"acceleration":2.398329872498177,"pose":{"translation":{"x":4.514445998226422,"y":-2.5877613674567574},"rotation":{"radians":1.5706308686232595}},"curvature":-0.0432268934552178},{"time":2.9652643815807127,"velocity":2.5751595401180287,"acceleration":0.20915625546374977,"pose":{"translation":{"x":4.51458763960646,"y":-2.505789119725443},"rotation":{"radians":1.567688548994094}},"curvature":-0.02977216939807691},{"time":3.0002997684027517,"velocity":2.5824874104344504,"acceleration":0.13231589251677878,"pose":{"translation":{"x":4.514976407457364,"y":-2.415439878142925},"rotation":{"radians":1.565430673324969}},"curvature":-0.020929899655818117},{"time":3.0381791458571406,"velocity":2.587499454070308,"acceleration":0.08824480522394913,"pose":{"translation":{"x":4.515591443912881,"y":-2.3175238677900967},"rotation":{"radians":1.5636973892091912}},"curvature":-0.014910894694518471},{"time":3.0785226161503116,"velocity":2.591059555748387,"acceleration":0.062417505397883585,"pose":{"translation":{"x":4.516405847977157,"y":-2.213066521714691},"rotation":{"radians":1.5623764440138765}},"curvature":-0.01064968332292037},{"time":3.120877107353586,"velocity":2.593703217431692,"acceleration":0.04725447971292633,"pose":{"translation":{"x":4.517387670915773,"y":-2.1032719169004075},"rotation":{"radians":1.5613895577067787}},"curvature":-0.0074929598610598246},{"time":3.164731666779583,"velocity":2.595775541820407,"acceleration":-1.284958027600152,"pose":{"translation":{"x":4.518500911646787,"y":-1.989486210236036},"rotation":{"radians":1.5606831290796792}},"curvature":-0.005022950159411381},{"time":3.210055774962846,"velocity":2.537535965166505,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.519706512131773,"y":-1.8731610744845841},"rotation":{"radians":1.5602221557589944}},"curvature":-0.002955414639808987},{"time":3.257499183243566,"velocity":2.409438762808562,"acceleration":-2.700000000000006,"pose":{"translation":{"x":4.520963352766862,"y":-1.7558171342523996},"rotation":{"radians":1.5599864935682068}},"curvature":-0.0010776076292105799},{"time":3.30737593255802,"velocity":2.274771539659535,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":4.522229247773783,"y":-1.6390074019582974},"rotation":{"radians":1.5599688959986875}},"curvature":7.937909107890736E-4},{"time":3.3594207199843926,"velocity":2.134250613608329,"acceleration":-2.7,"pose":{"translation":{"x":4.523461940590902,"y":-1.5242807138026828},"rotation":{"radians":1.5601745593097016}},"curvature":0.0028474978744367652},{"time":3.4133345521191707,"velocity":1.9886832668444285,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":4.5246200992642605,"y":-1.4131451657366785},"rotation":{"radians":1.5606221633255757}},"curvature":0.005315644880522435},{"time":3.4687829834174497,"velocity":1.8389725023390757,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.52566431183862,"y":-1.30703154943125},"rotation":{"radians":1.561346690533953}},"curvature":0.008527518514458468},{"time":3.5253934965598237,"velocity":1.6861241168546657,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.526558081748497,"y":-1.2072567882463274},"rotation":{"radians":1.562404704329987}},"curvature":0.01299970154097661},{"time":3.5827520611388604,"velocity":1.531255992491267,"acceleration":-2.7,"pose":{"translation":{"x":4.527268823209209,"y":-1.1149873731999345},"rotation":{"radians":1.5638833996031827}},"curvature":0.01960320718040466},{"time":3.640399090648022,"velocity":1.3756090128165304,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.527768856607906,"y":-1.0312027989373118},"rotation":{"radians":1.5659158328123606}},"curvature":0.029894616392791104},{"time":3.6978255106108886,"velocity":1.2205576789167907,"acceleration":-2.7,"pose":{"translation":{"x":4.528036403894624,"y":-0.9566589997000423},"rotation":{"radians":1.5687067032623803}},"curvature":0.046808490349886454},{"time":3.8097284321230998,"velocity":0.9184197908338209,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.527822408092872,"y":-0.8369802770643506},"rotation":{"radians":1.5780381916556012}},"curvature":0.13020720457203205},{"time":3.9136301098030484,"velocity":0.6378852610979595,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.526608467521291,"y":-0.7561380379791154},"rotation":{"radians":1.5975823573552166}},"curvature":0.4508077327552779},{"time":4.006976578625125,"velocity":0.3858497952783539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.52453434392984,"y":-0.7084020506960766},"rotation":{"radians":1.6399758195515537}},"curvature":1.6410509175160912},{"time":4.1498839102097005,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.521929781614379,"y":-0.6809549700444508},"rotation":{"radians":1.6850506547563373}},"curvature":-0.0}] \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce3.wpilib.json b/src/main/deploy/paths/Bounce3.wpilib.json index 827b413..c437e83 100644 --- a/src/main/deploy/paths/Bounce3.wpilib.json +++ b/src/main/deploy/paths/Bounce3.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":4.589966372479545,"y":-0.68095497004445},"rotation":{"radians":-1.5263811115479844}},"curvature":0.0},{"time":0.2070828175020424,"velocity":0.5591236072555146,"acceleration":2.7000000000000006,"pose":{"translation":{"x":4.592109173628807,"y":-0.7388077461455489},"rotation":{"radians":-1.5438491627479822}},"curvature":-0.3245925157196854},{"time":0.3280789541461832,"velocity":0.8858131761946948,"acceleration":2.7000000000000015,"pose":{"translation":{"x":4.593653902550851,"y":-0.8262099808487304},"rotation":{"radians":-1.558550418098328}},"curvature":-0.06054816023823846},{"time":0.39082852014459424,"velocity":1.0552370043904047,"acceleration":2.7,"pose":{"translation":{"x":4.594332872788546,"y":-0.8871062240412282},"rotation":{"radians":-1.5601416447502567}},"curvature":-3.0944852586673745E-4},{"time":0.45575980697399043,"velocity":1.2305514788297744,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5951574827446215,"y":-0.961311236223701},"rotation":{"radians":-1.5588468930674415}},"curvature":0.030875509149994106},{"time":0.5224862840231406,"velocity":1.4107129668624798,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.596356035308048,"y":-1.0494242206825188},"rotation":{"radians":-1.5553008566366542}},"curvature":0.047551843662150005},{"time":0.5904277372912898,"velocity":1.5941548906864826,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5982051784046245,"y":-1.151485015179089},"rotation":{"radians":-1.5498926757890057}},"curvature":0.05746733581479173},{"time":0.6589537760093211,"velocity":1.779175195225167,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.601021941868659,"y":-1.2670311610361567},"rotation":{"radians":-1.5428185537330257}},"curvature":0.06454492768950504},{"time":0.6932412268013554,"velocity":1.8717513123636593,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.602901335313692,"y":-1.3295934200512458},"rotation":{"radians":-1.538678511696579}},"curvature":0.0677031352599094},{"time":0.7274449909174895,"velocity":1.9641014754772215,"acceleration":2.7000000000000033,"pose":{"translation":{"x":4.605155774314647,"y":-1.3951549722241086},"rotation":{"radians":-1.5341337461043665}},"curvature":0.07084089480883898},{"time":0.7614933879997356,"velocity":2.056032147599286,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.607832698932001,"y":-1.463542152924208},"rotation":{"radians":-1.529174517434155}},"curvature":0.07408791176991712},{"time":0.7953176048082513,"velocity":2.1473575329822783,"acceleration":2.7000000000000046,"pose":{"translation":{"x":4.610980580008952,"y":-1.534560604447273},"rotation":{"radians":-1.5237854147987284}},"curvature":0.07755341473782054},{"time":0.8288517858168513,"velocity":2.2378998217054984,"acceleration":0.0024937341910172095,"pose":{"translation":{"x":4.614648670323658,"y":-1.6079970594242456},"rotation":{"radians":-1.5179455170925755}},"curvature":0.0813351738028442},{"time":0.8626965973855456,"velocity":2.237984221669296,"acceleration":-0.09517667079892499,"pose":{"translation":{"x":4.61888675574148,"y":-1.6836211242302248},"rotation":{"radians":-1.5116283771310162}},"curvature":0.08552639531128801},{"time":0.8974490328875253,"velocity":2.234676600556063,"acceleration":-0.10459183208670206,"pose":{"translation":{"x":4.623744906367221,"y":-1.7611870623934176},"rotation":{"radians":-1.5048018430855947}},"curvature":0.09022130107432581},{"time":0.933027920077677,"velocity":2.230955339561239,"acceleration":-0.11592870798294913,"pose":{"translation":{"x":4.629273227697364,"y":-1.840435578004083},"rotation":{"radians":-1.4974277241437906}},"curvature":0.09551997749325035},{"time":0.9693253948843629,"velocity":2.226747420203856,"acceleration":-0.12942125998767057,"pose":{"translation":{"x":4.6355216117723135,"y":-1.9210955991234813},"rotation":{"radians":-1.4894613006073958}},"curvature":0.10153293866920006},{"time":1.0062308488827965,"velocity":2.221971069846962,"acceleration":-0.1454023095913892,"pose":{"translation":{"x":4.642539488328637,"y":-2.002886061192818},"rotation":{"radians":-1.4808506724582902}},"curvature":0.10838576370534059},{"time":1.0436318979803318,"velocity":2.2165328709270393,"acceleration":-0.16431060990435312,"pose":{"translation":{"x":4.650375575951301,"y":-2.085517690442194},"rotation":{"radians":-1.4715359345952184}},"curvature":0.11622412610396106},{"time":1.0814153893168932,"velocity":2.210324642421213,"acceleration":-0.18670427198225475,"pose":{"translation":{"x":4.659077633225917,"y":-2.168694787299549},"rotation":{"radians":-1.4614481613491916}},"curvature":0.12521952191288635},{"time":1.119468451691948,"velocity":2.203219973113783,"acceleration":-0.21327977538140774,"pose":{"translation":{"x":4.668692209890972,"y":-2.2521170097996133},"rotation":{"radians":-1.450508177474273}},"curvature":0.13557601616315226},{"time":1.157679595976706,"velocity":2.1950703088436634,"acceleration":-0.24489582089208084,"pose":{"translation":{"x":4.679264397990079,"y":-2.335481156992849},"rotation":{"radians":-1.438625087685951}},"curvature":0.1475383590973805},{"time":1.1959398731107134,"velocity":2.185700526867372,"acceleration":-0.2826008149647425,"pose":{"translation":{"x":4.69083758302421,"y":-2.418482952354402},"rotation":{"radians":-1.4256945323137196}},"curvature":0.16140186970148448},{"time":1.2341440983269423,"velocity":2.1749039816861693,"acceleration":-0.3276616118547019,"pose":{"translation":{"x":4.70345319510394,"y":-2.500818827193046},"rotation":{"radians":-1.4115966334504564}},"curvature":0.17752453681055433},{"time":1.272192151022876,"velocity":2.162437095411887,"acceleration":-0.38158892953662893,"pose":{"translation":{"x":4.717150460101681,"y":-2.582187704060129},"rotation":{"radians":-1.3961935954154248}},"curvature":0.19634183436527775},{"time":1.3099903598795428,"velocity":2.1480137173558695,"acceleration":-0.4461510657077873,"pose":{"translation":{"x":4.731966150803932,"y":-2.662292780158523},"rotation":{"radians":-1.379326927648192}},"curvature":0.2183847622390686},{"time":1.3474529818814565,"velocity":2.1312997286255078,"acceleration":-0.5233614579993291,"pose":{"translation":{"x":4.747934338063509,"y":-2.7408433107515693},"rotation":{"radians":-1.360814271076144}},"curvature":0.24430156065241065},{"time":1.3845037809059861,"velocity":2.11190876842799,"acceleration":-0.615416476652106,"pose":{"translation":{"x":4.765086141951787,"y":-2.8175563925720244},"rotation":{"radians":-1.3404458366723455}},"curvature":0.27488331938615096},{"time":1.4210777050780339,"velocity":2.089400572876687,"acceleration":-0.7245471362628273,"pose":{"translation":{"x":4.783449482910949,"y":-2.8921587472310093},"rotation":{"radians":-1.3179805170945096}},"curvature":0.31109316246006374},{"time":1.4571226498515342,"velocity":2.0632843113642956,"acceleration":-0.8527329243797525,"pose":{"translation":{"x":4.803048832906212,"y":-2.9643885046269545},"rotation":{"radians":-1.2931418241164443}},"curvature":0.354097577947267},{"time":1.4926012723435151,"velocity":2.0330305218537434,"acceleration":-1.0012115053368664,"pose":{"translation":{"x":4.823904966578077,"y":-3.033996986354548},"rotation":{"radians":-1.2656139588306252}},"curvature":0.40529636026834653},{"time":1.5274927868378008,"velocity":1.9980967361034367,"acceleration":-1.1697146100409468,"pose":{"translation":{"x":4.846034712394565,"y":-3.10075048911368},"rotation":{"radians":-1.2350385711275536}},"curvature":0.46634388634694124},{"time":1.5617946148898212,"velocity":1.957973386679876,"acceleration":-1.3553875749321131,"pose":{"translation":{"x":4.869450703803459,"y":-3.164432068118396},"rotation":{"radians":-1.2010131537073994}},"curvature":0.539148132765236},{"time":1.5955236780934294,"velocity":1.9122574334996056,"acceleration":-1.5514378701522922,"pose":{"translation":{"x":4.894161130384542,"y":-3.2248433205058316},"rotation":{"radians":-1.163092595483043}},"curvature":0.6258238537314008},{"time":1.6287170000509292,"velocity":1.860760056778583,"acceleration":-1.745737299014821,"pose":{"translation":{"x":4.920169489001836,"y":-3.281806168745179},"rotation":{"radians":-1.120796233485178}},"curvature":0.7285618756510391},{"time":1.6614311253831402,"velocity":1.8036497879814968,"acceleration":-1.9198719703739031,"pose":{"translation":{"x":4.947474334955846,"y":-3.335164644046611},"rotation":{"radians":-1.0736237857953845}},"curvature":0.8493584004115196},{"time":1.6937396845677284,"velocity":1.7416214907998395,"acceleration":-2.0494008167371933,"pose":{"translation":{"x":4.976069033135797,"y":-3.384786669770246},"rotation":{"radians":-1.021084677271477}},"curvature":0.9895321512729235},{"time":1.7257282890946,"velocity":1.6760640185561857,"acceleration":-2.106113949622367,"pose":{"translation":{"x":5.005941509171875,"y":-3.4305658448350833},"rotation":{"radians":-0.9627460482253763}},"curvature":1.148958701141042},{"time":1.7574859524445143,"velocity":1.60917876076752,"acceleration":-2.0625692855574846,"pose":{"translation":{"x":5.037074000587465,"y":-3.4724232271279627},"rotation":{"radians":-0.8983042292163318}},"curvature":1.3250015291040753},{"time":1.7890926019841236,"velocity":1.5439878562077425,"acceleration":-1.8980397972903857,"pose":{"translation":{"x":5.069442807951394,"y":-3.51030911691249},"rotation":{"radians":-0.8276811289816337}},"curvature":1.511262413620746},{"time":1.820603220625306,"velocity":1.4841794479895378,"acceleration":-1.6037400683554446,"pose":{"translation":{"x":5.1030180460301695,"y":-3.544204840238012},"rotation":{"radians":-0.7511390340919505}},"curvature":1.696536540854126},{"time":1.852030846411252,"velocity":1.4337777052633354,"acceleration":-1.1848914932984158,"pose":{"translation":{"x":5.137763394940219,"y":-3.5741245323485376},"rotation":{"radians":-0.6693941872933166}},"curvature":1.8646723206984541},{"time":1.8833326916970483,"velocity":1.3966884150596521,"acceleration":-0.8006918002273719,"pose":{"translation":{"x":5.173635851300128,"y":-3.600116921091708},"rotation":{"radians":-0.5836945297481266}},"curvature":1.9961493837067554},{"time":1.8989220387272032,"velocity":1.3842061527217082,"acceleration":-0.5143226741035051,"pose":{"translation":{"x":5.1919794174582705,"y":-3.6116655019537696},"rotation":{"radians":-0.5398991391571408}},"curvature":2.0419821241489555},{"time":1.9144373416399572,"velocity":1.3762262806380947,"acceleration":-0.2085867701873888,"pose":{"translation":{"x":5.210585479382887,"y":-3.62226711032772},"rotation":{"radians":-0.49581950745262887}},"curvature":2.071718506566189},{"time":1.9298570208258377,"velocity":1.3730099395593862,"acceleration":0.11342570563212334,"pose":{"translation":{"x":5.229446671102517,"y":-3.6319383605385878},"rotation":{"radians":-0.4517433453858831}},"curvature":2.083801690741464},{"time":1.945157330450454,"velocity":1.3747453879749483,"acceleration":0.6217375936519959,"pose":{"translation":{"x":5.248555162268126,"y":-3.6406983633382897},"rotation":{"radians":-0.40797221202017814}},"curvature":2.077274916626576},{"time":1.9752639804864152,"velocity":1.3934638241212296,"acceleration":1.3317004264672947,"pose":{"translation":{"x":5.28748035299435,"y":-3.6555738862355964},"rotation":{"radians":-0.32257069355738}},"curvature":2.007910870513021},{"time":2.0045940142437786,"velocity":1.4325226425842104,"acceleration":2.070985564948847,"pose":{"translation":{"x":5.3272888257111894,"y":-3.667098611371225},"rotation":{"radians":-0.24199100212613692}},"curvature":1.8690100747401697},{"time":2.032965131750882,"velocity":1.4912788174028893,"acceleration":2.699999999999986,"pose":{"translation":{"x":5.3679004268316355,"y":-3.675520980745113},"rotation":{"radians":-0.16834009391666196}},"curvature":1.6737668392917224},{"time":2.060257391771775,"velocity":1.5649679194592991,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.409226826184276,"y":-3.681134729414502},"rotation":{"radians":-0.103323308608522}},"curvature":1.4385080741508813},{"time":2.0865389410384334,"velocity":1.6359281024792773,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.451171268165541,"y":-3.684280668902888},"rotation":{"radians":-0.048229035538835424}},"curvature":1.1780389970977634},{"time":2.1366193551128267,"velocity":1.7711452204801397,"acceleration":2.7000000000000046,"pose":{"translation":{"x":5.536483637352303,"y":-3.6847784492155355},"rotation":{"radians":0.028567633142997862}},"curvature":0.6163247838646808},{"time":2.1837614701727426,"velocity":1.8984289311419125,"acceleration":2.6999999999999944,"pose":{"translation":{"x":5.62288552470528,"y":-3.6807501127359408},"rotation":{"radians":0.055745754591644214}},"curvature":-7.677243136992297E-15},{"time":2.227958744880791,"velocity":2.017761572853643,"acceleration":2.699999999999993,"pose":{"translation":{"x":5.70928749887847,"y":-3.675820749392792},"rotation":{"radians":0.059443844291968105}},"curvature":0.08406734471651345},{"time":2.2691898652286695,"velocity":2.129085597792915,"acceleration":0.0516780853911863,"pose":{"translation":{"x":5.794601143824748,"y":-3.6703389772020616},"rotation":{"radians":0.0700158126679713}},"curvature":0.16331740240129808},{"time":2.308403935519882,"velocity":2.1311121058659603,"acceleration":-1.4423801760237267,"pose":{"translation":{"x":5.877877386261036,"y":-3.663834929565175},"rotation":{"radians":0.08700182305069112}},"curvature":0.2445947968094608},{"time":2.3468285562697364,"velocity":2.075689194625141,"acceleration":-1.5837097637824156,"pose":{"translation":{"x":5.958311648291609,"y":-3.655923839181552},"rotation":{"radians":0.11027345811203224}},"curvature":0.33353611047954473},{"time":2.3847248079025576,"velocity":2.015672530903487,"acceleration":-1.783138812696968,"pose":{"translation":{"x":6.035235685201561,"y":-3.6463005965775848},"rotation":{"radians":0.13994854665175013}},"curvature":0.4353653202641991},{"time":2.421943626030299,"velocity":1.9493062117372022,"acceleration":-2.0211498235081593,"pose":{"translation":{"x":6.108109423250279,"y":-3.6347343086356205},"rotation":{"radians":0.1763317728024246}},"curvature":0.5552684482621081},{"time":2.4584185036210666,"velocity":1.87558501933214,"acceleration":-2.2698727854170992,"pose":{"translation":{"x":6.176512797464907,"y":-3.6210628571229395},"rotation":{"radians":0.21986219149329764}},"curvature":0.6984075722173941},{"time":2.494153918010933,"velocity":1.79447017473298,"acceleration":-2.489625818367925,"pose":{"translation":{"x":6.2401375894338225,"y":-3.6051874572207367},"rotation":{"radians":0.27105190546332425}},"curvature":0.8694918759018261},{"time":2.529210073706347,"velocity":1.7071934644209512,"acceleration":-2.6305583663943217,"pose":{"translation":{"x":6.298779265100105,"y":-3.5870672160531027},"rotation":{"radians":0.3304008093259189}},"curvature":1.0717296189922367},{"time":2.563681930957442,"velocity":1.616513231923933,"acceleration":-2.6411688372265134,"pose":{"translation":{"x":6.352328812555008,"y":-3.5667136912160036},"rotation":{"radians":0.39827372726481575}},"curvature":1.3049859539055322},{"time":2.597671274709752,"velocity":1.5267416364075523,"acceleration":-2.4821828853867918,"pose":{"translation":{"x":6.400764579831427,"y":-3.544185449306262},"rotation":{"radians":0.47473297102582507}},"curvature":1.5631982718744206},{"time":2.6312527658227403,"velocity":1.443386233901124,"acceleration":-2.245414419675997,"pose":{"translation":{"x":6.444144112697375,"y":-3.5195826244505373},"rotation":{"radians":0.5593368601567298}},"curvature":1.8317132215592633},{"time":2.6479114487133324,"velocity":1.4059805871257787,"acceleration":-2.028930299264619,"pose":{"translation":{"x":6.4639754212416065,"y":-3.506544562341943},"rotation":{"radians":0.6043681446850115}},"curvature":1.9625585166709498},{"time":2.6644688577988225,"velocity":1.3723867581549083,"acceleration":-1.7717668169774874,"pose":{"translation":{"x":6.482595992449446,"y":-3.4930414768343057},"rotation":{"radians":0.6509456663352783}},"curvature":2.0861494151286895},{"time":2.68091225311472,"velocity":1.3432528959757581,"acceleration":-1.4786740545540809,"pose":{"translation":{"x":6.500031659172299,"y":-3.47909515240616},"rotation":{"radians":0.6987995702788127}},"curvature":2.1983374608126947},{"time":2.697222693987955,"velocity":1.319135070238167,"acceleration":-1.1550484733580446,"pose":{"translation":{"x":6.516311673706294,"y":-3.4647289512308412},"rotation":{"radians":0.7476115499336127}},"curvature":2.2949589944417603},{"time":2.7133755624198845,"velocity":1.3004777242155137,"acceleration":-0.8064532552554248,"pose":{"translation":{"x":6.531468452723326,"y":-3.449967643130512},"rotation":{"radians":0.7970219666457996}},"curvature":2.37216311989662},{"time":2.729341567964699,"velocity":1.287601887070472,"acceleration":-0.4382265335964821,"pose":{"translation":{"x":6.5455373222021,"y":-3.434837235530196},"rotation":{"radians":0.8466404586300422}},"curvature":2.4267481782294813},{"time":2.7450881534023663,"velocity":1.2807013155181421,"acceleration":-0.05521002436571513,"pose":{"translation":{"x":6.558556262359182,"y":-3.4193648034118076},"rotation":{"radians":0.8960593271884059}},"curvature":2.4564537850943142},{"time":2.76058115788441,"velocity":1.2798459463631904,"acceleration":0.3384050844737353,"pose":{"translation":{"x":6.57056565258004,"y":-3.4035783192681817},"rotation":{"radians":0.9448685332120697}},"curvature":2.460158295834713},{"time":2.775786554113849,"velocity":1.2849915297586703,"acceleration":0.7391450053835654,"pose":{"translation":{"x":6.581608016350094,"y":-3.3875064830571056},"rotation":{"radians":0.9926708584234173}},"curvature":2.437947737049456},{"time":2.7906720693123437,"velocity":1.2959940839701987,"acceleration":1.1442753502119898,"pose":{"translation":{"x":6.59172776618576,"y":-3.371178552155348},"rotation":{"radians":1.0390957596726769}},"curvature":2.391047713703344},{"time":2.8052085278218,"velocity":1.3126277951219487,"acceleration":1.5518182845896331,"pose":{"translation":{"x":6.600970948565495,"y":-3.3546241713126927},"rotation":{"radians":1.0838106784588797}},"curvature":2.3216368631756628},{"time":2.819370807985527,"velocity":1.3346050804315013,"acceleration":2.1649580811836646,"pose":{"translation":{"x":6.609384988860845,"y":-3.337873202605966},"rotation":{"radians":1.126528997968163}},"curvature":2.2325810031549764},{"time":2.8464625483792214,"velocity":1.39325756273016,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.62392070873629,"y":-3.3039010162670053},"rotation":{"radians":1.2050815068478529}},"curvature":2.008665048167677},{"time":2.8719403317317207,"velocity":1.4620475777819082,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.63573221402597,"y":-3.2694987745471167},"rotation":{"radians":1.2734614783279117}},"curvature":1.7452781130704347},{"time":2.8959495067673355,"velocity":1.5268723503780683,"acceleration":2.6999999999999824,"pose":{"translation":{"x":6.645222530820114,"y":-3.234895853145614},"rotation":{"radians":1.331085413554192}},"curvature":1.4641225268142835},{"time":2.9186810491818966,"velocity":1.5882475148973825,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.652792260878768,"y":-3.20030878058145},"rotation":{"radians":1.37790505730378}},"curvature":1.180164822242258},{"time":2.9607610552641312,"velocity":1.701863531319416,"acceleration":2.6999999999999855,"pose":{"translation":{"x":6.663711272939745,"y":-3.1319514113130493},"rotation":{"radians":1.440601122762835}},"curvature":0.6352047241187423},{"time":2.998801640160304,"velocity":1.8045731105390819,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.671335413837628,"y":-3.065695175387642},"rotation":{"radians":1.46644827082687}},"curvature":0.14944522198631105},{"time":3.033259304463699,"velocity":1.8976088041582482,"acceleration":2.7000000000000064,"pose":{"translation":{"x":6.677949676700429,"y":-3.0022547724199793},"rotation":{"radians":1.4634372139363567}},"curvature":-0.2183725397394844},{"time":3.0940387395131155,"velocity":2.061713278791673,"acceleration":2.70000000000002,"pose":{"translation":{"x":6.692915544675628,"y":-2.8828664562262394},"rotation":{"radians":1.4326098303005526}},"curvature":1.671085047656864E-13},{"time":3.123550366435265,"velocity":2.141394671481478,"acceleration":1.6744736880946005,"pose":{"translation":{"x":6.701274859275982,"y":-2.8214121105494137},"rotation":{"radians":1.4405751452770492}},"curvature":0.1922213570743383},{"time":3.159536389071455,"velocity":2.201652319524955,"acceleration":0.9334882497988688,"pose":{"translation":{"x":6.710874133232365,"y":-2.7438594456722853},"rotation":{"radians":1.4539315119158476}},"curvature":0.13787019003704615},{"time":3.206420300582986,"velocity":2.245417900025579,"acceleration":0.4840297207835184,"pose":{"translation":{"x":6.722421695656884,"y":-2.6402529585676793},"rotation":{"radians":1.464581908905892}},"curvature":0.07502535342043543},{"time":3.234575375715307,"velocity":2.2590457931805155,"acceleration":0.2991137465093541,"pose":{"translation":{"x":6.729008586372072,"y":-2.577184235904731},"rotation":{"radians":1.4686849132139883}},"curvature":0.05595365675243014},{"time":3.2659804692999965,"velocity":2.268439488382109,"acceleration":0.18484773903502474,"pose":{"translation":{"x":6.736126994520228,"y":-2.50644846029883},"rotation":{"radians":1.4721621124082485}},"curvature":0.0429409675567078},{"time":3.300556112708915,"velocity":2.2748307178919287,"acceleration":0.11477940374392548,"pose":{"translation":{"x":6.743739783167631,"y":-2.428275019615179},"rotation":{"radians":1.47516159042654}},"curvature":0.03414890121641382},{"time":3.338114790620847,"velocity":2.2791416805480704,"acceleration":0.07097046050091248,"pose":{"translation":{"x":6.751789783688878,"y":-2.3431341421110967},"rotation":{"radians":1.4778094209508494}},"curvature":0.028246391929939496},{"time":3.37837405246547,"velocity":2.28199889890061,"acceleration":0.042467883112219336,"pose":{"translation":{"x":6.760202582861785,"y":-2.2517063047513814},"rotation":{"radians":1.4802091118167706}},"curvature":0.024346617361309397},{"time":3.4209704375115844,"velocity":2.2838078772017516,"acceleration":0.022736727568187825,"pose":{"translation":{"x":6.768889309962309,"y":-2.1548516415236785},"rotation":{"radians":1.4824458831175131}},"curvature":0.021882614622622042},{"time":3.465473573514839,"velocity":2.2848197328809876,"acceleration":0.007782333459309369,"pose":{"translation":{"x":6.777749423859453,"y":-2.053579351753846},"rotation":{"radians":1.4845918561201188}},"curvature":0.02050607127511573},{"time":3.511400245559699,"velocity":2.285177149557517,"acceleration":-0.005028979672295113,"pose":{"translation":{"x":6.786673500110184,"y":-1.9490171084213224},"rotation":{"radians":1.486710945178666}},"curvature":0.02002012772251953},{"time":3.558228400914669,"velocity":2.284941651716146,"acceleration":-0.017711597726019483,"pose":{"translation":{"x":6.795546018054343,"y":-1.8423804664744892},"rotation":{"radians":1.488863283434963}},"curvature":0.02034029339752895},{"time":3.6054111180318054,"velocity":2.2841059704109465,"acceleration":-0.7485263302824016,"pose":{"translation":{"x":6.804248147909554,"y":-1.7349422711460405},"rotation":{"radians":1.4911093930050587}},"curvature":0.021476957512163164},{"time":3.6527421117939696,"velocity":2.2486774753415344,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.812660537866146,"y":-1.6280020662683459},"rotation":{"radians":1.4935144619711513}},"curvature":0.02353618118696891},{"time":3.701036995958699,"velocity":2.1182812880967656,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.820666101182053,"y":-1.5228555025888189},"rotation":{"radians":1.4961531935456067}},"curvature":0.026739608244504096},{"time":3.7509496890017835,"velocity":1.9835170168804368,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.828152803277738,"y":-1.4207637460852816},"rotation":{"radians":1.4991158307115158}},"curvature":0.03146960248299673},{"time":3.80218447234844,"velocity":1.8451831018444649,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.835016448831096,"y":-1.322922886281331},"rotation":{"radians":1.502516186616369}},"curvature":0.03835370258741149},{"time":3.854415902736071,"velocity":1.7041582397978612,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.8411634688723755,"y":-1.230433344561706},"rotation":{"radians":1.5065028803770835}},"curvature":0.04841635271770996},{"time":3.907288934502359,"velocity":1.5614010540288845,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.846513707879081,"y":-1.1442692824876506},"rotation":{"radians":1.5112755482022926}},"curvature":0.06335158155104187},{"time":3.9604205145498175,"velocity":1.4179457879007464,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.851003210870894,"y":-1.0652480101122832},"rotation":{"radians":1.517108601230707}},"curvature":0.08601870241629801},{"time":4.0134046027250125,"velocity":1.2748887498277193,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.854587010504579,"y":-0.9939993942959626},"rotation":{"radians":1.5243859789567935}},"curvature":0.12135099535594539},{"time":4.11727911069276,"velocity":0.9944275783148012,"acceleration":-2.7,"pose":{"translation":{"x":6.8589692910795375,"y":-0.8762188337102779},"rotation":{"radians":1.545666001109465}},"curvature":0.2711728120608145},{"time":4.2162111617726294,"velocity":0.7273110403991527,"acceleration":-2.7,"pose":{"translation":{"x":6.859786473206476,"y":-0.7910551877421406},"rotation":{"radians":1.5823282983696938}},"curvature":0.6795573241006491},{"time":4.3122875093003605,"velocity":0.4679049020742787,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.857646656755684,"y":-0.7336790845023469},"rotation":{"radians":1.6411172166756083}},"curvature":1.408666121969403},{"time":4.485585621179723,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.853729304902418,"y":-0.6933252592926578},"rotation":{"radians":1.6848821059629517}},"curvature":-4.92425600230483E-13}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":4.589966372479545,"y":-0.68095497004445},"rotation":{"radians":-1.5263811115479844}},"curvature":0.0},{"time":0.2070828175020424,"velocity":0.5591236072555146,"acceleration":2.7000000000000006,"pose":{"translation":{"x":4.592109173628807,"y":-0.7388077461455489},"rotation":{"radians":-1.5438491627479822}},"curvature":-0.3245925157196854},{"time":0.3280789541461832,"velocity":0.8858131761946948,"acceleration":2.7000000000000015,"pose":{"translation":{"x":4.593653902550851,"y":-0.8262099808487304},"rotation":{"radians":-1.558550418098328}},"curvature":-0.06054816023823846},{"time":0.39082852014459424,"velocity":1.0552370043904047,"acceleration":2.7,"pose":{"translation":{"x":4.594332872788546,"y":-0.8871062240412282},"rotation":{"radians":-1.5601416447502567}},"curvature":-3.0944852586673745E-4},{"time":0.45575980697399043,"velocity":1.2305514788297744,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5951574827446215,"y":-0.961311236223701},"rotation":{"radians":-1.5588468930674415}},"curvature":0.030875509149994106},{"time":0.5224862840231406,"velocity":1.4107129668624798,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.596356035308048,"y":-1.0494242206825188},"rotation":{"radians":-1.5553008566366542}},"curvature":0.047551843662150005},{"time":0.5904277372912898,"velocity":1.5941548906864826,"acceleration":2.700000000000001,"pose":{"translation":{"x":4.5982051784046245,"y":-1.151485015179089},"rotation":{"radians":-1.5498926757890057}},"curvature":0.05746733581479173},{"time":0.6589537760093211,"velocity":1.779175195225167,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.601021941868659,"y":-1.2670311610361567},"rotation":{"radians":-1.5428185537330257}},"curvature":0.06454492768950504},{"time":0.6932412268013554,"velocity":1.8717513123636593,"acceleration":2.6999999999999993,"pose":{"translation":{"x":4.602901335313692,"y":-1.3295934200512458},"rotation":{"radians":-1.538678511696579}},"curvature":0.0677031352599094},{"time":0.7274449909174895,"velocity":1.9641014754772215,"acceleration":2.7000000000000033,"pose":{"translation":{"x":4.605155774314647,"y":-1.3951549722241086},"rotation":{"radians":-1.5341337461043665}},"curvature":0.07084089480883898},{"time":0.7614933879997356,"velocity":2.056032147599286,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.607832698932001,"y":-1.463542152924208},"rotation":{"radians":-1.529174517434155}},"curvature":0.07408791176991712},{"time":0.7953176048082513,"velocity":2.1473575329822783,"acceleration":2.7000000000000046,"pose":{"translation":{"x":4.610980580008952,"y":-1.534560604447273},"rotation":{"radians":-1.5237854147987284}},"curvature":0.07755341473782054},{"time":0.8288517858168513,"velocity":2.2378998217054984,"acceleration":2.6999999999999966,"pose":{"translation":{"x":4.614648670323658,"y":-1.6079970594242456},"rotation":{"radians":-1.5179455170925755}},"curvature":0.0813351738028442},{"time":0.8620330653946533,"velocity":2.3274892765655637,"acceleration":2.7,"pose":{"translation":{"x":4.61888675574148,"y":-1.6836211242302248},"rotation":{"radians":-1.5116283771310162}},"curvature":0.08552639531128801},{"time":0.8948015655248837,"velocity":2.4159642269171857,"acceleration":2.7000000000000006,"pose":{"translation":{"x":4.623744906367221,"y":-1.7611870623934176},"rotation":{"radians":-1.5048018430855947}},"curvature":0.09022130107432581},{"time":0.9271003756291825,"velocity":2.5031710141987924,"acceleration":0.43505985309362116,"pose":{"translation":{"x":4.629273227697364,"y":-1.840435578004083},"rotation":{"radians":-1.4974277241437906}},"curvature":0.09551997749325035},{"time":0.9593297840292504,"velocity":2.5171927358826203,"acceleration":-0.16538520179897534,"pose":{"translation":{"x":4.6355216117723135,"y":-1.9210955991234813},"rotation":{"radians":-1.4894613006073958}},"curvature":0.10153293866920006},{"time":0.991976916412479,"velocity":2.511793383305262,"acceleration":-0.18580711017728782,"pose":{"translation":{"x":4.642539488328637,"y":-2.002886061192818},"rotation":{"radians":-1.4808506724582902}},"curvature":0.10838576370534059},{"time":1.0250624598449145,"velocity":2.505645854091436,"acceleration":-0.20996970188155664,"pose":{"translation":{"x":4.650375575951301,"y":-2.085517690442194},"rotation":{"radians":-1.4715359345952184}},"curvature":0.11622412610396106},{"time":1.058486317565719,"velocity":2.4986278566500673,"acceleration":-0.2385861774291135,"pose":{"translation":{"x":4.659077633225917,"y":-2.168694787299549},"rotation":{"radians":-1.4614481613491916}},"curvature":0.12521952191288635},{"time":1.0921486419744209,"velocity":2.4905964913460164,"acceleration":-0.2725465560639642,"pose":{"translation":{"x":4.668692209890972,"y":-2.2521170097996133},"rotation":{"radians":-1.450508177474273}},"curvature":0.13557601616315226},{"time":1.1259508080724758,"velocity":2.4813838273884894,"acceleration":-0.312948156754358,"pose":{"translation":{"x":4.679264397990079,"y":-2.335481156992849},"rotation":{"radians":-1.438625087685951}},"curvature":0.1475383590973805},{"time":1.1597964378448673,"velocity":2.470791899937029,"acceleration":-0.3611307200683523,"pose":{"translation":{"x":4.69083758302421,"y":-2.418482952354402},"rotation":{"radians":-1.4256945323137196}},"curvature":0.16140186970148448},{"time":1.1935924832284548,"velocity":2.4585871097321914,"acceleration":-0.4187131372661071,"pose":{"translation":{"x":4.70345319510394,"y":-2.500818827193046},"rotation":{"radians":-1.4115966334504564}},"curvature":0.17752453681055433},{"time":1.2272503759979343,"velocity":2.4444941078569165,"acceleration":-0.487625928859681,"pose":{"translation":{"x":4.717150460101681,"y":-2.582187704060129},"rotation":{"radians":-1.3961935954154248}},"curvature":0.19634183436527775},{"time":1.2606872530634472,"velocity":2.4281894196196787,"acceleration":-0.5701287720575725,"pose":{"translation":{"x":4.731966150803932,"y":-2.662292780158523},"rotation":{"radians":-1.379326927648192}},"curvature":0.2183847622390686},{"time":1.2938272648343712,"velocity":2.4092953454027484,"acceleration":-0.6687946041730599,"pose":{"translation":{"x":4.747934338063509,"y":-2.7408433107515693},"rotation":{"radians":-1.360814271076144}},"curvature":0.24430156065241065},{"time":1.3266029716637624,"velocity":2.3873751295272934,"acceleration":-0.7864301289543042,"pose":{"translation":{"x":4.765086141951787,"y":-2.8175563925720244},"rotation":{"radians":-1.3404458366723455}},"curvature":0.27488331938615096},{"time":1.3589568276621122,"velocity":2.361931082382342,"acceleration":-0.9258863215759349,"pose":{"translation":{"x":4.783449482910949,"y":-2.8921587472310093},"rotation":{"radians":-1.3179805170945096}},"curvature":0.31109316246006374},{"time":1.3908427403463623,"velocity":2.3324083519770302,"acceleration":-1.0896927351242365,"pose":{"translation":{"x":4.803048832906212,"y":-2.9643885046269545},"rotation":{"radians":-1.2931418241164443}},"curvature":0.354097577947267},{"time":1.4222276756277301,"velocity":2.2982084160085794,"acceleration":-1.2794309595608984,"pose":{"translation":{"x":4.823904966578077,"y":-3.033996986354548},"rotation":{"radians":-1.2656139588306252}},"curvature":0.40529636026834653},{"time":1.4530932461419057,"velocity":2.258718049508233,"acceleration":-1.4947581784266109,"pose":{"translation":{"x":4.846034712394565,"y":-3.10075048911368},"rotation":{"radians":-1.2350385711275536}},"curvature":0.46634388634694124},{"time":1.4834371709571545,"velocity":2.2133612197250776,"acceleration":-1.732026466264861,"pose":{"translation":{"x":4.869450703803459,"y":-3.164432068118396},"rotation":{"radians":-1.2010131537073994}},"curvature":0.539148132765236},{"time":1.513274419175731,"velocity":2.161682316129989,"acceleration":-1.9825557660169064,"pose":{"translation":{"x":4.894161130384542,"y":-3.2248433205058316},"rotation":{"radians":-1.163092595483043}},"curvature":0.6258238537314008},{"time":1.5426377424458269,"velocity":2.103467890271442,"acceleration":-2.230847663769437,"pose":{"translation":{"x":4.920169489001836,"y":-3.281806168745179},"rotation":{"radians":-1.120796233485178}},"curvature":0.7285618756510391},{"time":1.5715771610089364,"velocity":2.038908455979083,"acceleration":-2.453371364787802,"pose":{"translation":{"x":4.947474334955846,"y":-3.335164644046611},"rotation":{"radians":-1.0736237857953845}},"curvature":0.8493584004115196},{"time":1.6001578095183797,"velocity":1.9687895113389495,"acceleration":-2.618894049365501,"pose":{"translation":{"x":4.976069033135797,"y":-3.384786669770246},"rotation":{"radians":-1.021084677271477}},"curvature":0.9895321512729235},{"time":1.6284554212152278,"velocity":1.8946810644548187,"acceleration":-2.6913667862849158,"pose":{"translation":{"x":5.005941509171875,"y":-3.4305658448350833},"rotation":{"radians":-0.9627460482253763}},"curvature":1.148958701141042},{"time":1.656548738793998,"velocity":1.819071642606762,"acceleration":-2.6357218091434036,"pose":{"translation":{"x":5.037074000587465,"y":-3.4724232271279627},"rotation":{"radians":-0.8983042292163318}},"curvature":1.3250015291040753},{"time":1.6845084672328832,"velocity":1.7453775765826656,"acceleration":-2.42547240636729,"pose":{"translation":{"x":5.069442807951394,"y":-3.51030911691249},"rotation":{"radians":-0.8276811289816337}},"curvature":1.511262413620746},{"time":1.7123832452616217,"velocity":1.6777680716403474,"acceleration":-2.0493918453842856,"pose":{"translation":{"x":5.1030180460301695,"y":-3.544204840238012},"rotation":{"radians":-0.7511390340919505}},"curvature":1.696536540854126},{"time":1.7401846065338047,"velocity":1.620792188558553,"acceleration":-1.514152456464504,"pose":{"translation":{"x":5.137763394940219,"y":-3.5741245323485376},"rotation":{"radians":-0.6693941872933166}},"curvature":1.8646723206984541},{"time":1.7678747004404707,"velocity":1.5788651648500418,"acceleration":-1.0231902777952993,"pose":{"translation":{"x":5.173635851300128,"y":-3.600116921091708},"rotation":{"radians":-0.5836945297481266}},"curvature":1.9961493837067554},{"time":1.7816652766594538,"velocity":1.5647547813375833,"acceleration":-0.6572440977201488,"pose":{"translation":{"x":5.1919794174582705,"y":-3.6116655019537696},"rotation":{"radians":-0.5398991391571408}},"curvature":2.0419821241489555},{"time":1.795390352313044,"velocity":1.5557340563734987,"acceleration":-0.2665494454568551,"pose":{"translation":{"x":5.210585479382887,"y":-3.62226711032772},"rotation":{"radians":-0.49581950745262887}},"curvature":2.071718506566189},{"time":1.8090308377467075,"velocity":1.5520981925453934,"acceleration":0.14494475804783294,"pose":{"translation":{"x":5.229446671102517,"y":-3.6319383605385878},"rotation":{"radians":-0.4517433453858831}},"curvature":2.083801690741464},{"time":1.8225657270300222,"velocity":1.5540600037977677,"acceleration":0.7945077756309126,"pose":{"translation":{"x":5.248555162268126,"y":-3.6406983633382897},"rotation":{"radians":-0.40797221202017814}},"curvature":2.077274916626576},{"time":1.8491985328310647,"velocity":1.575219975093564,"acceleration":1.7017570667143473,"pose":{"translation":{"x":5.28748035299435,"y":-3.6555738862355964},"rotation":{"radians":-0.32257069355738}},"curvature":2.007910870513021},{"time":1.8751443319241168,"velocity":1.6193734220517162,"acceleration":2.646476827798524,"pose":{"translation":{"x":5.3272888257111894,"y":-3.667098611371225},"rotation":{"radians":-0.24199100212613692}},"curvature":1.8690100747401697},{"time":1.9002418589496315,"velocity":1.6857934457597878,"acceleration":2.6999999999999806,"pose":{"translation":{"x":5.3679004268316355,"y":-3.675520980745113},"rotation":{"radians":-0.16834009391666196}},"curvature":1.6737668392917224},{"time":1.9245098827095353,"velocity":1.7513171099115277,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.409226826184276,"y":-3.681134729414502},"rotation":{"radians":-0.103323308608522}},"curvature":1.4385080741508813},{"time":1.9480984632620602,"velocity":1.8150062774033449,"acceleration":2.70000000000001,"pose":{"translation":{"x":5.451171268165541,"y":-3.684280668902888},"rotation":{"radians":-0.048229035538835424}},"curvature":1.1780389970977634},{"time":1.993565538638999,"velocity":1.93776738092108,"acceleration":2.7000000000000046,"pose":{"translation":{"x":5.536483637352303,"y":-3.6847784492155355},"rotation":{"radians":0.028567633142997862}},"curvature":0.6163247838646808},{"time":2.0368944060514727,"velocity":2.0547553229347586,"acceleration":2.6999999999999993,"pose":{"translation":{"x":5.62288552470528,"y":-3.6807501127359408},"rotation":{"radians":0.055745754591644214}},"curvature":-7.677243136992297E-15},{"time":2.0779074080692133,"velocity":2.165490428382658,"acceleration":2.7000000000000037,"pose":{"translation":{"x":5.70928749887847,"y":-3.675820749392792},"rotation":{"radians":0.059443844291968105}},"curvature":0.08406734471651345},{"time":2.116459030833472,"velocity":2.2695798098461566,"acceleration":2.700000000000006,"pose":{"translation":{"x":5.794601143824748,"y":-3.6703389772020616},"rotation":{"radians":0.0700158126679713}},"curvature":0.16331740240129808},{"time":2.1524908764572213,"velocity":2.36686579303028,"acceleration":-1.2458502765438595,"pose":{"translation":{"x":5.877877386261036,"y":-3.663834929565175},"rotation":{"radians":0.08700182305069112}},"curvature":0.2445947968094608},{"time":2.186950831452491,"velocity":2.3239338485697343,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":5.958311648291609,"y":-3.655923839181552},"rotation":{"radians":0.11027345811203224}},"curvature":0.33353611047954473},{"time":2.220982409859248,"velocity":2.2320485868714903,"acceleration":-2.7,"pose":{"translation":{"x":6.035235685201561,"y":-3.6463005965775848},"rotation":{"radians":0.13994854665175013}},"curvature":0.4353653202641991},{"time":2.2547286759278795,"velocity":2.140933668486186,"acceleration":-2.699999999999992,"pose":{"translation":{"x":6.108109423250279,"y":-3.6347343086356205},"rotation":{"radians":0.1763317728024246}},"curvature":0.5552684482621081},{"time":2.288009237134727,"velocity":2.0510761532276973,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.176512797464907,"y":-3.6210628571229395},"rotation":{"radians":0.21986219149329764}},"curvature":0.6984075722173941},{"time":2.3206831638939343,"velocity":1.962856550977838,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.2401375894338225,"y":-3.6051874572207367},"rotation":{"radians":0.27105190546332425}},"curvature":0.8694918759018261},{"time":2.3526556781800703,"velocity":1.8765307624052707,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.298779265100105,"y":-3.5870672160531027},"rotation":{"radians":0.3304008093259189}},"curvature":1.0717296189922367},{"time":2.383885559943663,"velocity":1.7922100816435702,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.352328812555008,"y":-3.5667136912160036},"rotation":{"radians":0.39827372726481575}},"curvature":1.3049859539055322},{"time":2.4143925869437557,"velocity":1.7098411087433192,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.400764579831427,"y":-3.544185449306262},"rotation":{"radians":0.47473297102582507}},"curvature":1.5631982718744206},{"time":2.444263937453553,"velocity":1.629188462366867,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":6.444144112697375,"y":-3.5195826244505373},"rotation":{"radians":0.5593368601567298}},"curvature":1.8317132215592633},{"time":2.459011753382179,"velocity":1.5893693593595761,"acceleration":-2.5927351272266086,"pose":{"translation":{"x":6.4639754212416065,"y":-3.506544562341943},"rotation":{"radians":0.6043681446850115}},"curvature":1.9625585166709498},{"time":2.4736586921885744,"velocity":1.5513937266098967,"acceleration":-2.2641103370071702,"pose":{"translation":{"x":6.482595992449446,"y":-3.4930414768343057},"rotation":{"radians":0.6509456663352783}},"curvature":2.0861494151286895},{"time":2.4882047726603296,"velocity":1.5184597954508572,"acceleration":-1.8895721377666421,"pose":{"translation":{"x":6.500031659172299,"y":-3.47909515240616},"rotation":{"radians":0.6987995702788127}},"curvature":2.1983374608126947},{"time":2.502633239586653,"velocity":1.491196166356189,"acceleration":-1.47601657465035,"pose":{"translation":{"x":6.516311673706294,"y":-3.4647289512308412},"rotation":{"radians":0.7476115499336127}},"curvature":2.2949589944417603},{"time":2.516922315507206,"velocity":1.4701052534610157,"acceleration":-1.030552742065537,"pose":{"translation":{"x":6.531468452723326,"y":-3.449967643130512},"rotation":{"radians":0.7970219666457996}},"curvature":2.37216311989662},{"time":2.531046089643003,"velocity":1.4555499592970556,"acceleration":-0.5600021487924993,"pose":{"translation":{"x":6.5455373222021,"y":-3.434837235530196},"rotation":{"radians":0.8466404586300422}},"curvature":2.4267481782294813},{"time":2.544975761376324,"velocity":1.4477493131944217,"acceleration":-0.07055194039928865,"pose":{"translation":{"x":6.558556262359182,"y":-3.4193648034118076},"rotation":{"radians":0.8960593271884059}},"curvature":2.4564537850943142},{"time":2.558681111495057,"velocity":1.4467823741496935,"acceleration":0.4324420361139009,"pose":{"translation":{"x":6.57056565258004,"y":-3.4035783192681817},"rotation":{"radians":0.9448685332120697}},"curvature":2.460158295834713},{"time":2.5721320389287916,"velocity":1.4525991205967579,"acceleration":0.9445406874088673,"pose":{"translation":{"x":6.581608016350094,"y":-3.3875064830571056},"rotation":{"radians":0.9926708584234173}},"curvature":2.437947737049456},{"time":2.5852999946813062,"velocity":1.4650367905750075,"acceleration":1.462249785904161,"pose":{"translation":{"x":6.59172776618576,"y":-3.371178552155348},"rotation":{"radians":1.0390957596726769}},"curvature":2.391047713703344},{"time":2.5981591695165944,"velocity":1.4838401162248118,"acceleration":1.9830418910823957,"pose":{"translation":{"x":6.600970948565495,"y":-3.3546241713126927},"rotation":{"radians":1.0838106784588797}},"curvature":2.3216368631756628},{"time":2.6106873404306605,"velocity":1.508684003966045,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.609384988860845,"y":-3.337873202605966},"rotation":{"radians":1.126528997968163}},"curvature":2.2325810031549764},{"time":2.634665259828508,"velocity":1.5734243863402329,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.62392070873629,"y":-3.3039010162670053},"rotation":{"radians":1.2050815068478529}},"curvature":2.008665048167677},{"time":2.6573414312324184,"velocity":1.634650049130791,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.63573221402597,"y":-3.2694987745471167},"rotation":{"radians":1.2734614783279117}},"curvature":1.7452781130704347},{"time":2.678907439042289,"velocity":1.692878270217442,"acceleration":2.6999999999999824,"pose":{"translation":{"x":6.645222530820114,"y":-3.234895853145614},"rotation":{"radians":1.331085413554192}},"curvature":1.4641225268142835},{"time":2.699484310957281,"velocity":1.7484358243879194,"acceleration":2.699999999999995,"pose":{"translation":{"x":6.652792260878768,"y":-3.20030878058145},"rotation":{"radians":1.37790505730378}},"curvature":1.180164822242258},{"time":2.7379347134919003,"velocity":1.852251911231392,"acceleration":2.699999999999982,"pose":{"translation":{"x":6.663711272939745,"y":-3.1319514113130493},"rotation":{"radians":1.440601122762835}},"curvature":0.6352047241187423},{"time":2.773043031169848,"velocity":1.94704436896185,"acceleration":2.700000000000013,"pose":{"translation":{"x":6.671335413837628,"y":-3.065695175387642},"rotation":{"radians":1.46644827082687}},"curvature":0.14944522198631105},{"time":2.8050904620024735,"velocity":2.0335724322099393,"acceleration":2.700000000000008,"pose":{"translation":{"x":6.677949676700429,"y":-3.0022547724199793},"rotation":{"radians":1.4634372139363567}},"curvature":-0.2183725397394844},{"time":2.8621009311201275,"velocity":2.1875006988276056,"acceleration":2.70000000000002,"pose":{"translation":{"x":6.692915544675628,"y":-2.8828664562262394},"rotation":{"radians":1.4326098303005526}},"curvature":1.671085047656864E-13},{"time":2.8899735993649,"velocity":2.262756903088491,"acceleration":2.7000000000000135,"pose":{"translation":{"x":6.701274859275982,"y":-2.8214121105494137},"rotation":{"radians":1.4405751452770492}},"curvature":0.1922213570743383},{"time":2.92382500629067,"velocity":2.3541557017880717,"acceleration":2.700000000000007,"pose":{"translation":{"x":6.710874133232365,"y":-2.7438594456722853},"rotation":{"radians":1.4539315119158476}},"curvature":0.13787019003704615},{"time":2.967036772874734,"velocity":2.470827471565045,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.722421695656884,"y":-2.6402529585676793},"rotation":{"radians":1.464581908905892}},"curvature":0.07502535342043543},{"time":2.992350832790532,"velocity":2.5391754333376992,"acceleration":0.9026202608216735,"pose":{"translation":{"x":6.729008586372072,"y":-2.577184235904731},"rotation":{"radians":1.4686849132139883}},"curvature":0.05595365675243014},{"time":3.020211349182685,"velocity":2.564322899910211,"acceleration":0.23621374591241703,"pose":{"translation":{"x":6.736126994520228,"y":-2.50644846029883},"rotation":{"radians":1.4721621124082485}},"curvature":0.0429409675567078},{"time":3.05079749527519,"velocity":2.571547768051746,"acceleration":0.146674625578243,"pose":{"translation":{"x":6.743739783167631,"y":-2.428275019615179},"rotation":{"radians":1.47516159042654}},"curvature":0.03414890121641382},{"time":3.0840224795818982,"velocity":2.5764210301847754,"acceleration":0.09069193062119155,"pose":{"translation":{"x":6.751789783688878,"y":-2.3431341421110967},"rotation":{"radians":1.4778094209508494}},"curvature":0.028246391929939496},{"time":3.1196364419829132,"velocity":2.579650929191994,"acceleration":0.054268977285196335,"pose":{"translation":{"x":6.760202582861785,"y":-2.2517063047513814},"rotation":{"radians":1.4802091118167706}},"curvature":0.024346617361309397},{"time":3.1573178595237055,"velocity":2.5816958611845893,"acceleration":0.029054873036084658,"pose":{"translation":{"x":6.768889309962309,"y":-2.1548516415236785},"rotation":{"radians":1.4824458831175131}},"curvature":0.021882614622622042},{"time":3.196686018295814,"velocity":2.5828396980393773,"acceleration":0.009944910053867592,"pose":{"translation":{"x":6.777749423859453,"y":-2.053579351753846},"rotation":{"radians":1.4845918561201188}},"curvature":0.02050607127511573},{"time":3.237313458950886,"velocity":2.583243734282411,"acceleration":-2.127330475531589,"pose":{"translation":{"x":6.786673500110184,"y":-1.9490171084213224},"rotation":{"radians":1.486710945178666}},"curvature":0.02002012772251953},{"time":3.279467920342892,"velocity":2.493567263883577,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.795546018054343,"y":-1.8423804664744892},"rotation":{"radians":1.488863283434963}},"curvature":0.02034029339752895},{"time":3.3237571251157316,"velocity":2.3739864109969098,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.804248147909554,"y":-1.7349422711460405},"rotation":{"radians":1.4911093930050587}},"curvature":0.021476957512163164},{"time":3.37016784202513,"velocity":2.2486774753415344,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.812660537866146,"y":-1.6280020662683459},"rotation":{"radians":1.4935144619711513}},"curvature":0.02353618118696891},{"time":3.4184627261898592,"velocity":2.1182812880967656,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.820666101182053,"y":-1.5228555025888189},"rotation":{"radians":1.4961531935456067}},"curvature":0.026739608244504096},{"time":3.468375419232944,"velocity":1.9835170168804368,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.828152803277738,"y":-1.4207637460852816},"rotation":{"radians":1.4991158307115158}},"curvature":0.03146960248299673},{"time":3.5196102025796003,"velocity":1.8451831018444649,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.835016448831096,"y":-1.322922886281331},"rotation":{"radians":1.502516186616369}},"curvature":0.03835370258741149},{"time":3.5718416329672316,"velocity":1.7041582397978612,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.8411634688723755,"y":-1.230433344561706},"rotation":{"radians":1.5065028803770835}},"curvature":0.04841635271770996},{"time":3.6247146647335193,"velocity":1.5614010540288845,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.846513707879081,"y":-1.1442692824876506},"rotation":{"radians":1.5112755482022926}},"curvature":0.06335158155104187},{"time":3.677846244780978,"velocity":1.4179457879007464,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.851003210870894,"y":-1.0652480101122832},"rotation":{"radians":1.517108601230707}},"curvature":0.08601870241629801},{"time":3.730830332956173,"velocity":1.2748887498277193,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.854587010504579,"y":-0.9939993942959626},"rotation":{"radians":1.5243859789567935}},"curvature":0.12135099535594539},{"time":3.8347048409239206,"velocity":0.9944275783148012,"acceleration":-2.7,"pose":{"translation":{"x":6.8589692910795375,"y":-0.8762188337102779},"rotation":{"radians":1.545666001109465}},"curvature":0.2711728120608145},{"time":3.9336368920037903,"velocity":0.7273110403991527,"acceleration":-2.7,"pose":{"translation":{"x":6.859786473206476,"y":-0.7910551877421406},"rotation":{"radians":1.5823282983696938}},"curvature":0.6795573241006491},{"time":4.029713239531522,"velocity":0.4679049020742787,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.857646656755684,"y":-0.7336790845023469},"rotation":{"radians":1.6411172166756083}},"curvature":1.408666121969403},{"time":4.2030113514108844,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.853729304902418,"y":-0.6933252592926578},"rotation":{"radians":1.6848821059629517}},"curvature":-4.92425600230483E-13}] \ 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 8cced39..5d3843d 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":2.7000000000000006,"pose":{"translation":{"x":6.884655028022934,"y":-0.8912498872640597},"rotation":{"radians":-1.4722402684151927}},"curvature":0.0},{"time":0.25296309905399156,"velocity":0.6830003674457773,"acceleration":2.699999999999999,"pose":{"translation":{"x":6.89345309421959,"y":-0.9771876453418196},"rotation":{"radians":-1.4619910274818029}},"curvature":0.2305869288855272},{"time":0.35748444618010117,"velocity":0.9652080046862731,"acceleration":2.7,"pose":{"translation":{"x":6.903904451477753,"y":-1.0626877170760076},"rotation":{"radians":-1.4335562590013435}},"curvature":0.42402970963673453},{"time":0.43736376715515546,"velocity":1.1808821713189197,"acceleration":2.6999999999999997,"pose":{"translation":{"x":6.917375604691053,"y":-1.1473366225584951},"rotation":{"radians":-1.3901081830565518}},"curvature":0.5844547835697168},{"time":0.5044083003075956,"velocity":1.3619024108305082,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.934938962728379,"y":-1.230747469881826},"rotation":{"radians":-1.334601294220802}},"curvature":0.7123409106742015},{"time":0.5632680053967095,"velocity":1.5208236145711158,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.957393476208107,"y":-1.3125601542174243},"rotation":{"radians":-1.2699304384313166}},"curvature":0.8062080106281817},{"time":0.6163972158990845,"velocity":1.6642724829275282,"acceleration":2.475316913534247,"pose":{"translation":{"x":6.985285275272339,"y":-1.392441556893803},"rotation":{"radians":-1.198974182262924}},"curvature":0.864795077984714},{"time":0.6654524407865492,"velocity":1.7856997107886958,"acceleration":0.062350365137142816,"pose":{"translation":{"x":7.0189283073611275,"y":-1.4700857444747717},"rotation":{"radians":-1.124523702693634}},"curvature":0.8889213354572022},{"time":0.7129451039127537,"velocity":1.78866089567595,"acceleration":0.2961837952887966,"pose":{"translation":{"x":7.058424974986713,"y":-1.5452141678376439},"rotation":{"radians":-1.049137978507274}},"curvature":0.8823400321025343},{"time":0.760476045257686,"velocity":1.8027387902771412,"acceleration":0.46771066083001195,"pose":{"translation":{"x":7.103686773507756,"y":-1.617575861251447},"rotation":{"radians":-0.9749888226228951}},"curvature":0.8513473102203206},{"time":0.8078700166364136,"velocity":1.8249054559500446,"acceleration":0.5787515852167175,"pose":{"translation":{"x":7.154454928903568,"y":-1.6869476414551279},"rotation":{"radians":-0.9037537838064569}},"curvature":0.8035162482299619},{"time":0.854979375203696,"velocity":1.852170071899402,"acceleration":0.6361456500831936,"pose":{"translation":{"x":7.210321035548344,"y":-1.7531343067357628},"rotation":{"radians":-0.8365858561357852}},"curvature":0.7462549779219345},{"time":0.9016716308048282,"velocity":1.8818731471926349,"acceleration":0.6501075385982331,"pose":{"translation":{"x":7.270747693985399,"y":-1.8159688360067645},"rotation":{"radians":-0.7741551069925111}},"curvature":0.685760875926037},{"time":0.9478160150144921,"velocity":1.9118719592313107,"acceleration":0.6319408527181877,"pose":{"translation":{"x":7.3350891487013925,"y":-1.8753125878860903},"rotation":{"radians":-0.7167361615414236}},"curvature":0.6265723214209662},{"time":0.9932721101075098,"velocity":1.9405975227256314,"acceleration":0.5920746116912792,"pose":{"translation":{"x":7.40261192590057,"y":-1.9310554997744513},"rotation":{"radians":-0.6643116790569434}},"curvature":0.5716110075260754},{"time":1.0378824240880622,"velocity":1.967010157053093,"acceleration":0.5388773655764453,"pose":{"translation":{"x":7.472515471278987,"y":-1.9831162869335177},"rotation":{"radians":-0.6166695804949698}},"curvature":0.5224916735499796},{"time":1.0814694718546858,"velocity":1.9904982305268257,"acceleration":0.47823794446439943,"pose":{"translation":{"x":7.54395278779875,"y":-2.0314426415641305},"rotation":{"radians":-0.5734825077866054}},"curvature":0.4799061663392572},{"time":1.1238369775881671,"velocity":2.0107599793808895,"acceleration":-1.420426697029531,"pose":{"translation":{"x":7.616051073462241,"y":-2.0760114318845058},"rotation":{"radians":-0.5343665774820924}},"curvature":0.4439695051503919},{"time":1.1655616576487469,"velocity":1.9514931298978264,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.687932359086355,"y":-2.1168289012084456},"rotation":{"radians":-0.49892145456987524}},"curvature":0.4144855181996159},{"time":1.2077535776006252,"velocity":1.8375749460277553,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.7587341460767325,"y":-2.1539308670235453},"rotation":{"radians":-0.46675576543807984}},"curvature":0.3911303376729037},{"time":1.2507931873270282,"velocity":1.7213679997664675,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.827630044201988,"y":-2.1873829200694},"rotation":{"radians":-0.43750210450560295}},"curvature":0.37356806783724006},{"time":1.2945001052246785,"velocity":1.6033593214428112,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.893850409367945,"y":-2.217280623415815},"rotation":{"radians":-0.4108253732258058}},"curvature":0.36151368916987675},{"time":1.3386782736422005,"velocity":1.484078266715502,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.956702981391872,"y":-2.2437497115410117},"rotation":{"radians":-0.38642755580008403}},"curvature":0.35474997107009976},{"time":1.4276346427083686,"velocity":1.243896070236848,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.070046451485295,"y":-2.287057031551971},"rotation":{"radians":-0.3434873864254262}},"curvature":0.3562357527584841},{"time":1.5162631159337283,"velocity":1.0045991925283768,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.16445428667005,"y":-2.318921749068298},"rotation":{"radians":-0.30726312844009457}},"curvature":0.3728963823935639},{"time":1.6045165431361703,"velocity":0.7663149390817833,"acceleration":-2.7,"pose":{"translation":{"x":8.239279279267873,"y":-2.3414562165960007},"rotation":{"radians":-0.27771745401724474}},"curvature":0.37559400125132514},{"time":1.8883368909442382,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":8.344349159311989,"y":-2.369499452425432},"rotation":{"radians":-0.25100268664302744}},"curvature":4.332055593301599E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.884655028022934,"y":-0.8912498872640597},"rotation":{"radians":-1.4722402684151927}},"curvature":0.0},{"time":0.25296309905399156,"velocity":0.6830003674457773,"acceleration":2.699999999999999,"pose":{"translation":{"x":6.89345309421959,"y":-0.9771876453418196},"rotation":{"radians":-1.4619910274818029}},"curvature":0.2305869288855272},{"time":0.35748444618010117,"velocity":0.9652080046862731,"acceleration":2.7,"pose":{"translation":{"x":6.903904451477753,"y":-1.0626877170760076},"rotation":{"radians":-1.4335562590013435}},"curvature":0.42402970963673453},{"time":0.43736376715515546,"velocity":1.1808821713189197,"acceleration":2.6999999999999997,"pose":{"translation":{"x":6.917375604691053,"y":-1.1473366225584951},"rotation":{"radians":-1.3901081830565518}},"curvature":0.5844547835697168},{"time":0.5044083003075956,"velocity":1.3619024108305082,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.934938962728379,"y":-1.230747469881826},"rotation":{"radians":-1.334601294220802}},"curvature":0.7123409106742015},{"time":0.5632680053967095,"velocity":1.5208236145711158,"acceleration":2.7000000000000015,"pose":{"translation":{"x":6.957393476208107,"y":-1.3125601542174243},"rotation":{"radians":-1.2699304384313166}},"curvature":0.8062080106281817},{"time":0.6163972158990845,"velocity":1.6642724829275282,"acceleration":2.6999999999999997,"pose":{"translation":{"x":6.985285275272339,"y":-1.392441556893803},"rotation":{"radians":-1.198974182262924}},"curvature":0.864795077984714},{"time":0.665301960625353,"velocity":1.796315293688453,"acceleration":2.6999999999999997,"pose":{"translation":{"x":7.0189283073611275,"y":-1.4700857444747717},"rotation":{"radians":-1.124523702693634}},"curvature":0.8889213354572022},{"time":0.710984708635543,"velocity":1.9196587133159662,"acceleration":2.699999999999999,"pose":{"translation":{"x":7.058424974986713,"y":-1.5452141678376439},"rotation":{"radians":-1.049137978507274}},"curvature":0.8823400321025343},{"time":0.7541368867750535,"velocity":2.0361695942926445,"acceleration":0.6381770875761827,"pose":{"translation":{"x":7.103686773507756,"y":-1.617575861251447},"rotation":{"radians":-0.9749888226228951}},"curvature":0.8513473102203206},{"time":0.7960798029448094,"velocity":2.0629366023783113,"acceleration":0.7395766949083168,"pose":{"translation":{"x":7.154454928903568,"y":-1.6869476414551279},"rotation":{"radians":-0.9037537838064569}},"curvature":0.8035162482299619},{"time":0.8377534662927901,"velocity":2.093757472581933,"acceleration":0.8129195830930814,"pose":{"translation":{"x":7.210321035548344,"y":-1.7531343067357628},"rotation":{"radians":-0.8365858561357852}},"curvature":0.7462549779219345},{"time":0.8790581539399454,"velocity":2.127334862043848,"acceleration":0.8307612402502931,"pose":{"translation":{"x":7.270747693985399,"y":-1.8159688360067645},"rotation":{"radians":-0.7741551069925111}},"curvature":0.685760875926037},{"time":0.9198781861254174,"velocity":2.161246562609308,"acceleration":0.8075463448723987,"pose":{"translation":{"x":7.3350891487013925,"y":-1.8753125878860903},"rotation":{"radians":-0.7167361615414236}},"curvature":0.6265723214209662},{"time":0.9600893471692407,"velocity":2.1937189387333227,"acceleration":0.7566019612538778,"pose":{"translation":{"x":7.40261192590057,"y":-1.9310554997744513},"rotation":{"radians":-0.6643116790569434}},"curvature":0.5716110075260754},{"time":0.9995523172289599,"velocity":2.2235766992774093,"acceleration":-1.3442668769209851,"pose":{"translation":{"x":7.472515471278987,"y":-1.9831162869335177},"rotation":{"radians":-0.6166695804949698}},"curvature":0.5224916735499796},{"time":1.0388060631488638,"velocity":2.17080918884221,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":7.54395278779875,"y":-2.0314426415641305},"rotation":{"radians":-0.5734825077866054}},"curvature":0.4799061663392572},{"time":1.0788493536536223,"velocity":2.0626923044793624,"acceleration":-2.700000000000008,"pose":{"translation":{"x":7.616051073462241,"y":-2.0760114318845058},"rotation":{"radians":-0.5343665774820924}},"curvature":0.4439695051503919},{"time":1.120034233128265,"velocity":1.9514931298978264,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.687932359086355,"y":-2.1168289012084456},"rotation":{"radians":-0.49892145456987524}},"curvature":0.4144855181996159},{"time":1.1622261530801434,"velocity":1.8375749460277553,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.7587341460767325,"y":-2.1539308670235453},"rotation":{"radians":-0.46675576543807984}},"curvature":0.3911303376729037},{"time":1.2052657628065464,"velocity":1.7213679997664675,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.827630044201988,"y":-2.1873829200694},"rotation":{"radians":-0.43750210450560295}},"curvature":0.37356806783724006},{"time":1.2489726807041968,"velocity":1.6033593214428112,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.893850409367945,"y":-2.217280623415815},"rotation":{"radians":-0.4108253732258058}},"curvature":0.36151368916987675},{"time":1.2931508491217187,"velocity":1.484078266715502,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.956702981391872,"y":-2.2437497115410117},"rotation":{"radians":-0.38642755580008403}},"curvature":0.35474997107009976},{"time":1.3821072181878868,"velocity":1.243896070236848,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":8.070046451485295,"y":-2.287057031551971},"rotation":{"radians":-0.3434873864254262}},"curvature":0.3562357527584841},{"time":1.4707356914132466,"velocity":1.0045991925283768,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.16445428667005,"y":-2.318921749068298},"rotation":{"radians":-0.30726312844009457}},"curvature":0.3728963823935639},{"time":1.5589891186156886,"velocity":0.7663149390817833,"acceleration":-2.7,"pose":{"translation":{"x":8.239279279267873,"y":-2.3414562165960007},"rotation":{"radians":-0.27771745401724474}},"curvature":0.37559400125132514},{"time":1.8428094664237564,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":8.344349159311989,"y":-2.369499452425432},"rotation":{"radians":-0.25100268664302744}},"curvature":4.332055593301599E-14}] \ 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 c2a84dd..92b8d81 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":2.6999999999999997,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.241057734845558,"velocity":0.6508558840830065,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2065095854674475,"y":-2.3218236291658374},"rotation":{"radians":1.4813756721292652}},"curvature":-0.23682019043437622},{"time":0.3413462238092895,"velocity":0.9216348042850815,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.2144920400116974,"y":-2.243377360913824},"rotation":{"radians":1.454917761458827}},"curvature":-0.42576201763689586},{"time":0.41891023510025166,"velocity":1.1310576347706796,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2251942805954354,"y":-2.1644925027916173},"rotation":{"radians":1.4151325512096895}},"curvature":-0.5652942275784931},{"time":0.485033699119182,"velocity":1.3095909876217915,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0851022911999886},"rotation":{"radians":1.3654713587791596}},"curvature":-0.6577310942169727},{"time":0.5441192460263382,"velocity":1.4691219642711133,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.2585973431481516,"y":-2.005232567172635},"rotation":{"radians":1.3091243144298805}},"curvature":-0.7083161600470856},{"time":0.598434717700044,"velocity":1.615773737790119,"acceleration":2.699999999999997,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9249924521559951},"rotation":{"radians":1.2488824795564184}},"curvature":-0.7244898416325155},{"time":0.6493170525862356,"velocity":1.7531560419828363,"acceleration":2.6398370928267623,"pose":{"translation":{"x":3.3123124503261456,"y":-1.844565023789062},"rotation":{"radians":1.1870383284988666}},"curvature":-0.7148635896682205},{"time":0.6976475921156614,"velocity":1.8807407929489446,"acceleration":0.3851235257877907,"pose":{"translation":{"x":3.347702503129696,"y":-1.7641979916831971},"rotation":{"radians":1.1253401051571525}},"curvature":-0.6880320260809347},{"time":0.7452714197743336,"velocity":1.8990818493683626,"acceleration":0.4261318921100336,"pose":{"translation":{"x":3.388937040133019,"y":-1.684194373201945},"rotation":{"radians":1.065004679160645}},"curvature":-0.6515789195141447},{"time":0.7935501887998376,"velocity":1.9196549725619438,"acceleration":0.4226300835840394,"pose":{"translation":{"x":3.435952123650134,"y":-1.6049031692408469},"rotation":{"radians":1.006777432997644}},"curvature":-0.6115184355792523},{"time":0.8423806352488521,"velocity":1.9402921882261368,"acceleration":0.3884613079861361,"pose":{"translation":{"x":3.4885571567123694,"y":-1.526710040007253},"rotation":{"radians":0.951018464595247}},"curvature":-0.5721866543272143},{"time":0.891656841594672,"velocity":1.9594340877958287,"acceleration":0.3344566856646136,"pose":{"translation":{"x":3.5464500344851415,"y":-1.4500279808001393},"rotation":{"radians":0.8977946082603232}},"curvature":-0.5364453773677413},{"time":0.9412621466533199,"velocity":1.9760249137171262,"acceleration":0.2683198938808538,"pose":{"translation":{"x":3.6092322956847354,"y":-1.3752879977899195},"rotation":{"radians":0.8469628668079059}},"curvature":-0.5060275803559428},{"time":0.991065022444834,"velocity":1.9893880160644666,"acceleration":0.1949350473878892,"pose":{"translation":{"x":3.676424273995083,"y":-1.3029297837982592},"rotation":{"radians":0.7982381560354028}},"curvature":-0.4818964199153621},{"time":1.040918583727103,"velocity":1.9991062223954807,"acceleration":0.1169210643039128,"pose":{"translation":{"x":3.7474802494845436,"y":-1.2333923940778901},"rotation":{"radians":0.751243975385745}},"curvature":-0.46454985151642403},{"time":1.0906630347198218,"velocity":2.0049223965487633,"acceleration":0.03527206582387261,"pose":{"translation":{"x":3.8218036000226827,"y":-1.1671049220924246},"rotation":{"radians":0.7055480104280688}},"curvature":-0.45424867593529666},{"time":1.1401302483635,"velocity":2.0066672073645266,"acceleration":-0.04999304969738987,"pose":{"translation":{"x":3.8987619526970523,"y":-1.1044771752961677},"rotation":{"radians":0.6606862029065328}},"curvature":-0.45117004060039156},{"time":1.1891496919869249,"velocity":2.0042165758833224,"acceleration":-0.1391597764620076,"pose":{"translation":{"x":3.9777023352299703,"y":-1.0458903509139337},"rotation":{"radians":0.6161792808148264}},"curvature":-0.4554955855641011},{"time":1.2375549604677185,"velocity":1.9974805095419517,"acceleration":-0.2320435074928791,"pose":{"translation":{"x":4.057966327395298,"y":-0.9916877117208573},"rotation":{"radians":0.5715458045066106}},"curvature":-0.4674399207316766},{"time":1.2851901900410632,"velocity":1.9864270637915242,"acceleration":-0.32698344045241107,"pose":{"translation":{"x":4.138905212435224,"y":-0.9421652618222098},"rotation":{"radians":0.5263159118657924}},"curvature":-0.48721532342589935},{"time":1.331915568695074,"velocity":1.971148638722794,"acceleration":-0.41946534977193695,"pose":{"translation":{"x":4.219895128477039,"y":-0.8975624224332113},"rotation":{"radians":0.4800503874072753}},"curvature":-0.514914663124024},{"time":1.3776110244087767,"velocity":1.9519809784088578,"acceleration":-2.0371929437243264,"pose":{"translation":{"x":4.300352219949918,"y":-0.858052707658846},"rotation":{"radians":0.43237050210611794}},"curvature":-0.5502783042303422},{"time":1.4229973947260766,"velocity":1.8595201850571954,"acceleration":-2.7,"pose":{"translation":{"x":4.3797477890017005,"y":-0.8237344002736755},"rotation":{"radians":0.38300509676508365}},"curvature":-0.5922963376106968},{"time":1.4692615400564721,"velocity":1.7346069926651275,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.457623446915669,"y":-0.794621227501652},"rotation":{"radians":0.3318620281588008}},"curvature":-0.638596353997764},{"time":1.516968006295494,"velocity":1.6057995338197684,"acceleration":-2.7,"pose":{"translation":{"x":4.5336062655273235,"y":-0.770633036795934},"rotation":{"radians":0.2791301165865979}},"curvature":-0.6846031138647943},{"time":1.5665060797729344,"velocity":1.472046735430679,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.607423928641174,"y":-0.751586471618698},"rotation":{"radians":0.22541304675400947}},"curvature":-0.7225669573485112},{"time":1.6185329821953554,"velocity":1.3315740988901423,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.678919883447504,"y":-0.7371856472209546},"rotation":{"radians":0.17188576739499878}},"curvature":-0.7407736342310233},{"time":1.674158974675562,"velocity":1.1813839191935844,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.748068491939165,"y":-0.7270128264223612},"rotation":{"radians":0.1204455235478345}},"curvature":-0.7235395890805306},{"time":1.735350766513461,"velocity":1.016166081231257,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.814990182328344,"y":-0.7205190953910354},"rotation":{"radians":0.07380665332979482}},"curvature":-0.6528042487689714},{"time":1.8060215082131033,"velocity":0.825355078642223,"acceleration":-2.7,"pose":{"translation":{"x":4.87996660046335,"y":-0.7170150394233701},"rotation":{"radians":0.03546965101273601}},"curvature":-0.5119937898610332},{"time":2.1117085743768893,"velocity":0.0,"acceleration":-2.7,"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":2.6999999999999997,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.241057734845558,"velocity":0.6508558840830065,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2065095854674475,"y":-2.3218236291658374},"rotation":{"radians":1.4813756721292652}},"curvature":-0.23682019043437622},{"time":0.3413462238092895,"velocity":0.9216348042850815,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.2144920400116974,"y":-2.243377360913824},"rotation":{"radians":1.454917761458827}},"curvature":-0.42576201763689586},{"time":0.41891023510025166,"velocity":1.1310576347706796,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2251942805954354,"y":-2.1644925027916173},"rotation":{"radians":1.4151325512096895}},"curvature":-0.5652942275784931},{"time":0.485033699119182,"velocity":1.3095909876217915,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0851022911999886},"rotation":{"radians":1.3654713587791596}},"curvature":-0.6577310942169727},{"time":0.5441192460263382,"velocity":1.4691219642711133,"acceleration":2.699999999999998,"pose":{"translation":{"x":3.2585973431481516,"y":-2.005232567172635},"rotation":{"radians":1.3091243144298805}},"curvature":-0.7083161600470856},{"time":0.598434717700044,"velocity":1.615773737790119,"acceleration":2.699999999999997,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9249924521559951},"rotation":{"radians":1.2488824795564184}},"curvature":-0.7244898416325155},{"time":0.6493170525862356,"velocity":1.7531560419828363,"acceleration":2.6999999999999966,"pose":{"translation":{"x":3.3123124503261456,"y":-1.844565023789062},"rotation":{"radians":1.1870383284988666}},"curvature":-0.7148635896682205},{"time":0.697610288248806,"velocity":1.883547778271776,"acceleration":2.7,"pose":{"translation":{"x":3.347702503129696,"y":-1.7641979916831971},"rotation":{"radians":1.1253401051571525}},"curvature":-0.6880320260809347},{"time":0.7438617779381282,"velocity":2.008426800432946,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.388937040133019,"y":-1.684194373201945},"rotation":{"radians":1.065004679160645}},"curvature":-0.6515789195141447},{"time":0.7884245527735813,"velocity":2.1287462924886693,"acceleration":1.4819789396900165,"pose":{"translation":{"x":3.435952123650134,"y":-1.6049031692408469},"rotation":{"radians":1.006777432997644}},"curvature":-0.6115184355792523},{"time":0.8320334623034376,"velocity":2.1933737779947635,"acceleration":0.49640802305978354,"pose":{"translation":{"x":3.4885571567123694,"y":-1.526710040007253},"rotation":{"radians":0.951018464595247}},"curvature":-0.5721866543272143},{"time":0.8756239525324321,"velocity":2.2150124470735455,"acceleration":0.4273964451971299,"pose":{"translation":{"x":3.5464500344851415,"y":-1.4500279808001393},"rotation":{"radians":0.8977946082603232}},"curvature":-0.5364453773677413},{"time":0.9195055685458515,"velocity":2.2337672937671864,"acceleration":0.3428813766795046,"pose":{"translation":{"x":3.6092322956847354,"y":-1.3752879977899195},"rotation":{"radians":0.8469628668079059}},"curvature":-0.5060275803559428},{"time":0.9635619586691141,"velocity":2.24887340946418,"acceleration":0.24910414373196943,"pose":{"translation":{"x":3.676424273995083,"y":-1.3029297837982592},"rotation":{"radians":0.7982381560354028}},"curvature":-0.4818964199153621},{"time":1.007663185957275,"velocity":2.2598592079253264,"acceleration":0.14941141676644518,"pose":{"translation":{"x":3.7474802494845436,"y":-1.2333923940778901},"rotation":{"radians":0.751243975385745}},"curvature":-0.46454985151642403},{"time":1.0516678926046792,"velocity":2.266434013489907,"acceleration":0.045073566156768094,"pose":{"translation":{"x":3.8218036000226827,"y":-1.1671049220924246},"rotation":{"radians":0.7055480104280688}},"curvature":-0.45424867593529666},{"time":1.095427350827933,"velocity":2.268406408325117,"acceleration":-0.06388525821442383,"pose":{"translation":{"x":3.8987619526970523,"y":-1.1044771752961677},"rotation":{"radians":0.6606862029065328}},"curvature":-0.45117004060039156},{"time":1.1387907048025006,"velocity":2.2656361292594083,"acceleration":-0.17782988447698114,"pose":{"translation":{"x":3.9777023352299703,"y":-1.0458903509139337},"rotation":{"radians":0.6161792808148264}},"curvature":-0.4554955855641011},{"time":1.1816107499970483,"velocity":2.2580214455691627,"acceleration":-1.0036300912752083,"pose":{"translation":{"x":4.057966327395298,"y":-0.9916877117208573},"rotation":{"radians":0.5715458045066106}},"curvature":-0.4674399207316766},{"time":1.2240329619674781,"velocity":2.215445237097184,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.138905212435224,"y":-0.9421652618222098},"rotation":{"radians":0.5263159118657924}},"curvature":-0.48721532342589935},{"time":1.2668860807214841,"velocity":2.0997418164613677,"acceleration":-2.699999999999993,"pose":{"translation":{"x":4.219895128477039,"y":-0.8975624224332113},"rotation":{"radians":0.4800503874072753}},"curvature":-0.514914663124024},{"time":1.3108151875236806,"velocity":1.9811332280954372,"acceleration":-2.7,"pose":{"translation":{"x":4.300352219949918,"y":-0.858052707658846},"rotation":{"radians":0.43237050210611794}},"curvature":-0.5502783042303422},{"time":1.3558570553156222,"velocity":1.8595201850571954,"acceleration":-2.7,"pose":{"translation":{"x":4.3797477890017005,"y":-0.8237344002736755},"rotation":{"radians":0.38300509676508365}},"curvature":-0.5922963376106968},{"time":1.4021212006460178,"velocity":1.7346069926651275,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.457623446915669,"y":-0.794621227501652},"rotation":{"radians":0.3318620281588008}},"curvature":-0.638596353997764},{"time":1.4498276668850396,"velocity":1.6057995338197684,"acceleration":-2.7,"pose":{"translation":{"x":4.5336062655273235,"y":-0.770633036795934},"rotation":{"radians":0.2791301165865979}},"curvature":-0.6846031138647943},{"time":1.49936574036248,"velocity":1.472046735430679,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.607423928641174,"y":-0.751586471618698},"rotation":{"radians":0.22541304675400947}},"curvature":-0.7225669573485112},{"time":1.551392642784901,"velocity":1.3315740988901423,"acceleration":-2.699999999999998,"pose":{"translation":{"x":4.678919883447504,"y":-0.7371856472209546},"rotation":{"radians":0.17188576739499878}},"curvature":-0.7407736342310233},{"time":1.6070186352651077,"velocity":1.1813839191935844,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.748068491939165,"y":-0.7270128264223612},"rotation":{"radians":0.1204455235478345}},"curvature":-0.7235395890805306},{"time":1.6682104271030067,"velocity":1.016166081231257,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":4.814990182328344,"y":-0.7205190953910354},"rotation":{"radians":0.07380665332979482}},"curvature":-0.6528042487689714},{"time":1.7388811688026489,"velocity":0.825355078642223,"acceleration":-2.7,"pose":{"translation":{"x":4.87996660046335,"y":-0.7170150394233701},"rotation":{"radians":0.03546965101273601}},"curvature":-0.5119937898610332},{"time":2.044568234966435,"velocity":0.0,"acceleration":-2.7,"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 84d80ee..f1588b2 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":2.7,"pose":{"translation":{"x":5.006,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.26560616204123155,"velocity":0.7171366375113252,"acceleration":2.700000000000001,"pose":{"translation":{"x":5.101237954974175,"y":-0.715000133837411},"rotation":{"radians":-4.1496514143772375E-6}},"curvature":-8.439120542891601E-5},{"time":0.3755418080019105,"velocity":1.0139628816051585,"acceleration":2.7000000000000015,"pose":{"translation":{"x":5.1963927268981935,"y":-0.7150010200477351},"rotation":{"radians":-1.5566916778703903E-5}},"curvature":-1.531433592359381E-4},{"time":0.45975256131083786,"velocity":1.2413319155392624,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-0.7150032761523467},"rotation":{"radians":-3.281919824111288E-5}},"curvature":-2.0809210046916836E-4},{"time":0.5305335413392231,"velocity":1.4324405616159026,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-0.7150073815320199},"rotation":{"radians":-5.4628064762566565E-5}},"curvature":-2.5102787463788406E-4},{"time":0.5926137419852601,"velocity":1.6000571033602022,"acceleration":2.699999999999997,"pose":{"translation":{"x":5.480107913374901,"y":-0.7150136872941142},"rotation":{"radians":-7.986386339002337E-5}},"curvature":-2.83602941002837E-4},{"time":0.6483919455154701,"velocity":1.7506582528917691,"acceleration":2.6999999999999975,"pose":{"translation":{"x":5.573556354522705,"y":-0.7150224261397599},"rotation":{"radians":-1.0753486872715826E-4}},"curvature":-3.07275938946559E-4},{"time":0.6992715863511779,"velocity":1.88803328314818,"acceleration":2.700000000000001,"pose":{"translation":{"x":5.666124013066292,"y":-0.7150337222310442},"rotation":{"radians":-1.3677316456550684E-4}},"curvature":-3.2328258941494175E-4},{"time":0.7461494531715209,"velocity":2.0146035235631063,"acceleration":2.6999999999999993,"pose":{"translation":{"x":5.757597656250001,"y":-0.7150476010581972},"rotation":{"radians":-1.6681884584259307E-4}},"curvature":-3.326228999871516E-4},{"time":0.7896340749116564,"velocity":2.132012002261472,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.847754658579826,"y":-0.715063999306777},"rotation":{"radians":-1.970036246728839E-4}},"curvature":-3.3605720307272754E-4},{"time":0.8301569042188945,"velocity":2.241423641391015,"acceleration":1.5252751797058215,"pose":{"translation":{"x":5.936366649627686,"y":-0.7150827747248557},"rotation":{"radians":-2.267345283137577E-4}},"curvature":-3.3410511000065975E-4},{"time":0.8684009357683641,"velocity":2.2997563134853074,"acceleration":2.453497817258074E-4,"pose":{"translation":{"x":6.023203161835671,"y":-0.7151037159902053},"rotation":{"radians":-2.554780823579629E-4}},"curvature":-3.270428558434214E-4},{"time":0.9052883016779298,"velocity":2.2997653637924818,"acceleration":3.6246520609297105E-4,"pose":{"translation":{"x":6.108035278320313,"y":-0.7151265525774831},"rotation":{"radians":-2.827451666545957E-4}},"curvature":-3.1489552676741375E-4},{"time":0.9412066494584472,"velocity":2.2997783829438125,"acceleration":-1.6922311255193359,"pose":{"translation":{"x":6.190639280676843,"y":-0.7151509646254184},"rotation":{"radians":-3.080766026243413E-4}},"curvature":-2.9742137977722E-4},{"time":0.9765214615036917,"velocity":2.240017558808985,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.270800296783448,"y":-0.7151765928039965},"rotation":{"radians":-3.310294717533898E-4}},"curvature":-2.740860371375139E-4},{"time":1.0118798669563245,"velocity":2.1445498640868763,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.3483159486055385,"y":-0.7152030481816463},"rotation":{"radians":-3.511641773574364E-4}},"curvature":-2.4402502101658282E-4},{"time":1.0475037964263774,"velocity":2.0483652545177335,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.423000000000001,"y":-0.7152299220924245},"rotation":{"radians":-3.6803235840971186E-4}},"curvature":-2.059943242003666E-4},{"time":1.083347219986566,"velocity":1.9515880109052242,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.494686004519464,"y":-0.7152567960032029},"rotation":{"radians":-3.811659755577217E-4}},"curvature":-1.58311254330657E-4},{"time":1.1193673807934277,"velocity":1.8543335767266975,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.563230953216554,"y":-0.7152832513808527},"rotation":{"radians":-3.900682698212409E-4}},"curvature":-9.879298936442655E-5},{"time":1.1555276419005598,"velocity":1.756700871737441,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.628518922448159,"y":-0.7153088795594308},"rotation":{"radians":-3.942079319109873E-4}},"curvature":-2.471047188454908E-5},{"time":1.1918013831369842,"velocity":1.6587617703990953,"acceleration":-2.7,"pose":{"translation":{"x":6.690464721679689,"y":-0.715333291607366},"rotation":{"radians":-3.930188464700522E-4}},"curvature":6.720568814785149E-5},{"time":1.2646675984544982,"velocity":1.4620229890418077,"acceleration":-2.7,"pose":{"translation":{"x":6.804164600372316,"y":-0.7153770694599936},"rotation":{"radians":-3.722874810951608E-4}},"curvature":3.192984868163592E-4},{"time":1.3382246602551755,"velocity":1.2634189221799788,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.904402343750003,"y":-0.715412243126652},"rotation":{"radians":-3.234795622395437E-4}},"curvature":6.815272352510909E-4},{"time":1.4136112005287729,"velocity":1.059875263441266,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.9919748954772984,"y":-0.7154374180450894},"rotation":{"radians":-2.4489770884975466E-4}},"curvature":0.0011296207077533735},{"time":1.4940810580317696,"velocity":0.8426066481831752,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-0.7154524626528294},"rotation":{"radians":-1.43629614104435E-4}},"curvature":0.0014770805957295724},{"time":1.5895140453618364,"velocity":0.5849375823919951,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-0.7154588241371141},"rotation":{"radians":-4.551855926430377E-5}},"curvature":0.0012543019646483913},{"time":1.8061575943959085,"velocity":0.0,"acceleration":-2.7000000000000006,"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":2.7,"pose":{"translation":{"x":5.006,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.26560616204123155,"velocity":0.7171366375113252,"acceleration":2.700000000000001,"pose":{"translation":{"x":5.101237954974175,"y":-0.715000133837411},"rotation":{"radians":-4.1496514143772375E-6}},"curvature":-8.439120542891601E-5},{"time":0.3755418080019105,"velocity":1.0139628816051585,"acceleration":2.7000000000000015,"pose":{"translation":{"x":5.1963927268981935,"y":-0.7150010200477351},"rotation":{"radians":-1.5566916778703903E-5}},"curvature":-1.531433592359381E-4},{"time":0.45975256131083786,"velocity":1.2413319155392624,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-0.7150032761523467},"rotation":{"radians":-3.281919824111288E-5}},"curvature":-2.0809210046916836E-4},{"time":0.5305335413392231,"velocity":1.4324405616159026,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-0.7150073815320199},"rotation":{"radians":-5.4628064762566565E-5}},"curvature":-2.5102787463788406E-4},{"time":0.5926137419852601,"velocity":1.6000571033602022,"acceleration":2.699999999999997,"pose":{"translation":{"x":5.480107913374901,"y":-0.7150136872941142},"rotation":{"radians":-7.986386339002337E-5}},"curvature":-2.83602941002837E-4},{"time":0.6483919455154701,"velocity":1.7506582528917691,"acceleration":2.6999999999999975,"pose":{"translation":{"x":5.573556354522705,"y":-0.7150224261397599},"rotation":{"radians":-1.0753486872715826E-4}},"curvature":-3.07275938946559E-4},{"time":0.6992715863511779,"velocity":1.88803328314818,"acceleration":2.700000000000001,"pose":{"translation":{"x":5.666124013066292,"y":-0.7150337222310442},"rotation":{"radians":-1.3677316456550684E-4}},"curvature":-3.2328258941494175E-4},{"time":0.7461494531715209,"velocity":2.0146035235631063,"acceleration":2.6999999999999993,"pose":{"translation":{"x":5.757597656250001,"y":-0.7150476010581972},"rotation":{"radians":-1.6681884584259307E-4}},"curvature":-3.326228999871516E-4},{"time":0.7896340749116564,"velocity":2.132012002261472,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.847754658579826,"y":-0.715063999306777},"rotation":{"radians":-1.970036246728839E-4}},"curvature":-3.3605720307272754E-4},{"time":0.8301569042188945,"velocity":2.241423641391015,"acceleration":2.7000000000000104,"pose":{"translation":{"x":5.936366649627686,"y":-0.7150827747248557},"rotation":{"radians":-2.267345283137577E-4}},"curvature":-3.3410511000065975E-4},{"time":0.8680344635260779,"velocity":2.3436930515204106,"acceleration":2.379480127525437,"pose":{"translation":{"x":6.023203161835671,"y":-0.7151037159902053},"rotation":{"radians":-2.554780823579629E-4}},"curvature":-3.270428558434214E-4},{"time":0.9035886784740036,"velocity":2.4282935994387675,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.108035278320313,"y":-0.7151265525774831},"rotation":{"radians":-2.827451666545957E-4}},"curvature":-3.1489552676741375E-4},{"time":0.9382748602056823,"velocity":2.334640908763235,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.190639280676843,"y":-0.7151509646254184},"rotation":{"radians":-3.080766026243413E-4}},"curvature":-2.9742137977722E-4},{"time":0.9733205453739232,"velocity":2.240017558808985,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":6.270800296783448,"y":-0.7151765928039965},"rotation":{"radians":-3.310294717533898E-4}},"curvature":-2.740860371375139E-4},{"time":1.0086789508265561,"velocity":2.1445498640868763,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.3483159486055385,"y":-0.7152030481816463},"rotation":{"radians":-3.511641773574364E-4}},"curvature":-2.4402502101658282E-4},{"time":1.044302880296609,"velocity":2.0483652545177335,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.423000000000001,"y":-0.7152299220924245},"rotation":{"radians":-3.6803235840971186E-4}},"curvature":-2.059943242003666E-4},{"time":1.0801463038567976,"velocity":1.9515880109052242,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.494686004519464,"y":-0.7152567960032029},"rotation":{"radians":-3.811659755577217E-4}},"curvature":-1.58311254330657E-4},{"time":1.1161664646636593,"velocity":1.8543335767266975,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.563230953216554,"y":-0.7152832513808527},"rotation":{"radians":-3.900682698212409E-4}},"curvature":-9.879298936442655E-5},{"time":1.1523267257707914,"velocity":1.756700871737441,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.628518922448159,"y":-0.7153088795594308},"rotation":{"radians":-3.942079319109873E-4}},"curvature":-2.471047188454908E-5},{"time":1.1886004670072159,"velocity":1.6587617703990953,"acceleration":-2.7,"pose":{"translation":{"x":6.690464721679689,"y":-0.715333291607366},"rotation":{"radians":-3.930188464700522E-4}},"curvature":6.720568814785149E-5},{"time":1.2614666823247298,"velocity":1.4620229890418077,"acceleration":-2.7,"pose":{"translation":{"x":6.804164600372316,"y":-0.7153770694599936},"rotation":{"radians":-3.722874810951608E-4}},"curvature":3.192984868163592E-4},{"time":1.3350237441254071,"velocity":1.2634189221799788,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.904402343750003,"y":-0.715412243126652},"rotation":{"radians":-3.234795622395437E-4}},"curvature":6.815272352510909E-4},{"time":1.4104102843990045,"velocity":1.059875263441266,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.9919748954772984,"y":-0.7154374180450894},"rotation":{"radians":-2.4489770884975466E-4}},"curvature":0.0011296207077533735},{"time":1.4908801419020012,"velocity":0.8426066481831752,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-0.7154524626528294},"rotation":{"radians":-1.43629614104435E-4}},"curvature":0.0014770805957295724},{"time":1.586313129232068,"velocity":0.5849375823919951,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-0.7154588241371141},"rotation":{"radians":-4.551855926430377E-5}},"curvature":0.0012543019646483913},{"time":1.8029566782661401,"velocity":0.0,"acceleration":-2.7000000000000006,"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 f48b02e..7f32047 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":2.6999999999999997,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.18561803822360862,"velocity":0.5011687032037432,"acceleration":2.6999999999999997,"pose":{"translation":{"x":7.246509805083275,"y":-0.7155430880188942},"rotation":{"radians":-0.0350011181299882}},"curvature":-1.5127100780557379},{"time":0.22631257760103962,"velocity":0.6110439595228069,"acceleration":2.7000000000000015,"pose":{"translation":{"x":7.269105931106955,"y":-0.7167897682543843},"rotation":{"radians":-0.07832761851893318}},"curvature":-2.334420656075931},{"time":0.2597927090945532,"velocity":0.7014403145552937,"acceleration":2.6999999999999984,"pose":{"translation":{"x":7.290950786590576,"y":-0.7191414356231689},"rotation":{"radians":-0.1395525129244173}},"curvature":-3.263282772933744},{"time":0.28846435913354934,"velocity":0.7788537696605832,"acceleration":2.6999999999999873,"pose":{"translation":{"x":7.311837589647621,"y":-0.7228940822277218},"rotation":{"radians":-0.21970640501294192}},"curvature":-4.314442138931049},{"time":0.3014340564815954,"velocity":0.8138719525003073,"acceleration":-0.5854730681955118,"pose":{"translation":{"x":7.321862860926544,"y":-0.7253787572213332},"rotation":{"radians":-0.26715373954274585}},"curvature":-4.8768249166265605},{"time":0.3139616019288856,"velocity":0.8065374120303236,"acceleration":-2.6999999999999935,"pose":{"translation":{"x":7.331580549359321,"y":-0.7283090326189995},"rotation":{"radians":-0.3195540309110183}},"curvature":-5.44923810979411},{"time":0.32661303342430414,"velocity":0.7723785469926937,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.3409705967268675,"y":-0.7317123590575647},"rotation":{"radians":-0.3768130423863286}},"curvature":-6.013133652151949},{"time":0.3396626981060943,"velocity":0.7371444523518602,"acceleration":-2.5218427228546565,"pose":{"translation":{"x":7.3500141697414225,"y":-0.7356141742598266},"rotation":{"radians":-0.4386948535617238}},"curvature":-6.54366755130846},{"time":0.35319137871760853,"velocity":0.7030272476018882,"acceleration":-1.7847878266812431,"pose":{"translation":{"x":7.3586936382955175,"y":-0.7400379414865165},"rotation":{"radians":-0.5047911520002755}},"curvature":-7.011005995792478},{"time":0.36719790022976256,"velocity":0.6780285785128467,"acceleration":-1.0895321660936568,"pose":{"translation":{"x":7.366992553710937,"y":-0.7450051879882812},"rotation":{"radians":-0.5745030191870489}},"curvature":-7.383294440478745},{"time":0.38159073142042066,"velocity":0.6623471259694687,"acceleration":-0.425022765649199,"pose":{"translation":{"x":7.37489562698768,"y":-0.7505355434576632},"rotation":{"radians":-0.6470431198312998}},"curvature":-7.631170999207397},{"time":0.3962581445370291,"velocity":0.6561131414817284,"acceleration":0.22043079943411106,"pose":{"translation":{"x":7.382388707052916,"y":-0.7566467784810811},"rotation":{"radians":-0.7214638781945694}},"curvature":-7.733002970359292},{"time":0.41107535069537693,"velocity":0.659379310080593,"acceleration":0.8576934130322682,"pose":{"translation":{"x":7.389458759009955,"y":-0.7633548429908115},"rotation":{"radians":-0.7967118933901203}},"curvature":-7.67941005620971},{"time":0.4259142865137987,"velocity":0.672106567588462,"acceleration":1.494967761608296,"pose":{"translation":{"x":7.3960938423872,"y":-0.7706739047169685},"rotation":{"radians":-0.8717017970267}},"curvature":-7.475544337770991},{"time":0.44065428082431424,"velocity":0.6941423838889724,"acceleration":2.1359229869020817,"pose":{"translation":{"x":7.402283089387114,"y":-0.7786163876394857},"rotation":{"radians":-0.945396735690179}},"curvature":-7.140250735362253},{"time":0.45519153096984843,"velocity":0.7251928306411646,"acceleration":2.7000000000000024,"pose":{"translation":{"x":7.408016683135182,"y":-0.7871930104400963},"rotation":{"radians":-1.0168804926180126}},"curvature":-6.702377284278848},{"time":0.4694561186140228,"velocity":0.7637072172804354,"acceleration":2.7,"pose":{"translation":{"x":7.413285835928866,"y":-0.7964128249543136},"rotation":{"radians":-1.0854090438103314}},"curvature":-6.195516955724278},{"time":0.4834783629376544,"velocity":0.8015672769542407,"acceleration":2.699999999999991,"pose":{"translation":{"x":7.418082767486572,"y":-0.8062832546234131},"rotation":{"radians":-1.1504356775241285}},"curvature":-5.652809077092928},{"time":0.4973490576854332,"velocity":0.8390181527732433,"acceleration":2.6999999999999784,"pose":{"translation":{"x":7.422400683196611,"y":-0.8168101329464116},"rotation":{"radians":-1.2116107716220759}},"curvature":-5.103047095861068},{"time":0.5111382010164213,"velocity":0.8762488397669108,"acceleration":2.6999999999999984,"pose":{"translation":{"x":7.426233752366156,"y":-0.8279977419320493},"rotation":{"radians":-1.2687623098382128}},"curvature":-4.568594092565457},{"time":0.5248991730983696,"velocity":0.9134034643881714,"acceleration":2.6999999999999904,"pose":{"translation":{"x":7.429577086470206,"y":-0.8398488505507703},"rotation":{"radians":-1.321865159656409}},"curvature":-4.064939827552741},{"time":0.53867197566198,"velocity":0.9505900313099191,"acceleration":2.699999999999999,"pose":{"translation":{"x":7.432426717400551,"y":-0.8523647531867027},"rotation":{"radians":-1.3710064961660495}},"curvature":-3.6013796997049092},{"time":0.5663549098204448,"velocity":1.0253339535377741,"acceleration":2.6999999999999997,"pose":{"translation":{"x":7.436633468884975,"y":-0.8793889758270235},"rotation":{"radians":-1.4581210241861995}},"curvature":-2.8082821953841726},{"time":0.5943348801333808,"velocity":1.1008798733827012,"acceleration":2.6999999999999975,"pose":{"translation":{"x":7.43883984375,"y":-0.909052734375},"rotation":{"radians":-1.5319155465954188}},"curvature":-2.187808044399357},{"time":0.6226595436563629,"velocity":1.177356464894753,"acceleration":2.7000000000000046,"pose":{"translation":{"x":7.439045013528317,"y":-0.9413172208983451},"rotation":{"radians":-1.5944160241119611}},"curvature":-1.7137886686522077},{"time":0.6513197708298418,"velocity":1.2547390782631462,"acceleration":2.7000000000000015,"pose":{"translation":{"x":7.437260788321495,"y":-0.9761237254738808},"rotation":{"radians":-1.647530756225237}},"curvature":-1.3550438251889343},{"time":0.7094414948901172,"velocity":1.4116677332258898,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.427830410003662,"y":-1.053035821914673},"rotation":{"radians":-1.7319621716711908}},"curvature":-0.8776200100484256},{"time":0.7681883047104109,"velocity":1.5702841197406827,"acceleration":2.6999999999999997,"pose":{"translation":{"x":7.410869511723519,"y":-1.1389680621027947},"rotation":{"radians":-1.7953267099312762}},"curvature":-0.5981874451621899},{"time":0.8269382911607075,"velocity":1.7289090831564835,"acceleration":2.699999999999999,"pose":{"translation":{"x":7.386856567382813,"y":-1.232859802246094},"rotation":{"radians":-1.8443193056718796}},"curvature":-0.42887728768877253},{"time":0.8850869292291667,"velocity":1.8859104059413232,"acceleration":2.7000000000000037,"pose":{"translation":{"x":7.356405448794365,"y":-1.3334500911831857},"rotation":{"radians":-1.8833328796774655}},"curvature":-0.3227070850970345},{"time":0.9420819081256159,"velocity":2.0397968489617364,"acceleration":2.0410159381451605,"pose":{"translation":{"x":7.320243152618408,"y":-1.4393170452117925},"rotation":{"radians":-1.9153030970810474}},"curvature":-0.2543047895084811},{"time":0.9979001490262314,"velocity":2.1537227682791187,"acceleration":0.34217913004283684,"pose":{"translation":{"x":7.2791875272989275,"y":-1.5489172229170802},"rotation":{"radians":-1.9422516839062522}},"curvature":-0.209624443804745},{"time":1.0535823022892705,"velocity":2.1727760390415773,"acceleration":0.2103294248093739,"pose":{"translation":{"x":7.234125000000001,"y":-1.6606250000000005},"rotation":{"radians":-1.965624524729717}},"curvature":-0.1807211323727493},{"time":1.1095988017947478,"velocity":2.184557957162399,"acceleration":0.10563247211360073,"pose":{"translation":{"x":7.185988303542137,"y":-1.7727719441056258},"rotation":{"radians":-1.9865046578778909}},"curvature":-0.16310054864071177},{"time":1.1652642216667588,"velocity":2.190438033074721,"acceleration":-0.6230162421247997,"pose":{"translation":{"x":7.1357342033386235,"y":-1.88368618965149},"rotation":{"radians":-2.0057518949614077}},"curvature":-0.15437744131502087},{"time":1.2203210443015313,"velocity":2.1561367383334735,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.084321224331855,"y":-1.9917318126559267},"rotation":{"radians":-2.024100963913834}},"curvature":-0.15363837252157278},{"time":1.2759514114334551,"velocity":2.0059347470772795,"acceleration":-2.700000000000005,"pose":{"translation":{"x":7.032687377929688,"y":-2.095348205566407},"rotation":{"radians":-2.042238626552442}},"curvature":-0.16124278314075052},{"time":1.3331004039550547,"velocity":1.8516324672689601,"acceleration":-2.7,"pose":{"translation":{"x":6.981727888941764,"y":-2.1930894520878805},"rotation":{"radians":-2.0608745532745756}},"curvature":-0.17899026334377835},{"time":1.3913028372112377,"velocity":1.6944858974772659,"acceleration":-2.7,"pose":{"translation":{"x":6.932272922515868,"y":-2.2836637020111104},"rotation":{"radians":-2.0808190837865843}},"curvature":-0.21073857875662377},{"time":1.4500491303352243,"velocity":1.5358709060425018,"acceleration":-2.7,"pose":{"translation":{"x":6.885065311074255,"y":-2.3659725460410135},"rotation":{"radians":-2.1030825654130876}},"curvature":-0.26376144837191884},{"time":1.5087871540921503,"velocity":1.3772782418988014,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.840738281249999,"y":-2.4391503906250023},"rotation":{"radians":-2.129015304185589}},"curvature":-0.3514924199646048},{"time":1.5669317002280443,"velocity":1.2202879673318878,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.7997931808233245,"y":-2.502603832781319},"rotation":{"radians":-2.1605122947808555}},"curvature":-0.4989493268459689},{"time":1.6238918953205999,"velocity":1.0664954405819882,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.762577205657957,"y":-2.5560510349273713},"rotation":{"radians":-2.200302020305231}},"curvature":-0.7530310265685853},{"time":1.679139185070685,"velocity":0.9173277582567586,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.729261126637456,"y":-2.599561099708085},"rotation":{"radians":-2.2522772528856647}},"curvature":-1.1992166376442492},{"time":1.7323659697423768,"velocity":0.7736154396431905,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.69981701660156,"y":-2.633593444824225},"rotation":{"radians":-2.3215377094330125}},"curvature":-1.9722505146070455},{"time":1.7582739582734035,"velocity":0.7036638706094184,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.686478409957137,"y":-2.6473154572118123},"rotation":{"radians":-2.364268687217763}},"curvature":-2.522324344886889},{"time":1.7838649955855093,"velocity":0.634568069866733,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.67399597728252,"y":-2.6590371778607427},"rotation":{"radians":-2.412814916615144}},"curvature":-3.1726839328595746},{"time":1.8094063432255885,"velocity":0.5656064312385193,"acceleration":-2.7,"pose":{"translation":{"x":6.662300425384189,"y":-2.668943344196311},"rotation":{"radians":-2.4666153391310455}},"curvature":-3.854197267072015},{"time":1.8353797876636566,"velocity":0.4954781312557351,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.651305866241448,"y":-2.677250471115121},"rotation":{"radians":-2.5237315022575926}},"curvature":-4.401365184508673},{"time":1.8626551567532654,"velocity":0.42183463471379096,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.640909120973196,"y":-2.684208081448457},"rotation":{"radians":-2.5802250024313738}},"curvature":-4.534047099645387},{"time":1.89294249678087,"velocity":0.3400588166392591,"acceleration":-2.7,"pose":{"translation":{"x":6.630989023804658,"y":-2.6900999364256926},"rotation":{"radians":-2.6299027273834015}},"curvature":-3.9202737890595847},{"time":2.0188902066472623,"velocity":0.0,"acceleration":-2.7,"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":2.6999999999999997,"pose":{"translation":{"x":7.2,"y":-0.715},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.18561803822360862,"velocity":0.5011687032037432,"acceleration":2.6999999999999997,"pose":{"translation":{"x":7.246509805083275,"y":-0.7155430880188942},"rotation":{"radians":-0.0350011181299882}},"curvature":-1.5127100780557379},{"time":0.22631257760103962,"velocity":0.6110439595228069,"acceleration":2.7000000000000015,"pose":{"translation":{"x":7.269105931106955,"y":-0.7167897682543843},"rotation":{"radians":-0.07832761851893318}},"curvature":-2.334420656075931},{"time":0.2597927090945532,"velocity":0.7014403145552937,"acceleration":2.6999999999999984,"pose":{"translation":{"x":7.290950786590576,"y":-0.7191414356231689},"rotation":{"radians":-0.1395525129244173}},"curvature":-3.263282772933744},{"time":0.28846435913354934,"velocity":0.7788537696605832,"acceleration":2.6999999999999873,"pose":{"translation":{"x":7.311837589647621,"y":-0.7228940822277218},"rotation":{"radians":-0.21970640501294192}},"curvature":-4.314442138931049},{"time":0.3014340564815954,"velocity":0.8138719525003073,"acceleration":2.699999999999989,"pose":{"translation":{"x":7.321862860926544,"y":-0.7253787572213332},"rotation":{"radians":-0.26715373954274585}},"curvature":-4.8768249166265605},{"time":0.313657324253441,"velocity":0.8468747754842904,"acceleration":1.010520970461372,"pose":{"translation":{"x":7.331580549359321,"y":-0.7283090326189995},"rotation":{"radians":-0.3195540309110183}},"curvature":-5.44923810979411},{"time":0.32536917183655073,"velocity":0.8587098430698701,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.3409705967268675,"y":-0.7317123590575647},"rotation":{"radians":-0.3768130423863286}},"curvature":-6.013133652151949},{"time":0.33705379454950646,"velocity":0.8271613617448895,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.3500141697414225,"y":-0.7356141742598266},"rotation":{"radians":-0.4386948535617238}},"curvature":-6.54366755130846},{"time":0.34906672341397293,"velocity":0.7947264538108301,"acceleration":-2.2807496613166642,"pose":{"translation":{"x":7.3586936382955175,"y":-0.7400379414865165},"rotation":{"radians":-0.5047911520002755}},"curvature":-7.011005995792478},{"time":0.3614571078285707,"velocity":0.7664670887536529,"acceleration":-1.3922944126262884,"pose":{"translation":{"x":7.366992553710937,"y":-0.7450051879882812},"rotation":{"radians":-0.5745030191870489}},"curvature":-7.383294440478745},{"time":0.374189227727999,"velocity":0.7487402293567909,"acceleration":-0.5431292808674142,"pose":{"translation":{"x":7.37489562698768,"y":-0.7505355434576632},"rotation":{"radians":-0.6470431198312998}},"curvature":-7.631170999207397},{"time":0.38716424702346025,"velocity":0.7416931164576062,"acceleration":0.28168472668706207,"pose":{"translation":{"x":7.382388707052916,"y":-0.7566467784810811},"rotation":{"radians":-0.7214638781945694}},"curvature":-7.733002970359292},{"time":0.40027177554815246,"velocity":0.745385307047627,"acceleration":1.096031658241625,"pose":{"translation":{"x":7.389458759009955,"y":-0.7633548429908115},"rotation":{"radians":-0.7967118933901203}},"curvature":-7.67941005620971},{"time":0.4133985264644487,"velocity":0.7597726416217399,"acceleration":1.9103935857224967,"pose":{"translation":{"x":7.3960938423872,"y":-0.7706739047169685},"rotation":{"radians":-0.8717017970267}},"curvature":-7.475544337770991},{"time":0.426437752200674,"velocity":0.7846826948310124,"acceleration":2.7000000000000077,"pose":{"translation":{"x":7.402283089387114,"y":-0.7786163876394857},"rotation":{"radians":-0.945396735690179}},"curvature":-7.140250735362253},{"time":0.43930060012250494,"velocity":0.8194123842199561,"acceleration":2.7000000000000077,"pose":{"translation":{"x":7.408016683135182,"y":-0.7871930104400963},"rotation":{"radians":-1.0168804926180126}},"curvature":-6.702377284278848},{"time":0.4519947360033305,"velocity":0.8536865510981853,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.413285835928866,"y":-0.7964128249543136},"rotation":{"radians":-1.0854090438103314}},"curvature":-6.195516955724278},{"time":0.46459873972547494,"velocity":0.8877173611479753,"acceleration":2.699999999999991,"pose":{"translation":{"x":7.418082767486572,"y":-0.8062832546234131},"rotation":{"radians":-1.1504356775241285}},"curvature":-5.652809077092928},{"time":0.4771753755475486,"velocity":0.9216742778675739,"acceleration":2.6999999999999784,"pose":{"translation":{"x":7.422400683196611,"y":-0.8168101329464116},"rotation":{"radians":-1.2116107716220759}},"curvature":-5.103047095861068},{"time":0.48977392037668716,"velocity":0.9556903489062478,"acceleration":2.6999999999999984,"pose":{"translation":{"x":7.426233752366156,"y":-0.8279977419320493},"rotation":{"radians":-1.2687623098382128}},"curvature":-4.568594092565457},{"time":0.5024321684494188,"velocity":0.9898676187026233,"acceleration":2.6999999999999904,"pose":{"translation":{"x":7.429577086470206,"y":-0.8398488505507703},"rotation":{"radians":-1.321865159656409}},"curvature":-4.064939827552741},{"time":0.5151782005045292,"velocity":1.0242819052514212,"acceleration":2.7000000000000006,"pose":{"translation":{"x":7.432426717400551,"y":-0.8523647531867027},"rotation":{"radians":-1.3710064961660495}},"curvature":-3.6013796997049092},{"time":0.5410006870269957,"velocity":1.0940026188620806,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.436633468884975,"y":-0.8793889758270235},"rotation":{"radians":-1.4581210241861995}},"curvature":-2.8082821953841726},{"time":0.5673347192235768,"velocity":1.1651045057928497,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.43883984375,"y":-0.909052734375},"rotation":{"radians":-1.5319155465954188}},"curvature":-2.187808044399357},{"time":0.5941918600064819,"velocity":1.2376187859066936,"acceleration":2.699999999999998,"pose":{"translation":{"x":7.439045013528317,"y":-0.9413172208983451},"rotation":{"radians":-1.5944160241119611}},"curvature":-1.7137886686522077},{"time":0.6215369046157858,"velocity":1.311450406351814,"acceleration":2.700000000000003,"pose":{"translation":{"x":7.437260788321495,"y":-0.9761237254738808},"rotation":{"radians":-1.647530756225237}},"curvature":-1.3550438251889343},{"time":0.6774092156608437,"velocity":1.4623056461734703,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.427830410003662,"y":-1.053035821914673},"rotation":{"radians":-1.7319621716711908}},"curvature":-0.8776200100484256},{"time":0.7343179501234567,"velocity":1.6159592292225256,"acceleration":2.699999999999995,"pose":{"translation":{"x":7.410869511723519,"y":-1.1389680621027947},"rotation":{"radians":-1.7953267099312762}},"curvature":-0.5981874451621899},{"time":0.7915540574098429,"velocity":1.7704967188957679,"acceleration":2.7000000000000006,"pose":{"translation":{"x":7.386856567382813,"y":-1.232859802246094},"rotation":{"radians":-1.8443193056718796}},"curvature":-0.42887728768877253},{"time":0.8484469779407438,"velocity":1.9241076043292002,"acceleration":2.7000000000000037,"pose":{"translation":{"x":7.356405448794365,"y":-1.3334500911831857},"rotation":{"radians":-1.8833328796774655}},"curvature":-0.3227070850970345},{"time":0.904393574474727,"velocity":2.0751634149709552,"acceleration":2.7000000000000033,"pose":{"translation":{"x":7.320243152618408,"y":-1.4393170452117925},"rotation":{"radians":-1.9153030970810474}},"curvature":-0.2543047895084811},{"time":0.9588626153844932,"velocity":2.2222298254273243,"acceleration":2.7000000000000015,"pose":{"translation":{"x":7.2791875272989275,"y":-1.5489172229170802},"rotation":{"radians":-1.9422516839062522}},"curvature":-0.209624443804745},{"time":1.0113906953370764,"velocity":2.364055641299299,"acceleration":1.490671363818444,"pose":{"translation":{"x":7.234125000000001,"y":-1.6606250000000005},"rotation":{"radians":-1.965624524729717}},"curvature":-0.1807211323727493},{"time":1.062200462234688,"velocity":2.4397963058158587,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.185988303542137,"y":-1.7727719441056258},"rotation":{"radians":-1.9865046578778909}},"curvature":-0.16310054864071177},{"time":1.113569654773648,"velocity":2.301099485960666,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.1357342033386235,"y":-1.88368618965149},"rotation":{"radians":-2.0057518949614077}},"curvature":-0.15437744131502087},{"time":1.1672595613022378,"velocity":2.1561367383334735,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.084321224331855,"y":-1.9917318126559267},"rotation":{"radians":-2.024100963913834}},"curvature":-0.15363837252157278},{"time":1.2228899284341617,"velocity":2.0059347470772795,"acceleration":-2.700000000000005,"pose":{"translation":{"x":7.032687377929688,"y":-2.095348205566407},"rotation":{"radians":-2.042238626552442}},"curvature":-0.16124278314075052},{"time":1.2800389209557612,"velocity":1.8516324672689601,"acceleration":-2.7,"pose":{"translation":{"x":6.981727888941764,"y":-2.1930894520878805},"rotation":{"radians":-2.0608745532745756}},"curvature":-0.17899026334377835},{"time":1.3382413542119442,"velocity":1.6944858974772659,"acceleration":-2.7,"pose":{"translation":{"x":6.932272922515868,"y":-2.2836637020111104},"rotation":{"radians":-2.0808190837865843}},"curvature":-0.21073857875662377},{"time":1.3969876473359308,"velocity":1.5358709060425018,"acceleration":-2.7,"pose":{"translation":{"x":6.885065311074255,"y":-2.3659725460410135},"rotation":{"radians":-2.1030825654130876}},"curvature":-0.26376144837191884},{"time":1.4557256710928568,"velocity":1.3772782418988014,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.840738281249999,"y":-2.4391503906250023},"rotation":{"radians":-2.129015304185589}},"curvature":-0.3514924199646048},{"time":1.5138702172287508,"velocity":1.2202879673318878,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.7997931808233245,"y":-2.502603832781319},"rotation":{"radians":-2.1605122947808555}},"curvature":-0.4989493268459689},{"time":1.5708304123213064,"velocity":1.0664954405819882,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.762577205657957,"y":-2.5560510349273713},"rotation":{"radians":-2.200302020305231}},"curvature":-0.7530310265685853},{"time":1.6260777020713915,"velocity":0.9173277582567586,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.729261126637456,"y":-2.599561099708085},"rotation":{"radians":-2.2522772528856647}},"curvature":-1.1992166376442492},{"time":1.6793044867430833,"velocity":0.7736154396431905,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.69981701660156,"y":-2.633593444824225},"rotation":{"radians":-2.3215377094330125}},"curvature":-1.9722505146070455},{"time":1.70521247527411,"velocity":0.7036638706094184,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.686478409957137,"y":-2.6473154572118123},"rotation":{"radians":-2.364268687217763}},"curvature":-2.522324344886889},{"time":1.7308035125862158,"velocity":0.634568069866733,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.67399597728252,"y":-2.6590371778607427},"rotation":{"radians":-2.412814916615144}},"curvature":-3.1726839328595746},{"time":1.756344860226295,"velocity":0.5656064312385193,"acceleration":-2.7,"pose":{"translation":{"x":6.662300425384189,"y":-2.668943344196311},"rotation":{"radians":-2.4666153391310455}},"curvature":-3.854197267072015},{"time":1.7823183046643631,"velocity":0.4954781312557351,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.651305866241448,"y":-2.677250471115121},"rotation":{"radians":-2.5237315022575926}},"curvature":-4.401365184508673},{"time":1.809593673753972,"velocity":0.42183463471379096,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.640909120973196,"y":-2.684208081448457},"rotation":{"radians":-2.5802250024313738}},"curvature":-4.534047099645387},{"time":1.8398810137815764,"velocity":0.3400588166392591,"acceleration":-2.7,"pose":{"translation":{"x":6.630989023804658,"y":-2.6900999364256926},"rotation":{"radians":-2.6299027273834015}},"curvature":-3.9202737890595847},{"time":1.9658287236479688,"velocity":0.0,"acceleration":-2.7,"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 ad3e9b0..a55b940 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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":1.8252284299963275,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6716319667733222,"velocity":1.7766799773430857,"acceleration":-0.8043872114014754,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7126563822033645,"velocity":1.7436804622159383,"acceleration":-0.5943192273817944,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7540304695164083,"velocity":1.7190910466104232,"acceleration":-0.37250101742908226,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7956966861108945,"velocity":1.7035703385365566,"acceleration":-0.14727575769193346,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8375998081741686,"velocity":1.6973990244850303,"acceleration":0.07086818550798132,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8796897119300369,"velocity":1.7003818595924143,"acceleration":0.2711875714293329,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.921925357786024,"velocity":1.7118356418198488,"acceleration":0.44447537176689284,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9642782698877403,"velocity":1.7306604681716697,"acceleration":0.5844407226235834,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":1.006734088627392,"velocity":1.7554733775554476,"acceleration":0.6884397910459286,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0492915438199486,"velocity":1.7847716231156576,"acceleration":0.7574702467015367,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0919590621033466,"velocity":1.8170909987159254,"acceleration":0.7955314954622497,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.1347498243274046,"velocity":1.8511323977799998,"acceleration":0.8086065878125565,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1776762828686798,"velocity":1.8858430149479375,"acceleration":0.8035742611033634,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.2207450067351093,"velocity":1.9204519329055685,"acceleration":0.7873022909205372,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.263952415302241,"velocity":1.954469224655211,"acceleration":0.7660541623708139,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.3072816450198492,"velocity":1.987661761432706,"acceleration":0.7452235663438044,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.3507005549022146,"velocity":2.0200185563020026,"acceleration":0.729335795700143,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.394160739316254,"velocity":2.051715624482891,"acceleration":0.722228630900336,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.4375973664135604,"velocity":2.083086800202307,"acceleration":0.727333029402537,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.480929671355366,"velocity":2.114603816826625,"acceleration":0.7479957560060964,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.5240619820082675,"velocity":2.1468666021417318,"acceleration":0.787805795462032,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.5668852265116398,"velocity":2.180603002341976,"acceleration":0.8508927064740959,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.6092789617762555,"velocity":2.2166755224788313,"acceleration":0.9421476559706846,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.6511140720274966,"velocity":2.256090373539313,"acceleration":1.0672609489605047,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.692256424798345,"velocity":2.2999999999999967,"acceleration":7.583944980398583E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.7329913754133592,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.773575694724999,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8138719681119955,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.85375677508707,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8931202228258002,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9318654796954893,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9699083087840323,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0071766014287817,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0436099107454173,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0791589851568095,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1137853019218897,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.147460600664516,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1801664169023387,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2118936155756703,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2426419245763487,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2724194682766083,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.301242301057944,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3291339408399794,"velocity":2.3,"acceleration":-2.5262925172398996,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.38389940548955,"velocity":2.1616464164526232,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.4388146336613676,"velocity":2.013375300388715,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.4945601720084767,"velocity":1.8628623468515204,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.552006654976367,"velocity":1.7077568428382164,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6124745094273063,"velocity":1.5444936358206807,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.678031266834327,"velocity":1.367490390821725,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.7521958671250415,"velocity":1.167245970036796,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.7940489612679054,"velocity":1.0542426158510636,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.246485948221108,"y":-1.1004457665706215},"rotation":{"radians":-0.02877542075414042}},"curvature":-1.2479062966462087},{"time":2.8387015150513237,"velocity":0.9336807206358336,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":7.290770527031534,"y":-1.103398777804336},"rotation":{"radians":-0.11545308104819059}},"curvature":-2.7518045032639415},{"time":2.8619220078509544,"velocity":0.8709853900768311,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.3114956505922,"y":-1.1064779763119066},"rotation":{"radians":-0.18293230201129468}},"curvature":-3.725227733364007},{"time":2.885778947908801,"velocity":0.806571651920645,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.331006934455969,"y":-1.1109206638015918},"rotation":{"radians":-0.26869329900096417}},"curvature":-4.883076044748539},{"time":2.8980026849388953,"velocity":0.7735675619393899,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.340252146464765,"y":-1.1137126796958767},"rotation":{"radians":-0.31891235544080615}},"curvature":-5.523919809501616},{"time":2.9104740943613994,"velocity":0.7398947564986289,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.349130295806822,"y":-1.1169134527391915},"rotation":{"radians":-0.37417386340026293}},"curvature":-6.1910282938294925},{"time":2.9232541462772477,"velocity":0.7053886163258389,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.357622936902054,"y":-1.1205421754363483},"rotation":{"radians":-0.4344600800162828}},"curvature":-6.863459317284596},{"time":2.9364274046351024,"velocity":0.6698208187596311,"acceleration":-2.5706262686247694,"pose":{"translation":{"x":7.365712904636497,"y":-1.1246164469159217},"rotation":{"radians":-0.499598871724775}},"curvature":-7.511586808196944},{"time":2.9500907212149268,"velocity":0.6346975382429982,"acceleration":-1.8551079266084545,"pose":{"translation":{"x":7.373384290445131,"y":-1.1291523046382135},"rotation":{"radians":-0.5692244956270529}},"curvature":-8.098065776430404},{"time":2.964255072984033,"velocity":0.6084211370008583,"acceleration":-1.1791379397080786,"pose":{"translation":{"x":7.380622418394695,"y":-1.1341642561032126},"rotation":{"radians":-0.6427505179428795}},"curvature":-8.58109966790429},{"time":2.9788255765950287,"velocity":0.5912405033924798,"acceleration":-0.5330610456247273,"pose":{"translation":{"x":7.387413821266509,"y":-1.1396653105585597},"rotation":{"radians":-0.7193652922148932}},"curvature":-8.92014169080443},{"time":2.9936815960333445,"velocity":0.5833213381368699,"acceleration":0.09530731489442502,"pose":{"translation":{"x":7.3937462166392915,"y":-1.1456670107075082},"rotation":{"radians":-0.7980584699587645}},"curvature":-9.08314266129781},{"time":3.0086846332814403,"velocity":0.584751237332247,"acceleration":0.7187922527003435,"pose":{"translation":{"x":7.399608482971979,"y":-1.152179464416887},"rotation":{"radians":-0.8776808332180518}},"curvature":-9.053384284754978},{"time":3.023689858440716,"velocity":0.5955368769267585,"acceleration":1.348599089120283,"pose":{"translation":{"x":7.404990635686545,"y":-1.1592113764250642},"rotation":{"radians":-0.957030545537142}},"curvature":-8.833522919030923},{"time":3.03855912635535,"velocity":0.6155895580923196,"acceleration":1.991972985298789,"pose":{"translation":{"x":7.409883803250819,"y":-1.1667700800499075},"rotation":{"radians":-1.0349502992109227}},"curvature":-8.445233665625674},{"time":3.0531727888412843,"velocity":0.6446995789805753,"acceleration":2.6501306671100755,"pose":{"translation":{"x":7.414280203261306,"y":-1.1748615688967483},"rotation":{"radians":-1.110416006752432}},"curvature":-7.924546693213447},{"time":3.0674380463635313,"velocity":0.6825043754145049,"acceleration":2.700000000000033,"pose":{"translation":{"x":7.4181731185260045,"y":-1.1834905285663433},"rotation":{"radians":-1.1826006954592512}},"curvature":-7.314635079400883},{"time":3.081374979754236,"velocity":0.7201340955694069,"acceleration":2.700000000000058,"pose":{"translation":{"x":7.421556873147227,"y":-1.192660368362838},"rotation":{"radians":-1.2509054956221384}},"curvature":-6.658491095790275},{"time":3.0950865957001223,"velocity":0.7571554586233009,"acceleration":2.700000000000051,"pose":{"translation":{"x":7.424426808604417,"y":-1.2023732530017275},"rotation":{"radians":-1.3149589717095316}},"curvature":-5.99341593717812},{"time":3.108656595949025,"velocity":0.793794459295339,"acceleration":2.7000000000000313,"pose":{"translation":{"x":7.4267792598369695,"y":-1.2126301343178203},"rotation":{"radians":-1.3745927334979915}},"curvature":-5.3481080221595265},{"time":3.122147804464876,"velocity":0.8302207222881369,"acceleration":2.7000000000000886,"pose":{"translation":{"x":7.428611531327051,"y":-1.2234307829732003},"rotation":{"radians":-1.4298037347140933}},"curvature":-4.742101270083783},{"time":3.1356067875627374,"velocity":0.8665599766523636,"acceleration":2.7000000000000197,"pose":{"translation":{"x":7.429921873182416,"y":-1.2347738201651899},"rotation":{"radians":-1.480712629900542}},"curvature":-4.186771633619186},{"time":3.1490673652669248,"velocity":0.9029035364536694,"acceleration":2.7000000000000726,"pose":{"translation":{"x":7.430709457219227,"y":-1.2466567493343108},"rotation":{"radians":-1.527524747550707}},"curvature":-3.687079506807228},{"time":3.1625533425948884,"velocity":0.9393156752391716,"acceleration":2.699999999999969,"pose":{"translation":{"x":7.430974353044876,"y":-1.2590759878722486},"rotation":{"radians":-1.5704972091395932}},"curvature":-3.2434293445605835},{"time":3.1896544614649662,"velocity":1.012488696188381,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.429940703945299,"y":-1.2855038226249045},"rotation":{"radians":-1.6460641038472028}},"curvature":-2.5125016951673764},{"time":3.216977985469319,"velocity":1.0862622110001332,"acceleration":2.700000000000013,"pose":{"translation":{"x":7.426838529714478,"y":-1.3140081474824699},"rotation":{"radians":-1.7096996276847836}},"curvature":-1.9589426080510612},{"time":3.244523682924607,"velocity":1.1606355941294118,"acceleration":2.7000000000000126,"pose":{"translation":{"x":7.421698268143265,"y":-1.3445244380324612},"rotation":{"radians":-1.7635069388369267}},"curvature":-1.5430718610586651},{"time":3.2722554915133615,"velocity":1.2355114773190488,"acceleration":2.7000000000000037,"pose":{"translation":{"x":7.414562425632777,"y":-1.3769738370453977},"rotation":{"radians":-1.80928153691283}},"curvature":-1.2304194023042416},{"time":3.328033886638586,"velocity":1.386113144157155,"acceleration":2.700000000000004,"pose":{"translation":{"x":7.394529774351022,"y":-1.4472909553859892},"rotation":{"radians":-1.8823557940783588}},"curvature":-0.8137689160789616},{"time":3.383787285025822,"velocity":1.5366473198026918,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.367292915991394,"y":-1.52408054521081},"rotation":{"radians":-1.9376153749830112}},"curvature":-0.5671040820963597},{"time":3.4389503392018814,"velocity":1.6855875660780526,"acceleration":2.6999999999999966,"pose":{"translation":{"x":7.333548306053704,"y":-1.6062992620615995},"rotation":{"radians":-1.980664464363438}},"curvature":-0.415270222573429},{"time":3.4929952951220424,"velocity":1.8315089470624868,"acceleration":2.699999999999993,"pose":{"translation":{"x":7.294112024222084,"y":-1.692771843268838},"rotation":{"radians":-2.0151600783392727}},"curvature":-0.31853754024915065},{"time":3.5454488083427185,"velocity":1.9731334327583123,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.249895283171679,"y":-1.7822235769053099},"rotation":{"radians":-2.0435542741178185}},"curvature":-0.2553649962385433},{"time":3.5958935361227273,"velocity":2.1093341977643365,"acceleration":1.2157890839736847,"pose":{"translation":{"x":7.20187993737534,"y":-1.873312770739671},"rotation":{"radians":-2.0675482771424347}},"curvature":-0.21372950444359917},{"time":3.644755936464238,"velocity":2.1687405707162974,"acceleration":0.22236322982278098,"pose":{"translation":{"x":7.151093991910315,"y":-1.9646632211900141},"rotation":{"radians":-2.088370637372372}},"curvature":-0.18680044113633412},{"time":3.692775577298168,"velocity":2.17941837314706,"acceleration":-2.616746787964456,"pose":{"translation":{"x":7.098587111264945,"y":-2.054896682277434},"rotation":{"radians":-2.106952696193974}},"curvature":-0.17076368611172438},{"time":3.74127518104373,"velocity":2.052507190828312,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.045406128145351,"y":-2.1426653345795916},"rotation":{"radians":-2.124045424613487}},"curvature":-0.1637481573893422},{"time":3.791275556894425,"velocity":1.917506176031436,"acceleration":-2.7,"pose":{"translation":{"x":6.9925705522821335,"y":-2.226684254184283},"rotation":{"radians":-2.140304501136336}},"curvature":-0.16538102479256336},{"time":3.842332613731741,"velocity":1.7796521225706832,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.941048079237058,"y":-2.3057638816430024},"rotation":{"radians":-2.156361587928427}},"curvature":-0.1768009201056777},{"time":3.8938884696209835,"velocity":1.6404513116697277,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.891730099209751,"y":-2.37884249092451},"rotation":{"radians":-2.1728963784151825}},"curvature":-0.2011726549273176},{"time":3.945305459187893,"velocity":1.501625439839072,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.845407205844394,"y":-2.4450186583683924},"rotation":{"radians":-2.1907250385502053}},"curvature":-0.24500666492416812},{"time":3.9958547837203167,"velocity":1.3651422636015276,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.802744705036412,"y":-2.5035837316386345},"rotation":{"radians":-2.2109265322563663}},"curvature":-0.32107362952933843},{"time":4.090935883637376,"velocity":1.1084232938254674,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.7302887187706615,"y":-2.596204656657504},"rotation":{"radians":-2.26538823363029}},"curvature":-0.6983733281623699},{"time":4.133576914537427,"velocity":0.9932925103953297,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.700978985620202,"y":-2.6300992809381722},"rotation":{"radians":-2.3055766625940555}},"curvature":-1.161706924289958},{"time":4.1716964695520184,"velocity":0.8903697118559317,"acceleration":-2.7,"pose":{"translation":{"x":6.6762481672551255,"y":-2.6561252940163986},"rotation":{"radians":-2.3611253774593677}},"curvature":-2.069483430581481},{"time":4.204641900572537,"velocity":0.8014170481005326,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.655767762927474,"y":-2.6750249344816397},"rotation":{"radians":-2.4393793407849826}},"curvature":-3.786562605724007},{"time":4.219138149229743,"velocity":0.7622771767260759,"acceleration":-2.7,"pose":{"translation":{"x":6.646945039992192,"y":-2.682139407006597},"rotation":{"radians":-2.4888731070782244}},"curvature":-5.0067041726191235},{"time":4.232412845485242,"velocity":0.7264354968362291,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.638937036980688,"y":-2.68792802596912},"rotation":{"radians":-2.54463825964339}},"curvature":-6.289792037747411},{"time":4.244637214541775,"velocity":0.693429700383591,"acceleration":2.51870894677818,"pose":{"translation":{"x":6.631622107145021,"y":-2.6925979064247128},"rotation":{"radians":-2.603460002905891}},"curvature":-7.150761360113481},{"time":4.255597373628282,"velocity":0.7210351511328887,"acceleration":1.0857200058221164,"pose":{"translation":{"x":6.624858527656298,"y":-2.6963844461134348},"rotation":{"radians":-2.658512232190288}},"curvature":-6.75882207866783},{"time":4.274618390084789,"velocity":0.7416866492307903,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.6123135559006245,"y":-2.7023965955020928},"rotation":{"radians":-2.714965160462928}},"curvature":-2.782056460928346E-13},{"time":4.2934245849677195,"velocity":0.6909099230468781,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.600000781924867,"y":-2.7078609588171707},"rotation":{"radians":-2.741416782477967}},"curvature":-3.815339203835633},{"time":4.313690139967717,"velocity":0.6361929245468853,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.587449437541447,"y":-2.7126871333494806},"rotation":{"radians":-2.814639860740997}},"curvature":-6.953564103889301},{"time":4.3245170495393115,"velocity":0.6069602687035798,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.581024377505649,"y":-2.7146891790782193},"rotation":{"radians":-2.8658404550015253}},"curvature":-8.22183756317215},{"time":4.3359349209106,"velocity":0.5761320160011005,"acceleration":-2.600404767033659,"pose":{"translation":{"x":6.574474775176925,"y":-2.716338996269565},"rotation":{"radians":-2.924962178570092}},"curvature":-9.235001787363444},{"time":4.34807736001806,"velocity":0.5445567594626456,"acceleration":-1.221901681042172,"pose":{"translation":{"x":6.567786061057784,"y":-2.7175859150618242},"rotation":{"radians":-2.990422599769865}},"curvature":-9.949439794600845},{"time":4.360906824441363,"velocity":0.5288804153169409,"acceleration":-0.1635354764933364,"pose":{"translation":{"x":6.560946817537351,"y":-2.7183853869336816},"rotation":{"radians":-3.0604727521050985}},"curvature":-10.335830771816653},{"time":4.374179374063061,"velocity":0.526709882590275,"acceleration":0.7309321910101535,"pose":{"translation":{"x":6.553948643263447,"y":-2.718698765306084},"rotation":{"radians":-3.133275977941982}},"curvature":-10.391142880043173},{"time":4.387657734055352,"velocity":0.5365616497906638,"acceleration":1.5470984418721216,"pose":{"translation":{"x":6.546786017514653,"y":-2.7184930861441257},"rotation":{"radians":3.0761577385964625}},"curvature":-10.143682388705306},{"time":4.401128653906498,"velocity":0.5574024889029554,"acceleration":2.3303635523232678,"pose":{"translation":{"x":6.539456164572393,"y":-2.717740848558933},"rotation":{"radians":3.00310010912821}},"curvature":-9.649019311906114},{"time":4.414417067704109,"velocity":0.5883693240850989,"acceleration":2.7000000000000774,"pose":{"translation":{"x":6.531958918093006,"y":-2.716419795409549},"rotation":{"radians":2.9321083621384485}},"curvature":-8.978732425160104},{"time":4.427447777113736,"velocity":0.6235522394910924,"acceleration":2.699999999999866,"pose":{"translation":{"x":6.52429658547982,"y":-2.7145126939048203},"rotation":{"radians":2.8642215501788977}},"curvature":-8.20680098482241},{"time":4.440265379868251,"velocity":0.6581597669282797,"acceleration":2.7000000000000064,"pose":{"translation":{"x":6.5164738122552235,"y":-2.7120071162052803},"rotation":{"radians":2.800134866123928}},"curvature":-7.398430838000034},{"time":4.452944496423912,"velocity":0.6923933816285653,"acceleration":2.7000000000000237,"pose":{"translation":{"x":6.508497446432745,"y":-2.7088952200250334},"rotation":{"radians":2.740230748578606}},"curvature":-6.603818980361795},{"time":4.465537244822862,"velocity":0.7263938023057305,"acceleration":2.6999999999999704,"pose":{"translation":{"x":6.500376402889126,"y":-2.7051735292336434},"rotation":{"radians":2.6846350981540272}},"curvature":-5.856777204223596},{"time":4.478078153865676,"velocity":0.7602542567213265,"acceleration":2.6999999999999864,"pose":{"translation":{"x":6.49212152773639,"y":-2.700842714458014},"rotation":{"radians":2.633281828218556}},"curvature":-5.176639926128518},{"time":4.490588003824011,"velocity":0.7940308516088324,"acceleration":2.7000000000000512,"pose":{"translation":{"x":6.483745462693925,"y":-2.6959073736842782},"rotation":{"radians":2.5859736858732676}},"curvature":-4.571644906700683},{"time":4.515541467031127,"velocity":0.8614052022680476,"acceleration":2.699999999999983,"pose":{"translation":{"x":6.466688494086605,"y":-2.684259826494461},"rotation":{"radians":2.502339906825371}},"curvature":-3.5851423375100553},{"time":4.540398311510802,"velocity":0.9285186823631691,"acceleration":2.70000000000005,"pose":{"translation":{"x":6.4493373891083,"y":-2.670337881609422},"rotation":{"radians":2.4311633245994693}},"curvature":-2.859842251329955},{"time":4.565074418240929,"velocity":0.995144170534513,"acceleration":2.7000000000000384,"pose":{"translation":{"x":6.4318440893306725,"y":-2.6542973292426666},"rotation":{"radians":2.3698700235605896}},"curvature":-2.3389424471387197},{"time":4.589445741647591,"velocity":1.0609467437325004,"acceleration":2.7000000000000273,"pose":{"translation":{"x":6.414376245762293,"y":-2.636335735136296},"rotation":{"radians":2.316179665573082}},"curvature":-1.971245985355279},{"time":4.613371212255448,"velocity":1.1255455143737148,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.397112878755023,"y":-2.6166854198213247},"rotation":{"radians":2.2681655710867354}},"curvature":-1.7177072822338848},{"time":4.659303686000054,"velocity":1.2495631934841498,"acceleration":-0.47557702411258396,"pose":{"translation":{"x":6.363946461985967,"y":-2.5733795571961275},"rotation":{"radians":2.1829634101425417}},"curvature":-1.4531964340918389},{"time":4.704161791745578,"velocity":1.228229709046366,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.333839465146571,"y":-2.5266666132856277},"rotation":{"radians":2.1038693326688813}},"curvature":-1.428497937409373},{"time":4.750651080115444,"velocity":1.1027086304477278,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.3081906578607985,"y":-2.4789402092914683},"rotation":{"radians":2.0222056755935585}},"curvature":-1.6267050425406355},{"time":4.774829199665494,"velocity":1.0374277076625913,"acceleration":-2.699999999999994,"pose":{"translation":{"x":6.297414801809275,"y":-2.4554188673206423},"rotation":{"radians":1.977719022211628}},"curvature":-1.826133388334632},{"time":4.799464055312569,"velocity":0.9709135974154887,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.288164070257655,"y":-2.432476052028613},"rotation":{"radians":1.929238799528292}},"curvature":-2.111200891597752},{"time":4.824449966658081,"velocity":0.9034516367826055,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.280524503434468,"y":-2.4103409437610113},"rotation":{"radians":1.875500722191483}},"curvature":-2.501078261352885},{"time":4.849712497499125,"velocity":0.8352428035117866,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.274550109975329,"y":-2.3892072702555778},"rotation":{"radians":1.8152269082626638}},"curvature":-3.014788560841303},{"time":4.875233133314114,"velocity":0.7663370868113146,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.270258526829311,"y":-2.369226285902487},"rotation":{"radians":1.7473051168809193}},"curvature":-3.6604764302923014},{"time":4.901087237375968,"velocity":0.6965310058443089,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.267626679165335,"y":-2.350499751004661},"rotation":{"radians":1.6711659569549777}},"curvature":-4.412655527221165},{"time":4.927503769974273,"velocity":0.6252063678288854,"acceleration":-2.7,"pose":{"translation":{"x":6.266586440278536,"y":-2.333072911038095},"rotation":{"radians":1.5874406145062498}},"curvature":-5.1745095089891295},{"time":4.941063115349773,"velocity":0.5885961353150362,"acceleration":-2.7,"pose":{"translation":{"x":6.266628497589658,"y":-2.3248438348321385},"rotation":{"radians":1.5434847754496874}},"curvature":-5.498692515200691},{"time":4.954972906567032,"velocity":0.5510396990284375,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.267020291496656,"y":-2.316927475912173},"rotation":{"radians":1.4988894184050614}},"curvature":-5.736779218810578},{"time":4.969364658501116,"velocity":0.5121819688064083,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.267738702623978,"y":-2.309310468744486},"rotation":{"radians":1.4544878154614598}},"curvature":-5.844205776954959},{"time":4.984422388307102,"velocity":0.4715260983302458,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.268756982086413,"y":-2.3019745992299896},"rotation":{"radians":1.4113367378835124}},"curvature":-5.7736468362624205},{"time":5.017729264638818,"velocity":0.3815975322346138,"acceleration":-2.7,"pose":{"translation":{"x":6.271567189159886,"y":-2.2880478575486682},"rotation":{"radians":1.3340215256225776}},"curvature":-4.927882985766305},{"time":5.159061683984971,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6712066888140586,"velocity":1.8122580597979585,"acceleration":2.7000000000000046,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7099349111347993,"velocity":1.9168242600639587,"acceleration":0.713891975573265,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7470498450495191,"velocity":1.943320313559609,"acceleration":-0.4760126423101277,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7839084212677183,"velocity":1.9257751653021948,"acceleration":-0.18820115727741646,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8209765677083066,"velocity":1.9187988972439474,"acceleration":0.09056123516709963,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8582099441077288,"velocity":1.9221707978001206,"acceleration":0.34654593248815047,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.8955722462111021,"velocity":1.935118551622438,"acceleration":0.5679874315962562,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9330382838395435,"velocity":1.9563987901071052,"acceleration":0.7468467457344942,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.9705953542630814,"velocity":1.9844481659322457,"acceleration":0.8797453662514907,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0082423338564968,"velocity":2.017567921782917,"acceleration":0.9679581980533886,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0459866769533488,"velocity":2.054102868113655,"acceleration":1.0165960131048808,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.0838400435361695,"velocity":2.092584449664348,"acceleration":1.0333044486980774,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1218134491688359,"velocity":2.131822538636799,"acceleration":1.026873724963856,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.1599127048968312,"velocity":2.170945663284556,"acceleration":1.0060800541820158,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.1981346432446784,"velocity":2.2093999930884998,"acceleration":0.9789274362243202,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.236464346456409,"velocity":2.246921991184798,"acceleration":0.9523083758949118,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.2748733821215783,"velocity":2.2834992375587855,"acceleration":0.932005667095097,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.313318929872459,"velocity":2.3193307059371815,"acceleration":0.9229235434567584,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.3517436384585377,"velocity":2.3547937741417386,"acceleration":0.9294463664954764,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.3900760620609043,"velocity":2.3904217059779236,"acceleration":0.9558509093764224,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.4282315676384711,"velocity":2.426892680681958,"acceleration":1.0067234739741637,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.4661136685453005,"velocity":2.465029480908321,"acceleration":1.0873411523184984,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.503615818971691,"velocity":2.5058071123673744,"acceleration":1.203954282488053,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.54062380111702,"velocity":2.5503630309574845,"acceleration":1.3638344073673099,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.5770189593373858,"velocity":2.5999999999999965,"acceleration":9.95392778677314E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.6130537233429754,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6489552365801952,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6846019399609997,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7198846538235657,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7547061652847502,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7889808155925522,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.822634087478571,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8556021925104647,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8878316584444113,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9192789165775657,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.949909889100521,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9796995764497674,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.008631644660149,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.036698012717327,"velocity":2.6,"acceleration":-1.6902747453173461,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.064143283649683,"velocity":2.553609951664647,"acceleration":-2.699999999999991,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0913549538213823,"velocity":2.4801384422010595,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1184849576749722,"velocity":2.406887431796366,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1455487825000423,"velocity":2.3338151047686773,"acceleration":-2.7,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1995865591216113,"velocity":2.187913107890441,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2537949148096073,"velocity":2.041550547532852,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3087103722905997,"velocity":1.8932788123341722,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3651523772583603,"velocity":1.7408853989212187,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.424351841331323,"velocity":1.58104684592422,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.4882046699063247,"velocity":1.408644208771716,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5598505737227017,"velocity":1.2152002684674985,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5998867699668677,"velocity":1.1071025386082505,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":7.246485948221108,"y":-1.1004457665706215},"rotation":{"radians":-0.02877542075414042}},"curvature":-1.2479062966462087},{"time":2.6421545734979026,"velocity":0.9929794690744561,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.290770527031534,"y":-1.103398777804336},"rotation":{"radians":-0.11545308104819059}},"curvature":-2.7518045032639415},{"time":2.6638980968834773,"velocity":0.9342719559334043,"acceleration":-2.7,"pose":{"translation":{"x":7.3114956505922,"y":-1.1064779763119066},"rotation":{"radians":-0.18293230201129468}},"curvature":-3.725227733364007},{"time":2.686023975027312,"velocity":0.8745320849450507,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.331006934455969,"y":-1.1109206638015918},"rotation":{"radians":-0.26869329900096417}},"curvature":-4.883076044748539},{"time":2.6972621013134046,"velocity":0.8441891439726,"acceleration":-2.7,"pose":{"translation":{"x":7.340252146464765,"y":-1.1137126796958767},"rotation":{"radians":-0.31891235544080615}},"curvature":-5.523919809501616},{"time":2.7086488166168543,"velocity":0.8134450126532862,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.349130295806822,"y":-1.1169134527391915},"rotation":{"radians":-0.37417386340026293}},"curvature":-6.1910282938294925},{"time":2.7202246426182586,"velocity":0.7821902824494952,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.357622936902054,"y":-1.1205421754363483},"rotation":{"radians":-0.4344600800162828}},"curvature":-6.863459317284596},{"time":2.7320461316653426,"velocity":0.7502722620223687,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.365712904636497,"y":-1.1246164469159217},"rotation":{"radians":-0.499598871724775}},"curvature":-7.511586808196944},{"time":2.744189868093628,"velocity":0.717484173665998,"acceleration":-2.370610507348412,"pose":{"translation":{"x":7.373384290445131,"y":-1.1291523046382135},"rotation":{"radians":-0.5692244956270529}},"curvature":-8.098065776430404},{"time":2.7567198715816836,"velocity":0.6877804157401008,"acceleration":-1.506800089305616,"pose":{"translation":{"x":7.380622418394695,"y":-1.1341642561032126},"rotation":{"radians":-0.6427505179428795}},"curvature":-8.58109966790429},{"time":2.7696091632375643,"velocity":0.6683588299219336,"acceleration":-0.6811895403446327,"pose":{"translation":{"x":7.387413821266509,"y":-1.1396653105585597},"rotation":{"radians":-0.7193652922148932}},"curvature":-8.92014169080443},{"time":2.7827510265868436,"velocity":0.6594067300677661,"acceleration":0.12179157820156376,"pose":{"translation":{"x":7.3937462166392915,"y":-1.1456670107075082},"rotation":{"radians":-0.7980584699587645}},"curvature":-9.08314266129781},{"time":2.7960229441524667,"velocity":0.6610231378538444,"acceleration":0.9185322548685187,"pose":{"translation":{"x":7.399608482971979,"y":-1.152179464416887},"rotation":{"radians":-0.8776808332180518}},"curvature":-9.053384284754978},{"time":2.8092967971779794,"velocity":0.673215600004162,"acceleration":1.7233515770232732,"pose":{"translation":{"x":7.404990635686545,"y":-1.1592113764250642},"rotation":{"radians":-0.957030545537142}},"curvature":-8.833522919030923},{"time":2.822450380333233,"velocity":0.6958838482782747,"acceleration":2.5455080114592934,"pose":{"translation":{"x":7.409883803250819,"y":-1.1667700800499075},"rotation":{"radians":-1.0349502992109227}},"curvature":-8.445233665625674},{"time":2.835377850993867,"velocity":0.7287908284128242,"acceleration":2.700000000000103,"pose":{"translation":{"x":7.414280203261306,"y":-1.1748615688967483},"rotation":{"radians":-1.110416006752432}},"curvature":-7.924546693213447},{"time":2.8480687667199645,"velocity":0.7630563008732886,"acceleration":2.7000000000000273,"pose":{"translation":{"x":7.4181731185260045,"y":-1.1834905285663433},"rotation":{"radians":-1.1826006954592512}},"curvature":-7.314635079400883},{"time":2.860600263547311,"velocity":0.7968913423071246,"acceleration":2.7000000000000637,"pose":{"translation":{"x":7.421556873147227,"y":-1.192660368362838},"rotation":{"radians":-1.2509054956221384}},"curvature":-6.658491095790275},{"time":2.8730472086695658,"velocity":0.8304980941372138,"acceleration":2.7000000000000455,"pose":{"translation":{"x":7.424426808604417,"y":-1.2023732530017275},"rotation":{"radians":-1.3149589717095316}},"curvature":-5.99341593717812},{"time":2.8854673972237466,"velocity":0.8640326032335023,"acceleration":2.7000000000000366,"pose":{"translation":{"x":7.4267792598369695,"y":-1.2126301343178203},"rotation":{"radians":-1.3745927334979915}},"curvature":-5.3481080221595265},{"time":2.8979045906582286,"velocity":0.8976130255066038,"acceleration":2.7000000000000934,"pose":{"translation":{"x":7.428611531327051,"y":-1.2234307829732003},"rotation":{"radians":-1.4298037347140933}},"curvature":-4.742101270083783},{"time":2.910391030754299,"velocity":0.9313264137659945,"acceleration":2.7000000000000104,"pose":{"translation":{"x":7.429921873182416,"y":-1.2347738201651899},"rotation":{"radians":-1.480712629900542}},"curvature":-4.186771633619186},{"time":2.922949552815392,"velocity":0.965234423330947,"acceleration":2.700000000000077,"pose":{"translation":{"x":7.430709457219227,"y":-1.2466567493343108},"rotation":{"radians":-1.527524747550707}},"curvature":-3.687079506807228},{"time":2.93559536766727,"velocity":0.9993781234310185,"acceleration":2.699999999999971,"pose":{"translation":{"x":7.430974353044876,"y":-1.2590759878722486},"rotation":{"radians":-1.5704972091395932}},"curvature":-3.2434293445605835},{"time":2.9611759241800546,"velocity":1.0684456260155362,"acceleration":2.699999999999962,"pose":{"translation":{"x":7.429940703945299,"y":-1.2855038226249045},"rotation":{"radians":-1.6460641038472028}},"curvature":-2.5125016951673764},{"time":2.987158753536162,"velocity":1.138599265277025,"acceleration":2.7000000000000095,"pose":{"translation":{"x":7.426838529714478,"y":-1.3140081474824699},"rotation":{"radians":-1.7096996276847836}},"curvature":-1.9589426080510612},{"time":3.013514339443486,"velocity":1.209759347226801,"acceleration":2.7000000000000095,"pose":{"translation":{"x":7.421698268143265,"y":-1.3445244380324612},"rotation":{"radians":-1.7635069388369267}},"curvature":-1.5430718610586651},{"time":3.0401845143287347,"velocity":1.281768819416973,"acceleration":2.7000000000000055,"pose":{"translation":{"x":7.414562425632777,"y":-1.3769738370453977},"rotation":{"radians":-1.80928153691283}},"curvature":-1.2304194023042416},{"time":3.094158518974306,"velocity":1.4274986319600158,"acceleration":2.700000000000008,"pose":{"translation":{"x":7.394529774351022,"y":-1.4472909553859892},"rotation":{"radians":-1.8823557940783588}},"curvature":-0.8137689160789616},{"time":3.1484478951211288,"velocity":1.5740799475564382,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.367292915991394,"y":-1.52408054521081},"rotation":{"radians":-1.9376153749830112}},"curvature":-0.5671040820963597},{"time":3.202411404099255,"velocity":1.7197814217973797,"acceleration":2.6999999999999966,"pose":{"translation":{"x":7.333548306053704,"y":-1.6062992620615995},"rotation":{"radians":-1.980664464363438}},"curvature":-0.415270222573429},{"time":3.2554651347103194,"velocity":1.8630264944472534,"acceleration":2.6999999999999886,"pose":{"translation":{"x":7.294112024222084,"y":-1.692771843268838},"rotation":{"radians":-2.0151600783392727}},"curvature":-0.31853754024915065},{"time":3.3070935041684035,"velocity":2.00242309198408,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.249895283171679,"y":-1.7822235769053099},"rotation":{"radians":-2.0435542741178185}},"curvature":-0.2553649962385433},{"time":3.3568470614094017,"velocity":2.1367576965347754,"acceleration":2.6999999999999993,"pose":{"translation":{"x":7.20187993737534,"y":-1.873312770739671},"rotation":{"radians":-2.0675482771424347}},"curvature":-0.21372950444359917},{"time":3.4043367183029956,"velocity":2.2649797701474785,"acceleration":-1.0994552018974335,"pose":{"translation":{"x":7.151093991910315,"y":-1.9646632211900141},"rotation":{"radians":-2.088370637372372}},"curvature":-0.18680044113633412},{"time":3.450956695664013,"velocity":2.213723193525567,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.098587111264945,"y":-2.054896682277434},"rotation":{"radians":-2.106952696193974}},"curvature":-0.17076368611172438},{"time":3.4987048529703104,"velocity":2.084803168798564,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.045406128145351,"y":-2.1426653345795916},"rotation":{"radians":-2.124045424613487}},"curvature":-0.1637481573893422},{"time":3.547877510928788,"velocity":1.9520369923106746,"acceleration":-2.7,"pose":{"translation":{"x":6.9925705522821335,"y":-2.226684254184283},"rotation":{"radians":-2.140304501136336}},"curvature":-0.16538102479256336},{"time":3.5979634591245833,"velocity":1.8168049321820277,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.941048079237058,"y":-2.3057638816430024},"rotation":{"radians":-2.156361587928427}},"curvature":-0.1768009201056777},{"time":3.648378588083246,"velocity":1.6806840839936381,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.891730099209751,"y":-2.37884249092451},"rotation":{"radians":-2.1728963784151825}},"curvature":-0.2011726549273176},{"time":3.6984554909645655,"velocity":1.5454764462140764,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.845407205844394,"y":-2.4450186583683924},"rotation":{"radians":-2.1907250385502053}},"curvature":-0.24500666492416812},{"time":3.7474339722509598,"velocity":1.4132345467408116,"acceleration":-2.7,"pose":{"translation":{"x":6.802744705036412,"y":-2.5035837316386345},"rotation":{"radians":-2.2109265322563663}},"curvature":-0.32107362952933843},{"time":3.838579322747655,"velocity":1.167142100399734,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.7302887187706615,"y":-2.596204656657504},"rotation":{"radians":-2.26538823363029}},"curvature":-0.6983733281623699},{"time":3.87884753734993,"velocity":1.0584179209735918,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.700978985620202,"y":-2.6300992809381722},"rotation":{"radians":-2.3055766625940555}},"curvature":-1.161706924289958},{"time":3.9143783771938288,"velocity":0.9624846533950653,"acceleration":-2.7,"pose":{"translation":{"x":6.6762481672551255,"y":-2.6561252940163986},"rotation":{"radians":-2.3611253774593677}},"curvature":-2.069483430581481},{"time":3.9446153163025475,"velocity":0.8808449178015251,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.655767762927474,"y":-2.6750249344816397},"rotation":{"radians":-2.4393793407849826}},"curvature":-3.786562605724007},{"time":3.957746608244633,"velocity":0.8453904295578945,"acceleration":-2.7,"pose":{"translation":{"x":6.646945039992192,"y":-2.682139407006597},"rotation":{"radians":-2.4888731070782244}},"curvature":-5.0067041726191235},{"time":3.9696615259325854,"velocity":0.8132201518004231,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.638937036980688,"y":-2.68792802596912},"rotation":{"radians":-2.54463825964339}},"curvature":-6.289792037747411},{"time":3.9805293404484687,"velocity":0.7838770526075379,"acceleration":2.7000000000000544,"pose":{"translation":{"x":6.631622107145021,"y":-2.6925979064247128},"rotation":{"radians":-2.603460002905891}},"curvature":-7.150761360113481},{"time":3.9902549557370968,"velocity":0.8101362138868338,"acceleration":-0.8073471263186798,"pose":{"translation":{"x":6.624858527656298,"y":-2.6963844461134348},"rotation":{"radians":-2.658512232190288}},"curvature":-6.75882207866783},{"time":4.0075759146711025,"velocity":0.7961521874663801,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.6123135559006245,"y":-2.7023965955020928},"rotation":{"radians":-2.714965160462928}},"curvature":-2.782056460928346E-13},{"time":4.025011320141639,"velocity":0.7490765926959323,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.600000781924867,"y":-2.7078609588171707},"rotation":{"radians":-2.741416782477967}},"curvature":-3.815339203835633},{"time":4.0435847913802885,"velocity":0.6989282203515776,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.587449437541447,"y":-2.7126871333494806},"rotation":{"radians":-2.814639860740997}},"curvature":-6.953564103889301},{"time":4.053399530124807,"velocity":0.6724284257413768,"acceleration":-2.7,"pose":{"translation":{"x":6.581024377505649,"y":-2.7146891790782193},"rotation":{"radians":-2.8658404550015253}},"curvature":-8.22183756317215},{"time":4.063655176962208,"velocity":0.6447381792803936,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.574474775176925,"y":-2.716338996269565},"rotation":{"radians":-2.924962178570092}},"curvature":-9.235001787363444},{"time":4.074452316695224,"velocity":0.6155859020012514,"acceleration":-1.5614471387230628,"pose":{"translation":{"x":6.567786061057784,"y":-2.7175859150618242},"rotation":{"radians":-2.990422599769865}},"curvature":-9.949439794600845},{"time":4.085801458300454,"velocity":0.5978648173148028,"acceleration":-0.20897917222967607,"pose":{"translation":{"x":6.560946817537351,"y":-2.7183853869336816},"rotation":{"radians":-3.0604727521050985}},"curvature":-10.335830771816653},{"time":4.097542559888879,"velocity":0.5954111716237891,"acceleration":0.9340456732001381,"pose":{"translation":{"x":6.553948643263447,"y":-2.718698765306084},"rotation":{"radians":-3.133275977941982}},"curvature":-10.391142880043173},{"time":4.109465724497444,"velocity":0.6065479519372723,"acceleration":1.9770104852656691,"pose":{"translation":{"x":6.546786017514653,"y":-2.7184930861441257},"rotation":{"radians":3.0761577385964625}},"curvature":-10.143682388705306},{"time":4.121382307442689,"velocity":0.6301071613685582,"acceleration":2.700000000000082,"pose":{"translation":{"x":6.539456164572393,"y":-2.717740848558933},"rotation":{"radians":3.00310010912821}},"curvature":-9.649019311906114},{"time":4.133166454905421,"velocity":0.6619243595179365,"acceleration":2.7000000000000703,"pose":{"translation":{"x":6.531958918093006,"y":-2.716419795409549},"rotation":{"radians":2.9321083621384485}},"curvature":-8.978732425160104},{"time":4.1448185528793005,"velocity":0.6933850240474125,"acceleration":2.699999999999863,"pose":{"translation":{"x":6.52429658547982,"y":-2.7145126939048203},"rotation":{"radians":2.8642215501788977}},"curvature":-8.20680098482241},{"time":4.156403809086902,"velocity":0.7246652158079354,"acceleration":2.700000000000013,"pose":{"translation":{"x":6.5164738122552235,"y":-2.7120071162052803},"rotation":{"radians":2.800134866123928}},"curvature":-7.398430838000034},{"time":4.16796959718651,"velocity":0.7558928436768761,"acceleration":2.7000000000000113,"pose":{"translation":{"x":6.508497446432745,"y":-2.7088952200250334},"rotation":{"radians":2.740230748578606}},"curvature":-6.603818980361795},{"time":4.179548257872675,"velocity":0.7871552275295202,"acceleration":2.6999999999999704,"pose":{"translation":{"x":6.500376402889126,"y":-2.7051735292336434},"rotation":{"radians":2.6846350981540272}},"curvature":-5.856777204223596},{"time":4.191159623188852,"velocity":0.8185059138831989,"acceleration":2.6999999999999864,"pose":{"translation":{"x":6.49212152773639,"y":-2.700842714458014},"rotation":{"radians":2.633281828218556}},"curvature":-5.176639926128518},{"time":4.202813290956266,"velocity":0.849970816855215,"acceleration":2.7000000000000486,"pose":{"translation":{"x":6.483745462693925,"y":-2.6959073736842782},"rotation":{"radians":2.5859736858732676}},"curvature":-4.571644906700683},{"time":4.226241662096653,"velocity":0.9132274189342597,"acceleration":2.699999999999978,"pose":{"translation":{"x":6.466688494086605,"y":-2.684259826494461},"rotation":{"radians":2.502339906825371}},"curvature":-3.5851423375100553},{"time":4.2497821521872305,"velocity":0.9767867421788184,"acceleration":2.700000000000055,"pose":{"translation":{"x":6.4493373891083,"y":-2.670337881609422},"rotation":{"radians":2.4311633245994693}},"curvature":-2.859842251329955},{"time":4.273315055786266,"velocity":1.0403255818962147,"acceleration":2.700000000000045,"pose":{"translation":{"x":6.4318440893306725,"y":-2.6542973292426666},"rotation":{"radians":2.3698700235605896}},"curvature":-2.3389424471387197},{"time":4.296689684666021,"velocity":1.1034370798715576,"acceleration":2.7000000000000313,"pose":{"translation":{"x":6.414376245762293,"y":-2.636335735136296},"rotation":{"radians":2.316179665573082}},"curvature":-1.971245985355279},{"time":4.31974392688608,"velocity":1.1656835338657163,"acceleration":2.700000000000001,"pose":{"translation":{"x":6.397112878755023,"y":-2.6166854198213247},"rotation":{"radians":2.2681655710867354}},"curvature":-1.7177072822338848},{"time":4.364244746917734,"velocity":1.2858357479511842,"acceleration":-1.3029827294012428,"pose":{"translation":{"x":6.363946461985967,"y":-2.5733795571961275},"rotation":{"radians":2.1829634101425417}},"curvature":-1.4531964340918389},{"time":4.408455646728578,"velocity":1.228229709046366,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.333839465146571,"y":-2.5266666132856277},"rotation":{"radians":2.1038693326688813}},"curvature":-1.428497937409373},{"time":4.454944935098444,"velocity":1.1027086304477278,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.3081906578607985,"y":-2.4789402092914683},"rotation":{"radians":2.0222056755935585}},"curvature":-1.6267050425406355},{"time":4.479123054648495,"velocity":1.0374277076625913,"acceleration":-2.699999999999994,"pose":{"translation":{"x":6.297414801809275,"y":-2.4554188673206423},"rotation":{"radians":1.977719022211628}},"curvature":-1.826133388334632},{"time":4.50375791029557,"velocity":0.9709135974154887,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.288164070257655,"y":-2.432476052028613},"rotation":{"radians":1.929238799528292}},"curvature":-2.111200891597752},{"time":4.528743821641082,"velocity":0.9034516367826055,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.280524503434468,"y":-2.4103409437610113},"rotation":{"radians":1.875500722191483}},"curvature":-2.501078261352885},{"time":4.5540063524821255,"velocity":0.8352428035117866,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.274550109975329,"y":-2.3892072702555778},"rotation":{"radians":1.8152269082626638}},"curvature":-3.014788560841303},{"time":4.579526988297115,"velocity":0.7663370868113146,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.270258526829311,"y":-2.369226285902487},"rotation":{"radians":1.7473051168809193}},"curvature":-3.6604764302923014},{"time":4.605381092358969,"velocity":0.6965310058443089,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.267626679165335,"y":-2.350499751004661},"rotation":{"radians":1.6711659569549777}},"curvature":-4.412655527221165},{"time":4.631797624957274,"velocity":0.6252063678288854,"acceleration":-2.7,"pose":{"translation":{"x":6.266586440278536,"y":-2.333072911038095},"rotation":{"radians":1.5874406145062498}},"curvature":-5.1745095089891295},{"time":4.645356970332774,"velocity":0.5885961353150362,"acceleration":-2.7,"pose":{"translation":{"x":6.266628497589658,"y":-2.3248438348321385},"rotation":{"radians":1.5434847754496874}},"curvature":-5.498692515200691},{"time":4.6592667615500325,"velocity":0.5510396990284375,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.267020291496656,"y":-2.316927475912173},"rotation":{"radians":1.4988894184050614}},"curvature":-5.736779218810578},{"time":4.673658513484117,"velocity":0.5121819688064083,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.267738702623978,"y":-2.309310468744486},"rotation":{"radians":1.4544878154614598}},"curvature":-5.844205776954959},{"time":4.688716243290103,"velocity":0.4715260983302458,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.268756982086413,"y":-2.3019745992299896},"rotation":{"radians":1.4113367378835124}},"curvature":-5.7736468362624205},{"time":4.722023119621818,"velocity":0.3815975322346138,"acceleration":-2.7,"pose":{"translation":{"x":6.271567189159886,"y":-2.2880478575486682},"rotation":{"radians":1.3340215256225776}},"curvature":-4.927882985766305},{"time":4.863355538967972,"velocity":0.0,"acceleration":-2.7,"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 0122437..24dd3e5 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":2.6999999999999997,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.16408328867307112,"velocity":0.443024879417292,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2363298344524436,"y":-2.298899802686018},"rotation":{"radians":0.0692577651470374}},"curvature":1.8950587512445145},{"time":0.27165252251845773,"velocity":0.733461810799836,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.2992357901794267,"y":-2.292058382559469},"rotation":{"radians":0.13336588761066984}},"curvature":0.5081353245388296},{"time":0.39146527816103716,"velocity":1.0569562510348003,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.4052753217803797,"y":-2.2759406702466065},"rotation":{"radians":0.1622880652133495}},"curvature":0.14308012858303878},{"time":0.45511058967808826,"velocity":1.2287985921308384,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.4770070197266802,"y":-2.2638785389701312},"rotation":{"radians":0.17018012232912796}},"curvature":0.08218998056047282},{"time":0.5202669048089674,"velocity":1.404720642984212,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.5615193955328435,"y":-2.249097623342679},"rotation":{"radians":0.17564390475973646}},"curvature":0.04917485937853854},{"time":0.5862126558482816,"velocity":1.5827741707903604,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.658474466495589,"y":-2.231684860998854},"rotation":{"radians":0.17945016920991327}},"curvature":0.030140843221192568},{"time":0.6522828227765087,"velocity":1.7611636214965736,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.7671397522485237,"y":-2.211813471951235},"rotation":{"radians":0.18207557565508717}},"curvature":0.018479758912245518},{"time":0.7178738666726668,"velocity":1.9382594400162005,"acceleration":2.6999999999999984,"pose":{"translation":{"x":3.8864378767263954,"y":-2.1897319350134796},"rotation":{"radians":0.18381956783311507}},"curvature":0.010872498721873012},{"time":0.7503172600407161,"velocity":2.0258566021099336,"acceleration":2.699999999999995,"pose":{"translation":{"x":3.949655472782524,"y":-2.177957876460112},"rotation":{"radians":0.18442327195140867}},"curvature":0.008001487996222786},{"time":0.782440807203764,"velocity":2.1125901794501627,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.014996170129343,"y":-2.1657529642234286},"rotation":{"radians":0.18487131031758927}},"curvature":0.0055525725273563005},{"time":0.814184703862412,"velocity":2.1982987004285124,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.082250383218097,"y":-2.1531645157563517},"rotation":{"radians":0.185176376794578}},"curvature":0.0034191885570685615},{"time":0.8454921713119435,"velocity":2.2828288625422473,"acceleration":0.5440207749939963,"pose":{"translation":{"x":4.151196270887151,"y":-2.140242485266206},"rotation":{"radians":0.185348127438105}},"curvature":0.001517578640164743},{"time":0.8767544867796501,"velocity":2.2998362116310958,"acceleration":-0.038285272034107025,"pose":{"translation":{"x":4.2216012864233665,"y":-2.127039119227935},"rotation":{"radians":0.185393608906121}},"curvature":-2.1980680822174232E-4},{"time":0.9084480578354079,"velocity":2.2986228146414938,"acceleration":-0.036341522264056604,"pose":{"translation":{"x":4.293223727623496,"y":-2.1136086118973263},"rotation":{"radians":0.18531757186828496}},"curvature":-0.001849182069837596},{"time":0.9405858554809071,"velocity":2.297454878152842,"acceleration":-0.03558042846533801,"pose":{"translation":{"x":4.365814286855553,"y":-2.100006760824233},"rotation":{"radians":0.1851226905021804}},"curvature":-0.003419137593420175},{"time":0.9730540775647832,"velocity":2.29629964489959,"acceleration":-0.03590608189672497,"pose":{"translation":{"x":4.439117601120204,"y":-2.0862906223657953},"rotation":{"radians":0.18480970272003633}},"curvature":-0.004973588312268373},{"time":1.0057371911561086,"velocity":2.29512612234634,"acceleration":-0.037298655851329646,"pose":{"translation":{"x":4.512873802112148,"y":-2.072518167199662},"rotation":{"radians":0.18437748064958973}},"curvature":-0.006554250817816681},{"time":1.0385186230682977,"velocity":2.2939034189991334,"acceleration":-0.039809829229316245,"pose":{"translation":{"x":4.586820066281499,"y":-2.0587479358372143},"rotation":{"radians":0.1838230366305232}},"curvature":-0.008202877188079381},{"time":1.0712814594599782,"velocity":2.2925991360773126,"acceleration":-0.043565949819322776,"pose":{"translation":{"x":4.6606921648951705,"y":-2.0450386941367853},"rotation":{"radians":0.1831414662100924}},"curvature":-0.00996343941748574},{"time":1.1039091548528444,"velocity":2.291177679537107,"acceleration":-0.048779165200913556,"pose":{"translation":{"x":4.734226014098256,"y":-2.031449088816883},"rotation":{"radians":0.18232582600629615}},"curvature":-0.011884448939914765},{"time":1.1362862514521002,"velocity":2.289598351793366,"acceleration":-0.055767955852496616,"pose":{"translation":{"x":4.807159224975414,"y":-2.018037302969414},"rotation":{"radians":0.1813669405494641}},"curvature":-0.014021608840024123},{"time":1.1682991102701927,"velocity":2.287813060096086,"acceleration":-0.06498995466412874,"pose":{"translation":{"x":4.87923265361225,"y":-2.0048607115729036},"rotation":{"radians":0.18025312799179333}},"curvature":-0.016441033887417626},{"time":1.1998366562936398,"velocity":2.2857634364098045,"acceleration":-1.978093630520094,"pose":{"translation":{"x":4.950191951156699,"y":-1.9919755370057164},"rotation":{"radians":0.17896982951364038}},"curvature":-0.019223341480108017},{"time":1.2312006277280805,"velocity":2.2237225642875234,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.019789113880411,"y":-1.9794365045592819},"rotation":{"radians":0.1774991208800654}},"curvature":-0.022469026289744613},{"time":1.262870120087416,"velocity":2.1382149349173174,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.087784033240128,"y":-1.9672964979513143},"rotation":{"radians":0.17581907627481713}},"curvature":-0.026305702065901784},{"time":1.2949414679347688,"velocity":2.0516222957294645,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.153946045939074,"y":-1.955606214839035},"rotation":{"radians":0.1739029433768764}},"curvature":-0.030898057172033474},{"time":1.3273535430259316,"velocity":1.9641096929833253,"acceleration":-2.699999999999997,"pose":{"translation":{"x":5.218055483988332,"y":-1.944413822332393},"rotation":{"radians":0.17171807338504597}},"curvature":-0.036461777406136126},{"time":1.3600412729182563,"velocity":1.8758528222740485,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.27990522476823,"y":-1.9337646125072896},"rotation":{"radians":0.16922452850747088}},"curvature":-0.04328332502065509},{"time":1.4259613157013828,"velocity":1.6978687067596065,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.396069151255783,"y":-1.9142604671143888},"rotation":{"radians":0.16310370436497154}},"curvature":-0.062384057405159905},{"time":1.4920862704123898,"velocity":1.5193313290398878,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.501090654161787,"y":-1.897385524088994},"rotation":{"radians":0.15498967537946623}},"curvature":-0.09338424002657549},{"time":1.5577058396344092,"velocity":1.3421584921404353,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.593922492082721,"y":-1.8833634811611886},"rotation":{"radians":0.14401549016527215}},"curvature":-0.14664144594343798},{"time":1.621990270388274,"velocity":1.168590529105,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.673866955415721,"y":-1.8723389647855806},"rotation":{"radians":0.12876563152136272}},"curvature":-0.24432674544242147},{"time":1.6839599673335919,"velocity":1.0012723473526417,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.740625468322835,"y":-1.8643665065644082},"rotation":{"radians":0.10682738395944273}},"curvature":-0.43772210750117546},{"time":1.7961229717161784,"velocity":0.6984322355196579,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.835683620117707,"y":-1.8572792752710763},"rotation":{"radians":0.02197361283131086}},"curvature":-1.8474877858052587},{"time":1.8436549965189342,"velocity":0.5700957685522177,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.865828193832404,"y":-1.8577238789494634},"rotation":{"radians":-0.06367453439929643}},"curvature":-4.361539640139643},{"time":1.8648188132527033,"velocity":0.5129534633710411,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.87723983042111,"y":-1.8587835158903134},"rotation":{"radians":-0.12606797335766265}},"curvature":-6.765173997576896},{"time":1.8842578806151717,"velocity":0.46046798149237644,"acceleration":-2.699999999999997,"pose":{"translation":{"x":5.886575890703612,"y":-1.8603172471295863},"rotation":{"radians":-0.20493559496852556}},"curvature":-10.161883925389565},{"time":1.89339552623944,"velocity":0.4357963383068525,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":5.890565694061718,"y":-1.8612389048670965},"rotation":{"radians":-0.2504220751916043}},"curvature":-12.085865426392672},{"time":1.9022088064531364,"velocity":0.4120004817298719,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.894162125738611,"y":-1.8622502866084267},"rotation":{"radians":-0.29897795833341534}},"curvature":-13.883657658978745},{"time":1.9107707276911954,"velocity":0.38888329438711255,"acceleration":-0.6719675594211528,"pose":{"translation":{"x":5.897412720882245,"y":-1.8633405156596639},"rotation":{"radians":-0.3489700280234347}},"curvature":-15.167811103722578},{"time":1.918990272161595,"velocity":0.38336002714978445,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.900367833181723,"y":-1.864498083498372},"rotation":{"radians":-0.39786739118221953}},"curvature":-15.430809298875147},{"time":1.9333698243842155,"velocity":0.4221848181508594,"acceleration":2.6999999999999553,"pose":{"translation":{"x":5.905607407346868,"y":-1.8669659777145693},"rotation":{"radians":-0.47832444070195745}},"curvature":-11.041099262767903},{"time":1.9456612216629503,"velocity":0.4553715908034431,"acceleration":2.699999999999998,"pose":{"translation":{"x":5.910341889267582,"y":-1.8695488554289996},"rotation":{"radians":-0.5104883219168177}},"curvature":-3.7340349071888874E-13},{"time":2.122511931538632,"velocity":0.9328685074677827,"acceleration":2.6999999999999935,"pose":{"translation":{"x":6.019362680912478,"y":-1.9259705717486812},"rotation":{"radians":-0.457653588008675}},"curvature":0.08815631236043758},{"time":2.2190734888803925,"velocity":1.193584712290536,"acceleration":-0.6219265198802622,"pose":{"translation":{"x":6.111478234899523,"y":-1.9713048863389462},"rotation":{"radians":-0.4603174376989857}},"curvature":-0.11129184244351757},{"time":2.319553995790637,"velocity":1.1310932203120432,"acceleration":-2.7,"pose":{"translation":{"x":6.215595458285448,"y":-2.024220578585429},"rotation":{"radians":-0.48395842928784394}},"curvature":-0.3145673826484365},{"time":2.430355148820425,"velocity":0.8319301071316155,"acceleration":-2.7,"pose":{"translation":{"x":6.310606314256721,"y":-2.0771362708319114},"rotation":{"radians":-0.542721169737204}},"curvature":-0.9207690115471886},{"time":2.489658521294005,"velocity":0.6718110014529504,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.348182799436799,"y":-2.1011391557636725},"rotation":{"radians":-0.6009884368276502}},"curvature":-1.8648205143316683},{"time":2.5196919898105983,"velocity":0.5907206364581481,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.363599732828538,"y":-2.1121739062004825},"rotation":{"radians":-0.6444585240143699}},"curvature":-2.8243017945696063},{"time":2.549771623298824,"velocity":0.5095056260399388,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.376553043989027,"y":-2.1224705854221755},"rotation":{"radians":-0.7033422239728307}},"curvature":-4.491242440772023},{"time":2.5798373657501403,"velocity":0.4283281214213847,"acceleration":-2.7,"pose":{"translation":{"x":6.38695681395706,"y":-2.131985026593671},"rotation":{"radians":-0.7852287507835739}},"curvature":-7.515004253757817},{"time":2.594911973021291,"velocity":0.3876266817892787,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.39119492327807,"y":-2.1364417236195927},"rotation":{"radians":-0.8382640323882593}},"curvature":-9.890568239576622},{"time":2.6100973130436755,"velocity":0.3466262637288397,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.394795994947252,"y":-2.140697571643865},"rotation":{"radians":-0.9018170428636533}},"curvature":-13.122491542036409},{"time":2.6255388492395246,"velocity":0.30493411600004705,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.397770582878232,"y":-2.144754445523107},"rotation":{"radians":-0.9780469927814595}},"curvature":-17.454602821326706},{"time":2.633437192977651,"velocity":0.2836085879071056,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.399027731224297,"y":-2.1467093739969005},"rotation":{"radians":-1.02159743124877}},"curvature":-20.09502862925046},{"time":2.6415224534800137,"velocity":0.26177838455072583,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.400134707587854,"y":-2.1486161348611237},"rotation":{"radians":-1.069089430112289}},"curvature":-23.060751341810086},{"time":2.649875472583664,"velocity":0.23922523297086995,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.401094411229809,"y":-2.1504755167024108},"rotation":{"radians":-1.1206887834018617}},"curvature":-26.32815672730302},{"time":2.658616745395708,"velocity":0.21562379637835016,"acceleration":-2.3225749195625474,"pose":{"translation":{"x":6.4019101154848554,"y":-2.1522884397462643},"rotation":{"radians":-1.1764606640265038}},"curvature":-29.835574717517932},{"time":2.6678512608144143,"velocity":0.1941759424725501,"acceleration":-1.7871974806153483,"pose":{"translation":{"x":6.402585475864242,"y":-2.154055958848849},"rotation":{"radians":-1.2363268615194787}},"curvature":-33.47199907937164},{"time":2.6775864603006636,"velocity":0.17677721847743721,"acceleration":-1.334168670755782,"pose":{"translation":{"x":6.4031245381585515,"y":-2.155779266488783},"rotation":{"radians":-1.3000214411236208}},"curvature":-37.0701428019739},{"time":2.6877579011871138,"velocity":0.16320680071029103,"acceleration":-0.9463967672997622,"pose":{"translation":{"x":6.40353174654046,"y":-2.1574596957589307},"rotation":{"radians":-1.3670526349960594}},"curvature":-40.409104950567425},{"time":2.69826641903674,"velocity":0.15326157338829327,"acceleration":-0.6050340339672171,"pose":{"translation":{"x":6.403811951667518,"y":-2.159098723358196},"rotation":{"radians":-1.4366815305525695}},"curvature":-43.23155333801457},{"time":2.708978801285861,"velocity":0.14678021754270865,"acceleration":-0.2894213381155511,"pose":{"translation":{"x":6.403970418784919,"y":-2.160697972583314},"rotation":{"radians":-1.5079284352910682}},"curvature":-45.276810326152486},{"time":2.7197333647720705,"velocity":0.1436676173876812,"acceleration":0.023930222116650513,"pose":{"translation":{"x":6.4040128358282695,"y":-2.1622592163206433},"rotation":{"radians":-1.579613900421947}},"curvature":-46.324613583278015},{"time":2.7303502918278677,"velocity":0.1439216828103227,"acceleration":0.36382321394218886,"pose":{"translation":{"x":6.40394532152636,"y":-2.16378438003796},"rotation":{"radians":-1.6504330500073743}},"curvature":-46.23738812271767},{"time":2.740645093530891,"velocity":0.1476671706528141,"acceleration":0.7694189272491037,"pose":{"translation":{"x":6.403774433503942,"y":-2.1652755447762466},"rotation":{"radians":-1.7190515676349232}},"curvature":-44.98631977809164},{"time":2.7504424445049893,"velocity":0.15520543792918784,"acceleration":1.3003719905908588,"pose":{"translation":{"x":6.403507176384488,"y":-2.16673495014149},"rotation":{"radians":-1.7842040253596458}},"curvature":-42.651445664603145},{"time":2.759587466717854,"velocity":0.1670973686681282,"acceleration":2.0582171971234065,"pose":{"translation":{"x":6.403151009892975,"y":-2.168164997296468},"rotation":{"radians":-1.8447742063981305}},"curvature":-39.39638825688053},{"time":2.7679524195273055,"velocity":0.18431425839366744,"acceleration":2.699999999999878,"pose":{"translation":{"x":6.402713856958646,"y":-2.169568251952547},"rotation":{"radians":-1.8998432378181598}},"curvature":-35.42804729881617},{"time":2.775511480601151,"velocity":0.2047237232930493,"acceleration":2.700000000000107,"pose":{"translation":{"x":6.40220411181779,"y":-2.1709474473614714},"rotation":{"radians":-1.9487014078318636}},"curvature":-30.955102394649295},{"time":2.788777092917281,"velocity":0.24054087654660172,"acceleration":2.7000000000000215,"pose":{"translation":{"x":6.40100282701348,"y":-2.1736454490974797},"rotation":{"radians":-2.0258546267077726}},"curvature":-21.160549507806387},{"time":2.8108626893402535,"velocity":0.30017198688862823,"acceleration":2.699999999999932,"pose":{"translation":{"x":6.398152708453254,"y":-2.1788923017418553},"rotation":{"radians":-2.0899424410415515}},"curvature":-2.945304125570491E-12},{"time":2.829479839057939,"velocity":0.35043829112637814,"acceleration":1.5616621397220094,"pose":{"translation":{"x":6.39507216638006,"y":-2.18410655900665},"rotation":{"radians":-2.1318581991327763}},"curvature":-12.749079953629735},{"time":2.8382754459663952,"velocity":0.36417405743119136,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.393341297652253,"y":-2.186729689141383},"rotation":{"radians":-2.178143871089744}},"curvature":-16.32981615964336},{"time":2.8476084105930495,"velocity":0.33897505293922536,"acceleration":0.3148105351063837,"pose":{"translation":{"x":6.3913942692807435,"y":-2.189370819539606},"rotation":{"radians":-2.2347884625292824}},"curvature":-17.85543237008885},{"time":2.857792360312743,"velocity":0.3421810675999787,"acceleration":2.3264768807322556,"pose":{"translation":{"x":6.389172967824155,"y":-2.1920346185943},"rotation":{"radians":-2.296809961481927}},"curvature":-17.659220798825885},{"time":2.8682479371732756,"velocity":0.3665057254407271,"acceleration":2.700000000000089,"pose":{"translation":{"x":6.3866259633725395,"y":-2.1947251185768817},"rotation":{"radians":-2.359939148599949}},"curvature":-16.28235115373208},{"time":2.878728116497605,"velocity":0.39480220961641777,"acceleration":2.699999999999943,"pose":{"translation":{"x":6.383708274193028,"y":-2.197445739571543},"rotation":{"radians":-2.4209897906426305}},"curvature":-14.283774338572098},{"time":2.889286101471729,"velocity":0.42330876904655157,"acceleration":2.7000000000001,"pose":{"translation":{"x":6.380381131375498,"y":-2.2001993134095907},"rotation":{"radians":-2.477923759670583}},"curvature":-12.106402683981111},{"time":2.899996984249021,"velocity":0.4522281525452409,"acceleration":2.69999999999995,"pose":{"translation":{"x":6.376611743478227,"y":-2.202988107603785},"rotation":{"radians":-2.5296884017885226}},"curvature":-10.032118530851717},{"time":2.9109064429067306,"velocity":0.48168369092105556,"acceleration":2.699999999999974,"pose":{"translation":{"x":6.372373061173554,"y":-2.2058138492826806},"rotation":{"radians":-2.5759534641472417}},"curvature":-8.20177097536335},{"time":2.9333934620001068,"velocity":0.5423986424731706,"acceleration":2.7000000000000153,"pose":{"translation":{"x":6.362406914475598,"y":-2.211580525293808},"rotation":{"radians":-2.6527662519604673}},"curvature":-5.3971712559868905},{"time":2.956763472653593,"velocity":0.6054976712375841,"acceleration":2.700000000000018,"pose":{"translation":{"x":6.350372195476547,"y":-2.217503260292213},"rotation":{"radians":-2.711679723460505}},"curvature":-3.566532900623742},{"time":2.980879349952867,"velocity":0.6706105399456241,"acceleration":2.699999999999993,"pose":{"translation":{"x":6.336235219518413,"y":-2.223578858777592},"rotation":{"radians":-2.7567394084285106}},"curvature":-2.4023315616831367},{"time":3.0305014774059744,"velocity":0.8045902840690133,"acceleration":2.6999999999999913,"pose":{"translation":{"x":6.30185862579485,"y":-2.236144887853593},"rotation":{"radians":-2.8182177716287375}},"curvature":-1.1714173696573198},{"time":3.080478940373868,"velocity":0.9395294340823248,"acceleration":2.6999999999999957,"pose":{"translation":{"x":6.260257688103602,"y":-2.249139865685754},"rotation":{"radians":-2.855491724158334}},"curvature":-0.6192913719087216},{"time":3.175092473794587,"velocity":1.1949859743182663,"acceleration":-2.068728240141672,"pose":{"translation":{"x":6.162798860477242,"y":-2.2755621287146326},"rotation":{"radians":-2.890852210433827}},"curvature":-0.16501260308299173},{"time":3.2695379813410925,"velocity":0.9996038857022966,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.062304577045997,"y":-2.3008805896326443},"rotation":{"radians":-2.8940333591153284}},"curvature":0.1141648975399554},{"time":3.371117689651992,"velocity":0.7253386732628685,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.97760410421294,"y":-2.3232696178432635},"rotation":{"radians":-2.8640180725634394}},"curvature":0.7144006666381507},{"time":3.4226209184936036,"velocity":0.5862799553905166,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.945267638157282,"y":-2.3330262163821494},"rotation":{"radians":-2.8288298217795607}},"curvature":1.4855537428430912},{"time":3.474024166627753,"velocity":0.44749118542831345,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.920198043313465,"y":-2.3418272908322164},"rotation":{"radians":-2.7729042131356465}},"curvature":2.8905757965382564},{"time":3.528632993087595,"velocity":0.3000473539867403,"acceleration":-2.7,"pose":{"translation":{"x":5.901422525991386,"y":-2.3498331012778997},"rotation":{"radians":-2.7002183095133314}},"curvature":3.93415202030435},{"time":3.6397616427123136,"velocity":0.0,"acceleration":-2.7,"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":2.6999999999999997,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.16408328867307112,"velocity":0.443024879417292,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.2363298344524436,"y":-2.298899802686018},"rotation":{"radians":0.0692577651470374}},"curvature":1.8950587512445145},{"time":0.27165252251845773,"velocity":0.733461810799836,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.2992357901794267,"y":-2.292058382559469},"rotation":{"radians":0.13336588761066984}},"curvature":0.5081353245388296},{"time":0.39146527816103716,"velocity":1.0569562510348003,"acceleration":2.700000000000003,"pose":{"translation":{"x":3.4052753217803797,"y":-2.2759406702466065},"rotation":{"radians":0.1622880652133495}},"curvature":0.14308012858303878},{"time":0.45511058967808826,"velocity":1.2287985921308384,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.4770070197266802,"y":-2.2638785389701312},"rotation":{"radians":0.17018012232912796}},"curvature":0.08218998056047282},{"time":0.5202669048089674,"velocity":1.404720642984212,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.5615193955328435,"y":-2.249097623342679},"rotation":{"radians":0.17564390475973646}},"curvature":0.04917485937853854},{"time":0.5862126558482816,"velocity":1.5827741707903604,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.658474466495589,"y":-2.231684860998854},"rotation":{"radians":0.17945016920991327}},"curvature":0.030140843221192568},{"time":0.6522828227765087,"velocity":1.7611636214965736,"acceleration":2.7000000000000015,"pose":{"translation":{"x":3.7671397522485237,"y":-2.211813471951235},"rotation":{"radians":0.18207557565508717}},"curvature":0.018479758912245518},{"time":0.7178738666726668,"velocity":1.9382594400162005,"acceleration":2.6999999999999984,"pose":{"translation":{"x":3.8864378767263954,"y":-2.1897319350134796},"rotation":{"radians":0.18381956783311507}},"curvature":0.010872498721873012},{"time":0.7503172600407161,"velocity":2.0258566021099336,"acceleration":2.699999999999995,"pose":{"translation":{"x":3.949655472782524,"y":-2.177957876460112},"rotation":{"radians":0.18442327195140867}},"curvature":0.008001487996222786},{"time":0.782440807203764,"velocity":2.1125901794501627,"acceleration":2.6999999999999957,"pose":{"translation":{"x":4.014996170129343,"y":-2.1657529642234286},"rotation":{"radians":0.18487131031758927}},"curvature":0.0055525725273563005},{"time":0.814184703862412,"velocity":2.1982987004285124,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.082250383218097,"y":-2.1531645157563517},"rotation":{"radians":0.185176376794578}},"curvature":0.0034191885570685615},{"time":0.8454921713119435,"velocity":2.2828288625422473,"acceleration":2.699999999999999,"pose":{"translation":{"x":4.151196270887151,"y":-2.140242485266206},"rotation":{"radians":0.185348127438105}},"curvature":0.001517578640164743},{"time":0.8763093173151578,"velocity":2.3660351567509257,"acceleration":2.6999999999999953,"pose":{"translation":{"x":4.2216012864233665,"y":-2.127039119227935},"rotation":{"radians":0.185393608906121}},"curvature":-2.1980680822174232E-4},{"time":0.9065850128370889,"velocity":2.4477795346601394,"acceleration":2.6999999999999984,"pose":{"translation":{"x":4.293223727623496,"y":-2.1136086118973263},"rotation":{"radians":0.18531757186828496}},"curvature":-0.001849182069837596},{"time":0.9362707854007335,"velocity":2.5279311205819797,"acceleration":2.3320661377096568,"pose":{"translation":{"x":4.365814286855553,"y":-2.100006760824233},"rotation":{"radians":0.1851226905021804}},"curvature":-0.003419137593420175},{"time":0.9653805384247987,"velocity":2.5958169898864933,"acceleration":-0.04588376438973727,"pose":{"translation":{"x":4.439117601120204,"y":-2.0862906223657953},"rotation":{"radians":0.18480970272003633}},"curvature":-0.004973588312268373},{"time":0.9942925235248197,"velocity":2.5944903991741244,"acceleration":-0.0476633106909437,"pose":{"translation":{"x":4.512873802112148,"y":-2.072518167199662},"rotation":{"radians":0.18437748064958973}},"curvature":-0.006554250817816681},{"time":1.0232914825240609,"velocity":2.5931082127816296,"acceleration":-0.050872295952787056,"pose":{"translation":{"x":4.586820066281499,"y":-2.0587479358372143},"rotation":{"radians":0.1838230366305232}},"curvature":-0.008202877188079381},{"time":1.0522739916397787,"velocity":2.5916338060004405,"acceleration":-1.0844436576894136,"pose":{"translation":{"x":4.6606921648951705,"y":-2.0450386941367853},"rotation":{"radians":0.1831414662100924}},"curvature":-0.00996343941748574},{"time":1.0813043275448933,"velocity":2.560152042347546,"acceleration":-2.699999999999995,"pose":{"translation":{"x":4.734226014098256,"y":-2.031449088816883},"rotation":{"radians":0.18232582600629615}},"curvature":-0.011884448939914765},{"time":1.110726308863333,"velocity":2.4807126927877587,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":4.807159224975414,"y":-2.018037302969414},"rotation":{"radians":0.1813669405494641}},"curvature":-0.014021608840024123},{"time":1.140751992249364,"velocity":2.399643347645475,"acceleration":-2.700000000000002,"pose":{"translation":{"x":4.87923265361225,"y":-2.0048607115729036},"rotation":{"radians":0.18025312799179333}},"curvature":-0.016441033887417626},{"time":1.1713324368587872,"velocity":2.3170761472000323,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":4.950191951156699,"y":-1.9919755370057164},"rotation":{"radians":0.17896982951364038}},"curvature":-0.019223341480108017},{"time":1.2024155817533995,"velocity":2.233151655984579,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.019789113880411,"y":-1.9794365045592819},"rotation":{"radians":0.1774991208800654}},"curvature":-0.022469026289744613},{"time":1.2339460434126366,"velocity":2.1480194095046388,"acceleration":-2.69999999999999,"pose":{"translation":{"x":5.087784033240128,"y":-1.9672964979513143},"rotation":{"radians":0.17581907627481713}},"curvature":-0.026305702065901784},{"time":1.2658648700475916,"velocity":2.0618385775902603,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":5.153946045939074,"y":-1.955606214839035},"rotation":{"radians":0.1739029433768764}},"curvature":-0.030898057172033474},{"time":1.2981092459173722,"velocity":1.9747787627418525,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.218055483988332,"y":-1.944413822332393},"rotation":{"radians":0.17171807338504597}},"curvature":-0.036461777406136126},{"time":1.330612137484251,"velocity":1.8870209555112796,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.27990522476823,"y":-1.9337646125072896},"rotation":{"radians":0.16922452850747088}},"curvature":-0.04328332502065509},{"time":1.396101555565337,"velocity":1.7101995266923473,"acceleration":-2.7,"pose":{"translation":{"x":5.396069151255783,"y":-1.9142604671143888},"rotation":{"radians":0.16310370436497154}},"curvature":-0.062384057405159905},{"time":1.4616944133719825,"velocity":1.5330988106144046,"acceleration":-2.7,"pose":{"translation":{"x":5.501090654161787,"y":-1.897385524088994},"rotation":{"radians":0.15498967537946623}},"curvature":-0.09338424002657549},{"time":1.526648151471411,"velocity":1.3577237177459474,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.593922492082721,"y":-1.8833634811611886},"rotation":{"radians":0.14401549016527215}},"curvature":-0.14664144594343798},{"time":1.5900884030691766,"velocity":1.1864350384319802,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.673866955415721,"y":-1.8723389647855806},"rotation":{"radians":0.12876563152136272}},"curvature":-0.24432674544242147},{"time":1.6509745796059652,"velocity":1.0220423617826513,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.740625468322835,"y":-1.8643665065644082},"rotation":{"radians":0.10682738395944273}},"curvature":-0.43772210750117546},{"time":1.7599178606288033,"velocity":0.7278955030209883,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.835683620117707,"y":-1.8572792752710763},"rotation":{"radians":0.02197361283131086}},"curvature":-1.8474877858052587},{"time":1.8051262448633147,"velocity":0.6058328655878075,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.865828193832404,"y":-1.8577238789494634},"rotation":{"radians":-0.06367453439929643}},"curvature":-4.361539640139643},{"time":1.8249162717533554,"velocity":0.5523997929846975,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":5.87723983042111,"y":-1.8587835158903134},"rotation":{"radians":-0.12606797335766265}},"curvature":-6.765173997576896},{"time":1.8428277779054179,"velocity":0.5040387263741292,"acceleration":-2.699999999999997,"pose":{"translation":{"x":5.886575890703612,"y":-1.8603172471295863},"rotation":{"radians":-0.20493559496852556}},"curvature":-10.161883925389565},{"time":1.8511368160942485,"velocity":0.4816043232642865,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.890565694061718,"y":-1.8612389048670965},"rotation":{"radians":-0.2504220751916043}},"curvature":-12.085865426392672},{"time":1.8590705271862018,"velocity":0.4601833033160126,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.894162125738611,"y":-1.8622502866084267},"rotation":{"radians":-0.29897795833341534}},"curvature":-13.883657658978745},{"time":1.8666913053215217,"velocity":0.4396072023506489,"acceleration":-0.858695784817939,"pose":{"translation":{"x":5.897412720882245,"y":-1.8633405156596639},"rotation":{"radians":-0.3489700280234347}},"curvature":-15.167811103722578},{"time":1.8739624408145676,"velocity":0.4333635089519303,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.900367833181723,"y":-1.864498083498372},"rotation":{"radians":-0.39786739118221953}},"curvature":-15.430809298875147},{"time":1.886812548964046,"velocity":0.46805880095552155,"acceleration":2.6999999999999553,"pose":{"translation":{"x":5.905607407346868,"y":-1.8669659777145693},"rotation":{"radians":-0.47832444070195745}},"curvature":-11.041099262767903},{"time":1.8979756089104995,"velocity":0.4981990628109458,"acceleration":2.6999999999999984,"pose":{"translation":{"x":5.910341889267582,"y":-1.8695488554289996},"rotation":{"radians":-0.5104883219168177}},"curvature":-3.7340349071888874E-13},{"time":2.0669783661717327,"velocity":0.9545065074162747,"acceleration":2.699999999999993,"pose":{"translation":{"x":6.019362680912478,"y":-1.9259705717486812},"rotation":{"radians":-0.457653588008675}},"curvature":0.08815631236043758},{"time":2.1618172720896793,"velocity":1.2105715533947294,"acceleration":-0.74579310895399,"pose":{"translation":{"x":6.111478234899523,"y":-1.9713048863389462},"rotation":{"radians":-0.4603174376989857}},"curvature":-0.11129184244351757},{"time":2.261345703433167,"velocity":1.1363439351537559,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.215595458285448,"y":-2.024220578585429},"rotation":{"radians":-0.48395842928784394}},"curvature":-0.3145673826484365},{"time":2.3714526996679073,"velocity":0.8390550453199577,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.310606314256721,"y":-2.0771362708319114},"rotation":{"radians":-0.542721169737204}},"curvature":-0.9207690115471886},{"time":2.430134494678046,"velocity":0.680614198792584,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.348182799436799,"y":-2.1011391557636725},"rotation":{"radians":-0.6009884368276502}},"curvature":-1.8648205143316683},{"time":2.4597273993588264,"velocity":0.6007133561544762,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.363599732828538,"y":-2.1121739062004825},"rotation":{"radians":-0.6444585240143699}},"curvature":-2.8243017945696063},{"time":2.489229308653318,"velocity":0.521058201059349,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.376553043989027,"y":-2.1224705854221755},"rotation":{"radians":-0.7033422239728307}},"curvature":-4.491242440772023},{"time":2.5185073396017637,"velocity":0.4420075174985461,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.38695681395706,"y":-2.131985026593671},"rotation":{"radians":-0.7852287507835739}},"curvature":-7.515004253757817},{"time":2.5330689810741287,"velocity":0.4026910855231611,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.39119492327807,"y":-2.1364417236195927},"rotation":{"radians":-0.8382640323882593}},"curvature":-9.890568239576622},{"time":2.5476233382557942,"velocity":0.3633943211326646,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.394795994947252,"y":-2.140697571643865},"rotation":{"radians":-0.9018170428636533}},"curvature":-13.122491542036409},{"time":2.562262716680888,"velocity":0.32386799938491173,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.397770582878232,"y":-2.144754445523107},"rotation":{"radians":-0.9780469927814595}},"curvature":-17.454602821326706},{"time":2.569667847288558,"velocity":0.3038741467442031,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.399027731224297,"y":-2.1467093739969005},"rotation":{"radians":-1.02159743124877}},"curvature":-20.09502862925046},{"time":2.5771737682237945,"velocity":0.2836081602190648,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.400134707587854,"y":-2.1486161348611237},"rotation":{"radians":-1.069089430112289}},"curvature":-23.060751341810086},{"time":2.584830801454276,"velocity":0.26293417049676526,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.401094411229809,"y":-2.1504755167024108},"rotation":{"radians":-1.1206887834018617}},"curvature":-26.32815672730302},{"time":2.592710329315073,"velocity":0.24165944527261338,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.4019101154848554,"y":-2.1522884397462643},"rotation":{"radians":-1.1764606640265038}},"curvature":-29.835574717517932},{"time":2.6009163315209314,"velocity":0.2195032393167955,"acceleration":-2.283828916627543,"pose":{"translation":{"x":6.402585475864242,"y":-2.154055958848849},"rotation":{"radians":-1.2363268615194787}},"curvature":-33.47199907937164},{"time":2.6095282387587675,"velocity":0.19983511653971142,"acceleration":-1.704911193631209,"pose":{"translation":{"x":6.4031245381585515,"y":-2.155779266488783},"rotation":{"radians":-1.3000214411236208}},"curvature":-37.0701428019739},{"time":2.618526051850627,"velocity":0.18449464428119833,"acceleration":-1.2093841487611086,"pose":{"translation":{"x":6.40353174654046,"y":-2.1574596957589307},"rotation":{"radians":-1.3670526349960594}},"curvature":-40.409104950567425},{"time":2.6278220484099113,"velocity":0.17325221339546193,"acceleration":-0.7731625840488165,"pose":{"translation":{"x":6.403811951667518,"y":-2.159098723358196},"rotation":{"radians":-1.4366815305525695}},"curvature":-43.23155333801457},{"time":2.637298386553365,"velocity":0.16592546330914915,"acceleration":-0.3698465492743464,"pose":{"translation":{"x":6.403970418784919,"y":-2.160697972583314},"rotation":{"radians":-1.5079284352910682}},"curvature":-45.276810326152486},{"time":2.646812038868089,"velocity":0.1624068718295526,"acceleration":0.030580019188746362,"pose":{"translation":{"x":6.4040128358282695,"y":-2.1622592163206433},"rotation":{"radians":-1.579613900421947}},"curvature":-46.324613583278015},{"time":2.6562039358789864,"velocity":0.16269407622036458,"acceleration":0.4649234265121653,"pose":{"translation":{"x":6.40394532152636,"y":-2.16378438003796},"rotation":{"radians":-1.6504330500073743}},"curvature":-46.23738812271767},{"time":2.6653108758470454,"velocity":0.16692810595535512,"acceleration":0.9832272113807119,"pose":{"translation":{"x":6.403774433503942,"y":-2.1652755447762466},"rotation":{"radians":-1.7190515676349232}},"curvature":-44.98631977809164},{"time":2.6739777632472093,"velocity":0.17544962548516896,"acceleration":1.6617229974279983,"pose":{"translation":{"x":6.403507176384488,"y":-2.16673495014149},"rotation":{"radians":-1.7842040253596458}},"curvature":-42.651445664603145},{"time":2.6820675905893587,"velocity":0.18889267762484052,"acceleration":2.630160350199293,"pose":{"translation":{"x":6.403151009892975,"y":-2.168164997296468},"rotation":{"radians":-1.8447742063981305}},"curvature":-39.39638825688053},{"time":2.6894673565361815,"velocity":0.2083552486189284,"acceleration":2.6999999999998545,"pose":{"translation":{"x":6.402713856958646,"y":-2.169568251952547},"rotation":{"radians":-1.8998432378181598}},"curvature":-35.42804729881617},{"time":2.6962282730558913,"velocity":0.22660972322214423,"acceleration":2.700000000000107,"pose":{"translation":{"x":6.40220411181779,"y":-2.1709474473614714},"rotation":{"radians":-1.9487014078318636}},"curvature":-30.955102394649295},{"time":2.7083811844411185,"velocity":0.2594225839622589,"acceleration":2.7000000000000233,"pose":{"translation":{"x":6.40100282701348,"y":-2.1736454490974797},"rotation":{"radians":-2.0258546267077726}},"curvature":-21.160549507806387},{"time":2.7291524381757184,"velocity":0.3155049690456786,"acceleration":2.6999999999999296,"pose":{"translation":{"x":6.398152708453254,"y":-2.1788923017418553},"rotation":{"radians":-2.0899424410415515}},"curvature":-2.945304125570491E-12},{"time":2.7469869036090517,"velocity":0.36365802571567696,"acceleration":2.700000000000055,"pose":{"translation":{"x":6.39507216638006,"y":-2.18410655900665},"rotation":{"radians":-2.1318581991327763}},"curvature":-12.749079953629735},{"time":2.7553681137482626,"velocity":0.3862872930915473,"acceleration":-0.363265476605119,"pose":{"translation":{"x":6.393341297652253,"y":-2.186729689141383},"rotation":{"radians":-2.178143871089744}},"curvature":-16.32981615964336},{"time":2.763896595015947,"velocity":0.3831891902791241,"acceleration":0.4022909673571598,"pose":{"translation":{"x":6.3913942692807435,"y":-2.189370819539606},"rotation":{"radians":-2.2347884625292824}},"curvature":-17.85543237008885},{"time":2.772905473614138,"velocity":0.38681338076519345,"acceleration":2.700000000000031,"pose":{"translation":{"x":6.389172967824155,"y":-2.1920346185943},"rotation":{"radians":-2.296809961481927}},"curvature":-17.659220798825885},{"time":2.7821829888348777,"velocity":0.41186267186119074,"acceleration":2.7000000000000925,"pose":{"translation":{"x":6.3866259633725395,"y":-2.1947251185768817},"rotation":{"radians":-2.359939148599949}},"curvature":-16.28235115373208},{"time":2.791579619331624,"velocity":0.43723357420240627,"acceleration":2.69999999999994,"pose":{"translation":{"x":6.383708274193028,"y":-2.197445739571543},"rotation":{"radians":-2.4209897906426305}},"curvature":-14.283774338572098},{"time":2.8011730196606535,"velocity":0.4631357550907854,"acceleration":2.700000000000091,"pose":{"translation":{"x":6.380381131375498,"y":-2.2001993134095907},"rotation":{"radians":-2.477923759670583}},"curvature":-12.106402683981111},{"time":2.811014890735464,"velocity":0.48970880699277486,"acceleration":2.69999999999995,"pose":{"translation":{"x":6.376611743478227,"y":-2.202988107603785},"rotation":{"radians":-2.5296884017885226}},"curvature":-10.032118530851717},{"time":2.8211351300941168,"velocity":0.5170334532611368,"acceleration":2.6999999999999718,"pose":{"translation":{"x":6.372373061173554,"y":-2.2058138492826806},"rotation":{"radians":-2.5759534641472417}},"curvature":-8.20177097536335},{"time":2.8422418200676014,"velocity":0.5740215161895444,"acceleration":2.700000000000013,"pose":{"translation":{"x":6.362406914475598,"y":-2.211580525293808},"rotation":{"radians":-2.6527662519604673}},"curvature":-5.3971712559868905},{"time":2.864449017367127,"velocity":0.6339809488982635,"acceleration":2.7000000000000144,"pose":{"translation":{"x":6.350372195476547,"y":-2.217503260292213},"rotation":{"radians":-2.711679723460505}},"curvature":-3.566532900623742},{"time":2.8875804666902,"velocity":0.6964358620705617,"acceleration":2.699999999999993,"pose":{"translation":{"x":6.336235219518413,"y":-2.223578858777592},"rotation":{"radians":-2.7567394084285106}},"curvature":-2.4023315616831367},{"time":2.9356554908857584,"velocity":0.8262384273985691,"acceleration":2.6999999999999913,"pose":{"translation":{"x":6.30185862579485,"y":-2.236144887853593},"rotation":{"radians":-2.8182177716287375}},"curvature":-1.1714173696573198},{"time":2.9845055501252276,"velocity":0.9581335873451355,"acceleration":2.699999999999993,"pose":{"translation":{"x":6.260257688103602,"y":-2.249139865685754},"rotation":{"radians":-2.855491724158334}},"curvature":-0.6192913719087216},{"time":3.0776663246425833,"velocity":1.2096676785419955,"acceleration":-2.2390594889026154,"pose":{"translation":{"x":6.162798860477242,"y":-2.2755621287146326},"rotation":{"radians":-2.890852210433827}},"curvature":-0.16501260308299173},{"time":3.1714841949943233,"velocity":0.9996038857022966,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.062304577045997,"y":-2.3008805896326443},"rotation":{"radians":-2.8940333591153284}},"curvature":0.1141648975399554},{"time":3.2730639033052227,"velocity":0.7253386732628685,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.97760410421294,"y":-2.3232696178432635},"rotation":{"radians":-2.8640180725634394}},"curvature":0.7144006666381507},{"time":3.3245671321468344,"velocity":0.5862799553905166,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.945267638157282,"y":-2.3330262163821494},"rotation":{"radians":-2.8288298217795607}},"curvature":1.4855537428430912},{"time":3.3759703802809837,"velocity":0.44749118542831345,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.920198043313465,"y":-2.3418272908322164},"rotation":{"radians":-2.7729042131356465}},"curvature":2.8905757965382564},{"time":3.4305792067408256,"velocity":0.3000473539867403,"acceleration":-2.7,"pose":{"translation":{"x":5.901422525991386,"y":-2.3498331012778997},"rotation":{"radians":-2.7002183095133314}},"curvature":3.93415202030435},{"time":3.5417078563655444,"velocity":0.0,"acceleration":-2.7,"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/Galactic Search ABLUE.wpilib.json b/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json index 40a9cdf..80fb178 100644 --- a/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json +++ b/src/main/deploy/paths/Galactic Search ABLUE.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":0.0,"y":0.0},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2405915837300212,"velocity":0.6495972760710574,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.07814381358912215,"y":-2.831307938322425E-5},"rotation":{"radians":-0.0010826509167209514}},"curvature":-0.02748258627930911},{"time":0.3403687473786084,"velocity":0.9189956179222429,"acceleration":2.7,"pose":{"translation":{"x":0.15639844350516796,"y":-2.2414140403270721E-4},"rotation":{"radians":-0.004261296220402157}},"curvature":-0.05347409186319095},{"time":0.4171073902948127,"velocity":1.1261899537959945,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.23486907390179113,"y":-7.485484820790589E-4},"rotation":{"radians":-0.0094212046777475}},"curvature":-0.07770893881369795},{"time":0.4820198850766026,"velocity":1.3014536897068272,"acceleration":2.6999999999999993,"pose":{"translation":{"x":0.3136548399925232,"y":-0.0017556548118591309},"rotation":{"radians":-0.01643557600211064}},"curvature":-0.0999786645789153},{"time":0.5394608356419908,"velocity":1.4565442562333752,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.39284893282456324,"y":-0.0033927426557056606},"rotation":{"radians":-0.0251682723352039}},"curvature":-0.12012966946706},{"time":0.5916708442330667,"velocity":1.5975112794292803,"acceleration":2.7000000000000024,"pose":{"translation":{"x":0.4725387040525675,"y":-0.005800360813736916},"rotation":{"radians":-0.03547638991817513}},"curvature":-0.13806039182086433},{"time":0.6399859919788877,"velocity":1.7279621783429973,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.552805770712439,"y":-0.009112429397646338},"rotation":{"radians":-0.047212672643734674}},"curvature":-0.15371802470468285},{"time":0.6852805067571838,"velocity":1.8502573682443966,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.6337261199951172,"y":-0.013456344604492188},"rotation":{"radians":-0.06022776783721897}},"curvature":-0.1670947999411318},{"time":0.7281643963520545,"velocity":1.9660438701505476,"acceleration":2.6999999999999984,"pose":{"translation":{"x":0.7153702140203677,"y":-0.018953083490487188},"rotation":{"radians":-0.07437232026484512}},"curvature":-0.1782238294413945},{"time":0.7690838783889448,"velocity":2.0765264716501513,"acceleration":2.2151230220995366,"pose":{"translation":{"x":0.7978030946105719,"y":-0.02571730874478817},"rotation":{"radians":-0.08949889521362152}},"curvature":-0.18717450044020895},{"time":0.8085503296458368,"velocity":2.163949516429862,"acceleration":-0.08272885097559393,"pose":{"translation":{"x":0.8810844880645163,"y":-0.033857473463285714},"rotation":{"radians":-0.10546371724200888}},"curvature":-0.19404745661562758},{"time":0.8477359164797245,"velocity":2.1607077378562902,"acceleration":-0.05151783414584127,"pose":{"translation":{"x":0.9652689099311829,"y":-0.0434759259223938},"rotation":{"radians":-0.12212820899172197}},"curvature":-0.19896924595594245},{"time":0.8874961371281261,"velocity":2.158659377403324,"acceleration":-0.02398172365215446,"pose":{"translation":{"x":1.0504057697835378,"y":-0.05466901435283944},"rotation":{"radians":-0.1393603148117705}},"curvature":-0.20208676461993152},{"time":0.9278488156126926,"velocity":2.1576916506192827,"acceleration":-5.180314370494418E-5,"pose":{"translation":{"x":1.136539475992322,"y":-0.06752719171345234},"rotation":{"radians":-0.15703559687254381}},"curvature":-0.20356166296129774},{"time":0.9688118646942466,"velocity":2.1576895286045645,"acceleration":0.020401165588531073,"pose":{"translation":{"x":1.22370954049984,"y":-0.08213512046495453},"rotation":{"radians":-0.17503809651401303}},"curvature":-0.20356489854681434},{"time":1.0104032380289947,"velocity":2.158538041099021,"acceleration":0.037556774772386205,"pose":{"translation":{"x":1.31195068359375,"y":-0.09857177734375},"rotation":{"radians":-0.19326096007443874}},"curvature":-0.20227161900745516},{"time":1.0526408465745978,"velocity":2.1601243494500926,"acceleration":0.051634506584849686,"pose":{"translation":{"x":1.4012929386808537,"y":-0.11691055813571438},"rotation":{"radians":-0.2116068355586935}},"curvature":-0.199856536473444},{"time":1.0955424460883767,"velocity":2.1623395523726874,"acceleration":0.06288321739898953,"pose":{"translation":{"x":1.4917617570608854,"y":-0.13721938244998455},"rotation":{"radians":-0.22998805342187695}},"curvature":-0.1964899195916967},{"time":1.1391255025317355,"velocity":2.1650801951859275,"acceleration":0.07157091021748574,"pose":{"translation":{"x":1.5833781127003022,"y":-0.1595607984927483},"rotation":{"radians":-0.2483266107864853}},"curvature":-0.19233428470069036},{"time":1.1834070419938851,"velocity":2.168249465271065,"acceleration":0.0779751576257635,"pose":{"translation":{"x":1.676158607006073,"y":-0.18399208784103394},"rotation":{"radians":-0.26655398309896333}},"curvature":-0.18754182089294194},{"time":1.228403491363741,"velocity":2.1717580705032793,"acceleration":0.08237450109974334,"pose":{"translation":{"x":1.770115573599469,"y":-0.21056537021650001},"rotation":{"radians":-0.2846107903049497}},"curvature":-0.18225253988851078},{"time":1.2741305154332732,"velocity":2.175524811297783,"acceleration":0.08504107563846398,"pose":{"translation":{"x":1.8652571830898523,"y":-0.2393277082592249},"rotation":{"radians":-0.30244634603314535}},"curvature":-0.17659310488419677},{"time":1.3206028554428235,"velocity":2.1794768690796316,"acceleration":0.0862346109663674,"pose":{"translation":{"x":1.9615875478484668,"y":-0.2703212123014964},"rotation":{"radians":-0.3200181181490893}},"curvature":-0.17067626514133666},{"time":1.367834173321836,"velocity":2.183549843402357,"acceleration":0.08619785936757811,"pose":{"translation":{"x":2.0591068267822266,"y":-0.30358314514160156},"rotation":{"radians":-0.33729112761652036}},"curvature":-0.1646008057287766},{"time":1.415836905083128,"velocity":2.1876875761239765,"acceleration":0.0851534089612554,"pose":{"translation":{"x":2.1578113301075064,"y":-0.3391460268176161},"rotation":{"radians":-0.3542373101961703}},"curvature":-0.15845191395296837},{"time":1.4646221260377028,"velocity":2.1918418039951866,"acceleration":0.08330176846355279,"pose":{"translation":{"x":2.257693624123931,"y":-0.3770377393811941},"rotation":{"radians":-0.3708348624485024}},"curvature":-0.15230186412129473},{"time":1.5141994297464332,"velocity":2.1959716810697785,"acceleration":0.08082055911422058,"pose":{"translation":{"x":2.3587426359881647,"y":-0.4172816316713579},"rotation":{"radians":-0.38706759009738423}},"curvature":-0.14621092848984082},{"time":1.5645768219418248,"velocity":2.2000432100737264,"acceleration":0.07786462153950033,"pose":{"translation":{"x":2.4609437584877014,"y":-0.45989662408828735},"rotation":{"radians":-0.4029242733210075}},"curvature":-0.1402284325466594},{"time":1.6157606300555314,"velocity":2.2040286179214506,"acceleration":0.07456683723924012,"pose":{"translation":{"x":2.564278954814654,"y":-0.5048973133671097},"rotation":{"radians":-0.41839806017259407}},"curvature":-0.13439388534690774},{"time":1.667755428484485,"velocity":2.2079057055931894,"acceleration":0.07103947196117844,"pose":{"translation":{"x":2.6687268633395433,"y":-0.5522940773516893},"rotation":{"radians":-0.4334858962447088}},"curvature":-0.1287381289353431},{"time":1.7205639793223326,"velocity":2.211657197159745,"acceleration":0.06737586677177708,"pose":{"translation":{"x":2.7742629023850895,"y":-0.602093179768417},"rotation":{"radians":-0.448187995969697}},"curvature":-0.12328446383071472},{"time":1.7741871879692774,"velocity":2.215270107321417,"acceleration":0.06365232769041089,"pose":{"translation":{"x":2.880859375,"y":-0.654296875},"rotation":{"radians":-0.4625073586397917}},"curvature":-0.11804971934383038},{"time":1.8286240728045264,"velocity":2.2187351417533954,"acceleration":0.05993009253943335,"pose":{"translation":{"x":2.98848557373276,"y":-0.7089035128592514},"rotation":{"radians":-0.47644933034151526}},"curvature":-0.11304524771977777},{"time":1.883871747951006,"velocity":2.2220461400375124,"acceleration":0.056257281288404314,"pose":{"translation":{"x":3.0971078854054213,"y":-0.7659076433628798},"rotation":{"radians":-0.490021211510979}},"curvature":-0.10827782955645215},{"time":1.9399254180701413,"velocity":2.225199567124652,"acceleration":0.05267076165499833,"pose":{"translation":{"x":3.2066898958873935,"y":-0.8253001215052791},"rotation":{"radians":-0.5032319086929682}},"curvature":-0.10375048466516042},{"time":1.9967783840838995,"velocity":2.2281940561469424,"acceleration":0.0500531979885521,"pose":{"translation":{"x":3.317192494869232,"y":-0.8870682120323181},"rotation":{"radians":-0.5160916282809809}},"curvature":-0.09946318763650631},{"time":2.025501975936615,"velocity":2.2296317637768888,"acceleration":0.04834843995318181,"pose":{"translation":{"x":3.3727760816236696,"y":-0.9188381762487552},"rotation":{"radians":-0.5223933499305692}},"curvature":-0.09740887163401273},{"time":2.0544220234895816,"velocity":2.2310300029594465,"acceleration":0.046678031557682326,"pose":{"translation":{"x":3.428573980636429,"y":-0.9511956942151301},"rotation":{"radians":-0.5286116094776955}},"curvature":-0.09541349105745087},{"time":2.0835371626039323,"velocity":2.2323890403418325,"acceleration":0.04504356359722228,"pose":{"translation":{"x":3.4845805914756056,"y":-0.9841382109243568},"rotation":{"radians":-0.5347479353268761}},"curvature":-0.09347644950906146},{"time":2.112845914569954,"velocity":2.233709210974969,"acceleration":0.04344627858531381,"pose":{"translation":{"x":3.5407901648432016,"y":-1.0176629666239023},"rotation":{"radians":-0.5408038933963395}},"curvature":-0.09159706182401153},{"time":2.142346687275237,"velocity":2.234990909764405,"acceleration":0.04188710649756073,"pose":{"translation":{"x":3.5971968058493076,"y":-1.051767000089967},"rotation":{"radians":-0.546781081651562}},"curvature":-0.08977456657954339},{"time":2.1720377764713246,"velocity":2.23623458357959,"acceleration":0.04036669790154829,"pose":{"translation":{"x":3.653794477286283,"y":-1.086447151901666},"rotation":{"radians":-0.5526811250772102}},"curvature":-0.08800813754015926},{"time":2.201917367132234,"velocity":2.237440723989221,"acceleration":0.038885454559462684,"pose":{"translation":{"x":3.7105770029029372,"y":-1.12170006771521},"rotation":{"radians":-0.5585056710629697}},"curvature":-0.08629689410238194},{"time":2.2319835348983728,"velocity":2.2386098605896683,"acceleration":0.03744355760545508,"pose":{"translation":{"x":3.767538070678711,"y":-1.157522201538086},"rotation":{"radians":-0.5642563851793584}},"curvature":-0.08463991080199534},{"time":2.2622342475997606,"velocity":2.2397425548933088,"acceleration":0.036040993406207054,"pose":{"translation":{"x":3.8246712360978563,"y":-1.1939098190032382},"rotation":{"radians":-0.5699349473203195}},"curvature":-0.08303622594547336},{"time":2.292667366852755,"velocity":2.2408393947436362,"acceleration":0.03467757722348077,"pose":{"translation":{"x":3.8819699254236184,"y":-1.2308590006432496},"rotation":{"radians":-0.5755430481901774}},"curvature":-0.08148484942566686},{"time":2.3232806497248393,"velocity":2.241900989224497,"acceleration":0.03335297479870509,"pose":{"translation":{"x":3.939427438972416,"y":-1.268365645164522},"rotation":{"radians":-0.5810823861133668}},"curvature":-0.07998476977982921},{"time":2.3540717504622473,"velocity":2.2429279640314164,"acceleration":0.03206672198439644,"pose":{"translation":{"x":3.9970369543880224,"y":-1.3064254727214575},"rotation":{"radians":-0.5865546641462306}},"curvature":-0.07853496054580741},{"time":2.385038222275598,"velocity":2.2439209572738927,"acceleration":0.03081824254453442,"pose":{"translation":{"x":4.054791529915747,"y":-1.3450340281906392},"rotation":{"radians":-0.5919615874710755}},"curvature":-0.07713438596977641},{"time":2.416177519178967,"velocity":2.244880615678527,"acceleration":0.029606864247341883,"pose":{"translation":{"x":4.112684107676614,"y":-1.3841866844450124},"rotation":{"radians":-0.5973048610536026}},"curvature":-0.07578200611631837},{"time":2.4474869978780656,"velocity":2.2458075911640263,"acceleration":0.028431833369318062,"pose":{"translation":{"x":4.1707075169415475,"y":-1.423878645628065},"rotation":{"radians":-0.6025861875457454}},"curvature":-0.07447678142898713},{"time":2.4789639197035442,"velocity":2.2467025377603473,"acceleration":0.02729232772725941,"pose":{"translation":{"x":4.228854477405548,"y":-1.464104950428009},"rotation":{"radians":-0.6078072654168749}},"curvature":-0.07321767678680903},{"time":2.510605452585638,"velocity":2.2475661088455583,"acceleration":0.026187468349634438,"pose":{"translation":{"x":4.287117602461876,"y":-1.5048604753519612},"rotation":{"radians":-0.6129697872972361}},"curvature":-0.072003665099477},{"time":2.542408673066705,"velocity":2.2483989546753227,"acceleration":0.025116329894438197,"pose":{"translation":{"x":4.3454894024762325,"y":-1.546139938000124},"rotation":{"radians":-0.6180754385183802}},"curvature":-0.07083373048133693},{"time":2.57437056834827,"velocity":2.249201720181266,"acceleration":0.02407794991562292,"pose":{"translation":{"x":4.403962288060939,"y":-1.5879379003399663},"rotation":{"radians":-0.6231258958362255}},"curvature":-0.06970687104165842},{"time":2.6064880383697004,"velocity":2.2499750430158585,"acceleration":0.02307133707379513,"pose":{"translation":{"x":4.462528573349118,"y":-1.6302487719804049},"rotation":{"radians":-0.6281228263232281}},"curvature":-0.06862210132615378},{"time":2.6387578979155752,"velocity":2.2507195518227654,"acceleration":0.02209547838213378,"pose":{"translation":{"x":4.521180479268878,"y":-1.6730668134459847},"rotation":{"radians":-0.6330678864169678}},"curvature":-0.06757845444226444},{"time":2.671176878749159,"velocity":2.2514358647129447,"acceleration":0.021149345572818834,"pose":{"translation":{"x":4.579910136817489,"y":-1.7163861394510604},"rotation":{"radians":-0.6379627211132425}},"curvature":-0.066574983898393},{"time":2.7037416317695953,"velocity":2.2521245879280674,"acceleration":0.020231900662547896,"pose":{"translation":{"x":4.638709590335566,"y":-1.7602007221739768},"rotation":{"radians":-0.6428089632925209}},"curvature":-0.06561076518502294},{"time":2.73644872919058,"velocity":2.252786314674049,"acceleration":0.019342100791867666,"pose":{"translation":{"x":4.69757080078125,"y":-1.80450439453125},"rotation":{"radians":-0.647608233169335}},"curvature":-0.06468489712354483},{"time":2.769294666738404,"velocity":2.2534216241087024,"acceleration":0.01847890240600583,"pose":{"translation":{"x":4.756485649004389,"y":-1.8492908534517483},"rotation":{"radians":-0.6523621378548796}},"curvature":-0.06379650300659852},{"time":2.8022758658675166,"velocity":2.2540310804686423,"acceleration":0.01764126484130134,"pose":{"translation":{"x":4.815445939020719,"y":-1.894553663150873},"rotation":{"radians":-0.6570722710237484}},"curvature":-0.06294473155184836},{"time":2.835388675991867,"velocity":2.2546152323216857,"acceleration":0.016828153374798666,"pose":{"translation":{"x":4.874443401286044,"y":-1.9402862584047398},"rotation":{"radians":-0.6617402126763631}},"curvature":-0.062128757689329704},{"time":2.8686293767303477,"velocity":2.2551746119319986,"acceleration":0.016038541791195723,"pose":{"translation":{"x":4.933469695970416,"y":-1.986481947824359},"rotation":{"radians":-0.6663675289892359}},"curvature":-0.06134778320084009},{"time":2.901994180164967,"velocity":2.25570973472624,"acceleration":0.015271414516206812,"pose":{"translation":{"x":4.99251641623232,"y":-2.033133917129817},"rotation":{"radians":-0.6709557722457755}},"curvature":-0.060601037228293915},{"time":2.9354792331103643,"velocity":2.256221098849866,"acceleration":0.014525768361029631,"pose":{"translation":{"x":5.05157509149285,"y":-2.0802352324244566},"rotation":{"radians":-0.6755064808408625}},"curvature":-0.05988777666651089},{"time":2.969080619393367,"velocity":2.2567091848036225,"acceleration":0.013800613919385986,"pose":{"translation":{"x":5.110637190709895,"y":-2.127778843469059},"rotation":{"radians":-0.6800211793529247}},"curvature":-0.059207286454563475},{"time":3.002794362141637,"velocity":2.257174455151069,"acceleration":0.013094976653956942,"pose":{"translation":{"x":5.169694125652313,"y":-2.175757586956024},"rotation":{"radians":-0.6845013786777033}},"curvature":-0.058558879778560675},{"time":3.0366164260802195,"velocity":2.2576173542887332,"acceleration":0.01240789770684214,"pose":{"translation":{"x":5.228737254174121,"y":-2.2241641897835507},"rotation":{"radians":-0.6889485762183403}},"curvature":-0.057941898197592274},{"time":3.0705427198350677,"velocity":2.2580383082712157,"acceleration":0.01173843446361492,"pose":{"translation":{"x":5.287757883488666,"y":-2.2729912723298185},"rotation":{"radians":-0.6933642561268223}},"curvature":-0.05735571170349064},{"time":3.1045690982430205,"velocity":2.2584377246841916,"acceleration":0.011085660900251948,"pose":{"translation":{"x":5.346747273442816,"y":-2.3222313517271687},"rotation":{"radians":-0.697749889592203}},"curvature":-0.05679971872408576},{"time":3.138691364666869,"velocity":2.2588159925589144,"acceleration":0.010448667736565487,"pose":{"translation":{"x":5.405696639791131,"y":-2.371876845136285},"rotation":{"radians":-0.702106935171379}},"curvature":-0.056273346078724217},{"time":3.17290527331551,"velocity":2.2591734823223533,"acceleration":0.009826562419666632,"pose":{"translation":{"x":5.4645971574700525,"y":-2.421920073020374},"rotation":{"radians":-0.7064368391585247}},"curvature":-0.055776048893992014},{"time":3.207206531568053,"velocity":2.259510545777645,"acceleration":0.009218468957323285,"pose":{"translation":{"x":5.523439963872079,"y":-2.4723532624193467},"rotation":{"radians":-0.7107410359896046}},"curvature":-0.05530731048681846},{"time":3.2415908023016393,"velocity":2.2598275161100227,"acceleration":0.00862352761933712,"pose":{"translation":{"x":5.582216162119948,"y":-2.5231685502239998},"rotation":{"radians":-0.7150209486786628}},"curvature":-0.05486664222143903},{"time":3.276053706222198,"velocity":2.2601247079138242,"acceleration":0.008040894523471542,"pose":{"translation":{"x":5.64091682434082,"y":-2.5743579864501953},"rotation":{"radians":-0.7192779892828582}},"curvature":-0.05445358334605495},{"time":3.310590824198114,"velocity":2.2604024172366133,"acceleration":0.00746974112022426,"pose":{"translation":{"x":5.699532994940455,"y":-2.6259135375130427},"rotation":{"radians":-0.7235135593934571}},"curvature":-0.05406770081444218},{"time":3.34519769959601,"velocity":2.2606609216368154,"acceleration":0.0069092535894289125,"pose":{"translation":{"x":5.758055693877395,"y":-2.677827089501079},"rotation":{"radians":-0.7277290506502201}},"curvature":-0.053708589097225895},{"time":3.379869840618422,"velocity":2.2609004802516277,"acceleration":0.00635863216026832,"pose":{"translation":{"x":5.816475919937147,"y":-2.730090451450451},"rotation":{"radians":-0.7319258452768336}},"curvature":-0.05337586998704912},{"time":3.4146027226433113,"velocity":2.26112133387229,"acceleration":0.005817090364686394,"pose":{"translation":{"x":5.874784654006362,"y":-2.782695358619094},"rotation":{"radians":-0.7361053166352199}},"curvature":-0.05306919240141616},{"time":3.449391790564711,"velocity":2.261323705024092,"acceleration":0.005283854233609521,"pose":{"translation":{"x":5.932972862347015,"y":-2.8356334757609147},"rotation":{"radians":-0.7402688297967409}},"curvature":-0.05278823218658412},{"time":3.48423246113474,"velocity":2.261507798048785,"acceleration":0.004758161443525491,"pose":{"translation":{"x":5.991031499870587,"y":-2.8888964003999718},"rotation":{"radians":-0.744417742128466}},"curvature":-0.052532691925503534},{"time":3.519120125306265,"velocity":2.261673799187301,"acceleration":0.004239260420931646,"pose":{"translation":{"x":6.0489515134122485,"y":-2.942475666104656},"rotation":{"radians":-0.7485534038928245}},"curvature":-0.052302300752467605},{"time":3.554050150576754,"velocity":2.261821876660932,"acceleration":0.003726409410388517,"pose":{"translation":{"x":6.106723845005035,"y":-2.9963627457618713},"rotation":{"radians":-0.7526771588590875}},"curvature":-0.052096814176818704},{"time":3.5890178833321764,"velocity":2.261952180749332,"acceleration":0.00321887551220497,"pose":{"translation":{"x":6.164339435154034,"y":-3.050549054851217},"rotation":{"radians":-0.7567903449252481}},"curvature":-0.05191601391777436},{"time":3.6240186511922436,"velocity":2.262064843863905,"acceleration":0.002715933694139563,"pose":{"translation":{"x":6.221789226110559,"y":-3.105025954719167},"rotation":{"radians":-0.7608942947489714}},"curvature":-0.05175970775217297},{"time":3.659047765354869,"velocity":2.262159980615335,"acceleration":0.0022168657817410063,"pose":{"translation":{"x":6.2790641651463375,"y":-3.159784755853252},"rotation":{"radians":-0.7649903363863789}},"curvature":-0.05162772937669655},{"time":3.694100522942258,"velocity":2.2622376878741863,"acceleration":0.0017209594308168182,"pose":{"translation":{"x":6.336155207827687,"y":-3.2148167211562395},"rotation":{"radians":-0.7690797939375139}},"curvature":-0.05151993828590486},{"time":3.7291722093463124,"velocity":2.262298044823658,"acceleration":0.0012275070859104674,"pose":{"translation":{"x":6.393053321289699,"y":-3.270113069220315},"rotation":{"radians":-0.7731639881974063}},"curvature":-0.05143621966720566},{"time":3.764258100574273,"velocity":2.262341113003756,"acceleration":7.358049270398068E-4,"pose":{"translation":{"x":6.449749487510417,"y":-3.3256649776012637},"rotation":{"radians":-0.7772442373117127}},"curvature":-0.05137648431369161},{"time":3.799353465595073,"velocity":2.2623669363462544,"acceleration":2.4515180854178315E-4,"pose":{"translation":{"x":6.506234706585019,"y":-3.38146358609265},"rotation":{"radians":-0.7813218574359585}},"curvature":-0.05134066855558977},{"time":3.8344535686856065,"velocity":2.262375541200007,"acceleration":-2.4515180854178315E-4,"pose":{"translation":{"x":6.5625,"y":-3.4375},"rotation":{"radians":-0.7853981633974483}},"curvature":-0.05132873421089494},{"time":3.86955367177614,"velocity":2.2623669363462544,"acceleration":-7.358049270398068E-4,"pose":{"translation":{"x":6.61853641390735,"y":-3.493765293414981},"rotation":{"radians":-0.7894744693589382}},"curvature":-0.05134066855558977},{"time":3.90464903679694,"velocity":2.262341113003756,"acceleration":-0.0012275070859104674,"pose":{"translation":{"x":6.674335022398736,"y":-3.5502505124895833},"rotation":{"radians":-0.793552089483184}},"curvature":-0.05137648431369161},{"time":3.9397349280249006,"velocity":2.262298044823658,"acceleration":-0.0017209594308168182,"pose":{"translation":{"x":6.729886930779685,"y":-3.606946678710301},"rotation":{"radians":-0.7976323385974903}},"curvature":-0.05143621966720566},{"time":3.974806614428955,"velocity":2.2622376878741863,"acceleration":-0.0022168657817410063,"pose":{"translation":{"x":6.7851832788437605,"y":-3.6638447921723127},"rotation":{"radians":-0.8017165328573828}},"curvature":-0.05151993828590486},{"time":4.009859372016344,"velocity":2.262159980615335,"acceleration":-0.002715933694139563,"pose":{"translation":{"x":6.840215244146748,"y":-3.7209358348536625},"rotation":{"radians":-0.8058059904085177}},"curvature":-0.05162772937669655},{"time":4.044888486178969,"velocity":2.262064843863905,"acceleration":-0.00321887551220497,"pose":{"translation":{"x":6.894974045280833,"y":-3.778210773889441},"rotation":{"radians":-0.8099020320459251}},"curvature":-0.05175970775217297},{"time":4.079889254039037,"velocity":2.261952180749332,"acceleration":-0.003726409410388517,"pose":{"translation":{"x":6.949450945148783,"y":-3.8356605648459663},"rotation":{"radians":-0.8140059818696486}},"curvature":-0.05191601391777436},{"time":4.114856986794459,"velocity":2.261821876660932,"acceleration":-0.0042392604209315985,"pose":{"translation":{"x":7.003637254238129,"y":-3.8932761549949646},"rotation":{"radians":-0.8181191679358092}},"curvature":-0.052096814176818704},{"time":4.149787012064948,"velocity":2.261673799187301,"acceleration":-0.004758161443525437,"pose":{"translation":{"x":7.057524333895344,"y":-3.9510484865877515},"rotation":{"radians":-0.8222429229020721}},"curvature":-0.052302300752467605},{"time":4.184674676236473,"velocity":2.261507798048785,"acceleration":-0.005283854233609461,"pose":{"translation":{"x":7.111103599600028,"y":-4.008968500129413},"rotation":{"radians":-0.8263785846664307}},"curvature":-0.052532691925503534},{"time":4.219515346806503,"velocity":2.261323705024092,"acceleration":-0.00581709036468646,"pose":{"translation":{"x":7.164366524239085,"y":-4.067027137652985},"rotation":{"radians":-0.8305274969981558}},"curvature":-0.05278823218658412},{"time":4.254304414727902,"velocity":2.26112133387229,"acceleration":-0.006358632160268248,"pose":{"translation":{"x":7.217304641380906,"y":-4.125215345993638},"rotation":{"radians":-0.8346910101596766}},"curvature":-0.05306919240141616},{"time":4.289037296752792,"velocity":2.2609004802516277,"acceleration":-0.006909253589428991,"pose":{"translation":{"x":7.269909548549549,"y":-4.183524080062853},"rotation":{"radians":-0.838870481518063}},"curvature":-0.05337586998704912},{"time":4.323709437775204,"velocity":2.2606609216368154,"acceleration":-0.00746974112022426,"pose":{"translation":{"x":7.322172910498921,"y":-4.241944306122605},"rotation":{"radians":-0.8430672761446766}},"curvature":-0.053708589097225895},{"time":4.3583163131731,"velocity":2.2604024172366133,"acceleration":-0.00804089452347145,"pose":{"translation":{"x":7.374086462486957,"y":-4.300467005059545},"rotation":{"radians":-0.8472827674014396}},"curvature":-0.05406770081444218},{"time":4.392853431149017,"velocity":2.2601247079138242,"acceleration":-0.00862352761933722,"pose":{"translation":{"x":7.425642013549805,"y":-4.35908317565918},"rotation":{"radians":-0.8515183375120384}},"curvature":-0.05445358334605495},{"time":4.427316335069575,"velocity":2.2598275161100227,"acceleration":-0.00921846895732318,"pose":{"translation":{"x":7.476831449776,"y":-4.417783837880052},"rotation":{"radians":-0.8557753781162338}},"curvature":-0.05486664222143903},{"time":4.461700605803162,"velocity":2.259510545777645,"acceleration":-0.009826562419666743,"pose":{"translation":{"x":7.527646737580653,"y":-4.476560036127921},"rotation":{"radians":-0.8600552908052921}},"curvature":-0.05530731048681846},{"time":4.496001864055705,"velocity":2.2591734823223533,"acceleration":-0.010448667736565607,"pose":{"translation":{"x":7.578079926979626,"y":-4.5354028425299475},"rotation":{"radians":-0.8643594876363718}},"curvature":-0.055776048893992014},{"time":4.530215772704346,"velocity":2.2588159925589144,"acceleration":-0.011085660900251948,"pose":{"translation":{"x":7.628123154863715,"y":-4.594303360208869},"rotation":{"radians":-0.8686893916235175}},"curvature":-0.056273346078724217},{"time":4.564338039128194,"velocity":2.2584377246841916,"acceleration":-0.011738434463614783,"pose":{"translation":{"x":7.677768648272831,"y":-4.653252726557184},"rotation":{"radians":-0.8730464372026936}},"curvature":-0.05679971872408576},{"time":4.598364417536148,"velocity":2.2580383082712157,"acceleration":-0.012407897706841996,"pose":{"translation":{"x":7.7270087276701815,"y":-4.712242116511334},"rotation":{"radians":-0.8774320706680744}},"curvature":-0.05735571170349064},{"time":4.632290711290996,"velocity":2.2576173542887332,"acceleration":-0.013094976653957095,"pose":{"translation":{"x":7.775835810216449,"y":-4.771262745825879},"rotation":{"radians":-0.8818477505765563}},"curvature":-0.057941898197592274},{"time":4.666112775229578,"velocity":2.257174455151069,"acceleration":-0.013800613919385986,"pose":{"translation":{"x":7.824242413043976,"y":-4.830305874347687},"rotation":{"radians":-0.8862949481171933}},"curvature":-0.058558879778560675},{"time":4.699826517977848,"velocity":2.2567091848036225,"acceleration":-0.014525768361029631,"pose":{"translation":{"x":7.872221156530941,"y":-4.889362809290105},"rotation":{"radians":-0.890775147441972}},"curvature":-0.059207286454563475},{"time":4.733427904260851,"velocity":2.256221098849866,"acceleration":-0.015271414516206812,"pose":{"translation":{"x":7.919764767575543,"y":-4.94842490850715},"rotation":{"radians":-0.895289845954034}},"curvature":-0.05988777666651089},{"time":4.766912957206248,"velocity":2.25570973472624,"acceleration":-0.016038541791195723,"pose":{"translation":{"x":7.966866082870183,"y":-5.00748358376768},"rotation":{"radians":-0.899840554549121}},"curvature":-0.060601037228293915},{"time":4.800277760640867,"velocity":2.2551746119319986,"acceleration":-0.016828153374798666,"pose":{"translation":{"x":8.013518052175641,"y":-5.066530304029584},"rotation":{"radians":-0.9044287978056607}},"curvature":-0.06134778320084009},{"time":4.833518461379348,"velocity":2.2546152323216857,"acceleration":-0.017641264841301553,"pose":{"translation":{"x":8.05971374159526,"y":-5.125556598713956},"rotation":{"radians":-0.9090561141185335}},"curvature":-0.062128757689329704},{"time":4.866631271503698,"velocity":2.2540310804686423,"acceleration":-0.01847890240600583,"pose":{"translation":{"x":8.105446336849127,"y":-5.184554060979281},"rotation":{"radians":-0.9137240557711481}},"curvature":-0.06294473155184836},{"time":4.89961247063281,"velocity":2.2534216241087024,"acceleration":-0.019342100791867434,"pose":{"translation":{"x":8.150709146548252,"y":-5.243514350995611},"rotation":{"radians":-0.918434188940017}},"curvature":-0.06379650300659852},{"time":4.932458408180635,"velocity":2.252786314674049,"acceleration":-0.020231900662547896,"pose":{"translation":{"x":8.19549560546875,"y":-5.30242919921875},"rotation":{"radians":-0.9231880936255615}},"curvature":-0.06468489712354483},{"time":4.965165505601619,"velocity":2.2521245879280674,"acceleration":-0.02114934557281909,"pose":{"translation":{"x":8.239799277826023,"y":-5.361290409664434},"rotation":{"radians":-0.9279873635023757}},"curvature":-0.06561076518502294},{"time":4.997730258622055,"velocity":2.2514358647129447,"acceleration":-0.02209547838213351,"pose":{"translation":{"x":8.28361386054894,"y":-5.420089863182511},"rotation":{"radians":-0.9328336056816542}},"curvature":-0.066574983898393},{"time":5.030149239455639,"velocity":2.2507195518227654,"acceleration":-0.02307133707379513,"pose":{"translation":{"x":8.326933186554015,"y":-5.478819520731122},"rotation":{"radians":-0.9377284403779288}},"curvature":-0.06757845444226444},{"time":5.062419099001514,"velocity":2.2499750430158585,"acceleration":-0.02407794991562292,"pose":{"translation":{"x":8.369751228019595,"y":-5.537471426650882},"rotation":{"radians":-0.9426735004716684}},"curvature":-0.06862210132615378},{"time":5.094536569022944,"velocity":2.249201720181266,"acceleration":-0.025116329894437888,"pose":{"translation":{"x":8.412062099660034,"y":-5.596037711939061},"rotation":{"radians":-0.9476704309586711}},"curvature":-0.06970687104165842},{"time":5.126498464304509,"velocity":2.2483989546753227,"acceleration":-0.026187468349634438,"pose":{"translation":{"x":8.453860061999876,"y":-5.6545105975237675},"rotation":{"radians":-0.9527208882765165}},"curvature":-0.07083373048133693},{"time":5.1583016847855765,"velocity":2.2475661088455583,"acceleration":-0.02729232772725941,"pose":{"translation":{"x":8.495139524648039,"y":-5.712882397538124},"rotation":{"radians":-0.9578265394976606}},"curvature":-0.072003665099477},{"time":5.18994321766767,"velocity":2.2467025377603473,"acceleration":-0.028431833369318062,"pose":{"translation":{"x":8.535895049571991,"y":-5.771145522594452},"rotation":{"radians":-0.9629890613780216}},"curvature":-0.07321767678680903},{"time":5.221420139493149,"velocity":2.2458075911640263,"acceleration":-0.029606864247341883,"pose":{"translation":{"x":8.576121354371935,"y":-5.8292924830584525},"rotation":{"radians":-0.9682101392491511}},"curvature":-0.07447678142898713},{"time":5.252729618192247,"velocity":2.244880615678527,"acceleration":-0.030818242544534028,"pose":{"translation":{"x":8.615813315554988,"y":-5.887315892323386},"rotation":{"radians":-0.9734914657412941}},"curvature":-0.07578200611631837},{"time":5.283868915095617,"velocity":2.2439209572738927,"acceleration":-0.03206672198439644,"pose":{"translation":{"x":8.65496597180936,"y":-5.945208470084253},"rotation":{"radians":-0.9788347393238211}},"curvature":-0.07713438596977641},{"time":5.3148353869089675,"velocity":2.2429279640314164,"acceleration":-0.03335297479870509,"pose":{"translation":{"x":8.693574527278543,"y":-6.002963045611978},"rotation":{"radians":-0.9842416626486661}},"curvature":-0.07853496054580741},{"time":5.345626487646375,"velocity":2.241900989224497,"acceleration":-0.03467757722348077,"pose":{"translation":{"x":8.731634354835478,"y":-6.060572561027584},"rotation":{"radians":-0.9897139406815298}},"curvature":-0.07998476977982921},{"time":5.37623977051846,"velocity":2.2408393947436362,"acceleration":-0.03604099340620659,"pose":{"translation":{"x":8.76914099935675,"y":-6.118030074576382},"rotation":{"radians":-0.9952532786047192}},"curvature":-0.08148484942566686},{"time":5.406672889771455,"velocity":2.2397425548933088,"acceleration":-0.03744355760545508,"pose":{"translation":{"x":8.806090180996762,"y":-6.175328763902144},"rotation":{"radians":-1.000861379474577}},"curvature":-0.08303622594547336},{"time":5.436923602472843,"velocity":2.2386098605896683,"acceleration":-0.038885454559462684,"pose":{"translation":{"x":8.842477798461914,"y":-6.232461929321289},"rotation":{"radians":-1.0065399416155383}},"curvature":-0.08463991080199534},{"time":5.466989770238982,"velocity":2.237440723989221,"acceleration":-0.04036669790154829,"pose":{"translation":{"x":8.87829993228479,"y":-6.289422997097063},"rotation":{"radians":-1.012290655731927}},"curvature":-0.08629689410238194},{"time":5.4968693608998915,"velocity":2.23623458357959,"acceleration":-0.041887106497560445,"pose":{"translation":{"x":8.913552848098334,"y":-6.346205522713717},"rotation":{"radians":-1.0181152017176864}},"curvature":-0.08800813754015926},{"time":5.526560450095979,"velocity":2.234990909764405,"acceleration":-0.04344627858531381,"pose":{"translation":{"x":8.948232999910033,"y":-6.402803194150692},"rotation":{"radians":-1.0240152451433346}},"curvature":-0.08977456657954339},{"time":5.556061222801262,"velocity":2.233709210974969,"acceleration":-0.045043563597222586,"pose":{"translation":{"x":8.982337033376098,"y":-6.459209835156798},"rotation":{"radians":-1.029992433398557}},"curvature":-0.09159706182401153},{"time":5.585369974767283,"velocity":2.2323890403418325,"acceleration":-0.046678031557682326,"pose":{"translation":{"x":9.015861789075643,"y":-6.515419408524394},"rotation":{"radians":-1.0360483914680205}},"curvature":-0.09347644950906146},{"time":5.614485113881633,"velocity":2.2310300029594465,"acceleration":-0.048348439953182144,"pose":{"translation":{"x":9.04880430578487,"y":-6.571426019363571},"rotation":{"radians":-1.0421847173172012}},"curvature":-0.09541349105745087},{"time":5.6434051614345995,"velocity":2.2296317637768888,"acceleration":-0.05005319798855141,"pose":{"translation":{"x":9.081161823751245,"y":-6.62722391837633},"rotation":{"radians":-1.0484029768643275}},"curvature":-0.09740887163401273},{"time":5.672128753287315,"velocity":2.2281940561469424,"acceleration":-0.05267076165499852,"pose":{"translation":{"x":9.112931787967682,"y":-6.682807505130768},"rotation":{"radians":-1.0547046985139157}},"curvature":-0.09946318763650631},{"time":5.728981719301073,"velocity":2.225199567124652,"acceleration":-0.05625728128840412,"pose":{"translation":{"x":9.174699878494721,"y":-6.7933101041126065},"rotation":{"radians":-1.0675644181019284}},"curvature":-0.10375048466516042},{"time":5.785035389420209,"velocity":2.2220461400375124,"acceleration":-0.05993009253943379,"pose":{"translation":{"x":9.23409235663712,"y":-6.902892114594579},"rotation":{"radians":-1.0807751152839176}},"curvature":-0.10827782955645215},{"time":5.840283064566687,"velocity":2.2187351417533954,"acceleration":-0.06365232769041065,"pose":{"translation":{"x":9.291096487140749,"y":-7.01151442626724},"rotation":{"radians":-1.0943469964533814}},"curvature":-0.11304524771977777},{"time":5.894719949401937,"velocity":2.215270107321417,"acceleration":-0.06737586677177708,"pose":{"translation":{"x":9.345703125,"y":-7.119140625},"rotation":{"radians":-1.108288968155105}},"curvature":-0.11804971934383038},{"time":5.948343158048882,"velocity":2.211657197159745,"acceleration":-0.07103947196117816,"pose":{"translation":{"x":9.397906820231583,"y":-7.2257370976149105},"rotation":{"radians":-1.1226083308251997}},"curvature":-0.12328446383071472},{"time":6.00115170888673,"velocity":2.2079057055931894,"acceleration":-0.07456683723923983,"pose":{"translation":{"x":9.44770592264831,"y":-7.331273136660457},"rotation":{"radians":-1.1373104305501878}},"curvature":-0.1287381289353431},{"time":6.053146507315684,"velocity":2.2040286179214506,"acceleration":-0.07786462153949972,"pose":{"translation":{"x":9.49510268663289,"y":-7.435721045185346},"rotation":{"radians":-1.1523982666223025}},"curvature":-0.13439388534690774},{"time":6.10433031542939,"velocity":2.2000432100737264,"acceleration":-0.08082055911422024,"pose":{"translation":{"x":9.540103375911713,"y":-7.539056241512299},"rotation":{"radians":-1.1678720534738891}},"curvature":-0.1402284325466594},{"time":6.154707707624782,"velocity":2.1959716810697785,"acceleration":-0.08330176846355347,"pose":{"translation":{"x":9.582718368328642,"y":-7.641257364011835},"rotation":{"radians":-1.1837287366975124}},"curvature":-0.14621092848984082},{"time":6.204285011333512,"velocity":2.1918418039951866,"acceleration":-0.08515340896125574,"pose":{"translation":{"x":9.622962260618806,"y":-7.742306375876069},"rotation":{"radians":-1.1999614643463943}},"curvature":-0.15230186412129473},{"time":6.253070232288087,"velocity":2.1876875761239765,"acceleration":-0.08619785936757811,"pose":{"translation":{"x":9.660853973182384,"y":-7.842188669892494},"rotation":{"radians":-1.2165590165987263}},"curvature":-0.15845191395296837},{"time":6.3010729640493786,"velocity":2.183549843402357,"acceleration":-0.08623461096636685,"pose":{"translation":{"x":9.696416854858398,"y":-7.940893173217773},"rotation":{"radians":-1.2335051991783763}},"curvature":-0.1646008057287766},{"time":6.3483042819283915,"velocity":2.1794768690796316,"acceleration":-0.0850410756384638,"pose":{"translation":{"x":9.729678787698504,"y":-8.038412452151533},"rotation":{"radians":-1.2507782086458072}},"curvature":-0.17067626514133666},{"time":6.394776621937942,"velocity":2.175524811297783,"acceleration":-0.08237450109974315,"pose":{"translation":{"x":9.760672291740775,"y":-8.134742816910148},"rotation":{"radians":-1.2683499807617513}},"curvature":-0.17659310488419677},{"time":6.440503646007475,"velocity":2.1717580705032793,"acceleration":-0.07797515762576314,"pose":{"translation":{"x":9.7894346297835,"y":-8.229884426400531},"rotation":{"radians":-1.2861855364899468}},"curvature":-0.18225253988851078},{"time":6.485500095377331,"velocity":2.168249465271065,"acceleration":-0.07157091021748624,"pose":{"translation":{"x":9.816007912158966,"y":-8.323841392993927},"rotation":{"radians":-1.3042423436959334}},"curvature":-0.18754182089294194},{"time":6.52978163483948,"velocity":2.1650801951859275,"acceleration":-0.06288321739898939,"pose":{"translation":{"x":9.840439201507252,"y":-8.416621887299698},"rotation":{"radians":-1.3224697160084113}},"curvature":-0.19233428470069036},{"time":6.57336469128284,"velocity":2.1623395523726874,"acceleration":-0.051634506584850054,"pose":{"translation":{"x":9.862780617550015,"y":-8.508238242939115},"rotation":{"radians":-1.3408082733730198}},"curvature":-0.1964899195916967},{"time":6.616266290796618,"velocity":2.1601243494500926,"acceleration":-0.037556774772386385,"pose":{"translation":{"x":9.883089441864286,"y":-8.598707061319146},"rotation":{"radians":-1.359189491236203}},"curvature":-0.199856536473444},{"time":6.658503899342222,"velocity":2.158538041099021,"acceleration":-0.020401165588530973,"pose":{"translation":{"x":9.90142822265625,"y":-8.68804931640625},"rotation":{"radians":-1.377535366720458}},"curvature":-0.20227161900745516},{"time":6.70009527267697,"velocity":2.1576895286045645,"acceleration":5.180314370494392E-5,"pose":{"translation":{"x":9.917864879535045,"y":-8.77629045950016},"rotation":{"radians":-1.3957582302808835}},"curvature":-0.20356489854681434},{"time":6.7410583217585245,"velocity":2.1576916506192827,"acceleration":0.02398172365215458,"pose":{"translation":{"x":9.932472808286548,"y":-8.863460524007678},"rotation":{"radians":-1.4137607299223527}},"curvature":-0.20356166296129774},{"time":6.781411000243091,"velocity":2.158659377403324,"acceleration":0.051517834145841206,"pose":{"translation":{"x":9.94533098564716,"y":-8.949594230216462},"rotation":{"radians":-1.4314360119831262}},"curvature":-0.20208676461993152},{"time":6.821171220891493,"velocity":2.1607077378562902,"acceleration":0.08272885097559458,"pose":{"translation":{"x":9.956524074077606,"y":-9.034731090068817},"rotation":{"radians":-1.4486681178031746}},"curvature":-0.19896924595594245},{"time":6.86035680772538,"velocity":2.163949516429862,"acceleration":-2.215123022099472,"pose":{"translation":{"x":9.966142526536714,"y":-9.118915511935484},"rotation":{"radians":-1.4653326095528878}},"curvature":-0.19404745661562758},{"time":6.8998232589822726,"velocity":2.0765264716501535,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.974282691255212,"y":-9.202196905389428},"rotation":{"radians":-1.481297431581275}},"curvature":-0.18717450044020895},{"time":6.940742741019163,"velocity":1.9660438701505492,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.981046916509513,"y":-9.284629785979632},"rotation":{"radians":-1.4964240065300516}},"curvature":-0.1782238294413945},{"time":6.983626630614033,"velocity":1.8502573682443992,"acceleration":-2.7,"pose":{"translation":{"x":9.986543655395508,"y":-9.366273880004883},"rotation":{"radians":-1.5105685589576776}},"curvature":-0.1670947999411318},{"time":7.02892114539233,"velocity":1.7279621783429995,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":9.990887570602354,"y":-9.447194229287561},"rotation":{"radians":-1.523583654151162}},"curvature":-0.15371802470468285},{"time":7.07723629313815,"velocity":1.5975112794292834,"acceleration":-2.699999999999996,"pose":{"translation":{"x":9.994199639186263,"y":-9.527461295947433},"rotation":{"radians":-1.5353199368767214}},"curvature":-0.13806039182086433},{"time":7.129446301729226,"velocity":1.4565442562333788,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.996607257344294,"y":-9.607151067175437},"rotation":{"radians":-1.5456280544596928}},"curvature":-0.12012966946706},{"time":7.186887252294615,"velocity":1.3014536897068296,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.99824434518814,"y":-9.686345160007477},"rotation":{"radians":-1.554360750792786}},"curvature":-0.0999786645789153},{"time":7.251799747076405,"velocity":1.1261899537959958,"acceleration":-2.7,"pose":{"translation":{"x":9.999251451517921,"y":-9.765130926098209},"rotation":{"radians":-1.561375122117149}},"curvature":-0.07770893881369795},{"time":7.32853838999261,"velocity":0.9189956179222442,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":9.999775858595967,"y":-9.843601556494832},"rotation":{"radians":-1.5665350305744945}},"curvature":-0.05347409186319095},{"time":7.4283155536411964,"velocity":0.6495972760710598,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":9.999971686920617,"y":-9.921856186410878},"rotation":{"radians":-1.5697136758781756}},"curvature":-0.02748258627930911},{"time":7.668907137371218,"velocity":0.0,"acceleration":-2.7000000000000006,"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":2.7000000000000006,"pose":{"translation":{"x":0.0,"y":0.0},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2405915837300212,"velocity":0.6495972760710574,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.07814381358912215,"y":-2.831307938322425E-5},"rotation":{"radians":-0.0010826509167209514}},"curvature":-0.02748258627930911},{"time":0.3403687473786084,"velocity":0.9189956179222429,"acceleration":2.7,"pose":{"translation":{"x":0.15639844350516796,"y":-2.2414140403270721E-4},"rotation":{"radians":-0.004261296220402157}},"curvature":-0.05347409186319095},{"time":0.4171073902948127,"velocity":1.1261899537959945,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.23486907390179113,"y":-7.485484820790589E-4},"rotation":{"radians":-0.0094212046777475}},"curvature":-0.07770893881369795},{"time":0.4820198850766026,"velocity":1.3014536897068272,"acceleration":2.6999999999999993,"pose":{"translation":{"x":0.3136548399925232,"y":-0.0017556548118591309},"rotation":{"radians":-0.01643557600211064}},"curvature":-0.0999786645789153},{"time":0.5394608356419908,"velocity":1.4565442562333752,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.39284893282456324,"y":-0.0033927426557056606},"rotation":{"radians":-0.0251682723352039}},"curvature":-0.12012966946706},{"time":0.5916708442330667,"velocity":1.5975112794292803,"acceleration":2.7000000000000024,"pose":{"translation":{"x":0.4725387040525675,"y":-0.005800360813736916},"rotation":{"radians":-0.03547638991817513}},"curvature":-0.13806039182086433},{"time":0.6399859919788877,"velocity":1.7279621783429973,"acceleration":2.700000000000001,"pose":{"translation":{"x":0.552805770712439,"y":-0.009112429397646338},"rotation":{"radians":-0.047212672643734674}},"curvature":-0.15371802470468285},{"time":0.6852805067571838,"velocity":1.8502573682443966,"acceleration":2.6999999999999997,"pose":{"translation":{"x":0.6337261199951172,"y":-0.013456344604492188},"rotation":{"radians":-0.06022776783721897}},"curvature":-0.1670947999411318},{"time":0.7281643963520545,"velocity":1.9660438701505476,"acceleration":2.6999999999999984,"pose":{"translation":{"x":0.7153702140203677,"y":-0.018953083490487188},"rotation":{"radians":-0.07437232026484512}},"curvature":-0.1782238294413945},{"time":0.7690838783889448,"velocity":2.0765264716501513,"acceleration":2.699999999999992,"pose":{"translation":{"x":0.7978030946105719,"y":-0.02571730874478817},"rotation":{"radians":-0.08949889521362152}},"curvature":-0.18717450044020895},{"time":0.808377334720747,"velocity":2.182618803746017,"acceleration":2.6999999999999966,"pose":{"translation":{"x":0.8810844880645163,"y":-0.033857473463285714},"rotation":{"radians":-0.10546371724200888}},"curvature":-0.19404745661562758},{"time":0.8463087177830769,"velocity":2.2850335380143076,"acceleration":2.699999999999997,"pose":{"translation":{"x":0.9652689099311829,"y":-0.0434759259223938},"rotation":{"radians":-0.12212820899172197}},"curvature":-0.19896924595594245},{"time":0.8830886019916427,"velocity":2.384339225377435,"acceleration":1.517313632315081,"pose":{"translation":{"x":1.0504057697835378,"y":-0.05466901435283944},"rotation":{"radians":-0.1393603148117705}},"curvature":-0.20208676461993152},{"time":0.9191987808367204,"velocity":2.439129692004407,"acceleration":-6.619834622536766E-5,"pose":{"translation":{"x":1.136539475992322,"y":-0.06752719171345234},"rotation":{"radians":-0.15703559687254381}},"curvature":-0.20356166296129774},{"time":0.9554353242553727,"velocity":2.4391272932051598,"acceleration":0.026070298559268602,"pose":{"translation":{"x":1.22370954049984,"y":-0.08213512046495453},"rotation":{"radians":-0.17503809651401303}},"curvature":-0.20356489854681434},{"time":0.9922276929745788,"velocity":2.440086481242372,"acceleration":0.047993156419902525,"pose":{"translation":{"x":1.31195068359375,"y":-0.09857177734375},"rotation":{"radians":-0.19326096007443874}},"curvature":-0.20227161900745516},{"time":1.0295917313033807,"velocity":2.4418796993783656,"acceleration":0.06598284773415095,"pose":{"translation":{"x":1.4012929386808537,"y":-0.11691055813571438},"rotation":{"radians":-0.2116068355586935}},"curvature":-0.199856536473444},{"time":1.067543146257879,"velocity":2.444383841812604,"acceleration":0.08035738178017811,"pose":{"translation":{"x":1.4917617570608854,"y":-0.13721938244998455},"rotation":{"radians":-0.22998805342187695}},"curvature":-0.1964899195916967},{"time":1.1060973884962335,"velocity":2.4474819597753967,"acceleration":0.09145923498491688,"pose":{"translation":{"x":1.5833781127003022,"y":-0.1595607984927483},"rotation":{"radians":-0.2483266107864853}},"curvature":-0.19233428470069036},{"time":1.1452695195589038,"velocity":2.4510646129151175,"acceleration":0.09964311258036404,"pose":{"translation":{"x":1.676158607006073,"y":-0.18399208784103394},"rotation":{"radians":-0.26655398309896333}},"curvature":-0.18754182089294194},{"time":1.1850740709245458,"velocity":2.455030862308055,"acceleration":0.10526495792707581,"pose":{"translation":{"x":1.770115573599469,"y":-0.21056537021650001},"rotation":{"radians":-0.2846107903049497}},"curvature":-0.18225253988851078},{"time":1.225524899909133,"velocity":2.459288917119233,"acceleration":0.10867252765898451,"pose":{"translation":{"x":1.8652571830898523,"y":-0.2393277082592249},"rotation":{"radians":-0.30244634603314535}},"curvature":-0.17659310488419677},{"time":1.2666350468406573,"velocity":2.463756460698714,"acceleration":0.11019772592300289,"pose":{"translation":{"x":1.9615875478484668,"y":-0.2703212123014964},"rotation":{"radians":-0.3200181181490893}},"curvature":-0.17067626514133666},{"time":1.3084165972720907,"velocity":2.468360692541795,"acceleration":0.11015076168710736,"pose":{"translation":{"x":2.0591068267822266,"y":-0.30358314514160156},"rotation":{"radians":-0.33729112761652036}},"curvature":-0.1646008057287766},{"time":1.3508805522916951,"velocity":2.4730381295314516,"acceleration":0.10881607647978984,"pose":{"translation":{"x":2.1578113301075064,"y":-0.3391460268176161},"rotation":{"radians":-0.3542373101961703}},"curvature":-0.15845191395296837},{"time":1.3940367092899744,"velocity":2.47773421321195,"acceleration":0.1064498969401971,"pose":{"translation":{"x":2.257693624123931,"y":-0.3770377393811941},"rotation":{"radians":-0.3708348624485024}},"curvature":-0.15230186412129473},{"time":1.4378935548784666,"velocity":2.4824027699049673,"acceleration":0.10327920219510575,"pose":{"translation":{"x":2.3587426359881647,"y":-0.4172816316713579},"rotation":{"radians":-0.38706759009738423}},"curvature":-0.14621092848984082},{"time":1.4824581710513123,"velocity":2.48700536790943,"acceleration":0.09950186041720412,"pose":{"translation":{"x":2.4609437584877014,"y":-0.45989662408828735},"rotation":{"radians":-0.4029242733210075}},"curvature":-0.1402284325466594},{"time":1.5277361551518993,"velocity":2.491510611563379,"acceleration":0.0952876785892779,"pose":{"translation":{"x":2.564278954814654,"y":-0.5048973133671097},"rotation":{"radians":-0.41839806017259407}},"curvature":-0.13439388534690774},{"time":1.573731553762127,"velocity":2.495893406322736,"acceleration":0.09078011917912862,"pose":{"translation":{"x":2.6687268633395433,"y":-0.5522940773516893},"rotation":{"radians":-0.4334858962447088}},"curvature":-0.1287381289353431},{"time":1.62044681027253,"velocity":2.500134222876234,"acceleration":0.08609846112991382,"pose":{"translation":{"x":2.7742629023850895,"y":-0.602093179768417},"rotation":{"radians":-0.448187995969697}},"curvature":-0.12328446383071472},{"time":1.6678827256140576,"velocity":2.5042183821894284,"acceleration":0.08134021459113584,"pose":{"translation":{"x":2.880859375,"y":-0.654296875},"rotation":{"radians":-0.4625073586397917}},"curvature":-0.11804971934383038},{"time":1.7160384314298551,"velocity":2.508135377634273,"acceleration":0.07658363432260275,"pose":{"translation":{"x":2.98848557373276,"y":-0.7089035128592514},"rotation":{"radians":-0.47644933034151526}},"curvature":-0.11304524771977777},{"time":1.7649113748286658,"velocity":2.5118782452597967,"acceleration":0.07189021200560625,"pose":{"translation":{"x":3.0971078854054213,"y":-0.7659076433628798},"rotation":{"radians":-0.490021211510979}},"curvature":-0.10827782955645215},{"time":1.8144973137802076,"velocity":2.51544298892352,"acceleration":0.0673070602623292,"pose":{"translation":{"x":3.2066898958873935,"y":-0.8253001215052791},"rotation":{"radians":-0.5032319086929682}},"curvature":-0.10375048466516042},{"time":1.8647903221769946,"velocity":2.5188280634704565,"acceleration":0.06396212068105228,"pose":{"translation":{"x":3.317192494869232,"y":-0.8870682120323181},"rotation":{"radians":-0.5160916282809809}},"curvature":-0.09946318763650631},{"time":1.8901996534313195,"velocity":2.5204532981825705,"acceleration":0.06178363971331803,"pose":{"translation":{"x":3.3727760816236696,"y":-0.9188381762487552},"rotation":{"radians":-0.5223933499305692}},"curvature":-0.09740887163401273},{"time":1.9157827724204817,"velocity":2.52203391638894,"acceleration":0.05964905355955377,"pose":{"translation":{"x":3.428573980636429,"y":-0.9511956942151301},"rotation":{"radians":-0.5286116094776955}},"curvature":-0.09541349105745087},{"time":1.9415384724062514,"velocity":2.523570219516855,"acceleration":0.05756039506940368,"pose":{"translation":{"x":3.4845805914756056,"y":-0.9841382109243568},"rotation":{"radians":-0.5347479353268761}},"curvature":-0.09347644950906146},{"time":1.9674654452992733,"velocity":2.525062586319531,"acceleration":0.05551925202960017,"pose":{"translation":{"x":3.5407901648432016,"y":-1.0176629666239023},"rotation":{"radians":-0.5408038933963395}},"curvature":-0.09159706182401153},{"time":1.9935622826924055,"velocity":2.5265114632119356,"acceleration":0.053526812840020276,"pose":{"translation":{"x":3.5971968058493076,"y":-1.051767000089967},"rotation":{"radians":-0.546781081651562}},"curvature":-0.08977456657954339},{"time":2.019827476981254,"velocity":2.5279173553508416,"acceleration":0.05158390884959854,"pose":{"translation":{"x":3.653794477286283,"y":-1.086447151901666},"rotation":{"radians":-0.5526811250772102}},"curvature":-0.08800813754015926},{"time":2.0462594225659023,"velocity":2.5292808184225977,"acceleration":0.04969105346350666,"pose":{"translation":{"x":3.7105770029029372,"y":-1.12170006771521},"rotation":{"radians":-0.5585056710629697}},"curvature":-0.08629689410238194},{"time":2.072856417128258,"velocity":2.5306024511013643,"acceleration":0.04784847814988172,"pose":{"translation":{"x":3.767538070678711,"y":-1.157522201538086},"rotation":{"radians":-0.5642563851793584}},"curvature":-0.08463991080199534},{"time":2.0996166629794852,"velocity":2.531882888140262,"acceleration":0.046056165486969294,"pose":{"translation":{"x":3.8246712360978563,"y":-1.1939098190032382},"rotation":{"radians":-0.5699349473203195}},"curvature":-0.08303622594547336},{"time":2.1265382684725203,"velocity":2.5331227940580243,"acceleration":0.044313879400887324,"pose":{"translation":{"x":3.8819699254236184,"y":-1.2308590006432496},"rotation":{"radians":-0.5755430481901774}},"curvature":-0.08148484942566686},{"time":2.1536192494747466,"velocity":2.5343228573842147,"acceleration":0.042621192748403224,"pose":{"translation":{"x":3.939427438972416,"y":-1.268365645164522},"rotation":{"radians":-0.5810823861133668}},"curvature":-0.07998476977982921},{"time":2.1808575308962994,"velocity":2.535483785426818,"acceleration":0.04097751240351839,"pose":{"translation":{"x":3.9970369543880224,"y":-1.3064254727214575},"rotation":{"radians":-0.5865546641462306}},"curvature":-0.07853496054580741},{"time":2.2082509482696535,"velocity":2.5366062995270093,"acceleration":0.03938210200399439,"pose":{"translation":{"x":4.054791529915747,"y":-1.3450340281906392},"rotation":{"radians":-0.5919615874710755}},"curvature":-0.07713438596977641},{"time":2.23579724937648,"velocity":2.537691130767031,"acceleration":0.0378341025164466,"pose":{"translation":{"x":4.112684107676614,"y":-1.3841866844450124},"rotation":{"radians":-0.5973048610536026}},"curvature":-0.07578200611631837},{"time":2.2634940959179892,"velocity":2.538739016098465,"acceleration":0.03633255077062881,"pose":{"translation":{"x":4.1707075169415475,"y":-1.423878645628065},"rotation":{"radians":-0.6025861875457454}},"curvature":-0.07447678142898713},{"time":2.2913390652251375,"velocity":2.5397506948595234,"acceleration":0.034876396112734485,"pose":{"translation":{"x":4.228854477405548,"y":-1.464104950428009},"rotation":{"radians":-0.6078072654168749}},"curvature":-0.07321767678680903},{"time":2.319329652005454,"velocity":2.5407269056515016,"acceleration":0.03346451532010145,"pose":{"translation":{"x":4.287117602461876,"y":-1.5048604753519612},"rotation":{"radians":-0.6129697872972361}},"curvature":-0.072003665099477},{"time":2.3474632701233182,"velocity":2.5416683835460168,"acceleration":0.032095725914265315,"pose":{"translation":{"x":4.3454894024762325,"y":-1.546139938000124},"rotation":{"radians":-0.6180754385183802}},"curvature":-0.07083373048133693},{"time":2.375737254410857,"velocity":2.542575857596214,"acceleration":0.030768798001826407,"pose":{"translation":{"x":4.403962288060939,"y":-1.5879379003399663},"rotation":{"radians":-0.6231258958362255}},"curvature":-0.06970687104165842},{"time":2.404148862506741,"velocity":2.543450048626623,"acceleration":0.029482464767256272,"pose":{"translation":{"x":4.462528573349118,"y":-1.6302487719804049},"rotation":{"radians":-0.6281228263232281}},"curvature":-0.06862210132615378},{"time":2.432695276720397,"velocity":2.544291667277909,"acceleration":0.028235431732186844,"pose":{"translation":{"x":4.521180479268878,"y":-1.6730668134459847},"rotation":{"radians":-0.6330678864169678}},"curvature":-0.06757845444226444},{"time":2.4613736059193365,"velocity":2.5451014122841986,"acceleration":0.02702638489077416,"pose":{"translation":{"x":4.579910136817489,"y":-1.7163861394510604},"rotation":{"radians":-0.6379627211132425}},"curvature":-0.066574983898393},{"time":2.4901808874374183,"velocity":2.545879968962163,"acceleration":0.025853997822086715,"pose":{"translation":{"x":4.638709590335566,"y":-1.7602007221739768},"rotation":{"radians":-0.6428089632925209}},"curvature":-0.06561076518502294},{"time":2.5191140890021324,"velocity":2.5466280078924033,"acceleration":0.02471693787391227,"pose":{"translation":{"x":4.69757080078125,"y":-1.80450439453125},"rotation":{"radians":-0.647608233169335}},"curvature":-0.06468489712354483},{"time":2.548170110679055,"velocity":2.547346183775055,"acceleration":0.02361387150562239,"pose":{"translation":{"x":4.756485649004389,"y":-1.8492908534517483},"rotation":{"radians":-0.6523621378548796}},"curvature":-0.06379650300659852},{"time":2.577345786831733,"velocity":2.548035134442814,"acceleration":0.02254346887092913,"pose":{"translation":{"x":4.815445939020719,"y":-1.894553663150873},"rotation":{"radians":-0.6570722710237484}},"curvature":-0.06294473155184836},{"time":2.6066378880955803,"velocity":2.5486954800158195,"acceleration":0.021504407715234163,"pose":{"translation":{"x":4.874443401286044,"y":-1.9402862584047398},"rotation":{"radians":-0.6617402126763631}},"curvature":-0.062128757689329704},{"time":2.636043123364235,"velocity":2.549327822183999,"acceleration":0.020495376655658544,"pose":{"translation":{"x":4.933469695970416,"y":-1.986481947824359},"rotation":{"radians":-0.6663675289892359}},"curvature":-0.06134778320084009},{"time":2.6655581417871668,"velocity":2.5499327436035757,"acceleration":0.019515077907280288,"pose":{"translation":{"x":4.99251641623232,"y":-2.033133917129817},"rotation":{"radians":-0.6709557722457755}},"curvature":-0.060601037228293915},{"time":2.695179534777322,"velocity":2.5505108073955007,"acceleration":0.018562229512415453,"pose":{"translation":{"x":5.05157509149285,"y":-2.0802352324244566},"rotation":{"radians":-0.6755064808408625}},"curvature":-0.05988777666651089},{"time":2.7249038380276747,"velocity":2.5510625567345304,"acceleration":0.01763556712570413,"pose":{"translation":{"x":5.110637190709895,"y":-2.127778843469059},"rotation":{"radians":-0.6800211793529247}},"curvature":-0.059207286454563475},{"time":2.7547275335357657,"velocity":2.5515885145186,"acceleration":0.016733845402796092,"pose":{"translation":{"x":5.169694125652313,"y":-2.175757586956024},"rotation":{"radians":-0.6845013786777033}},"curvature":-0.058558879778560675},{"time":2.784647051635267,"velocity":2.552089183109003,"acceleration":0.01585583903558983,"pose":{"translation":{"x":5.228737254174121,"y":-2.2241641897835507},"rotation":{"radians":-0.6889485762183403}},"curvature":-0.057941898197592274},{"time":2.814658773033802,"velocity":2.5525650441326793,"acceleration":0.015000343473344533,"pose":{"translation":{"x":5.287757883488666,"y":-2.2729912723298185},"rotation":{"radians":-0.6933642561268223}},"curvature":-0.05735571170349064},{"time":2.844759030856217,"velocity":2.5530165583386517,"acceleration":0.014166175365914602,"pose":{"translation":{"x":5.346747273442816,"y":-2.3222313517271687},"rotation":{"radians":-0.697749889592203}},"curvature":-0.05679971872408576},{"time":2.8749441126926962,"velocity":2.5534441655013818,"acceleration":0.013352172759749096,"pose":{"translation":{"x":5.405696639791131,"y":-2.371876845136285},"rotation":{"radians":-0.702106935171379}},"curvature":-0.056273346078724217},{"time":2.905210262651115,"velocity":2.553848284364399,"acceleration":0.01255719507694609,"pose":{"translation":{"x":5.4645971574700525,"y":-2.421920073020374},"rotation":{"radians":-0.7064368391585247}},"curvature":-0.055776048893992014},{"time":2.9355536834129796,"velocity":2.5542293126182076,"acceleration":0.011780122901987045,"pose":{"translation":{"x":5.523439963872079,"y":-2.4723532624193467},"rotation":{"radians":-0.7107410359896046}},"curvature":-0.05530731048681846},{"time":2.9659705382926878,"velocity":2.5545876269069825,"acceleration":0.011019857600500158,"pose":{"translation":{"x":5.582216162119948,"y":-2.5231685502239998},"rotation":{"radians":-0.7150209486786628}},"curvature":-0.05486664222143903},{"time":2.996456953299334,"velocity":2.5549235828591055,"acceleration":0.010275320789937127,"pose":{"translation":{"x":5.64091682434082,"y":-2.5743579864501953},"rotation":{"radians":-0.7192779892828582}},"curvature":-0.05445358334605495},{"time":3.027009019201102,"velocity":2.5552375151370414,"acceleration":0.009545453681031572,"pose":{"translation":{"x":5.699532994940455,"y":-2.6259135375130427},"rotation":{"radians":-0.7235135593934571}},"curvature":-0.05406770081444218},{"time":3.05762279359155,"velocity":2.555529737502487,"acceleration":0.008829216307120465,"pose":{"translation":{"x":5.758055693877395,"y":-2.677827089501079},"rotation":{"radians":-0.7277290506502201}},"curvature":-0.053708589097225895},{"time":3.088294302957536,"velocity":2.555800542893145,"acceleration":0.008125586654713041,"pose":{"translation":{"x":5.816475919937147,"y":-2.730090451450451},"rotation":{"radians":-0.7319258452768336}},"curvature":-0.05337586998704912},{"time":3.119019544748785,"velocity":2.556050203507807,"acceleration":0.007433559709864757,"pose":{"translation":{"x":5.874784654006362,"y":-2.782695358619094},"rotation":{"radians":-0.7361053166352199}},"curvature":-0.05306919240141616},{"time":3.149794489448502,"velocity":2.5562789708968,"acceleration":0.00675214643084179,"pose":{"translation":{"x":5.932972862347015,"y":-2.8356334757609147},"rotation":{"radians":-0.7402688297967409}},"curvature":-0.05278823218658412},{"time":3.1806150826450446,"velocity":2.5564870760551486,"acceleration":0.006080372657520804,"pose":{"translation":{"x":5.991031499870587,"y":-2.8888964003999718},"rotation":{"radians":-0.744417742128466}},"curvature":-0.052532691925503534},{"time":3.211477247104483,"velocity":2.5566747295160797,"acceleration":0.005417277967014807,"pose":{"translation":{"x":6.0489515134122485,"y":-2.942475666104656},"rotation":{"radians":-0.7485534038928245}},"curvature":-0.052302300752467605},{"time":3.242376884843729,"velocity":2.556842121442793,"acceleration":0.004761914482834878,"pose":{"translation":{"x":6.106723845005035,"y":-2.9963627457618713},"rotation":{"radians":-0.7526771588590875}},"curvature":-0.052096814176818704},{"time":3.27330987920434,"velocity":2.5569894217166365,"acceleration":0.004113345645089242,"pose":{"translation":{"x":6.164339435154034,"y":-3.050549054851217},"rotation":{"radians":-0.7567903449252481}},"curvature":-0.05191601391777436},{"time":3.3042720969266743,"velocity":2.557116780020067,"acceleration":0.003470644947519589,"pose":{"translation":{"x":6.221789226110559,"y":-3.105025954719167},"rotation":{"radians":-0.7608942947489714}},"curvature":-0.05175970775217297},{"time":3.3352593902243672,"velocity":2.557224325912988,"acceleration":0.0028328946473623867,"pose":{"translation":{"x":6.2790641651463375,"y":-3.159784755853252},"rotation":{"radians":-0.7649903363863789}},"curvature":-0.05162772937669655},{"time":3.3662675988593973,"velocity":2.5573121689012543,"acceleration":0.0021991844522601493,"pose":{"translation":{"x":6.336155207827687,"y":-3.2148167211562395},"rotation":{"radians":-0.7690797939375139}},"curvature":-0.05151993828590486},{"time":3.397292552216752,"velocity":2.55738039849631,"acceleration":0.0015686101891617247,"pose":{"translation":{"x":6.393053321289699,"y":-3.270113069220315},"rotation":{"radians":-0.7731639881974063}},"curvature":-0.05143621966720566},{"time":3.4283300713800107,"velocity":2.5574290842651157,"acceleration":9.402724587443065E-4,"pose":{"translation":{"x":6.449749487510417,"y":-3.3256649776012637},"rotation":{"radians":-0.7772442373117127}},"curvature":-0.05137648431369161},{"time":3.459375971206075,"velocity":2.557458275869679,"acceleration":3.132752789495949E-4,"pose":{"translation":{"x":6.506234706585019,"y":-3.38146358609265},"rotation":{"radians":-0.7813218574359585}},"curvature":-0.05134066855558977},{"time":3.4904260624016166,"velocity":2.55746800309566,"acceleration":-3.132752789495949E-4,"pose":{"translation":{"x":6.5625,"y":-3.4375},"rotation":{"radians":-0.7853981633974483}},"curvature":-0.05132873421089494},{"time":3.521476153597158,"velocity":2.557458275869679,"acceleration":-9.402724587443065E-4,"pose":{"translation":{"x":6.61853641390735,"y":-3.493765293414981},"rotation":{"radians":-0.7894744693589382}},"curvature":-0.05134066855558977},{"time":3.5525220534232225,"velocity":2.5574290842651157,"acceleration":-0.0015686101891617247,"pose":{"translation":{"x":6.674335022398736,"y":-3.5502505124895833},"rotation":{"radians":-0.793552089483184}},"curvature":-0.05137648431369161},{"time":3.583559572586481,"velocity":2.55738039849631,"acceleration":-0.0021991844522601493,"pose":{"translation":{"x":6.729886930779685,"y":-3.606946678710301},"rotation":{"radians":-0.7976323385974903}},"curvature":-0.05143621966720566},{"time":3.614584525943836,"velocity":2.5573121689012543,"acceleration":-0.0028328946473623867,"pose":{"translation":{"x":6.7851832788437605,"y":-3.6638447921723127},"rotation":{"radians":-0.8017165328573828}},"curvature":-0.05151993828590486},{"time":3.645592734578866,"velocity":2.557224325912988,"acceleration":-0.003470644947519589,"pose":{"translation":{"x":6.840215244146748,"y":-3.7209358348536625},"rotation":{"radians":-0.8058059904085177}},"curvature":-0.05162772937669655},{"time":3.676580027876559,"velocity":2.557116780020067,"acceleration":-0.004113345645089242,"pose":{"translation":{"x":6.894974045280833,"y":-3.778210773889441},"rotation":{"radians":-0.8099020320459251}},"curvature":-0.05175970775217297},{"time":3.7075422455988933,"velocity":2.5569894217166365,"acceleration":-0.004761914482834878,"pose":{"translation":{"x":6.949450945148783,"y":-3.8356605648459663},"rotation":{"radians":-0.8140059818696486}},"curvature":-0.05191601391777436},{"time":3.738475239959504,"velocity":2.556842121442793,"acceleration":-0.005417277967014746,"pose":{"translation":{"x":7.003637254238129,"y":-3.8932761549949646},"rotation":{"radians":-0.8181191679358092}},"curvature":-0.052096814176818704},{"time":3.76937487769875,"velocity":2.5566747295160797,"acceleration":-0.0060803726575207355,"pose":{"translation":{"x":7.057524333895344,"y":-3.9510484865877515},"rotation":{"radians":-0.8222429229020721}},"curvature":-0.052302300752467605},{"time":3.800237042158189,"velocity":2.5564870760551486,"acceleration":-0.0067521464308417135,"pose":{"translation":{"x":7.111103599600028,"y":-4.008968500129413},"rotation":{"radians":-0.8263785846664307}},"curvature":-0.052532691925503534},{"time":3.8310576353547314,"velocity":2.5562789708968,"acceleration":-0.007433559709864841,"pose":{"translation":{"x":7.164366524239085,"y":-4.067027137652985},"rotation":{"radians":-0.8305274969981558}},"curvature":-0.05278823218658412},{"time":3.861832580054448,"velocity":2.556050203507807,"acceleration":-0.00812558665471295,"pose":{"translation":{"x":7.217304641380906,"y":-4.125215345993638},"rotation":{"radians":-0.8346910101596766}},"curvature":-0.05306919240141616},{"time":3.8925578218456978,"velocity":2.555800542893145,"acceleration":-0.008829216307120564,"pose":{"translation":{"x":7.269909548549549,"y":-4.183524080062853},"rotation":{"radians":-0.838870481518063}},"curvature":-0.05337586998704912},{"time":3.923229331211683,"velocity":2.555529737502487,"acceleration":-0.009545453681031572,"pose":{"translation":{"x":7.322172910498921,"y":-4.241944306122605},"rotation":{"radians":-0.8430672761446766}},"curvature":-0.053708589097225895},{"time":3.953843105602131,"velocity":2.5552375151370414,"acceleration":-0.010275320789937011,"pose":{"translation":{"x":7.374086462486957,"y":-4.300467005059545},"rotation":{"radians":-0.8472827674014396}},"curvature":-0.05406770081444218},{"time":3.9843951715038997,"velocity":2.5549235828591055,"acceleration":-0.011019857600500284,"pose":{"translation":{"x":7.425642013549805,"y":-4.35908317565918},"rotation":{"radians":-0.8515183375120384}},"curvature":-0.05445358334605495},{"time":4.014881586510545,"velocity":2.5545876269069825,"acceleration":-0.01178012290198691,"pose":{"translation":{"x":7.476831449776,"y":-4.417783837880052},"rotation":{"radians":-0.8557753781162338}},"curvature":-0.05486664222143903},{"time":4.045298441390253,"velocity":2.5542293126182076,"acceleration":-0.012557195076946234,"pose":{"translation":{"x":7.527646737580653,"y":-4.476560036127921},"rotation":{"radians":-0.8600552908052921}},"curvature":-0.05530731048681846},{"time":4.075641862152118,"velocity":2.553848284364399,"acceleration":-0.01335217275974925,"pose":{"translation":{"x":7.578079926979626,"y":-4.5354028425299475},"rotation":{"radians":-0.8643594876363718}},"curvature":-0.055776048893992014},{"time":4.105908012110536,"velocity":2.5534441655013818,"acceleration":-0.014166175365914602,"pose":{"translation":{"x":7.628123154863715,"y":-4.594303360208869},"rotation":{"radians":-0.8686893916235175}},"curvature":-0.056273346078724217},{"time":4.136093093947015,"velocity":2.5530165583386517,"acceleration":-0.01500034347334436,"pose":{"translation":{"x":7.677768648272831,"y":-4.653252726557184},"rotation":{"radians":-0.8730464372026936}},"curvature":-0.05679971872408576},{"time":4.16619335176943,"velocity":2.5525650441326793,"acceleration":-0.015855839035589646,"pose":{"translation":{"x":7.7270087276701815,"y":-4.712242116511334},"rotation":{"radians":-0.8774320706680744}},"curvature":-0.05735571170349064},{"time":4.196205073167966,"velocity":2.552089183109003,"acceleration":-0.01673384540279629,"pose":{"translation":{"x":7.775835810216449,"y":-4.771262745825879},"rotation":{"radians":-0.8818477505765563}},"curvature":-0.057941898197592274},{"time":4.2261245912674665,"velocity":2.5515885145186,"acceleration":-0.01763556712570413,"pose":{"translation":{"x":7.824242413043976,"y":-4.830305874347687},"rotation":{"radians":-0.8862949481171933}},"curvature":-0.058558879778560675},{"time":4.255948286775557,"velocity":2.5510625567345304,"acceleration":-0.018562229512415453,"pose":{"translation":{"x":7.872221156530941,"y":-4.889362809290105},"rotation":{"radians":-0.890775147441972}},"curvature":-0.059207286454563475},{"time":4.28567259002591,"velocity":2.5505108073955007,"acceleration":-0.019515077907280288,"pose":{"translation":{"x":7.919764767575543,"y":-4.94842490850715},"rotation":{"radians":-0.895289845954034}},"curvature":-0.05988777666651089},{"time":4.315293983016065,"velocity":2.5499327436035757,"acceleration":-0.020495376655658544,"pose":{"translation":{"x":7.966866082870183,"y":-5.00748358376768},"rotation":{"radians":-0.899840554549121}},"curvature":-0.060601037228293915},{"time":4.344809001438996,"velocity":2.549327822183999,"acceleration":-0.021504407715234163,"pose":{"translation":{"x":8.013518052175641,"y":-5.066530304029584},"rotation":{"radians":-0.9044287978056607}},"curvature":-0.06134778320084009},{"time":4.374214236707651,"velocity":2.5486954800158195,"acceleration":-0.0225434688709294,"pose":{"translation":{"x":8.05971374159526,"y":-5.125556598713956},"rotation":{"radians":-0.9090561141185335}},"curvature":-0.062128757689329704},{"time":4.403506337971498,"velocity":2.548035134442814,"acceleration":-0.02361387150562239,"pose":{"translation":{"x":8.105446336849127,"y":-5.184554060979281},"rotation":{"radians":-0.9137240557711481}},"curvature":-0.06294473155184836},{"time":4.432682014124175,"velocity":2.547346183775055,"acceleration":-0.024716937873911972,"pose":{"translation":{"x":8.150709146548252,"y":-5.243514350995611},"rotation":{"radians":-0.918434188940017}},"curvature":-0.06379650300659852},{"time":4.4617380358010985,"velocity":2.5466280078924033,"acceleration":-0.025853997822086715,"pose":{"translation":{"x":8.19549560546875,"y":-5.30242919921875},"rotation":{"radians":-0.9231880936255615}},"curvature":-0.06468489712354483},{"time":4.490671237365812,"velocity":2.545879968962163,"acceleration":-0.027026384890774486,"pose":{"translation":{"x":8.239799277826023,"y":-5.361290409664434},"rotation":{"radians":-0.9279873635023757}},"curvature":-0.06561076518502294},{"time":4.5194785188838935,"velocity":2.5451014122841986,"acceleration":-0.0282354317321865,"pose":{"translation":{"x":8.28361386054894,"y":-5.420089863182511},"rotation":{"radians":-0.9328336056816542}},"curvature":-0.066574983898393},{"time":4.548156848082833,"velocity":2.544291667277909,"acceleration":-0.029482464767256272,"pose":{"translation":{"x":8.326933186554015,"y":-5.478819520731122},"rotation":{"radians":-0.9377284403779288}},"curvature":-0.06757845444226444},{"time":4.57670326229649,"velocity":2.543450048626623,"acceleration":-0.030768798001826407,"pose":{"translation":{"x":8.369751228019595,"y":-5.537471426650882},"rotation":{"radians":-0.9426735004716684}},"curvature":-0.06862210132615378},{"time":4.605114870392374,"velocity":2.542575857596214,"acceleration":-0.03209572591426492,"pose":{"translation":{"x":8.412062099660034,"y":-5.596037711939061},"rotation":{"radians":-0.9476704309586711}},"curvature":-0.06970687104165842},{"time":4.633388854679913,"velocity":2.5416683835460168,"acceleration":-0.03346451532010145,"pose":{"translation":{"x":8.453860061999876,"y":-5.6545105975237675},"rotation":{"radians":-0.9527208882765165}},"curvature":-0.07083373048133693},{"time":4.661522472797777,"velocity":2.5407269056515016,"acceleration":-0.034876396112734485,"pose":{"translation":{"x":8.495139524648039,"y":-5.712882397538124},"rotation":{"radians":-0.9578265394976606}},"curvature":-0.072003665099477},{"time":4.689513059578093,"velocity":2.5397506948595234,"acceleration":-0.03633255077062881,"pose":{"translation":{"x":8.535895049571991,"y":-5.771145522594452},"rotation":{"radians":-0.9629890613780216}},"curvature":-0.07321767678680903},{"time":4.717358028885242,"velocity":2.538739016098465,"acceleration":-0.0378341025164466,"pose":{"translation":{"x":8.576121354371935,"y":-5.8292924830584525},"rotation":{"radians":-0.9682101392491511}},"curvature":-0.07447678142898713},{"time":4.74505487542675,"velocity":2.537691130767031,"acceleration":-0.03938210200399389,"pose":{"translation":{"x":8.615813315554988,"y":-5.887315892323386},"rotation":{"radians":-0.9734914657412941}},"curvature":-0.07578200611631837},{"time":4.772601176533577,"velocity":2.5366062995270093,"acceleration":-0.04097751240351839,"pose":{"translation":{"x":8.65496597180936,"y":-5.945208470084253},"rotation":{"radians":-0.9788347393238211}},"curvature":-0.07713438596977641},{"time":4.7999945939069315,"velocity":2.535483785426818,"acceleration":-0.042621192748403224,"pose":{"translation":{"x":8.693574527278543,"y":-6.002963045611978},"rotation":{"radians":-0.9842416626486661}},"curvature":-0.07853496054580741},{"time":4.827232875328485,"velocity":2.5343228573842147,"acceleration":-0.044313879400887324,"pose":{"translation":{"x":8.731634354835478,"y":-6.060572561027584},"rotation":{"radians":-0.9897139406815298}},"curvature":-0.07998476977982921},{"time":4.8543138563307116,"velocity":2.5331227940580243,"acceleration":-0.0460561654869687,"pose":{"translation":{"x":8.76914099935675,"y":-6.118030074576382},"rotation":{"radians":-0.9952532786047192}},"curvature":-0.08148484942566686},{"time":4.8812354618237475,"velocity":2.531882888140262,"acceleration":-0.04784847814988172,"pose":{"translation":{"x":8.806090180996762,"y":-6.175328763902144},"rotation":{"radians":-1.000861379474577}},"curvature":-0.08303622594547336},{"time":4.907995707674974,"velocity":2.5306024511013643,"acceleration":-0.049691053463526466,"pose":{"translation":{"x":8.842477798461914,"y":-6.232461929321289},"rotation":{"radians":-1.0065399416155383}},"curvature":-0.08463991080199534},{"time":4.934592702237328,"velocity":2.529280818422597,"acceleration":-0.05158390884957861,"pose":{"translation":{"x":8.87829993228479,"y":-6.289422997097063},"rotation":{"radians":-1.012290655731927}},"curvature":-0.08629689410238194},{"time":4.961024647821978,"velocity":2.5279173553508416,"acceleration":-0.05352681284001992,"pose":{"translation":{"x":8.913552848098334,"y":-6.346205522713717},"rotation":{"radians":-1.0181152017176864}},"curvature":-0.08800813754015926},{"time":4.987289842110827,"velocity":2.5265114632119356,"acceleration":-0.05551925202960017,"pose":{"translation":{"x":8.948232999910033,"y":-6.402803194150692},"rotation":{"radians":-1.0240152451433346}},"curvature":-0.08977456657954339},{"time":5.013386679503959,"velocity":2.525062586319531,"acceleration":-0.05756039506940407,"pose":{"translation":{"x":8.982337033376098,"y":-6.459209835156798},"rotation":{"radians":-1.029992433398557}},"curvature":-0.09159706182401153},{"time":5.039313652396981,"velocity":2.523570219516855,"acceleration":-0.05964905355955377,"pose":{"translation":{"x":9.015861789075643,"y":-6.515419408524394},"rotation":{"radians":-1.0360483914680205}},"curvature":-0.09347644950906146},{"time":5.065069352382751,"velocity":2.52203391638894,"acceleration":-0.061783639713318454,"pose":{"translation":{"x":9.04880430578487,"y":-6.571426019363571},"rotation":{"radians":-1.0421847173172012}},"curvature":-0.09541349105745087},{"time":5.090652471371913,"velocity":2.5204532981825705,"acceleration":-0.0639621206810514,"pose":{"translation":{"x":9.081161823751245,"y":-6.62722391837633},"rotation":{"radians":-1.0484029768643275}},"curvature":-0.09740887163401273},{"time":5.116061802626238,"velocity":2.5188280634704565,"acceleration":-0.06730706026232944,"pose":{"translation":{"x":9.112931787967682,"y":-6.682807505130768},"rotation":{"radians":-1.0547046985139157}},"curvature":-0.09946318763650631},{"time":5.166354811023025,"velocity":2.51544298892352,"acceleration":-0.07189021200560598,"pose":{"translation":{"x":9.174699878494721,"y":-6.7933101041126065},"rotation":{"radians":-1.0675644181019284}},"curvature":-0.10375048466516042},{"time":5.215940749974567,"velocity":2.5118782452597967,"acceleration":-0.0765836343226033,"pose":{"translation":{"x":9.23409235663712,"y":-6.902892114594579},"rotation":{"radians":-1.0807751152839176}},"curvature":-0.10827782955645215},{"time":5.264813693373377,"velocity":2.508135377634273,"acceleration":-0.08134021459113555,"pose":{"translation":{"x":9.291096487140749,"y":-7.01151442626724},"rotation":{"radians":-1.0943469964533814}},"curvature":-0.11304524771977777},{"time":5.312969399189175,"velocity":2.5042183821894284,"acceleration":-0.08609846112991382,"pose":{"translation":{"x":9.345703125,"y":-7.119140625},"rotation":{"radians":-1.108288968155105}},"curvature":-0.11804971934383038},{"time":5.360405314530702,"velocity":2.500134222876234,"acceleration":-0.09078011917912827,"pose":{"translation":{"x":9.397906820231583,"y":-7.2257370976149105},"rotation":{"radians":-1.1226083308251997}},"curvature":-0.12328446383071472},{"time":5.407120571041105,"velocity":2.495893406322736,"acceleration":-0.09528767858927754,"pose":{"translation":{"x":9.44770592264831,"y":-7.331273136660457},"rotation":{"radians":-1.1373104305501878}},"curvature":-0.1287381289353431},{"time":5.453115969651333,"velocity":2.491510611563379,"acceleration":-0.09950186041720334,"pose":{"translation":{"x":9.49510268663289,"y":-7.435721045185346},"rotation":{"radians":-1.1523982666223025}},"curvature":-0.13439388534690774},{"time":5.49839395375192,"velocity":2.48700536790943,"acceleration":-0.10327920219511337,"pose":{"translation":{"x":9.540103375911713,"y":-7.539056241512299},"rotation":{"radians":-1.1678720534738891}},"curvature":-0.1402284325466594},{"time":5.5429585699247665,"velocity":2.482402769904967,"acceleration":-0.1064498969401898,"pose":{"translation":{"x":9.582718368328642,"y":-7.641257364011835},"rotation":{"radians":-1.1837287366975124}},"curvature":-0.14621092848984082},{"time":5.586815415513257,"velocity":2.47773421321195,"acceleration":-0.10881607647978198,"pose":{"translation":{"x":9.622962260618806,"y":-7.742306375876069},"rotation":{"radians":-1.1999614643463943}},"curvature":-0.15230186412129473},{"time":5.629971572511535,"velocity":2.473038129531452,"acceleration":-0.11015076168711582,"pose":{"translation":{"x":9.660853973182384,"y":-7.842188669892494},"rotation":{"radians":-1.2165590165987263}},"curvature":-0.15845191395296837},{"time":5.672435527531141,"velocity":2.468360692541795,"acceleration":-0.11019772592300217,"pose":{"translation":{"x":9.696416854858398,"y":-7.940893173217773},"rotation":{"radians":-1.2335051991783763}},"curvature":-0.1646008057287766},{"time":5.714217077962575,"velocity":2.463756460698714,"acceleration":-0.10867252765898427,"pose":{"translation":{"x":9.729678787698504,"y":-8.038412452151533},"rotation":{"radians":-1.2507782086458072}},"curvature":-0.17067626514133666},{"time":5.755327224894099,"velocity":2.459288917119233,"acceleration":-0.10526495792707558,"pose":{"translation":{"x":9.760672291740775,"y":-8.134742816910148},"rotation":{"radians":-1.2683499807617513}},"curvature":-0.17659310488419677},{"time":5.795778053878687,"velocity":2.455030862308055,"acceleration":-0.09964311258036358,"pose":{"translation":{"x":9.7894346297835,"y":-8.229884426400531},"rotation":{"radians":-1.2861855364899468}},"curvature":-0.18225253988851078},{"time":5.835582605244329,"velocity":2.4510646129151175,"acceleration":-0.09145923498491752,"pose":{"translation":{"x":9.816007912158966,"y":-8.323841392993927},"rotation":{"radians":-1.3042423436959334}},"curvature":-0.18754182089294194},{"time":5.874754736306999,"velocity":2.4474819597753967,"acceleration":-0.08035738178017791,"pose":{"translation":{"x":9.840439201507252,"y":-8.416621887299698},"rotation":{"radians":-1.3224697160084113}},"curvature":-0.19233428470069036},{"time":5.913308978545353,"velocity":2.444383841812604,"acceleration":-0.06598284773413705,"pose":{"translation":{"x":9.862780617550015,"y":-8.508238242939115},"rotation":{"radians":-1.3408082733730198}},"curvature":-0.1964899195916967},{"time":5.951260393499853,"velocity":2.441879699378366,"acceleration":-0.04799315641991737,"pose":{"translation":{"x":9.883089441864286,"y":-8.598707061319146},"rotation":{"radians":-1.359189491236203}},"curvature":-0.199856536473444},{"time":5.988624431828653,"velocity":2.440086481242372,"acceleration":-0.026070298559268474,"pose":{"translation":{"x":9.90142822265625,"y":-8.68804931640625},"rotation":{"radians":-1.377535366720458}},"curvature":-0.20227161900745516},{"time":6.025416800547859,"velocity":2.4391272932051598,"acceleration":6.619834622536734E-5,"pose":{"translation":{"x":9.917864879535045,"y":-8.77629045950016},"rotation":{"radians":-1.3957582302808835}},"curvature":-0.20356489854681434},{"time":6.061653343966512,"velocity":2.439129692004407,"acceleration":-1.517313632315043,"pose":{"translation":{"x":9.932472808286548,"y":-8.863460524007678},"rotation":{"radians":-1.4137607299223527}},"curvature":-0.20356166296129774},{"time":6.097763522811589,"velocity":2.384339225377437,"acceleration":-2.699999999999994,"pose":{"translation":{"x":9.94533098564716,"y":-8.949594230216462},"rotation":{"radians":-1.4314360119831262}},"curvature":-0.20208676461993152},{"time":6.134543407020155,"velocity":2.2850335380143094,"acceleration":-2.699999999999997,"pose":{"translation":{"x":9.956524074077606,"y":-9.034731090068817},"rotation":{"radians":-1.4486681178031746}},"curvature":-0.19896924595594245},{"time":6.172474790082485,"velocity":2.1826188037460197,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":9.966142526536714,"y":-9.118915511935484},"rotation":{"radians":-1.4653326095528878}},"curvature":-0.19404745661562758},{"time":6.211768246414287,"velocity":2.0765264716501535,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.974282691255212,"y":-9.202196905389428},"rotation":{"radians":-1.481297431581275}},"curvature":-0.18717450044020895},{"time":6.2526877284511775,"velocity":1.9660438701505492,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.981046916509513,"y":-9.284629785979632},"rotation":{"radians":-1.4964240065300516}},"curvature":-0.1782238294413945},{"time":6.295571618046048,"velocity":1.8502573682443992,"acceleration":-2.7,"pose":{"translation":{"x":9.986543655395508,"y":-9.366273880004883},"rotation":{"radians":-1.5105685589576776}},"curvature":-0.1670947999411318},{"time":6.3408661328243445,"velocity":1.7279621783429995,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":9.990887570602354,"y":-9.447194229287561},"rotation":{"radians":-1.523583654151162}},"curvature":-0.15371802470468285},{"time":6.389181280570165,"velocity":1.5975112794292834,"acceleration":-2.699999999999996,"pose":{"translation":{"x":9.994199639186263,"y":-9.527461295947433},"rotation":{"radians":-1.5353199368767214}},"curvature":-0.13806039182086433},{"time":6.441391289161241,"velocity":1.4565442562333788,"acceleration":-2.700000000000001,"pose":{"translation":{"x":9.996607257344294,"y":-9.607151067175437},"rotation":{"radians":-1.5456280544596928}},"curvature":-0.12012966946706},{"time":6.49883223972663,"velocity":1.3014536897068296,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":9.99824434518814,"y":-9.686345160007477},"rotation":{"radians":-1.554360750792786}},"curvature":-0.0999786645789153},{"time":6.56374473450842,"velocity":1.1261899537959958,"acceleration":-2.7,"pose":{"translation":{"x":9.999251451517921,"y":-9.765130926098209},"rotation":{"radians":-1.561375122117149}},"curvature":-0.07770893881369795},{"time":6.640483377424625,"velocity":0.9189956179222442,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":9.999775858595967,"y":-9.843601556494832},"rotation":{"radians":-1.5665350305744945}},"curvature":-0.05347409186319095},{"time":6.740260541073211,"velocity":0.6495972760710598,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":9.999971686920617,"y":-9.921856186410878},"rotation":{"radians":-1.5697136758781756}},"curvature":-0.02748258627930911},{"time":6.980852124803233,"velocity":0.0,"acceleration":-2.7000000000000006,"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/SixBallMid0.wpilib.json b/src/main/deploy/paths/SixBallMid0.wpilib.json index 70e3927..17f4ba4 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":2.7000000000000006,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24079710297530457,"velocity":0.6501521780333225,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.2065095854674475,"y":-2.321993759274483},"rotation":{"radians":1.4808013128224615}},"curvature":-0.25415239252139715},{"time":0.3399434430318312,"velocity":0.9178472961859444,"acceleration":2.7000000000000024,"pose":{"translation":{"x":3.2144920400116974,"y":-2.244674015045166},"rotation":{"radians":1.4521039763788177}},"curvature":-0.48102289742329407},{"time":0.4152417634944757,"velocity":1.1211527614350847,"acceleration":2.7000000000000024,"pose":{"translation":{"x":3.2251942805954354,"y":-2.168657049536705},"rotation":{"radians":1.407083956538682}},"curvature":-0.6895659762146151},{"time":0.4779106717693721,"velocity":1.290358813777305,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0944854736328122},"rotation":{"radians":1.3476355522918868}},"curvature":-0.8811082747650646},{"time":0.5323972890288924,"velocity":1.43747268037801,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2585973431481516,"y":-2.0226314455270766},"rotation":{"radians":1.2757042704692263}},"curvature":-1.0503191132212641},{"time":0.5810988532255446,"velocity":1.5689669037089709,"acceleration":2.700000000000004,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9534998893737792},"rotation":{"radians":1.1935567050390803}},"curvature":-1.1871900193146532},{"time":0.6037846209032646,"velocity":1.630218476438815,"acceleration":-0.20988845875911147,"pose":{"translation":{"x":3.29679072395957,"y":-1.9200639848597347},"rotation":{"radians":1.1494812806441845}},"curvature":-1.239928580956994},{"time":0.6259825135770226,"velocity":1.6255593949578198,"acceleration":-0.4601792123096392,"pose":{"translation":{"x":3.3123124503261456,"y":-1.887431713938713},"rotation":{"radians":1.1039001836454154}},"curvature":-1.2805479837540814},{"time":0.6482225991322504,"velocity":1.615324969905316,"acceleration":-0.2354825947166216,"pose":{"translation":{"x":3.3292782820223583,"y":-1.8556362158618867},"rotation":{"radians":1.0572084270862476}},"curvature":-1.308216350703189},{"time":0.6705460308520912,"velocity":1.6100681902809486,"acceleration":-0.019250240267513468,"pose":{"translation":{"x":3.347702503129696,"y":-1.82470703125},"rotation":{"radians":1.009808701952868}},"curvature":-1.3225645836950348},{"time":0.692923210012582,"velocity":1.6096374242056,"acceleration":0.18482550917234605,"pose":{"translation":{"x":3.3675900610791567,"y":-1.7946702026762067},"rotation":{"radians":0.96210010066623}},"curvature":-1.3237445021353418},{"time":0.7153266604716967,"velocity":1.6137781533439233,"acceleration":0.37321307256594527,"pose":{"translation":{"x":3.388937040133019,"y":-1.765548375248909},"rotation":{"radians":0.9144663557730784}},"curvature":-1.312428637189129},{"time":0.7377317891146571,"velocity":1.6221400402459978,"acceleration":0.5428049250194625,"pose":{"translation":{"x":3.411731134866622,"y":-1.737360897194594},"rotation":{"radians":0.8672647742046862}},"curvature":-1.2897532381321657},{"time":0.7601174736731714,"velocity":1.6342911000742915,"acceleration":0.691132878038408,"pose":{"translation":{"x":3.435952123650134,"y":-1.7101239204406737},"rotation":{"radians":0.8208169033196313}},"curvature":-1.2572161094450898},{"time":0.7824663981376089,"velocity":1.6497371765604611,"acceleration":0.8165230574986707,"pose":{"translation":{"x":3.461572342130331,"y":-1.6838505011983216},"rotation":{"radians":0.7754016677331865}},"curvature":-1.2165477334674017},{"time":0.8047651013368876,"velocity":1.6679445818749916,"acceleration":0.9575847376587618,"pose":{"translation":{"x":3.4885571567123694,"y":-1.6585507005453108},"rotation":{"radians":0.7312513370847253}},"curvature":-1.1695762249806743},{"time":0.849154537298416,"velocity":1.7104512282650322,"acceleration":1.0688533090847807,"pose":{"translation":{"x":3.5464500344851415,"y":-1.6108978271484373},"rotation":{"radians":0.6474363689665855}},"curvature":-1.0638099142624002},{"time":0.8932705744085804,"velocity":1.7576048005139384,"acceleration":1.1003692515688894,"pose":{"translation":{"x":3.6092322956847354,"y":-1.567189708352089},"rotation":{"radians":0.5703086691540483}},"curvature":-0.9524662524724097},{"time":0.9370961993922088,"velocity":1.8058291706767124,"acceleration":1.071380110767676,"pose":{"translation":{"x":3.676424273995083,"y":-1.527409267425537},"rotation":{"radians":0.5001906802940327}},"curvature":-0.8446084678380373},{"time":0.9806212944415723,"velocity":1.8524610918318731,"acceleration":1.0026907759938002,"pose":{"translation":{"x":3.7474802494845436,"y":-1.491501161456108},"rotation":{"radians":0.4369591767127109}},"curvature":-0.7456528682493916},{"time":1.0238252468666684,"velocity":1.895781296414992,"acceleration":0.9126790867835716,"pose":{"translation":{"x":3.8218036000226827,"y":-1.459375},"rotation":{"radians":0.3802110136115068}},"curvature":-0.6580867707002909},{"time":1.0666660913726893,"velocity":1.9348812392557841,"acceleration":0.8154218377334157,"pose":{"translation":{"x":3.8987619526970523,"y":-1.430908563733101},"rotation":{"radians":0.3293970719543265}},"curvature":-0.5824180484673191},{"time":1.1090761207274809,"velocity":1.9694633033305964,"acceleration":0.72056662108307,"pose":{"translation":{"x":3.9777023352299703,"y":-1.4059510231018066},"rotation":{"radians":0.2839173004495175}},"curvature":-0.5179964450188761},{"time":1.1509626379504434,"velocity":1.9996453295148844,"acceleration":0.6341937755253831,"pose":{"translation":{"x":4.057966327395298,"y":-1.384326156973839},"rotation":{"radians":0.2431817004482161}},"curvature":-0.4635925052478776},{"time":1.192212239197914,"velocity":2.0258055698689343,"acceleration":0.5600249564964245,"pose":{"translation":{"x":4.138905212435224,"y":-1.3658355712890626},"rotation":{"radians":0.2066461302891754}},"curvature":-0.4177494217263637},{"time":1.2326972268865088,"velocity":2.048478173337998,"acceleration":-2.3085636268267113,"pose":{"translation":{"x":4.219895128477039,"y":-1.3502619177103043},"rotation":{"radians":0.17383156520200765}},"curvature":-0.37896519682071883},{"time":1.2734085158507837,"velocity":1.9544935724338415,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.300352219949918,"y":-1.3373721122741702},"rotation":{"radians":0.14433362331149865}},"curvature":-0.3457618351949617},{"time":1.3156112521533436,"velocity":1.8405461844169297,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.3797477890017005,"y":-1.326920554041863},"rotation":{"radians":0.11782713826751266}},"curvature":-0.3166843715937036},{"time":1.3595781016549153,"velocity":1.721835690762686,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":4.457623446915669,"y":-1.3186523437500004},"rotation":{"radians":0.09406880478221523}},"curvature":-0.29025966227029737},{"time":1.4055152048707633,"velocity":1.5978055120798966,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.5336062655273235,"y":-1.312306502461434},"rotation":{"radians":0.07289944611301012}},"curvature":-0.26493890076434345},{"time":1.4537754947117933,"velocity":1.4675027295091152,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.607423928641174,"y":-1.307619190216065},"rotation":{"radians":0.05424603147602765}},"curvature":-0.2390516451714226},{"time":1.5049563269348285,"velocity":1.3293144825069205,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.678919883447504,"y":-1.3043269246816642},"rotation":{"radians":0.03812190138197012}},"curvature":-0.2108146530013771},{"time":1.5600865107528192,"velocity":1.1804629861983456,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.748068491939165,"y":-1.3021697998046884},"rotation":{"radians":0.02462148220789151}},"curvature":-0.1784645562722071},{"time":1.6210362510766674,"velocity":1.0158986873239553,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.814990182328344,"y":-1.3008947044610988},"rotation":{"radians":0.013903147168922325}},"curvature":-0.14060587812306488},{"time":1.691619252408547,"velocity":0.8253245837278805,"acceleration":-2.7,"pose":{"translation":{"x":4.87996660046335,"y":-1.3002585411071794},"rotation":{"radians":0.006151724781559076}},"curvature":-0.09684470081187932},{"time":1.9972950241596137,"velocity":0.0,"acceleration":-2.7,"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":2.7000000000000006,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24079710297530457,"velocity":0.6501521780333225,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.2065095854674475,"y":-2.321993759274483},"rotation":{"radians":1.4808013128224615}},"curvature":-0.25415239252139715},{"time":0.3399434430318312,"velocity":0.9178472961859444,"acceleration":2.7000000000000024,"pose":{"translation":{"x":3.2144920400116974,"y":-2.244674015045166},"rotation":{"radians":1.4521039763788177}},"curvature":-0.48102289742329407},{"time":0.4152417634944757,"velocity":1.1211527614350847,"acceleration":2.7000000000000024,"pose":{"translation":{"x":3.2251942805954354,"y":-2.168657049536705},"rotation":{"radians":1.407083956538682}},"curvature":-0.6895659762146151},{"time":0.4779106717693721,"velocity":1.290358813777305,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.2396305049811973,"y":-2.0944854736328122},"rotation":{"radians":1.3476355522918868}},"curvature":-0.8811082747650646},{"time":0.5323972890288924,"velocity":1.43747268037801,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2585973431481516,"y":-2.0226314455270766},"rotation":{"radians":1.2757042704692263}},"curvature":-1.0503191132212641},{"time":0.5810988532255446,"velocity":1.5689669037089709,"acceleration":2.700000000000004,"pose":{"translation":{"x":3.2826890087088776,"y":-1.9534998893737792},"rotation":{"radians":1.1935567050390803}},"curvature":-1.1871900193146532},{"time":0.6037846209032646,"velocity":1.630218476438815,"acceleration":2.699999999999992,"pose":{"translation":{"x":3.29679072395957,"y":-1.9200639848597347},"rotation":{"radians":1.1494812806441845}},"curvature":-1.239928580956994},{"time":0.6255581959323493,"velocity":1.6890071290173436,"acceleration":2.700000000000012,"pose":{"translation":{"x":3.3123124503261456,"y":-1.887431713938713},"rotation":{"radians":1.1039001836454154}},"curvature":-1.2805479837540814},{"time":0.6465434585072868,"velocity":1.7456673379696752,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.3292782820223583,"y":-1.8556362158618867},"rotation":{"radians":1.0572084270862476}},"curvature":-1.308216350703189},{"time":0.6668476537869641,"velocity":1.8004886652248038,"acceleration":0.959761292399676,"pose":{"translation":{"x":3.347702503129696,"y":-1.82470703125},"rotation":{"radians":1.009808701952868}},"curvature":-1.3225645836950348},{"time":0.6867499634936993,"velocity":1.8195901317106786,"acceleration":0.23618533875331407,"pose":{"translation":{"x":3.3675900610791567,"y":-1.7946702026762067},"rotation":{"radians":0.96210010066623}},"curvature":-1.3237445021353418},{"time":0.7065684004383006,"velocity":1.8242709559540005,"acceleration":0.476922565320569,"pose":{"translation":{"x":3.388937040133019,"y":-1.765548375248909},"rotation":{"radians":0.9144663557730784}},"curvature":-1.312428637189129},{"time":0.7263883219301501,"velocity":1.8337235237563456,"acceleration":0.6936410762063392,"pose":{"translation":{"x":3.411731134866622,"y":-1.737360897194594},"rotation":{"radians":0.8672647742046862}},"curvature":-1.2897532381321657},{"time":0.7461910428857591,"velocity":1.847459504431808,"acceleration":0.8831868157919845,"pose":{"translation":{"x":3.435952123650134,"y":-1.7101239204406737},"rotation":{"radians":0.8208169033196313}},"curvature":-1.2572161094450898},{"time":0.7659612452966076,"velocity":1.8649202865466084,"acceleration":1.0434207691287483,"pose":{"translation":{"x":3.461572342130331,"y":-1.6838505011983216},"rotation":{"radians":0.7754016677331865}},"curvature":-1.2165477334674017},{"time":0.7856870212036619,"velocity":1.8855025708152082,"acceleration":1.2236810636244257,"pose":{"translation":{"x":3.4885571567123694,"y":-1.6585507005453108},"rotation":{"radians":0.7312513370847253}},"curvature":-1.1695762249806743},{"time":0.8249545991696292,"velocity":1.9335535623865583,"acceleration":1.3658692569779127,"pose":{"translation":{"x":3.5464500344851415,"y":-1.6108978271484373},"rotation":{"radians":0.6474363689665855}},"curvature":-1.0638099142624002},{"time":0.863980324305544,"velocity":1.9868576005809744,"acceleration":1.4061429377326413,"pose":{"translation":{"x":3.6092322956847354,"y":-1.567189708352089},"rotation":{"radians":0.5703086691540483}},"curvature":-0.9524662524724097},{"time":0.9027491464064459,"velocity":2.041372105982371,"acceleration":1.3690982133817486,"pose":{"translation":{"x":3.676424273995083,"y":-1.527409267425537},"rotation":{"radians":0.5001906802940327}},"curvature":-0.8446084678380373},{"time":0.9412521151039599,"velocity":2.0940864516360307,"acceleration":1.2813212940865955,"pose":{"translation":{"x":3.7474802494845436,"y":-1.491501161456108},"rotation":{"radians":0.4369591767127109}},"curvature":-0.7456528682493916},{"time":0.979470996095391,"velocity":2.1430571176865127,"acceleration":1.166296904850099,"pose":{"translation":{"x":3.8218036000226827,"y":-1.459375},"rotation":{"radians":0.3802110136115068}},"curvature":-0.6580867707002909},{"time":1.0173686662353325,"velocity":2.1872570530717566,"acceleration":1.0420135393341798,"pose":{"translation":{"x":3.8987619526970523,"y":-1.430908563733101},"rotation":{"radians":0.3293970719543265}},"curvature":-0.5824180484673191},{"time":1.0548852306645713,"velocity":2.2263498211563264,"acceleration":0.9207996897016203,"pose":{"translation":{"x":3.9777023352299703,"y":-1.4059510231018066},"rotation":{"radians":0.2839173004495175}},"curvature":-0.5179964450188761},{"time":1.0919386882079614,"velocity":2.260468633364652,"acceleration":-2.434876437083707,"pose":{"translation":{"x":4.057966327395298,"y":-1.384326156973839},"rotation":{"radians":0.2431817004482161}},"curvature":-0.4635925052478776},{"time":1.1294241992955554,"velocity":2.1691960456854296,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":4.138905212435224,"y":-1.3658355712890626},"rotation":{"radians":0.2066461302891754}},"curvature":-0.4177494217263637},{"time":1.1683894928170167,"velocity":2.0639897531774842,"acceleration":-2.700000000000004,"pose":{"translation":{"x":4.219895128477039,"y":-1.3502619177103043},"rotation":{"radians":0.17383156520200765}},"curvature":-0.37896519682071883},{"time":1.2089436338331805,"velocity":1.9544935724338415,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.300352219949918,"y":-1.3373721122741702},"rotation":{"radians":0.14433362331149865}},"curvature":-0.3457618351949617},{"time":1.2511463701357404,"velocity":1.8405461844169297,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.3797477890017005,"y":-1.326920554041863},"rotation":{"radians":0.11782713826751266}},"curvature":-0.3166843715937036},{"time":1.295113219637312,"velocity":1.721835690762686,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":4.457623446915669,"y":-1.3186523437500004},"rotation":{"radians":0.09406880478221523}},"curvature":-0.29025966227029737},{"time":1.34105032285316,"velocity":1.5978055120798966,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.5336062655273235,"y":-1.312306502461434},"rotation":{"radians":0.07289944611301012}},"curvature":-0.26493890076434345},{"time":1.38931061269419,"velocity":1.4675027295091152,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.607423928641174,"y":-1.307619190216065},"rotation":{"radians":0.05424603147602765}},"curvature":-0.2390516451714226},{"time":1.4404914449172252,"velocity":1.3293144825069205,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.678919883447504,"y":-1.3043269246816642},"rotation":{"radians":0.03812190138197012}},"curvature":-0.2108146530013771},{"time":1.495621628735216,"velocity":1.1804629861983456,"acceleration":-2.700000000000001,"pose":{"translation":{"x":4.748068491939165,"y":-1.3021697998046884},"rotation":{"radians":0.02462148220789151}},"curvature":-0.1784645562722071},{"time":1.5565713690590641,"velocity":1.0158986873239553,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":4.814990182328344,"y":-1.3008947044610988},"rotation":{"radians":0.013903147168922325}},"curvature":-0.14060587812306488},{"time":1.6271543703909437,"velocity":0.8253245837278805,"acceleration":-2.7,"pose":{"translation":{"x":4.87996660046335,"y":-1.3002585411071794},"rotation":{"radians":0.006151724781559076}},"curvature":-0.09684470081187932},{"time":1.9328301421420107,"velocity":0.0,"acceleration":-2.7,"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 06747ff..a24dcff 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":2.7,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2656061620411004,"velocity":0.717136637510971,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3755418079977478,"velocity":1.013962881593919,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45975256128584724,"velocity":1.2413319154717875,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5305335412553954,"velocity":1.4324405613895677,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5926137417782101,"velocity":1.6000571028011674,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6483919450928297,"velocity":1.7506582517506402,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6992715855942349,"velocity":1.8880332811044342,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7461494519395091,"velocity":2.0146035202366748,"acceleration":2.699999999999993,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7896340730480098,"velocity":2.1320119972296263,"acceleration":2.699999999999995,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8301569015587917,"velocity":2.2414236342087372,"acceleration":1.531729483637854,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8683988799348584,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9052824088412245,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9411971924744984,"velocity":2.3,"acceleration":-1.6985912595494936,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9765102793153222,"velocity":2.2400174993444644,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.011868683643282,"velocity":2.144549807658973,"acceleration":-2.7,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0474926117342358,"velocity":2.0483652018133975,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0833360336812812,"velocity":1.9515879625563746,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1193561926741322,"velocity":1.8543335332756767,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1555164518123178,"velocity":1.7567008336025758,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.191790190982777,"velocity":1.6587617378423356,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2646564021583566,"velocity":1.4620229676682703,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3382134603188418,"velocity":1.26341891063496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4135999979994542,"velocity":1.0598752588973066,"acceleration":-2.7,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4940698541817838,"velocity":0.8426066472050169,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5895028411636067,"velocity":0.5849375823540952,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8061463901836419,"velocity":0.0,"acceleration":-2.7000000000000006,"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":2.7,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2656061620411004,"velocity":0.717136637510971,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3755418079977478,"velocity":1.013962881593919,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45975256128584724,"velocity":1.2413319154717875,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5305335412553954,"velocity":1.4324405613895677,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5926137417782101,"velocity":1.6000571028011674,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6483919450928297,"velocity":1.7506582517506402,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6992715855942349,"velocity":1.8880332811044342,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7461494519395091,"velocity":2.0146035202366748,"acceleration":2.699999999999993,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7896340730480098,"velocity":2.1320119972296263,"acceleration":2.699999999999995,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8301569015587917,"velocity":2.2414236342087372,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8680344599046619,"velocity":2.3436930417425867,"acceleration":2.3794786684994884,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9035886741096981,"velocity":2.428293536018732,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9382748552385174,"velocity":2.3346408469709203,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9733205395446122,"velocity":2.2400174993444644,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0086789438725718,"velocity":2.144549807658973,"acceleration":-2.7,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0443028719635257,"velocity":2.0483652018133975,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.080146293910571,"velocity":1.9515879625563746,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.116166452903422,"velocity":1.8543335332756767,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1523267120416076,"velocity":1.7567008336025758,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.188600451212067,"velocity":1.6587617378423356,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2614666623876465,"velocity":1.4620229676682703,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3350237205481317,"velocity":1.26341891063496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.410410258228744,"velocity":1.0598752588973066,"acceleration":-2.7,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4908801144110737,"velocity":0.8426066472050169,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5863131013928966,"velocity":0.5849375823540952,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8029566504129317,"velocity":0.0,"acceleration":-2.7000000000000006,"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 0753a75..9a1bce9 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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":1.8252284299963275,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6716319667733222,"velocity":1.7766799773430857,"acceleration":-0.8043872114014754,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7126563822033645,"velocity":1.7436804622159383,"acceleration":-0.5943192273817944,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7540304695164083,"velocity":1.7190910466104232,"acceleration":-0.37250101742908226,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7956966861108945,"velocity":1.7035703385365566,"acceleration":-0.14727575769193346,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8375998081741686,"velocity":1.6973990244850303,"acceleration":0.07086818550798132,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8796897119300369,"velocity":1.7003818595924143,"acceleration":0.2711875714293329,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.921925357786024,"velocity":1.7118356418198488,"acceleration":0.44447537176689284,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9642782698877403,"velocity":1.7306604681716697,"acceleration":0.5844407226235834,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":1.006734088627392,"velocity":1.7554733775554476,"acceleration":0.6884397910459286,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0492915438199486,"velocity":1.7847716231156576,"acceleration":0.7574702467015367,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0919590621033466,"velocity":1.8170909987159254,"acceleration":0.7955314954622497,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.1347498243274046,"velocity":1.8511323977799998,"acceleration":0.8086065878125565,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1776762828686798,"velocity":1.8858430149479375,"acceleration":0.8035742611033634,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.2207450067351093,"velocity":1.9204519329055685,"acceleration":0.7873022909205372,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.263952415302241,"velocity":1.954469224655211,"acceleration":0.7660541623708139,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.3072816450198492,"velocity":1.987661761432706,"acceleration":0.7452235663438044,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.3507005549022146,"velocity":2.0200185563020026,"acceleration":0.729335795700143,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.394160739316254,"velocity":2.051715624482891,"acceleration":0.722228630900336,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.4375973664135604,"velocity":2.083086800202307,"acceleration":0.727333029402537,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.480929671355366,"velocity":2.114603816826625,"acceleration":0.7479957560060964,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.5240619820082675,"velocity":2.1468666021417318,"acceleration":0.787805795462032,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.5668852265116398,"velocity":2.180603002341976,"acceleration":0.8508927064740959,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.6092789617762555,"velocity":2.2166755224788313,"acceleration":0.9421476559706846,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.6511140720274966,"velocity":2.256090373539313,"acceleration":1.0672609489605047,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.692256424798345,"velocity":2.2999999999999967,"acceleration":7.583944980398583E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.7329913754133592,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.773575694724999,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8138719681119955,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.85375677508707,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8931202228258002,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9318654796954893,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9699083087840323,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0071766014287817,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0436099107454173,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0791589851568095,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1137853019218897,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.147460600664516,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1801664169023387,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2118936155756703,"velocity":2.3,"acceleration":-1.7377265770045045,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2430076337148104,"velocity":2.245932343762216,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.274082466289727,"velocity":2.16203029580994,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3053552942976343,"velocity":2.077593660188591,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3368784352839995,"velocity":1.9924811795254054,"acceleration":-2.7,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.400978940635586,"velocity":1.8194098150761218,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.467244465787922,"velocity":1.6404928971648147,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5371218297798035,"velocity":1.4518240143867347,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6131368563185875,"velocity":1.2465834427320184,"acceleration":-2.7,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.7002294805042784,"velocity":1.0114333574306535,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.8109687849501417,"velocity":0.7124372354268221,"acceleration":-2.7,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":3.0748344277008166,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6712066888140586,"velocity":1.8122580597979585,"acceleration":2.7000000000000046,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7099349111347993,"velocity":1.9168242600639587,"acceleration":0.713891975573265,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7470498450495191,"velocity":1.943320313559609,"acceleration":-0.4760126423101277,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7839084212677183,"velocity":1.9257751653021948,"acceleration":-0.18820115727741646,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8209765677083066,"velocity":1.9187988972439474,"acceleration":0.09056123516709963,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8582099441077288,"velocity":1.9221707978001206,"acceleration":0.34654593248815047,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.8955722462111021,"velocity":1.935118551622438,"acceleration":0.5679874315962562,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9330382838395435,"velocity":1.9563987901071052,"acceleration":0.7468467457344942,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.9705953542630814,"velocity":1.9844481659322457,"acceleration":0.8797453662514907,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0082423338564968,"velocity":2.017567921782917,"acceleration":0.9679581980533886,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0459866769533488,"velocity":2.054102868113655,"acceleration":1.0165960131048808,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.0838400435361695,"velocity":2.092584449664348,"acceleration":1.0333044486980774,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1218134491688359,"velocity":2.131822538636799,"acceleration":1.026873724963856,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.1599127048968312,"velocity":2.170945663284556,"acceleration":1.0060800541820158,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.1981346432446784,"velocity":2.2093999930884998,"acceleration":0.9789274362243202,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.236464346456409,"velocity":2.246921991184798,"acceleration":0.9523083758949118,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.2748733821215783,"velocity":2.2834992375587855,"acceleration":0.932005667095097,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.313318929872459,"velocity":2.3193307059371815,"acceleration":0.9229235434567584,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.3517436384585377,"velocity":2.3547937741417386,"acceleration":0.9294463664954764,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.3900760620609043,"velocity":2.3904217059779236,"acceleration":0.9558509093764224,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.4282315676384711,"velocity":2.426892680681958,"acceleration":1.0067234739741637,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.4661136685453005,"velocity":2.465029480908321,"acceleration":1.0873411523184984,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.503615818971691,"velocity":2.5058071123673744,"acceleration":1.203954282488053,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.54062380111702,"velocity":2.5503630309574845,"acceleration":1.3638344073673099,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.5770189593373858,"velocity":2.5999999999999965,"acceleration":9.95392778677314E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.6130537233429754,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6489552365801952,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6846019399609997,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7198846538235657,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7547061652847502,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7889808155925522,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.822634087478571,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8556021925104647,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8878316584444113,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9192789165775657,"velocity":2.6,"acceleration":-0.7244342545259733,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.950041729258858,"velocity":2.577714364728106,"acceleration":-2.700000000000007,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9805772904748062,"velocity":2.4952683494450456,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.011232108206836,"velocity":2.4125003415685655,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0420098749146915,"velocity":2.329400371457356,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.072923959246225,"velocity":2.245932343762216,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.103998791821142,"velocity":2.16203029580994,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.135271619829049,"velocity":2.077593660188591,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.166794760815414,"velocity":1.9924811795254054,"acceleration":-2.7,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2308952661670007,"velocity":1.8194098150761218,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2971607913193366,"velocity":1.6404928971648147,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.367038155311218,"velocity":1.4518240143867347,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.443053181850002,"velocity":1.2465834427320184,"acceleration":-2.7,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.530145806035693,"velocity":1.0114333574306535,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6408851104815563,"velocity":0.7124372354268221,"acceleration":-2.7,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.904750753232231,"velocity":0.0,"acceleration":-2.7,"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 f37ecb9..792d37f 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":2.7,"pose":{"translation":{"x":1.1633962507247309,"y":-3.693120401984152},"rotation":{"radians":0.02531511640568925}},"curvature":0.0},{"time":0.23079963271246098,"velocity":0.6231590083236447,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2352777946890148,"y":-3.691012805632162},"rotation":{"radians":0.037121440537695366}},"curvature":0.3181412840068143},{"time":0.32643512768490024,"velocity":0.8813748447492308,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.3071245723189377,"y":-3.687285043986166},"rotation":{"radians":0.06964873167915205}},"curvature":0.5761106448083948},{"time":0.399925054610645,"velocity":1.0797976474487416,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3788765601104414,"y":-3.6805948489381852},"rotation":{"radians":0.1186749253750142}},"curvature":0.7742249382800999},{"time":0.4621113053073503,"velocity":1.247700524329846,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.4504489011611548,"y":-3.669885040087983},"rotation":{"radians":0.18004390988004834}},"curvature":0.9110531868782284},{"time":0.517289558317703,"velocity":1.3966818074577982,"acceleration":2.7000000000000015,"pose":{"translation":{"x":1.5217348970358866,"y":-3.6543636445983445},"rotation":{"radians":0.2496491777008313}},"curvature":0.9865456080671817},{"time":0.567731132055219,"velocity":1.5328740565490917,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.5926089996321178,"y":-3.6334840170503586},"rotation":{"radians":0.32357019067851966}},"curvature":1.0050682323061229},{"time":0.6148166226305402,"velocity":1.6600048811024588,"acceleration":2.5673999796065767,"pose":{"translation":{"x":1.6629298030454949,"y":-3.6069249592986985},"rotation":{"radians":0.3983093451192739}},"curvature":0.9762733684094926},{"time":0.6595151301207389,"velocity":1.7747638283212397,"acceleration":0.858917671681521,"pose":{"translation":{"x":1.7325430354353215,"y":-3.5745708403269036},"rotation":{"radians":0.4710193368960557}},"curvature":0.9134169118367838},{"time":0.7033290709376349,"velocity":1.81239639635488,"acceleration":0.9864453163249877,"pose":{"translation":{"x":1.8012845508900528,"y":-3.536491716102659},"rotation":{"radians":0.5396260310644195}},"curvature":0.8303643711680277},{"time":0.7472246973538498,"velocity":1.8556970314403065,"acceleration":1.0332428794956139,"pose":{"translation":{"x":1.8689833212927858,"y":-3.4929234494330803},"rotation":{"radians":0.6028157231776854}},"curvature":0.7389705513799457},{"time":0.7910904925279456,"velocity":1.901021051957354,"acceleration":1.023162042325041,"pose":{"translation":{"x":1.9354644281867546,"y":-3.4442478298199903},"rotation":{"radians":0.6599172398782495}},"curvature":0.6477658440639337},{"time":0.8348209660563789,"velocity":1.945764412564547,"acceleration":0.9792550125214652,"pose":{"translation":{"x":2.00055205464082,"y":-3.390972693315203},"rotation":{"radians":0.7107354495895255}},"curvature":0.5618972714512447},{"time":0.8782970729257488,"velocity":1.9883386081412964,"acceleration":0.9210805621250941,"pose":{"translation":{"x":2.0640724771149666,"y":-3.3337120423758044},"rotation":{"radians":0.7553852157754044}},"curvature":0.4837797104419316},{"time":0.9213735189158928,"velocity":2.0280154852282495,"acceleration":0.8638892180372485,"pose":{"translation":{"x":2.1258570573257893,"y":-3.2731661657194335},"rotation":{"radians":0.7941532354879076}},"curvature":0.4139309512376217},{"time":0.963872914871303,"velocity":2.064730255167224,"acceleration":0.8193598610842745,"pose":{"translation":{"x":2.1857452341119927,"y":-3.2101017581795626},"rotation":{"radians":0.8273957317092103}},"curvature":0.3516881616560946},{"time":1.0055854945914415,"velocity":2.0989078686921836,"acceleration":0.7972971716945637,"pose":{"translation":{"x":2.243587515299878,"y":-3.1453320405607794},"rotation":{"radians":0.8554684881125763}},"curvature":0.29570365403671545},{"time":1.0462727737303361,"velocity":2.1313477212735714,"acceleration":0.8079345500836678,"pose":{"translation":{"x":2.2992484695688398,"y":-3.07969687949407},"rotation":{"radians":0.8786812932840974}},"curvature":0.24422656109498916},{"time":1.0856736868004162,"velocity":2.1631810802477323,"acceleration":0.864928565782298,"pose":{"translation":{"x":2.3526097183168564,"y":-3.014042907292094},"rotation":{"radians":0.8972685780293556}},"curvature":0.19521279118758927},{"time":1.123512079699197,"velocity":2.195908587149182,"acceleration":0.9896799115992797,"pose":{"translation":{"x":2.4035729275259836,"y":-2.9492036418044734},"rotation":{"radians":0.9113694983001825}},"curvature":0.1463038100172115},{"time":1.1595047950651107,"velocity":2.2315298545107374,"acceleration":1.218401085623142,"pose":{"translation":{"x":2.4520627996278463,"y":-2.885979606273069},"rotation":{"radians":0.9210126539772903}},"curvature":0.09470077628923046},{"time":1.1933699294890514,"velocity":2.2727911710576403,"acceleration":-1.9776589045455903,"pose":{"translation":{"x":2.4980300653691323,"y":-2.825118449187263},"rotation":{"radians":0.926102657515864}},"curvature":0.03694922268946023},{"time":1.2256399828458036,"velocity":2.2089720126864982,"acceleration":-2.700000000000009,"pose":{"translation":{"x":2.5414544756770843,"y":-2.76729506413924},"rotation":{"radians":0.9264081422320596}},"curvature":-0.03134632979365025},{"time":1.256977972232086,"velocity":2.1243594413435356,"acceleration":-2.699999999999998,"pose":{"translation":{"x":2.5823477935249928,"y":-2.713091709679267},"rotation":{"radians":0.9215543997103331}},"curvature":-0.11581540386565782},{"time":1.2872833722748465,"velocity":2.0425348612280825,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":2.6207567857976883,"y":-2.662978129170977},"rotation":{"radians":0.9110303457003043}},"curvature":-0.22342507498620004},{"time":1.3439023012614328,"velocity":1.8896637529642994,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.690501831907423,"y":-2.5762174066624848},"rotation":{"radians":0.8705843479230416}},"curvature":-0.53694547736186},{"time":1.3943756958724045,"velocity":1.7533855875146758,"acceleration":-1.1616344951414428,"pose":{"translation":{"x":2.7518775182044655,"y":-2.507765094290802},"rotation":{"radians":0.8025259805815658}},"curvature":-0.9621851189091691},{"time":1.4383440545381252,"velocity":1.7023104253938235,"acceleration":2.7000000000000006,"pose":{"translation":{"x":2.806823290863167,"y":-2.4553008174847997},"rotation":{"radians":0.7202048775711887}},"curvature":-1.0836571765995922},{"time":1.4763363401188938,"velocity":1.8048895964618987,"acceleration":1.10193343910441,"pose":{"translation":{"x":2.8581258777298224,"y":-2.4127954647941747},"rotation":{"radians":0.6756711745133663}},"curvature":-2.8789918313268314E-14},{"time":1.5123038026920808,"velocity":1.8445233461910298,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.9097120375561665,"y":-2.372222405813883},"rotation":{"radians":0.6492214649026217}},"curvature":-0.7297488521158821},{"time":1.55114857285463,"velocity":1.739642466752147,"acceleration":0.5757139481620054,"pose":{"translation":{"x":2.9663930894630144,"y":-2.3318091048835545},"rotation":{"radians":0.5865546565271924}},"curvature":-0.9941689700389225},{"time":1.594874032195733,"velocity":1.7648158235846108,"acceleration":1.6457428349975545,"pose":{"translation":{"x":3.031769358418632,"y":-2.291857736179219},"rotation":{"radians":0.5113317582090795}},"curvature":-0.9359633971734677},{"time":1.6423573503973181,"velocity":1.8429611542967783,"acceleration":1.6548251707846324,"pose":{"translation":{"x":3.1079960562552342,"y":-2.252791088727211},"rotation":{"radians":0.43833655985795733}},"curvature":-0.7654061063725947},{"time":1.693136845414288,"velocity":1.926992340810593,"acceleration":1.3120467503086053,"pose":{"translation":{"x":3.1959871377540083,"y":-2.215114343388228},"rotation":{"radians":0.37348342756753944}},"curvature":-0.5974378740345352},{"time":1.7470752864900405,"velocity":1.9977620971407462,"acceleration":0.9379137273759243,"pose":{"translation":{"x":3.2956191567301345,"y":-2.1793768498413892},"rotation":{"radians":0.3176133235756969}},"curvature":-0.46693899881838397},{"time":1.8039874486743634,"velocity":2.0511407953080676,"acceleration":0.6381237119239794,"pose":{"translation":{"x":3.4059351221178105,"y":-2.1461339035682943},"rotation":{"radians":0.269533224624977}},"curvature":-0.37446671962038364},{"time":1.8634906442060302,"velocity":2.089111195312073,"acceleration":0.46884635370167377,"pose":{"translation":{"x":3.5253483540552737,"y":-2.1159085228370804},"rotation":{"radians":0.22757140219358654}},"curvature":-0.31156377599918567},{"time":1.8940274461654523,"velocity":2.1034282635644583,"acceleration":0.3817203794450019,"pose":{"translation":{"x":3.587848594701653,"y":-2.102072630512586},"rotation":{"radians":0.20839501014722867}},"curvature":-0.2884352657718105},{"time":1.924979730353893,"velocity":2.1152433812295595,"acceleration":0.3117156400632862,"pose":{"translation":{"x":3.6518463399698247,"y":-2.0891532256864807},"rotation":{"radians":0.19020129880107986}},"curvature":-0.2695843337682846},{"time":1.9562510885751234,"velocity":2.1249911526731387,"acceleration":0.25718398724318653,"pose":{"translation":{"x":3.717056934566066,"y":-2.077189586489208},"rotation":{"radians":0.17285635089935478}},"curvature":-0.25418965282515393},{"time":1.987740641783677,"velocity":2.133089761523821,"acceleration":0.2171534220713173,"pose":{"translation":{"x":3.7831945906628492,"y":-2.0662118069098825},"rotation":{"radians":0.15625360711907801}},"curvature":-0.24150650681349273},{"time":2.0193455627963455,"velocity":2.1399528782760155,"acceleration":0.1914764691149079,"pose":{"translation":{"x":3.849978758401498,"y":-2.0562396023270395},"rotation":{"radians":0.14031584294648863}},"curvature":-0.2308333996174182},{"time":2.0509634864859625,"velocity":2.146006966664848,"acceleration":0.18094011528298728,"pose":{"translation":{"x":3.917140496394844,"y":-2.0472811150393873},"rotation":{"radians":0.12499776636351603}},"curvature":-0.22147511508872728},{"time":2.0824947631102275,"velocity":2.1517122394922623,"acceleration":0.18735446337586237,"pose":{"translation":{"x":3.9844288422298835,"y":-2.039331719796559},"rotation":{"radians":0.11028952065337949}},"curvature":-0.21270421981706455},{"time":2.113844535453568,"velocity":2.1575857592666043,"acceleration":0.2136057642731591,"pose":{"translation":{"x":4.0516171829704355,"y":-2.0323728293298653},"rotation":{"radians":0.096221213049395}},"curvature":-0.20372313074116938},{"time":2.144924650596939,"velocity":2.164224651015502,"acceleration":0.2636223063104123,"pose":{"translation":{"x":4.118509625659799,"y":-2.026370699883045},"rotation":{"radians":0.08286839432221554}},"curvature":-0.19363041581257495},{"time":2.1756554596780506,"velocity":2.1723259777802495,"acceleration":0.3421516810910463,"pose":{"translation":{"x":4.184947367823408,"y":-2.021275236743017},"rotation":{"radians":0.07035813959885551}},"curvature":-0.18139801676435804},{"time":2.205967620947242,"velocity":2.182697334716006,"acceleration":0.4541801071121573,"pose":{"translation":{"x":4.250815067971489,"y":-2.017018799770633},"rotation":{"radians":0.058874981697251735}},"curvature":-0.16587057557813426},{"time":2.2358041076937263,"velocity":2.196248473462375,"acceleration":0.6037417387270023,"pose":{"translation":{"x":4.316047216101721,"y":-2.0135150089314293},"rotation":{"radians":0.04866539318716024}},"curvature":-0.14580352122625276},{"time":2.26512273210513,"velocity":2.2139493507415997,"acceleration":0.7917954007359584,"pose":{"translation":{"x":4.380634504201887,"y":-2.0106575498263766},"rotation":{"radians":0.04003880906760129}},"curvature":-0.11996138192957068},{"time":2.2938996147335913,"velocity":2.236734754054334,"acceleration":1.1314519330286374,"pose":{"translation":{"x":4.444630196752537,"y":-2.0083189792226346},"rotation":{"radians":0.03336241822139969}},"curvature":-0.0872982835432933},{"time":2.3498147129351694,"velocity":2.2999999999999954,"acceleration":-1.674601330084384,"pose":{"translation":{"x":4.571410938607243,"y":-2.0045759196031687},"rotation":{"radians":0.027515989285455806}},"curvature":5.8417270188295924E-15},{"time":2.405901517259799,"velocity":2.2060769628777877,"acceleration":-1.1172007110953963,"pose":{"translation":{"x":4.6977386124599905,"y":-2.001474928758516},"rotation":{"radians":0.01880473022026203}},"curvature":-0.1314033562390839},{"time":2.4637595775122505,"velocity":2.1414378968211487,"acceleration":-0.7694364466636241,"pose":{"translation":{"x":4.8235036140750935,"y":-2.000424493230762},"rotation":{"radians":-0.0041334447548078464}},"curvature":-0.22853299087898155},{"time":2.522510602216259,"velocity":2.0962327171350497,"acceleration":-0.5461794053430445,"pose":{"translation":{"x":4.947962584475054,"y":-2.0029079528593434},"rotation":{"radians":-0.03725036264636639}},"curvature":-0.30001982209621836},{"time":2.5813828455863095,"velocity":2.0640779102599844,"acceleration":-0.4016791073980668,"pose":{"translation":{"x":5.0702286716208,"y":-2.009857103340123},"rotation":{"radians":-0.07737524672454135}},"curvature":-0.3527747641421612},{"time":2.639701796360655,"velocity":2.0406524061685536,"acceleration":-0.31052892101279916,"pose":{"translation":{"x":5.1893305121317095,"y":-2.0217261562404234},"rotation":{"radians":-0.12206459161522219}},"curvature":-0.392254719175674},{"time":2.696877269390118,"velocity":2.022897768220318,"acceleration":-0.2573127617608023,"pose":{"translation":{"x":5.304271213005654,"y":-2.038565699014058},"rotation":{"radians":-0.16946854110985773}},"curvature":-0.422786467623407},{"time":2.7523934018008744,"velocity":2.008612758867428,"acceleration":-0.23040123449036107,"pose":{"translation":{"x":5.414087333339034,"y":-2.0600966550163577},"rotation":{"radians":-0.21821195181699984}},"curvature":-0.44774351495010356},{"time":2.8058033008758794,"velocity":1.9963070521865411,"acceleration":-0.2167891940071347,"pose":{"translation":{"x":5.517907866046825,"y":-2.0857842435192064},"rotation":{"radians":-0.26727966820233007}},"curvature":-0.46952892941887714},{"time":2.8567278027782503,"velocity":1.9852671704639113,"acceleration":-0.19531840708862422,"pose":{"translation":{"x":5.615013219582611,"y":-2.114911939726066},"rotation":{"radians":-0.31589439120319307}},"curvature":-0.4893032214893127},{"time":2.9048563297503165,"velocity":1.9758667832402055,"acceleration":-0.12528431610765658,"pose":{"translation":{"x":5.704894199658633,"y":-2.14665543478701},"rotation":{"radians":-0.36337372209423424}},"curvature":-0.5063150872946537},{"time":2.9499468360007355,"velocity":1.9702176500016737,"acceleration":0.07275040954835861,"pose":{"translation":{"x":5.787310990965825,"y":-2.1801565958137523},"rotation":{"radians":-0.40894987041685615}},"curvature":-0.516616404920151},{"time":2.991822122021569,"velocity":1.973264094209644,"acceleration":-0.5339347311704642,"pose":{"translation":{"x":5.862352138893851,"y":-2.2145974258946786},"rotation":{"radians":-0.45153738586251413}},"curvature":-0.5110538202327412},{"time":3.030773997278457,"velocity":1.9524663351657718,"acceleration":-2.7,"pose":{"translation":{"x":5.930493531251152,"y":-2.2492740241098756},"rotation":{"radians":-0.48945961752684103}},"curvature":-0.47326202270643397},{"time":3.068126251935076,"velocity":1.8516152475929013,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":5.992657379984982,"y":-2.283670545546162},"rotation":{"radians":-0.5202312049764436}},"curvature":-0.3809288459511736},{"time":3.105221447406694,"velocity":1.7514582198195312,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.050271202901451,"y":-2.317533161312118},"rotation":{"radians":-0.5406781611919519}},"curvature":-0.2176254580782038},{"time":3.1430967284089464,"velocity":1.6491949611134502,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.105326805385562,"y":-2.350944018553117},"rotation":{"radians":-0.5478633037111786}},"curvature":3.9003762163637566E-14},{"time":3.1838137594856697,"velocity":1.5392589772062972,"acceleration":-2.699999999999991,"pose":{"translation":{"x":6.160064920892805,"y":-2.3858342893680815},"rotation":{"radians":-0.6031739969327456}},"curvature":-1.478683040978099},{"time":3.2064788279199834,"velocity":1.4780632924336508,"acceleration":0.35024905238038695,"pose":{"translation":{"x":6.187688843389165,"y":-2.4059872603894283},"rotation":{"radians":-0.6587340539929514}},"curvature":-1.7163281863543558},{"time":3.230886198818625,"velocity":1.4866119509619966,"acceleration":2.344195980704368,"pose":{"translation":{"x":6.215593749073008,"y":-2.429015635130358},"rotation":{"radians":-0.720975161597871}},"curvature":-1.6887103186886028},{"time":3.256409886798694,"velocity":1.5464444777376274,"acceleration":2.699999999999995,"pose":{"translation":{"x":6.2438461761575645,"y":-2.455474331872352},"rotation":{"radians":-0.7830688353626686}},"curvature":-1.5039587146125384},{"time":3.282753970342048,"velocity":1.6175735033046823,"acceleration":2.7000000000000077,"pose":{"translation":{"x":6.272500187125221,"y":-2.4857379193489675},"rotation":{"radians":-0.840626413003143}},"curvature":-1.256622687041029},{"time":3.309933798264799,"velocity":1.69095903869611,"acceleration":2.6999999999999833,"pose":{"translation":{"x":6.301598150155833,"y":-2.520015469923407},"rotation":{"radians":-0.8913944121329923}},"curvature":-1.0074545330174842},{"time":3.337946856696675,"velocity":1.7665942964621748,"acceleration":2.6999999999999904,"pose":{"translation":{"x":6.33117152055503,"y":-2.5583654127660993},"rotation":{"radians":-0.9346148519743653}},"curvature":-0.7857797044053167},{"time":3.3960884458412277,"velocity":1.9235765871524668,"acceleration":2.7000000000000144,"pose":{"translation":{"x":6.39182042888043,"y":-2.6468520950395225},"rotation":{"radians":-0.9992805511948477}},"curvature":-0.4498530162255146},{"time":3.4559738446588506,"velocity":2.0852671639600495,"acceleration":2.700000000000004,"pose":{"translation":{"x":6.454509991337688,"y":-2.749216956425009},"rotation":{"radians":-1.0389408611783941}},"curvature":-0.2295729968128178},{"time":3.4860725800225336,"velocity":2.1665337494419936,"acceleration":2.586149532656151,"pose":{"translation":{"x":6.4866049775479935,"y":-2.804572508848504},"rotation":{"radians":-1.0509138352280682}},"curvature":-0.14748389824759509},{"time":3.5160188628347653,"velocity":2.243979314741636,"acceleration":1.5294248938311223,"pose":{"translation":{"x":6.51917869258722,"y":-2.8620192994587517},"rotation":{"radians":-1.058265597778546}},"curvature":-0.07705211381717159},{"time":3.545831820305257,"velocity":2.289575994055734,"acceleration":-0.7540759235459292,"pose":{"translation":{"x":6.55220808163406,"y":-2.920977144048864},"rotation":{"radians":-1.0613060799508882}},"curvature":-0.014051884687907823},{"time":3.5759310523605428,"velocity":2.2668788878456207,"acceleration":-1.3518690067557884,"pose":{"translation":{"x":6.58566542841945,"y":-2.980834040639782},"rotation":{"radians":-1.0602255138450944}},"curvature":0.045095331446938974},{"time":3.6066518368411593,"velocity":2.225348411443051,"acceleration":-1.3291069101614505,"pose":{"translation":{"x":6.619519136654878,"y":-3.04096102265785},"rotation":{"radians":-1.0551012755953932}},"curvature":0.10353710741952396},{"time":3.6378898634832626,"velocity":2.183829734373224,"acceleration":-1.3714412167436967,"pose":{"translation":{"x":6.653734511460692,"y":-3.1007270121123933},"rotation":{"radians":-1.0459055419232646}},"curvature":0.1641841380343161},{"time":3.6694237336929936,"velocity":2.1405828850441524,"acceleration":-1.4672154750587107,"pose":{"translation":{"x":6.688274540794406,"y":-3.159513672773291},"rotation":{"radians":-1.0325137667183373}},"curvature":0.22985708052581566},{"time":3.701058212043763,"velocity":2.0941682888624933,"acceleration":-1.6050959286322346,"pose":{"translation":{"x":6.723100676879012,"y":-3.2167302633485555},"rotation":{"radians":-1.0147159159127899}},"curvature":0.30335816965858575},{"time":3.7326287179690802,"velocity":2.043494598336907,"acceleration":-1.769178080306763,"pose":{"translation":{"x":6.758173617631286,"y":-3.271828490661905},"rotation":{"radians":-0.9922344948197845}},"curvature":0.38741640869060545},{"time":3.7640037467365217,"velocity":1.9879865851725553,"acceleration":-1.9944871129928579,"pose":{"translation":{"x":6.793454088090099,"y":-3.3243173628303393},"rotation":{"radians":-0.9647561127406776}},"curvature":0.4844119039504405},{"time":3.8258145063394613,"velocity":1.864705821700193,"acceleration":-2.0804235230869854,"pose":{"translation":{"x":6.864485342463139,"y":-3.419878699732331},"rotation":{"radians":-0.893745389768018}},"curvature":0.7204892775435615},{"time":3.85608884125509,"velocity":1.801722383195905,"acceleration":-1.9222886183815318,"pose":{"translation":{"x":6.900164744920348,"y":-3.462389365764481},"rotation":{"radians":-0.8501104939862193}},"curvature":0.8535687258860932},{"time":3.8858450930605586,"velocity":1.7445222790245585,"acceleration":-1.482018237341539,"pose":{"translation":{"x":6.935910477026678,"y":-3.5011967856040545},"rotation":{"radians":-0.801634501629848}},"curvature":0.9827546664389113},{"time":3.914946852804561,"velocity":1.7013929403452155,"acceleration":-0.627667419919538,"pose":{"translation":{"x":6.971695120856093,"y":-3.536319271498096},"rotation":{"radians":-0.7496179637663417}},"curvature":1.0859059124111776},{"time":3.9431610380655955,"velocity":1.68368381547729,"acceleration":0.8483407237159355,"pose":{"translation":{"x":7.007495974174499,"y":-3.5679215560523914},"rotation":{"radians":-0.6964019071855732}},"curvature":1.1297907769687197},{"time":3.970121813365265,"velocity":1.7065557391069546,"acceleration":2.7000000000000113,"pose":{"translation":{"x":7.043295831868056,"y":-3.59632964540903},"rotation":{"radians":-0.6455822984595988}},"curvature":1.0732834839221579},{"time":3.995438249749699,"velocity":1.774910117344927,"acceleration":2.7000000000000126,"pose":{"translation":{"x":7.079083767371486,"y":-3.6220456724239947},"rotation":{"radians":-0.6020137375740056}},"curvature":0.8767645283719379},{"time":4.041819991385517,"velocity":1.9001408197616363,"acceleration":1.4105521756464203,"pose":{"translation":{"x":7.150616246859497,"y":-3.6683798234877205},"rotation":{"radians":-0.5600556249936315}},"curvature":-1.5341608799847865E-15},{"time":4.085483158093702,"velocity":1.9617299945574789,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.22233636853597,"y":-3.7127028139722964},"rotation":{"radians":-0.5409626725690851}},"curvature":0.43340443120677163},{"time":4.1294882346078925,"velocity":1.8429162879691636,"acceleration":-2.4730740709283197,"pose":{"translation":{"x":7.29507055626316,"y":-3.7541445322801623},"rotation":{"radians":-0.49019760432345966}},"curvature":0.7654998801821016},{"time":4.17575695706368,"velocity":1.7284903101687785,"acceleration":-1.762802987916175,"pose":{"translation":{"x":7.369293129355561,"y":-3.790441078725445},"rotation":{"radians":-0.4159469816656051}},"curvature":1.0204967799924411},{"time":4.199659320019673,"velocity":1.6863551533316972,"acceleration":-1.414888898544948,"pose":{"translation":{"x":7.4069713917442215,"y":-3.806122979217734},"rotation":{"radians":-0.3721512633977463}},"curvature":1.1231119212313414},{"time":4.223887882524953,"velocity":1.6520744292152734,"acceleration":-1.1281518186748694,"pose":{"translation":{"x":7.444978393452456,"y":-3.8199460676798136},"rotation":{"radians":-0.32491166621403217}},"curvature":1.2104601613800496},{"time":4.248341279794195,"velocity":1.624487284613199,"acceleration":-0.888929635597702,"pose":{"translation":{"x":7.48324882134417,"y":-3.8317909292605763},"rotation":{"radians":-0.27490783228551424}},"curvature":1.283430044653934},{"time":4.272928767139095,"velocity":1.6026307384474343,"acceleration":-0.6889721521024865,"pose":{"translation":{"x":7.521698321558661,"y":-3.841569046046802},"rotation":{"radians":-0.22276133389779448}},"curvature":1.343025696696835},{"time":4.297569427238764,"velocity":1.5856540098293395,"acceleration":-0.5231270899942413,"pose":{"translation":{"x":7.560226552043141,"y":-3.849220872640479},"rotation":{"radians":-0.16903234274272852}},"curvature":1.3904493419961768},{"time":4.322191575731769,"velocity":1.5727734969387877,"acceleration":-0.3878336961366882,"pose":{"translation":{"x":7.59872023508526,"y":-3.8547139117361255},"rotation":{"radians":-0.1142157697049291}},"curvature":1.42711347081114},{"time":4.346732201440357,"velocity":1.563255815364719,"acceleration":-0.28011366056183784,"pose":{"translation":{"x":7.637056209845632,"y":-3.858040789698115},"rotation":{"radians":-0.05873863820559043}},"curvature":1.4545935361829192},{"time":4.371136315863297,"velocity":1.5564198895409391,"acceleration":-0.19687993399504994,"pose":{"translation":{"x":7.675104484890351,"y":-3.8592173321379954},"rotation":{"radians":-0.002959970677580733}},"curvature":1.4745380448716379},{"time":4.39535613487148,"velocity":1.5516514931732361,"acceleration":-0.13444977502706157,"pose":{"translation":{"x":7.712731290723523,"y":-3.858280639491813},"rotation":{"radians":0.052826077634075326}},"curvature":1.488554371793447},{"time":4.419350059538432,"velocity":1.5484255153997482,"acceleration":-0.08818095170807268,"pose":{"translation":{"x":7.749802132319782,"y":-3.8552871625974356},"rotation":{"radians":0.10838359558498532}},"curvature":1.4980858375916812},{"time":4.443081452980965,"velocity":1.5463328585406269,"acceleration":-0.05216570971364086,"pose":{"translation":{"x":7.786184841656817,"y":-3.8503107782718726},"rotation":{"radians":0.16352492081069248}},"curvature":1.5042900626503573},{"time":4.466517222521278,"velocity":1.545110314989871,"acceleration":-0.018923506322617953,"pose":{"translation":{"x":7.821752630247893,"y":-3.8434408648886},"rotation":{"radians":0.21809758534717527}},"curvature":1.5079223875556875},{"time":4.48962621392122,"velocity":1.544673011845005,"acceleration":0.020967769582252545,"pose":{"translation":{"x":7.856387141674377,"y":-3.8347803779548797},"rotation":{"radians":0.2719685670334236}},"curvature":1.5092230643016957},{"time":4.51237741360387,"velocity":1.5451500537576706,"acceleration":0.07937496875729613,"pose":{"translation":{"x":7.889981504118257,"y":-3.8244439256890854},"rotation":{"radians":0.3250061711254222}},"curvature":1.5078042284842925},{"time":4.5347379445413125,"velocity":1.5469249202022266,"acceleration":0.1713533569093213,"pose":{"translation":{"x":7.922443382894669,"y":-3.8125558445980223},"rotation":{"radians":0.37705980312388127}},"curvature":1.5025330392512695},{"time":4.556670841288109,"velocity":1.5506831956865357,"acceleration":0.31630726450680446,"pose":{"translation":{"x":7.953698032984418,"y":-3.799248275054251},"rotation":{"radians":0.42793787917893666}},"curvature":1.4914111358050537},{"time":4.578132608583297,"velocity":1.5574717085911582,"acceleration":0.5398788015801725,"pose":{"translation":{"x":7.983691351566502,"y":-3.7846592368734084},"rotation":{"radians":0.47738422045108825}},"curvature":1.4714578590341192},{"time":4.599070614391521,"velocity":1.568775694074381,"acceleration":0.8771199058836563,"pose":{"translation":{"x":8.012392930550632,"y":-3.7689307048915315},"rotation":{"radians":0.52505354762116}},"curvature":1.4386155715379991},{"time":4.619420449630098,"velocity":1.5866249396435903,"acceleration":1.3779352349898117,"pose":{"translation":{"x":8.039799109109765,"y":-3.7522066845423794},"rotation":{"radians":0.5704871728369437}},"curvature":1.3877097369576405},{"time":4.63910350962256,"velocity":1.6137469215396207,"acceleration":2.6579052210446727,"pose":{"translation":{"x":8.065936026212611,"y":-3.7346312874347545},"rotation":{"radians":0.6130907055536846}},"curvature":1.3125137707192063},{"time":4.675956218690724,"velocity":1.7116979293815373,"acceleration":2.700000000000001,"pose":{"translation":{"x":8.114673946098254,"y":-3.6974917937184557},"rotation":{"radians":0.6866553180722805}},"curvature":1.0607871285995667},{"time":4.741267929394112,"velocity":1.8880395482806829,"acceleration":0.004062007551283638,"pose":{"translation":{"x":8.202090832957548,"y":-3.6188986664948777},"rotation":{"radians":0.7571038295489254}},"curvature":-1.0143689071185567E-13},{"time":4.805670030639556,"velocity":1.8883011501022604,"acceleration":-0.7516515641676231,"pose":{"translation":{"x":8.28889350898289,"y":-3.533737786976507},"rotation":{"radians":0.8082192319045362}},"curvature":0.6729199220042472},{"time":4.842655647078397,"velocity":1.8605008536543017,"acceleration":-0.06056847564150646,"pose":{"translation":{"x":8.335551235603717,"y":-3.4824627082326822},"rotation":{"radians":0.8574239845002932}},"curvature":0.7290933750885707},{"time":4.883886332499961,"velocity":1.858003573888663,"acceleration":-0.15795556537550803,"pose":{"translation":{"x":8.38406938494492,"y":-3.4231122623486114},"rotation":{"radians":0.9135963112072046}},"curvature":0.7342216772427899},{"time":4.9289680977253045,"velocity":1.850882658174368,"acceleration":-0.49297472867259523,"pose":{"translation":{"x":8.433078298935254,"y":-3.355382293214105},"rotation":{"radians":0.975426737443062}},"curvature":0.7489208616993307},{"time":4.977486509041959,"velocity":1.826964307519915,"acceleration":-0.8852121320714376,"pose":{"translation":{"x":8.480574100572285,"y":-3.279853153621214},"rotation":{"radians":1.0441980641073774}},"curvature":0.7991325824900017},{"time":5.028986147417515,"velocity":1.7813762028325808,"acceleration":-1.17861627991739,"pose":{"translation":{"x":8.524148032018052,"y":-3.1977900961809747},"rotation":{"radians":1.1226842201532317}},"curvature":0.8985697290964901},{"time":5.055702696747748,"velocity":1.7498876428487526,"acceleration":-1.3609546567405106,"pose":{"translation":{"x":8.54365728866336,"y":-3.1548418944554717},"rotation":{"radians":1.16670548249776}},"curvature":0.9702780932634385},{"time":5.083011319553252,"velocity":1.7127218454724304,"acceleration":-1.5197995367882033,"pose":{"translation":{"x":8.56121579269471,"y":-3.11094366424016},"rotation":{"radians":1.2145989602398326}},"curvature":1.0583078049022325},{"time":5.110877419523769,"velocity":1.6703709596451453,"acceleration":-1.639727420357715,"pose":{"translation":{"x":8.576510703768088,"y":-3.0663573017656245},"rotation":{"radians":1.266897167841401}},"curvature":1.1633939730854188},{"time":5.1392757558062,"velocity":1.6238054289503037,"acceleration":-1.7014249034027862,"pose":{"translation":{"x":8.589246877380187,"y":-3.0213500827980257},"rotation":{"radians":1.3241047818611564}},"curvature":1.2852649977692947},{"time":5.168187255149835,"velocity":1.5746146839723305,"acceleration":-1.6835182846664056,"pose":{"translation":{"x":8.599154031683902,"y":-2.9761884248552506},"rotation":{"radians":1.3866406444894264}},"curvature":1.4218358248372434},{"time":5.19759177724352,"velocity":1.5251116333757335,"acceleration":-1.5658257293862698,"pose":{"translation":{"x":8.605993914303825,"y":-2.93113164942306},"rotation":{"radians":1.4547536064703062}},"curvature":1.5681676730065268},{"time":5.227456329945521,"velocity":1.4783489483583288,"acceleration":-1.3332090314754232,"pose":{"translation":{"x":8.609567469151727,"y":-2.8864257441712358},"rotation":{"radians":1.5284113373988928}},"curvature":1.715400169051567},{"time":5.257719416558685,"velocity":1.438001927965335,"acceleration":-0.9784180629422962,"pose":{"translation":{"x":8.609722003242048,"y":-2.842297125169731},"rotation":{"radians":1.6071710994773414}},"curvature":1.850128170839514},{"time":5.288274136891874,"velocity":1.4081066376831926,"acceleration":-0.5021817890883816,"pose":{"translation":{"x":8.606358353507387,"y":-2.7989463991048176},"rotation":{"radians":1.6900567511685176}},"curvature":1.9549352424262878},{"time":5.318954771514946,"velocity":1.3926993816978113,"acceleration":0.09039988887757748,"pose":{"translation":{"x":8.599438053613992,"y":-2.756542125495235},"rotation":{"radians":1.7754818304055833}},"curvature":2.0107071110361203},{"time":5.349532367737991,"velocity":1.395463592998518,"acceleration":0.7971224933897769,"pose":{"translation":{"x":8.588990500777253,"y":-2.7152145789083386},"rotation":{"radians":1.8612625640497609}},"curvature":2.000610440833017},{"time":5.379722564481192,"velocity":1.419528877902386,"acceleration":1.6299418782487731,"pose":{"translation":{"x":8.575120122577177,"y":-2.675049511176247},"rotation":{"radians":1.944743837683619}},"curvature":1.9143699755371302},{"time":5.409203344218675,"velocity":1.4675808353999371,"acceleration":2.6336768381212696,"pose":{"translation":{"x":8.558013543773896,"y":-2.6360819136119913},"rotation":{"radians":2.023015114354522}},"curvature":1.7506326673782069},{"time":5.437634375812772,"velocity":1.542458984793205,"acceleration":2.7000000000000113,"pose":{"translation":{"x":8.53794675312314,"y":-2.5982897792256647},"rotation":{"radians":2.093144540492335}},"curvature":1.515819594659015},{"time":5.46494391348459,"velocity":1.616194736507115,"acceleration":2.7000000000000073,"pose":{"translation":{"x":8.515292270191736,"y":-2.5615878649405683},"rotation":{"radians":2.1523409213565685}},"curvature":1.2197548855474756},{"time":5.491281958384131,"velocity":1.6873074577358746,"acceleration":2.7000000000000064,"pose":{"translation":{"x":8.490526312173095,"y":-2.5258214538093604},"rotation":{"radians":2.1979781908574307}},"curvature":0.8699749673300079},{"time":5.541330262065388,"velocity":1.8224378776752705,"acceleration":-2.036416565745818,"pose":{"translation":{"x":8.437126328673585,"y":-2.456091477162927},"rotation":{"radians":2.2379980013119174}},"curvature":-3.4537114262311976E-16},{"time":5.5913296658141745,"velocity":1.7206182636038283,"acceleration":-2.700000000000006,"pose":{"translation":{"x":8.38122820564466,"y":-2.387382001954609},"rotation":{"radians":2.2834087013625046}},"curvature":0.9409243178408606},{"time":5.618137880774504,"velocity":1.6482360832109386,"acceleration":-2.0628042891180893,"pose":{"translation":{"x":8.350906235300549,"y":-2.353920287717051},"rotation":{"radians":2.3327121927109515}},"curvature":1.2204665627801867},{"time":5.646635932121307,"velocity":1.5894501806612458,"acceleration":-0.6910427696635489,"pose":{"translation":{"x":8.318085511602552,"y":-2.321499083383515},"rotation":{"radians":2.3931454082906316}},"curvature":1.3797569905882539},{"time":5.676643808074402,"velocity":1.5687134549508988,"acceleration":0.1688808378357515,"pose":{"translation":{"x":8.28230879061648,"y":-2.2904289343686766},"rotation":{"radians":2.460289964106835}},"curvature":1.4387951035178148},{"time":5.707747935299155,"velocity":1.5739663460167648,"acceleration":0.6914203890168583,"pose":{"translation":{"x":8.24328600101536,"y":-2.2610010091416313},"rotation":{"radians":2.530500431685425}},"curvature":1.4236928360827223},{"time":5.739640941994626,"velocity":1.596017821113065,"acceleration":0.9705878806607317,"pose":{"translation":{"x":8.200879976807867,"y":-2.2334865019912686},"rotation":{"radians":2.601044491242953}},"curvature":1.3613785974032233},{"time":5.772112608725806,"velocity":1.6275344273072019,"acceleration":1.0689695312856122,"pose":{"translation":{"x":8.155092190066755,"y":-2.2081360357916475},"rotation":{"radians":2.6701022421881757}},"curvature":1.275248616561439},{"time":5.805028469552652,"velocity":1.6627204796271378,"acceleration":1.0359467466622267,"pose":{"translation":{"x":8.106048483657267,"y":-2.185179064767374},"rotation":{"radians":2.7366540868746623}},"curvature":1.182948140722557},{"time":5.838304074307096,"velocity":1.6971922341157228,"acceleration":0.9122587637988775,"pose":{"translation":{"x":8.05398480396557,"y":-2.1648232772589755},"rotation":{"radians":2.800311770599945}},"curvature":1.0962328005869646},{"time":5.871881561103981,"velocity":1.7278235907125217,"acceleration":0.7298222026424823,"pose":{"translation":{"x":7.9992329336271775,"y":-2.1472539984882775},"rotation":{"radians":2.8611439243995282}},"curvature":1.0220815257804632},{"time":5.905712222763708,"velocity":1.752513958721876,"acceleration":0.5112349540644968,"pose":{"translation":{"x":7.942206224255375,"y":-2.1326335933237797},"rotation":{"radians":2.9195280796466085}},"curvature":0.9641987294482112},{"time":5.939746036814345,"velocity":1.7699132340846928,"acceleration":0.27044279544331035,"pose":{"translation":{"x":7.88338532916964,"y":-2.121100869046031},"rotation":{"radians":2.9760410929908097}},"curvature":0.9243787964650092},{"time":5.973927467693995,"velocity":1.7791573558040377,"acceleration":0.014502959470082335,"pose":{"translation":{"x":7.823303936124069,"y":-2.112770478113006},"rotation":{"radians":3.0313867442158533}},"curvature":0.9035395436227165},{"time":6.008196167708436,"velocity":1.7796543533714395,"acceleration":-0.2540330520899085,"pose":{"translation":{"x":7.762534500035804,"y":-2.1077323209254812},"rotation":{"radians":3.0863532224657857}},"curvature":0.9024252822714945},{"time":6.042491105196134,"velocity":1.7709423057302072,"acceleration":-0.534420133894231,"pose":{"translation":{"x":7.701673975713455,"y":-2.1060509485924106},"rotation":{"radians":-3.1413936486172975}},"curvature":0.9220481733555729},{"time":6.076756763194821,"velocity":1.752630048194575,"acceleration":-0.8247179454727718,"pose":{"translation":{"x":7.6413295505855245,"y":-2.107764965696301},"rotation":{"radians":-3.0845781937855756}},"curvature":0.9639304274387678},{"time":6.110950130731487,"velocity":1.7244301643709403,"acceleration":-1.1183823403624158,"pose":{"translation":{"x":7.5821043774288315,"y":-2.1128864330585895},"rotation":{"radians":-3.025431640633687}},"curvature":1.0301664553718066},{"time":6.145047105401387,"velocity":1.686296710040339,"acceleration":-1.4005665224120072,"pose":{"translation":{"x":7.524583307096937,"y":-2.1214002705050174},"rotation":{"radians":-2.9629609115915727}},"curvature":1.1232578142314635},{"time":6.179046563117535,"velocity":1.6386782077829394,"acceleration":-1.644908166170411,"pose":{"translation":{"x":7.469318621248569,"y":-2.1332636596310075},"rotation":{"radians":-2.8961607621938406}},"curvature":1.2455872256986866},{"time":6.212969730545733,"velocity":1.5828777126579308,"acceleration":-1.8125260961020238,"pose":{"translation":{"x":7.416815765076047,"y":-2.1484054465670397},"rotation":{"radians":-2.824073202629109}},"curvature":1.398301571455251},{"time":6.246851788908941,"velocity":1.5214655976849651,"acceleration":-1.8554111522271584,"pose":{"translation":{"x":7.367519080033704,"y":-2.166725544744027},"rotation":{"radians":-2.7458995984355443}},"curvature":1.5793219126470148},{"time":6.280722374901539,"velocity":1.45862173470183,"acceleration":-1.7816914427793737,"pose":{"translation":{"x":7.3217975365663115,"y":-2.1880943376586908},"rotation":{"radians":-2.6611859224496004}},"curvature":1.7803426591368476},{"time":6.297661974954947,"velocity":1.4284405942425693,"acceleration":-1.6660605184979118,"pose":{"translation":{"x":7.300368625840424,"y":-2.1998732679182877},"rotation":{"radians":-2.6163931659935704}},"curvature":1.8831711845492372},{"time":6.314593301287618,"velocity":1.4002319799139016,"acceleration":-1.4950945234332627,"pose":{"translation":{"x":7.279930466837509,"y":-2.212352081638937},"rotation":{"radians":-2.570089619557831}},"curvature":1.9832869340407082},{"time":6.331502347977813,"velocity":1.3749513568109142,"acceleration":-1.2657161244151307,"pose":{"translation":{"x":7.260501629372353,"y":-2.225506005507693},"rotation":{"radians":-2.5224436078586305}},"curvature":2.0765013909486414},{"time":6.348366975396133,"velocity":1.3536055259552926,"acceleration":-0.975377126758796,"pose":{"translation":{"x":7.242093297458222,"y":-2.239308308609233},"rotation":{"radians":-2.47370122435584}},"curvature":2.157918642391751},{"time":6.365155738761437,"velocity":1.3372301501822095,"acceleration":-0.6213365928584397,"pose":{"translation":{"x":7.224708823454629,"y":-2.2537302837622724},"rotation":{"radians":-2.424192531119616}},"curvature":2.22213945875269},{"time":6.381827168802457,"velocity":1.326871580642444,"acceleration":-0.19955630896867707,"pose":{"translation":{"x":7.2083432822150915,"y":-2.268741228855983},"rotation":{"radians":-2.3743337099928636}},"curvature":2.2635821127020446},{"time":6.398329652344067,"velocity":1.323578405938064,"acceleration":0.2968449696155215,"pose":{"translation":{"x":7.192983025234904,"y":-2.2843084281864128},"rotation":{"radians":-2.324624140012171}},"curvature":2.2768933685624893},{"time":6.414601985002552,"velocity":1.3284087660316455,"acceleration":0.879727349558998,"pose":{"translation":{"x":7.1786052347988925,"y":-2.3003971337929023},"rotation":{"radians":-2.2756379963945523}},"curvature":2.25739128883022},{"time":6.430574556036102,"velocity":1.3424602736126328,"acceleration":1.5689954509736415,"pose":{"translation":{"x":7.165177478129184,"y":-2.316970546794503},"rotation":{"radians":-2.228010852121458}},"curvature":2.201457714598792},{"time":6.446171000071953,"velocity":1.3669310233562488,"acceleration":2.6999999999999877,"pose":{"translation":{"x":7.152657261532965,"y":-2.333989798726395},"rotation":{"radians":-2.1824227344755807}},"curvature":2.106794323413977},{"time":6.475883756734663,"velocity":1.4471554663455655,"acceleration":2.699999999999995,"pose":{"translation":{"x":7.130116494101634,"y":-2.369199885620931},"rotation":{"radians":-2.1001978738209823}},"curvature":1.7987982559595115},{"time":6.503799559699917,"velocity":1.5225281343517516,"acceleration":2.700000000000009,"pose":{"translation":{"x":7.11042482227864,"y":-2.4056743458644183},"rotation":{"radians":-2.0346519424178204}},"curvature":1.3383403888610619},{"time":6.555607776079102,"velocity":1.6624103185755494,"acceleration":2.699999999999988,"pose":{"translation":{"x":7.076394511370208,"y":-2.4808320556593397},"rotation":{"radians":-1.9756881130800295}},"curvature":-1.2161292343816814E-13},{"time":6.603578019789966,"velocity":1.7919299765948822,"acceleration":2.7000000000000095,"pose":{"translation":{"x":7.043491272151312,"y":-2.5568712483677425},"rotation":{"radians":-1.985845577921829}},"curvature":-0.22885142841773357},{"time":6.649440225982176,"velocity":1.91575793331385,"acceleration":2.5460041385241086,"pose":{"translation":{"x":7.008281851984441,"y":-2.6342594304054363},"rotation":{"radians":-2.011547304736564}},"curvature":-0.3591850438442614},{"time":6.694291100082297,"velocity":2.0299484443891807,"acceleration":-0.08447672672098065,"pose":{"translation":{"x":6.969186543169091,"y":-2.71363832374007},"rotation":{"radians":-2.0460763667094444}},"curvature":-0.41059784443922154},{"time":6.739865864341546,"velocity":2.026098437483479,"acceleration":0.13582187210820315,"pose":{"translation":{"x":6.92532356196249,"y":-2.794993913265799},"rotation":{"radians":-2.084562756152062}},"curvature":-0.4172429025720123},{"time":6.787252443227637,"velocity":2.032534571340591,"acceleration":0.15094769904148342,"pose":{"translation":{"x":6.876404997036228,"y":-2.8777838568564253},"rotation":{"radians":-2.1242145188313657}},"curvature":-0.4061483597485123},{"time":6.835937111712211,"velocity":2.0398834100269347,"acceleration":0.06556305938667793,"pose":{"translation":{"x":6.822632757932848,"y":-2.961064895418542},"rotation":{"radians":-2.16382152745173}},"curvature":-0.3935661114022927},{"time":6.885368779908213,"velocity":2.043124301424452,"acceleration":-0.06980011898631211,"pose":{"translation":{"x":6.7645945235224545,"y":-3.0436202629446667},"rotation":{"radians":-2.203179693614419}},"curvature":-0.38804600856574994},{"time":6.934961416057406,"velocity":2.0396627295203933,"acceleration":-0.23250901535791824,"pose":{"translation":{"x":6.703159690459318,"y":-3.124087096566385},"rotation":{"radians":-2.2426572650122534}},"curvature":-0.3939426271037454},{"time":6.984119373926814,"velocity":2.0282330611391712,"acceleration":-0.4066411093481531,"pose":{"translation":{"x":6.639375321638473,"y":-3.201083846607489},"rotation":{"radians":-2.2829051352219554}},"curvature":-0.4135554559320614},{"time":7.032274040734683,"velocity":2.0086513940081283,"acceleration":-0.5601174331114694,"pose":{"translation":{"x":6.574362094652327,"y":-3.2733376866371167},"rotation":{"radians":-2.3246374483086463}},"curvature":-0.44767553755217004},{"time":7.0789161085418355,"velocity":1.982526358712975,"acceleration":-0.6104661803322112,"pose":{"translation":{"x":6.509210250247255,"y":-3.33981192352289},"rotation":{"radians":-2.368383094298645}},"curvature":-0.4942466026977083},{"time":7.123604314065486,"velocity":1.9552457205810514,"acceleration":-0.36930430409290604,"pose":{"translation":{"x":6.444875540780211,"y":-3.3998334074840555},"rotation":{"radians":-2.4140852904905397}},"curvature":-0.5442059822759803},{"time":7.1659297171358896,"velocity":1.9396147670546842,"acceleration":0.5424902817998473,"pose":{"translation":{"x":6.382075178675326,"y":-3.4532199421446244},"rotation":{"radians":-2.460411612176476}},"curvature":-0.5734644428244412},{"time":7.205428371328175,"velocity":1.9610424030981717,"acceleration":2.012810161156403,"pose":{"translation":{"x":6.321183784880509,"y":-3.50040769458651},"rotation":{"radians":-2.503723296931027}},"curvature":-0.5334741466496149},{"time":7.241754896631086,"velocity":2.0341608023473774,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.2621293373240565,"y":-3.5425786054026696},"rotation":{"radians":-2.5370682674920406}},"curvature":-0.355465979442046},{"time":7.276927899454712,"velocity":1.9391936947235873,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.20428911937125,"y":-3.581787798750241},"rotation":{"radians":-2.550498869779899}},"curvature":-2.0041162309842205E-14},{"time":7.314094801464491,"velocity":1.8388430592971852,"acceleration":-2.3656999455291965,"pose":{"translation":{"x":6.1455756528983585,"y":-3.6202849031507287},"rotation":{"radians":-2.5810778902663687}},"curvature":-0.7740322828866492},{"time":7.355843431134322,"velocity":1.740078328361347,"acceleration":1.0568457627855428,"pose":{"translation":{"x":6.081014413692478,"y":-3.657875616128135},"rotation":{"radians":-2.650222401904124}},"curvature":-0.9931468482537387},{"time":7.402508599409294,"velocity":1.789396213722425,"acceleration":1.8832256894775314,"pose":{"translation":{"x":6.006910618547814,"y":-3.693798313724554},"rotation":{"radians":-2.728581101065252}},"curvature":-0.8807091464050039},{"time":7.452439742691663,"velocity":1.8834278254567665,"acceleration":1.7374992147329629,"pose":{"translation":{"x":5.921611728162764,"y":-3.72744228421833},"rotation":{"radians":-2.8001704201782855}},"curvature":-0.6826471238867825},{"time":7.504937488793603,"velocity":1.974642618084138,"acceleration":1.328678159875871,"pose":{"translation":{"x":5.825170328001929,"y":-3.7583400106257225},"rotation":{"radians":-2.8599842463258547}},"curvature":-0.5085423768134277},{"time":7.559513932274185,"velocity":2.0471571465804868,"acceleration":0.9422846597455128,"pose":{"translation":{"x":5.719007009158103,"y":-3.786159453202566},"rotation":{"radians":-2.9083153747522816}},"curvature":-0.3812014033823649},{"time":7.615484840011116,"velocity":2.099897674333029,"acceleration":0.6491304635306276,"pose":{"translation":{"x":5.605573249214286,"y":-3.810696331945939},"rotation":{"radians":-2.9471349585800812}},"curvature":-0.29410945977319236},{"time":7.671876999798833,"velocity":2.136503543155523,"acceleration":0.44043118476142995,"pose":{"translation":{"x":5.488014293105676,"y":-3.8318664090958237},"rotation":{"radians":-2.9785592103622154}},"curvature":-0.2361890274327063},{"time":7.727499918070625,"velocity":2.161001610949856,"acceleration":0.2908042479467262,"pose":{"translation":{"x":5.3698320339816705,"y":-3.8496977716367717},"rotation":{"radians":-3.0043765489224143}},"curvature":-0.19852246821000108},{"time":7.781081874531097,"velocity":2.176583471501858,"acceleration":0.18033842676273015,"pose":{"translation":{"x":5.2545478940678665,"y":-3.8643231137995686},"rotation":{"radians":-3.0259756603993404}},"curvature":-0.1750060203991092},{"time":7.831423770320095,"velocity":2.185662049788699,"acceleration":0.10654186503149603,"pose":{"translation":{"x":5.145365705528065,"y":-3.875972019562896},"rotation":{"radians":-3.044381866595279}},"curvature":-0.16145904536965636},{"time":7.877551231668414,"velocity":2.1905765555499173,"acceleration":0.11069427595127354,"pose":{"translation":{"x":5.044834591326266,"y":-3.884963245154996},"rotation":{"radians":-3.0602822685328723}},"curvature":-0.15417250748249106},{"time":7.918854962025969,"velocity":2.1951486420759334,"acceleration":0.33903496212299516,"pose":{"translation":{"x":4.954511846088667,"y":-3.8916970015553356},"rotation":{"radians":-3.0739754172741933}},"curvature":-0.1474229562553604},{"time":7.955214753971354,"velocity":2.207475882760937,"acceleration":1.0532808429328984,"pose":{"translation":{"x":4.874625816965672,"y":-3.8966472369962704},"rotation":{"radians":-3.0852012459851825}},"curvature":-0.12936415990482375},{"time":7.987127909354814,"velocity":2.241089397963876,"acceleration":0.2478631575843156,"pose":{"translation":{"x":4.803738784493884,"y":-3.9003539194647074},"rotation":{"radians":-3.0929329219149007}},"curvature":-0.08113145595874004},{"time":8.016263484715383,"velocity":2.2483110336707828,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.738409843458109,"y":-3.90341531920377},"rotation":{"radians":-3.0957023861370496}},"curvature":5.752531516428374E-14},{"time":8.045845916402033,"velocity":2.1684384681168263,"acceleration":-1.3736871115877265,"pose":{"translation":{"x":4.673142690399473,"y":-3.9062595083966745},"rotation":{"radians":-3.102439159130292}},"curvature":-0.18725645976165164},{"time":8.07874295745063,"velocity":2.1232482268189954,"acceleration":0.08568869427562471,"pose":{"translation":{"x":4.602585537891656,"y":-3.9084740303872136},"rotation":{"radians":-3.11879561343087}},"curvature":-0.25693188259773286},{"time":8.116056023336641,"velocity":2.126445534714188,"acceleration":0.39044500618724515,"pose":{"translation":{"x":4.523307213431839,"y":-3.9094677117890835},"rotation":{"radians":-3.13924053691307}},"curvature":-0.25190484362275367},{"time":8.15806035014314,"velocity":2.142845914354042,"acceleration":0.30488608859334726,"pose":{"translation":{"x":4.433646145171597,"y":-3.9086998002051176},"rotation":{"radians":3.1224991407718035}},"curvature":-0.2263548073927352},{"time":8.204696215630106,"velocity":2.157064540970529,"acceleration":0.15005393168389114,"pose":{"translation":{"x":4.333426330301019,"y":-3.9056892347360286},"rotation":{"radians":3.100990348291293}},"curvature":-0.20451813832447602},{"time":8.255554723620218,"velocity":2.164696060054022,"acceleration":0.0076180955233641065,"pose":{"translation":{"x":4.223673303432856,"y":-3.900023916489157},"rotation":{"radians":3.079260588744177}},"curvature":-0.1929161144725618},{"time":8.30990444308626,"velocity":2.1651101014085823,"acceleration":-0.11776906998948802,"pose":{"translation":{"x":4.106330104986662,"y":-3.8913699790872207},"rotation":{"radians":3.0567049631658985}},"curvature":-0.19228899594229396},{"time":8.366771538314975,"velocity":2.158412916490493,"acceleration":-0.23750598253322627,"pose":{"translation":{"x":3.983973249572929,"y":-3.8794810591770617},"rotation":{"radians":3.03254796823495}},"curvature":-0.20246226659733887},{"time":8.42504658706031,"velocity":2.144572243781061,"acceleration":-0.3599114572989778,"pose":{"translation":{"x":3.859528694377237,"y":-3.8642075669383993},"rotation":{"radians":3.0059489807228075}},"curvature":-0.22368810300661898},{"time":8.48359686723591,"velocity":2.123499327117797,"acceleration":-0.4785171176945513,"pose":{"translation":{"x":3.735987807544391,"y":-3.8455059565925755},"rotation":{"radians":2.9760741737550362}},"curvature":-0.25653653677209526},{"time":8.541367397154856,"velocity":2.0958551396532967,"acceleration":-0.5509477376681903,"pose":{"translation":{"x":3.6161233365625622,"y":-3.8234479969113067},"rotation":{"radians":2.942238637545765}},"curvature":-0.30062990401586714},{"time":8.597450602705921,"velocity":2.064956224433757,"acceleration":-0.45698322014401505,"pose":{"translation":{"x":3.502205376647432,"y":-3.7982300417254296},"rotation":{"radians":2.904244367993409}},"curvature":-0.351311927664031},{"time":8.651096978729603,"velocity":2.040440730769398,"acceleration":0.06748462680653039,"pose":{"translation":{"x":3.3957173391263327,"y":-3.7701823004336545},"rotation":{"radians":2.863091335959043}},"curvature":-0.3926155969979715},{"time":8.701644128602119,"velocity":2.0438518863146786,"acceleration":1.4952127109127653,"pose":{"translation":{"x":3.297071919822387,"y":-3.7397781085113113},"rotation":{"radians":2.8222146764304568}},"curvature":-0.3868091436017496},{"time":8.748406388018456,"velocity":2.113771410984984,"acceleration":1.8178416130401143,"pose":{"translation":{"x":3.2053270674386547,"y":-3.707643198019099},"rotation":{"radians":2.7889904832837376}},"curvature":-0.2719213594896334},{"time":8.791817309442656,"velocity":2.1926855904103104,"acceleration":-2.699999999999993,"pose":{"translation":{"x":3.1179019519422675,"y":-3.674564968111836},"rotation":{"radians":2.775017263745636}},"curvature":5.555636513999933E-14},{"time":8.83490974841496,"velocity":2.076336005185089,"acceleration":-2.7000000000000077,"pose":{"translation":{"x":3.032085471018529,"y":-3.6414577666328536},"rotation":{"radians":2.770055381101418}},"curvature":-0.11286152944770401},{"time":8.878513865233275,"velocity":1.9586048897756354,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.9503441416583076,"y":-3.6089450156323597},"rotation":{"radians":2.7536758260889855}},"curvature":-0.27208070917082944},{"time":8.921434167698497,"velocity":1.8427200731195394,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.875267467016627,"y":-3.5770341827551317},"rotation":{"radians":2.722414362169733}},"curvature":-0.5143465363980968},{"time":8.96307269855109,"velocity":1.7302960398175387,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.8080346625269756,"y":-3.5452024266914406},"rotation":{"radians":2.672105847864021}},"curvature":-0.8603127629942426},{"time":9.003527017997108,"velocity":1.6210693773132887,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":2.748646117497848,"y":-3.512517636727527},"rotation":{"radians":2.600232702549686}},"curvature":-1.2658299885836186},{"time":9.023564616980435,"velocity":1.566967860058305,"acceleration":-2.0596474726012604,"pose":{"translation":{"x":2.7216281899236057,"y":-3.4954819469091496},"rotation":{"radians":2.556865522799998}},"curvature":-1.443836171776409},{"time":9.04363307058669,"velocity":1.5256339203091656,"acceleration":-0.6573260863566193,"pose":{"translation":{"x":2.6961548567092852,"y":-3.4777594722960856},"rotation":{"radians":2.5099776973389076}},"curvature":-1.566574217223456},{"time":9.063698536519812,"velocity":1.5124443661164246,"acceleration":0.8986684176744735,"pose":{"translation":{"x":2.6719976944130024,"y":-3.459172492454056},"rotation":{"radians":2.4613721799202386}},"curvature":-1.607151522084913},{"time":9.083624460333473,"velocity":1.5303511645407493,"acceleration":2.7000000000000477,"pose":{"translation":{"x":2.6488980020094117,"y":-3.439540402526746},"rotation":{"radians":2.413236314979923}},"curvature":-1.5522315555686552},{"time":9.12261600734865,"velocity":1.6356283414817314,"acceleration":2.7000000000000344,"pose":{"translation":{"x":2.6047282339109703,"y":-3.396426745796559},"rotation":{"radians":2.3270293425820476}},"curvature":-1.1997409996121213},{"time":9.161583680769773,"velocity":1.740841059718764,"acceleration":2.699999999999959,"pose":{"translation":{"x":2.5612452531878587,"y":-3.347059709280473},"rotation":{"radians":2.2640848799056523}},"curvature":-0.720446902504845},{"time":9.202013166900734,"velocity":1.8500006722723548,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.516027242471667,"y":-3.290276428501821},"rotation":{"radians":2.227299077749181}},"curvature":-0.3240543162883794},{"time":9.244753559356251,"velocity":1.9653997319022514,"acceleration":2.699999999999988,"pose":{"translation":{"x":2.466862327848214,"y":-3.2252310068828027},"rotation":{"radians":2.2120848389373875}},"curvature":-0.07851049879752345},{"time":9.290101157186852,"velocity":2.087838246044875,"acceleration":2.6999999999999575,"pose":{"translation":{"x":2.4119800404540834,"y":-3.151515555294964},"rotation":{"radians":2.2112974228715205}},"curvature":0.04220159268620264},{"time":9.337866249861786,"velocity":2.216803996267195,"acceleration":0.459334314347453,"pose":{"translation":{"x":2.3502827780731606,"y":-3.0692812316096827},"rotation":{"radians":2.218339339381831}},"curvature":0.08437326669879004},{"time":9.388647971891912,"velocity":2.2401297837372853,"acceleration":0.3759886471361723,"pose":{"translation":{"x":2.28157726673317,"y":-2.979359280248649},"rotation":{"radians":2.2280841010135837}},"curvature":0.08248835377141178},{"time":9.4427142263372,"velocity":2.2604580816018895,"acceleration":-1.6064368024778033,"pose":{"translation":{"x":2.20680602230221,"y":-2.8833820717343475},"rotation":{"radians":2.2366024949997456}},"curvature":0.05399036549811666},{"time":9.49994523777653,"velocity":2.168520078582722,"acceleration":-2.700000000000007,"pose":{"translation":{"x":2.1282788120852905,"y":-2.783904142240543},"rotation":{"radians":2.2403363702861174}},"curvature":-5.254177795721726E-15},{"time":9.529954724088658,"velocity":2.087494465539974,"acceleration":-2.7,"pose":{"translation":{"x":2.088504163262909,"y":-2.7339428707297015},"rotation":{"radians":2.248677809795087}},"curvature":0.2530253975235073},{"time":9.561220291342831,"velocity":2.0030774339537074,"acceleration":-2.608972651832719,"pose":{"translation":{"x":2.047884401641002,"y":-2.6845540357028312},"rotation":{"radians":2.271653576822898}},"curvature":0.4575098583051401},{"time":9.59392452646196,"velocity":1.9177529789287941,"acceleration":-1.6709703625486125,"pose":{"translation":{"x":2.0057373901637168,"y":-2.6362402797734803},"rotation":{"radians":2.3062897982133093}},"curvature":0.6151859855546158},{"time":9.627996790254876,"velocity":1.8608192359458933,"acceleration":-0.9834123516028236,"pose":{"translation":{"x":1.9615475627238361,"y":-2.589431666064506},"rotation":{"radians":2.349772885019963}},"curvature":0.7284405487474199},{"time":9.663111757886918,"velocity":1.8262867430504104,"acceleration":-0.4626327291885851,"pose":{"translation":{"x":1.9149535813138847,"y":-2.5444895934128366},"rotation":{"radians":2.3994826920817993}},"curvature":0.8005741481242076},{"time":9.698981302787022,"velocity":1.8096923175985227,"acceleration":-0.06494610974525346,"pose":{"translation":{"x":1.8657359931772304,"y":-2.5017107115742285},"rotation":{"radians":2.4530418621564634}},"curvature":0.8362169089948386},{"time":9.73535529982266,"velocity":1.8073299679951726,"acceleration":0.2338337438143644,"pose":{"translation":{"x":1.8138048879591864,"y":-2.461330836428023},"rotation":{"radians":2.508375540169265}},"curvature":0.8413441626379752},{"time":9.772020452552526,"velocity":1.815903517925523,"acceleration":0.44940633658971924,"pose":{"translation":{"x":1.7591875548581137,"y":-2.423528865181907},"rotation":{"radians":2.5637619658989754}},"curvature":0.8227997412446179},{"time":9.808796364644824,"velocity":1.8324308458536678,"acceleration":0.5946053039145364,"pose":{"translation":{"x":1.7020161397765223,"y":-2.388430691576669},"rotation":{"radians":2.617856593328412}},"curvature":0.7875411378042209},{"time":9.845528895431373,"velocity":1.8542722034855537,"acceleration":0.6817551959813489,"pose":{"translation":{"x":1.642515302472175,"y":-2.356113121090956},"rotation":{"radians":2.6696829227994283}},"curvature":0.7419099920043581},{"time":9.882081792298706,"velocity":1.8791923308530278,"acceleration":0.7231264496153738,"pose":{"translation":{"x":1.5809898737091874,"y":-2.326607786146035},"rotation":{"radians":2.7185943126666094}},"curvature":0.691142189642667},{"time":9.918328063845387,"velocity":1.9054029685083733,"acceleration":0.7304928401007427,"pose":{"translation":{"x":1.5178125124091317,"y":-2.2999050613105476},"rotation":{"radians":2.7642175977215304}},"curvature":0.6391782172242734},{"time":9.954142446362853,"velocity":1.9315651185100124,"acceleration":0.7144980901560469,"pose":{"translation":{"x":1.4534113628021383,"y":-2.275957978505269},"rotation":{"radians":2.80639040012764}},"curvature":0.5887167277248886},{"time":9.989395848739957,"velocity":1.9567536071799558,"acceleration":0.6842334488183044,"pose":{"translation":{"x":1.3882577115779975,"y":-2.254686142207866},"rotation":{"radians":2.8451013810664927}},"curvature":0.541408199319606},{"time":10.023952123372306,"velocity":1.9803981661499606,"acceleration":-0.8192776076091753,"pose":{"translation":{"x":1.3228536450372623,"y":-2.2359796446576556},"rotation":{"radians":2.8804387921831283}},"curvature":0.49809448926883654},{"time":10.05809393147405,"velocity":1.9524265472889117,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.2577197062423502,"y":-2.219702981060362},"rotation":{"radians":2.912549247266975}},"curvature":0.4590318774935471},{"time":10.092643274133406,"velocity":1.859143322108649,"acceleration":-2.7,"pose":{"translation":{"x":1.1933825521686448,"y":-2.205698964792875},"rotation":{"radians":2.941606323203539}},"curvature":0.4240664255042592},{"time":10.12805058875487,"velocity":1.7635435726306945,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":1.130362610855599,"y":-2.193792642608006},"rotation":{"radians":2.9677873909315675}},"curvature":0.3927514294466261},{"time":10.201019296741135,"velocity":1.5665280610677819,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":1.010250876896254,"y":-2.1755079256055416},"rotation":{"radians":3.012152471714486}},"curvature":0.3381222170040531},{"time":10.27608290136938,"velocity":1.3638563285715237,"acceleration":-2.7,"pose":{"translation":{"x":0.9009543217031921,"y":-2.1632426493747388},"rotation":{"radians":3.046588200349112}},"curvature":0.28656029902186747},{"time":10.352315721082679,"velocity":1.1580277153456153,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.8051531573109261,"y":-2.15535694035665},"rotation":{"radians":3.0713285346069763}},"curvature":0.22265503989112376},{"time":10.429214563960768,"velocity":0.9504008395747748,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.7242430192848728,"y":-2.150302518663862},"rotation":{"radians":3.085698064550936}},"curvature":0.11904913786277567},{"time":10.507864658492108,"velocity":0.7380455843401534,"acceleration":-2.7,"pose":{"translation":{"x":0.6579399955566196,"y":-2.146747984632749},"rotation":{"radians":3.08846340825028}},"curvature":-0.053448804678096894},{"time":10.781214874914388,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":1.2,"y":-3.8989},"rotation":{"radians":0.004108833384974638}},"curvature":0.0},{"time":0.29709761596497913,"velocity":0.8021635631054437,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.319125003859177,"y":-3.895994112837862},"rotation":{"radians":0.06332117747185143}},"curvature":0.9404127354407168},{"time":0.3634771886989251,"velocity":0.9813884094870978,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.3780548762701945,"y":-3.8903903556079724},"rotation":{"radians":0.12973079786848885}},"curvature":1.288471027623206},{"time":0.4193819708346928,"velocity":1.1323313212536705,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.4362813723612744,"y":-3.880363514122339},"rotation":{"radians":0.21379382953335535}},"curvature":1.5379473615584498},{"time":0.4447737608188478,"velocity":1.2008891542108888,"acceleration":2.7000000000000046,"pose":{"translation":{"x":1.4650755569841287,"y":-3.873408163559265},"rotation":{"radians":0.2606347877039414}},"curvature":1.6191280602931086},{"time":0.4688978462654137,"velocity":1.266024184916617,"acceleration":2.7,"pose":{"translation":{"x":1.4936311497114172,"y":-3.8650416530209055},"rotation":{"radians":0.30963950446443733}},"curvature":1.6689912706681056},{"time":0.49199609957395724,"velocity":1.3283894688496845,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.5219309071259273,"y":-3.855196969354036},"rotation":{"radians":0.36000759824852446}},"curvature":1.6874719181589433},{"time":0.5142629448033692,"velocity":1.3885099509690968,"acceleration":2.700000000000009,"pose":{"translation":{"x":1.5499592613255109,"y":-3.8438225935589716},"rotation":{"radians":0.4109562423621011}},"curvature":1.6761065958158325},{"time":0.535856753610427,"velocity":1.4468132347481528,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.5777022703235555,"y":-3.830881817972102},"rotation":{"radians":0.46174995766032023}},"curvature":1.637952032956703},{"time":0.5569070925195405,"velocity":1.5036491498027593,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6051475684494576,"y":-3.81635206344843},"rotation":{"radians":0.5117275701819729}},"curvature":1.577253908288926},{"time":0.5775196028180951,"velocity":1.5593029276088566,"acceleration":2.7000000000000033,"pose":{"translation":{"x":1.6322843167490948,"y":-3.8002241965441135},"rotation":{"radians":0.5603225641917424}},"curvature":1.498958283398428},{"time":0.5977795212115045,"velocity":1.614004707271062,"acceleration":2.699999999999996,"pose":{"translation":{"x":1.6591031533852991,"y":-3.782501846699001},"rotation":{"radians":0.6070746884332126}},"curvature":1.4081844295684185},{"time":0.6374874410442284,"velocity":1.7212160908194165,"acceleration":2.699999999999994,"pose":{"translation":{"x":1.7117567323063447,"y":-3.74234793345947},"rotation":{"radians":0.6937481559052255}},"curvature":1.2079145677245313},{"time":0.6764103037147616,"velocity":1.8263078200298561,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.7630610680722976,"y":-3.6961486698589225},"rotation":{"radians":0.7701100087846833}},"curvature":1.0067785721860727},{"time":0.7147287597124301,"velocity":1.929767651223561,"acceleration":2.699999999999993,"pose":{"translation":{"x":1.812989383044381,"y":-3.644322907847983},"rotation":{"radians":0.8357650833021512}},"curvature":0.8224715406425902},{"time":0.7524874292136986,"velocity":2.031716058876986,"acceleration":2.6999999999999917,"pose":{"translation":{"x":1.861533771900466,"y":-3.5874281550400466},"rotation":{"radians":0.8910942552515393}},"curvature":0.6620495442159005},{"time":0.7896364999892856,"velocity":2.1320185499710704,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9087036144501965,"y":-3.5261387245525198},"rotation":{"radians":0.9368579528495913}},"curvature":0.5258301545702202},{"time":0.8260647497495172,"velocity":2.2303748243236954,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9545239884501178,"y":-3.461223884848053},"rotation":{"radians":0.9739241780378078}},"curvature":0.4107208350203319},{"time":0.8616248463890672,"velocity":2.3263870852504804,"acceleration":2.699999999999994,"pose":{"translation":{"x":1.9990340824188015,"y":-3.3935260095757793},"rotation":{"radians":1.0031077282189704}},"curvature":0.3123064912407833},{"time":0.896152215727434,"velocity":2.4196109824640706,"acceleration":1.8579155108121959,"pose":{"translation":{"x":2.0422856084519743,"y":-3.323938727412549},"rotation":{"radians":1.0250863218326218}},"curvature":0.22589415421832532},{"time":0.9296673427478227,"velocity":2.4818792568020918,"acceleration":1.8406619016338839,"pose":{"translation":{"x":2.084341215037642,"y":-3.2533850719041673},"rotation":{"radians":1.0403620201761248}},"curvature":0.14689280070982286},{"time":0.9621535957970436,"velocity":2.5416754651166302,"acceleration":-1.5156473217263418,"pose":{"translation":{"x":2.1252728998712183,"y":-3.1827956313066275},"rotation":{"radians":1.04924578839174}},"curvature":0.07082493379828503},{"time":0.9940559185345925,"velocity":2.493322795102615,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":2.165160422670651,"y":-3.1130866984273515},"rotation":{"radians":1.0518519823851393}},"curvature":-0.00684996957774159},{"time":1.0260169010855418,"velocity":2.4070281422150517,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":2.204089717991548,"y":-3.0451384204664222},"rotation":{"radians":1.0480964091201082}},"curvature":-0.09099832498022228},{"time":1.0580155954357278,"velocity":2.32063166746955,"acceleration":-2.700000000000009,"pose":{"translation":{"x":2.2421513080423052,"y":-2.9797729488578217},"rotation":{"radians":1.037697155787625}},"curvature":-0.18708498945111363},{"time":1.0897943361389777,"velocity":2.234829067570775,"acceleration":-2.699999999999994,"pose":{"translation":{"x":2.2794387154992313,"y":-2.917732589110667},"rotation":{"radians":1.0201832337677528}},"curvature":-0.30134072491305497},{"time":1.1211047631611442,"velocity":2.1502909146109257,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":2.3160468763216766,"y":-2.859657950650443},"rotation":{"radians":0.994924284760165}},"curvature":-0.44057954487657847},{"time":1.151723678947343,"velocity":2.067619841988189,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":2.3520705525671572,"y":-2.806066096660249},"rotation":{"radians":0.9612073786234693}},"curvature":-0.6111499055302975},{"time":1.18147262789685,"velocity":1.9872976798245203,"acceleration":-2.7,"pose":{"translation":{"x":2.387602745206485,"y":-2.7573286939220187},"rotation":{"radians":0.9184053722272453}},"curvature":-0.8160750127838222},{"time":1.2102405411792316,"velocity":1.9096243139620896,"acceleration":-2.7,"pose":{"translation":{"x":2.4227331069388924,"y":-2.7136501626577716},"rotation":{"radians":0.8663007175432595}},"curvature":-1.0490688761390448},{"time":1.2380073002898364,"velocity":1.834654064363457,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.4575463550071577,"y":-2.675045826370841},"rotation":{"radians":0.8056283721189894}},"curvature":-1.2847145606923638},{"time":1.2648640933457342,"velocity":1.7621407231125326,"acceleration":-0.6268925403961281,"pose":{"translation":{"x":2.492120684012733,"y":-2.641320061687108},"rotation":{"radians":0.7388345424455134}},"curvature":-1.467524919306368},{"time":1.2906186300075222,"velocity":1.7459953961978991,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.5265261787308733,"y":-2.612044448196251},"rotation":{"radians":0.6708625335016143}},"curvature":-1.5096355260393768},{"time":1.3146526532358107,"velocity":1.810887258914278,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.560823226925759,"y":-2.5865359182929577},"rotation":{"radians":0.6095213780164933}},"curvature":-1.3110095111258289},{"time":1.3581350711855478,"velocity":1.9282897873785678,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.6292755266378887,"y":-2.542683501900406},"rotation":{"radians":0.5478635315018408}},"curvature":1.3501091035147945E-14},{"time":1.3989765883736436,"velocity":2.0385618837864263,"acceleration":1.811010510766504,"pose":{"translation":{"x":2.698768768327257,"y":-2.5010580181853403},"rotation":{"radians":0.524377516036421}},"curvature":-0.5235840943833882},{"time":1.4402165935903284,"velocity":2.113247966697908,"acceleration":0.5239081543999128,"pose":{"translation":{"x":2.7739763508999244,"y":-2.4601563297471514},"rotation":{"radians":0.4692180123183072}},"curvature":-0.7109062041526689},{"time":1.4842526069716395,"velocity":2.1363187931956404,"acceleration":1.496758994236046,"pose":{"translation":{"x":2.858789235812045,"y":-2.4206398009366765},"rotation":{"radians":0.40351119675200897}},"curvature":-0.6698976016005426},{"time":1.5319509117693713,"velocity":2.2077116599114577,"acceleration":1.4969916277297362,"pose":{"translation":{"x":2.9553486197899885,"y":-2.3830958982739316},"rotation":{"radians":0.3402676864110172}},"curvature":-0.5484260031508454},{"time":1.582917390045619,"velocity":2.2840080511858702,"acceleration":1.1900487175223526,"pose":{"translation":{"x":3.064309248940167,"y":-2.348031819945457},"rotation":{"radians":0.28473190004661314}},"curvature":-0.4270054092540658},{"time":1.636887900135665,"velocity":2.3482355875025567,"acceleration":0.9386772872102839,"pose":{"translation":{"x":3.1851027328588524,"y":-2.315868125301656},"rotation":{"radians":0.23773112244649905}},"curvature":-0.33090830408661487},{"time":1.664874038463807,"velocity":2.3745055399079087,"acceleration":0.7885148217211465,"pose":{"translation":{"x":3.2494895219224436,"y":-2.3009800886108662},"rotation":{"radians":0.2171540078139626}},"curvature":-0.2931012558794788},{"time":1.693449423836644,"velocity":2.3970376548107843,"acceleration":0.6578625151334531,"pose":{"translation":{"x":3.3162008587420004,"y":-2.286932364354142},"rotation":{"radians":0.19829191548431246}},"curvature":-0.26133381345408546},{"time":1.7225321691442963,"velocity":2.416170102785862,"acceleration":0.5467940071504515,"pose":{"translation":{"x":3.3849389444381117,"y":-2.2737503184131573},"rotation":{"radians":0.18096053247466676}},"curvature":-0.2348246198872223},{"time":1.7520282379331034,"velocity":2.4322983764340793,"acceleration":0.4538284417766532,"pose":{"translation":{"x":3.4553789054950723,"y":-2.261452707273078},"rotation":{"radians":0.16498353828641116}},"curvature":-0.2128018538405456},{"time":1.7818338447360365,"velocity":2.445825008525662,"acceleration":0.3769556307818043,"pose":{"translation":{"x":3.5271770223268173,"y":-2.250051478944357},"rotation":{"radians":0.1501988655405568}},"curvature":-0.19455551294946014},{"time":1.811838254689421,"velocity":2.457135339805876,"acceleration":0.3142278380828824,"pose":{"translation":{"x":3.5999789578428536,"y":-2.2395515738845226},"rotation":{"radians":0.1364619656538328}},"curvature":-0.17945300045050014},{"time":1.841926795423305,"velocity":2.466589996911753,"acceleration":0.2640959540389889,"pose":{"translation":{"x":3.6734279860141923,"y":-2.229950725919974},"rotation":{"radians":0.12364745794930061}},"curvature":-0.16693462201112538},{"time":1.8719839570526824,"velocity":2.4745279716879676,"acceleration":0.22561199982549998,"pose":{"translation":{"x":3.7471732204392794,"y":-2.221239263167771},"rotation":{"radians":0.11165008088892017}},"curvature":-0.15649827000254604},{"time":1.9018964980873763,"velocity":2.481276599890667,"acceleration":0.19857427643312273,"pose":{"translation":{"x":3.820877842909928,"y":-2.2133999089574266},"rotation":{"radians":0.10038555770059743}},"curvature":-0.14767811346271265},{"time":1.9315565030277948,"velocity":2.4871663139107136,"acceleration":0.1836549193262586,"pose":{"translation":{"x":3.894227331977251,"y":-2.206407582752699},"rotation":{"radians":0.08979178518685098}},"curvature":-0.14001963423666225},{"time":1.9608643575437104,"velocity":2.49254884556746,"acceleration":0.18251530328799326,"pose":{"translation":{"x":3.966937691517594,"y":-2.200229201073384},"rotation":{"radians":0.07983060795182051}},"curvature":-0.1330523035174579},{"time":1.989731625271403,"velocity":2.4978175636918754,"acceleration":0.19787289528821142,"pose":{"translation":{"x":4.038763679298464,"y":-2.194823478417106},"rotation":{"radians":0.07049030736636827}},"curvature":-0.12626137890300926},{"time":2.0180838323570227,"velocity":2.503427696995718,"acceleration":0.2334229553385241,"pose":{"translation":{"x":4.109507035544462,"y":-2.1901407281811105},"rotation":{"radians":0.06178877053517663}},"curvature":-0.11906182229714836},{"time":2.0458631982994553,"velocity":2.509912038691431,"acceleration":0.2934325430693298,"pose":{"translation":{"x":4.179024711503221,"y":-2.186122663584057},"rotation":{"radians":0.0537770602577721}},"curvature":-0.1107804811530435},{"time":2.073031400677323,"velocity":2.517884073405791,"acceleration":0.38172112366287414,"pose":{"translation":{"x":4.247237098011327,"y":-2.1827021985878092},"rotation":{"radians":0.04654273244249896}},"curvature":-0.1006576198484561},{"time":2.099572530736117,"velocity":2.528015383395116,"acceleration":0.4996736523415779,"pose":{"translation":{"x":4.314136254060261,"y":-2.179803248819228},"rotation":{"radians":0.040211708968775656}},"curvature":-0.08788504376476047},{"time":2.1254964821932805,"velocity":2.5409688989028427,"acceleration":0.6430384120458892,"pose":{"translation":{"x":4.379794135362326,"y":-2.1773405324919635},"rotation":{"radians":0.0349468363436207}},"curvature":-0.07170286757597748},{"time":2.1508430950506217,"velocity":2.5572677445853693,"acceleration":0.7978050690944549,"pose":{"translation":{"x":4.444370822916578,"y":-2.175219371328246},"rotation":{"radians":0.030940600658144104}},"curvature":-0.0515744499123752},{"time":2.1756873996050574,"velocity":2.5770886566970246,"acceleration":0.9367323305621157,"pose":{"translation":{"x":4.508122751574761,"y":-2.17333549148068},"rotation":{"radians":0.028399206083326658}},"curvature":-0.027439499357650856},{"time":2.2001461938149496,"velocity":2.599999999999996,"acceleration":-1.0988924234927802,"pose":{"translation":{"x":4.571410938607238,"y":-2.171574824454034},"rotation":{"radians":0.02751598928545683}},"curvature":4.488738472234247E-15},{"time":2.249336805406366,"velocity":2.5459448096152126,"acceleration":-0.7908951973145393,"pose":{"translation":{"x":4.697934096318457,"y":-2.168278654123249},"rotation":{"radians":0.02319375097788279}},"curvature":-0.0655304886148217},{"time":2.2996120097082704,"velocity":2.5061823919888293,"acceleration":-0.6191048137237141,"pose":{"translation":{"x":4.824912119538853,"y":-2.166005775191254},"rotation":{"radians":0.011544987021979604}},"curvature":-0.11553848573774779},{"time":2.3250871235235153,"velocity":2.4904106263956516,"acceleration":-0.5377380173783588,"pose":{"translation":{"x":4.888554647082707,"y":-2.1655191531411533},"rotation":{"radians":0.0035320878734035866}},"curvature":-0.1358164809593501},{"time":2.3507226242664516,"velocity":2.4766254430516437,"acceleration":-0.47957908129276355,"pose":{"translation":{"x":4.952220844489048,"y":-2.1655819988722294},"rotation":{"radians":-0.005696508771808356}},"curvature":-0.15375182010748348},{"time":2.3764660051321376,"velocity":2.4642794561067083,"acceleration":-0.44278689337421034,"pose":{"translation":{"x":5.015814960302247,"y":-2.1662663855315065},"rotation":{"radians":-0.015998196113559796}},"curvature":-0.16998500983069936},{"time":2.402259967587596,"velocity":2.4528582276032447,"acceleration":-0.42628154279026226,"pose":{"translation":{"x":5.079216467531994,"y":-2.167632918710713},"rotation":{"radians":-0.027262558121414673}},"curvature":-0.18514778706686408},{"time":2.4537532142006793,"velocity":2.43090760699374,"acceleration":-0.46362554174003767,"pose":{"translation":{"x":5.204858776475755,"y":-2.172600647366536},"rotation":{"radians":-0.0523909664401962}},"curvature":-0.21468940257938685},{"time":2.5047003269142523,"velocity":2.407287224261819,"acceleration":-0.5713393629811453,"pose":{"translation":{"x":5.327834381876292,"y":-2.180760553399752},"rotation":{"radians":-0.08078599269039609}},"curvature":-0.24707999598711222},{"time":2.5545945180592495,"velocity":2.378780708876577,"acceleration":-0.7554281976104242,"pose":{"translation":{"x":5.4466799483402575,"y":-2.192237998055572},"rotation":{"radians":-0.11255847476058888}},"curvature":-0.28702754622958165},{"time":2.6029683938831156,"velocity":2.342237719051523,"acceleration":-1.0245971347836125,"pose":{"translation":{"x":5.559905425827786,"y":-2.207025072049292},"rotation":{"radians":-0.14816728763784973}},"curvature":-0.33965920241526565},{"time":2.64943150029248,"velocity":2.294631753351342,"acceleration":-1.3745336428091774,"pose":{"translation":{"x":5.666117280955281,"y":-2.224997332351231},"rotation":{"radians":-0.18835271468938253}},"curvature":-0.41073892882605506},{"time":2.6937007222893192,"velocity":2.2337822183756986,"acceleration":-1.7500638631798546,"pose":{"translation":{"x":5.764141728298207,"y":-2.2459305389716566},"rotation":{"radians":-0.23401687887436487}},"curvature":-0.5060035780742472},{"time":2.7356096253889635,"velocity":2.1604389615155046,"acceleration":-1.9719061993650715,"pose":{"translation":{"x":5.853147961693881,"y":-2.2695173917457208},"rotation":{"radians":-0.2859500739230798}},"curvature":-0.627960287715812},{"time":2.7750715355518216,"velocity":2.0826237762265767,"acceleration":-1.6253662151380566,"pose":{"translation":{"x":5.932771385544261,"y":-2.295384267118391},"rotation":{"radians":-0.34421442232031285}},"curvature":-0.7667444379823636},{"time":2.811962050261009,"velocity":2.02266317995921,"acceleration":0.10833823583248309,"pose":{"translation":{"x":6.003236846118738,"y":-2.3231079549293803},"rotation":{"radians":-0.4069221233439239}},"curvature":-0.8809691021289714},{"time":2.845907052079652,"velocity":2.026340721571572,"acceleration":-1.5487514989492064,"pose":{"translation":{"x":6.065481862856924,"y":-2.3522323951980826},"rotation":{"radians":-0.4683135309792808}},"curvature":-0.8737688137213234},{"time":2.9084574720590073,"velocity":1.9294656648686437,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.173363396250724,"y":-2.4127954647941836},"rotation":{"radians":-0.5367484127672115}},"curvature":-2.903391847034948E-14},{"time":2.940574118558327,"velocity":1.8427507193204806,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.224982304937607,"y":-2.444495241442727},"rotation":{"radians":-0.5764282582506421}},"curvature":-1.1540316599461125},{"time":2.957966077470219,"velocity":1.795792430258372,"acceleration":-0.7613906525580817,"pose":{"translation":{"x":6.25116424030686,"y":-2.462261499741898},"rotation":{"radians":-0.6171640319801177}},"curvature":-1.3821876554380323},{"time":2.9764970199510565,"velocity":1.7816831438703709,"acceleration":1.8994417880749372,"pose":{"translation":{"x":6.2777414363166395,"y":-2.482069984423591},"rotation":{"radians":-0.6640197256696362}},"curvature":-1.41757490254722},{"time":2.9959542643483683,"velocity":1.8186410469594119,"acceleration":2.6999999999999917,"pose":{"translation":{"x":6.304789851626409,"y":-2.5043234669491707},"rotation":{"radians":-0.7123312334889522}},"curvature":-1.3260460116345416},{"time":3.016108614437041,"velocity":1.8730577921988278,"acceleration":2.6999999999999886,"pose":{"translation":{"x":6.3323605189784145,"y":-2.5293002426437545},"rotation":{"radians":-0.7588416147835273}},"curvature":-1.1692067989990527},{"time":3.0584175632676773,"velocity":1.9872919540415461,"acceleration":2.700000000000005,"pose":{"translation":{"x":6.389160466838086,"y":-2.5879749468302675},"rotation":{"radians":-0.8396355480271456}},"curvature":-0.8197325149445959},{"time":3.1032035337524477,"velocity":2.108214074350426,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.448129275914246,"y":-2.658213930442714},"rotation":{"radians":-0.90080465822567}},"curvature":-0.5335852060493672},{"time":3.1497151674276096,"velocity":2.2337954852733626,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.508987921107799,"y":-2.7387904505856744},"rotation":{"radians":-0.9436005744996104}},"curvature":-0.3288525301750348},{"time":3.1968735412096656,"velocity":2.3611230944849133,"acceleration":2.699999999999997,"pose":{"translation":{"x":6.5712562529808425,"y":-2.8274537089211957},"rotation":{"radians":-0.9708237114512432}},"curvature":-0.18253822265937034},{"time":3.2435001414339446,"velocity":2.487014915090467,"acceleration":1.9331206340568148,"pose":{"translation":{"x":6.634318894535542,"y":-2.9212513725812563},"rotation":{"radians":-0.9848254146660897}},"curvature":-0.06945787929470681},{"time":3.28877760301017,"velocity":2.5745417103211823,"acceleration":-1.8492704062235985,"pose":{"translation":{"x":6.697491137993012,"y":-3.0168520950802318},"rotation":{"radians":-0.9870141596239563}},"curvature":0.0305199825776752},{"time":3.3333621301789162,"velocity":2.4920928636525472,"acceleration":-2.0201888637838685,"pose":{"translation":{"x":6.760084841572189,"y":-3.110868037227362},"rotation":{"radians":-0.9778692190470775}},"curvature":0.13364137507847051},{"time":3.3776438786280676,"velocity":2.402635368566693,"acceleration":-2.3095986400218944,"pose":{"translation":{"x":6.821474326268714,"y":-3.2001773880392186},"rotation":{"radians":-0.9571507668382984}},"curvature":0.2535341421281802},{"time":3.420774666965019,"velocity":2.303020558480598,"acceleration":-2.382689964433467,"pose":{"translation":{"x":6.881162272633804,"y":-3.2822468856521687},"rotation":{"radians":-0.9243894656721248}},"curvature":0.3980004482334184},{"time":3.4621290003432765,"velocity":2.204486003354388,"acceleration":-2.380770354048247,"pose":{"translation":{"x":6.938845617553138,"y":-3.3554543382348445},"rotation":{"radians":-0.8800749499425368}},"curvature":0.5537445962513251},{"time":3.5014154749729904,"velocity":2.110953929240897,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.994481451025725,"y":-3.419411144900607},"rotation":{"radians":-0.8282500220310652}},"curvature":0.6495911285500853},{"time":3.5390906990725677,"velocity":2.0092308241720387,"acceleration":-2.700000000000004,"pose":{"translation":{"x":7.048352912942788,"y":-3.4752848166200163},"rotation":{"radians":-0.7806412204526001}},"curvature":0.5203850402347832},{"time":3.576504116343403,"velocity":1.9082145975407834,"acceleration":-2.7,"pose":{"translation":{"x":7.101135089866641,"y":-3.5261214971332895},"rotation":{"radians":-0.7589892102611842}},"curvature":-8.234293055758775E-14},{"time":3.615727092561577,"velocity":1.8023125617517124,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.1546990902151215,"y":-3.57537816469084},"rotation":{"radians":-0.7143570969023456}},"curvature":1.1287479346539633},{"time":3.6365508948473075,"velocity":1.74608829558024,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.183166014240794,"y":-3.5989283561483374},"rotation":{"radians":-0.6658480656154004}},"curvature":1.4712836027229392},{"time":3.658457774946321,"velocity":1.6869397193129028,"acceleration":-1.1337467010983542,"pose":{"translation":{"x":7.21340127846771,"y":-3.6212856702459906},"rotation":{"radians":-0.6063288857826997}},"curvature":1.6705322981067199},{"time":3.6814437695210134,"velocity":1.660879423792381,"acceleration":0.32361519278366635,"pose":{"translation":{"x":7.245721339827336,"y":-3.642162759710309},"rotation":{"radians":-0.5402395953075044}},"curvature":1.7451720187602415},{"time":3.7052020895764652,"velocity":1.668567977117342,"acceleration":1.2808754895204477,"pose":{"translation":{"x":7.280321367958882,"y":-3.6613232058973755},"rotation":{"radians":-0.471377085582568}},"curvature":1.722908645920938},{"time":3.7294250774534885,"velocity":1.6995946085719722,"acceleration":1.8748867515492509,"pose":{"translation":{"x":7.317285729994932,"y":-3.678578466260325},"rotation":{"radians":-0.4027103434271184}},"curvature":1.6351128509544763},{"time":3.7538955443457955,"velocity":1.745473962752583,"acceleration":2.1851813590190625,"pose":{"translation":{"x":7.356598475347064,"y":-3.69378482181682},"rotation":{"radians":-0.33632398829719967}},"curvature":1.511008526720108},{"time":3.7784722416630516,"velocity":1.7991785035965049,"acceleration":2.272992673349672,"pose":{"translation":{"x":7.398153820491469,"y":-3.706840324616529},"rotation":{"radians":-0.27348815333700954}},"curvature":1.3737776881255388},{"time":3.803068231655105,"velocity":1.8550850086422241,"acceleration":2.193683654671813,"pose":{"translation":{"x":7.441766633754582,"y":-3.7176817452086004},"rotation":{"radians":-0.21480967772709417}},"curvature":1.2393611791297987},{"time":3.827628662747314,"velocity":1.9089628248808965,"acceleration":1.9969666785355142,"pose":{"translation":{"x":7.487182920098695,"y":-3.726281520109143},"rotation":{"radians":-0.16040897645016217}},"curvature":1.1172720388296253},{"time":3.8521123619619395,"velocity":1.9578559563797895,"acceleration":1.7234864349774692,"pose":{"translation":{"x":7.534090305907588,"y":-3.732644699268701},"rotation":{"radians":-0.11008147158618749}},"curvature":1.0122941139249706},{"time":3.8764790474460984,"velocity":1.9998516082770998,"acceleration":1.4022146253291852,"pose":{"translation":{"x":7.582128523772149,"y":-3.7368058935397293},"rotation":{"radians":-0.06342390878094048}},"curvature":0.9262236474597217},{"time":3.9006820938255253,"velocity":2.033789473887853,"acceleration":0.8614050969500032,"pose":{"translation":{"x":7.630899897275998,"y":-3.7388262221440742},"rotation":{"radians":-0.019922313797853988}},"curvature":0.8592646262728906},{"time":3.948409332810536,"velocity":2.074901960812892,"acceleration":-2.06138649848806,"pose":{"translation":{"x":7.728927269213424,"y":-3.736802985891902},"rotation":{"radians":0.05991827496747535}},"curvature":0.7810841143641799},{"time":3.995876355528116,"velocity":1.977054081059447,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.824641252097106,"y":-3.7274781154388537},"rotation":{"radians":0.13425241932152515}},"curvature":0.7773436462317795},{"time":4.04359419151982,"velocity":1.8482159238818443,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.914583158467851,"y":-3.711983507540347},"rotation":{"radians":0.2081836929421897}},"curvature":0.8596478121577791},{"time":4.090455512630225,"velocity":1.7216903568837516,"acceleration":-2.700000000000008,"pose":{"translation":{"x":7.995702296169961,"y":-3.6915821497398085},"rotation":{"radians":0.2873703331175196}},"curvature":1.0606986256378206},{"time":4.113104207368059,"velocity":1.6605388810915995,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.032194114374203,"y":-3.6799479296773234},"rotation":{"radians":0.3309248799143044}},"curvature":1.223313458896864},{"time":4.1349996344787385,"velocity":1.6014212278927638,"acceleration":-2.699999999999993,"pose":{"translation":{"x":8.065691481491172,"y":-3.6675704393279305},"rotation":{"radians":0.3782474246415106}},"curvature":1.4389030926603568},{"time":4.156001823534024,"velocity":1.5447153174434929,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.096077217875637,"y":-3.65460092283023},"rotation":{"radians":0.4301004314741984}},"curvature":1.7133794467423598},{"time":4.176013224103623,"velocity":1.4906845359055751,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.12332255230258,"y":-3.641180502301934},"rotation":{"radians":0.4869454802749235}},"curvature":2.0416660192932428},{"time":4.194994370363005,"velocity":1.439435441005245,"acceleration":-2.700000000000007,"pose":{"translation":{"x":8.14749760675281,"y":-3.6274371253073445},"rotation":{"radians":0.5485472408754578}},"curvature":2.392093867595373},{"time":4.212978930908065,"velocity":1.3908771275335825,"acceleration":-1.1245987207977144,"pose":{"translation":{"x":8.168781881198585,"y":-3.6134825123248273},"rotation":{"radians":0.613346231930123}},"curvature":2.6830987753077684},{"time":4.2299176705895585,"velocity":1.3718278425558499,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.187474738389243,"y":-3.5994091042142915},"rotation":{"radians":0.6776638425385082}},"curvature":2.7632146610058794},{"time":4.245526795164791,"velocity":1.4139724789089763,"acceleration":2.700000000000011,"pose":{"translation":{"x":8.204005888636818,"y":-3.585287009684665},"rotation":{"radians":0.7350683019263234}},"curvature":2.4257449600473038},{"time":4.27341683759091,"velocity":1.4892755934594966,"acceleration":2.6999999999999935,"pose":{"translation":{"x":8.233016556078072,"y":-3.5570472202538097},"rotation":{"radians":0.7922946057858474}},"curvature":2.302008629705823E-13},{"time":4.326431852205781,"velocity":1.632416132919648,"acceleration":2.700000000000001,"pose":{"translation":{"x":8.28979708220419,"y":-3.4968538035042758},"rotation":{"radians":0.8533835963713103}},"curvature":1.1975336614921723},{"time":4.354406586534285,"velocity":1.7079479156066102,"acceleration":2.6999999999999718,"pose":{"translation":{"x":8.319471762473778,"y":-3.460764434063457},"rotation":{"radians":0.912699949083824}},"curvature":1.3070490743326069},{"time":4.383881560993503,"velocity":1.7875303466464982,"acceleration":1.5106469326082068,"pose":{"translation":{"x":8.349585995629468,"y":-3.418968698664884},"rotation":{"radians":0.9801167793476238}},"curvature":1.3021338956692625},{"time":4.4149802189947005,"velocity":1.834509438964239,"acceleration":-0.23733055067380346,"pose":{"translation":{"x":8.379224517397864,"y":-3.3710778550797573},"rotation":{"radians":1.0529691506636971}},"curvature":1.287878458513636},{"time":4.448092713285277,"velocity":1.8266508324600732,"acceleration":-0.7464429270177817,"pose":{"translation":{"x":8.407145327502624,"y":-3.317276223184951},"rotation":{"radians":1.1314150540059378}},"curvature":1.3066975386388417},{"time":4.483414277279007,"velocity":1.800285300845748,"acceleration":-1.0665922002682795,"pose":{"translation":{"x":8.431909223218495,"y":-3.2582022689134194},"rotation":{"radians":1.2169676897131236}},"curvature":1.3710356037144211},{"time":4.50185146896487,"velocity":1.7806203359987554,"acceleration":-1.2211590949629405,"pose":{"translation":{"x":8.442635532182393,"y":-3.226982607556059},"rotation":{"radians":1.2630160558649712}},"curvature":1.420263224631914},{"time":4.520783245421304,"velocity":1.757501624995175,"acceleration":-1.3173028489654541,"pose":{"translation":{"x":8.452009332925336,"y":-3.194829688204599},"rotation":{"radians":1.3115565208093583}},"curvature":1.479545503444551},{"time":4.540186225166609,"velocity":1.7319420244982657,"acceleration":-1.3448549160067778,"pose":{"translation":{"x":8.459852944828688,"y":-3.1618980928755964},"rotation":{"radians":1.362771900584756}},"curvature":1.546928964431652},{"time":4.560032773149766,"velocity":1.7052512968773526,"acceleration":-1.294160580580371,"pose":{"translation":{"x":8.466000649662137,"y":-3.128348490954812},"rotation":{"radians":1.4167701491841047}},"curvature":1.6194505035258846},{"time":4.580288509587542,"velocity":1.679037121248957,"acceleration":-1.1566210246198927,"pose":{"translation":{"x":8.47030273950725,"y":-3.0943439230706615},"rotation":{"radians":1.4735498799802027}},"curvature":1.6929214874785894},{"time":4.6009090041554535,"velocity":1.6551870236936503,"acceleration":-0.9252627857715038,"pose":{"translation":{"x":8.47262956468105,"y":-3.0600460849676683},"rotation":{"radians":1.532962170403409}},"curvature":1.7617884814834144},{"time":4.621835917377915,"velocity":1.6358241296678375,"acceleration":-0.5948696739758005,"pose":{"translation":{"x":8.472875581659569,"y":-3.0256116113799103},"rotation":{"radians":1.5946719156699458}},"curvature":1.8191756666694596},{"time":4.6429931187004705,"velocity":1.6232383522148486,"acceleration":-0.16120768290402454,"pose":{"translation":{"x":8.470963401001415,"y":-2.9911883599044717},"rotation":{"radians":1.658124272635639}},"curvature":1.8572111973992549},{"time":4.664283518244711,"velocity":1.6198061762362206,"acceleration":0.38110646843969515,"pose":{"translation":{"x":8.466847835271334,"y":-2.9569116948748926},"rotation":{"radians":1.7225233341365085}},"curvature":1.8676861614069136},{"time":4.685587362560646,"velocity":1.6279252091076557,"acceleration":1.0426305408866006,"pose":{"translation":{"x":8.46051994696378,"y":-2.922900771234619},"rotation":{"radians":1.786829905681397}},"curvature":1.8429783010314422},{"time":4.706762443011237,"velocity":1.6500029946911723,"acceleration":1.8460120840559757,"pose":{"translation":{"x":8.452011096426462,"y":-2.8892548184104547},"rotation":{"radians":1.8497820913747762}},"curvature":1.7770207278362573},{"time":4.727646039922481,"velocity":1.6885543669478829,"acceleration":2.700000000000042,"pose":{"translation":{"x":8.441396989783929,"y":-2.8560494241860077},"rotation":{"radians":1.9099363255472606}},"curvature":1.6659835542051205},{"time":4.74807414880136,"velocity":1.7437102609208548,"acceleration":2.699999999999937,"pose":{"translation":{"x":8.428801726861114,"y":-2.8233328185751447},"rotation":{"radians":1.9657191347709961}},"curvature":1.508349821624066},{"time":4.768001105494028,"velocity":1.7975130439910574,"acceleration":2.7000000000000326,"pose":{"translation":{"x":8.414401849106909,"y":-2.791122157695436},"rotation":{"radians":2.015474155729878}},"curvature":1.3042333737225127},{"time":4.806515934389012,"velocity":1.9015030820075147,"acceleration":-1.192111986491251,"pose":{"translation":{"x":8.38118091056105,"y":-2.7281096283590065},"rotation":{"radians":2.089977354294573}},"curvature":0.7567229861185677},{"time":4.844774986364194,"velocity":1.855894007556108,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.344349159311992,"y":-2.6663863943825308},"rotation":{"radians":2.118582176326862}},"curvature":-5.0126600984557514E-14},{"time":4.884991356611761,"velocity":1.7473098078876776,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":8.305510976960823,"y":-2.605221358005528},"rotation":{"radians":2.1702385168846288}},"curvature":1.3002823472909881},{"time":4.906556230204165,"velocity":1.689084649188185,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.28379876031243,"y":-2.575196656955929},"rotation":{"radians":2.225779751762401}},"curvature":1.663821471337269},{"time":4.929480117728235,"velocity":1.6271901528731965,"acceleration":-0.4353955431663509,"pose":{"translation":{"x":8.259660923901857,"y":-2.5458334559252798},"rotation":{"radians":2.293034224518552}},"curvature":1.8452050750599183},{"time":4.95369018092083,"velocity":1.6166491992593648,"acceleration":0.9629689221495752,"pose":{"translation":{"x":8.232640550061967,"y":-2.5173417160636493},"rotation":{"radians":2.3665606094532268}},"curvature":1.8773604916946014},{"time":4.978735407593112,"velocity":1.6407669741929638,"acceleration":1.8026886725565205,"pose":{"translation":{"x":8.202437541666038,"y":-2.489924320184822},"rotation":{"radians":2.441939074581385}},"curvature":1.8043974587676634},{"time":5.004297286495051,"velocity":1.686847083738752,"acceleration":2.2360075469551917,"pose":{"translation":{"x":8.168895482966022,"y":-2.4637760110158533},"rotation":{"radians":2.515978918591446}},"curvature":1.6707935328023351},{"time":5.030178263526419,"velocity":1.7447171437034634,"acceleration":2.361490922211059,"pose":{"translation":{"x":8.131988500430813,"y":-2.439082329446627},"rotation":{"radians":2.586693654352173}},"curvature":1.513002787687667},{"time":5.056271514260964,"velocity":1.8063361184440692,"acceleration":2.2621996087614282,"pose":{"translation":{"x":8.091808123584523,"y":-2.4160185527794136},"rotation":{"radians":2.6531044345969828}},"curvature":1.356104136064926},{"time":5.082526154356629,"velocity":1.8657293549966558,"acceleration":2.0118434948705906,"pose":{"translation":{"x":8.04855014584475,"y":-2.3947486329784264},"rotation":{"radians":2.71497383846511}},"curvature":1.2146817633439069},{"time":5.108917177189202,"velocity":1.9188239626053476,"acceleration":1.670443526552764,"pose":{"translation":{"x":8.002501485360849,"y":-2.3754241349193794},"rotation":{"radians":2.772553450247026}},"curvature":1.095668606456942},{"time":5.135424231432103,"velocity":1.9631024997733855,"acceleration":1.280443319428121,"pose":{"translation":{"x":7.9540270458521976,"y":-2.358183174639043},"rotation":{"radians":2.8263870487937783}},"curvature":1.0013399838356394},{"time":5.1620194523483045,"velocity":1.9971561727242502,"acceleration":0.8665796598124688,"pose":{"translation":{"x":7.903556577446472,"y":-2.3431493575848044},"rotation":{"radians":2.8771772874141677}},"curvature":0.9316392588327602},{"time":5.188662697532163,"velocity":2.020244667071978,"acceleration":0.4387071124479788,"pose":{"translation":{"x":7.851571537517913,"y":-2.3304307168642207},"rotation":{"radians":2.925706355199945}},"curvature":0.8857186164978936},{"time":5.215302130319163,"velocity":2.031931575707215,"acceleration":-0.004178695509205466,"pose":{"translation":{"x":7.798591951525595,"y":-2.320118651494578},"rotation":{"radians":2.972796287711785}},"curvature":0.8628723657841149},{"time":5.241878374542563,"velocity":2.031820521674827,"acceleration":-0.6229893791969597,"pose":{"translation":{"x":7.745163273851703,"y":-2.312286864652451},"rotation":{"radians":3.019295956091806}},"curvature":0.863088223833682},{"time":5.268357509686323,"velocity":2.0153243017099434,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.691843248639794,"y":-2.3069903019232543},"rotation":{"radians":3.066084877458681}},"curvature":0.8873941117249317},{"time":5.294994858585181,"velocity":1.9434034596830274,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.639188770633071,"y":-2.304264089550806},"rotation":{"radians":3.114086636298696}},"curvature":0.9381089721707744},{"time":5.321972659636754,"velocity":1.8705633968437811,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.587742746012653,"y":-2.3041224726868803},"rotation":{"radians":-3.1188993764257593}},"curvature":1.0190344938530298},{"time":5.3491174928822725,"velocity":1.79727234708088,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":7.538020953235847,"y":-2.306557753640767},"rotation":{"radians":-3.065442805330459}},"curvature":1.135536918143766},{"time":5.3762568185611945,"velocity":1.7239961677477913,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.490498903874413,"y":-2.311539230128827},"rotation":{"radians":-3.007593512648118}},"curvature":1.2943305766918296},{"time":5.4032290057114185,"velocity":1.6511712624421873,"acceleration":-2.7,"pose":{"translation":{"x":7.445598703452838,"y":-2.3190121335240512},"rotation":{"radians":-2.9441700821975343}},"curvature":1.5025415551597816},{"time":5.429896343358025,"velocity":1.5791694507963492,"acceleration":-2.7,"pose":{"translation":{"x":7.403675912286604,"y":-2.328896567105617},"rotation":{"radians":-2.874033495448519}},"curvature":1.7652766982175678},{"time":5.4561611725246495,"velocity":1.5082544120464625,"acceleration":-2.699999999999993,"pose":{"translation":{"x":7.365006406320458,"y":-2.341086444308446},"rotation":{"radians":-2.7962757202640955}},"curvature":2.0805707056196714},{"time":5.481984494563347,"velocity":1.4385314425419786,"acceleration":-2.6999999999999877,"pose":{"translation":{"x":7.329773237966686,"y":-2.3554484269727576},"rotation":{"radians":-2.7105562536660353}},"curvature":2.4307845783380175},{"time":5.494742558133179,"velocity":1.4040846709034338,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.313473869373039,"y":-2.363394576779966},"rotation":{"radians":-2.6648816954042247}},"curvature":2.6064393818697456},{"time":5.507412111645703,"velocity":1.3698768764196194,"acceleration":-2.601925250433854,"pose":{"translation":{"x":7.298053496943377,"y":-2.371820863593633},"rotation":{"radians":-2.6176097457085454}},"curvature":2.7715456569133727},{"time":5.520006914997722,"velocity":1.3371061395537531,"acceleration":-1.9114293643797398,"pose":{"translation":{"x":7.283503044577773,"y":-2.3807024828220342},"rotation":{"radians":-2.5691015837431843}},"curvature":2.915116789631766},{"time":5.532505302597485,"velocity":1.313216354488165,"acceleration":-1.0491455338987328,"pose":{"translation":{"x":7.2698051711126945,"y":-2.390012727570566},"rotation":{"radians":-2.5198584792694434}},"curvature":3.0242956142624506},{"time":5.544843794889886,"velocity":1.300271480404549,"acceleration":0.024510083528372025,"pose":{"translation":{"x":7.2569338597222055,"y":-2.3997229554620496},"rotation":{"radians":-2.4705292204250604}},"curvature":3.085130941486992},{"time":5.556942046704335,"velocity":1.3005680095670684,"acceleration":1.3817668469905602,"pose":{"translation":{"x":7.244854007319153,"y":-2.409802555457024},"rotation":{"radians":-2.421907400631256}},"curvature":3.083723829559398},{"time":5.568703975407291,"velocity":1.3168202527054795,"acceleration":2.6999999999998705,"pose":{"translation":{"x":7.233521013956372,"y":-2.4202189146740487},"rotation":{"radians":-2.3749171940395066}},"curvature":3.0075716945219555},{"time":5.58004169526943,"velocity":1.3474320963332524,"acceleration":2.700000000000015,"pose":{"translation":{"x":7.222880372227877,"y":-2.430937385210002},"rotation":{"radians":-2.3305883989159453}},"curvature":2.846828824648316},{"time":5.601494029622329,"velocity":1.4053533990860811,"acceleration":2.6999999999999784,"pose":{"translation":{"x":7.203406113162877,"y":-2.453131694439583},"rotation":{"radians":-2.2543641770006477}},"curvature":2.2501365575452645},{"time":5.640946846680137,"velocity":1.5118760051421605,"acceleration":2.7000000000000304,"pose":{"translation":{"x":7.169171680731816,"y":-2.4993874895316637},"rotation":{"radians":-2.183184339515173}},"curvature":5.96401064549217E-14},{"time":5.678342871858679,"velocity":1.6128452731242244,"acceleration":2.7000000000000055,"pose":{"translation":{"x":7.136270777363879,"y":-2.5476693404132016},"rotation":{"radians":-2.1436342909195103}},"curvature":1.132075469335682},{"time":5.717479604174975,"velocity":1.7185144503782233,"acceleration":2.6999999999999824,"pose":{"translation":{"x":7.1031164577596915,"y":-2.603798046145236},"rotation":{"radians":-2.0651288161779124}},"curvature":1.1455306806060235},{"time":5.760569711189744,"velocity":1.834857739318099,"acceleration":2.699999999999989,"pose":{"translation":{"x":7.069459599873687,"y":-2.672560543990938},"rotation":{"radians":-1.9916916947859962}},"curvature":0.7717455924404377},{"time":5.808026222635821,"velocity":1.9629903202225065,"acceleration":2.6999999999999895,"pose":{"translation":{"x":7.035061557597999,"y":-2.755853544941377},"rotation":{"radians":-1.9380762983929625}},"curvature":0.44541103587936526},{"time":5.858989905470797,"velocity":2.1005922638769423,"acceleration":2.6999999999999855,"pose":{"translation":{"x":6.99970053126512,"y":-2.8531761859209888},"rotation":{"radians":-1.9042587152981518}},"curvature":0.22790506330204938},{"time":5.911892652580264,"velocity":2.243429681072504,"acceleration":2.7000000000000157,"pose":{"translation":{"x":6.963177938150558,"y":-2.9621226819930504},"rotation":{"radians":-1.8870128697899962}},"curvature":0.08289117281220101},{"time":5.964910000757435,"velocity":2.3865765211508654,"acceleration":-2.665119211234576,"pose":{"translation":{"x":6.925324782975499,"y":-3.078874978565151},"rotation":{"radians":-1.883885186495214}},"curvature":-0.028054814341318002},{"time":6.019408076435131,"velocity":2.2413326526869204,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.8860080284094565,"y":-3.1986954035946655},"rotation":{"radians":-1.8940606553909975}},"curvature":-0.1347487135418972},{"time":6.0770057200147365,"velocity":2.085819015021986,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.845136965572929,"y":-3.3164193197942256},"rotation":{"radians":-1.9185533679737672}},"curvature":-0.26578108803092576},{"time":6.136027617970227,"velocity":1.9264598905421613,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.802669584540064,"y":-3.426947776837193},"rotation":{"radians":-1.9604965753107446}},"curvature":-0.4596255594082408},{"time":6.194578790664456,"velocity":1.7683717242677455,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.758618944841308,"y":-3.5257401635631305},"rotation":{"radians":-2.025662930027989}},"curvature":-0.778800197428293},{"time":6.22309573235215,"velocity":1.6913759817109708,"acceleration":-2.7,"pose":{"translation":{"x":6.73602060989083,"y":-3.5695902990640254},"rotation":{"radians":-2.0695714351057175}},"curvature":-1.0142103452591982},{"time":6.250833354392143,"velocity":1.6164844022029892,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.713059545966065,"y":-3.6093068601832763},"rotation":{"radians":-2.1226923061264156}},"curvature":-1.3173758221795429},{"time":6.277648220524745,"velocity":1.5440842636449634,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.689755710657366,"y":-3.644698687601572},"rotation":{"radians":-2.1861504164614787}},"curvature":-1.6943487813498075},{"time":6.303474083150895,"velocity":1.4743544345543595,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.666133697865356,"y":-3.6757018904860144},"rotation":{"radians":-2.260454953323241}},"curvature":-2.1304236023610605},{"time":6.328347188276295,"velocity":1.407197050715779,"acceleration":-2.699999999999992,"pose":{"translation":{"x":6.642222936879132,"y":-3.7023952418715425},"rotation":{"radians":-2.344696941610567}},"curvature":-2.5679513452132547},{"time":6.340473911620446,"velocity":1.3744548976865718,"acceleration":-2.5779902389940728,"pose":{"translation":{"x":6.630169843634471,"y":-3.7141931381841387},"rotation":{"radians":-2.3896092290264717}},"curvature":-2.752034001585003},{"time":6.352425408352992,"velocity":1.3436440557686986,"acceleration":-1.1386427012260032,"pose":{"translation":{"x":6.618057891454474,"y":-3.7250155740423483},"rotation":{"radians":-2.4354779810046847}},"curvature":-2.8859144551974594},{"time":6.364158880483672,"velocity":1.3302838233670606,"acceleration":0.7309921694519163,"pose":{"translation":{"x":6.6058922076053,"y":-3.7349193760441564},"rotation":{"radians":-2.481334262118156}},"curvature":-2.9458954694752744},{"time":6.375552113560304,"velocity":1.3386121875308192,"acceleration":2.699999999999921,"pose":{"translation":{"x":6.593678258892053,"y":-3.743973173913302},"rotation":{"radians":-2.5259800915577366}},"curvature":-2.908364571137385},{"time":6.396938202989721,"velocity":1.396354628990242,"acceleration":2.699999999999983,"pose":{"translation":{"x":6.569129169115641,"y":-3.7598671784113726},"rotation":{"radians":-2.6059122811634374}},"curvature":-2.465039628096291},{"time":6.435488710928802,"velocity":1.5004410004257622,"acceleration":2.6999999999999615,"pose":{"translation":{"x":6.519731495200664,"y":-3.7858975713457443},"rotation":{"radians":-2.6842145549194933}},"curvature":-1.2972264273162774E-13},{"time":6.471925076264494,"velocity":1.5988191868321275,"acceleration":2.6999999999999624,"pose":{"translation":{"x":6.468775012373055,"y":-3.8102182334406436},"rotation":{"radians":-2.7178978515197216}},"curvature":-1.0067581832985415},{"time":6.510387729449096,"velocity":1.7026683504305533,"acceleration":2.700000000000014,"pose":{"translation":{"x":6.410033893270897,"y":-3.8343162228732277},"rotation":{"radians":-2.78698029850627}},"curvature":-1.0539791503747233},{"time":6.553192076266536,"velocity":1.8182400868376418,"acceleration":2.7000000000000224,"pose":{"translation":{"x":6.338469424209343,"y":-3.857915307569954},"rotation":{"radians":-2.855348672961715}},"curvature":-0.7580381147658637},{"time":6.6008670461124375,"velocity":1.9469625054215762,"acceleration":2.6999999999999833,"pose":{"translation":{"x":6.251656213260161,"y":-3.8806982011068243},"rotation":{"radians":-2.910645118114997}},"curvature":-0.4970742520070285},{"time":6.652705731049834,"velocity":2.0869269547525473,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.149361737076372,"y":-3.902325674217354},"rotation":{"radians":-2.9529346991590937}},"curvature":-0.3296627331296878},{"time":6.707303615692221,"velocity":2.2343412432869934,"acceleration":2.6999999999999886,"pose":{"translation":{"x":6.03312588771689,"y":-3.9224556663005465},"rotation":{"radians":-2.985354356178384}},"curvature":-0.2305135709544064},{"time":6.735116047300693,"velocity":2.309434808629867,"acceleration":2.6999999999999944,"pose":{"translation":{"x":5.970642338303601,"y":-3.9318561420487126},"rotation":{"radians":-2.9988325136699623}},"curvature":-0.19779984106250825},{"time":6.762985394446045,"velocity":2.384682045922319,"acceleration":2.700000000000003,"pose":{"translation":{"x":5.905840519471166,"y":-3.94076239692886},"rotation":{"radians":-3.0109174556069482}},"curvature":-0.17298713747393388},{"time":6.790705498251786,"velocity":2.459526326197819,"acceleration":0.9846694016059591,"pose":{"translation":{"x":5.839224176505203,"y":-3.949139387646425},"rotation":{"radians":-3.0218731276765665}},"curvature":-0.15433622270674963},{"time":6.818339931755652,"velocity":2.486737107299791,"acceleration":0.2728041486042079,"pose":{"translation":{"x":5.771328995683823,"y":-3.956955477356181},"rotation":{"radians":-3.0319248588075447}},"curvature":-0.14057651220768494},{"time":6.84604467648141,"velocity":2.4942950765969982,"acceleration":0.1805047218483853,"pose":{"translation":{"x":5.702709465115891,"y":-3.9641830328968637},"rotation":{"radians":-3.0412660765022417}},"curvature":-0.13079838333907873},{"time":6.87372065142836,"velocity":2.4992907207566804,"acceleration":0.09954950374587779,"pose":{"translation":{"x":5.633925735579302,"y":-3.9707990220257945},"rotation":{"radians":-3.0500644721071133}},"curvature":-0.12436772808950067},{"time":6.901176134821063,"velocity":2.502023900503527,"acceleration":0.02453818003267315,"pose":{"translation":{"x":5.56553048135925,"y":-3.9767856106535033},"rotation":{"radians":-3.0584671613366443}},"curvature":-0.12086030383459509},{"time":6.9282250874926765,"velocity":2.5026876325738785,"acceleration":-0.04866027326609813,"pose":{"translation":{"x":5.498055761086497,"y":-3.9821307600783546},"rotation":{"radians":-3.0666045872269425}},"curvature":-0.12000970841682475},{"time":6.954692547517374,"velocity":2.501399718736417,"acceleration":-0.12275276346901735,"pose":{"translation":{"x":5.431999878575643,"y":-3.9868288242211714},"rotation":{"radians":-3.074592900030428}},"curvature":-0.12166062603761976},{"time":6.980419764211085,"velocity":2.498241631790898,"acceleration":-0.23406519822027155,"pose":{"translation":{"x":5.367814243663396,"y":-3.990881146859857},"rotation":{"radians":-3.0825343799348963}},"curvature":-0.12571603710617468},{"time":7.0291359925628765,"velocity":2.486838858145192,"acceleration":-0.3414594017376717,"pose":{"translation":{"x":5.246546051121722,"y":-3.997092475429607},"rotation":{"radians":-3.0985990277638322}},"curvature":-0.14044447727626083},{"time":7.073580013372151,"velocity":2.47166302938884,"acceleration":-0.17608328481969815,"pose":{"translation":{"x":5.136425294451575,"y":-4.000937988068193},"rotation":{"radians":-3.115140714235642}},"curvature":-0.16025718572304598},{"time":7.113450697390793,"velocity":2.4646424683788295,"acceleration":0.8707926953475743,"pose":{"translation":{"x":5.0380348746460655,"y":-4.002740987785456},"rotation":{"radians":-3.131563683890724}},"curvature":-0.16950538046980818},{"time":7.148969006864766,"velocity":2.495571552819859,"acceleration":2.6999999999999944,"pose":{"translation":{"x":4.949946029525962,"y":-4.002993949828462},"rotation":{"radians":3.1378810262933907}},"curvature":-0.12915278738320896},{"time":7.181127703948319,"velocity":2.5824000349454543,"acceleration":-0.8431940772917474,"pose":{"translation":{"x":4.868297880564326,"y":-4.00237763318947},"rotation":{"radians":3.1319775652901187}},"curvature":5.968133688230971E-14},{"time":7.213338465239559,"velocity":2.5552401117996224,"acceleration":-1.4047230468423735,"pose":{"translation":{"x":4.785558476294775,"y":-4.001539404809302},"rotation":{"radians":3.1301652084044878}},"curvature":-0.054064509417195365},{"time":7.250846371791961,"velocity":2.5025518910266538,"acceleration":-0.6109298015179189,"pose":{"translation":{"x":4.690715824810613,"y":-4.0000985976611565},"rotation":{"radians":3.121589643936572}},"curvature":-0.1201836291645749},{"time":7.29675534528969,"velocity":2.4745047309597945,"acceleration":-0.3317257680893358,"pose":{"translation":{"x":4.576513923585549,"y":-3.996932516826778},"rotation":{"radians":3.105482898284936}},"curvature":-0.156528727724174},{"time":7.323237126586809,"velocity":2.465720041718634,"acceleration":-0.2690389804663399,"pose":{"translation":{"x":4.511156901068688,"y":-3.9942275147627417},"rotation":{"radians":3.094848054209793}},"curvature":-0.1680824703011933},{"time":7.352073034477399,"velocity":2.4579620584589286,"acceleration":-0.25740306952056385,"pose":{"translation":{"x":4.440266543999226,"y":-3.990478478004412},"rotation":{"radians":3.082544538383005}},"curvature":-0.1783545465852119},{"time":7.383182450494506,"velocity":2.449954399285133,"acceleration":-0.2766879808142875,"pose":{"translation":{"x":4.3640915010589945,"y":-3.9854443162059234},"rotation":{"radians":3.0685236549425396}},"curvature":-0.1890254390225435},{"time":7.416425132706571,"velocity":2.4407565486670255,"acceleration":-0.31668704818201804,"pose":{"translation":{"x":4.283067289007759,"y":-3.978873958567249},"rotation":{"radians":3.052666136799197}},"curvature":-0.2013687657673882},{"time":7.451611289552667,"velocity":2.429613548518566,"acceleration":-0.3733497711928847,"pose":{"translation":{"x":4.19779160698543,"y":-3.9705107335547747},"rotation":{"radians":3.034783664358129}},"curvature":-0.21644763622233348},{"time":7.4885121224180065,"velocity":2.4158366310114645,"acceleration":-0.4463171166845765,"pose":{"translation":{"x":4.1089996508142645,"y":-3.960096748621878},"rotation":{"radians":3.0146175220951146}},"curvature":-0.23528307028078238},{"time":7.526871007850308,"velocity":2.3987164038660858,"acceleration":-0.5374958145447671,"pose":{"translation":{"x":4.0175394273010685,"y":-3.9473772699295036},"rotation":{"radians":2.9918335338663824}},"curvature":-0.2589908778206132},{"time":7.566415369770256,"velocity":2.37746147484527,"acceleration":-0.6501843931115238,"pose":{"translation":{"x":3.9243470685394013,"y":-3.93210510206674},"rotation":{"radians":2.9660133120480836}},"curvature":-0.28889944469236023},{"time":7.606869235344109,"velocity":2.351159002808119,"acceleration":-0.788303946866056,"pose":{"translation":{"x":3.8304221462117845,"y":-3.9140449677713973},"rotation":{"radians":2.93664232425686}},"curvature":-0.32665922134294034},{"time":7.647966396606112,"velocity":2.318761948380292,"acceleration":-0.9552953309276935,"pose":{"translation":{"x":3.736802985891902,"y":-3.892977887650582},"rotation":{"radians":2.9030958907542956}},"curvature":-0.37434574879277116},{"time":7.689463948779885,"velocity":2.279119530543758,"acceleration":-1.1521903885651592,"pose":{"translation":{"x":3.6445419813468036,"y":-3.8687055599012754},"rotation":{"radians":2.8646254380392078}},"curvature":-0.4345414121711747},{"time":7.731155667309144,"velocity":2.2310827331715815,"acceleration":-1.374348757853895,"pose":{"translation":{"x":3.554680908839112,"y":-3.8410547400309087},"rotation":{"radians":2.820349709975427}},"curvature":-0.5103502091898078},{"time":7.772884112660553,"velocity":2.1737332961356977,"acceleration":-1.606640203323008,"pose":{"translation":{"x":3.468226241429226,"y":-3.8098816205779418},"rotation":{"radians":2.7692599355576926}},"curvature":-0.6052435122692674},{"time":7.8145493952694975,"velocity":2.106792178013353,"acceleration":-1.8178926272771239,"pose":{"translation":{"x":3.3861244632775254,"y":-3.7750762108324376},"rotation":{"radians":2.710255000876092}},"curvature":-0.7225422516955398},{"time":7.856111149723796,"velocity":2.031237371014181,"acceleration":-1.9575084972817882,"pose":{"translation":{"x":3.309237383946571,"y":-3.73656671655664},"rotation":{"radians":2.6422326074618345}},"curvature":-0.8642220933748946},{"time":7.89757874683516,"velocity":1.950064197306828,"acceleration":-1.9810357336829765,"pose":{"translation":{"x":3.2383174527033165,"y":-3.6943239197055506},"rotation":{"radians":2.564272440250222}},"curvature":-1.0286711085925642},{"time":7.918293314313058,"velocity":1.9090278989253255,"acceleration":-1.9361801040322355,"pose":{"translation":{"x":3.205294329808726,"y":-3.6718061219247775},"rotation":{"radians":2.5214015394004616}},"curvature":-1.1171287453625225},{"time":7.938999359599881,"velocity":1.8689372660077872,"acceleration":-1.8360373990897991,"pose":{"translation":{"x":3.173983072821306,"y":-3.648365558147505},"rotation":{"radians":2.4759474152093786}},"curvature":-1.2072991983078831},{"time":7.959697211622564,"velocity":1.8309352356133157,"acceleration":-1.6748339925440523,"pose":{"translation":{"x":3.1444359874664856,"y":-3.6240125010166415},"rotation":{"radians":2.428006929910792}},"curvature":-1.2964176089006785},{"time":7.980381701329454,"velocity":1.7962921491337895,"acceleration":-1.4492710522147516,"pose":{"translation":{"x":3.116693915882882,"y":-3.5987607053847492},"rotation":{"radians":2.3777674650370586}},"curvature":-1.3809445127399211},{"time":8.001040129414077,"velocity":1.7663524873264835,"acceleration":-1.1588027529824694,"pose":{"translation":{"x":3.0907854651942417,"y":-3.572627545180315},"rotation":{"radians":2.325520763683609}},"curvature":-1.4566663045388661},{"time":8.02165059898956,"velocity":1.742469018442153,"acceleration":-0.8054807560953287,"pose":{"translation":{"x":3.0667262360813865,"y":-3.545634150274017},"rotation":{"radians":2.271671906376654}},"curvature":-1.5189369408300855},{"time":8.042181015127548,"velocity":1.7259321633283735,"acceleration":-0.3933572372329845,"pose":{"translation":{"x":3.044518051354162,"y":-3.517805543344992},"rotation":{"radians":2.216740810004411}},"curvature":-1.5630627286291288},{"time":8.062588996946163,"velocity":1.7179045359827023,"acceleration":0.07248570053985359,"pose":{"translation":{"x":3.024148184523371,"y":-3.489170776747106},"rotation":{"radians":2.1613542646316626}},"curvature":-1.5847893798671082},{"time":8.082822803679155,"velocity":1.7193711976383312,"acceleration":0.5871904376915801,"pose":{"translation":{"x":3.0055885883727265,"y":-3.4597630693752186},"rotation":{"radians":2.106227914198737}},"curvature":-1.5808047351725032},{"time":8.102823163555788,"velocity":1.731115217708281,"acceleration":1.1476215068971471,"pose":{"translation":{"x":2.9887951235307924,"y":-3.4296199435314545},"rotation":{"radians":2.0521395493883414}},"curvature":-1.5491419218020357},{"time":8.122525669606972,"velocity":1.7537262373923896,"acceleration":1.7541748535327344,"pose":{"translation":{"x":2.973706787042926,"y":-3.3987833617914696},"rotation":{"radians":1.999897110383593}},"curvature":-1.4893750242994632},{"time":8.141863245295216,"velocity":1.7876477263929929,"acceleration":2.4131130567949413,"pose":{"translation":{"x":2.960244940943225,"y":-3.367299863870719},"rotation":{"radians":1.9503062356582266}},"curvature":-1.4025470827993207},{"time":8.160768146058205,"velocity":1.8332673892615718,"acceleration":2.699999999999899,"pose":{"translation":{"x":2.9483125408264668,"y":-3.3352207034907257},"rotation":{"radians":1.904142520003307}},"curvature":-1.2908420719095428},{"time":8.179212625866318,"velocity":1.8830674847434774,"acceleration":2.700000000000005,"pose":{"translation":{"x":2.937793364420059,"y":-3.302601985245349},"rotation":{"radians":1.8621327429498913}},"curvature":-1.1570785879501215},{"time":8.214855395150488,"velocity":1.979302961810737,"acceleration":2.6999999999999615,"pose":{"translation":{"x":2.920429275742708,"y":-3.2359953690931653},"rotation":{"radians":1.793205955990283}},"curvature":-0.8344267046507411},{"time":8.249076760571857,"velocity":2.0717006484484295,"acceleration":-1.3439441199074882,"pose":{"translation":{"x":2.906810025116817,"y":-3.1680310705299366},"rotation":{"radians":1.7483704613407196}},"curvature":-0.4495912481209247},{"time":8.283072688005905,"velocity":2.0260120216726385,"acceleration":-2.7000000000000095,"pose":{"translation":{"x":2.895236745474452,"y":-3.099346518069954},"rotation":{"radians":1.7322987122562734}},"curvature":9.321063196172322E-15},{"time":8.318257414269263,"velocity":1.931013260761573,"acceleration":-2.700000000000005,"pose":{"translation":{"x":2.8835537460897185,"y":-3.030720454787498},"rotation":{"radians":1.7533952071832712}},"curvature":0.5913053688600479},{"time":8.35497589603443,"velocity":1.8318733599956236,"acceleration":-2.7,"pose":{"translation":{"x":2.8692116259006175,"y":-2.963141856243121},"rotation":{"radians":1.8123593096132848}},"curvature":1.1044251173486483},{"time":8.373952696819739,"velocity":1.7806359978752908,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.860339315502404,"y":-2.9300330900992884},"rotation":{"radians":1.8541815921308988}},"curvature":1.332211337421105},{"time":8.393400727178246,"velocity":1.7281263159073188,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":2.850018460841398,"y":-2.8975122702216956},"rotation":{"radians":1.9031821909568805}},"curvature":1.5353103821431424},{"time":8.413398448522294,"velocity":1.674132468278392,"acceleration":-2.1894942151422847,"pose":{"translation":{"x":2.838049635530078,"y":-2.865668590214357},"rotation":{"radians":1.9584365763577867}},"curvature":1.706923372429179},{"time":8.433988860443195,"velocity":1.629049880490182,"acceleration":-1.3420056298954386,"pose":{"translation":{"x":2.824261229383541,"y":-2.8345823874660026},"rotation":{"radians":2.018869589643976}},"curvature":1.8395751192191825},{"time":8.455112528418736,"velocity":1.600701799142965,"acceleration":-0.5605753295185578,"pose":{"translation":{"x":2.808508390816518,"y":-2.8043254293250066},"rotation":{"radians":2.083257875573639}},"curvature":1.9268134189642445},{"time":8.476657450597735,"velocity":1.588624247293021,"acceleration":0.1552984870921689,"pose":{"translation":{"x":2.7906719692403996,"y":-2.7749611992743075},"rotation":{"radians":2.1502680417260507}},"curvature":1.964926637791461},{"time":8.498512797162974,"velocity":1.5920183495494777,"acceleration":0.7985491130088248,"pose":{"translation":{"x":2.7706574574602514,"y":-2.7465451831063334},"rotation":{"radians":2.2185259592865942}},"curvature":1.9541574238635722},{"time":8.520576558300965,"velocity":1.6096373464358587,"acceleration":1.3581505180963127,"pose":{"translation":{"x":2.748393934071836,"y":-2.7191251550979283},"rotation":{"radians":2.2867037178154073}},"curvature":1.8989835589039321},{"time":8.542762965911269,"velocity":1.639769827426489,"acceleration":1.822380831142219,"pose":{"translation":{"x":2.7238330058586313,"y":-2.692741464185272},"rotation":{"radians":2.3536053988225394}},"curvature":1.8073715728699296},{"time":8.56500778211814,"velocity":1.6803083540741728,"acceleration":2.1819806370646235,"pose":{"translation":{"x":2.696947750188852,"y":-2.667427320138807},"rotation":{"radians":2.418233868572029}},"curvature":1.689305689548892},{"time":8.58727034696451,"velocity":1.7288848395003469,"acceleration":2.43284272044549,"pose":{"translation":{"x":2.6677316574124696,"y":-2.643209079738163},"rotation":{"radians":2.4798276908125727}},"curvature":1.555122109438011},{"time":8.609532327482032,"velocity":1.783044736745101,"acceleration":2.577605781926129,"pose":{"translation":{"x":2.6361975732582295,"y":-2.6201065329470783},"rotation":{"radians":2.5378665328074916}},"curvature":1.414135500885247},{"time":8.63179394364896,"velocity":1.8404264072919931,"acceleration":2.6257223811721464,"pose":{"translation":{"x":2.602376641230674,"y":-2.598133189088326},"rotation":{"radians":2.5920510555871124}},"curvature":1.273815095875695},{"time":8.654068817837027,"velocity":1.8989140429853961,"acceleration":2.5920711065060096,"pose":{"translation":{"x":2.56631724500716,"y":-2.5772965630186375},"rotation":{"radians":2.642266997020552}},"curvature":1.139517375383385},{"time":8.676378534342538,"velocity":1.956742414533673,"acceleration":2.494655821596559,"pose":{"translation":{"x":2.5280839508348807,"y":-2.557598461303626},"rotation":{"radians":2.688543083400293}},"curvature":1.0146266076514194},{"time":8.698747690467195,"velocity":2.0125457600842513,"acceleration":2.2660707767384767,"pose":{"translation":{"x":2.487756449927883,"y":-2.5390352683927118},"rotation":{"radians":2.7310100516536613}},"curvature":0.9009138604800878},{"time":8.743767760994027,"velocity":2.114564426271811,"acceleration":1.9041515425517372,"pose":{"translation":{"x":2.401206871982319,"y":-2.505273753249429},"rotation":{"radians":2.805343355872814}},"curvature":0.7085421115530166},{"time":8.789248782234402,"velocity":2.2011671830234985,"acceleration":1.5474599939401483,"pose":{"translation":{"x":2.307568351306705,"y":-2.475885525507387},"rotation":{"radians":2.8671793634577907}},"curvature":0.5592330714310098},{"time":8.83520552375288,"velocity":2.2722834019751907,"acceleration":1.2401175295376152,"pose":{"translation":{"x":2.20791504091623,"y":-2.450675654421222},"rotation":{"radians":2.9185000032721695}},"curvature":0.44513416798222816},{"time":8.881533125556983,"velocity":2.329735073073897,"acceleration":0.9952134560548073,"pose":{"translation":{"x":2.1034615634096685,"y":-2.4293899281791806},"rotation":{"radians":2.9610822510577917}},"curvature":0.3580454355827624},{"time":8.928016269797608,"velocity":2.3759957237019043,"acceleration":0.8104929737027449,"pose":{"translation":{"x":1.9955291676740163,"y":-2.411724011500686},"rotation":{"radians":2.996408344536862}},"curvature":0.2909816782267119},{"time":8.974348271774184,"velocity":2.4135474857615016,"acceleration":-0.8876958044675397,"pose":{"translation":{"x":1.885511885589125,"y":-2.397332603233911},"rotation":{"radians":3.02566298930062}},"curvature":0.23843356153266665},{"time":9.020845838229144,"velocity":2.3722717911014826,"acceleration":-2.699999999999996,"pose":{"translation":{"x":1.7748426887323374,"y":-2.385838593953342},"rotation":{"radians":3.0497630049493987}},"curvature":0.19614497557821045},{"time":9.068619379903017,"velocity":2.243283228582024,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.6649596450831212,"y":-2.3768422235573547},"rotation":{"radians":3.0693929512791027}},"curvature":0.1607613752259218},{"time":9.118202092389623,"velocity":2.109409904868187,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":1.5572720757277045,"y":-2.36993023886578},"rotation":{"radians":3.085035138511089}},"curvature":0.12946683787020843},{"time":9.169308003043733,"velocity":1.9714239461020922,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.4531267115637114,"y":-2.3646850512174726},"rotation":{"radians":3.0969892267940087}},"curvature":0.09961965117270992},{"time":9.221619020326393,"velocity":1.8301841994389112,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.3537738500047953,"y":-2.360693894067883},"rotation":{"radians":3.1053791502015375}},"curvature":0.06834275218222717},{"time":9.274788170822843,"velocity":1.6866274930984986,"acceleration":-2.7,"pose":{"translation":{"x":1.260333511685276,"y":-2.357557980586625},"rotation":{"radians":3.110145544125442}},"curvature":0.03198395121992311},{"time":9.328445193780956,"velocity":1.5417535311115926,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.1737615971647706,"y":-2.354901661255046},"rotation":{"radians":3.1110215281717046}},"curvature":-0.014691178967901609},{"time":9.382207185684035,"velocity":1.396596152973282,"acceleration":-2.699999999999998,"pose":{"translation":{"x":1.0948160436328322,"y":-2.3523815814637965},"rotation":{"radians":3.107490011071765}},"curvature":-0.0797774231455814},{"time":9.435699305498353,"velocity":1.252167429474619,"acceleration":-2.700000000000002,"pose":{"translation":{"x":1.0240229816135864,"y":-2.3496958391103977},"rotation":{"radians":3.0987248054329233}},"curvature":-0.17620544794654813},{"time":9.48859515946302,"velocity":1.1093486237700192,"acceleration":-2.7,"pose":{"translation":{"x":0.9616428916703557,"y":-2.346593142196813},"rotation":{"radians":3.0835345808598333}},"curvature":-0.32430753145499186},{"time":9.5920787870051,"velocity":0.8299428294064066,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.8616322406890915,"y":-2.338439712804565},"rotation":{"radians":3.027691007879936}},"curvature":-0.8899505466817905},{"time":9.643478520484425,"velocity":0.6911635490122294,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":0.8228898013154402,"y":-2.3332218652301613},"rotation":{"radians":2.9849703954038262}},"curvature":-1.3134061587255492},{"time":9.697062717796083,"velocity":0.5464862162707559,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.7902688907558626,"y":-2.3272711480992285},"rotation":{"radians":2.9355784505072937}},"curvature":-1.6213398439314608},{"time":9.899465020118585,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.7366212716614005,"y":-2.313833150808482},"rotation":{"radians":2.8714394538784145}},"curvature":7.975670516227759E-14}] \ 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 baa8507..9894c12 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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":1.8252284299963275,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6716319667733222,"velocity":1.7766799773430857,"acceleration":-0.8043872114014754,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7126563822033645,"velocity":1.7436804622159383,"acceleration":-0.5943192273817944,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7540304695164083,"velocity":1.7190910466104232,"acceleration":-0.37250101742908226,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7956966861108945,"velocity":1.7035703385365566,"acceleration":-0.14727575769193346,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8375998081741686,"velocity":1.6973990244850303,"acceleration":0.07086818550798132,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8796897119300369,"velocity":1.7003818595924143,"acceleration":0.2711875714293329,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.921925357786024,"velocity":1.7118356418198488,"acceleration":0.44447537176689284,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9642782698877403,"velocity":1.7306604681716697,"acceleration":0.5844407226235834,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":1.006734088627392,"velocity":1.7554733775554476,"acceleration":0.6884397910459286,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0492915438199486,"velocity":1.7847716231156576,"acceleration":0.7574702467015367,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0919590621033466,"velocity":1.8170909987159254,"acceleration":0.7955314954622497,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.1347498243274046,"velocity":1.8511323977799998,"acceleration":0.8086065878125565,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1776762828686798,"velocity":1.8858430149479375,"acceleration":0.8035742611033634,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.2207450067351093,"velocity":1.9204519329055685,"acceleration":0.7873022909205372,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.263952415302241,"velocity":1.954469224655211,"acceleration":0.7660541623708139,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.3072816450198492,"velocity":1.987661761432706,"acceleration":0.7452235663438044,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.3507005549022146,"velocity":2.0200185563020026,"acceleration":0.729335795700143,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.394160739316254,"velocity":2.051715624482891,"acceleration":0.722228630900336,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.4375973664135604,"velocity":2.083086800202307,"acceleration":0.727333029402537,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.480929671355366,"velocity":2.114603816826625,"acceleration":0.7479957560060964,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.5240619820082675,"velocity":2.1468666021417318,"acceleration":0.787805795462032,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.5668852265116398,"velocity":2.180603002341976,"acceleration":0.8508927064740959,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.6092789617762555,"velocity":2.2166755224788313,"acceleration":0.9421476559706846,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.6511140720274966,"velocity":2.256090373539313,"acceleration":1.0672609489605047,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.692256424798345,"velocity":2.2999999999999967,"acceleration":7.583944980398583E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.7329913754133592,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.773575694724999,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8138719681119955,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.85375677508707,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8931202228258002,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9318654796954893,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9699083087840323,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0071766014287817,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0436099107454173,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.0791589851568095,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1137853019218897,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.147460600664516,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1801664169023387,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2118936155756703,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2426419245763487,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2724194682766083,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.301242301057944,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3291339408399794,"velocity":2.3,"acceleration":-1.9593248142339086,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3835117123625986,"velocity":2.19345628291299,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.4375732954246137,"velocity":2.0474900086455494,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.4923170357198647,"velocity":1.8996819098483717,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.5485522368736646,"velocity":1.7478468667331113,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6074922411699344,"velocity":1.5887088551331827,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6709997489579136,"velocity":1.4172385841056392,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.742142782129156,"velocity":1.2251523945432845,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.82415284141422,"velocity":1.0037252344736125,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.291391427065546,"y":-1.100829703353923},"rotation":{"radians":-0.027821850230778215}},"curvature":-0.650210314192843},{"time":2.868273067359753,"velocity":0.8846006244206722,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.33300693575994,"y":-1.102681343908726},"rotation":{"radians":-0.06466356345347674}},"curvature":-1.1671521341710898},{"time":2.9136766307643893,"velocity":0.7620110032281547,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.370233046899057,"y":-1.1060809225877481},"rotation":{"radians":-0.12296931421995656}},"curvature":-2.060099762721178},{"time":2.9367181133661266,"velocity":0.6997990002034635,"acceleration":-2.700000000000002,"pose":{"translation":{"x":7.386904400841855,"y":-1.1084662489341992},"rotation":{"radians":-0.16325383468827934}},"curvature":-2.7730985925232075},{"time":2.959938520375066,"velocity":0.6371039012793276,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":7.402155192351948,"y":-1.111353633071441},"rotation":{"radians":-0.21358032077615297}},"curvature":-3.7862951832682605},{"time":2.983344375129604,"velocity":0.573908093442074,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.415909561237784,"y":-1.114770334002192},"rotation":{"radians":-0.2768284721084359}},"curvature":-5.252936086916672},{"time":3.0070097582575923,"velocity":0.5100115589965056,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":7.428105903379064,"y":-1.1187386439112075},"rotation":{"radians":-0.35686632281713865}},"curvature":-7.397416721857951},{"time":3.0189997725975775,"velocity":0.47763852027854536,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.433604315141906,"y":-1.1209353108447915},"rotation":{"radians":-0.40469686961167517}},"curvature":-8.81393295104801},{"time":3.031150238345323,"velocity":0.4448322627596328,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.438696276906384,"y":-1.123276093041583},"rotation":{"radians":-0.45867228530255166}},"curvature":-10.5116637682121},{"time":3.043532029595621,"velocity":0.41140142638382804,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.443377833241871,"y":-1.125762471341103},"rotation":{"radians":-0.5195379709979431}},"curvature":-12.521757406781552},{"time":3.0562528412870256,"velocity":0.37705523481703535,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.44764580838088,"y":-1.1283956545710556},"rotation":{"radians":-0.5880100735834901}},"curvature":-14.85458396152343},{"time":3.0694792741001615,"velocity":0.341343866221568,"acceleration":-2.7,"pose":{"translation":{"x":7.4514977876621735,"y":-1.1311765859497145},"rotation":{"radians":-0.6646802737127656}},"curvature":-17.4795810166942},{"time":3.083478374884153,"velocity":0.30354629410479117,"acceleration":-2.3649888788365194,"pose":{"translation":{"x":7.454932098973876,"y":-1.134105949488305},"rotation":{"radians":-0.7498755855456528}},"curvature":-20.29968500248048},{"time":3.0908681382882555,"velocity":0.28606958583685604,"acceleration":-1.9950253797090118,"pose":{"translation":{"x":7.456492305080279,"y":-1.1356264377697427},"rotation":{"radians":-0.7956562154609756}},"curvature":-21.728400778541683},{"time":3.0985249504535926,"velocity":0.27079405123934397,"acceleration":-1.6563979299898564,"pose":{"translation":{"x":7.457947794196594,"y":-1.1371841763933905},"rotation":{"radians":-0.8434788689153079}},"curvature":-23.12820866880771},{"time":3.1064347870630376,"velocity":0.25769221425290134,"acceleration":-1.3461598413123086,"pose":{"translation":{"x":7.459298557887232,"y":-1.1387791808097316},"rotation":{"radians":-0.8932284950696684}},"curvature":-24.46103818109851},{"time":3.1145768868939294,"velocity":0.24673164643659884,"acceleration":-1.0607378318617986,"pose":{"translation":{"x":7.460544630646523,"y":-1.1404114514692556},"rotation":{"radians":-0.944741230203777}},"curvature":-25.684779785449013},{"time":3.122923532032863,"velocity":0.23787804416860625,"acceleration":-0.796071804354599,"pose":{"translation":{"x":7.461686089318814,"y":-1.1420809740225333},"rotation":{"radians":-0.9978029559869008}},"curvature":-26.755617400486308},{"time":3.1314402378075057,"velocity":0.2310981348354293,"acceleration":-0.5477418134687182,"pose":{"translation":{"x":7.462723052518566,"y":-1.1437877195202912},"rotation":{"radians":-1.0521507937987378}},"curvature":-27.631116920906926},{"time":3.140086416849262,"velocity":0.22636226104752244,"acceleration":-0.3110791470892836,"pose":{"translation":{"x":7.463655680050451,"y":-1.1455316446134858},"rotation":{"radians":-1.1074779835281168}},"curvature":-28.2737787148395},{"time":3.148816529965278,"velocity":0.22364650490539928,"acceleration":-0.08126144309525896,"pose":{"translation":{"x":7.464484172329446,"y":-1.1473126917533785},"rotation":{"radians":-1.1634422271483342}},"curvature":-28.65458793715891},{"time":3.1575816708565254,"velocity":0.22293423690764325,"acceleration":0.14660560331665634,"pose":{"translation":{"x":7.46520876980094,"y":-1.1491307893916096},"rotation":{"radians":-1.2196771131358384}},"curvature":-28.755999475861472},{"time":3.166331464727881,"velocity":0.22421700571704972,"acceleration":0.37741539415195674,"pose":{"translation":{"x":7.46582975236082,"y":-1.1509858521802734},"rotation":{"radians":-1.2758057659201345}},"curvature":-28.573825683680486},{"time":3.175016108106046,"velocity":0.22749472382068903,"acceleration":0.6159907452633939,"pose":{"translation":{"x":7.466347438775576,"y":-1.1528777811719926},"rotation":{"radians":-1.331455494132833}},"curvature":-28.117668468730983},{"time":3.1835883524113404,"velocity":0.23277514697888713,"acceleration":0.867011458358055,"pose":{"translation":{"x":7.466762186102392,"y":-1.1548064640199922},"rotation":{"radians":-1.3862720377899758}},"curvature":-27.409814592509886},{"time":3.1920052438078894,"velocity":0.24007268826345063,"acceleration":1.1349339789424504,"pose":{"translation":{"x":7.467074389109252,"y":-1.1567717751781745},"rotation":{"radians":-1.4399320847953063}},"curvature":-26.482813979610114},{"time":3.2002294738213384,"velocity":0.24940664635635235,"acceleration":1.4238995487670976,"pose":{"translation":{"x":7.467284479695027,"y":-1.158773576101194},"rotation":{"radians":-1.4921530220635075}},"curvature":-25.376195561326828},{"time":3.208230257936403,"velocity":0.26079895924757557,"acceleration":1.7376294870376252,"pose":{"translation":{"x":7.467392926309582,"y":-1.1608117154445305},"rotation":{"radians":-1.542699328039103}},"curvature":-24.13288147640941},{"time":3.2159837274198657,"velocity":0.27427161644888676,"acceleration":2.079308849048532,"pose":{"translation":{"x":7.4674002333738665,"y":-1.1628860292645662},"rotation":{"radians":-1.5913854936628287}},"curvature":-22.79582618985712},{"time":3.2234728785671276,"velocity":0.28984387470125084,"acceleration":2.451462416040299,"pose":{"translation":{"x":7.4673069407000146,"y":-1.1649963412186568},"rotation":{"radians":-1.6380757769664533}},"curvature":-21.405267157377484},{"time":3.2306871640870938,"velocity":0.30752942451203114,"acceleration":2.699999999999811,"pose":{"translation":{"x":7.467113622911442,"y":-1.1671424627652092},"rotation":{"radians":-1.6826813861112742}},"curvature":-19.99678746639396},{"time":3.2443442626199945,"velocity":0.34440359055086106,"acceleration":2.6999999999997417,"pose":{"translation":{"x":7.466429381060786,"y":-1.1715413206750205},"rotation":{"radians":-1.765489142784833}},"curvature":-17.239258032151128},{"time":3.2572389769698,"velocity":0.3792193192953317,"acceleration":2.70000000000009,"pose":{"translation":{"x":7.465352778998552,"y":-1.176080858285079},"rotation":{"radians":-1.839838206677028}},"curvature":-14.689952636946256},{"time":3.269619267194883,"velocity":0.4126461029030575,"acceleration":2.6999999999998816,"pose":{"translation":{"x":7.463889607768119,"y":-1.180759148508029},"rotation":{"radians":-1.9061486326525838}},"curvature":-12.431514400354017},{"time":3.2816408701990625,"velocity":0.4451044310143397,"acceleration":2.700000000000073,"pose":{"translation":{"x":7.462046159722717,"y":-1.1855740882804664},"rotation":{"radians":-1.9650609451952596}},"curvature":-10.486462314410268},{"time":3.293405115380808,"velocity":0.47686789300505295,"acceleration":2.700000000000053,"pose":{"translation":{"x":7.459829209968529,"y":-1.1905234049653206},"rotation":{"radians":-2.0173089249512017}},"curvature":-8.841322943841373},{"time":3.3049792696593903,"velocity":0.5081181095572254,"acceleration":2.700000000000192,"pose":{"translation":{"x":7.457245997807815,"y":-1.195604662754241},"rotation":{"radians":-2.063636181634097}},"curvature":-7.464887532413894},{"time":3.3164083962582325,"velocity":0.5389767513741013,"acceleration":2.699999999999976,"pose":{"translation":{"x":7.454304208182021,"y":-1.2008152690699803},"rotation":{"radians":-2.10474771146483}},"curvature":-6.319871017969904},{"time":3.3389388916054923,"velocity":0.599809088811702,"acceleration":2.700000000000044,"pose":{"translation":{"x":7.447377753155588,"y":-1.211613411542752},"rotation":{"radians":-2.1738212970746114}},"curvature":-4.5801372088327215},{"time":3.361137989479198,"velocity":0.6597466530707087,"acceleration":2.700000000000023,"pose":{"translation":{"x":7.4391195320428505,"y":-1.2228941996783393},"rotation":{"radians":-2.2288160276989615}},"curvature":-3.37494202009036},{"time":3.3830568569034463,"velocity":0.7189275951161802,"acceleration":2.7000000000000144,"pose":{"translation":{"x":7.429605174583705,"y":-1.234631902221708},"rotation":{"radians":-2.2729705708237473}},"curvature":-2.527916987831134},{"time":3.4260634819913163,"velocity":0.8350454828534297,"acceleration":2.700000000000017,"pose":{"translation":{"x":7.407136719595017,"y":-1.2593658620207715},"rotation":{"radians":-2.337722173229997}},"curvature":-1.4772175377638754},{"time":3.5081646268399225,"velocity":1.056718573944668,"acceleration":2.699999999999994,"pose":{"translation":{"x":7.350974555129498,"y":-1.3129995813244224},"rotation":{"radians":-2.408909455392808}},"curvature":-0.5347997001052112},{"time":3.583592728883359,"velocity":1.2603744494619455,"acceleration":2.7000000000000055,"pose":{"translation":{"x":7.285072764551772,"y":-1.3703880432690192},"rotation":{"radians":-2.4353803498498174}},"curvature":-0.1169882682753502},{"time":3.6508233081865473,"velocity":1.4418970135805547,"acceleration":1.3875261246594015,"pose":{"translation":{"x":7.215918010652873,"y":-1.4292870796027968},"rotation":{"radians":-2.432432107294122}},"curvature":0.17737888614083197},{"time":3.710292381295458,"velocity":1.524411906128448,"acceleration":-2.7,"pose":{"translation":{"x":7.149694042178108,"y":-1.487544673339861},"rotation":{"radians":-2.402842074915739}},"curvature":0.5161747347143254},{"time":3.7658130945718895,"velocity":1.374505980282082,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.091673621783036,"y":-1.5433107520931373},"rotation":{"radians":-2.3420150749522866}},"curvature":1.0553635894564308},{"time":3.792883707105902,"velocity":1.3014153264402486,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.066988739956747,"y":-1.5698155175341644},"rotation":{"radians":-2.296842094749197}},"curvature":1.46358366454697},{"time":3.8191267380550116,"velocity":1.2305591428776528,"acceleration":-2.699999999999998,"pose":{"translation":{"x":7.045610453989442,"y":-1.5952469814073202},"rotation":{"radians":-2.239856166388038}},"curvature":1.996087590213061},{"time":3.844374958877326,"velocity":1.162388946657403,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":7.027670862293224,"y":-1.6195522301762182},"rotation":{"radians":-2.170149313599266}},"curvature":2.643464806503541},{"time":3.868599713432293,"velocity":1.0969821093589933,"acceleration":-2.700000000000007,"pose":{"translation":{"x":7.013131113141328,"y":-1.6427365580918252},"rotation":{"radians":-2.0886536159341755}},"curvature":3.309498733349602},{"time":3.8803708947043623,"velocity":1.0651999199244058,"acceleration":-2.2135783797022732,"pose":{"translation":{"x":7.007072617840989,"y":-1.6539275607758022},"rotation":{"radians":-2.0447575100318383}},"curvature":3.5778366924102567},{"time":3.8919280881827945,"velocity":1.0396171663105123,"acceleration":1.5216925680880173,"pose":{"translation":{"x":7.001762402416748,"y":-1.6648700232341174},"rotation":{"radians":-2.0001134513348635}},"curvature":3.741829781587491},{"time":3.913623913678821,"velocity":1.0726315427263504,"acceleration":2.7000000000000455,"pose":{"translation":{"x":6.993126971360874,"y":-1.6860940035537344},"rotation":{"radians":-1.9150753113486085}},"curvature":3.5316640430096276},{"time":3.9332384583997655,"velocity":1.1255908134729018,"acceleration":2.700000000000011,"pose":{"translation":{"x":6.986559104322092,"y":-1.706627752913635},"rotation":{"radians":-1.8500885056813583}},"curvature":2.2972998269570555},{"time":3.951377814374776,"velocity":1.1745670746054298,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.981146126504432,"y":-1.7267749571307505},"rotation":{"radians":-1.8244704229335087}},"curvature":6.389810104651532E-14},{"time":4.021498324188428,"velocity":1.3638924511022918,"acceleration":2.7000000000000046,"pose":{"translation":{"x":6.9592661543988825,"y":-1.8130425384870001},"rotation":{"radians":-1.811400282697703}},"curvature":0.18305419903007367},{"time":4.099891082285739,"velocity":1.5755528979650308,"acceleration":2.700000000000008,"pose":{"translation":{"x":6.932764737139686,"y":-1.9251688628471044},"rotation":{"radians":-1.7963819825529694}},"curvature":0.08233336529423564},{"time":4.142213740293081,"velocity":1.6898240745848563,"acceleration":2.7000000000000037,"pose":{"translation":{"x":6.9174684998367875,"y":-1.9925542910646845},"rotation":{"radians":-1.7920610655072007}},"curvature":0.04542948812004931},{"time":4.185205468651688,"velocity":1.8059017411530962,"acceleration":2.6999999999999904,"pose":{"translation":{"x":6.901075449959414,"y":-2.0658880189922586},"rotation":{"radians":-1.7897169508357862}},"curvature":0.018473484793554897},{"time":4.227559942540201,"velocity":1.9202588206520799,"acceleration":2.7000000000000095,"pose":{"translation":{"x":6.883970919741171,"y":-2.142921707934635},"rotation":{"radians":-1.7891576401649198}},"curvature":-0.003838170076288228},{"time":4.268013030775064,"velocity":2.0294821588862106,"acceleration":-0.6363770343133736,"pose":{"translation":{"x":6.866629562244371,"y":-2.220906495772335},"rotation":{"radians":-1.7903543306679175}},"curvature":-0.02668672374829891},{"time":4.306611601425069,"velocity":2.0049189149672255,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.849566333832086,"y":-2.2968748477473047},"rotation":{"radians":-1.7935050152380263}},"curvature":-0.05623993874744346},{"time":4.343902898112869,"velocity":1.9042324139101658,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":6.833287476640194,"y":-2.367922407248626},"rotation":{"radians":-1.7991214804768882}},"curvature":-0.10257183437654888},{"time":4.410672977306025,"velocity":1.723953200088645,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.8047701681574635,"y":-2.4856447178365855},"rotation":{"radians":-1.822526000943982}},"curvature":-0.3523138191517206},{"time":4.458996643805327,"velocity":1.59347930054053,"acceleration":2.700000000000016,"pose":{"translation":{"x":6.783090623277312,"y":-2.5628124674485733},"rotation":{"radians":-1.879661531385654}},"curvature":-1.3684642417610602},{"time":4.487928401692963,"velocity":1.671595046837145,"acceleration":2.7000000000000077,"pose":{"translation":{"x":6.766985279057036,"y":-2.6072139966365957},"rotation":{"radians":-1.9513027039074702}},"curvature":-1.5427633070819612E-12},{"time":4.546982778412658,"velocity":1.8310418639803232,"acceleration":2.700000000000008,"pose":{"translation":{"x":6.731791420174782,"y":-2.7044647720887713},"rotation":{"radians":-1.8895360249931248}},"curvature":0.3028962384922683},{"time":4.589302077750851,"velocity":1.9453039721934453,"acceleration":2.7000000000000033,"pose":{"translation":{"x":6.707339661769482,"y":-2.7805377969098837},"rotation":{"radians":-1.8773477894358561}},"curvature":0.047626527361036446},{"time":4.636256006416251,"velocity":2.0720795795900244,"acceleration":0.6216101422965297,"pose":{"translation":{"x":6.678867013701109,"y":-2.8704533716239875},"rotation":{"radians":-1.8796694858289695}},"curvature":-0.087437362490553},{"time":4.683249022161634,"velocity":2.1012909147944554,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.64846271193872,"y":-2.9636803526706923},"rotation":{"radians":-1.8947048458847193}},"curvature":-0.22811624607870962},{"time":4.7276789497693885,"velocity":1.9813301102535184,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.618459990812718,"y":-3.049269313584438},"rotation":{"radians":-1.9246360307009078}},"curvature":-0.45654182535567983},{"time":4.767268928670359,"velocity":1.874437167220898,"acceleration":2.7000000000000126,"pose":{"translation":{"x":6.5905210891597985,"y":-3.120296800861932},"rotation":{"radians":-1.9698094797322772}},"curvature":-0.7007252930308779},{"time":4.8003524872982215,"velocity":1.9637627755161273,"acceleration":2.7000000000000077,"pose":{"translation":{"x":6.564722256467882,"y":-3.178309589829586},"rotation":{"radians":-2.001488838181345}},"curvature":2.5539066129365256E-13},{"time":4.832690052522768,"velocity":2.0510742016224035,"acceleration":2.7000000000000095,"pose":{"translation":{"x":6.537938124915615,"y":-3.237441399690594},"rotation":{"radians":-1.9880549453765368}},"curvature":0.2640301659784271},{"time":4.872756052482948,"velocity":2.15925240151489,"acceleration":2.1806009777365554,"pose":{"translation":{"x":6.504467396303145,"y":-3.3148614817153645},"rotation":{"radians":-1.971607271981553}},"curvature":0.13072239607567918},{"time":4.921293075546371,"velocity":2.2650922814634136,"acceleration":0.6109641592006665,"pose":{"translation":{"x":6.4630861417637835,"y":-3.4139391985919607},"rotation":{"radians":-1.9627263649341367}},"curvature":0.04756533449352125},{"time":4.974798667498725,"velocity":2.297782280463117,"acceleration":-0.5033822266901451,"pose":{"translation":{"x":6.416671370635927,"y":-3.5268403456821757},"rotation":{"radians":-1.9598523044604}},"curvature":0.0029788781311610086},{"time":5.028401577104105,"velocity":2.27079952846889,"acceleration":-1.096810947493531,"pose":{"translation":{"x":6.370156860656412,"y":-3.6401059183334414},"rotation":{"radians":-1.9619346995648212}},"curvature":-0.03968862552733675},{"time":5.076723629557026,"velocity":2.217799372333169,"acceleration":-1.933062583964009,"pose":{"translation":{"x":6.3284889881538575,"y":-3.74023087919074},"rotation":{"radians":-1.9697003811835467}},"curvature":-0.11439521721935789},{"time":5.116169878134831,"velocity":2.141547305129671,"acceleration":2.699999999999972,"pose":{"translation":{"x":6.294582558242029,"y":-3.81924292550852},"rotation":{"radians":-1.984322806626164}},"curvature":-0.2283636351184617},{"time":5.146802375638727,"velocity":2.224255048390191,"acceleration":-1.3027972852184375,"pose":{"translation":{"x":6.267276635013188,"y":-3.88028125646261},"rotation":{"radians":-1.9961898206316888}},"curvature":-3.718304897395597E-13},{"time":5.177406318576775,"velocity":2.1843843146135224,"acceleration":-2.083168104658677,"pose":{"translation":{"x":6.23922019896753,"y":-3.941631121038789},"rotation":{"radians":-2.0049477277332395}},"curvature":-0.16335886169672642},{"time":5.218934837298683,"velocity":2.0978734289783243,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.201335361250187,"y":-4.0220744791727014},"rotation":{"radians":-2.0156859277247685}},"curvature":-0.08280776660273527},{"time":5.2749579909547135,"velocity":1.9466109141070416,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.152210651921689,"y":-4.124162319704786},"rotation":{"radians":-2.022062347830648}},"curvature":-0.037586189160884666},{"time":5.34335169333227,"velocity":1.761947917687638,"acceleration":-2.700000000000002,"pose":{"translation":{"x":6.09668889886182,"y":-4.238183851564877},"rotation":{"radians":-2.0254071580455033}},"curvature":-0.017583286099940882},{"time":5.417273117128744,"velocity":1.5623600734371592,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.042646637292194,"y":-4.348529551531317},"rotation":{"radians":-2.026743957009689}},"curvature":-0.003811340975765062},{"time":5.486678508627249,"velocity":1.3749655163911958,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.997773519298815,"y":-4.440054211990066},"rotation":{"radians":-2.0261395522652093}},"curvature":0.02077742451270997},{"time":5.581650757647683,"velocity":1.1185404440360245,"acceleration":-2.7,"pose":{"translation":{"x":5.946035363842139,"y":-4.5465594485211},"rotation":{"radians":-2.0183163019521078}},"curvature":-3.012836197628505E-13},{"time":5.601026704789382,"velocity":1.0662253867534395,"acceleration":-2.295787658406319,"pose":{"translation":{"x":5.936556497255027,"y":-4.565484265063717},"rotation":{"radians":-2.064628046880355}},"curvature":-3.571427190245016},{"time":5.61197472430212,"velocity":1.0410910586721038,"acceleration":2.6999999999998217,"pose":{"translation":{"x":5.930873224440056,"y":-4.5755225665272805},"rotation":{"radians":-2.1075808705966947}},"curvature":-3.7321628991871814},{"time":5.623865467302273,"velocity":1.0731960647725154,"acceleration":2.700000000000061,"pose":{"translation":{"x":5.924201504522159,"y":-4.586176140795628},"rotation":{"radians":-2.1520402224255477}},"curvature":-3.2843626854041},{"time":5.650075659483437,"velocity":1.14396358366166,"acceleration":2.7000000000000286,"pose":{"translation":{"x":5.907264235271395,"y":-4.609785149466344},"rotation":{"radians":-2.2277586558349807}},"curvature":-1.9758845219610193},{"time":5.679619228932066,"velocity":1.223731221172959,"acceleration":2.699999999999974,"pose":{"translation":{"x":5.885140344231054,"y":-4.636873699129188},"rotation":{"radians":-2.277838812922086}},"curvature":-0.9905387662992968},{"time":5.7456195214874395,"velocity":1.401932011072466,"acceleration":-1.6158553215856875,"pose":{"translation":{"x":5.8272724292904545,"y":-4.701364426734989},"rotation":{"radians":-2.3124024921267456}},"curvature":0.013955931147822767},{"time":5.82024150104035,"velocity":1.281353688304638,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":5.760503657459791,"y":-4.775964384068014},"rotation":{"radians":-2.278730146762986}},"curvature":0.661093781844257},{"time":5.861349931092276,"velocity":1.1703609271644382,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.728505684666588,"y":-4.814894978457702},"rotation":{"radians":-2.235162805251749}},"curvature":1.0961299502459416},{"time":5.904531412075613,"velocity":1.0537709285094272,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.700081747766614,"y":-4.853599797205923},"rotation":{"radians":-2.1680248787945833}},"curvature":1.757620630537024},{"time":5.926623455396853,"velocity":0.9941224115420795,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.687766218327823,"y":-4.8725745365264155},"rotation":{"radians":-2.123216480360578}},"curvature":2.2261447269644323},{"time":5.948920520669304,"velocity":0.9339203353064609,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.676964548292993,"y":-4.89115819582592},"rotation":{"radians":-2.069282861912245}},"curvature":2.8197852070434726},{"time":5.971364105497491,"velocity":0.8733226562703565,"acceleration":-2.699999999999997,"pose":{"translation":{"x":5.6678240008681655,"y":-4.90926204359236},"rotation":{"radians":-2.0049285397303866}},"curvature":3.557955262784595},{"time":5.993950483685637,"velocity":0.8123394351623621,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.660452710336893,"y":-4.92681346622997},"rotation":{"radians":-1.9290964956932903}},"curvature":4.438007692288481},{"time":6.005320977724366,"velocity":0.7816391012577952,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.657452152605622,"y":-4.935364456137411},"rotation":{"radians":-1.886727236623641}},"curvature":4.9177115386256585},{"time":6.01676709976525,"velocity":0.7507345717474075,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.654913682519064,"y":-4.943758904004977},"rotation":{"radians":-1.841461127225999}},"curvature":5.407362253384503},{"time":6.0283192751986485,"velocity":0.7195436980772316,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":5.652837140182536,"y":-4.951993573710473},"rotation":{"radians":-1.79349304281632}},"curvature":5.887059520979176},{"time":6.0400192192707705,"velocity":0.6879538490825018,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.651218795229721,"y":-4.960066786991287},"rotation":{"radians":-1.7431630871890897}},"curvature":6.330503910917793},{"time":6.051922190096023,"velocity":0.6558158278543214,"acceleration":-2.700000000000004,"pose":{"translation":{"x":5.650051159337019,"y":-4.967978515192694},"rotation":{"radians":-1.6909786461077827}},"curvature":6.705859650499326},{"time":6.064099842097059,"velocity":0.6229361674515225,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.649322798737876,"y":-4.9757304710161625},"rotation":{"radians":-1.6376263776857742}},"curvature":6.977977660835564},{"time":6.076644097019964,"velocity":0.589066679159679,"acceleration":-2.7,"pose":{"translation":{"x":5.649018146737125,"y":-4.983326200267652},"rotation":{"radians":-1.5839693528694552}},"curvature":7.111918230185031},{"time":6.089672831743971,"velocity":0.5538890954048609,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.649117316225329,"y":-4.9907711736059195},"rotation":{"radians":-1.531026634408773}},"curvature":7.077199829846817},{"time":6.103338928208797,"velocity":0.5169906349498303,"acceleration":-2.699999999999995,"pose":{"translation":{"x":5.649595912193108,"y":-4.998072878290817},"rotation":{"radians":-1.4799363085462358}},"curvature":6.851731928515863},{"time":6.117845783784678,"velocity":0.47782212489495235,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.650424844245491,"y":-5.005240909931599},"rotation":{"radians":-1.4319073873778112}},"curvature":6.424251674858325},{"time":6.1506410282810435,"velocity":0.389274964754765,"acceleration":-2.7,"pose":{"translation":{"x":5.6529927531822,"y":-5.019225428754662},"rotation":{"radians":-1.349929704456554}},"curvature":4.970754709570831},{"time":6.2948169411531785,"velocity":0.0,"acceleration":-2.7,"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":2.7,"pose":{"translation":{"x":3.2,"y":-2.4},"rotation":{"radians":1.4909663410826592}},"curvature":0.0},{"time":0.24087146067360232,"velocity":0.6503529438187263,"acceleration":2.7,"pose":{"translation":{"x":3.2063923239707948,"y":-2.321935549378395},"rotation":{"radians":1.4853936094671658}},"curvature":-0.14003454519850286},{"time":0.3403321067745373,"velocity":0.9188966882912508,"acceleration":2.700000000000002,"pose":{"translation":{"x":3.2136058807373047,"y":-2.244230365753174},"rotation":{"radians":1.4693943312421711}},"curvature":-0.26854009181439953},{"time":0.4162093899230572,"velocity":1.1237653527922549,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.222373878955841,"y":-2.167232152819633},"rotation":{"radians":1.4438709569483001}},"curvature":-0.3892554699617604},{"time":0.4796643300987847,"velocity":1.295093691266719,"acceleration":2.7,"pose":{"translation":{"x":3.23333740234375,"y":-2.0912750244140623},"rotation":{"radians":1.4095508622566484}},"curvature":-0.5045238953483497},{"time":0.5350330829196676,"velocity":1.444589323883103,"acceleration":2.7,"pose":{"translation":{"x":3.247049701213837,"y":-2.0166784316301345},"rotation":{"radians":1.3670615930214727}},"curvature":-0.6152749842269323},{"time":0.5845690293257431,"velocity":1.5783363791795066,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.263980484008789,"y":-1.9437460899353027},"rotation":{"radians":1.31700394182167}},"curvature":-0.7210297835846021},{"time":0.6296480543963683,"velocity":1.7000497468701947,"acceleration":2.6999999999999957,"pose":{"translation":{"x":3.284520208835602,"y":-1.8727649062871932},"rotation":{"radians":1.2600195729181376}},"curvature":-0.8199640567171538},{"time":0.6712066888140586,"velocity":1.8122580597979585,"acceleration":2.7000000000000046,"pose":{"translation":{"x":3.308984375,"y":-1.80400390625},"rotation":{"radians":1.1968484614725936}},"curvature":-0.9091030887449644},{"time":0.7099349111347993,"velocity":1.9168242600639587,"acceleration":0.713891975573265,"pose":{"translation":{"x":3.337617814540863,"y":-1.7377131611108778},"rotation":{"radians":1.1283693350753876}},"curvature":-0.984719188894597},{"time":0.7470498450495191,"velocity":1.943320313559609,"acceleration":-0.4760126423101277,"pose":{"translation":{"x":3.3705989837646486,"y":-1.6741227149963378},"rotation":{"radians":1.0556153835823303}},"curvature":-1.0429516644982315},{"time":0.7839084212677183,"velocity":1.9257751653021948,"acceleration":-0.18820115727741646,"pose":{"translation":{"x":3.4080442547798158,"y":-1.6134415119886398},"rotation":{"radians":0.9797593479141627}},"curvature":-1.0805731039252389},{"time":0.8209765677083066,"velocity":1.9187988972439474,"acceleration":0.09056123516709963,"pose":{"translation":{"x":3.45001220703125,"y":-1.5558563232421874},"rotation":{"radians":0.9020673863864839}},"curvature":-1.0957232372764043},{"time":0.8582099441077288,"velocity":1.9221707978001206,"acceleration":0.34654593248815047,"pose":{"translation":{"x":3.4965079188346864,"y":-1.5015306740999221},"rotation":{"radians":0.8238287103495565}},"curvature":-1.0883868599412896},{"time":0.8955722462111021,"velocity":1.935118551622438,"acceleration":0.5679874315962562,"pose":{"translation":{"x":3.547487258911133,"y":-1.4506037712097166},"rotation":{"radians":0.7462749142641318}},"curvature":-1.060453497287128},{"time":0.9330382838395435,"velocity":1.9563987901071052,"acceleration":0.7468467457344942,"pose":{"translation":{"x":3.602861177921295,"y":-1.4031894296407699},"rotation":{"radians":0.6705058542365749}},"curvature":-1.0153469207650658},{"time":0.9705953542630814,"velocity":1.9844481659322457,"acceleration":0.8797453662514907,"pose":{"translation":{"x":3.6624999999999996,"y":-1.359375},"rotation":{"radians":0.5974362859535688}},"curvature":-0.957370100328515},{"time":1.0082423338564968,"velocity":2.017567921782917,"acceleration":0.9679581980533886,"pose":{"translation":{"x":3.726237714290619,"y":-1.3192202955484391},"rotation":{"radians":0.5277705788228475}},"curvature":-0.8909885271430263},{"time":1.0459866769533488,"velocity":2.054102868113655,"acceleration":1.0165960131048808,"pose":{"translation":{"x":3.793876266479492,"y":-1.282756519317627},"rotation":{"radians":0.46200494353630284}},"curvature":-0.8202450408700819},{"time":1.0838400435361695,"velocity":2.092584449664348,"acceleration":1.0333044486980774,"pose":{"translation":{"x":3.8651898503303523,"y":-1.2499851912260056},"rotation":{"radians":0.4004508235379794}},"curvature":-0.7484034289896291},{"time":1.1218134491688359,"velocity":2.131822538636799,"acceleration":1.026873724963856,"pose":{"translation":{"x":3.9399291992187493,"y":-1.2208770751953126},"rotation":{"radians":0.3432707503966877}},"curvature":-0.6778200992401754},{"time":1.1599127048968312,"velocity":2.170945663284556,"acceleration":1.0060800541820158,"pose":{"translation":{"x":4.017825877666472,"y":-1.1953711062669754},"rotation":{"radians":0.2905185837502133}},"curvature":-0.6099838436225127},{"time":1.1981346432446784,"velocity":2.2093999930884998,"acceleration":0.9789274362243202,"pose":{"translation":{"x":4.098596572875976,"y":-1.173373317718506},"rotation":{"radians":0.24217829113794748}},"curvature":-0.5456484025792503},{"time":1.236464346456409,"velocity":2.246921991184798,"acceleration":0.9523083758949118,"pose":{"translation":{"x":4.1819473862648,"y":-1.1547557681798937},"rotation":{"radians":0.19819797352787924}},"curvature":-0.4849954493582745},{"time":1.2748733821215783,"velocity":2.2834992375587855,"acceleration":0.932005667095097,"pose":{"translation":{"x":4.267578124999998,"y":-1.1393554687500003},"rotation":{"radians":0.1585179297328586}},"curvature":-0.42778827730628},{"time":1.313318929872459,"velocity":2.3193307059371815,"acceleration":0.9229235434567584,"pose":{"translation":{"x":4.35518659353256,"y":-1.1269733101129535},"rotation":{"radians":0.12309291857098917}},"curvature":-0.37349708304330403},{"time":1.3517436384585377,"velocity":2.3547937741417386,"acceleration":0.9294463664954764,"pose":{"translation":{"x":4.444472885131834,"y":-1.1173729896545417},"rotation":{"radians":0.09190948239783109}},"curvature":-0.32139092067395386},{"time":1.3900760620609043,"velocity":2.3904217059779236,"acceleration":0.9558509093764224,"pose":{"translation":{"x":4.53514367341995,"y":-1.1102799385786064},"rotation":{"radians":0.06499941950371821}},"curvature":-0.27059936113793964},{"time":1.4282315676384711,"velocity":2.426892680681958,"acceleration":1.0067234739741637,"pose":{"translation":{"x":4.626916503906247,"y":-1.1053802490234386},"rotation":{"radians":0.042450411457934975}},"curvature":-0.2201505876217445},{"time":1.4661136685453005,"velocity":2.465029480908321,"acceleration":1.0873411523184984,"pose":{"translation":{"x":4.7195240855216944,"y":-1.1023196011781704},"rotation":{"radians":0.024414544524684806}},"curvature":-0.16899419639207908},{"time":1.503615818971691,"velocity":2.5058071123673744,"acceleration":1.203954282488053,"pose":{"translation":{"x":4.812718582153316,"y":-1.1007021903991712},"rotation":{"radians":0.011115066097951428}},"curvature":-0.11601802371569106},{"time":1.54062380111702,"velocity":2.5503630309574845,"acceleration":1.3638344073673099,"pose":{"translation":{"x":4.906275904178614,"y":-1.1000896543264405},"rotation":{"radians":0.0028511840826505935}},"curvature":-0.06007008409255472},{"time":1.5770189593373858,"velocity":2.5999999999999965,"acceleration":9.95392778677314E-14,"pose":{"translation":{"x":4.999999999999995,"y":-1.1000000000000019},"rotation":{"radians":-3.2566542055671518E-15}},"curvature":-4.342205607422935E-15},{"time":1.6130537233429754,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.0936903864145275,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6489552365801952,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.187034320831299,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6846019399609997,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.279715749621391,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7198846538235657,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.371450805664063,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7547061652847502,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.461986735463142,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7889808155925522,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.551100826263427,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.822634087478571,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.638599333167076,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8556021925104647,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.72431640625,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8878316584444113,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.808113017678261,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9192789165775657,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.889875888824463,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.949909889100521,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":5.969516417384147,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9796995764497674,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":6.046969604492188,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.008631644660149,"velocity":2.6,"acceleration":0.0,"pose":{"translation":{"x":6.12219298183918,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.036698012717327,"velocity":2.6,"acceleration":-1.3474694327833163,"pose":{"translation":{"x":6.195165538787842,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.064092910961391,"velocity":2.563086212001915,"acceleration":-2.699999999999991,"pose":{"translation":{"x":6.265886649489403,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.09120101073351,"velocity":2.489894342617193,"acceleration":-2.699999999999995,"pose":{"translation":{"x":6.334375,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.118221498457537,"velocity":2.41693902576232,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.400667515397072,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1451692687323356,"velocity":2.344180046020364,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.464818286895753,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.1989522956106953,"velocity":2.198965873448793,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.5869903564453125,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.2528688086126274,"velocity":2.0533912883435765,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":6.701626491546631,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.3074430368479413,"velocity":1.906040872108229,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.80966796875,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.363474418453515,"velocity":1.7547561417731796,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.912227725982667,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.422159258437014,"velocity":1.5963070738177314,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.010556030273439,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.485328208719502,"velocity":1.425750908055014,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.106006145477297,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.555980616218527,"velocity":1.2349894078076473,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.200000000000003,"y":-1.1},"rotation":{"radians":0.0}},"curvature":0.0},{"time":2.6371955782116414,"velocity":1.0157090104262383,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":7.291391427065546,"y":-1.100829703353923},"rotation":{"radians":-0.027821850230778215}},"curvature":-0.650210314192843},{"time":2.680726614497533,"velocity":0.8981752124543314,"acceleration":-2.7,"pose":{"translation":{"x":7.33300693575994,"y":-1.102681343908726},"rotation":{"radians":-0.06466356345347674}},"curvature":-1.1671521341710898},{"time":2.725336603988456,"velocity":0.777728240828838,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.370233046899057,"y":-1.1060809225877481},"rotation":{"radians":-0.12296931421995656}},"curvature":-2.060099762721178},{"time":2.7478724331021938,"velocity":0.7168815022217461,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.386904400841855,"y":-1.1084662489341992},"rotation":{"radians":-0.16325383468827934}},"curvature":-2.7730985925232075},{"time":2.770487251929253,"velocity":0.6558214913886853,"acceleration":-2.7,"pose":{"translation":{"x":7.402155192351948,"y":-1.111353633071441},"rotation":{"radians":-0.21358032077615297}},"curvature":-3.7862951832682605},{"time":2.7931550929412046,"velocity":0.5946183206564163,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.415909561237784,"y":-1.114770334002192},"rotation":{"radians":-0.2768284721084359}},"curvature":-5.252936086916672},{"time":2.815899146796304,"velocity":0.5332093752476474,"acceleration":-2.699999999999997,"pose":{"translation":{"x":7.428105903379064,"y":-1.1187386439112075},"rotation":{"radians":-0.35686632281713865}},"curvature":-7.397416721857951},{"time":2.8273346346278765,"velocity":0.5023335581024015,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.433604315141906,"y":-1.1209353108447915},"rotation":{"radians":-0.40469686961167517}},"curvature":-8.81393295104801},{"time":2.8388472101177573,"velocity":0.47124960427972284,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.438696276906384,"y":-1.123276093041583},"rotation":{"radians":-0.45867228530255166}},"curvature":-10.5116637682121},{"time":2.850483615441796,"velocity":0.4398313099048187,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":7.443377833241871,"y":-1.125762471341103},"rotation":{"radians":-0.5195379709979431}},"curvature":-12.521757406781552},{"time":2.8623151623749448,"velocity":0.4078861331853169,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.44764580838088,"y":-1.1283956545710556},"rotation":{"radians":-0.5880100735834901}},"curvature":-14.85458396152343},{"time":2.8744502399471346,"velocity":0.3751214237404045,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.4514977876621735,"y":-1.1311765859497145},"rotation":{"radians":-0.6646802737127656}},"curvature":-17.4795810166942},{"time":2.8870553330668796,"velocity":0.34108767231709325,"acceleration":-2.699999999999999,"pose":{"translation":{"x":7.454932098973876,"y":-1.134105949488305},"rotation":{"radians":-0.7498755855456528}},"curvature":-20.29968500248048},{"time":2.8936126153782302,"velocity":0.323383010076446,"acceleration":-2.5494086137680174,"pose":{"translation":{"x":7.456492305080279,"y":-1.1356264377697427},"rotation":{"radians":-0.7956562154609756}},"curvature":-21.728400778541683},{"time":2.9003859492167976,"velocity":0.306115014444476,"acceleration":-2.116682420932261,"pose":{"translation":{"x":7.457947794196594,"y":-1.1371841763933905},"rotation":{"radians":-0.8434788689153079}},"curvature":-23.12820866880771},{"time":2.9073831123713068,"velocity":0.2913042421989318,"acceleration":-1.7202345042099862,"pose":{"translation":{"x":7.459298557887232,"y":-1.1387791808097316},"rotation":{"radians":-0.8932284950696684}},"curvature":-24.46103818109851},{"time":2.9145857391447882,"velocity":0.27891403510224255,"acceleration":-1.355498628239331,"pose":{"translation":{"x":7.460544630646523,"y":-1.1404114514692556},"rotation":{"radians":-0.944741230203777}},"curvature":-25.684779785449013},{"time":2.9219693098446142,"velocity":0.2689056151471201,"acceleration":-1.0172864645438446,"pose":{"translation":{"x":7.461686089318814,"y":-1.1420809740225333},"rotation":{"radians":-0.9978029559869008}},"curvature":-26.755617400486308},{"time":2.9295033187991057,"velocity":0.26124136981396373,"acceleration":-0.6999498410299603,"pose":{"translation":{"x":7.462723052518566,"y":-1.1437877195202912},"rotation":{"radians":-1.0521507937987378}},"curvature":-27.631116920906926},{"time":2.9371518617975827,"velocity":0.2558877733580691,"acceleration":-0.3975226907984488,"pose":{"translation":{"x":7.463655680050451,"y":-1.1455316446134858},"rotation":{"radians":-1.1074779835281168}},"curvature":-28.2737787148395},{"time":2.944874654169443,"velocity":0.2528177881539295,"acceleration":-0.10384260025024068,"pose":{"translation":{"x":7.464484172329446,"y":-1.1473126917533785},"rotation":{"radians":-1.1634422271483342}},"curvature":-28.65458793715891},{"time":2.9526284326501617,"velocity":0.2520126156347273,"acceleration":0.18734477852939846,"pose":{"translation":{"x":7.46520876980094,"y":-1.1491307893916096},"rotation":{"radians":-1.2196771131358384}},"curvature":-28.755999475861472},{"time":2.960368634920976,"velocity":0.25346270211492583,"acceleration":0.4822926397858603,"pose":{"translation":{"x":7.46582975236082,"y":-1.1509858521802734},"rotation":{"radians":-1.2758057659201345}},"curvature":-28.573825683680486},{"time":2.968051204063199,"velocity":0.2571679486668659,"acceleration":0.7871639769339254,"pose":{"translation":{"x":7.466347438775576,"y":-1.1528777811719926},"rotation":{"radians":-1.331455494132833}},"curvature":-28.117668468730983},{"time":2.9756343432563437,"velocity":0.26313712267178535,"acceleration":1.1079390280719137,"pose":{"translation":{"x":7.466762186102392,"y":-1.1548064640199922},"rotation":{"radians":-1.3862720377899758}},"curvature":-27.409814592509886},{"time":2.983080054876368,"velocity":0.2713865171673788,"acceleration":1.4503126082516573,"pose":{"translation":{"x":7.467074389109252,"y":-1.1567717751781745},"rotation":{"radians":-1.4399320847953063}},"curvature":-26.482813979610114},{"time":2.9903553352728807,"velocity":0.28193794805500727,"acceleration":1.8195767390671755,"pose":{"translation":{"x":7.467284479695027,"y":-1.158773576101194},"rotation":{"radians":-1.4921530220635075}},"curvature":-25.376195561326828},{"time":2.997432951990053,"velocity":0.29481621480160713,"acceleration":2.2204868303165304,"pose":{"translation":{"x":7.467392926309582,"y":-1.1608117154445305},"rotation":{"radians":-1.542699328039103}},"curvature":-24.13288147640941},{"time":3.00429179037927,"velocity":0.31004617511613297,"acceleration":2.657113009370132,"pose":{"translation":{"x":7.4674002333738665,"y":-1.1628860292645662},"rotation":{"radians":-1.5913854936628287}},"curvature":-22.79582618985712},{"time":3.010916808701848,"velocity":0.3276495974883705,"acceleration":2.699999999999433,"pose":{"translation":{"x":7.4673069407000146,"y":-1.1649963412186568},"rotation":{"radians":-1.6380757769664533}},"curvature":-21.405267157377484},{"time":3.0173242226006654,"velocity":0.3449496150151732,"acceleration":2.699999999999811,"pose":{"translation":{"x":7.467113622911442,"y":-1.1671424627652092},"rotation":{"radians":-1.6826813861112742}},"curvature":-19.99678746639396},{"time":3.0296364786537375,"velocity":0.3781927063584652,"acceleration":2.699999999999731,"pose":{"translation":{"x":7.466429381060786,"y":-1.1715413206750205},"rotation":{"radians":-1.765489142784833}},"curvature":-17.239258032151128},{"time":3.04147258538946,"velocity":0.41015019454491275,"acceleration":2.700000000000087,"pose":{"translation":{"x":7.465352778998552,"y":-1.176080858285079},"rotation":{"radians":-1.839838206677028}},"curvature":-14.689952636946256},{"time":3.052987310775115,"velocity":0.4412399530861816,"acceleration":2.6999999999998843,"pose":{"translation":{"x":7.463889607768119,"y":-1.180759148508029},"rotation":{"radians":-1.9061486326525838}},"curvature":-12.431514400354017},{"time":3.0642817467809667,"velocity":0.4717349303019802,"acceleration":2.7000000000000757,"pose":{"translation":{"x":7.462046159722717,"y":-1.1855740882804664},"rotation":{"radians":-1.9650609451952596}},"curvature":-10.486462314410268},{"time":3.075422728522127,"velocity":0.5018155810031149,"acceleration":2.700000000000046,"pose":{"translation":{"x":7.459829209968529,"y":-1.1905234049653206},"rotation":{"radians":-2.0173089249512017}},"curvature":-8.841322943841373},{"time":3.0864544627327266,"velocity":0.5316012633717337,"acceleration":2.7000000000001827,"pose":{"translation":{"x":7.457245997807815,"y":-1.195604662754241},"rotation":{"radians":-2.063636181634097}},"curvature":-7.464887532413894},{"time":3.097405866330487,"velocity":0.5611700530856887,"acceleration":2.699999999999974,"pose":{"translation":{"x":7.454304208182021,"y":-1.2008152690699803},"rotation":{"radians":-2.10474771146483}},"curvature":-6.319871017969904},{"time":3.119131056770279,"velocity":0.6198280672731262,"acceleration":2.700000000000044,"pose":{"translation":{"x":7.447377753155588,"y":-1.211613411542752},"rotation":{"radians":-2.1738212970746114}},"curvature":-4.5801372088327215},{"time":3.1406755440888507,"velocity":0.677998183033271,"acceleration":2.7000000000000264,"pose":{"translation":{"x":7.4391195320428505,"y":-1.2228941996783393},"rotation":{"radians":-2.2288160276989615}},"curvature":-3.37494202009036},{"time":3.1620511904393496,"velocity":0.7357124281796178,"acceleration":2.7000000000000126,"pose":{"translation":{"x":7.429605174583705,"y":-1.234631902221708},"rotation":{"radians":-2.2729705708237473}},"curvature":-2.527916987831134},{"time":3.2042092532167357,"velocity":0.8495391976785606,"acceleration":2.700000000000017,"pose":{"translation":{"x":7.407136719595017,"y":-1.2593658620207715},"rotation":{"radians":-2.337722173229997}},"curvature":-1.4772175377638754},{"time":3.285197993791083,"velocity":1.0682087972293,"acceleration":2.6999999999999926,"pose":{"translation":{"x":7.350974555129498,"y":-1.3129995813244224},"rotation":{"radians":-2.408909455392808}},"curvature":-0.5347997001052112},{"time":3.359944173041758,"velocity":1.270023481206122,"acceleration":2.700000000000002,"pose":{"translation":{"x":7.285072764551772,"y":-1.3703880432690192},"rotation":{"radians":-2.4353803498498174}},"curvature":-0.1169882682753502},{"time":3.4267276567440117,"velocity":1.4503388872022072,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.215918010652873,"y":-1.4292870796027968},"rotation":{"radians":-2.432432107294122}},"curvature":0.17737888614083197},{"time":3.48444180594663,"velocity":1.606167090049278,"acceleration":-2.3506472498758146,"pose":{"translation":{"x":7.149694042178108,"y":-1.487544673339861},"rotation":{"radians":-2.402842074915739}},"curvature":0.5161747347143254},{"time":3.5365310216371033,"velocity":1.483723718438279,"acceleration":-2.7,"pose":{"translation":{"x":7.091673621783036,"y":-1.5433107520931373},"rotation":{"radians":-2.3420150749522866}},"curvature":1.0553635894564308},{"time":3.5615098894354578,"velocity":1.4162807753827222,"acceleration":-2.699999999999996,"pose":{"translation":{"x":7.066988739956747,"y":-1.5698155175341644},"rotation":{"radians":-2.296842094749197}},"curvature":1.46358366454697},{"time":3.585517439411962,"velocity":1.3514603904461608,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":7.045610453989442,"y":-1.5952469814073202},"rotation":{"radians":-2.239856166388038}},"curvature":1.996087590213061},{"time":3.6083928992506906,"velocity":1.2896966488815937,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.027670862293224,"y":-1.6195522301762182},"rotation":{"radians":-2.170149313599266}},"curvature":2.643464806503541},{"time":3.630105602518465,"velocity":1.2310723500586032,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.013131113141328,"y":-1.6427365580918252},"rotation":{"radians":-2.0886536159341755}},"curvature":3.309498733349602},{"time":3.6405626155597344,"velocity":1.2028384148471756,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":7.007072617840989,"y":-1.6539275607758022},"rotation":{"radians":-2.0447575100318383}},"curvature":3.5778366924102567},{"time":3.6507918783199873,"velocity":1.1752194053944922,"acceleration":1.944544756195653,"pose":{"translation":{"x":7.001762402416748,"y":-1.6648700232341174},"rotation":{"radians":-2.0001134513348635}},"curvature":3.741829781587491},{"time":3.669984339335703,"velocity":1.212540004821092,"acceleration":2.7000000000000246,"pose":{"translation":{"x":6.993126971360874,"y":-1.6860940035537344},"rotation":{"radians":-1.9150753113486085}},"curvature":3.5316640430096276},{"time":3.68742533987768,"velocity":1.2596307062844296,"acceleration":2.7000000000000055,"pose":{"translation":{"x":6.986559104322092,"y":-1.706627752913635},"rotation":{"radians":-1.8500885056813583}},"curvature":2.2972998269570555},{"time":3.7037031164891783,"velocity":1.303580703135475,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.981146126504432,"y":-1.7267749571307505},"rotation":{"radians":-1.8244704229335087}},"curvature":6.389810104651532E-14},{"time":3.7677303940313,"velocity":1.4764543524992026,"acceleration":2.700000000000003,"pose":{"translation":{"x":6.9592661543988825,"y":-1.8130425384870001},"rotation":{"radians":-1.811400282697703}},"curvature":0.18305419903007367},{"time":3.8408739618432635,"velocity":1.6739419855915045,"acceleration":2.700000000000008,"pose":{"translation":{"x":6.932764737139686,"y":-1.9251688628471044},"rotation":{"radians":-1.7963819825529694}},"curvature":0.08233336529423564},{"time":3.8808638811987466,"velocity":1.7819147678513099,"acceleration":2.7000000000000037,"pose":{"translation":{"x":6.9174684998367875,"y":-1.9925542910646845},"rotation":{"radians":-1.7920610655072007}},"curvature":0.04542948812004931},{"time":3.9217665444705667,"velocity":1.8923519586852247,"acceleration":2.699999999999993,"pose":{"translation":{"x":6.901075449959414,"y":-2.0658880189922586},"rotation":{"radians":-1.7897169508357862}},"curvature":0.018473484793554897},{"time":3.9622941171350985,"velocity":2.0017764048794606,"acceleration":2.700000000000012,"pose":{"translation":{"x":6.883970919741171,"y":-2.142921707934635},"rotation":{"radians":-1.7891576401649198}},"curvature":-0.003838170076288228},{"time":4.001183520230562,"velocity":2.106777793237212,"acceleration":1.8416176450298478,"pose":{"translation":{"x":6.866629562244371,"y":-2.220906495772335},"rotation":{"radians":-1.7903543306679175}},"curvature":-0.02668672374829891},{"time":4.037562502090952,"velocity":2.1737739681395274,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.849566333832086,"y":-2.2968748477473047},"rotation":{"radians":-1.7935050152380263}},"curvature":-0.05623993874744346},{"time":4.071822369533986,"velocity":2.081272326043338,"acceleration":-2.700000000000005,"pose":{"translation":{"x":6.833287476640194,"y":-2.367922407248626},"rotation":{"radians":-1.7991214804768882}},"curvature":-0.10257183437654888},{"time":4.132401356353183,"velocity":1.9177090616315051,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.8047701681574635,"y":-2.4856447178365855},"rotation":{"radians":-1.822526000943982}},"curvature":-0.3523138191517206},{"time":4.17550677669893,"velocity":1.8013244266979909,"acceleration":2.7000000000000255,"pose":{"translation":{"x":6.783090623277312,"y":-2.5628124674485733},"rotation":{"radians":-1.879661531385654}},"curvature":-1.3684642417610602},{"time":4.201231617557527,"velocity":1.870781497016203,"acceleration":2.70000000000001,"pose":{"translation":{"x":6.766985279057036,"y":-2.6072139966365957},"rotation":{"radians":-1.9513027039074702}},"curvature":-1.5427633070819612E-12},{"time":4.254469652411571,"velocity":2.0145241911221237,"acceleration":2.7000000000000113,"pose":{"translation":{"x":6.731791420174782,"y":-2.7044647720887713},"rotation":{"radians":-1.8895360249931248}},"curvature":0.3028962384922683},{"time":4.293132930338424,"velocity":2.118915041524626,"acceleration":2.699999999999996,"pose":{"translation":{"x":6.707339661769482,"y":-2.7805377969098837},"rotation":{"radians":-1.8773477894358561}},"curvature":0.047626527361036446},{"time":4.336448963440425,"velocity":2.235868330900029,"acceleration":2.0021572473666143,"pose":{"translation":{"x":6.678867013701109,"y":-2.8704533716239875},"rotation":{"radians":-1.8796694858289695}},"curvature":-0.087437362490553},{"time":4.379477516570417,"velocity":2.3220182603929422,"acceleration":-2.7,"pose":{"translation":{"x":6.64846271193872,"y":-2.9636803526706923},"rotation":{"radians":-1.8947048458847193}},"curvature":-0.22811624607870962},{"time":4.419466020756956,"velocity":2.2140492990892877,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.618459990812718,"y":-3.049269313584438},"rotation":{"radians":-1.9246360307009078}},"curvature":-0.45654182535567983},{"time":4.454695771663723,"velocity":2.1189289716410156,"acceleration":2.7000000000000055,"pose":{"translation":{"x":6.5905210891597985,"y":-3.120296800861932},"rotation":{"radians":-1.9698094797322772}},"curvature":-0.7007252930308779},{"time":4.484108171395534,"velocity":2.1983424509169063,"acceleration":2.700000000000011,"pose":{"translation":{"x":6.564722256467882,"y":-3.178309589829586},"rotation":{"radians":-2.001488838181345}},"curvature":2.5539066129365256E-13},{"time":4.5131203582147545,"velocity":2.276675355328802,"acceleration":2.699999999999999,"pose":{"translation":{"x":6.537938124915615,"y":-3.237441399690594},"rotation":{"radians":-1.9880549453765368}},"curvature":0.2640301659784271},{"time":4.549388048439173,"velocity":2.3745981189347316,"acceleration":2.7000000000000073,"pose":{"translation":{"x":6.504467396303145,"y":-3.3148614817153645},"rotation":{"radians":-1.971607271981553}},"curvature":0.13072239607567918},{"time":4.593498871553829,"velocity":2.4936973413443044,"acceleration":2.1645163690296583,"pose":{"translation":{"x":6.4630861417637835,"y":-3.4139391985919607},"rotation":{"radians":-1.9627263649341367}},"curvature":0.04756533449352125},{"time":4.641452157025939,"velocity":2.597493012697437,"acceleration":-0.6432634881711502,"pose":{"translation":{"x":6.416671370635927,"y":-3.5268403456821757},"rotation":{"radians":-1.9598523044604}},"curvature":0.0029788781311610086},{"time":4.688870115523006,"velocity":2.5669907713126587,"acceleration":-1.4015958421656474,"pose":{"translation":{"x":6.370156860656412,"y":-3.6401059183334414},"rotation":{"radians":-1.9619346995648212}},"curvature":-0.03968862552733675},{"time":4.731616546539052,"velocity":2.507077551333148,"acceleration":-2.4702274229861434,"pose":{"translation":{"x":6.3284889881538575,"y":-3.74023087919074},"rotation":{"radians":-1.9697003811835467}},"curvature":-0.11439521721935789},{"time":4.766511304896341,"velocity":2.420879562320498,"acceleration":-2.277817818370041,"pose":{"translation":{"x":6.294582558242029,"y":-3.81924292550852},"rotation":{"radians":-1.984322806626164}},"curvature":-0.2283636351184617},{"time":4.794501119419734,"velocity":2.35712386406624,"acceleration":-2.7000000000000077,"pose":{"translation":{"x":6.267276635013188,"y":-3.88028125646261},"rotation":{"radians":-1.9961898206316888}},"curvature":-3.718304897395597E-13},{"time":4.82360628183513,"velocity":2.2785399255446706,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.23922019896753,"y":-3.941631121038789},"rotation":{"radians":-2.0049477277332395}},"curvature":-0.16335886169672642},{"time":4.863576941015157,"velocity":2.1706191457585984,"acceleration":-2.7,"pose":{"translation":{"x":6.201335361250187,"y":-4.0220744791727014},"rotation":{"radians":-2.0156859277247685}},"curvature":-0.08280776660273527},{"time":4.917584620770028,"velocity":2.0247984104204466,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.152210651921689,"y":-4.124162319704786},"rotation":{"radians":-2.022062347830648}},"curvature":-0.037586189160884666},{"time":4.983078438868428,"velocity":1.8479651015547665,"acceleration":-2.7,"pose":{"translation":{"x":6.09668889886182,"y":-4.238183851564877},"rotation":{"radians":-2.0254071580455033}},"curvature":-0.017583286099940882},{"time":5.053154534881136,"velocity":1.658759642320454,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.042646637292194,"y":-4.348529551531317},"rotation":{"radians":-2.026743957009689}},"curvature":-0.003811340975765062},{"time":5.11803150176531,"velocity":1.4835918317331835,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":5.997773519298815,"y":-4.440054211990066},"rotation":{"radians":-2.0261395522652093}},"curvature":0.02077742451270997},{"time":5.204673341593721,"velocity":1.249658864196474,"acceleration":-2.700000000000005,"pose":{"translation":{"x":5.946035363842139,"y":-4.5465594485211},"rotation":{"radians":-2.0183163019521078}},"curvature":-3.012836197628505E-13},{"time":5.221932524418759,"velocity":1.2030590705688713,"acceleration":-2.700000000000002,"pose":{"translation":{"x":5.936556497255027,"y":-4.565484265063717},"rotation":{"radians":-2.064628046880355}},"curvature":-3.571427190245016},{"time":5.231626422930987,"velocity":1.1768855445858566,"acceleration":2.6999999999998305,"pose":{"translation":{"x":5.930873224440056,"y":-4.5755225665272805},"rotation":{"radians":-2.1075808705966947}},"curvature":-3.7321628991871814},{"time":5.242179593344245,"velocity":1.2053791047016533,"acceleration":2.700000000000061,"pose":{"translation":{"x":5.924201504522159,"y":-4.586176140795628},"rotation":{"radians":-2.1520402224255477}},"curvature":-3.2843626854041},{"time":5.265667096444251,"velocity":1.2687953630716713,"acceleration":2.7000000000000286,"pose":{"translation":{"x":5.907264235271395,"y":-4.609785149466344},"rotation":{"radians":-2.2277586558349807}},"curvature":-1.9758845219610193},{"time":5.292468392503868,"velocity":1.341158862432638,"acceleration":2.214650395649862,"pose":{"translation":{"x":5.885140344231054,"y":-4.636873699129188},"rotation":{"radians":-2.277838812922086}},"curvature":-0.9905387662992968},{"time":5.353953379046953,"velocity":1.477326612206807,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.8272724292904545,"y":-4.701364426734989},"rotation":{"radians":-2.3124024921267456}},"curvature":0.013955931147822767},{"time":5.426535943455163,"velocity":1.281353688304638,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":5.760503657459791,"y":-4.775964384068014},"rotation":{"radians":-2.278730146762986}},"curvature":0.661093781844257},{"time":5.467644373507089,"velocity":1.1703609271644382,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":5.728505684666588,"y":-4.814894978457702},"rotation":{"radians":-2.235162805251749}},"curvature":1.0961299502459416},{"time":5.5108258544904265,"velocity":1.0537709285094272,"acceleration":-2.699999999999996,"pose":{"translation":{"x":5.700081747766614,"y":-4.853599797205923},"rotation":{"radians":-2.1680248787945833}},"curvature":1.757620630537024},{"time":5.532917897811666,"velocity":0.9941224115420795,"acceleration":-2.699999999999998,"pose":{"translation":{"x":5.687766218327823,"y":-4.8725745365264155},"rotation":{"radians":-2.123216480360578}},"curvature":2.2261447269644323},{"time":5.555214963084118,"velocity":0.9339203353064609,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":5.676964548292993,"y":-4.89115819582592},"rotation":{"radians":-2.069282861912245}},"curvature":2.8197852070434726},{"time":5.577658547912304,"velocity":0.8733226562703565,"acceleration":-2.699999999999997,"pose":{"translation":{"x":5.6678240008681655,"y":-4.90926204359236},"rotation":{"radians":-2.0049285397303866}},"curvature":3.557955262784595},{"time":5.6002449261004505,"velocity":0.8123394351623621,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.660452710336893,"y":-4.92681346622997},"rotation":{"radians":-1.9290964956932903}},"curvature":4.438007692288481},{"time":5.611615420139179,"velocity":0.7816391012577952,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.657452152605622,"y":-4.935364456137411},"rotation":{"radians":-1.886727236623641}},"curvature":4.9177115386256585},{"time":5.623061542180063,"velocity":0.7507345717474075,"acceleration":-2.699999999999999,"pose":{"translation":{"x":5.654913682519064,"y":-4.943758904004977},"rotation":{"radians":-1.841461127225999}},"curvature":5.407362253384503},{"time":5.634613717613462,"velocity":0.7195436980772316,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":5.652837140182536,"y":-4.951993573710473},"rotation":{"radians":-1.79349304281632}},"curvature":5.887059520979176},{"time":5.646313661685584,"velocity":0.6879538490825018,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.651218795229721,"y":-4.960066786991287},"rotation":{"radians":-1.7431630871890897}},"curvature":6.330503910917793},{"time":5.658216632510836,"velocity":0.6558158278543214,"acceleration":-2.700000000000004,"pose":{"translation":{"x":5.650051159337019,"y":-4.967978515192694},"rotation":{"radians":-1.6909786461077827}},"curvature":6.705859650499326},{"time":5.670394284511873,"velocity":0.6229361674515225,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":5.649322798737876,"y":-4.9757304710161625},"rotation":{"radians":-1.6376263776857742}},"curvature":6.977977660835564},{"time":5.682938539434778,"velocity":0.589066679159679,"acceleration":-2.7,"pose":{"translation":{"x":5.649018146737125,"y":-4.983326200267652},"rotation":{"radians":-1.5839693528694552}},"curvature":7.111918230185031},{"time":5.695967274158784,"velocity":0.5538890954048609,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":5.649117316225329,"y":-4.9907711736059195},"rotation":{"radians":-1.531026634408773}},"curvature":7.077199829846817},{"time":5.70963337062361,"velocity":0.5169906349498303,"acceleration":-2.699999999999995,"pose":{"translation":{"x":5.649595912193108,"y":-4.998072878290817},"rotation":{"radians":-1.4799363085462358}},"curvature":6.851731928515863},{"time":5.724140226199491,"velocity":0.47782212489495235,"acceleration":-2.700000000000001,"pose":{"translation":{"x":5.650424844245491,"y":-5.005240909931599},"rotation":{"radians":-1.4319073873778112}},"curvature":6.424251674858325},{"time":5.756935470695857,"velocity":0.389274964754765,"acceleration":-2.7,"pose":{"translation":{"x":5.6529927531822,"y":-5.019225428754662},"rotation":{"radians":-1.349929704456554}},"curvature":4.970754709570831},{"time":5.901111383567992,"velocity":0.0,"acceleration":-2.7,"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 7443120..b0abaf7 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -36,7 +36,7 @@ public final class Constants { public static final boolean isRightMotorInverted = true; public static final boolean isLeftMotorInverted = false; public static final boolean isRightArcadeInverted = false; - public static final boolean isAuxPIDInverted = true; + public static final boolean isAuxPIDInverted = false; /* Drive Configuration */ public static final int DRIVE_TIMEOUT_MS = 30; // Use for all motor config diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 0d3270f..c851e5f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -195,14 +195,14 @@ public class RobotContainer { /* Test Buttons */ // A driver test button new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) - .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 1000)); + .whileHeld(new DriveStraightAtVelocityPID(m_robotDrive, 5000)); // B driver test button new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON) - .whenPressed(new TurnDegrees(m_robotDrive, 45)); + .whileHeld(new RunCommand(() -> m_robotDrive.runDriveVelocityPID(2000, 45), m_robotDrive)); // Y driver test button new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON) - .whenPressed(new Wait(m_robotDrive, 0, 0)); + .whenPressed(new InstantCommand(() -> m_robotDrive.runTurningPID(1000), m_robotDrive)); // X driver test button new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON) @@ -403,14 +403,14 @@ public class RobotContainer { //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); } - return new InstantCommand(); + return new InstantCommand(); } TrajectoryConfig getTrajectoryConfig() { return new TrajectoryConfig( diff --git a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java index e63a5bf..3f63d25 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveStraightAtVelocityPID.java @@ -29,7 +29,7 @@ public class DriveStraightAtVelocityPID extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { - m_targetGyro = m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN); + m_targetGyro = (m_drive.m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java index 5ffd58c..df68e4d 100644 --- a/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java +++ b/src/main/java/frc4388/robot/commands/drive/GotoCoordinatesRobotRelative.java @@ -46,7 +46,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup { addCommands( new TurnDegrees(m_drive, m_currentAngle), new Wait(m_drive, 0, 0), new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist), - new TurnDegrees(m_drive, m_endAngle - m_currentAngle)); + new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360)); } public GotoCoordinatesRobotRelative(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) { diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index ba64beb..7f2487e 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -412,7 +412,7 @@ public class Drive extends SubsystemBase { m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY); m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_TURNING, DriveConstants.PID_TURN); - m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); + m_rightFrontMotor.set(TalonFXControlMode.Velocity, targetVel, DemandType.AuxPID, targetGyro); m_leftFrontMotor.follow(m_rightFrontMotor, FollowerType.AuxOutput1); m_leftBackMotor.follow(m_leftFrontMotor); m_rightBackMotor.follow(m_rightFrontMotor); @@ -437,7 +437,7 @@ public class Drive extends SubsystemBase { m_rightBackMotor.follow(m_rightFrontMotor); m_driveTrain.feedWatchdog(); - + } /** From 4de77548811f7460ee1d168805bc7673daf9e2ee Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 27 Mar 2021 16:05:59 -0600 Subject: [PATCH 20/30] SLALOM 7.43 --- PathWeaver/Paths/Slalom | 22 +++++++++---------- PathWeaver/Paths/SlalomClose | 12 ++++++++++ src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/SlalomClose.wpilib.json | 1 + src/main/java/frc4388/robot/Robot.java | 1 + .../java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/subsystems/LimeLight.java | 2 +- 7 files changed, 27 insertions(+), 15 deletions(-) create mode 100644 PathWeaver/Paths/SlalomClose create mode 100644 src/main/deploy/paths/SlalomClose.wpilib.json diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom index 603de34..39b2a86 100644 --- a/PathWeaver/Paths/Slalom +++ b/PathWeaver/Paths/Slalom @@ -1,13 +1,11 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.2,-3.8989,1.9117168073181727,0.007854970044450571,true, -2.6292755266378918,-2.5426835019004055,1.0947705984667904,0.6679956194034657,true, -4.571410938607228,-2.1715748244540354,2.022542292082716,0.05566630161695518,true, -6.173363396250723,-2.412795464794176,0.8224254383303222,-0.4893581628618532,false, -7.101135089866648,-3.526121497133286,0.8411796688784383,-0.7978836565096956,true, -8.233016556078077,-3.557047220253817,0.44533041293564324,0.4515155575597496,true, -8.344349159311989,-2.6663863943825286,-0.5999590285382981,0.9834379952328802,true, -7.169171680731816,-2.4993874895316623,-0.5257372930490236,-0.7484024995168457,true, -6.519731495200669,-3.785897571345744,-0.7916985118855884,-0.38966411131868783,true, -4.868297880564323,-4.00237763318946,-1.286510081814082,0.012370289248212263,true, -2.8952367454744574,-3.0993465180699604,-0.3587383881981583,2.2019114861817948,true, -0.7366212716614056,-2.313833150808477,-0.8040688011338014,0.22266520646782118,true, +1.2,-3.85,2.084900856793146,0.0,true, +2.8890516008503506,-2.536498357276299,1.3978426850479937,0.1484434709785476,true, +6.278510854860529,-2.9199773239708815,1.107140887715004,-1.9050245442246987,true, +7.98561077111383,-3.649824389615409,1.1628071893319598,0.45151555755975004,true, +8.282497713070926,-2.7282378406235903,-0.6370698962829353,0.797883656509695,true, +7.360911164079107,-2.8395704438575016,-0.36492353282226375,-0.7731430780132702,true, +6.569212652193518,-3.625083811118984,-0.9958082844810923,-0.5752184500418731,true, +4.107525091799265,-4.039488500934097,-2.0287274367068218,-0.14225832635444213,true, +2.412795464794176,-2.9756436255878373,-0.5628481607936611,1.230843780197127,true, +0.8232132963988917,-2.3262034400566898,-1.1380666108355342,-0.043296012368743586,true, diff --git a/PathWeaver/Paths/SlalomClose b/PathWeaver/Paths/SlalomClose new file mode 100644 index 0000000..2b3ebae --- /dev/null +++ b/PathWeaver/Paths/SlalomClose @@ -0,0 +1,12 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +1.2,-3.55,3.847667074663401,0.07954480448366974,true, +2.790089286864652,-2.54,1.861728531855955,0.1519451137022485,true, +5.171369967145526,-2.369499452425433,2.3503549571603415,0.024740578496424526,true, +7.020728209753269,-3.4890106293886487,0.8411796688784383,-0.7978836565096956,true, +8.171165109837014,-3.458084906268118,0.6061441731624058,0.5195521484249181,true, +8.301053146943245,-2.6911269728789535,-0.5319224376731313,0.9648825613605616,true, +7.32380029633447,-2.752978419120015,-0.4329601236874323,-0.5071818591767059,true, +6.457880048959607,-3.5632323648779227,-0.6803659086516785,-0.2597760742124593,true, +4.658002963344714,-3.6683798234877276,-2.968869419570958,-0.12988803710622943,true, +2.5612389357727237,-3.0374950718288987,-0.40203440056690054,1.1813626232042773,true, +0.7984727179024672,-2.3,-0.7669579333891645,-0.02474057849642497,false, diff --git a/src/main/deploy/paths/Slalom.wpilib.json b/src/main/deploy/paths/Slalom.wpilib.json index 792d37f..915f21e 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":2.7,"pose":{"translation":{"x":1.2,"y":-3.8989},"rotation":{"radians":0.004108833384974638}},"curvature":0.0},{"time":0.29709761596497913,"velocity":0.8021635631054437,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.319125003859177,"y":-3.895994112837862},"rotation":{"radians":0.06332117747185143}},"curvature":0.9404127354407168},{"time":0.3634771886989251,"velocity":0.9813884094870978,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.3780548762701945,"y":-3.8903903556079724},"rotation":{"radians":0.12973079786848885}},"curvature":1.288471027623206},{"time":0.4193819708346928,"velocity":1.1323313212536705,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.4362813723612744,"y":-3.880363514122339},"rotation":{"radians":0.21379382953335535}},"curvature":1.5379473615584498},{"time":0.4447737608188478,"velocity":1.2008891542108888,"acceleration":2.7000000000000046,"pose":{"translation":{"x":1.4650755569841287,"y":-3.873408163559265},"rotation":{"radians":0.2606347877039414}},"curvature":1.6191280602931086},{"time":0.4688978462654137,"velocity":1.266024184916617,"acceleration":2.7,"pose":{"translation":{"x":1.4936311497114172,"y":-3.8650416530209055},"rotation":{"radians":0.30963950446443733}},"curvature":1.6689912706681056},{"time":0.49199609957395724,"velocity":1.3283894688496845,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.5219309071259273,"y":-3.855196969354036},"rotation":{"radians":0.36000759824852446}},"curvature":1.6874719181589433},{"time":0.5142629448033692,"velocity":1.3885099509690968,"acceleration":2.700000000000009,"pose":{"translation":{"x":1.5499592613255109,"y":-3.8438225935589716},"rotation":{"radians":0.4109562423621011}},"curvature":1.6761065958158325},{"time":0.535856753610427,"velocity":1.4468132347481528,"acceleration":2.699999999999997,"pose":{"translation":{"x":1.5777022703235555,"y":-3.830881817972102},"rotation":{"radians":0.46174995766032023}},"curvature":1.637952032956703},{"time":0.5569070925195405,"velocity":1.5036491498027593,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.6051475684494576,"y":-3.81635206344843},"rotation":{"radians":0.5117275701819729}},"curvature":1.577253908288926},{"time":0.5775196028180951,"velocity":1.5593029276088566,"acceleration":2.7000000000000033,"pose":{"translation":{"x":1.6322843167490948,"y":-3.8002241965441135},"rotation":{"radians":0.5603225641917424}},"curvature":1.498958283398428},{"time":0.5977795212115045,"velocity":1.614004707271062,"acceleration":2.699999999999996,"pose":{"translation":{"x":1.6591031533852991,"y":-3.782501846699001},"rotation":{"radians":0.6070746884332126}},"curvature":1.4081844295684185},{"time":0.6374874410442284,"velocity":1.7212160908194165,"acceleration":2.699999999999994,"pose":{"translation":{"x":1.7117567323063447,"y":-3.74234793345947},"rotation":{"radians":0.6937481559052255}},"curvature":1.2079145677245313},{"time":0.6764103037147616,"velocity":1.8263078200298561,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.7630610680722976,"y":-3.6961486698589225},"rotation":{"radians":0.7701100087846833}},"curvature":1.0067785721860727},{"time":0.7147287597124301,"velocity":1.929767651223561,"acceleration":2.699999999999993,"pose":{"translation":{"x":1.812989383044381,"y":-3.644322907847983},"rotation":{"radians":0.8357650833021512}},"curvature":0.8224715406425902},{"time":0.7524874292136986,"velocity":2.031716058876986,"acceleration":2.6999999999999917,"pose":{"translation":{"x":1.861533771900466,"y":-3.5874281550400466},"rotation":{"radians":0.8910942552515393}},"curvature":0.6620495442159005},{"time":0.7896364999892856,"velocity":2.1320185499710704,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9087036144501965,"y":-3.5261387245525198},"rotation":{"radians":0.9368579528495913}},"curvature":0.5258301545702202},{"time":0.8260647497495172,"velocity":2.2303748243236954,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.9545239884501178,"y":-3.461223884848053},"rotation":{"radians":0.9739241780378078}},"curvature":0.4107208350203319},{"time":0.8616248463890672,"velocity":2.3263870852504804,"acceleration":2.699999999999994,"pose":{"translation":{"x":1.9990340824188015,"y":-3.3935260095757793},"rotation":{"radians":1.0031077282189704}},"curvature":0.3123064912407833},{"time":0.896152215727434,"velocity":2.4196109824640706,"acceleration":1.8579155108121959,"pose":{"translation":{"x":2.0422856084519743,"y":-3.323938727412549},"rotation":{"radians":1.0250863218326218}},"curvature":0.22589415421832532},{"time":0.9296673427478227,"velocity":2.4818792568020918,"acceleration":1.8406619016338839,"pose":{"translation":{"x":2.084341215037642,"y":-3.2533850719041673},"rotation":{"radians":1.0403620201761248}},"curvature":0.14689280070982286},{"time":0.9621535957970436,"velocity":2.5416754651166302,"acceleration":-1.5156473217263418,"pose":{"translation":{"x":2.1252728998712183,"y":-3.1827956313066275},"rotation":{"radians":1.04924578839174}},"curvature":0.07082493379828503},{"time":0.9940559185345925,"velocity":2.493322795102615,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":2.165160422670651,"y":-3.1130866984273515},"rotation":{"radians":1.0518519823851393}},"curvature":-0.00684996957774159},{"time":1.0260169010855418,"velocity":2.4070281422150517,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":2.204089717991548,"y":-3.0451384204664222},"rotation":{"radians":1.0480964091201082}},"curvature":-0.09099832498022228},{"time":1.0580155954357278,"velocity":2.32063166746955,"acceleration":-2.700000000000009,"pose":{"translation":{"x":2.2421513080423052,"y":-2.9797729488578217},"rotation":{"radians":1.037697155787625}},"curvature":-0.18708498945111363},{"time":1.0897943361389777,"velocity":2.234829067570775,"acceleration":-2.699999999999994,"pose":{"translation":{"x":2.2794387154992313,"y":-2.917732589110667},"rotation":{"radians":1.0201832337677528}},"curvature":-0.30134072491305497},{"time":1.1211047631611442,"velocity":2.1502909146109257,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":2.3160468763216766,"y":-2.859657950650443},"rotation":{"radians":0.994924284760165}},"curvature":-0.44057954487657847},{"time":1.151723678947343,"velocity":2.067619841988189,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":2.3520705525671572,"y":-2.806066096660249},"rotation":{"radians":0.9612073786234693}},"curvature":-0.6111499055302975},{"time":1.18147262789685,"velocity":1.9872976798245203,"acceleration":-2.7,"pose":{"translation":{"x":2.387602745206485,"y":-2.7573286939220187},"rotation":{"radians":0.9184053722272453}},"curvature":-0.8160750127838222},{"time":1.2102405411792316,"velocity":1.9096243139620896,"acceleration":-2.7,"pose":{"translation":{"x":2.4227331069388924,"y":-2.7136501626577716},"rotation":{"radians":0.8663007175432595}},"curvature":-1.0490688761390448},{"time":1.2380073002898364,"velocity":1.834654064363457,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.4575463550071577,"y":-2.675045826370841},"rotation":{"radians":0.8056283721189894}},"curvature":-1.2847145606923638},{"time":1.2648640933457342,"velocity":1.7621407231125326,"acceleration":-0.6268925403961281,"pose":{"translation":{"x":2.492120684012733,"y":-2.641320061687108},"rotation":{"radians":0.7388345424455134}},"curvature":-1.467524919306368},{"time":1.2906186300075222,"velocity":1.7459953961978991,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.5265261787308733,"y":-2.612044448196251},"rotation":{"radians":0.6708625335016143}},"curvature":-1.5096355260393768},{"time":1.3146526532358107,"velocity":1.810887258914278,"acceleration":2.6999999999999984,"pose":{"translation":{"x":2.560823226925759,"y":-2.5865359182929577},"rotation":{"radians":0.6095213780164933}},"curvature":-1.3110095111258289},{"time":1.3581350711855478,"velocity":1.9282897873785678,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.6292755266378887,"y":-2.542683501900406},"rotation":{"radians":0.5478635315018408}},"curvature":1.3501091035147945E-14},{"time":1.3989765883736436,"velocity":2.0385618837864263,"acceleration":1.811010510766504,"pose":{"translation":{"x":2.698768768327257,"y":-2.5010580181853403},"rotation":{"radians":0.524377516036421}},"curvature":-0.5235840943833882},{"time":1.4402165935903284,"velocity":2.113247966697908,"acceleration":0.5239081543999128,"pose":{"translation":{"x":2.7739763508999244,"y":-2.4601563297471514},"rotation":{"radians":0.4692180123183072}},"curvature":-0.7109062041526689},{"time":1.4842526069716395,"velocity":2.1363187931956404,"acceleration":1.496758994236046,"pose":{"translation":{"x":2.858789235812045,"y":-2.4206398009366765},"rotation":{"radians":0.40351119675200897}},"curvature":-0.6698976016005426},{"time":1.5319509117693713,"velocity":2.2077116599114577,"acceleration":1.4969916277297362,"pose":{"translation":{"x":2.9553486197899885,"y":-2.3830958982739316},"rotation":{"radians":0.3402676864110172}},"curvature":-0.5484260031508454},{"time":1.582917390045619,"velocity":2.2840080511858702,"acceleration":1.1900487175223526,"pose":{"translation":{"x":3.064309248940167,"y":-2.348031819945457},"rotation":{"radians":0.28473190004661314}},"curvature":-0.4270054092540658},{"time":1.636887900135665,"velocity":2.3482355875025567,"acceleration":0.9386772872102839,"pose":{"translation":{"x":3.1851027328588524,"y":-2.315868125301656},"rotation":{"radians":0.23773112244649905}},"curvature":-0.33090830408661487},{"time":1.664874038463807,"velocity":2.3745055399079087,"acceleration":0.7885148217211465,"pose":{"translation":{"x":3.2494895219224436,"y":-2.3009800886108662},"rotation":{"radians":0.2171540078139626}},"curvature":-0.2931012558794788},{"time":1.693449423836644,"velocity":2.3970376548107843,"acceleration":0.6578625151334531,"pose":{"translation":{"x":3.3162008587420004,"y":-2.286932364354142},"rotation":{"radians":0.19829191548431246}},"curvature":-0.26133381345408546},{"time":1.7225321691442963,"velocity":2.416170102785862,"acceleration":0.5467940071504515,"pose":{"translation":{"x":3.3849389444381117,"y":-2.2737503184131573},"rotation":{"radians":0.18096053247466676}},"curvature":-0.2348246198872223},{"time":1.7520282379331034,"velocity":2.4322983764340793,"acceleration":0.4538284417766532,"pose":{"translation":{"x":3.4553789054950723,"y":-2.261452707273078},"rotation":{"radians":0.16498353828641116}},"curvature":-0.2128018538405456},{"time":1.7818338447360365,"velocity":2.445825008525662,"acceleration":0.3769556307818043,"pose":{"translation":{"x":3.5271770223268173,"y":-2.250051478944357},"rotation":{"radians":0.1501988655405568}},"curvature":-0.19455551294946014},{"time":1.811838254689421,"velocity":2.457135339805876,"acceleration":0.3142278380828824,"pose":{"translation":{"x":3.5999789578428536,"y":-2.2395515738845226},"rotation":{"radians":0.1364619656538328}},"curvature":-0.17945300045050014},{"time":1.841926795423305,"velocity":2.466589996911753,"acceleration":0.2640959540389889,"pose":{"translation":{"x":3.6734279860141923,"y":-2.229950725919974},"rotation":{"radians":0.12364745794930061}},"curvature":-0.16693462201112538},{"time":1.8719839570526824,"velocity":2.4745279716879676,"acceleration":0.22561199982549998,"pose":{"translation":{"x":3.7471732204392794,"y":-2.221239263167771},"rotation":{"radians":0.11165008088892017}},"curvature":-0.15649827000254604},{"time":1.9018964980873763,"velocity":2.481276599890667,"acceleration":0.19857427643312273,"pose":{"translation":{"x":3.820877842909928,"y":-2.2133999089574266},"rotation":{"radians":0.10038555770059743}},"curvature":-0.14767811346271265},{"time":1.9315565030277948,"velocity":2.4871663139107136,"acceleration":0.1836549193262586,"pose":{"translation":{"x":3.894227331977251,"y":-2.206407582752699},"rotation":{"radians":0.08979178518685098}},"curvature":-0.14001963423666225},{"time":1.9608643575437104,"velocity":2.49254884556746,"acceleration":0.18251530328799326,"pose":{"translation":{"x":3.966937691517594,"y":-2.200229201073384},"rotation":{"radians":0.07983060795182051}},"curvature":-0.1330523035174579},{"time":1.989731625271403,"velocity":2.4978175636918754,"acceleration":0.19787289528821142,"pose":{"translation":{"x":4.038763679298464,"y":-2.194823478417106},"rotation":{"radians":0.07049030736636827}},"curvature":-0.12626137890300926},{"time":2.0180838323570227,"velocity":2.503427696995718,"acceleration":0.2334229553385241,"pose":{"translation":{"x":4.109507035544462,"y":-2.1901407281811105},"rotation":{"radians":0.06178877053517663}},"curvature":-0.11906182229714836},{"time":2.0458631982994553,"velocity":2.509912038691431,"acceleration":0.2934325430693298,"pose":{"translation":{"x":4.179024711503221,"y":-2.186122663584057},"rotation":{"radians":0.0537770602577721}},"curvature":-0.1107804811530435},{"time":2.073031400677323,"velocity":2.517884073405791,"acceleration":0.38172112366287414,"pose":{"translation":{"x":4.247237098011327,"y":-2.1827021985878092},"rotation":{"radians":0.04654273244249896}},"curvature":-0.1006576198484561},{"time":2.099572530736117,"velocity":2.528015383395116,"acceleration":0.4996736523415779,"pose":{"translation":{"x":4.314136254060261,"y":-2.179803248819228},"rotation":{"radians":0.040211708968775656}},"curvature":-0.08788504376476047},{"time":2.1254964821932805,"velocity":2.5409688989028427,"acceleration":0.6430384120458892,"pose":{"translation":{"x":4.379794135362326,"y":-2.1773405324919635},"rotation":{"radians":0.0349468363436207}},"curvature":-0.07170286757597748},{"time":2.1508430950506217,"velocity":2.5572677445853693,"acceleration":0.7978050690944549,"pose":{"translation":{"x":4.444370822916578,"y":-2.175219371328246},"rotation":{"radians":0.030940600658144104}},"curvature":-0.0515744499123752},{"time":2.1756873996050574,"velocity":2.5770886566970246,"acceleration":0.9367323305621157,"pose":{"translation":{"x":4.508122751574761,"y":-2.17333549148068},"rotation":{"radians":0.028399206083326658}},"curvature":-0.027439499357650856},{"time":2.2001461938149496,"velocity":2.599999999999996,"acceleration":-1.0988924234927802,"pose":{"translation":{"x":4.571410938607238,"y":-2.171574824454034},"rotation":{"radians":0.02751598928545683}},"curvature":4.488738472234247E-15},{"time":2.249336805406366,"velocity":2.5459448096152126,"acceleration":-0.7908951973145393,"pose":{"translation":{"x":4.697934096318457,"y":-2.168278654123249},"rotation":{"radians":0.02319375097788279}},"curvature":-0.0655304886148217},{"time":2.2996120097082704,"velocity":2.5061823919888293,"acceleration":-0.6191048137237141,"pose":{"translation":{"x":4.824912119538853,"y":-2.166005775191254},"rotation":{"radians":0.011544987021979604}},"curvature":-0.11553848573774779},{"time":2.3250871235235153,"velocity":2.4904106263956516,"acceleration":-0.5377380173783588,"pose":{"translation":{"x":4.888554647082707,"y":-2.1655191531411533},"rotation":{"radians":0.0035320878734035866}},"curvature":-0.1358164809593501},{"time":2.3507226242664516,"velocity":2.4766254430516437,"acceleration":-0.47957908129276355,"pose":{"translation":{"x":4.952220844489048,"y":-2.1655819988722294},"rotation":{"radians":-0.005696508771808356}},"curvature":-0.15375182010748348},{"time":2.3764660051321376,"velocity":2.4642794561067083,"acceleration":-0.44278689337421034,"pose":{"translation":{"x":5.015814960302247,"y":-2.1662663855315065},"rotation":{"radians":-0.015998196113559796}},"curvature":-0.16998500983069936},{"time":2.402259967587596,"velocity":2.4528582276032447,"acceleration":-0.42628154279026226,"pose":{"translation":{"x":5.079216467531994,"y":-2.167632918710713},"rotation":{"radians":-0.027262558121414673}},"curvature":-0.18514778706686408},{"time":2.4537532142006793,"velocity":2.43090760699374,"acceleration":-0.46362554174003767,"pose":{"translation":{"x":5.204858776475755,"y":-2.172600647366536},"rotation":{"radians":-0.0523909664401962}},"curvature":-0.21468940257938685},{"time":2.5047003269142523,"velocity":2.407287224261819,"acceleration":-0.5713393629811453,"pose":{"translation":{"x":5.327834381876292,"y":-2.180760553399752},"rotation":{"radians":-0.08078599269039609}},"curvature":-0.24707999598711222},{"time":2.5545945180592495,"velocity":2.378780708876577,"acceleration":-0.7554281976104242,"pose":{"translation":{"x":5.4466799483402575,"y":-2.192237998055572},"rotation":{"radians":-0.11255847476058888}},"curvature":-0.28702754622958165},{"time":2.6029683938831156,"velocity":2.342237719051523,"acceleration":-1.0245971347836125,"pose":{"translation":{"x":5.559905425827786,"y":-2.207025072049292},"rotation":{"radians":-0.14816728763784973}},"curvature":-0.33965920241526565},{"time":2.64943150029248,"velocity":2.294631753351342,"acceleration":-1.3745336428091774,"pose":{"translation":{"x":5.666117280955281,"y":-2.224997332351231},"rotation":{"radians":-0.18835271468938253}},"curvature":-0.41073892882605506},{"time":2.6937007222893192,"velocity":2.2337822183756986,"acceleration":-1.7500638631798546,"pose":{"translation":{"x":5.764141728298207,"y":-2.2459305389716566},"rotation":{"radians":-0.23401687887436487}},"curvature":-0.5060035780742472},{"time":2.7356096253889635,"velocity":2.1604389615155046,"acceleration":-1.9719061993650715,"pose":{"translation":{"x":5.853147961693881,"y":-2.2695173917457208},"rotation":{"radians":-0.2859500739230798}},"curvature":-0.627960287715812},{"time":2.7750715355518216,"velocity":2.0826237762265767,"acceleration":-1.6253662151380566,"pose":{"translation":{"x":5.932771385544261,"y":-2.295384267118391},"rotation":{"radians":-0.34421442232031285}},"curvature":-0.7667444379823636},{"time":2.811962050261009,"velocity":2.02266317995921,"acceleration":0.10833823583248309,"pose":{"translation":{"x":6.003236846118738,"y":-2.3231079549293803},"rotation":{"radians":-0.4069221233439239}},"curvature":-0.8809691021289714},{"time":2.845907052079652,"velocity":2.026340721571572,"acceleration":-1.5487514989492064,"pose":{"translation":{"x":6.065481862856924,"y":-2.3522323951980826},"rotation":{"radians":-0.4683135309792808}},"curvature":-0.8737688137213234},{"time":2.9084574720590073,"velocity":1.9294656648686437,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":6.173363396250724,"y":-2.4127954647941836},"rotation":{"radians":-0.5367484127672115}},"curvature":-2.903391847034948E-14},{"time":2.940574118558327,"velocity":1.8427507193204806,"acceleration":-2.6999999999999944,"pose":{"translation":{"x":6.224982304937607,"y":-2.444495241442727},"rotation":{"radians":-0.5764282582506421}},"curvature":-1.1540316599461125},{"time":2.957966077470219,"velocity":1.795792430258372,"acceleration":-0.7613906525580817,"pose":{"translation":{"x":6.25116424030686,"y":-2.462261499741898},"rotation":{"radians":-0.6171640319801177}},"curvature":-1.3821876554380323},{"time":2.9764970199510565,"velocity":1.7816831438703709,"acceleration":1.8994417880749372,"pose":{"translation":{"x":6.2777414363166395,"y":-2.482069984423591},"rotation":{"radians":-0.6640197256696362}},"curvature":-1.41757490254722},{"time":2.9959542643483683,"velocity":1.8186410469594119,"acceleration":2.6999999999999917,"pose":{"translation":{"x":6.304789851626409,"y":-2.5043234669491707},"rotation":{"radians":-0.7123312334889522}},"curvature":-1.3260460116345416},{"time":3.016108614437041,"velocity":1.8730577921988278,"acceleration":2.6999999999999886,"pose":{"translation":{"x":6.3323605189784145,"y":-2.5293002426437545},"rotation":{"radians":-0.7588416147835273}},"curvature":-1.1692067989990527},{"time":3.0584175632676773,"velocity":1.9872919540415461,"acceleration":2.700000000000005,"pose":{"translation":{"x":6.389160466838086,"y":-2.5879749468302675},"rotation":{"radians":-0.8396355480271456}},"curvature":-0.8197325149445959},{"time":3.1032035337524477,"velocity":2.108214074350426,"acceleration":2.6999999999999993,"pose":{"translation":{"x":6.448129275914246,"y":-2.658213930442714},"rotation":{"radians":-0.90080465822567}},"curvature":-0.5335852060493672},{"time":3.1497151674276096,"velocity":2.2337954852733626,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.508987921107799,"y":-2.7387904505856744},"rotation":{"radians":-0.9436005744996104}},"curvature":-0.3288525301750348},{"time":3.1968735412096656,"velocity":2.3611230944849133,"acceleration":2.699999999999997,"pose":{"translation":{"x":6.5712562529808425,"y":-2.8274537089211957},"rotation":{"radians":-0.9708237114512432}},"curvature":-0.18253822265937034},{"time":3.2435001414339446,"velocity":2.487014915090467,"acceleration":1.9331206340568148,"pose":{"translation":{"x":6.634318894535542,"y":-2.9212513725812563},"rotation":{"radians":-0.9848254146660897}},"curvature":-0.06945787929470681},{"time":3.28877760301017,"velocity":2.5745417103211823,"acceleration":-1.8492704062235985,"pose":{"translation":{"x":6.697491137993012,"y":-3.0168520950802318},"rotation":{"radians":-0.9870141596239563}},"curvature":0.0305199825776752},{"time":3.3333621301789162,"velocity":2.4920928636525472,"acceleration":-2.0201888637838685,"pose":{"translation":{"x":6.760084841572189,"y":-3.110868037227362},"rotation":{"radians":-0.9778692190470775}},"curvature":0.13364137507847051},{"time":3.3776438786280676,"velocity":2.402635368566693,"acceleration":-2.3095986400218944,"pose":{"translation":{"x":6.821474326268714,"y":-3.2001773880392186},"rotation":{"radians":-0.9571507668382984}},"curvature":0.2535341421281802},{"time":3.420774666965019,"velocity":2.303020558480598,"acceleration":-2.382689964433467,"pose":{"translation":{"x":6.881162272633804,"y":-3.2822468856521687},"rotation":{"radians":-0.9243894656721248}},"curvature":0.3980004482334184},{"time":3.4621290003432765,"velocity":2.204486003354388,"acceleration":-2.380770354048247,"pose":{"translation":{"x":6.938845617553138,"y":-3.3554543382348445},"rotation":{"radians":-0.8800749499425368}},"curvature":0.5537445962513251},{"time":3.5014154749729904,"velocity":2.110953929240897,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.994481451025725,"y":-3.419411144900607},"rotation":{"radians":-0.8282500220310652}},"curvature":0.6495911285500853},{"time":3.5390906990725677,"velocity":2.0092308241720387,"acceleration":-2.700000000000004,"pose":{"translation":{"x":7.048352912942788,"y":-3.4752848166200163},"rotation":{"radians":-0.7806412204526001}},"curvature":0.5203850402347832},{"time":3.576504116343403,"velocity":1.9082145975407834,"acceleration":-2.7,"pose":{"translation":{"x":7.101135089866641,"y":-3.5261214971332895},"rotation":{"radians":-0.7589892102611842}},"curvature":-8.234293055758775E-14},{"time":3.615727092561577,"velocity":1.8023125617517124,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.1546990902151215,"y":-3.57537816469084},"rotation":{"radians":-0.7143570969023456}},"curvature":1.1287479346539633},{"time":3.6365508948473075,"velocity":1.74608829558024,"acceleration":-2.700000000000006,"pose":{"translation":{"x":7.183166014240794,"y":-3.5989283561483374},"rotation":{"radians":-0.6658480656154004}},"curvature":1.4712836027229392},{"time":3.658457774946321,"velocity":1.6869397193129028,"acceleration":-1.1337467010983542,"pose":{"translation":{"x":7.21340127846771,"y":-3.6212856702459906},"rotation":{"radians":-0.6063288857826997}},"curvature":1.6705322981067199},{"time":3.6814437695210134,"velocity":1.660879423792381,"acceleration":0.32361519278366635,"pose":{"translation":{"x":7.245721339827336,"y":-3.642162759710309},"rotation":{"radians":-0.5402395953075044}},"curvature":1.7451720187602415},{"time":3.7052020895764652,"velocity":1.668567977117342,"acceleration":1.2808754895204477,"pose":{"translation":{"x":7.280321367958882,"y":-3.6613232058973755},"rotation":{"radians":-0.471377085582568}},"curvature":1.722908645920938},{"time":3.7294250774534885,"velocity":1.6995946085719722,"acceleration":1.8748867515492509,"pose":{"translation":{"x":7.317285729994932,"y":-3.678578466260325},"rotation":{"radians":-0.4027103434271184}},"curvature":1.6351128509544763},{"time":3.7538955443457955,"velocity":1.745473962752583,"acceleration":2.1851813590190625,"pose":{"translation":{"x":7.356598475347064,"y":-3.69378482181682},"rotation":{"radians":-0.33632398829719967}},"curvature":1.511008526720108},{"time":3.7784722416630516,"velocity":1.7991785035965049,"acceleration":2.272992673349672,"pose":{"translation":{"x":7.398153820491469,"y":-3.706840324616529},"rotation":{"radians":-0.27348815333700954}},"curvature":1.3737776881255388},{"time":3.803068231655105,"velocity":1.8550850086422241,"acceleration":2.193683654671813,"pose":{"translation":{"x":7.441766633754582,"y":-3.7176817452086004},"rotation":{"radians":-0.21480967772709417}},"curvature":1.2393611791297987},{"time":3.827628662747314,"velocity":1.9089628248808965,"acceleration":1.9969666785355142,"pose":{"translation":{"x":7.487182920098695,"y":-3.726281520109143},"rotation":{"radians":-0.16040897645016217}},"curvature":1.1172720388296253},{"time":3.8521123619619395,"velocity":1.9578559563797895,"acceleration":1.7234864349774692,"pose":{"translation":{"x":7.534090305907588,"y":-3.732644699268701},"rotation":{"radians":-0.11008147158618749}},"curvature":1.0122941139249706},{"time":3.8764790474460984,"velocity":1.9998516082770998,"acceleration":1.4022146253291852,"pose":{"translation":{"x":7.582128523772149,"y":-3.7368058935397293},"rotation":{"radians":-0.06342390878094048}},"curvature":0.9262236474597217},{"time":3.9006820938255253,"velocity":2.033789473887853,"acceleration":0.8614050969500032,"pose":{"translation":{"x":7.630899897275998,"y":-3.7388262221440742},"rotation":{"radians":-0.019922313797853988}},"curvature":0.8592646262728906},{"time":3.948409332810536,"velocity":2.074901960812892,"acceleration":-2.06138649848806,"pose":{"translation":{"x":7.728927269213424,"y":-3.736802985891902},"rotation":{"radians":0.05991827496747535}},"curvature":0.7810841143641799},{"time":3.995876355528116,"velocity":1.977054081059447,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.824641252097106,"y":-3.7274781154388537},"rotation":{"radians":0.13425241932152515}},"curvature":0.7773436462317795},{"time":4.04359419151982,"velocity":1.8482159238818443,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.914583158467851,"y":-3.711983507540347},"rotation":{"radians":0.2081836929421897}},"curvature":0.8596478121577791},{"time":4.090455512630225,"velocity":1.7216903568837516,"acceleration":-2.700000000000008,"pose":{"translation":{"x":7.995702296169961,"y":-3.6915821497398085},"rotation":{"radians":0.2873703331175196}},"curvature":1.0606986256378206},{"time":4.113104207368059,"velocity":1.6605388810915995,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.032194114374203,"y":-3.6799479296773234},"rotation":{"radians":0.3309248799143044}},"curvature":1.223313458896864},{"time":4.1349996344787385,"velocity":1.6014212278927638,"acceleration":-2.699999999999993,"pose":{"translation":{"x":8.065691481491172,"y":-3.6675704393279305},"rotation":{"radians":0.3782474246415106}},"curvature":1.4389030926603568},{"time":4.156001823534024,"velocity":1.5447153174434929,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.096077217875637,"y":-3.65460092283023},"rotation":{"radians":0.4301004314741984}},"curvature":1.7133794467423598},{"time":4.176013224103623,"velocity":1.4906845359055751,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":8.12332255230258,"y":-3.641180502301934},"rotation":{"radians":0.4869454802749235}},"curvature":2.0416660192932428},{"time":4.194994370363005,"velocity":1.439435441005245,"acceleration":-2.700000000000007,"pose":{"translation":{"x":8.14749760675281,"y":-3.6274371253073445},"rotation":{"radians":0.5485472408754578}},"curvature":2.392093867595373},{"time":4.212978930908065,"velocity":1.3908771275335825,"acceleration":-1.1245987207977144,"pose":{"translation":{"x":8.168781881198585,"y":-3.6134825123248273},"rotation":{"radians":0.613346231930123}},"curvature":2.6830987753077684},{"time":4.2299176705895585,"velocity":1.3718278425558499,"acceleration":2.699999999999896,"pose":{"translation":{"x":8.187474738389243,"y":-3.5994091042142915},"rotation":{"radians":0.6776638425385082}},"curvature":2.7632146610058794},{"time":4.245526795164791,"velocity":1.4139724789089763,"acceleration":2.700000000000011,"pose":{"translation":{"x":8.204005888636818,"y":-3.585287009684665},"rotation":{"radians":0.7350683019263234}},"curvature":2.4257449600473038},{"time":4.27341683759091,"velocity":1.4892755934594966,"acceleration":2.6999999999999935,"pose":{"translation":{"x":8.233016556078072,"y":-3.5570472202538097},"rotation":{"radians":0.7922946057858474}},"curvature":2.302008629705823E-13},{"time":4.326431852205781,"velocity":1.632416132919648,"acceleration":2.700000000000001,"pose":{"translation":{"x":8.28979708220419,"y":-3.4968538035042758},"rotation":{"radians":0.8533835963713103}},"curvature":1.1975336614921723},{"time":4.354406586534285,"velocity":1.7079479156066102,"acceleration":2.6999999999999718,"pose":{"translation":{"x":8.319471762473778,"y":-3.460764434063457},"rotation":{"radians":0.912699949083824}},"curvature":1.3070490743326069},{"time":4.383881560993503,"velocity":1.7875303466464982,"acceleration":1.5106469326082068,"pose":{"translation":{"x":8.349585995629468,"y":-3.418968698664884},"rotation":{"radians":0.9801167793476238}},"curvature":1.3021338956692625},{"time":4.4149802189947005,"velocity":1.834509438964239,"acceleration":-0.23733055067380346,"pose":{"translation":{"x":8.379224517397864,"y":-3.3710778550797573},"rotation":{"radians":1.0529691506636971}},"curvature":1.287878458513636},{"time":4.448092713285277,"velocity":1.8266508324600732,"acceleration":-0.7464429270177817,"pose":{"translation":{"x":8.407145327502624,"y":-3.317276223184951},"rotation":{"radians":1.1314150540059378}},"curvature":1.3066975386388417},{"time":4.483414277279007,"velocity":1.800285300845748,"acceleration":-1.0665922002682795,"pose":{"translation":{"x":8.431909223218495,"y":-3.2582022689134194},"rotation":{"radians":1.2169676897131236}},"curvature":1.3710356037144211},{"time":4.50185146896487,"velocity":1.7806203359987554,"acceleration":-1.2211590949629405,"pose":{"translation":{"x":8.442635532182393,"y":-3.226982607556059},"rotation":{"radians":1.2630160558649712}},"curvature":1.420263224631914},{"time":4.520783245421304,"velocity":1.757501624995175,"acceleration":-1.3173028489654541,"pose":{"translation":{"x":8.452009332925336,"y":-3.194829688204599},"rotation":{"radians":1.3115565208093583}},"curvature":1.479545503444551},{"time":4.540186225166609,"velocity":1.7319420244982657,"acceleration":-1.3448549160067778,"pose":{"translation":{"x":8.459852944828688,"y":-3.1618980928755964},"rotation":{"radians":1.362771900584756}},"curvature":1.546928964431652},{"time":4.560032773149766,"velocity":1.7052512968773526,"acceleration":-1.294160580580371,"pose":{"translation":{"x":8.466000649662137,"y":-3.128348490954812},"rotation":{"radians":1.4167701491841047}},"curvature":1.6194505035258846},{"time":4.580288509587542,"velocity":1.679037121248957,"acceleration":-1.1566210246198927,"pose":{"translation":{"x":8.47030273950725,"y":-3.0943439230706615},"rotation":{"radians":1.4735498799802027}},"curvature":1.6929214874785894},{"time":4.6009090041554535,"velocity":1.6551870236936503,"acceleration":-0.9252627857715038,"pose":{"translation":{"x":8.47262956468105,"y":-3.0600460849676683},"rotation":{"radians":1.532962170403409}},"curvature":1.7617884814834144},{"time":4.621835917377915,"velocity":1.6358241296678375,"acceleration":-0.5948696739758005,"pose":{"translation":{"x":8.472875581659569,"y":-3.0256116113799103},"rotation":{"radians":1.5946719156699458}},"curvature":1.8191756666694596},{"time":4.6429931187004705,"velocity":1.6232383522148486,"acceleration":-0.16120768290402454,"pose":{"translation":{"x":8.470963401001415,"y":-2.9911883599044717},"rotation":{"radians":1.658124272635639}},"curvature":1.8572111973992549},{"time":4.664283518244711,"velocity":1.6198061762362206,"acceleration":0.38110646843969515,"pose":{"translation":{"x":8.466847835271334,"y":-2.9569116948748926},"rotation":{"radians":1.7225233341365085}},"curvature":1.8676861614069136},{"time":4.685587362560646,"velocity":1.6279252091076557,"acceleration":1.0426305408866006,"pose":{"translation":{"x":8.46051994696378,"y":-2.922900771234619},"rotation":{"radians":1.786829905681397}},"curvature":1.8429783010314422},{"time":4.706762443011237,"velocity":1.6500029946911723,"acceleration":1.8460120840559757,"pose":{"translation":{"x":8.452011096426462,"y":-2.8892548184104547},"rotation":{"radians":1.8497820913747762}},"curvature":1.7770207278362573},{"time":4.727646039922481,"velocity":1.6885543669478829,"acceleration":2.700000000000042,"pose":{"translation":{"x":8.441396989783929,"y":-2.8560494241860077},"rotation":{"radians":1.9099363255472606}},"curvature":1.6659835542051205},{"time":4.74807414880136,"velocity":1.7437102609208548,"acceleration":2.699999999999937,"pose":{"translation":{"x":8.428801726861114,"y":-2.8233328185751447},"rotation":{"radians":1.9657191347709961}},"curvature":1.508349821624066},{"time":4.768001105494028,"velocity":1.7975130439910574,"acceleration":2.7000000000000326,"pose":{"translation":{"x":8.414401849106909,"y":-2.791122157695436},"rotation":{"radians":2.015474155729878}},"curvature":1.3042333737225127},{"time":4.806515934389012,"velocity":1.9015030820075147,"acceleration":-1.192111986491251,"pose":{"translation":{"x":8.38118091056105,"y":-2.7281096283590065},"rotation":{"radians":2.089977354294573}},"curvature":0.7567229861185677},{"time":4.844774986364194,"velocity":1.855894007556108,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":8.344349159311992,"y":-2.6663863943825308},"rotation":{"radians":2.118582176326862}},"curvature":-5.0126600984557514E-14},{"time":4.884991356611761,"velocity":1.7473098078876776,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":8.305510976960823,"y":-2.605221358005528},"rotation":{"radians":2.1702385168846288}},"curvature":1.3002823472909881},{"time":4.906556230204165,"velocity":1.689084649188185,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.28379876031243,"y":-2.575196656955929},"rotation":{"radians":2.225779751762401}},"curvature":1.663821471337269},{"time":4.929480117728235,"velocity":1.6271901528731965,"acceleration":-0.4353955431663509,"pose":{"translation":{"x":8.259660923901857,"y":-2.5458334559252798},"rotation":{"radians":2.293034224518552}},"curvature":1.8452050750599183},{"time":4.95369018092083,"velocity":1.6166491992593648,"acceleration":0.9629689221495752,"pose":{"translation":{"x":8.232640550061967,"y":-2.5173417160636493},"rotation":{"radians":2.3665606094532268}},"curvature":1.8773604916946014},{"time":4.978735407593112,"velocity":1.6407669741929638,"acceleration":1.8026886725565205,"pose":{"translation":{"x":8.202437541666038,"y":-2.489924320184822},"rotation":{"radians":2.441939074581385}},"curvature":1.8043974587676634},{"time":5.004297286495051,"velocity":1.686847083738752,"acceleration":2.2360075469551917,"pose":{"translation":{"x":8.168895482966022,"y":-2.4637760110158533},"rotation":{"radians":2.515978918591446}},"curvature":1.6707935328023351},{"time":5.030178263526419,"velocity":1.7447171437034634,"acceleration":2.361490922211059,"pose":{"translation":{"x":8.131988500430813,"y":-2.439082329446627},"rotation":{"radians":2.586693654352173}},"curvature":1.513002787687667},{"time":5.056271514260964,"velocity":1.8063361184440692,"acceleration":2.2621996087614282,"pose":{"translation":{"x":8.091808123584523,"y":-2.4160185527794136},"rotation":{"radians":2.6531044345969828}},"curvature":1.356104136064926},{"time":5.082526154356629,"velocity":1.8657293549966558,"acceleration":2.0118434948705906,"pose":{"translation":{"x":8.04855014584475,"y":-2.3947486329784264},"rotation":{"radians":2.71497383846511}},"curvature":1.2146817633439069},{"time":5.108917177189202,"velocity":1.9188239626053476,"acceleration":1.670443526552764,"pose":{"translation":{"x":8.002501485360849,"y":-2.3754241349193794},"rotation":{"radians":2.772553450247026}},"curvature":1.095668606456942},{"time":5.135424231432103,"velocity":1.9631024997733855,"acceleration":1.280443319428121,"pose":{"translation":{"x":7.9540270458521976,"y":-2.358183174639043},"rotation":{"radians":2.8263870487937783}},"curvature":1.0013399838356394},{"time":5.1620194523483045,"velocity":1.9971561727242502,"acceleration":0.8665796598124688,"pose":{"translation":{"x":7.903556577446472,"y":-2.3431493575848044},"rotation":{"radians":2.8771772874141677}},"curvature":0.9316392588327602},{"time":5.188662697532163,"velocity":2.020244667071978,"acceleration":0.4387071124479788,"pose":{"translation":{"x":7.851571537517913,"y":-2.3304307168642207},"rotation":{"radians":2.925706355199945}},"curvature":0.8857186164978936},{"time":5.215302130319163,"velocity":2.031931575707215,"acceleration":-0.004178695509205466,"pose":{"translation":{"x":7.798591951525595,"y":-2.320118651494578},"rotation":{"radians":2.972796287711785}},"curvature":0.8628723657841149},{"time":5.241878374542563,"velocity":2.031820521674827,"acceleration":-0.6229893791969597,"pose":{"translation":{"x":7.745163273851703,"y":-2.312286864652451},"rotation":{"radians":3.019295956091806}},"curvature":0.863088223833682},{"time":5.268357509686323,"velocity":2.0153243017099434,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.691843248639794,"y":-2.3069903019232543},"rotation":{"radians":3.066084877458681}},"curvature":0.8873941117249317},{"time":5.294994858585181,"velocity":1.9434034596830274,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.639188770633071,"y":-2.304264089550806},"rotation":{"radians":3.114086636298696}},"curvature":0.9381089721707744},{"time":5.321972659636754,"velocity":1.8705633968437811,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.587742746012653,"y":-2.3041224726868803},"rotation":{"radians":-3.1188993764257593}},"curvature":1.0190344938530298},{"time":5.3491174928822725,"velocity":1.79727234708088,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":7.538020953235847,"y":-2.306557753640767},"rotation":{"radians":-3.065442805330459}},"curvature":1.135536918143766},{"time":5.3762568185611945,"velocity":1.7239961677477913,"acceleration":-2.700000000000003,"pose":{"translation":{"x":7.490498903874413,"y":-2.311539230128827},"rotation":{"radians":-3.007593512648118}},"curvature":1.2943305766918296},{"time":5.4032290057114185,"velocity":1.6511712624421873,"acceleration":-2.7,"pose":{"translation":{"x":7.445598703452838,"y":-2.3190121335240512},"rotation":{"radians":-2.9441700821975343}},"curvature":1.5025415551597816},{"time":5.429896343358025,"velocity":1.5791694507963492,"acceleration":-2.7,"pose":{"translation":{"x":7.403675912286604,"y":-2.328896567105617},"rotation":{"radians":-2.874033495448519}},"curvature":1.7652766982175678},{"time":5.4561611725246495,"velocity":1.5082544120464625,"acceleration":-2.699999999999993,"pose":{"translation":{"x":7.365006406320458,"y":-2.341086444308446},"rotation":{"radians":-2.7962757202640955}},"curvature":2.0805707056196714},{"time":5.481984494563347,"velocity":1.4385314425419786,"acceleration":-2.6999999999999877,"pose":{"translation":{"x":7.329773237966686,"y":-2.3554484269727576},"rotation":{"radians":-2.7105562536660353}},"curvature":2.4307845783380175},{"time":5.494742558133179,"velocity":1.4040846709034338,"acceleration":-2.700000000000001,"pose":{"translation":{"x":7.313473869373039,"y":-2.363394576779966},"rotation":{"radians":-2.6648816954042247}},"curvature":2.6064393818697456},{"time":5.507412111645703,"velocity":1.3698768764196194,"acceleration":-2.601925250433854,"pose":{"translation":{"x":7.298053496943377,"y":-2.371820863593633},"rotation":{"radians":-2.6176097457085454}},"curvature":2.7715456569133727},{"time":5.520006914997722,"velocity":1.3371061395537531,"acceleration":-1.9114293643797398,"pose":{"translation":{"x":7.283503044577773,"y":-2.3807024828220342},"rotation":{"radians":-2.5691015837431843}},"curvature":2.915116789631766},{"time":5.532505302597485,"velocity":1.313216354488165,"acceleration":-1.0491455338987328,"pose":{"translation":{"x":7.2698051711126945,"y":-2.390012727570566},"rotation":{"radians":-2.5198584792694434}},"curvature":3.0242956142624506},{"time":5.544843794889886,"velocity":1.300271480404549,"acceleration":0.024510083528372025,"pose":{"translation":{"x":7.2569338597222055,"y":-2.3997229554620496},"rotation":{"radians":-2.4705292204250604}},"curvature":3.085130941486992},{"time":5.556942046704335,"velocity":1.3005680095670684,"acceleration":1.3817668469905602,"pose":{"translation":{"x":7.244854007319153,"y":-2.409802555457024},"rotation":{"radians":-2.421907400631256}},"curvature":3.083723829559398},{"time":5.568703975407291,"velocity":1.3168202527054795,"acceleration":2.6999999999998705,"pose":{"translation":{"x":7.233521013956372,"y":-2.4202189146740487},"rotation":{"radians":-2.3749171940395066}},"curvature":3.0075716945219555},{"time":5.58004169526943,"velocity":1.3474320963332524,"acceleration":2.700000000000015,"pose":{"translation":{"x":7.222880372227877,"y":-2.430937385210002},"rotation":{"radians":-2.3305883989159453}},"curvature":2.846828824648316},{"time":5.601494029622329,"velocity":1.4053533990860811,"acceleration":2.6999999999999784,"pose":{"translation":{"x":7.203406113162877,"y":-2.453131694439583},"rotation":{"radians":-2.2543641770006477}},"curvature":2.2501365575452645},{"time":5.640946846680137,"velocity":1.5118760051421605,"acceleration":2.7000000000000304,"pose":{"translation":{"x":7.169171680731816,"y":-2.4993874895316637},"rotation":{"radians":-2.183184339515173}},"curvature":5.96401064549217E-14},{"time":5.678342871858679,"velocity":1.6128452731242244,"acceleration":2.7000000000000055,"pose":{"translation":{"x":7.136270777363879,"y":-2.5476693404132016},"rotation":{"radians":-2.1436342909195103}},"curvature":1.132075469335682},{"time":5.717479604174975,"velocity":1.7185144503782233,"acceleration":2.6999999999999824,"pose":{"translation":{"x":7.1031164577596915,"y":-2.603798046145236},"rotation":{"radians":-2.0651288161779124}},"curvature":1.1455306806060235},{"time":5.760569711189744,"velocity":1.834857739318099,"acceleration":2.699999999999989,"pose":{"translation":{"x":7.069459599873687,"y":-2.672560543990938},"rotation":{"radians":-1.9916916947859962}},"curvature":0.7717455924404377},{"time":5.808026222635821,"velocity":1.9629903202225065,"acceleration":2.6999999999999895,"pose":{"translation":{"x":7.035061557597999,"y":-2.755853544941377},"rotation":{"radians":-1.9380762983929625}},"curvature":0.44541103587936526},{"time":5.858989905470797,"velocity":2.1005922638769423,"acceleration":2.6999999999999855,"pose":{"translation":{"x":6.99970053126512,"y":-2.8531761859209888},"rotation":{"radians":-1.9042587152981518}},"curvature":0.22790506330204938},{"time":5.911892652580264,"velocity":2.243429681072504,"acceleration":2.7000000000000157,"pose":{"translation":{"x":6.963177938150558,"y":-2.9621226819930504},"rotation":{"radians":-1.8870128697899962}},"curvature":0.08289117281220101},{"time":5.964910000757435,"velocity":2.3865765211508654,"acceleration":-2.665119211234576,"pose":{"translation":{"x":6.925324782975499,"y":-3.078874978565151},"rotation":{"radians":-1.883885186495214}},"curvature":-0.028054814341318002},{"time":6.019408076435131,"velocity":2.2413326526869204,"acceleration":-2.700000000000004,"pose":{"translation":{"x":6.8860080284094565,"y":-3.1986954035946655},"rotation":{"radians":-1.8940606553909975}},"curvature":-0.1347487135418972},{"time":6.0770057200147365,"velocity":2.085819015021986,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.845136965572929,"y":-3.3164193197942256},"rotation":{"radians":-1.9185533679737672}},"curvature":-0.26578108803092576},{"time":6.136027617970227,"velocity":1.9264598905421613,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.802669584540064,"y":-3.426947776837193},"rotation":{"radians":-1.9604965753107446}},"curvature":-0.4596255594082408},{"time":6.194578790664456,"velocity":1.7683717242677455,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.758618944841308,"y":-3.5257401635631305},"rotation":{"radians":-2.025662930027989}},"curvature":-0.778800197428293},{"time":6.22309573235215,"velocity":1.6913759817109708,"acceleration":-2.7,"pose":{"translation":{"x":6.73602060989083,"y":-3.5695902990640254},"rotation":{"radians":-2.0695714351057175}},"curvature":-1.0142103452591982},{"time":6.250833354392143,"velocity":1.6164844022029892,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.713059545966065,"y":-3.6093068601832763},"rotation":{"radians":-2.1226923061264156}},"curvature":-1.3173758221795429},{"time":6.277648220524745,"velocity":1.5440842636449634,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.689755710657366,"y":-3.644698687601572},"rotation":{"radians":-2.1861504164614787}},"curvature":-1.6943487813498075},{"time":6.303474083150895,"velocity":1.4743544345543595,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.666133697865356,"y":-3.6757018904860144},"rotation":{"radians":-2.260454953323241}},"curvature":-2.1304236023610605},{"time":6.328347188276295,"velocity":1.407197050715779,"acceleration":-2.699999999999992,"pose":{"translation":{"x":6.642222936879132,"y":-3.7023952418715425},"rotation":{"radians":-2.344696941610567}},"curvature":-2.5679513452132547},{"time":6.340473911620446,"velocity":1.3744548976865718,"acceleration":-2.5779902389940728,"pose":{"translation":{"x":6.630169843634471,"y":-3.7141931381841387},"rotation":{"radians":-2.3896092290264717}},"curvature":-2.752034001585003},{"time":6.352425408352992,"velocity":1.3436440557686986,"acceleration":-1.1386427012260032,"pose":{"translation":{"x":6.618057891454474,"y":-3.7250155740423483},"rotation":{"radians":-2.4354779810046847}},"curvature":-2.8859144551974594},{"time":6.364158880483672,"velocity":1.3302838233670606,"acceleration":0.7309921694519163,"pose":{"translation":{"x":6.6058922076053,"y":-3.7349193760441564},"rotation":{"radians":-2.481334262118156}},"curvature":-2.9458954694752744},{"time":6.375552113560304,"velocity":1.3386121875308192,"acceleration":2.699999999999921,"pose":{"translation":{"x":6.593678258892053,"y":-3.743973173913302},"rotation":{"radians":-2.5259800915577366}},"curvature":-2.908364571137385},{"time":6.396938202989721,"velocity":1.396354628990242,"acceleration":2.699999999999983,"pose":{"translation":{"x":6.569129169115641,"y":-3.7598671784113726},"rotation":{"radians":-2.6059122811634374}},"curvature":-2.465039628096291},{"time":6.435488710928802,"velocity":1.5004410004257622,"acceleration":2.6999999999999615,"pose":{"translation":{"x":6.519731495200664,"y":-3.7858975713457443},"rotation":{"radians":-2.6842145549194933}},"curvature":-1.2972264273162774E-13},{"time":6.471925076264494,"velocity":1.5988191868321275,"acceleration":2.6999999999999624,"pose":{"translation":{"x":6.468775012373055,"y":-3.8102182334406436},"rotation":{"radians":-2.7178978515197216}},"curvature":-1.0067581832985415},{"time":6.510387729449096,"velocity":1.7026683504305533,"acceleration":2.700000000000014,"pose":{"translation":{"x":6.410033893270897,"y":-3.8343162228732277},"rotation":{"radians":-2.78698029850627}},"curvature":-1.0539791503747233},{"time":6.553192076266536,"velocity":1.8182400868376418,"acceleration":2.7000000000000224,"pose":{"translation":{"x":6.338469424209343,"y":-3.857915307569954},"rotation":{"radians":-2.855348672961715}},"curvature":-0.7580381147658637},{"time":6.6008670461124375,"velocity":1.9469625054215762,"acceleration":2.6999999999999833,"pose":{"translation":{"x":6.251656213260161,"y":-3.8806982011068243},"rotation":{"radians":-2.910645118114997}},"curvature":-0.4970742520070285},{"time":6.652705731049834,"velocity":2.0869269547525473,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.149361737076372,"y":-3.902325674217354},"rotation":{"radians":-2.9529346991590937}},"curvature":-0.3296627331296878},{"time":6.707303615692221,"velocity":2.2343412432869934,"acceleration":2.6999999999999886,"pose":{"translation":{"x":6.03312588771689,"y":-3.9224556663005465},"rotation":{"radians":-2.985354356178384}},"curvature":-0.2305135709544064},{"time":6.735116047300693,"velocity":2.309434808629867,"acceleration":2.6999999999999944,"pose":{"translation":{"x":5.970642338303601,"y":-3.9318561420487126},"rotation":{"radians":-2.9988325136699623}},"curvature":-0.19779984106250825},{"time":6.762985394446045,"velocity":2.384682045922319,"acceleration":2.700000000000003,"pose":{"translation":{"x":5.905840519471166,"y":-3.94076239692886},"rotation":{"radians":-3.0109174556069482}},"curvature":-0.17298713747393388},{"time":6.790705498251786,"velocity":2.459526326197819,"acceleration":0.9846694016059591,"pose":{"translation":{"x":5.839224176505203,"y":-3.949139387646425},"rotation":{"radians":-3.0218731276765665}},"curvature":-0.15433622270674963},{"time":6.818339931755652,"velocity":2.486737107299791,"acceleration":0.2728041486042079,"pose":{"translation":{"x":5.771328995683823,"y":-3.956955477356181},"rotation":{"radians":-3.0319248588075447}},"curvature":-0.14057651220768494},{"time":6.84604467648141,"velocity":2.4942950765969982,"acceleration":0.1805047218483853,"pose":{"translation":{"x":5.702709465115891,"y":-3.9641830328968637},"rotation":{"radians":-3.0412660765022417}},"curvature":-0.13079838333907873},{"time":6.87372065142836,"velocity":2.4992907207566804,"acceleration":0.09954950374587779,"pose":{"translation":{"x":5.633925735579302,"y":-3.9707990220257945},"rotation":{"radians":-3.0500644721071133}},"curvature":-0.12436772808950067},{"time":6.901176134821063,"velocity":2.502023900503527,"acceleration":0.02453818003267315,"pose":{"translation":{"x":5.56553048135925,"y":-3.9767856106535033},"rotation":{"radians":-3.0584671613366443}},"curvature":-0.12086030383459509},{"time":6.9282250874926765,"velocity":2.5026876325738785,"acceleration":-0.04866027326609813,"pose":{"translation":{"x":5.498055761086497,"y":-3.9821307600783546},"rotation":{"radians":-3.0666045872269425}},"curvature":-0.12000970841682475},{"time":6.954692547517374,"velocity":2.501399718736417,"acceleration":-0.12275276346901735,"pose":{"translation":{"x":5.431999878575643,"y":-3.9868288242211714},"rotation":{"radians":-3.074592900030428}},"curvature":-0.12166062603761976},{"time":6.980419764211085,"velocity":2.498241631790898,"acceleration":-0.23406519822027155,"pose":{"translation":{"x":5.367814243663396,"y":-3.990881146859857},"rotation":{"radians":-3.0825343799348963}},"curvature":-0.12571603710617468},{"time":7.0291359925628765,"velocity":2.486838858145192,"acceleration":-0.3414594017376717,"pose":{"translation":{"x":5.246546051121722,"y":-3.997092475429607},"rotation":{"radians":-3.0985990277638322}},"curvature":-0.14044447727626083},{"time":7.073580013372151,"velocity":2.47166302938884,"acceleration":-0.17608328481969815,"pose":{"translation":{"x":5.136425294451575,"y":-4.000937988068193},"rotation":{"radians":-3.115140714235642}},"curvature":-0.16025718572304598},{"time":7.113450697390793,"velocity":2.4646424683788295,"acceleration":0.8707926953475743,"pose":{"translation":{"x":5.0380348746460655,"y":-4.002740987785456},"rotation":{"radians":-3.131563683890724}},"curvature":-0.16950538046980818},{"time":7.148969006864766,"velocity":2.495571552819859,"acceleration":2.6999999999999944,"pose":{"translation":{"x":4.949946029525962,"y":-4.002993949828462},"rotation":{"radians":3.1378810262933907}},"curvature":-0.12915278738320896},{"time":7.181127703948319,"velocity":2.5824000349454543,"acceleration":-0.8431940772917474,"pose":{"translation":{"x":4.868297880564326,"y":-4.00237763318947},"rotation":{"radians":3.1319775652901187}},"curvature":5.968133688230971E-14},{"time":7.213338465239559,"velocity":2.5552401117996224,"acceleration":-1.4047230468423735,"pose":{"translation":{"x":4.785558476294775,"y":-4.001539404809302},"rotation":{"radians":3.1301652084044878}},"curvature":-0.054064509417195365},{"time":7.250846371791961,"velocity":2.5025518910266538,"acceleration":-0.6109298015179189,"pose":{"translation":{"x":4.690715824810613,"y":-4.0000985976611565},"rotation":{"radians":3.121589643936572}},"curvature":-0.1201836291645749},{"time":7.29675534528969,"velocity":2.4745047309597945,"acceleration":-0.3317257680893358,"pose":{"translation":{"x":4.576513923585549,"y":-3.996932516826778},"rotation":{"radians":3.105482898284936}},"curvature":-0.156528727724174},{"time":7.323237126586809,"velocity":2.465720041718634,"acceleration":-0.2690389804663399,"pose":{"translation":{"x":4.511156901068688,"y":-3.9942275147627417},"rotation":{"radians":3.094848054209793}},"curvature":-0.1680824703011933},{"time":7.352073034477399,"velocity":2.4579620584589286,"acceleration":-0.25740306952056385,"pose":{"translation":{"x":4.440266543999226,"y":-3.990478478004412},"rotation":{"radians":3.082544538383005}},"curvature":-0.1783545465852119},{"time":7.383182450494506,"velocity":2.449954399285133,"acceleration":-0.2766879808142875,"pose":{"translation":{"x":4.3640915010589945,"y":-3.9854443162059234},"rotation":{"radians":3.0685236549425396}},"curvature":-0.1890254390225435},{"time":7.416425132706571,"velocity":2.4407565486670255,"acceleration":-0.31668704818201804,"pose":{"translation":{"x":4.283067289007759,"y":-3.978873958567249},"rotation":{"radians":3.052666136799197}},"curvature":-0.2013687657673882},{"time":7.451611289552667,"velocity":2.429613548518566,"acceleration":-0.3733497711928847,"pose":{"translation":{"x":4.19779160698543,"y":-3.9705107335547747},"rotation":{"radians":3.034783664358129}},"curvature":-0.21644763622233348},{"time":7.4885121224180065,"velocity":2.4158366310114645,"acceleration":-0.4463171166845765,"pose":{"translation":{"x":4.1089996508142645,"y":-3.960096748621878},"rotation":{"radians":3.0146175220951146}},"curvature":-0.23528307028078238},{"time":7.526871007850308,"velocity":2.3987164038660858,"acceleration":-0.5374958145447671,"pose":{"translation":{"x":4.0175394273010685,"y":-3.9473772699295036},"rotation":{"radians":2.9918335338663824}},"curvature":-0.2589908778206132},{"time":7.566415369770256,"velocity":2.37746147484527,"acceleration":-0.6501843931115238,"pose":{"translation":{"x":3.9243470685394013,"y":-3.93210510206674},"rotation":{"radians":2.9660133120480836}},"curvature":-0.28889944469236023},{"time":7.606869235344109,"velocity":2.351159002808119,"acceleration":-0.788303946866056,"pose":{"translation":{"x":3.8304221462117845,"y":-3.9140449677713973},"rotation":{"radians":2.93664232425686}},"curvature":-0.32665922134294034},{"time":7.647966396606112,"velocity":2.318761948380292,"acceleration":-0.9552953309276935,"pose":{"translation":{"x":3.736802985891902,"y":-3.892977887650582},"rotation":{"radians":2.9030958907542956}},"curvature":-0.37434574879277116},{"time":7.689463948779885,"velocity":2.279119530543758,"acceleration":-1.1521903885651592,"pose":{"translation":{"x":3.6445419813468036,"y":-3.8687055599012754},"rotation":{"radians":2.8646254380392078}},"curvature":-0.4345414121711747},{"time":7.731155667309144,"velocity":2.2310827331715815,"acceleration":-1.374348757853895,"pose":{"translation":{"x":3.554680908839112,"y":-3.8410547400309087},"rotation":{"radians":2.820349709975427}},"curvature":-0.5103502091898078},{"time":7.772884112660553,"velocity":2.1737332961356977,"acceleration":-1.606640203323008,"pose":{"translation":{"x":3.468226241429226,"y":-3.8098816205779418},"rotation":{"radians":2.7692599355576926}},"curvature":-0.6052435122692674},{"time":7.8145493952694975,"velocity":2.106792178013353,"acceleration":-1.8178926272771239,"pose":{"translation":{"x":3.3861244632775254,"y":-3.7750762108324376},"rotation":{"radians":2.710255000876092}},"curvature":-0.7225422516955398},{"time":7.856111149723796,"velocity":2.031237371014181,"acceleration":-1.9575084972817882,"pose":{"translation":{"x":3.309237383946571,"y":-3.73656671655664},"rotation":{"radians":2.6422326074618345}},"curvature":-0.8642220933748946},{"time":7.89757874683516,"velocity":1.950064197306828,"acceleration":-1.9810357336829765,"pose":{"translation":{"x":3.2383174527033165,"y":-3.6943239197055506},"rotation":{"radians":2.564272440250222}},"curvature":-1.0286711085925642},{"time":7.918293314313058,"velocity":1.9090278989253255,"acceleration":-1.9361801040322355,"pose":{"translation":{"x":3.205294329808726,"y":-3.6718061219247775},"rotation":{"radians":2.5214015394004616}},"curvature":-1.1171287453625225},{"time":7.938999359599881,"velocity":1.8689372660077872,"acceleration":-1.8360373990897991,"pose":{"translation":{"x":3.173983072821306,"y":-3.648365558147505},"rotation":{"radians":2.4759474152093786}},"curvature":-1.2072991983078831},{"time":7.959697211622564,"velocity":1.8309352356133157,"acceleration":-1.6748339925440523,"pose":{"translation":{"x":3.1444359874664856,"y":-3.6240125010166415},"rotation":{"radians":2.428006929910792}},"curvature":-1.2964176089006785},{"time":7.980381701329454,"velocity":1.7962921491337895,"acceleration":-1.4492710522147516,"pose":{"translation":{"x":3.116693915882882,"y":-3.5987607053847492},"rotation":{"radians":2.3777674650370586}},"curvature":-1.3809445127399211},{"time":8.001040129414077,"velocity":1.7663524873264835,"acceleration":-1.1588027529824694,"pose":{"translation":{"x":3.0907854651942417,"y":-3.572627545180315},"rotation":{"radians":2.325520763683609}},"curvature":-1.4566663045388661},{"time":8.02165059898956,"velocity":1.742469018442153,"acceleration":-0.8054807560953287,"pose":{"translation":{"x":3.0667262360813865,"y":-3.545634150274017},"rotation":{"radians":2.271671906376654}},"curvature":-1.5189369408300855},{"time":8.042181015127548,"velocity":1.7259321633283735,"acceleration":-0.3933572372329845,"pose":{"translation":{"x":3.044518051354162,"y":-3.517805543344992},"rotation":{"radians":2.216740810004411}},"curvature":-1.5630627286291288},{"time":8.062588996946163,"velocity":1.7179045359827023,"acceleration":0.07248570053985359,"pose":{"translation":{"x":3.024148184523371,"y":-3.489170776747106},"rotation":{"radians":2.1613542646316626}},"curvature":-1.5847893798671082},{"time":8.082822803679155,"velocity":1.7193711976383312,"acceleration":0.5871904376915801,"pose":{"translation":{"x":3.0055885883727265,"y":-3.4597630693752186},"rotation":{"radians":2.106227914198737}},"curvature":-1.5808047351725032},{"time":8.102823163555788,"velocity":1.731115217708281,"acceleration":1.1476215068971471,"pose":{"translation":{"x":2.9887951235307924,"y":-3.4296199435314545},"rotation":{"radians":2.0521395493883414}},"curvature":-1.5491419218020357},{"time":8.122525669606972,"velocity":1.7537262373923896,"acceleration":1.7541748535327344,"pose":{"translation":{"x":2.973706787042926,"y":-3.3987833617914696},"rotation":{"radians":1.999897110383593}},"curvature":-1.4893750242994632},{"time":8.141863245295216,"velocity":1.7876477263929929,"acceleration":2.4131130567949413,"pose":{"translation":{"x":2.960244940943225,"y":-3.367299863870719},"rotation":{"radians":1.9503062356582266}},"curvature":-1.4025470827993207},{"time":8.160768146058205,"velocity":1.8332673892615718,"acceleration":2.699999999999899,"pose":{"translation":{"x":2.9483125408264668,"y":-3.3352207034907257},"rotation":{"radians":1.904142520003307}},"curvature":-1.2908420719095428},{"time":8.179212625866318,"velocity":1.8830674847434774,"acceleration":2.700000000000005,"pose":{"translation":{"x":2.937793364420059,"y":-3.302601985245349},"rotation":{"radians":1.8621327429498913}},"curvature":-1.1570785879501215},{"time":8.214855395150488,"velocity":1.979302961810737,"acceleration":2.6999999999999615,"pose":{"translation":{"x":2.920429275742708,"y":-3.2359953690931653},"rotation":{"radians":1.793205955990283}},"curvature":-0.8344267046507411},{"time":8.249076760571857,"velocity":2.0717006484484295,"acceleration":-1.3439441199074882,"pose":{"translation":{"x":2.906810025116817,"y":-3.1680310705299366},"rotation":{"radians":1.7483704613407196}},"curvature":-0.4495912481209247},{"time":8.283072688005905,"velocity":2.0260120216726385,"acceleration":-2.7000000000000095,"pose":{"translation":{"x":2.895236745474452,"y":-3.099346518069954},"rotation":{"radians":1.7322987122562734}},"curvature":9.321063196172322E-15},{"time":8.318257414269263,"velocity":1.931013260761573,"acceleration":-2.700000000000005,"pose":{"translation":{"x":2.8835537460897185,"y":-3.030720454787498},"rotation":{"radians":1.7533952071832712}},"curvature":0.5913053688600479},{"time":8.35497589603443,"velocity":1.8318733599956236,"acceleration":-2.7,"pose":{"translation":{"x":2.8692116259006175,"y":-2.963141856243121},"rotation":{"radians":1.8123593096132848}},"curvature":1.1044251173486483},{"time":8.373952696819739,"velocity":1.7806359978752908,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":2.860339315502404,"y":-2.9300330900992884},"rotation":{"radians":1.8541815921308988}},"curvature":1.332211337421105},{"time":8.393400727178246,"velocity":1.7281263159073188,"acceleration":-2.7000000000000064,"pose":{"translation":{"x":2.850018460841398,"y":-2.8975122702216956},"rotation":{"radians":1.9031821909568805}},"curvature":1.5353103821431424},{"time":8.413398448522294,"velocity":1.674132468278392,"acceleration":-2.1894942151422847,"pose":{"translation":{"x":2.838049635530078,"y":-2.865668590214357},"rotation":{"radians":1.9584365763577867}},"curvature":1.706923372429179},{"time":8.433988860443195,"velocity":1.629049880490182,"acceleration":-1.3420056298954386,"pose":{"translation":{"x":2.824261229383541,"y":-2.8345823874660026},"rotation":{"radians":2.018869589643976}},"curvature":1.8395751192191825},{"time":8.455112528418736,"velocity":1.600701799142965,"acceleration":-0.5605753295185578,"pose":{"translation":{"x":2.808508390816518,"y":-2.8043254293250066},"rotation":{"radians":2.083257875573639}},"curvature":1.9268134189642445},{"time":8.476657450597735,"velocity":1.588624247293021,"acceleration":0.1552984870921689,"pose":{"translation":{"x":2.7906719692403996,"y":-2.7749611992743075},"rotation":{"radians":2.1502680417260507}},"curvature":1.964926637791461},{"time":8.498512797162974,"velocity":1.5920183495494777,"acceleration":0.7985491130088248,"pose":{"translation":{"x":2.7706574574602514,"y":-2.7465451831063334},"rotation":{"radians":2.2185259592865942}},"curvature":1.9541574238635722},{"time":8.520576558300965,"velocity":1.6096373464358587,"acceleration":1.3581505180963127,"pose":{"translation":{"x":2.748393934071836,"y":-2.7191251550979283},"rotation":{"radians":2.2867037178154073}},"curvature":1.8989835589039321},{"time":8.542762965911269,"velocity":1.639769827426489,"acceleration":1.822380831142219,"pose":{"translation":{"x":2.7238330058586313,"y":-2.692741464185272},"rotation":{"radians":2.3536053988225394}},"curvature":1.8073715728699296},{"time":8.56500778211814,"velocity":1.6803083540741728,"acceleration":2.1819806370646235,"pose":{"translation":{"x":2.696947750188852,"y":-2.667427320138807},"rotation":{"radians":2.418233868572029}},"curvature":1.689305689548892},{"time":8.58727034696451,"velocity":1.7288848395003469,"acceleration":2.43284272044549,"pose":{"translation":{"x":2.6677316574124696,"y":-2.643209079738163},"rotation":{"radians":2.4798276908125727}},"curvature":1.555122109438011},{"time":8.609532327482032,"velocity":1.783044736745101,"acceleration":2.577605781926129,"pose":{"translation":{"x":2.6361975732582295,"y":-2.6201065329470783},"rotation":{"radians":2.5378665328074916}},"curvature":1.414135500885247},{"time":8.63179394364896,"velocity":1.8404264072919931,"acceleration":2.6257223811721464,"pose":{"translation":{"x":2.602376641230674,"y":-2.598133189088326},"rotation":{"radians":2.5920510555871124}},"curvature":1.273815095875695},{"time":8.654068817837027,"velocity":1.8989140429853961,"acceleration":2.5920711065060096,"pose":{"translation":{"x":2.56631724500716,"y":-2.5772965630186375},"rotation":{"radians":2.642266997020552}},"curvature":1.139517375383385},{"time":8.676378534342538,"velocity":1.956742414533673,"acceleration":2.494655821596559,"pose":{"translation":{"x":2.5280839508348807,"y":-2.557598461303626},"rotation":{"radians":2.688543083400293}},"curvature":1.0146266076514194},{"time":8.698747690467195,"velocity":2.0125457600842513,"acceleration":2.2660707767384767,"pose":{"translation":{"x":2.487756449927883,"y":-2.5390352683927118},"rotation":{"radians":2.7310100516536613}},"curvature":0.9009138604800878},{"time":8.743767760994027,"velocity":2.114564426271811,"acceleration":1.9041515425517372,"pose":{"translation":{"x":2.401206871982319,"y":-2.505273753249429},"rotation":{"radians":2.805343355872814}},"curvature":0.7085421115530166},{"time":8.789248782234402,"velocity":2.2011671830234985,"acceleration":1.5474599939401483,"pose":{"translation":{"x":2.307568351306705,"y":-2.475885525507387},"rotation":{"radians":2.8671793634577907}},"curvature":0.5592330714310098},{"time":8.83520552375288,"velocity":2.2722834019751907,"acceleration":1.2401175295376152,"pose":{"translation":{"x":2.20791504091623,"y":-2.450675654421222},"rotation":{"radians":2.9185000032721695}},"curvature":0.44513416798222816},{"time":8.881533125556983,"velocity":2.329735073073897,"acceleration":0.9952134560548073,"pose":{"translation":{"x":2.1034615634096685,"y":-2.4293899281791806},"rotation":{"radians":2.9610822510577917}},"curvature":0.3580454355827624},{"time":8.928016269797608,"velocity":2.3759957237019043,"acceleration":0.8104929737027449,"pose":{"translation":{"x":1.9955291676740163,"y":-2.411724011500686},"rotation":{"radians":2.996408344536862}},"curvature":0.2909816782267119},{"time":8.974348271774184,"velocity":2.4135474857615016,"acceleration":-0.8876958044675397,"pose":{"translation":{"x":1.885511885589125,"y":-2.397332603233911},"rotation":{"radians":3.02566298930062}},"curvature":0.23843356153266665},{"time":9.020845838229144,"velocity":2.3722717911014826,"acceleration":-2.699999999999996,"pose":{"translation":{"x":1.7748426887323374,"y":-2.385838593953342},"rotation":{"radians":3.0497630049493987}},"curvature":0.19614497557821045},{"time":9.068619379903017,"velocity":2.243283228582024,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.6649596450831212,"y":-2.3768422235573547},"rotation":{"radians":3.0693929512791027}},"curvature":0.1607613752259218},{"time":9.118202092389623,"velocity":2.109409904868187,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":1.5572720757277045,"y":-2.36993023886578},"rotation":{"radians":3.085035138511089}},"curvature":0.12946683787020843},{"time":9.169308003043733,"velocity":1.9714239461020922,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.4531267115637114,"y":-2.3646850512174726},"rotation":{"radians":3.0969892267940087}},"curvature":0.09961965117270992},{"time":9.221619020326393,"velocity":1.8301841994389112,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.3537738500047953,"y":-2.360693894067883},"rotation":{"radians":3.1053791502015375}},"curvature":0.06834275218222717},{"time":9.274788170822843,"velocity":1.6866274930984986,"acceleration":-2.7,"pose":{"translation":{"x":1.260333511685276,"y":-2.357557980586625},"rotation":{"radians":3.110145544125442}},"curvature":0.03198395121992311},{"time":9.328445193780956,"velocity":1.5417535311115926,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.1737615971647706,"y":-2.354901661255046},"rotation":{"radians":3.1110215281717046}},"curvature":-0.014691178967901609},{"time":9.382207185684035,"velocity":1.396596152973282,"acceleration":-2.699999999999998,"pose":{"translation":{"x":1.0948160436328322,"y":-2.3523815814637965},"rotation":{"radians":3.107490011071765}},"curvature":-0.0797774231455814},{"time":9.435699305498353,"velocity":1.252167429474619,"acceleration":-2.700000000000002,"pose":{"translation":{"x":1.0240229816135864,"y":-2.3496958391103977},"rotation":{"radians":3.0987248054329233}},"curvature":-0.17620544794654813},{"time":9.48859515946302,"velocity":1.1093486237700192,"acceleration":-2.7,"pose":{"translation":{"x":0.9616428916703557,"y":-2.346593142196813},"rotation":{"radians":3.0835345808598333}},"curvature":-0.32430753145499186},{"time":9.5920787870051,"velocity":0.8299428294064066,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.8616322406890915,"y":-2.338439712804565},"rotation":{"radians":3.027691007879936}},"curvature":-0.8899505466817905},{"time":9.643478520484425,"velocity":0.6911635490122294,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":0.8228898013154402,"y":-2.3332218652301613},"rotation":{"radians":2.9849703954038262}},"curvature":-1.3134061587255492},{"time":9.697062717796083,"velocity":0.5464862162707559,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.7902688907558626,"y":-2.3272711480992285},"rotation":{"radians":2.9355784505072937}},"curvature":-1.6213398439314608},{"time":9.899465020118585,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.7366212716614005,"y":-2.313833150808482},"rotation":{"radians":2.8714394538784145}},"curvature":7.975670516227759E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.2,"y":-3.85},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.21962646416976783,"velocity":0.5929914532583732,"acceleration":2.7,"pose":{"translation":{"x":1.2651172842799039,"y":-3.8496348488750223},"rotation":{"radians":0.01657271767999413}},"curvature":0.49392268897240066},{"time":0.3104045499736845,"velocity":0.8380922849289483,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.3300277475439257,"y":-3.8472158631849003},"rotation":{"radians":0.062333099769146624}},"curvature":0.900890813609123},{"time":0.3799481023989908,"velocity":1.0258598764772753,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.3945471194469843,"y":-3.8410541904446225},"rotation":{"radians":0.13151221503966118}},"curvature":1.2171203998094156},{"time":0.4387108727842568,"velocity":1.1845193565174936,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.4585147097675502,"y":-3.8298349658366693},"rotation":{"radians":0.21799568996991303}},"curvature":1.425683367742709},{"time":0.46548522782602975,"velocity":1.2568101151302806,"acceleration":2.6999999999999944,"pose":{"translation":{"x":1.4902475425483659,"y":-3.8220135944394342},"rotation":{"radians":0.26564270984478383}},"curvature":1.4845307172722326},{"time":0.49098187451523806,"velocity":1.325651061191143,"acceleration":2.7000000000000055,"pose":{"translation":{"x":1.52179228573859,"y":-3.8125907201491045},"rotation":{"radians":0.3150636905832401}},"curvature":1.5123053692280677},{"time":0.515453032498968,"velocity":1.3917231877472138,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.5531349850317164,"y":-3.8014953271174017},"rotation":{"radians":0.3653968207518218}},"curvature":1.5102826879452356},{"time":0.5390998901804168,"velocity":1.4555697034871256,"acceleration":2.6999999999999935,"pose":{"translation":{"x":1.5842629493785136,"y":-3.7886747877136577},"rotation":{"radians":0.4158266135629691}},"curvature":1.481273685820404},{"time":0.5620845400325146,"velocity":1.5176282580877896,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.6151647159036164,"y":-3.7740940315228797},"rotation":{"radians":0.4656143673674251}},"curvature":1.4293411138961938},{"time":0.5845376836152144,"velocity":1.578251745761079,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.6458300148221179,"y":-3.7577347143438145},"rotation":{"radians":0.5141221069675032}},"curvature":1.359327366356565},{"time":0.6065639439907069,"velocity":1.6377226487749086,"acceleration":2.6999999999999917,"pose":{"translation":{"x":1.6762497343561615,"y":-3.7395943871870143},"rotation":{"radians":0.5608270690501371}},"curvature":1.2763179323027225},{"time":0.6282458073347472,"velocity":1.6962636798038173,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.7064158856515332,"y":-3.7196856652729013},"rotation":{"radians":0.6053259545990263}},"curvature":1.1851574948834636},{"time":0.6708054382612577,"velocity":1.8111746833053959,"acceleration":2.699999999999998,"pose":{"translation":{"x":1.765960932227168,"y":-3.674683833092173},"rotation":{"radians":0.686653680181073}},"curvature":0.994590521805883},{"time":0.7125533607985586,"velocity":1.9238940741561081,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.824422369018655,"y":-3.6230998456888974},"rotation":{"radians":0.7569354596880213}},"curvature":0.8118864068855548},{"time":0.7536217175168014,"velocity":2.034778637295364,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.881773131935796,"y":-3.565492174184446},"rotation":{"radians":0.816123664092273}},"curvature":0.6490117882074864},{"time":0.7940068741885541,"velocity":2.143818560309096,"acceleration":2.7000000000000073,"pose":{"translation":{"x":1.9380007556595076,"y":-3.502580540872377},"rotation":{"radians":0.864793273989783}},"curvature":0.5090713661271817},{"time":0.8336145846736362,"velocity":2.250759378618818,"acceleration":2.699999999999996,"pose":{"translation":{"x":1.993106250972767,"y":-3.435219327156525},"rotation":{"radians":0.9037637543571764}},"curvature":0.39018631357117955},{"time":0.8722946738478629,"velocity":2.35519561938923,"acceleration":2.330276881673532,"pose":{"translation":{"x":2.0471029820915563,"y":-3.3643709814890848},"rotation":{"radians":0.9338591461283496}},"curvature":0.2882373619435061},{"time":0.9099737459977093,"velocity":2.442998290142926,"acceleration":1.7211658472662428,"pose":{"translation":{"x":2.1000155439958093,"y":-3.2910794273086994},"rotation":{"radians":0.9557735284295088}},"curvature":0.1983518287861213},{"time":0.9467013103757576,"velocity":2.506212519603695,"acceleration":-0.186260228088911,"pose":{"translation":{"x":2.1518786397603553,"y":-3.2164434709785477},"rotation":{"radians":0.9700015568436594}},"curvature":0.1154999944430628},{"time":0.9828584534813383,"velocity":2.499477881881806,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":2.2027359578858663,"y":-3.1415902097244315},"rotation":{"radians":0.9768025816247857}},"curvature":0.03456070285941995},{"time":1.0192641442768429,"velocity":2.401182516733944,"acceleration":-2.699999999999993,"pose":{"translation":{"x":2.252639049629802,"y":-3.067648439572858},"rotation":{"radians":0.9761779145204171}},"curvature":-0.04991505942609448},{"time":1.0562812984038432,"velocity":2.3012362005910436,"acceleration":-2.6999999999999926,"pose":{"translation":{"x":2.3016462063373515,"y":-2.995722063289132},"rotation":{"radians":0.9678497834262024}},"curvature":-0.14412440594392842},{"time":1.0936176048725852,"velocity":2.2004281731254407,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.3498213367723872,"y":-2.9268634983154405},"rotation":{"radians":0.9512376853181393}},"curvature":-0.2555486985113401},{"time":1.130969066854725,"velocity":2.099579225773663,"acceleration":-2.6999999999999917,"pose":{"translation":{"x":2.3972328444484012,"y":-2.862047084708938},"rotation":{"radians":0.9254355376756409}},"curvature":-0.39350323280076765},{"time":1.1680354326063724,"velocity":1.9995000382442154,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.443952504959455,"y":-2.802142493079835},"rotation":{"radians":0.8892050286321607}},"curvature":-0.5694161713552409},{"time":1.2045423240263455,"velocity":1.9009314314102879,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.490054343311126,"y":-2.7478881325294835},"rotation":{"radians":0.8410223798027952}},"curvature":-0.7960902467998661},{"time":1.2402718288940346,"velocity":1.8044617682675272,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":2.5356135112514497,"y":-2.6998645585884655},"rotation":{"radians":0.7792532214728755}},"curvature":-1.0843034342495086},{"time":1.2751021747102573,"velocity":1.7104198345637258,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.580705164601867,"y":-2.6584678811546776},"rotation":{"radians":0.7025805661655188}},"curvature":-1.4339988065688714},{"time":1.2921839647932922,"velocity":1.6642990013395313,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.603098884332045,"y":-2.640321434478165},"rotation":{"radians":0.6585251315349757}},"curvature":-1.6250075533097286},{"time":1.3090632162863758,"velocity":1.618725022308206,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.6254033405881705,"y":-2.62388317243142},"rotation":{"radians":0.6108342255458268}},"curvature":-1.817888727187293},{"time":1.3257721608021424,"velocity":1.5736108721156359,"acceleration":-2.699999999999995,"pose":{"translation":{"x":2.6476274290550035,"y":-2.6091388916399176},"rotation":{"radians":0.5598736682516798}},"curvature":-2.0017755392547523},{"time":1.342356696148279,"velocity":1.5288326266810677,"acceleration":-2.0916244646293074,"pose":{"translation":{"x":2.669779835171447,"y":-2.5960578748654792},"rotation":{"radians":0.5062469651050815}},"curvature":-2.1624814137113084},{"time":1.3588209972755556,"velocity":1.4943954916502318,"acceleration":-1.0838882726707009,"pose":{"translation":{"x":2.6918689990471356,"y":-2.584592060004343},"rotation":{"radians":0.45082308315431296}},"curvature":-2.2834380943587584},{"time":1.3750859341320736,"velocity":1.4767661173357225,"acceleration":0.1351233361249622,"pose":{"translation":{"x":2.713903080379027,"y":-2.5746752090852225},"rotation":{"radians":0.39473945776506325}},"curvature":-2.3475425133977783},{"time":1.3910252598292792,"velocity":1.4789198921995113,"acceleration":1.6266162202130858,"pose":{"translation":{"x":2.7358899233679956,"y":-2.566222077267375},"rotation":{"radians":0.33937303271104263}},"curvature":-2.339628946610246},{"time":1.4064897709601933,"velocity":1.5040747168427222,"acceleration":2.7000000000000037,"pose":{"translation":{"x":2.7578370216354253,"y":-2.559127581838672},"rotation":{"radians":0.28627972345647273}},"curvature":-2.248881258335219},{"time":1.421373204186462,"velocity":1.5442599865536473,"acceleration":2.7000000000000197,"pose":{"translation":{"x":2.7797514831397994,"y":-2.5532659712136554},"rotation":{"radians":0.23711251290918745}},"curvature":-2.0703350223717947},{"time":1.4357013315168452,"velocity":1.582945930345682,"acceleration":2.700000000000003,"pose":{"translation":{"x":2.8016399950932915,"y":-2.5484899939316077},"rotation":{"radians":0.19353613788098303}},"curvature":-1.8048848094664207},{"time":1.4630371202465315,"velocity":1.6567525599158353,"acceleration":2.6999999999999877,"pose":{"translation":{"x":2.845363604964351,"y":-2.541493448165641},"rotation":{"radians":0.12948749368218154}},"curvature":-1.0365686746813185},{"time":1.489028121878168,"velocity":1.7269282643212536,"acceleration":2.699999999999993,"pose":{"translation":{"x":2.889051600850352,"y":-2.5364983572763014},"rotation":{"radians":0.10579817292378904}},"curvature":-5.695898912417401E-16},{"time":1.5405544909847475,"velocity":1.8660494609090177,"acceleration":2.699999999999995,"pose":{"translation":{"x":2.9810883349461825,"y":-2.5266086945738024},"rotation":{"radians":0.10878319386976569}},"curvature":0.035201834434747316},{"time":1.6007260988207075,"velocity":2.0285128020661096,"acceleration":2.6999999999999993,"pose":{"translation":{"x":3.0975527732773918,"y":-2.513760098548323},"rotation":{"radians":0.11003644012600111}},"curvature":-0.011267930687238668},{"time":1.6358583151396988,"velocity":2.123369786127386,"acceleration":2.7,"pose":{"translation":{"x":3.170049202085063,"y":-2.5057973418397657},"rotation":{"radians":0.10856139904805913}},"curvature":-0.02765769029530523},{"time":1.6744979759228225,"velocity":2.22769687024182,"acceleration":2.699999999999996,"pose":{"translation":{"x":3.253628265701556,"y":-2.496800782319481},"rotation":{"radians":0.10574834719401631}},"curvature":-0.0382379465792234},{"time":1.7164015349514419,"velocity":2.3408364796190924,"acceleration":2.7000000000000064,"pose":{"translation":{"x":3.348832033073526,"y":-2.4868835671929927},"rotation":{"radians":0.10173065198068428}},"curvature":-0.04511668767668219},{"time":1.7611465650668112,"velocity":2.4616480609305897,"acceleration":1.9736068572507446,"pose":{"translation":{"x":3.455747356493187,"y":-2.47624151863364},"rotation":{"radians":0.09660245566310294}},"curvature":-0.05004101989746969},{"time":1.808517071807617,"velocity":2.5551388178656866,"acceleration":-0.06656751436031692,"pose":{"translation":{"x":3.5740517259455595,"y":-2.465142516278148},"rotation":{"radians":0.09040280651688054}},"curvature":-0.054189008330204375},{"time":1.8333656229663124,"velocity":2.553484711579597,"acceleration":-0.06617378378115116,"pose":{"translation":{"x":3.637273368016727,"y":-2.459522460124491},"rotation":{"radians":0.08689858095280317}},"curvature":-0.05622344412331886},{"time":1.8592308134819588,"velocity":2.5517731140549564,"acceleration":-0.06779795628690416,"pose":{"translation":{"x":3.703059123455721,"y":-2.453915879722201},"rotation":{"radians":0.083117027450079}},"curvature":-0.0583313667625015},{"time":1.886060850532492,"velocity":2.5499540923758284,"acceleration":-0.071071563286427,"pose":{"translation":{"x":3.7712739648757814,"y":-2.4483717980800055},"rotation":{"radians":0.07904857238082096}},"curvature":-0.06057468968332166},{"time":1.9137978529238775,"velocity":2.5479827802549933,"acceleration":-0.07577954051877867,"pose":{"translation":{"x":3.841765877436057,"y":-2.442941751016013},"rotation":{"radians":0.07468066812258232}},"curvature":-0.06300944251497605},{"time":1.9423784328983624,"velocity":2.5458169570367666,"acceleration":-0.08182153943452054,"pose":{"translation":{"x":3.914367291789957,"y":-2.4376794553607004},"rotation":{"radians":0.06999776755147294}},"curvature":-0.06568878159987758},{"time":1.9717342869875532,"velocity":2.543415015863774,"acceleration":-0.08918673190734261,"pose":{"translation":{"x":3.9888965170335062,"y":-2.4326404771598997},"rotation":{"radians":0.06498123914046613}},"curvature":-0.06866555858042701},{"time":2.0017927963659385,"velocity":2.5407341956463094,"acceleration":-0.09793846031032769,"pose":{"translation":{"x":4.065159173653692,"y":-2.4278818998777822},"rotation":{"radians":0.059609221044386894}},"curvature":-0.07199460280151618},{"time":2.0324776372407056,"velocity":2.5377289695761673,"acceleration":-0.10820620271998324,"pose":{"translation":{"x":4.142949626476818,"y":-2.42346199259985},"rotation":{"radians":0.0538564121750716}},"curvature":-0.07573485610532382},{"time":2.0637094019727957,"velocity":2.534349498910264,"acceleration":-0.12018317504240915,"pose":{"translation":{"x":4.222052417616855,"y":-2.4194398782359166},"rotation":{"radians":0.04769379734127458}},"curvature":-0.07995148398060654},{"time":2.0954062318311757,"velocity":2.530540073259105,"acceleration":-0.13412851799600198,"pose":{"translation":{"x":4.3022436994237925,"y":-2.415875201723098},"rotation":{"radians":0.04108830229109184}},"curvature":-0.08471807745961907},{"time":2.1274844625201577,"velocity":2.5262374677168578,"acceleration":-0.1503734659034656,"pose":{"translation":{"x":4.383292667431993,"y":-2.4128277982287987},"rotation":{"radians":0.03400237309261227}},"curvature":-0.09011905633800937},{"time":2.1598592838769988,"velocity":2.521369153621424,"acceleration":-0.16933120439438054,"pose":{"translation":{"x":4.464962993308539,"y":-2.410357361353696},"rotation":{"radians":0.026393472815642985}},"curvature":-0.09625238617525361},{"time":2.192445415404675,"velocity":2.515851304723289,"acceleration":-0.19151031577775757,"pose":{"translation":{"x":4.547014257801587,"y":-2.4085231113347287},"rotation":{"radians":0.018213487017119778}},"curvature":-0.10323272874310664},{"time":2.225157799570508,"velocity":2.509586545701847,"acceleration":-0.21753178243180568,"pose":{"translation":{"x":4.6292033836887185,"y":-2.4073834632480833},"rotation":{"radians":0.00940802818879926}},"curvature":-0.1111951575324353},{"time":2.257912315046391,"velocity":2.502461397567688,"acceleration":-0.24814944139333991,"pose":{"translation":{"x":4.711286068725294,"y":-2.4069956952121805},"rotation":{"radians":-8.43717458746324E-5}},"curvature":-0.12029958565120637},{"time":2.290626512259139,"velocity":2.494343387803713,"acceleration":-0.2842734932563463,"pose":{"translation":{"x":4.7930182185928,"y":-2.4074156165906606},"rotation":{"radians":-0.010333192349390855}},"curvature":-0.13073607127282783},{"time":2.3232203737088204,"velocity":2.4850778169506986,"acceleration":-0.3269960530136638,"pose":{"translation":{"x":4.874157379847203,"y":-2.4086972361953727},"rotation":{"radians":-0.02141699009848111}},"curvature":-0.1427311826663073},{"time":2.355617101416276,"velocity":2.4744842148598023,"acceleration":-0.37761661143482605,"pose":{"translation":{"x":4.9544641728673025,"y":-2.4108924304893598},"rotation":{"radians":-0.0334246075093125}},"curvature":-0.15655561520840253},{"time":2.3877439334492214,"velocity":2.4623525894113856,"acceleration":-0.4376633897145724,"pose":{"translation":{"x":5.033703724803081,"y":-2.414050611789844},"rotation":{"radians":-0.04645653072567609}},"curvature":-0.1725332467936499},{"time":2.4195329905500915,"velocity":2.4484396829247888,"acceleration":-0.5089035559824013,"pose":{"translation":{"x":5.111647102524053,"y":-2.418218396471217},"rotation":{"radians":-0.06062639192941187}},"curvature":-0.19105177867652764},{"time":2.4509221521463833,"velocity":2.4324656269691296,"acceleration":-0.5933306835394695,"pose":{"translation":{"x":5.188072745567622,"y":-2.423439273168022},"rotation":{"radians":-0.0760625983183344}},"curvature":-0.2125750072315365},{"time":2.4818559580170407,"velocity":2.414111650787415,"acceleration":-0.6931112188350818,"pose":{"translation":{"x":5.262767899087429,"y":-2.4297532709779444},"rotation":{"radians":-0.09291004529159264}},"curvature":-0.23765656103404095},{"time":2.512286526962983,"velocity":2.393019882055448,"acceleration":-0.8104628718905806,"pose":{"translation":{"x":5.3355300468017015,"y":-2.4371966276647954},"rotation":{"radians":-0.11133183312276249}},"curvature":-0.26695454112629946},{"time":2.5421744760596128,"velocity":2.368796808995674,"acceleration":-0.9474272539461442,"pose":{"translation":{"x":5.406168343941612,"y":-2.4458014578615006},"rotation":{"radians":-0.1315108470569049}},"curvature":-0.30124580250296484},{"time":2.571489812186707,"velocity":2.3410226605902733,"acceleration":-1.1054889358036888,"pose":{"translation":{"x":5.474505050199621,"y":-2.4555954212730855},"rotation":{"radians":-0.15365097127333888}},"curvature":-0.3414374364724883},{"time":2.6002127498940997,"velocity":2.309269770750972,"acceleration":-1.382858634553616,"pose":{"translation":{"x":5.540376962677837,"y":-2.466601390879663},"rotation":{"radians":-0.17797757571332254}},"curvature":-0.3885711118462085},{"time":2.6558855965540795,"velocity":2.232282094037039,"acceleration":-1.8068471443790304,"pose":{"translation":{"x":5.664154879441641,"y":-2.492314916191601},"rotation":{"radians":-0.23419232333740936}},"curvature":-0.5084177360734702},{"time":2.7092280975564593,"velocity":2.135900348426854,"acceleration":-2.2214672981755834,"pose":{"translation":{"x":5.776541671280113,"y":-2.5230166748534444},"rotation":{"radians":-0.3022963394664554}},"curvature":-0.6706335026682715},{"time":2.7604590524403982,"velocity":2.022092457497875,"acceleration":-2.4430311887504095,"pose":{"translation":{"x":5.876901222489144,"y":-2.5586834853138587},"rotation":{"radians":-0.3843921109974651}},"curvature":-0.882088871862608},{"time":2.7853781449208874,"velocity":1.9612143373726836,"acceleration":-2.4858549377168737,"pose":{"translation":{"x":5.922471958931697,"y":-2.5783421794630286},"rotation":{"radians":-0.43116581907575774}},"curvature":-1.005275481395126},{"time":2.8098926541546394,"velocity":1.900274823548255,"acceleration":-2.4122768584487084,"pose":{"translation":{"x":5.964967578960676,"y":-2.5991837259096147},"rotation":{"radians":-0.48181060986821683}},"curvature":-1.1364911956787316},{"time":2.834031023869625,"velocity":1.8420463928841166,"acceleration":-2.1943502046082037,"pose":{"translation":{"x":6.004420199040801,"y":-2.62117298624391},"rotation":{"radians":-0.5361461490278925}},"curvature":-1.2699804923277713},{"time":2.8578020775140036,"velocity":1.789884376455822,"acceleration":-1.8099533400524352,"pose":{"translation":{"x":6.040890802529951,"y":-2.6442667173611607},"rotation":{"radians":-0.5937388117389018}},"curvature":-1.3969376433921776},{"time":2.881186276565855,"velocity":1.7475600672774725,"acceleration":-1.2425690016919786,"pose":{"translation":{"x":6.074470672627523,"y":-2.6684132396645506},"rotation":{"radians":-0.6538420562450655}},"curvature":-1.5055204658992287},{"time":2.9041286774712116,"velocity":1.7190525510880863,"acceleration":-0.4765700899547606,"pose":{"translation":{"x":6.105282825322764,"y":-2.6935521052681937},"rotation":{"radians":-0.7153571929697417}},"curvature":-1.581669859965495},{"time":2.926535589185781,"velocity":1.7083740871566657,"acceleration":0.5127384573773617,"pose":{"translation":{"x":6.133483442343151,"y":-2.719613766200112},"rotation":{"radians":-0.7768309767164681}},"curvature":-1.6108484965043917},{"time":2.9482764275292332,"velocity":1.719521451070978,"acceleration":1.7751799507231216,"pose":{"translation":{"x":6.159263304102712,"y":-2.746519242605232},"rotation":{"radians":-0.8365008451338103}},"curvature":-1.5803969086229375},{"time":2.969190875589968,"velocity":1.7566483599488338,"acceleration":2.6999999999999678,"pose":{"translation":{"x":6.182849222650397,"y":-2.7741797909483625},"rotation":{"radians":-0.8923856190417448}},"curvature":-1.4817633511624169},{"time":2.9891775003795473,"velocity":1.8106122468806978,"acceleration":2.7000000000000006,"pose":{"translation":{"x":6.2045054746184345,"y":-2.802496572217187},"rotation":{"radians":-0.9424035390808814}},"curvature":-1.3117346694652825},{"time":3.026729996735505,"velocity":1.912003987041783,"acceleration":2.6999999999999975,"pose":{"translation":{"x":6.243282005950869,"y":-2.8606510093149353},"rotation":{"radians":-1.0166816787749455}},"curvature":-0.7686443974506698},{"time":3.0619411879653766,"velocity":2.007074203362437,"acceleration":2.7000000000000077,"pose":{"translation":{"x":6.2785108548605235,"y":-2.9199773239708864},"rotation":{"radians":-1.0443383651400036}},"curvature":-1.0577067644681279E-14},{"time":3.0955021587358664,"velocity":2.0976888244427596,"acceleration":2.6999999999999758,"pose":{"translation":{"x":6.313277196798029,"y":-2.9794394488586926},"rotation":{"radians":-1.0365889524081924}},"curvature":0.21839659444088924},{"time":3.127731949136078,"velocity":2.1847092585233296,"acceleration":0.9280425728722412,"pose":{"translation":{"x":6.348989442251134,"y":-3.0384908698733866},"rotation":{"radians":-1.0151131793730979}},"curvature":0.39739498310050353},{"time":3.1592169231091924,"velocity":2.2139286547761543,"acceleration":-1.9546425380064116,"pose":{"translation":{"x":6.386425132082938,"y":-3.0967446973194876},"rotation":{"radians":-0.982500359087577}},"curvature":0.5382188913038853},{"time":3.1910927639042987,"velocity":2.1516227804233194,"acceleration":-1.2444337072754061,"pose":{"translation":{"x":6.426189299253338,"y":-3.1538400809311304},"rotation":{"radians":-0.9411947669636029}},"curvature":0.6431797989530317},{"time":3.2239418433278386,"velocity":2.1107442787356994,"acceleration":-0.710238746162606,"pose":{"translation":{"x":6.4687267453085235,"y":-3.209442276231462},"rotation":{"radians":-0.8934514018060001}},"curvature":0.7154104538543035},{"time":3.2575467827670628,"velocity":2.0868767486835145,"acceleration":-0.30789625906539325,"pose":{"translation":{"x":6.514334316870481,"y":-3.2632427108920448},"rotation":{"radians":-0.8412961405883972}},"curvature":0.7588918414229299},{"time":3.291718489329287,"velocity":2.0763554080671254,"acceleration":-0.011255291663421377,"pose":{"translation":{"x":6.56317318212648,"y":-3.3149590510922606},"rotation":{"radians":-0.7864864297175737}},"curvature":0.7783768645094371},{"time":3.326294865377878,"velocity":2.0759662408700343,"acceleration":0.19705742855990155,"pose":{"translation":{"x":6.615281107318575,"y":-3.3643352678787117},"rotation":{"radians":-0.7304802007912989}},"curvature":0.7791013715064139},{"time":3.3611377573512904,"velocity":2.0828322915659054,"acceleration":0.33057726861937214,"pose":{"translation":{"x":6.670584733233096,"y":-3.411141703524625},"rotation":{"radians":-0.6744216826905969}},"curvature":0.7663586921678565},{"time":3.396128451600212,"velocity":2.0943994196978095,"acceleration":0.40122736881931326,"pose":{"translation":{"x":6.728911851690147,"y":-3.4551751378892517},"rotation":{"radians":-0.6191479925466694}},"curvature":0.7450802380578361},{"time":3.4311623557176665,"velocity":2.108455980866324,"acceleration":0.4199289566334816,"pose":{"translation":{"x":6.790003682033099,"y":-3.4962588547772753},"rotation":{"radians":-0.5652144440989005}},"curvature":0.719536563216423},{"time":3.466143691083623,"velocity":2.123145656528196,"acceleration":0.3964066258598782,"pose":{"translation":{"x":6.853527147618087,"y":-3.534242708298208},"rotation":{"radians":-0.5129324775010491}},"curvature":0.6932038131774247},{"time":3.5009809664389078,"velocity":2.136955383305936,"acceleration":0.33875078203834574,"pose":{"translation":{"x":6.919087152303504,"y":-3.569003189225798},"rotation":{"radians":-0.46241294505505365}},"curvature":0.6687786103020791},{"time":3.5355837691959358,"velocity":2.1486771098005977,"acceleration":0.2530656145249488,"pose":{"translation":{"x":6.986238856939496,"y":-3.6004434913574306},"rotation":{"radians":-0.41360856462416856}},"curvature":0.648292792331538},{"time":3.5698611200566397,"velocity":2.157351528660449,"acceleration":0.14334474912687079,"pose":{"translation":{"x":7.054499955857459,"y":-3.6284935778735306},"rotation":{"radians":-0.3663514891598524}},"curvature":0.6332760180554361},{"time":3.603721379498805,"velocity":2.162205219055557,"acceleration":0.01160951054407237,"pose":{"translation":{"x":7.12336295335953,"y":-3.6531102476969655},"rotation":{"radians":-0.32038414784741287}},"curvature":0.6249260929521202},{"time":3.637073510540431,"velocity":2.162592420972552,"acceleration":-0.14167839750332803,"pose":{"translation":{"x":7.192307440208088,"y":-3.6742772018524477},"rotation":{"radians":-0.27538328563729225}},"curvature":0.6242615940792476},{"time":3.6698293857615507,"velocity":2.157951621062405,"acceleration":-0.316872039430092,"pose":{"translation":{"x":7.260812370115246,"y":-3.6920051098259377},"rotation":{"radians":-0.23097837954477862}},"curvature":0.6322416291710603},{"time":3.701906749064919,"velocity":2.1477872015329265,"acceleration":-0.5139117402348378,"pose":{"translation":{"x":7.328368336232344,"y":-3.706331675924046},"rotation":{"radians":-0.18676650446905704}},"curvature":0.6498402229006243},{"time":3.733232367717794,"velocity":2.1316885983370946,"acceleration":-0.7303521575068306,"pose":{"translation":{"x":7.39448984763945,"y":-3.717321705633437},"rotation":{"radians":-0.1423265173868087}},"curvature":0.6780566175638993},{"time":3.763744802842618,"velocity":2.109403775512892,"acceleration":-0.9582938064583804,"pose":{"translation":{"x":7.458727605834852,"y":-3.7250671719802315},"rotation":{"radians":-0.09723639406904074}},"curvature":0.7178264757198806},{"time":3.7933960589627866,"velocity":2.0809891604192234,"acceleration":-1.1798835555832525,"pose":{"translation":{"x":7.520680781224549,"y":-3.7296872818894062},"rotation":{"radians":-0.05109890657049314}},"curvature":0.769771096272971},{"time":3.8221511351619717,"velocity":2.047061518872262,"acceleration":-1.3612530643837928,"pose":{"translation":{"x":7.580009289611753,"y":-3.7313285425442024},"rotation":{"radians":-0.003582658380174474}},"curvature":0.8336829326626337},{"time":3.849984223401662,"velocity":2.009173642214719,"acceleration":-1.4451114777127856,"pose":{"translation":{"x":7.636446068686382,"y":-3.730164827745523},"rotation":{"radians":0.045512450498233895}},"curvature":0.9076060440960712},{"time":3.8768701060697026,"velocity":1.9703205445826946,"acceleration":-1.3421534113119902,"pose":{"translation":{"x":7.689809354514555,"y":-3.726397444271338},"rotation":{"radians":0.09615496086405123}},"curvature":0.9863649418142195},{"time":3.9027694849163677,"velocity":1.9355596049127817,"acceleration":-0.919445026996825,"pose":{"translation":{"x":7.740014958028084,"y":-3.720255198236087},"rotation":{"radians":0.14793824114198592}},"curvature":1.0595085550145815},{"time":3.9276080564581943,"velocity":1.9127219038309442,"acceleration":0.02266604437495928,"pose":{"translation":{"x":7.787088541513976,"y":-3.711994461450082},"rotation":{"radians":0.19989412254314093}},"curvature":1.1090105088623936},{"time":3.9512518571070605,"velocity":1.913257815265644,"acceleration":2.699999999999998,"pose":{"translation":{"x":7.831177895103922,"y":-3.701899237778908},"rotation":{"radians":0.25028626288585043}},"curvature":1.1078353514774746},{"time":3.993935154308106,"velocity":2.0285027177084665,"acceleration":0.13786169480978147,"pose":{"translation":{"x":7.911679371283145,"y":-3.6774799036761885},"rotation":{"radians":0.33473563523748895}},"curvature":0.8155675162045805},{"time":4.032796601938382,"velocity":2.033860222741538,"acceleration":-2.699999999999995,"pose":{"translation":{"x":7.985610771113826,"y":-3.6498243896154094},"rotation":{"radians":0.3703778100387963}},"curvature":1.487635540403132E-14},{"time":4.072128864187247,"velocity":1.9276631146696026,"acceleration":-2.699999999999999,"pose":{"translation":{"x":8.057935990266284,"y":-3.620864178914642},"rotation":{"radians":0.4010518106924788}},"curvature":0.7479337582376299},{"time":4.1135815911842,"velocity":1.8157407517778288,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":8.12821206645576,"y":-3.5879850237349413},"rotation":{"radians":0.4810634727688007}},"curvature":1.2823010020814596},{"time":4.135206307636406,"velocity":1.7573540173568731,"acceleration":-2.5764808409270077,"pose":{"translation":{"x":8.161982370348932,"y":-3.569220159587775},"rotation":{"radians":0.5345682990743881}},"curvature":1.4799290182864253},{"time":4.15749689359956,"velocity":1.699922749689771,"acceleration":-1.7413936343672214,"pose":{"translation":{"x":8.19454402288358,"y":-3.5486172048712112},"rotation":{"radians":0.5947094422815369}},"curvature":1.6342014395466953},{"time":4.180389709821232,"velocity":1.6600573452486127,"acceleration":-1.102729781828772,"pose":{"translation":{"x":8.22568993074182,"y":-3.526054376809458},"rotation":{"radians":0.6598774775487755}},"curvature":1.7475646758207044},{"time":4.203716732899841,"velocity":1.6343339421784229,"acceleration":-0.6134504031766879,"pose":{"translation":{"x":8.255226299030067,"y":-3.5014775615216127},"rotation":{"radians":0.7286134212947453}},"curvature":1.82364859397886},{"time":4.227333371773476,"velocity":1.6198463055397134,"acceleration":-0.24822772033832427,"pose":{"translation":{"x":8.282973361232457,"y":-3.4748939435190045},"rotation":{"radians":0.7996418342155728}},"curvature":1.8675634307385178},{"time":4.251119383048677,"velocity":1.6139419581849286,"acceleration":0.007925400652117907,"pose":{"translation":{"x":8.308766109164285,"y":-3.446365635202539},"rotation":{"radians":0.8719031442024546}},"curvature":1.8856867822994126},{"time":4.274978943668067,"velocity":1.6141310547622207,"acceleration":0.16598754936512425,"pose":{"translation":{"x":8.33245502292543,"y":-3.416003306360041},"rotation":{"radians":0.9445745314173786}},"curvature":1.8851042965557676},{"time":4.298839413042888,"velocity":1.618091595600449,"acceleration":0.23639391967087506,"pose":{"translation":{"x":8.353906800853785,"y":-3.383959813663595},"rotation":{"radians":1.0170737968186523}},"curvature":1.8729356875101626},{"time":4.322648837270913,"velocity":1.6237199987188184,"acceleration":0.2307404759887622,"pose":{"translation":{"x":8.373005089478687,"y":-3.350423830166893},"rotation":{"radians":1.0890459699897272}},"curvature":1.8557447607192248},{"time":4.346372596497926,"velocity":1.6291940302151022,"acceleration":0.16241950358496984,"pose":{"translation":{"x":8.389651213474343,"y":-3.3156134748025727},"rotation":{"radians":1.160336156701486}},"curvature":1.8391392713136345},{"time":4.36998969898556,"velocity":1.633029908277259,"acceleration":0.04669950823377464,"pose":{"translation":{"x":8.403764905613269,"y":-3.279769941879563},"rotation":{"radians":1.230953577388526}},"curvature":1.8275694625123453},{"time":4.3934891246040255,"velocity":1.6341273198974176,"acceleration":-0.09937614605934822,"pose":{"translation":{"x":8.415285036719705,"y":-3.2431511305804275},"rotation":{"radians":1.3010312495797838}},"curvature":1.8242694327038538},{"time":4.416866411956392,"velocity":1.6318041751750174,"acceleration":-0.25705635650265085,"pose":{"translation":{"x":8.424170345623061,"y":-3.206025274458706},"rotation":{"radians":1.3707841706886752}},"curvature":1.8312606157384799},{"time":4.440120458005584,"velocity":1.6258265748236673,"acceleration":-0.40586350891507567,"pose":{"translation":{"x":8.430400169111332,"y":-3.1686645709362575},"rotation":{"radians":1.440466999095742}},"curvature":1.849341220617081},{"time":4.4632503172977795,"velocity":1.6164390089706249,"acceleration":-0.5235581980130484,"pose":{"translation":{"x":8.433975171884533,"y":-3.1313388108006057},"rotation":{"radians":1.5103306885826688}},"curvature":1.8780059465475845},{"time":4.486251682214511,"velocity":1.6043964558029804,"acceleration":-0.5861813343135682,"pose":{"translation":{"x":8.434918076508133,"y":-3.0943090077022783},"rotation":{"radians":1.5805766276040343}},"curvature":1.91526878156472},{"time":4.5091127150353,"velocity":1.5909957450803036,"acceleration":-0.5681485616941566,"pose":{"translation":{"x":8.433274393366476,"y":-3.0578210276521536},"rotation":{"radians":1.651306754150376}},"curvature":1.957397229352873},{"time":4.53180900282537,"velocity":1.578100881816579,"acceleration":-0.44207969560858035,"pose":{"translation":{"x":8.429113150616217,"y":-3.0220992185188007},"rotation":{"radians":1.7224689900308876}},"curvature":1.9986109002057395},{"time":4.554297627909162,"velocity":1.5681591172848808,"acceleration":-0.17757330915176253,"pose":{"translation":{"x":8.422527624139748,"y":-2.9873400395258245},"rotation":{"radians":1.7937992209025606}},"curvature":2.030848813332201},{"time":4.576510676637347,"velocity":1.5642146727158677,"acceleration":0.2625375581902631,"pose":{"translation":{"x":8.413636067498633,"y":-2.953705690749208},"rotation":{"radians":1.8647637568817006}},"curvature":2.0437529131064003},{"time":4.598348880323493,"velocity":1.56994802138689,"acceleration":0.9309749700503169,"pose":{"translation":{"x":8.402582441887022,"y":-2.9213177426146544},"rotation":{"radians":1.9345090707733905}},"curvature":2.0250178542145467},{"time":4.619676355390818,"velocity":1.5898033668489422,"acceleration":1.9145565175379147,"pose":{"translation":{"x":8.389537146085104,"y":-2.8902507653949323},"rotation":{"radians":2.001827332003338}},"curvature":1.961180173645382},{"time":4.640317406001946,"velocity":1.6293218248253072,"acceleration":2.7000000000000717,"pose":{"translation":{"x":8.374697746412515,"y":-2.860525958707216},"rotation":{"radians":2.065145244109952}},"curvature":1.8387529388617063},{"time":4.6601338402596,"velocity":1.6828261973209724,"acceleration":2.699999999999989,"pose":{"translation":{"x":8.358289706681783,"y":-2.8321047810104316},"rotation":{"radians":2.1225391030581213}},"curvature":1.6454185499942748},{"time":4.679146438142256,"velocity":1.7341602116041441,"acceleration":2.6999999999999726,"pose":{"translation":{"x":8.340567118151744,"y":-2.8048825791025975},"rotation":{"radians":2.171772157102857}},"curvature":1.3709220539107316},{"time":4.697465082280607,"velocity":1.783620550777693,"acceleration":-2.186625722347355,"pose":{"translation":{"x":8.321813429480985,"y":-2.7786822176181687},"rotation":{"radians":2.2103456104314194}},"curvature":1.007529952293714},{"time":4.7341472507614295,"velocity":1.7034103776260479,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":8.282497713070931,"y":-2.728237840623585},"rotation":{"radians":2.244591195506935}},"curvature":-5.1116530724601773E-14},{"time":4.772822122199024,"velocity":1.5989882247445442,"acceleration":-2.699999999999997,"pose":{"translation":{"x":8.241812238313193,"y":-2.679016081061151},"rotation":{"radians":2.29386924677788}},"curvature":1.446396786961309},{"time":4.793213346469194,"velocity":1.543931919215083,"acceleration":-2.7,"pose":{"translation":{"x":8.219989655286911,"y":-2.6555513741548453},"rotation":{"radians":2.3487381279329234}},"curvature":1.9530958488722527},{"time":4.814484671249103,"velocity":1.4864993423093316,"acceleration":-2.50345947411631,"pose":{"translation":{"x":8.196610879383112,"y":-2.6333647286989463},"rotation":{"radians":2.417893226824114}},"curvature":2.3119622909702144},{"time":4.836804629113401,"velocity":1.4306222323320763,"acceleration":-0.7945178077017807,"pose":{"translation":{"x":8.171393706182009,"y":-2.6127753334203296},"rotation":{"radians":2.4970129981456224}},"curvature":2.5228117943246224},{"time":4.860055034093247,"velocity":1.4121493715393105,"acceleration":0.4243923587702978,"pose":{"translation":{"x":8.144161115341022,"y":-2.5940525455584207},"rotation":{"radians":2.58198009157068}},"curvature":2.5961882767407594},{"time":4.88384672990916,"velocity":1.422246385445771,"acceleration":1.2982924122689137,"pose":{"translation":{"x":8.114832245716013,"y":-2.577418545241301},"rotation":{"radians":2.6691382259953254}},"curvature":2.5558454972552314},{"time":4.907874454279834,"velocity":1.453441397680306,"acceleration":1.8868061641121316,"pose":{"translation":{"x":8.083413370482509,"y":-2.5630509898618175},"rotation":{"radians":2.7555451910086584}},"curvature":2.4347463364663535},{"time":4.931924922262857,"velocity":1.4988199689204547,"acceleration":2.2199887188860563,"pose":{"translation":{"x":8.049988872256957,"y":-2.5510856684536876},"rotation":{"radians":2.839114009449376}},"curvature":2.26758641471543},{"time":4.955869325333585,"velocity":1.5519762736179323,"acceleration":2.3252441282056604,"pose":{"translation":{"x":8.014712218217948,"y":-2.541619156067606},"rotation":{"radians":2.9186045851009905}},"curvature":2.084207848917901},{"time":4.97964470259239,"velocity":1.6072598299848428,"acceleration":2.2370694610822692,"pose":{"translation":{"x":7.977796935227453,"y":-2.5347114681473544},"rotation":{"radians":2.9934990174307843}},"curvature":1.9063581464896358},{"time":5.003231618288395,"velocity":1.6600253987694973,"acceleration":1.995971782164391,"pose":{"translation":{"x":7.939507584952066,"y":-2.5303887149059054},"rotation":{"radians":3.063824329612768}},"curvature":1.7476577037844432},{"time":5.026634178714529,"velocity":1.7067362490104572,"acceleration":1.6426180002673516,"pose":{"translation":{"x":7.900150738984232,"y":-2.5286457557015325},"rotation":{"radians":3.129977766444153}},"curvature":1.615356143849794},{"time":5.049865405615266,"velocity":1.7448962804859038,"acceleration":1.212193727281462,"pose":{"translation":{"x":7.860065953963488,"y":-2.529448853413914},"rotation":{"radians":-3.0906002804065844}},"curvature":1.5125305958650057},{"time":5.072938454813601,"velocity":1.7728652859933813,"acceleration":0.7315666225269928,"pose":{"translation":{"x":7.819616746697698,"y":-2.532738328820243},"rotation":{"radians":-3.0307856261514567}},"curvature":1.4399768216698254},{"time":5.095862776871562,"velocity":1.7896359548550453,"acceleration":0.21963508934392087,"pose":{"translation":{"x":7.779181569284287,"y":-2.538431214971333},"rotation":{"radians":-2.972946128023146}},"curvature":1.3975599838286588},{"time":5.118643836996531,"velocity":1.7946394750309422,"acceleration":-0.3098833180684336,"pose":{"translation":{"x":7.739144784231479,"y":-2.5464239115677243},"rotation":{"radians":-2.916237410516027}},"curvature":1.3850584851186847},{"time":5.141285008079288,"velocity":1.7876233538108623,"acceleration":-0.8441461327601323,"pose":{"translation":{"x":7.699887639579534,"y":-2.5565948393357933},"rotation":{"radians":-2.8598082911213605}},"curvature":1.402608285687869},{"time":5.163790383763966,"velocity":1.7686255279603278,"acceleration":-1.366116530322519,"pose":{"translation":{"x":7.661779244021979,"y":-2.5688070944038577},"rotation":{"radians":-2.802813512966754}},"curvature":1.450827522360966},{"time":5.186167334958989,"velocity":1.7380560050345866,"acceleration":-1.8494800213096656,"pose":{"translation":{"x":7.625167542026851,"y":-2.582911102678284},"rotation":{"radians":-2.744428052483409}},"curvature":1.530630177859277},{"time":5.20842757077609,"velocity":1.6968861436212166,"acceleration":-2.254637745117561,"pose":{"translation":{"x":7.590370288957926,"y":-2.5987472742195945},"rotation":{"radians":-2.683872456591877}},"curvature":1.642649069940038},{"time":5.230585261557307,"velocity":1.6469285776412412,"acceleration":-2.5272691350689134,"pose":{"translation":{"x":7.55766602619596,"y":-2.6161486576185746},"rotation":{"radians":-2.620460161358612}},"curvature":1.7860995941203601},{"time":5.252650527078699,"velocity":1.5911637131319263,"acceleration":-2.600550904956743,"pose":{"translation":{"x":7.527285056259924,"y":-2.634943594372381},"rotation":{"radians":-2.553679472169956}},"curvature":1.956864788784823},{"time":5.27461652450586,"velocity":1.5340400186444456,"acceleration":-2.3996399324253366,"pose":{"translation":{"x":7.499400417928236,"y":-2.6549583732606457},"rotation":{"radians":-2.483322790792824}},"curvature":2.1446637000791045},{"time":5.29643893875537,"velocity":1.4816740819893945,"acceleration":-1.8416637639614628,"pose":{"translation":{"x":7.474118861360003,"y":-2.676019884721586},"rotation":{"radians":-2.40966990343119}},"curvature":2.3295428095104804},{"time":5.318008496084816,"velocity":1.4419502098510635,"acceleration":-0.8163680401087187,"pose":{"translation":{"x":7.451471823216252,"y":-2.6979582752281113},"rotation":{"radians":-2.3337156805385346}},"curvature":2.478745606439793},{"time":5.339120551164016,"velocity":1.4247150028233893,"acceleration":0.8807870016785374,"pose":{"translation":{"x":7.431406401781173,"y":-2.720609601663927},"rotation":{"radians":-2.257403191409769}},"curvature":2.546069090030964},{"time":5.359450012197528,"velocity":1.4426209278528372,"acceleration":2.6999999999999527,"pose":{"translation":{"x":7.413776332083341,"y":-2.743818485699647},"rotation":{"radians":-2.183789797364632}},"curvature":2.4761581931301593},{"time":5.378667758680856,"velocity":1.494508843357821,"acceleration":2.700000000000029,"pose":{"translation":{"x":7.398332961016969,"y":-2.767440768168896},"rotation":{"radians":-2.1170613219448517}},"curvature":2.2144550331588686},{"time":5.3967798308082315,"velocity":1.5434114381017345,"acceleration":2.7000000000000455,"pose":{"translation":{"x":7.3847162224631315,"y":-2.791346163444418},"rotation":{"radians":-2.062344274793189}},"curvature":1.7199368412106377},{"time":5.430622745672502,"velocity":1.634787308235267,"acceleration":2.6999999999999806,"pose":{"translation":{"x":7.36091116407911,"y":-2.839570443857501},"rotation":{"radians":-2.0117940881495415}},"curvature":1.2342778818302951E-14},{"time":5.494221467481858,"velocity":1.8065038571205279,"acceleration":2.699999999999996,"pose":{"translation":{"x":7.312353399649159,"y":-2.93763805613671},"rotation":{"radians":-2.0635272985317803}},"curvature":-0.779132775898767},{"time":5.526028443959752,"velocity":1.8923826936108417,"acceleration":2.69999999999999,"pose":{"translation":{"x":7.283289632888534,"y":-2.9887819851063915},"rotation":{"radians":-2.1122970482339234}},"curvature":-0.8527756606089005},{"time":5.558437519421202,"velocity":1.979887197356755,"acceleration":2.7000000000000326,"pose":{"translation":{"x":7.24953023940282,"y":-3.041674876594408},"rotation":{"radians":-2.1650767820919246}},"curvature":-0.8184034151172433},{"time":5.591502294220382,"velocity":2.0691620893145424,"acceleration":2.016960505858737,"pose":{"translation":{"x":7.210587238688493,"y":-3.0961217932194565},"rotation":{"radians":-2.217455900651665}},"curvature":-0.7445082089071301},{"time":5.625248229951843,"velocity":2.137226308918147,"acceleration":1.0582091466961712,"pose":{"translation":{"x":7.166393952817743,"y":-3.1516582545544813},"rotation":{"radians":-2.2675243338980784}},"curvature":-0.668302582372172},{"time":5.659809064310066,"velocity":2.1737988999534696,"acceleration":0.7813049011724346,"pose":{"translation":{"x":7.117228560406591,"y":-3.207626683158557},"rotation":{"radians":-2.314843666348876}},"curvature":-0.6051321003055667},{"time":5.695117992667174,"velocity":2.201385938734025,"acceleration":0.5233949306727947,"pose":{"translation":{"x":7.063637650583005,"y":-3.2632528506087737},"rotation":{"radians":-2.359684877414202}},"curvature":-0.5588707963024521},{"time":5.730871705708695,"velocity":2.2200992508926864,"acceleration":0.33076364667177416,"pose":{"translation":{"x":7.0063597769550165,"y":-3.317722323532119},"rotation":{"radians":-2.4025532309229125}},"curvature":-0.528144485335812},{"time":5.766734757624075,"velocity":2.231961444724997,"acceleration":0.24578212093950436,"pose":{"translation":{"x":6.9462490115788365,"y":-3.3702569096373622},"rotation":{"radians":-2.443893141152268}},"curvature":-0.5089341796574434},{"time":5.802349801689923,"velocity":2.240714985792855,"acceleration":0.33494978775495093,"pose":{"translation":{"x":6.884198498926971,"y":-3.4201911037469395},"rotation":{"radians":-2.4838653835282454}},"curvature":-0.49488862790128263},{"time":5.83734663136472,"velocity":2.2524371664645244,"acceleration":0.7159455610403908,"pose":{"translation":{"x":6.821064009856342,"y":-3.4670485338288346},"rotation":{"radians":-2.5221184451092222}},"curvature":-0.47625070782611534},{"time":5.871344101255853,"velocity":2.2767775041196856,"acceleration":-0.523962069740964,"pose":{"translation":{"x":6.757587495576396,"y":-3.5106184070284643},"rotation":{"radians":-2.557511756484596}},"curvature":-0.43816327863473775},{"time":5.9044435065669285,"velocity":2.2594346712056996,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":6.694320641617227,"y":-3.551031955700563},"rotation":{"radians":-2.587806488401495}},"curvature":-0.3598623464502241},{"time":5.937529741016726,"velocity":2.170101838191246,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.6315484217976906,"y":-3.5888388834410643},"rotation":{"radians":-2.60945194770208}},"curvature":-0.21812060467575},{"time":5.971474072815693,"velocity":2.0784521423340347,"acceleration":-2.7,"pose":{"translation":{"x":6.569212652193519,"y":-3.625083811118985},"rotation":{"radians":-2.6177767934339773}},"curvature":-4.93403389819831E-15},{"time":6.007905953327127,"velocity":1.9800860649531626,"acceleration":0.47915663221818006,"pose":{"translation":{"x":6.504624290545683,"y":-3.6610560458915047},"rotation":{"radians":-2.6610854291106802}},"curvature":-0.9662785109228823},{"time":6.050627989732343,"velocity":2.0005566120385883,"acceleration":2.7000000000000086,"pose":{"translation":{"x":6.427604966510442,"y":-3.697086912882924},"rotation":{"radians":-2.746057070697061}},"curvature":-0.9248095766586888},{"time":6.100907900632173,"velocity":2.1363123714681285,"acceleration":2.7000000000000295,"pose":{"translation":{"x":6.330025883305819,"y":-3.733065636130373},"rotation":{"radians":-2.825006340546393}},"curvature":-0.6048968280539256},{"time":6.1287845584839955,"velocity":2.21157934766805,"acceleration":2.699999999999975,"pose":{"translation":{"x":6.272125272582295,"y":-3.7509587489704654},"rotation":{"radians":-2.857379435107564}},"curvature":-0.4705130836236842},{"time":6.158398980392997,"velocity":2.291538286822354,"acceleration":2.7000000000000184,"pose":{"translation":{"x":6.207858865926768,"y":-3.7687313789417307},"rotation":{"radians":-2.8850310609298466}},"curvature":-0.3651255759260416},{"time":6.189579212561143,"velocity":2.3757249136763496,"acceleration":1.441494274275036,"pose":{"translation":{"x":6.137256908848989,"y":-3.7863337454322616},"rotation":{"radians":-2.908513854281573}},"curvature":-0.285230057532044},{"time":6.222369494086664,"velocity":2.4229919167472542,"acceleration":0.9572252099851203,"pose":{"translation":{"x":6.060524446373277,"y":-3.8037114669115644},"rotation":{"radians":-2.9284607490590933}},"curvature":-0.2254738205402886},{"time":6.256907410079739,"velocity":2.456052480636174,"acceleration":0.7000976958981976,"pose":{"translation":{"x":5.978020950701904,"y":-3.8208067553998073},"rotation":{"radians":-2.945469183536838}},"curvature":-0.18089290464071148},{"time":6.293106408043879,"velocity":2.4813953157046926,"acceleration":0.5155981470021583,"pose":{"translation":{"x":5.890239948878465,"y":-3.8375596109370713},"rotation":{"radians":-2.960059211470304}},"curvature":-0.1475233865804477},{"time":6.330794732321551,"velocity":2.5008273458658765,"acceleration":0.38336577785035086,"pose":{"translation":{"x":5.797788650451266,"y":-3.853909016052594},"rotation":{"radians":-2.9726662581791143}},"curvature":-0.12239487031824213},{"time":6.369753796097681,"velocity":2.515762917654734,"acceleration":0.28793778701404554,"pose":{"translation":{"x":5.701367575136692,"y":-3.869794130234022},"rotation":{"radians":-2.983648149325286}},"curvature":-0.1033447917799689},{"time":6.409727663990856,"velocity":2.5272729047142866,"acceleration":0.21818935251661423,"pose":{"translation":{"x":5.601750180482595,"y":-3.8851554843966563},"rotation":{"radians":-2.9932966987833916}},"curvature":-0.08881761168558888},{"time":6.450432576408794,"velocity":2.536154283199002,"acceleration":0.16630958501022977,"pose":{"translation":{"x":5.499762489531662,"y":-3.899936175352701},"rotation":{"radians":-3.0018495986468943}},"curvature":-0.07769822316803468},{"time":6.491566286598419,"velocity":2.5429952134705696,"acceleration":0.12686061807903448,"pose":{"translation":{"x":5.396262718484802,"y":-3.9140830602805132},"rotation":{"radians":-3.0095009693386046}},"curvature":-0.06918640594875261},{"time":6.532817144692883,"velocity":2.548228322824724,"acceleration":0.09605871702453951,"pose":{"translation":{"x":5.292120904364521,"y":-3.9275479511938487},"rotation":{"radians":-3.0164101016505485}},"curvature":-0.06270596934071401},{"time":6.573872929884524,"velocity":2.552172088876668,"acceleration":0.07127517931506976,"pose":{"translation":{"x":5.188198532678298,"y":-3.940288809411112},"rotation":{"radians":-3.02270839774923}},"curvature":-0.057839755509937946},{"time":6.614429452828079,"velocity":2.5550627623218656,"acceleration":0.050723467547491956,"pose":{"translation":{"x":5.085328165081966,"y":-3.9522709400246034},"rotation":{"radians":-3.0285046644656277}},"curvature":-0.05428249359045018},{"time":6.654198949952769,"velocity":2.55708000911865,"acceleration":0.03330929160754344,"pose":{"translation":{"x":4.984293067043092,"y":-3.963468186369768},"rotation":{"radians":-3.033888905048693}},"curvature":-0.05180483488435963},{"time":6.692918280697507,"velocity":2.5583697225972752,"acceleration":0.018646665728217143,"pose":{"translation":{"x":4.885806835504349,"y":-3.973864124494443},"rotation":{"radians":-3.0389346739036855}},"curvature":-0.05022280766041642},{"time":6.730356922730008,"velocity":2.5590678284405737,"acceleration":0.007275468771793909,"pose":{"translation":{"x":4.7904930265469,"y":-3.9834532576281068},"rotation":{"radians":-3.0436999366800213}},"curvature":-0.04936714120419398},{"time":6.766324741994138,"velocity":2.5593295111864194,"acceleration":0.0011416206284387913,"pose":{"translation":{"x":4.698864783053774,"y":-3.992242210651127},"rotation":{"radians":-3.0482262353237823}},"curvature":-0.049046517649744},{"time":6.800679498853761,"velocity":2.5593687312855353,"acceleration":0.00437785820515646,"pose":{"translation":{"x":4.611304462373244,"y":-4.000250924564007},"rotation":{"radians":-3.052535827595832}},"curvature":-0.04899846935705042},{"time":6.833334050641733,"velocity":2.559511688283016,"acceleration":0.024237391238261227,"pose":{"translation":{"x":4.528043263982207,"y":-4.007513850956638},"rotation":{"radians":-3.0566264385147175}},"curvature":-0.04882334611890348},{"time":6.8642632512682,"velocity":2.5602613314192864,"acceleration":0.07145535082378539,"pose":{"translation":{"x":4.449140857149558,"y":-4.014081146477541},"rotation":{"radians":-3.0604635260738537}},"curvature":-0.047905348631297036},{"time":6.893510678813567,"velocity":2.562351216615234,"acceleration":0.15810436739074912,"pose":{"translation":{"x":4.374465008599575,"y":-4.020019867303123},"rotation":{"radians":-3.0639709081490363}},"curvature":-0.0453489544934085},{"time":6.921195604268797,"velocity":2.566728324240593,"acceleration":-1.9569357711871338,"pose":{"translation":{"x":4.30367121017529,"y":-4.025415163606919},"rotation":{"radians":-3.06702276669533}},"curvature":-0.04000826901401924},{"time":6.947830600631019,"velocity":2.5146053470939203,"acceleration":-2.700000000000003,"pose":{"translation":{"x":4.236182306501874,"y":-4.030371474028839},"rotation":{"radians":-3.0694437288581415}},"curvature":-0.030748770635287154},{"time":6.974122158408475,"velocity":2.44361814109479,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":4.171168122650007,"y":-4.035013720144424},"rotation":{"radians":-3.071027665347813}},"curvature":-0.017073617336255353},{"time":7.000618914818415,"velocity":2.372076898787952,"acceleration":-2.699999999999997,"pose":{"translation":{"x":4.107525091799266,"y":-4.0394885009340875},"rotation":{"radians":-3.071585296414368}},"curvature":-3.036681289169761E-14},{"time":7.027858261275325,"velocity":2.2985306633542946,"acceleration":-2.700000000000004,"pose":{"translation":{"x":4.044055283689954,"y":-4.04374160924511},"rotation":{"radians":-3.0807319560612068}},"curvature":-0.2782594351450973},{"time":7.056146949954432,"velocity":2.222151203920708,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":3.980191372618097,"y":-4.046902397548462},"rotation":{"radians":-3.1058977099955496}},"curvature":-0.49863108695184283},{"time":7.085731900689854,"velocity":2.1422718369350675,"acceleration":-1.8746865121289362,"pose":{"translation":{"x":3.915640869562484,"y":-4.048045311439377},"rotation":{"radians":3.139575631402449}},"curvature":-0.659459373768722},{"time":7.116701742181893,"velocity":2.084213092807172,"acceleration":-0.904238616812697,"pose":{"translation":{"x":3.8502143549261447,"y":-4.046416587734732},"rotation":{"radians":3.0926953583974446}},"curvature":-0.7638062078379713},{"time":7.14887354686149,"velocity":2.0551221046433246,"acceleration":-0.21929341927127619,"pose":{"translation":{"x":3.783816918173401,"y":-4.041423106093401},"rotation":{"radians":3.039757939425698}},"curvature":-0.8183075328951653},{"time":7.181995713748062,"velocity":2.0478586314130944,"acceleration":0.2538421316238703,"pose":{"translation":{"x":3.7164395974669215,"y":-4.03262124063661},"rotation":{"radians":2.9834732704296805}},"curvature":-0.8321570641460143},{"time":7.215862231119764,"velocity":2.056455380373404,"acceleration":0.5620903567806365,"pose":{"translation":{"x":3.6481508193047762,"y":-4.0197057115682835},"rotation":{"radians":2.926057854544624}},"curvature":-0.8157759544458275},{"time":7.250310255981154,"velocity":2.075818282958131,"acceleration":0.7406520553643241,"pose":{"translation":{"x":3.5790878381574913,"y":-4.0024984367954},"rotation":{"radians":2.8691979305226423}},"curvature":-0.7793768939058006},{"time":7.285212121421373,"velocity":2.101668421332478,"acceleration":0.8194370227916404,"pose":{"translation":{"x":3.509448176105105,"y":-3.9809373835483357},"rotation":{"radians":2.8140692066625745}},"curvature":-0.7318283000184367},{"time":7.320464175361854,"velocity":2.130555259460756,"acceleration":0.8247469237103403,"pose":{"translation":{"x":3.43948106247422,"y":-3.9550654200012207},"rotation":{"radians":2.761400013498151}},"curvature":-0.680059113110997},{"time":7.355975087789522,"velocity":2.1598427752436224,"acceleration":0.7789325590604071,"pose":{"translation":{"x":3.3694788734750603,"y":-3.925019166892285},"rotation":{"radians":2.711557331844807}},"curvature":-0.628985576414722},{"time":7.391655725757919,"velocity":2.1876355858852534,"acceleration":0.6997238824650188,"pose":{"translation":{"x":3.299768571838524,"y":-3.891017849144213},"rotation":{"radians":2.66463643920984}},"curvature":-0.581783219017548},{"time":7.427411788731319,"velocity":2.2126549570906646,"acceleration":0.6000019726544684,"pose":{"translation":{"x":3.2307031464532407,"y":-3.8533521474844887},"rotation":{"radians":2.620541118722014}},"curvature":-0.5403053864608915},{"time":7.463139549043144,"velocity":2.234091683756286,"acceleration":0.488127403299698,"pose":{"translation":{"x":3.1626530520026233,"y":-3.8123730500657502},"rotation":{"radians":2.5790482523572815}},"curvature":-0.5055059572015264},{"time":7.49872446854557,"velocity":2.251461658109634,"acceleration":0.3686315279297499,"pose":{"translation":{"x":3.095997648601924,"y":-3.768480704086139},"rotation":{"radians":2.5398557852685975}},"curvature":-0.4777943338469375},{"time":7.53404217864349,"velocity":2.26448087954601,"acceleration":0.24303466428521084,"pose":{"translation":{"x":3.0311166414352892,"y":-3.7221132674096493},"rotation":{"radians":2.502615988598662}},"curvature":-0.4573025324528186},{"time":7.568961234565886,"velocity":2.272967420579266,"acceleration":0.11064578738404263,"pose":{"translation":{"x":2.968381520392814,"y":-3.6737357601864784},"rotation":{"radians":2.4669571531806724}},"curvature":-0.4440713949035487},{"time":7.603347087939469,"velocity":2.2767720704006584,"acceleration":-0.0306729753880228,"pose":{"translation":{"x":2.9081469997075966,"y":-3.6238289164733777},"rotation":{"radians":2.4324970480432464}},"curvature":-0.4381716903655965},{"time":7.637066787812519,"velocity":2.275737786876361,"acceleration":-0.18366276618286276,"pose":{"translation":{"x":2.8507424575927933,"y":-3.572878035854003},"rotation":{"radians":2.3988512867716216}},"curvature":-0.43977355631028714},{"time":7.669993969245414,"velocity":2.2696902896517903,"acceleration":-0.3504920306774528,"pose":{"translation":{"x":2.796463375878673,"y":-3.5213618350592655},"rotation":{"radians":2.3656395752236734}},"curvature":-0.44916895459396483},{"time":7.702013689452149,"velocity":2.258467632894808,"acceleration":-0.5308286169841301,"pose":{"translation":{"x":2.7455627796496724,"y":-3.469741299587679},"rotation":{"radians":2.3324929300485975}},"curvature":-0.4667378131962476},{"time":7.733026603495597,"velocity":2.2420050906244766,"acceleration":-0.7185443407643919,"pose":{"translation":{"x":2.6982426768814496,"y":-3.4184485353257137},"rotation":{"radians":2.299065539820871}},"curvature":-0.4928278550399001},{"time":7.762951821055102,"velocity":2.220502494900951,"acceleration":-0.8962597620370002,"pose":{"translation":{"x":2.6546454980779393,"y":-3.367875620168145},"rotation":{"radians":2.2650561139850076}},"curvature":-0.5274880792408057},{"time":7.791727554835076,"velocity":2.1947119625908718,"acceleration":-1.0342639700511496,"pose":{"translation":{"x":2.61484553590841,"y":-3.3183634556384054},"rotation":{"radians":2.230245334905389}},"curvature":-0.5699558874561743},{"time":7.84565173913219,"velocity":2.1389401216579693,"acceleration":-0.517416873987815,"pose":{"translation":{"x":2.546542380797342,"y":-3.223562212421513},"rotation":{"radians":2.1581598500559434}},"curvature":-0.6652941339785743},{"time":7.894377888540514,"velocity":2.1137283897496513,"acceleration":-1.5724404435924728,"pose":{"translation":{"x":2.4922395024170907,"y":-3.1353248520089103},"rotation":{"radians":2.0859577668547438}},"curvature":-0.7100431212070607},{"time":7.938895858883093,"velocity":2.0437265327163288,"acceleration":-2.7,"pose":{"translation":{"x":2.449205123053301,"y":-3.053399102495382},"rotation":{"radians":2.0255359456118525}},"curvature":-0.5390800243704866},{"time":7.982141695626461,"velocity":1.9269627735092356,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.4127954647941747,"y":-2.975643625587833},"rotation":{"radians":1.9996931049825493}},"curvature":2.204779469295226E-14},{"time":8.027808473146314,"velocity":1.8036624742056349,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":2.3758418481887356,"y":-2.898893756119145},"rotation":{"radians":2.056642186301036}},"curvature":1.2135906086256338},{"time":8.05249802885364,"velocity":1.7370006737958574,"acceleration":-1.84599386391199,"pose":{"translation":{"x":2.354310819069081,"y":-2.8608560742470726},"rotation":{"radians":2.117434399005509}},"curvature":1.5334353103479428},{"time":8.07880712802494,"velocity":1.688434238160585,"acceleration":0.2367465043716949,"pose":{"translation":{"x":2.3295215753517082,"y":-2.82322760353022},"rotation":{"radians":2.19020849550102}},"curvature":1.6663216783873671},{"time":8.106521839699763,"velocity":1.694995599269269,"acceleration":1.53300850962218,"pose":{"translation":{"x":2.300827483367184,"y":-2.7861481079305253},"rotation":{"radians":2.2684179675001985}},"curvature":1.6479237233711137},{"time":8.135153048358935,"velocity":1.7388874857845473,"acceleration":2.2884945833527564,"pose":{"translation":{"x":2.267778811065697,"y":-2.7497571036681556},"rotation":{"radians":2.346791559917504}},"curvature":1.5284224512693896},{"time":8.164384190146476,"velocity":1.8057827954305514,"acceleration":2.63288737018613,"pose":{"translation":{"x":2.2301068681198193,"y":-2.714192664752261},"rotation":{"radians":2.421652251487792}},"curvature":1.3574654020556027},{"time":8.194048860705974,"velocity":1.8838865318873879,"acceleration":2.6711773761188367,"pose":{"translation":{"x":2.1877081460272656,"y":-2.6795902285117243},"rotation":{"radians":2.490862645094266}},"curvature":1.1732271110933912},{"time":8.224083678313228,"velocity":1.964114857175737,"acceleration":2.5050297234021537,"pose":{"translation":{"x":2.1406284582136537,"y":-2.6460814011259144},"rotation":{"radians":2.5535125991962033}},"curvature":0.9992330429846051},{"time":8.254477436054453,"velocity":2.0402521237233877,"acceleration":2.225498257474911,"pose":{"translation":{"x":2.0890470801352654,"y":-2.613792763155437},"rotation":{"radians":2.609526590626087}},"curvature":0.8467663785275079},{"time":8.285230143819147,"velocity":2.108692221266352,"acceleration":1.9023632239168846,"pose":{"translation":{"x":2.0332608893818054,"y":-2.5828446750728875},"rotation":{"radians":2.659317623441576}},"curvature":0.7191101754137911},{"time":8.316326295629052,"velocity":2.167848396874851,"acceleration":1.5806282376830854,"pose":{"translation":{"x":1.9736685057791636,"y":-2.5533500827936013},"rotation":{"radians":2.7035367778802173}},"curvature":0.6152650001430995},{"time":8.3477209500807,"velocity":2.2174716742134266,"acceleration":1.2839069969587917,"pose":{"translation":{"x":1.9107544314921734,"y":-2.5254133232064078},"rotation":{"radians":2.742915616437439}},"curvature":0.532427536528308},{"time":8.379335186358405,"velocity":2.258061413373882,"acceleration":0.9994049469722021,"pose":{"translation":{"x":1.8450731911273728,"y":-2.4991289297043795},"rotation":{"radians":2.7781785185706704}},"curvature":0.46737701723020425},{"time":8.41106226126891,"velocity":2.2897696089923976,"acceleration":-2.6999999999999913,"pose":{"translation":{"x":1.7772334718357645,"y":-2.4745804377155864},"rotation":{"radians":2.8100006978000502}},"curvature":0.4171393329288023},{"time":8.443559101940217,"velocity":2.2020281391798706,"acceleration":-2.7000000000000073,"pose":{"translation":{"x":1.7078822634155766,"y":-2.4518391902338466},"rotation":{"radians":2.838993246374506}},"curvature":0.379245806840638},{"time":8.4775228473616,"velocity":2.1103260265421357,"acceleration":-2.699999999999996,"pose":{"translation":{"x":1.6376889984150225,"y":-2.4309631433494774},"rotation":{"radians":2.8657028342911826}},"curvature":0.35179271948651164},{"time":8.512852034251672,"velocity":2.0149372219389385,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.5673296922350606,"y":-2.411995671780048},"rotation":{"radians":2.8906185288214274}},"curvature":0.3334171572306461},{"time":8.54943451711123,"velocity":1.9161645182181342,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":1.4974710832321558,"y":-2.394964374401133},"rotation":{"radians":2.9141813453226884}},"curvature":0.3232466179284332},{"time":8.587152061859442,"velocity":1.8143271473979643,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":1.4287547728210381,"y":-2.37987987977706},"rotation":{"radians":2.9367939155924576}},"curvature":0.3208454242488213},{"time":8.625886381546957,"velocity":1.7097444842416734,"acceleration":-2.700000000000004,"pose":{"translation":{"x":1.3617813655774649,"y":-2.366734651691665},"rotation":{"radians":2.958828418874032}},"curvature":0.32615897085265627},{"time":8.665527522914036,"velocity":1.6027134025505567,"acceleration":-2.700000000000002,"pose":{"translation":{"x":1.297094609340979,"y":-2.355501794679044},"rotation":{"radians":2.9806308668763997}},"curvature":0.33943694897461074},{"time":8.747205979375984,"velocity":1.3821815701032985,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.1763765981829382,"y":-2.3385616489443093},"rotation":{"radians":3.0247692312567493}},"curvature":0.3913793953861017},{"time":8.832131025419413,"velocity":1.1528839457860394,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.0692109112438837,"y":-2.3284117040193673},"rotation":{"radians":3.071038537843608}},"curvature":0.4737930391771931},{"time":8.922358808893842,"velocity":0.90926893040508,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":0.9762829792180243,"y":-2.3240180273229916},"rotation":{"radians":3.1187982571174553}},"curvature":0.5445720282101045},{"time":9.027115354259344,"velocity":0.626426257918224,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.8958459748851348,"y":-2.323922269230277},"rotation":{"radians":-3.122341314039518}},"curvature":0.45158772374561446},{"time":9.259125079414241,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":0.8232132963988923,"y":-2.326203440056694},"rotation":{"radians":-3.1035675129286013}},"curvature":4.90586415663693E-14}] \ No newline at end of file diff --git a/src/main/deploy/paths/SlalomClose.wpilib.json b/src/main/deploy/paths/SlalomClose.wpilib.json new file mode 100644 index 0000000..3dc1d37 --- /dev/null +++ b/src/main/deploy/paths/SlalomClose.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":1.2,"y":-3.55},"rotation":{"radians":0.020670570897920636}},"curvature":0.0},{"time":0.29794778107178294,"velocity":0.8044590088938139,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.3198118733662363,"y":-3.547251777435915},"rotation":{"radians":0.02739898266914857}},"curvature":0.11059558686560376},{"time":0.4192690030187587,"velocity":1.1320263081506485,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.4372042820333382,"y":-3.5430276481547565},"rotation":{"radians":0.04663950429917798}},"curvature":0.2183076844583721},{"time":0.5095155981268171,"velocity":1.3756921149424062,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.550149447210262,"y":-3.536114709578857},"rotation":{"radians":0.07785865316414463}},"curvature":0.337265337813141},{"time":0.5823706671928203,"velocity":1.5724008014206146,"acceleration":2.7,"pose":{"translation":{"x":1.6570222151376055,"y":-3.525569528526754},"rotation":{"radians":0.12138730080422333}},"curvature":0.4795856562598596},{"time":0.6432068333203919,"velocity":1.736658449965058,"acceleration":2.7000000000000046,"pose":{"translation":{"x":1.7565729215327037,"y":-3.5106989525817323},"rotation":{"radians":0.17813864971172264}},"curvature":0.6566559629522116},{"time":0.6949203781208018,"velocity":1.8762850209261648,"acceleration":0.18967125720539868,"pose":{"translation":{"x":1.8479002560347244,"y":-3.491040921460366},"rotation":{"radians":0.24932970212748787}},"curvature":0.8779752507432816},{"time":0.7407240961816063,"velocity":1.8849726697154392,"acceleration":-2.700000000000006,"pose":{"translation":{"x":1.9304241266497657,"y":-3.466345278381061},"rotation":{"radians":0.3360741645237469}},"curvature":1.1466961348806939},{"time":0.7625278186601891,"velocity":1.8261026190232654,"acceleration":-2.699999999999998,"pose":{"translation":{"x":1.9682846395083173,"y":-3.452083398524441},"rotation":{"radians":0.3854457808123465}},"curvature":1.29606445797318},{"time":0.7841287069141386,"velocity":1.7677802207376019,"acceleration":-2.699999999999995,"pose":{"translation":{"x":2.003858524195951,"y":-3.436554581432592},"rotation":{"radians":0.4387385596088097}},"curvature":1.451189482735269},{"time":0.8055687896842022,"velocity":1.7098919972584303,"acceleration":-2.4644184540130314,"pose":{"translation":{"x":2.0371515280773345,"y":-3.4197786104302574},"rotation":{"radians":0.49573608922380874}},"curvature":1.6066786244082687},{"time":0.826875121881124,"velocity":1.6573842790050042,"acceleration":-2.0989922665079903,"pose":{"translation":{"x":2.068184386748525,"y":-3.401784914942648},"rotation":{"radians":0.5560629631162727}},"curvature":1.7553610334685505},{"time":0.8480377662365406,"velocity":1.6129640521641258,"acceleration":-1.6470794154543897,"pose":{"translation":{"x":2.096991976050876,"y":-3.382611970850705},"rotation":{"radians":0.6191681448965625}},"curvature":1.8887012654247515},{"time":0.8690248062709678,"velocity":1.5783967305321036,"acceleration":-1.1232458099881046,"pose":{"translation":{"x":2.1236224640849506,"y":-3.362306700846372},"rotation":{"radians":0.684324991516111}},"curvature":1.9976577812857124},{"time":0.8897873294202246,"velocity":1.5550753133999198,"acceleration":-0.5442743681402702,"pose":{"translation":{"x":2.1481364632244255,"y":-3.340923874787857},"rotation":{"radians":0.7506527741395881}},"curvature":2.0739035372885057},{"time":0.9102626443036888,"velocity":1.5439311243292493,"acceleration":0.07300861814013841,"pose":{"translation":{"x":2.1706061821300047,"y":-3.318525510054903},"rotation":{"radians":0.8171604875169264}},"curvature":2.1111510656966823},{"time":0.9303796313308043,"velocity":1.545399837753242,"acceleration":0.7133378207831301,"pose":{"translation":{"x":2.191114577763327,"y":-3.2951802719040524},"rotation":{"radians":0.8828081687218328}},"curvature":2.106211410697884},{"time":0.9500651782582006,"velocity":1.559442282899355,"acceleration":1.3640907331064152,"pose":{"translation":{"x":2.2097545074008753,"y":-3.2709628738239163},"rotation":{"radians":0.9465758386098301}},"curvature":2.0594528745974854},{"time":0.969250344117935,"velocity":1.5856125898617284,"acceleration":2.0161602770076383,"pose":{"translation":{"x":2.2266278806478845,"y":-3.2459534778904384},"rotation":{"radians":1.0075277664391455}},"curvature":1.9745209895223885},{"time":0.9878750313032385,"velocity":1.6231629443364306,"acceleration":2.6649692420575803,"pose":{"translation":{"x":2.2418448114522542,"y":-3.2202370951221653},"rotation":{"radians":1.0648611898859937}},"curvature":1.8574408654821526},{"time":1.005890453681986,"velocity":1.6711734908584683,"acceleration":2.7000000000000037,"pose":{"translation":{"x":2.2555227701184553,"y":-3.19390298583551},"rotation":{"radians":1.117933209011007}},"curvature":1.7154104589895702},{"time":1.0233130435464268,"velocity":1.7182144834924589,"acceleration":2.7000000000000055,"pose":{"translation":{"x":2.267785735321438,"y":-3.167044060000023},"rotation":{"radians":1.166265243331272}},"curvature":1.5556274230590936},{"time":1.0566140302242517,"velocity":1.808127147522586,"acceleration":2.700000000000004,"pose":{"translation":{"x":2.2885900539734205,"y":-3.1121380489580233},"rotation":{"radians":1.2475204449651915}},"curvature":1.2065785762665464},{"time":1.088109180374569,"velocity":1.8931640529284428,"acceleration":-2.547374229853865,"pose":{"translation":{"x":2.3053475407459896,"y":-3.056312548315403},"rotation":{"radians":1.3072981747191788}},"curvature":0.8426328399329012},{"time":1.1510692447885444,"velocity":1.7327812073303426,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.3313032905385946,"y":-2.945157920810002},"rotation":{"radians":1.361095421476092}},"curvature":0.08267687206088113},{"time":1.2166204946622046,"velocity":1.5557928326714603,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":2.354879987771107,"y":-2.8399830164163227},"rotation":{"radians":1.3226489636191225}},"curvature":-0.859546558886675},{"time":1.2499678983840368,"velocity":1.4657548426225135,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.3685453694179825,"y":-2.791491362011607},"rotation":{"radians":1.2643751416302402}},"curvature":-1.4791121232812736},{"time":1.2667427782248186,"velocity":1.4204626670524023,"acceleration":-2.699999999999996,"pose":{"translation":{"x":2.3762917281564153,"y":-2.7685562355381155},"rotation":{"radians":1.2243402710103184}},"curvature":-1.8347660282617544},{"time":1.283596429734251,"velocity":1.3749578079769351,"acceleration":-2.699999999999996,"pose":{"translation":{"x":2.384799933966245,"y":-2.7465898947527467},"rotation":{"radians":1.1766804759356941}},"curvature":-2.2167111462169706},{"time":1.3005614638696796,"velocity":1.329152215811278,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.394174865948724,"y":-2.7256555480841835},"rotation":{"radians":1.121303204726815}},"curvature":-2.6141588408078578},{"time":1.3176954330602526,"velocity":1.2828904989967311,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":2.40451264782594,"y":-2.70580926000905},"rotation":{"radians":1.0583749981909005}},"curvature":-3.0080864423217655},{"time":1.3350866325407105,"velocity":1.2359342603994947,"acceleration":-2.7,"pose":{"translation":{"x":2.415899799954751,"y":-2.6870993514071744},"rotation":{"radians":0.988428969931669}},"curvature":-3.370870969879002},{"time":1.3528601489572187,"velocity":1.1879457660749226,"acceleration":-1.8650262227730487,"pose":{"translation":{"x":2.4284123913406725,"y":-2.669565799916858},"rotation":{"radians":0.912452139326821}},"curvature":-3.668679332403803},{"time":1.3710625986877925,"velocity":1.1539977200086944,"acceleration":-0.6543057301888635,"pose":{"translation":{"x":2.442115191651797,"y":-2.6532396402901464},"rotation":{"radians":0.8319156580404014}},"curvature":-3.8673993220190597},{"time":1.3895685749332236,"velocity":1.1418891537085698,"acceleration":0.5376176015171311,"pose":{"translation":{"x":2.4570608232327054,"y":-2.638142364748087},"rotation":{"radians":0.748713934164826}},"curvature":-3.941137459417531},{"time":1.4081748512544356,"velocity":1.1518922153575448,"acceleration":1.7089871178082618,"pose":{"translation":{"x":2.4732889131183686,"y":-2.624285323336006},"rotation":{"radians":0.6650028746998068}},"curvature":-3.8801099716880856},{"time":1.4266753459045731,"velocity":1.1835093223877104,"acceleration":2.700000000000003,"pose":{"translation":{"x":2.490825245048063,"y":-2.611669124278768},"rotation":{"radians":0.5829673001436171}},"curvature":-3.6940011580349297},{"time":1.4449075843052,"velocity":1.232736366069403,"acceleration":2.699999999999998,"pose":{"translation":{"x":2.5096809114792746,"y":-2.6002830343360452},"rotation":{"radians":0.504581010270076}},"curvature":-3.4088749821969615},{"time":1.4628815364317138,"velocity":1.2812660368109907,"acceleration":2.699999999999992,"pose":{"translation":{"x":2.5298514656016167,"y":-2.590104379157586},"rotation":{"radians":0.431426826307779}},"curvature":-3.059299616031722},{"time":1.4807141086848936,"velocity":1.3294139818945758,"acceleration":2.6999999999999935,"pose":{"translation":{"x":2.551316073350728,"y":-2.581097943638481},"rotation":{"radians":0.3646153755672641}},"curvature":-2.679602617090453},{"time":1.4984834853536901,"velocity":1.377391298900326,"acceleration":2.699999999999991,"pose":{"translation":{"x":2.574036665422188,"y":-2.5732153722744293},"rotation":{"radians":0.3048007639128848}},"curvature":-2.2976247468634465},{"time":1.5162333818803964,"velocity":1.4253160195224326,"acceleration":2.699999999999995,"pose":{"translation":{"x":2.5979570892854325,"y":-2.5663945695170027},"rotation":{"radians":0.25226273334894983}},"curvature":-1.9321217472186676},{"time":1.533977489777998,"velocity":1.4732251108459573,"acceleration":2.7000000000000024,"pose":{"translation":{"x":2.6230022611976453,"y":-2.5605591001289207},"rotation":{"radians":0.20701790728883857}},"curvature":-1.5930615983698266},{"time":1.5693739946936018,"velocity":1.5687956741180875,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.6760667702199896,"y":-2.5514631241989694},"rotation":{"radians":0.13781401723782588}},"curvature":-1.0010155596014403},{"time":1.6383301395167769,"velocity":1.7549772651406599,"acceleration":2.6999999999999997,"pose":{"translation":{"x":2.790089286864653,"y":-2.540000000000005},"rotation":{"radians":0.08143458255333637}},"curvature":-1.9634418088206568E-14},{"time":1.7021396863868585,"velocity":1.9272630416898804,"acceleration":2.7000000000000033,"pose":{"translation":{"x":2.907173433537659,"y":-2.5303512696642962},"rotation":{"radians":0.08367287040705294}},"curvature":0.0337616891291248},{"time":1.7625693668900444,"velocity":2.0904231790484826,"acceleration":2.700000000000004,"pose":{"translation":{"x":3.028118258184742,"y":-2.5199209636051014},"rotation":{"radians":0.08857122646571601}},"curvature":0.04332223887433257},{"time":1.7921566021872557,"velocity":2.1703087143509534,"acceleration":2.699999999999999,"pose":{"translation":{"x":3.0908952158812983,"y":-2.51426048317786},"rotation":{"radians":0.09125776210835698}},"curvature":0.04135883771130106},{"time":1.8215183835438837,"velocity":2.249585524013849,"acceleration":2.7000000000000033,"pose":{"translation":{"x":3.1555054777910017,"y":-2.5082634389455007},"rotation":{"radians":0.09379728585774572}},"curvature":0.03656265892247118},{"time":1.8507350805626905,"velocity":2.3284706059646276,"acceleration":2.6999999999999917,"pose":{"translation":{"x":3.222082075714389,"y":-2.5019229328598183},"rotation":{"radians":0.09602908687772169}},"curvature":0.029992786888436044},{"time":1.8798490093035995,"velocity":2.4070782135650814,"acceleration":2.700000000000005,"pose":{"translation":{"x":3.290693389697948,"y":-2.495248240262433},"rotation":{"radians":0.09783923070316457}},"curvature":0.022454410321398596},{"time":1.9088729462983907,"velocity":2.485442843451018,"acceleration":2.7,"pose":{"translation":{"x":3.361349054020957,"y":-2.4882630469717717},"rotation":{"radians":0.09915116160743667}},"curvature":0.01450633710274177},{"time":1.937797026298924,"velocity":2.563537859452458,"acceleration":1.2165164398905433,"pose":{"translation":{"x":3.4340058631823247,"y":-2.4810036863700438},"rotation":{"radians":0.09991645326309853}},"curvature":0.0065027943402101215},{"time":1.9668310904409643,"velocity":2.5988582757980865,"acceleration":-0.21645005032147085,"pose":{"translation":{"x":3.5085736778874237,"y":-2.4735173764902236},"rotation":{"radians":0.10010679945441343}},"curvature":-0.0013559185439929473},{"time":1.9963922341773115,"velocity":2.592459764748794,"acceleration":-0.20325217898145997,"pose":{"translation":{"x":3.5849213310349333,"y":-2.465860457103031},"rotation":{"radians":0.09970763479720132}},"curvature":-0.008976930457586588},{"time":2.0266491625659335,"velocity":2.5863099781245205,"acceleration":-0.19173189554527334,"pose":{"translation":{"x":3.662882533703676,"y":-2.4580966268039077},"rotation":{"radians":0.09871338254137309}},"curvature":-0.016337235015930224},{"time":2.057524455945679,"velocity":2.5803901995993055,"acceleration":-0.18229693942929945,"pose":{"translation":{"x":3.742261781139456,"y":-2.4502951800999995},"rotation":{"radians":0.09712415035953377}},"curvature":-0.02345539652110904},{"time":2.088931237022701,"velocity":2.5746648395316383,"acceleration":-0.17493216043498405,"pose":{"translation":{"x":3.8228402587418966,"y":-2.4425292444971354},"rotation":{"radians":0.09494364906424277}},"curvature":-0.03037091994132739},{"time":2.1207756689193,"velocity":2.5690942242621415,"acceleration":-0.1693391643948155,"pose":{"translation":{"x":3.9043817480512786,"y":-2.434874017586807},"rotation":{"radians":0.09217813127742316}},"curvature":-0.03712911570971348},{"time":2.1529593409896792,"velocity":2.5636442681265867,"acceleration":-0.16499884478287313,"pose":{"translation":{"x":3.9866385327353813,"y":-2.427405004133148},"rotation":{"radians":0.08883619887773515}},"curvature":-0.043769352240908},{"time":2.1853815514905146,"velocity":2.5582946408486418,"acceleration":-0.16117693179418455,"pose":{"translation":{"x":4.069357304576315,"y":-2.420196253159915},"rotation":{"radians":0.08492938852046394}},"curvature":-0.05031486297122426},{"time":2.2179414887780737,"velocity":2.553046730057222,"acceleration":-0.1568859399729531,"pose":{"translation":{"x":4.152285069457367,"y":-2.4133185950374663},"rotation":{"radians":0.08047350301821059}},"curvature":-0.0567625723874396},{"time":2.250540306063179,"velocity":2.5479324339654417,"acceleration":-0.1508123657954538,"pose":{"translation":{"x":4.235175053349831,"y":-2.406837878569741},"rotation":{"radians":0.07549070730774722}},"curvature":-0.06307167417861471},{"time":2.283083079520287,"velocity":2.5430245813108296,"acceleration":-0.14121680153551303,"pose":{"translation":{"x":4.317792608299852,"y":-2.4008132080812397},"rotation":{"radians":0.07001244673926514}},"curvature":-0.06914996377737738},{"time":2.3154806365640836,"velocity":2.5384495019275404,"acceleration":-0.12581785286743138,"pose":{"translation":{"x":4.399921118415263,"y":-2.3952951805040046},"rotation":{"radians":0.06408326650435393}},"curvature":-0.07483728666609112},{"time":2.3476512417523447,"velocity":2.5344018654573075,"acceleration":-0.10167986722933745,"pose":{"translation":{"x":4.481367905852423,"y":-2.390324122464597},"rotation":{"radians":0.057765604224033595}},"curvature":-0.07988605949895577},{"time":2.3795221342138735,"velocity":2.5311612373433388,"acceleration":-0.06514144324036857,"pose":{"translation":{"x":4.561970136803051,"y":-2.385928327371079},"rotation":{"radians":0.05114557725928018}},"curvature":-0.0839398587916696},{"time":2.4110309258477898,"velocity":2.5291087091815454,"acceleration":-0.011848349582905886,"pose":{"translation":{"x":4.641600727481073,"y":-2.3821222924999934},"rotation":{"radians":0.04433966944496128}},"curvature":-0.08651280172716619},{"time":2.44212689774146,"velocity":2.528740273235929,"acceleration":0.06300890253559345,"pose":{"translation":{"x":4.720174250109452,"y":-2.378904956083342},"rotation":{"radians":0.03750200991521241}},"curvature":-0.08697509610297978},{"time":2.4727722773895318,"velocity":2.5306712049753406,"acceleration":0.16411049236664257,"pose":{"translation":{"x":4.79765283890703,"y":-2.3762579343955657},"rotation":{"radians":0.030831599997404313}},"curvature":-0.08455375870287034},{"time":2.5029436438223884,"velocity":2.535622642776011,"acceleration":0.29490093706786835,"pose":{"translation":{"x":4.874052096075369,"y":-2.3741437588405243},"rotation":{"radians":0.024578365848885106}},"curvature":-0.07836163932109674},{"time":2.5326336891661834,"velocity":2.5443782649694837,"acceleration":0.45579903645652564,"pose":{"translation":{"x":4.94944699778558,"y":-2.3725041130384765},"rotation":{"radians":0.019046315170586393}},"curvature":-0.06747110838929542},{"time":2.5618536509332053,"velocity":2.557696695388189,"acceleration":-1.5952068716306251,"pose":{"translation":{"x":5.023977800165174,"y":-2.3712580699130594},"rotation":{"radians":0.014591451837917341}},"curvature":-0.05104817753025688},{"time":2.5910057358984337,"velocity":2.5111930891292964,"acceleration":-2.7,"pose":{"translation":{"x":5.097855945284887,"y":-2.370300328778268},"rotation":{"radians":0.011611666439768848}},"curvature":-0.028554077615542246},{"time":2.6207578849923676,"velocity":2.430862286575675,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":5.171369967145528,"y":-2.3694994524254347},"rotation":{"radians":0.01052592703172362}},"curvature":-5.414863344283531E-17},{"time":2.6515106559400787,"velocity":2.347829805016855,"acceleration":-2.7,"pose":{"translation":{"x":5.2448470303211785,"y":-2.368964343289796},"rotation":{"radians":9.473008163588824E-4}},"curvature":-0.2524434643191484},{"time":2.6834584804588153,"velocity":2.261570678816266,"acceleration":-2.6999999999999917,"pose":{"translation":{"x":5.3184727422454605,"y":-2.3697735668967033},"rotation":{"radians":-0.025418423990396437}},"curvature":-0.4553415448583391},{"time":2.7168154481557987,"velocity":2.1715068660344112,"acceleration":-1.7382659075406297,"pose":{"translation":{"x":5.392337216775227,"y":-2.3730478882117727},"rotation":{"radians":-0.0650748172530377}},"curvature":-0.6090285476041145},{"time":2.751574940785178,"velocity":2.1110856250333514,"acceleration":-0.9258896790566654,"pose":{"translation":{"x":5.466471658313596,"y":-2.379678477515282},"rotation":{"radians":-0.11464208088701199}},"curvature":-0.7147957271705291},{"time":2.7874515465925858,"velocity":2.077867845996688,"acceleration":-0.30580340094197667,"pose":{"translation":{"x":5.54085380328097,"y":-2.3903426375806016},"rotation":{"radians":-0.17091677736046926}},"curvature":-0.7755637573112296},{"time":2.8241693199633615,"velocity":2.066639426024888,"acceleration":0.16341956638338073,"pose":{"translation":{"x":5.615413361586055,"y":-2.4055195308526303},"rotation":{"radians":-0.23096843808563533}},"curvature":-0.7965466013588339},{"time":2.8614957896391773,"velocity":2.0727393015139324,"acceleration":0.5046042729483952,"pose":{"translation":{"x":5.690037458096875,"y":-2.4255059066262277},"rotation":{"radians":-0.2922536724702212}},"curvature":-0.7851193990700732},{"time":2.8992411954879165,"velocity":2.0917857945893776,"acceleration":0.7351014649359524,"pose":{"translation":{"x":5.764576074111801,"y":-2.45043182822465},"rotation":{"radians":-0.35270786305004653}},"curvature":-0.7498675851206731},{"time":2.937252880635309,"velocity":2.11972824002591,"acceleration":0.872664677552919,"pose":{"translation":{"x":5.838847488830563,"y":-2.4802764001779853},"rotation":{"radians":-0.4107835969737143}},"curvature":-0.6992973055902166},{"time":2.9754052968484355,"velocity":2.1530225060184027,"acceleration":0.9366959415569474,"pose":{"translation":{"x":5.91264372082527,"y":-2.514883495401585},"rotation":{"radians":-0.4654285475045437}},"curvature":-0.6407551071823662},{"time":3.013587706109438,"velocity":2.1887878138120502,"acceleration":0.9470500464685734,"pose":{"translation":{"x":5.985735969511433,"y":-2.553977482374501},"rotation":{"radians":-0.5160165963650235}},"curvature":-0.5798521931415154},{"time":3.051692137577111,"velocity":2.224874617404169,"acceleration":0.9221905817035283,"pose":{"translation":{"x":6.057880056618984,"y":-2.5971789523179187},"rotation":{"radians":-0.5622552698502463}},"curvature":-0.520386354211146},{"time":3.089603601522853,"velocity":2.259836212393525,"acceleration":0.8778246873140503,"pose":{"translation":{"x":6.128821867663291,"y":-2.6440204463735926},"rotation":{"radians":-0.604090628271881}},"curvature":-0.4645859853008194},{"time":3.127193578626303,"velocity":2.292833622290503,"acceleration":0.8264234499449685,"pose":{"translation":{"x":6.1983027934161825,"y":-2.693962182782279},"rotation":{"radians":-0.6416232494394053}},"curvature":-0.4134815393624219},{"time":3.164316920394395,"velocity":2.3235132224679758,"acceleration":0.7775411020987228,"pose":{"translation":{"x":6.266065171376966,"y":-2.7464077840621712},"rotation":{"radians":-0.6750411417846964}},"curvature":-0.3672689457457189},{"time":3.2008117425795746,"velocity":2.351889446730737,"acceleration":0.7386624551583255,"pose":{"translation":{"x":6.331857727243446,"y":-2.800720004187335},"rotation":{"radians":-0.7045699059495932}},"curvature":-0.3255991958397205},{"time":3.236501662084378,"velocity":2.3782522502965584,"acceleration":0.7163475923600109,"pose":{"translation":{"x":6.395441016382943,"y":-2.8562364557661413},"rotation":{"radians":-0.7304375801327321}},"curvature":-0.2877771417232228},{"time":3.2711997153559054,"velocity":2.4031081172171964,"acceleration":0.7175795334859327,"pose":{"translation":{"x":6.456592865303314,"y":-2.912285337219701},"rotation":{"radians":-0.7528506654490257}},"curvature":-0.2528770935811773},{"time":3.3047133970370095,"velocity":2.4271568492833193,"acceleration":0.7513694274475861,"pose":{"translation":{"x":6.5151138131239765,"y":-2.9682011599602998},"rotation":{"radians":-0.7719780031601272}},"curvature":-0.21979070479733379},{"time":3.3368504017996865,"velocity":2.451303612151732,"acceleration":0.8307936827223673,"pose":{"translation":{"x":6.570832553046918,"y":-3.0233404755698334},"rotation":{"radians":-0.7879398755284001}},"curvature":-0.18722261346673455},{"time":3.367424809849699,"velocity":2.4767046372126584,"acceleration":0.771090221140722,"pose":{"translation":{"x":6.623611373827723,"y":-3.077097602978239},"rotation":{"radians":-0.8008006419384363}},"curvature":-0.15364821361948},{"time":3.3962976757763546,"velocity":2.4989682217850095,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.673351601246593,"y":-3.128920355641935},"rotation":{"radians":-0.8105643841716361}},"curvature":-0.11725181312822358},{"time":3.4238995185842565,"velocity":2.4244432462036745,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":6.719999039579362,"y":-3.1783257687222477},"rotation":{"radians":-0.8171746365028796}},"curvature":-0.07588052911823762},{"time":3.4506016045450134,"velocity":2.3523476141096302,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.763549413068516,"y":-3.224915826263853},"rotation":{"radians":-0.8205217767066807}},"curvature":-0.027094123753145828},{"time":3.5006874291427836,"velocity":2.217115887695651,"acceleration":-2.699999999999996,"pose":{"translation":{"x":6.841624111145316,"y":-3.308576918396981},"rotation":{"radians":-0.8168882197872434}},"curvature":0.10135594652967948},{"time":3.545812771895248,"velocity":2.0952774622639976,"acceleration":-2.699999999999998,"pose":{"translation":{"x":6.90874666464871,"y":-3.3790161148461575},"rotation":{"radians":-0.7995083374221406}},"curvature":0.2606338251288375},{"time":3.5864221644702567,"velocity":1.9856321023114742,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":6.967235016362115,"y":-3.437711619969572},"rotation":{"radians":-0.7738955750498457}},"curvature":0.32030021059320596},{"time":3.6247466628829725,"velocity":1.882155956597141,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":7.020728209753282,"y":-3.4890106293886576},"rotation":{"radians":-0.7589892102611496}},"curvature":1.3211528413089442E-14},{"time":3.6644745009097104,"velocity":1.7748907939249492,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.074193042610383,"y":-3.53818946474013},"rotation":{"radians":-0.7145686994630731}},"curvature":1.1365246274984342},{"time":3.685469602815397,"velocity":1.7182040187795948,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":7.102444769729115,"y":-3.561565758986601},"rotation":{"radians":-0.6656410866700904}},"curvature":1.5091469711797372},{"time":3.7074440228217274,"velocity":1.6588730847625028,"acceleration":-1.7437167230051895,"pose":{"translation":{"x":7.132296002507494,"y":-3.583603439196386},"rotation":{"radians":-0.6047417175179355}},"curvature":1.751015631051824},{"time":3.730462359038724,"velocity":1.6187356269651698,"acceleration":-0.21927648407115588,"pose":{"translation":{"x":7.164038976695007,"y":-3.603984173784894},"rotation":{"radians":-0.5360458556453768}},"curvature":1.8709625546530502},{"time":3.754304559975393,"velocity":1.613507592971259,"acceleration":0.8447014845016052,"pose":{"translation":{"x":7.197858726638098,"y":-3.6224485052295896},"rotation":{"radians":-0.46333138721530054}},"curvature":1.8870253010191507},{"time":3.7786434995932994,"velocity":1.6340667313976995,"acceleration":1.572574629170152,"pose":{"translation":{"x":7.233842242877738,"y":-3.638792200302844},"rotation":{"radians":-0.38976607873343744}},"curvature":1.8244515129608172},{"time":3.8032338183382524,"velocity":1.6727368427792195,"acceleration":2.027965735034653,"pose":{"translation":{"x":7.271987629746987,"y":-3.6528626003047893},"rotation":{"radians":-0.3177646217984233}},"curvature":1.7109226338319101},{"time":3.8279078540196987,"velocity":1.7227749416862155,"acceleration":2.2553426478714846,"pose":{"translation":{"x":7.312213262968576,"y":-3.6645549712961714},"rotation":{"radians":-0.24896091879054352}},"curvature":1.5715835437169892},{"time":3.852561155869084,"velocity":1.778376584757983,"acceleration":2.2969150709251966,"pose":{"translation":{"x":7.354366947252464,"y":-3.6738088543312006},"rotation":{"radians":-0.1842870585293991}},"curvature":1.425949239399365},{"time":3.8771329726635235,"velocity":1.834815961073144,"acceleration":2.195921135549449,"pose":{"translation":{"x":7.398235073893414,"y":-3.6806044156904076},"rotation":{"radians":-0.12411540426731027}},"curvature":1.2871476936079203},{"time":3.901587108941793,"velocity":1.8885153157782026,"acceleration":1.9935331233119922,"pose":{"translation":{"x":7.443551778368564,"y":-3.684958797113494},"rotation":{"radians":-0.06841593606486918}},"curvature":1.1627866425302065},{"time":3.9258965564352057,"velocity":1.9369770045657346,"acceleration":1.7245499445640404,"pose":{"translation":{"x":7.490008097934988,"y":-3.686922466032185},"rotation":{"radians":-0.016895976822526488}},"curvature":1.056474736166336},{"time":3.9500331186426103,"velocity":1.9786017115824805,"acceleration":1.247125710427572,"pose":{"translation":{"x":7.537261129227277,"y":-3.6865755658030834},"rotation":{"radians":0.03089208302347247}},"curvature":0.9693188582011264},{"time":3.9976749279608215,"velocity":2.0380170368745096,"acceleration":0.5430925995658107,"pose":{"translation":{"x":7.632670956000769,"y":-3.6793971123494162},"rotation":{"radians":0.11741782262131377}},"curvature":0.8510798913381962},{"time":4.044102689116066,"velocity":2.063231610372332,"acceleration":-0.24120852135085524,"pose":{"translation":{"x":7.726707208023602,"y":-3.6645194109512613},"rotation":{"radians":0.19564182218537612}},"curvature":0.8029600517220918},{"time":4.088865237751329,"velocity":2.0524345022041244,"acceleration":-1.139607783728025,"pose":{"translation":{"x":7.816338870914952,"y":-3.6432796655079978},"rotation":{"radians":0.2700184306468121}},"curvature":0.8234206580969419},{"time":4.131551679108441,"velocity":2.0037887013739106,"acceleration":-2.13315299216753,"pose":{"translation":{"x":7.898871009700831,"y":-3.617139517070904},"rotation":{"radians":0.34480593806218035}},"curvature":0.918339507469601},{"time":4.171894261979321,"velocity":1.917731800011125,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":7.97223781193631,"y":-3.587568251294448},"rotation":{"radians":0.42380758341463837}},"curvature":1.095333872638299},{"time":4.2096888727812205,"velocity":1.815686350845997,"acceleration":-2.391116315725857,"pose":{"translation":{"x":8.035295630827738,"y":-3.555926005887574},"rotation":{"radians":0.5091797016777007}},"curvature":1.333226489385846},{"time":4.227547726995586,"velocity":1.7729837531538595,"acceleration":-1.1622578219233362,"pose":{"translation":{"x":8.062925552647547,"y":-3.539694721799137},"rotation":{"radians":0.5536783955354126}},"curvature":1.439674377076943},{"time":4.2445804406836904,"velocity":1.7531873484412792,"acceleration":2.6999999999999913,"pose":{"translation":{"x":8.08811602835496,"y":-3.5233469780649918},"rotation":{"radians":0.5978786423508952}},"curvature":1.4907815170227159},{"time":4.275209932157779,"velocity":1.8358869754213185,"acceleration":2.700000000000006,"pose":{"translation":{"x":8.132278818393544,"y":-3.490622631998468},"rotation":{"radians":0.6748188909720726}},"curvature":1.1804107627079816},{"time":4.302288734252354,"velocity":1.9089997410766704,"acceleration":-1.4305630481088079,"pose":{"translation":{"x":8.171165109836995,"y":-3.4580849062681116},"rotation":{"radians":0.7086262721277466}},"curvature":2.424490031842803E-13},{"time":4.355818439030823,"velocity":1.8324221234444182,"acceleration":-2.700000000000005,"pose":{"translation":{"x":8.24633855123433,"y":-3.3919283215203846},"rotation":{"radians":0.7476578623195527}},"curvature":0.7723486464601598},{"time":4.383929422637949,"velocity":1.7565224677051803,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":8.28254319138156,"y":-3.3568019833256653},"rotation":{"radians":0.796031784820216}},"curvature":1.144147094416472},{"time":4.413388411191377,"velocity":1.6769831986109245,"acceleration":-2.700000000000003,"pose":{"translation":{"x":8.316745535354794,"y":-3.3195473309766146},"rotation":{"radians":0.8632642028017333}},"curvature":1.514397339428413},{"time":4.444300245251865,"velocity":1.5935212466476076,"acceleration":-2.700000000000007,"pose":{"translation":{"x":8.347981301401859,"y":-3.2798045018564776},"rotation":{"radians":0.9492339114649976}},"curvature":1.8857728343357643},{"time":4.46035883004205,"velocity":1.5501630677141098,"acceleration":-2.700000000000002,"pose":{"translation":{"x":8.362170940955489,"y":-3.2589289058473834},"rotation":{"radians":0.9991511445053758}},"curvature":2.0682181450294213},{"time":4.476863115393048,"velocity":1.5056014972664145,"acceleration":-2.614884877958671,"pose":{"translation":{"x":8.375239773884543,"y":-3.2373631278108483},"rotation":{"radians":1.053541370824686}},"curvature":2.2434709069550345},{"time":4.493856254295536,"velocity":1.461166395321248,"acceleration":-2.097190034717708,"pose":{"translation":{"x":8.387064657045471,"y":-3.2151014431424025},"rotation":{"radians":1.1121797104734532}},"curvature":2.405556645850955},{"time":4.5113413382239935,"velocity":1.424496851550284,"acceleration":-1.5506724812817616,"pose":{"translation":{"x":8.397527508305172,"y":-3.192145347140586},"rotation":{"radians":1.1747134318065076}},"curvature":2.546931664497548},{"time":4.529272640577435,"velocity":1.3966912744372595,"acceleration":-0.9755129603472351,"pose":{"translation":{"x":8.406517297323068,"y":-3.168503024131729},"rotation":{"radians":1.2406369273759028}},"curvature":2.659081421650938},{"time":4.547589722462519,"velocity":1.3788227236626194,"acceleration":-0.3754598637173195,"pose":{"translation":{"x":8.413932036333183,"y":-3.1441888165947294},"rotation":{"radians":1.3092788547758882}},"curvature":2.7335389843997144},{"time":4.56621762289403,"velocity":1.3718286947052645,"acceleration":0.24314781969210558,"pose":{"translation":{"x":8.41968077092623,"y":-3.1192226942858334},"rotation":{"radians":1.3798074569947647}},"curvature":2.763211027343338},{"time":4.585069252915164,"velocity":1.3764124274425455,"acceleration":0.872102922126206,"pose":{"translation":{"x":8.423685570831681,"y":-3.093629723363412},"rotation":{"radians":1.4512575663196832}},"curvature":2.7437305696152103},{"time":4.604049872949825,"velocity":1.3929654816385406,"acceleration":1.501890410385034,"pose":{"translation":{"x":8.425883520699864,"y":-3.06743953551274},"rotation":{"radians":1.5225781765775466}},"curvature":2.674449029236366},{"time":4.623062908294104,"velocity":1.4215209770944253,"acceleration":2.1223737168017034,"pose":{"translation":{"x":8.426228710884025,"y":-3.0406857970707764},"rotation":{"radians":1.5926939758122027}},"curvature":2.558724769808403},{"time":4.64201588016824,"velocity":1.4617462664553744,"acceleration":2.6999999999999984,"pose":{"translation":{"x":8.42469422822242,"y":-3.0134056781509395},"rotation":{"radians":1.660569973771525}},"curvature":2.403377992375909},{"time":4.6608279272567845,"velocity":1.5125387935944437,"acceleration":2.6999999999999553,"pose":{"translation":{"x":8.421274146820384,"y":-2.9856393217678887},"rotation":{"radians":1.7252672366676054}},"curvature":2.2174698293036887},{"time":4.6794926802698615,"velocity":1.5629336267297513,"acceleration":2.7000000000000695,"pose":{"translation":{"x":8.415985518832432,"y":-2.9574293129623026},"rotation":{"radians":1.7859802657194863}},"curvature":2.010776562563245},{"time":4.698057379227006,"velocity":1.6130583139140415,"acceleration":2.7000000000000672,"pose":{"translation":{"x":8.408870365244315,"y":-2.9288201479256557},"rotation":{"radians":1.8420515027262034}},"curvature":1.7923668295270134},{"time":4.716549825579025,"velocity":1.6629879190644958,"acceleration":2.7000000000000557,"pose":{"translation":{"x":8.399997666655116,"y":-2.899857703124998},"rotation":{"radians":1.8929636493624944}},"curvature":1.5695627507327738},{"time":4.73497919331011,"velocity":1.7127472119384257,"acceleration":1.9844727056292295,"pose":{"translation":{"x":8.389465354059325,"y":-2.8705887044277345},"rotation":{"radians":1.938314095813243}},"curvature":1.347371158386673},{"time":4.771861881519825,"velocity":1.7859399000008374,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.363970307495453,"y":-2.8113190105634533},"rotation":{"radians":2.0110579593986557}},"curvature":0.9124536173243614},{"time":4.810560635969773,"velocity":1.681453262985977,"acceleration":-2.7,"pose":{"translation":{"x":8.333823331135827,"y":-2.7513816880207207},"rotation":{"radians":2.0577476323640127}},"curvature":0.47908696541080487},{"time":4.852783780285694,"velocity":1.5674507733329885,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":8.301053146943241,"y":-2.6911269728789455},"rotation":{"radians":2.074623305236197}},"curvature":7.072736485831222E-14},{"time":4.898284728146264,"velocity":1.4445982141094522,"acceleration":-2.699999999999998,"pose":{"translation":{"x":8.266733786273983,"y":-2.631814820794187},"rotation":{"radians":2.1354557761472757}},"curvature":1.7022343941891003},{"time":4.92219436680593,"velocity":1.3800421897283544,"acceleration":-2.7000000000000055,"pose":{"translation":{"x":8.247737861636002,"y":-2.6038964199044075},"rotation":{"radians":2.2049687740256765}},"curvature":2.3979546500952007},{"time":4.934473152040098,"velocity":1.3468894695960998,"acceleration":-2.700000000000008,"pose":{"translation":{"x":8.237537939048593,"y":-2.59062064364585},"rotation":{"radians":2.2477072756163516}},"curvature":2.7019163959063857},{"time":4.947001587691795,"velocity":1.3130626933365177,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":8.226801210552486,"y":-2.5778784999570945},"rotation":{"radians":2.2950089754821517}},"curvature":2.968523331736559},{"time":4.9598188436481605,"velocity":1.278456102254332,"acceleration":-2.5683644055921784,"pose":{"translation":{"x":8.215486414977088,"y":-2.565721044725696},"rotation":{"radians":2.346225057412905}},"curvature":3.1904413326204444},{"time":4.972966445515144,"velocity":1.2446882696002723,"acceleration":-1.5987330257327055,"pose":{"translation":{"x":8.203560183496762,"y":-2.554193602598797},"rotation":{"radians":2.400638305911147}},"curvature":3.3607297493362194},{"time":4.9864235158144865,"velocity":1.2231740068831076,"acceleration":-0.7302428455274189,"pose":{"translation":{"x":8.190996707833818,"y":-2.5433359619138733},"rotation":{"radians":2.457474333313796}},"curvature":3.474127898243429},{"time":5.00010671403986,"velocity":1.213181949275095,"acceleration":0.057703268858507406,"pose":{"translation":{"x":8.177777408461498,"y":-2.5331825696294823},"rotation":{"radians":2.515924829972318}},"curvature":3.5281621427451455},{"time":5.013933770109019,"velocity":1.2139798156089754,"acceleration":0.7765086640387772,"pose":{"translation":{"x":8.163890602806958,"y":-2.523762726256005},"rotation":{"radians":2.5751797727579544}},"curvature":3.5238148281197113},{"time":5.027827177616089,"velocity":1.2247681669112367,"acceleration":1.430824209885889,"pose":{"translation":{"x":8.149331173454263,"y":-2.5151007807863928},"rotation":{"radians":2.6344636474083636}},"curvature":3.4655886798746485},{"time":5.04171768507299,"velocity":1.2446430412681704,"acceleration":2.020297398329958,"pose":{"translation":{"x":8.134100236347368,"y":-2.507216325626913},"rotation":{"radians":2.6930699539975698}},"curvature":3.3609640284099283},{"time":5.055546998995302,"velocity":1.272582368206107,"acceleration":2.5411557862654943,"pose":{"translation":{"x":8.118204808993106,"y":-2.5001243915278937},"rotation":{"radians":2.750388891214029}},"curvature":3.219412826801262},{"time":5.069269329033684,"velocity":1.3074529465841864,"acceleration":2.700000000000031,"pose":{"translation":{"x":8.101657478664174,"y":-2.49383564251447},"rotation":{"radians":2.8059249194697635}},"curvature":3.0512323735080913},{"time":5.082871433644606,"velocity":1.3441786290336766,"acceleration":2.6999999999999673,"pose":{"translation":{"x":8.084476070602122,"y":-2.4883565708173268},"rotation":{"radians":2.8593032246488836}},"curvature":2.8664614453881616},{"time":5.096373002640785,"velocity":1.3806328653233588,"acceleration":2.700000000000122,"pose":{"translation":{"x":8.066683316220336,"y":-2.483689691803449},"rotation":{"radians":2.9102661971991712}},"curvature":2.6740615970366886},{"time":5.109797065418485,"velocity":1.4168778348231514,"acceleration":2.7000000000000415,"pose":{"translation":{"x":8.048306521307028,"y":-2.479833738906861},"rotation":{"radians":2.9586623973728248}},"curvature":2.48143582286271},{"time":5.123159103962524,"velocity":1.4529553388920564,"acceleration":2.699999999999952,"pose":{"translation":{"x":8.029377234228221,"y":-2.4767838585593775},"rotation":{"radians":3.0044309612898323}},"curvature":2.29426209650171},{"time":5.136467957598987,"velocity":1.4888892437105072,"acceleration":2.6999999999999647,"pose":{"translation":{"x":8.009930914130734,"y":-2.4745318051213445},"rotation":{"radians":3.0475841814080304}},"curvature":2.116564270969832},{"time":5.162928590247706,"velocity":1.5603329518620463,"acceleration":2.6999999999999598,"pose":{"translation":{"x":7.969646574588915,"y":-2.4723724056421568},"rotation":{"radians":3.126358381531149}},"curvature":1.798777713041855},{"time":5.1891562669859015,"velocity":1.6311476790551749,"acceleration":2.699999999999998,"pose":{"translation":{"x":7.9278027831855775,"y":-2.4732291412910583},"rotation":{"radians":-3.087243541809157}},"curvature":1.5365202534925573},{"time":5.2150677617929615,"velocity":1.7011087150342377,"acceleration":2.699999999999975,"pose":{"translation":{"x":7.884790157908639,"y":-2.4769338153140454},"rotation":{"radians":-3.0256053347437564}},"curvature":1.327982266445808},{"time":5.240546387515217,"velocity":1.7699010044843289,"acceleration":2.6999999999999584,"pose":{"translation":{"x":7.841030036725494,"y":-2.4832826711651985},"rotation":{"radians":-2.970608629136081}},"curvature":1.1671199689617542},{"time":5.2654577597502215,"velocity":1.8371617095188382,"acceleration":2.6999999999999655,"pose":{"translation":{"x":7.796963860078591,"y":-2.492042630290536},"rotation":{"radians":-2.921008890513335}},"curvature":1.0471015347946797},{"time":5.289661594391712,"velocity":1.902512063050861,"acceleration":2.7000000000000473,"pose":{"translation":{"x":7.753042553380999,"y":-2.502957529911865},"rotation":{"radians":-2.8756657469648697}},"curvature":0.9619535618192548},{"time":5.313020367672463,"velocity":1.965580750908892,"acceleration":1.1215661133225372,"pose":{"translation":{"x":7.70971590951198,"y":-2.5157543608106328},"rotation":{"radians":-2.8335478327232195}},"curvature":0.9072102624836516},{"time":5.357441913432243,"velocity":2.0154024513344684,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":7.626576414081119,"y":-2.545854974067587},"rotation":{"radians":-2.7553099760356776}},"curvature":0.8795703832964363},{"time":5.399940798627788,"velocity":1.900655461306499,"acceleration":-2.7,"pose":{"translation":{"x":7.550717600975729,"y":-2.5800605032921498},"rotation":{"radians":-2.67951826230657}},"curvature":0.96235978072983},{"time":5.440766508293844,"velocity":1.7904260452081475,"acceleration":-2.7,"pose":{"translation":{"x":7.484614056561228,"y":-2.616216656835822},"rotation":{"radians":-2.5999656277247625}},"curvature":1.1777381795505542},{"time":5.460128391630062,"velocity":1.7381489602003592,"acceleration":-2.7000000000000086,"pose":{"translation":{"x":7.455719444341987,"y":-2.63443758217583},"rotation":{"radians":-2.557044837674098}},"curvature":1.343562726465936},{"time":5.478614925480919,"velocity":1.688235318803046,"acceleration":-2.7,"pose":{"translation":{"x":7.429702966237029,"y":-2.652498427254108},"rotation":{"radians":-2.5114207884447444}},"curvature":1.5448919650328101},{"time":5.496155258778579,"velocity":1.640876418899364,"acceleration":-2.7000000000000117,"pose":{"translation":{"x":7.406526434622094,"y":-2.6702552651621896},"rotation":{"radians":-2.4631846975140186}},"curvature":1.761463317864291},{"time":5.512742205135921,"velocity":1.5960916637345393,"acceleration":-0.8642929805851599,"pose":{"translation":{"x":7.386044354294833,"y":-2.687609700389766},"rotation":{"radians":-2.4133399784343452}},"curvature":1.941293592178788},{"time":5.52830262228724,"velocity":1.5826429044156778,"acceleration":2.6999999999999496,"pose":{"translation":{"x":7.36799330497038,"y":-2.7045151066085356},"rotation":{"radians":-2.364382507512774}},"curvature":1.9840173844607016},{"time":5.542640277059126,"velocity":1.6213545722997702,"acceleration":2.6999999999999615,"pose":{"translation":{"x":7.351981323776924,"y":-2.720982864456058},"rotation":{"radians":-2.320852447213452}},"curvature":1.7427546871430875},{"time":5.56838534333632,"velocity":1.6908662512481933,"acceleration":2.700000000000005,"pose":{"translation":{"x":7.323800296334467,"y":-2.7529784191200086},"rotation":{"radians":-2.277410529203233}},"curvature":-8.09188545777806E-14},{"time":5.620474787731275,"velocity":1.8315077511145694,"acceleration":2.69999999999997,"pose":{"translation":{"x":7.264262994169688,"y":-2.822773834985409},"rotation":{"radians":-2.2773610126325377}},"curvature":-0.03138899213685579},{"time":5.651829047231261,"velocity":1.9161642517645316,"acceleration":2.6999999999999704,"pose":{"translation":{"x":7.226060151486284,"y":-2.867410448854949},"rotation":{"radians":-2.2803524285923484}},"curvature":-0.06673899175004624},{"time":5.687579874460792,"velocity":2.0126914852842654,"acceleration":2.700000000000011,"pose":{"translation":{"x":7.180164808872317,"y":-2.920569261639985},"rotation":{"radians":-2.2859014409696194}},"curvature":-0.08916434704577904},{"time":5.727047104791267,"velocity":2.1192530071765474,"acceleration":2.700000000000001,"pose":{"translation":{"x":7.126461589446334,"y":-2.9819243159545703},"rotation":{"radians":-2.2939130554237446}},"curvature":-0.1068115733272928},{"time":5.768982389003988,"velocity":2.2324782745508953,"acceleration":2.6999999999999784,"pose":{"translation":{"x":7.065729818033371,"y":-3.0500227832761007},"rotation":{"radians":-2.3045363044069718}},"curvature":-0.1265429088515992},{"time":5.81189357272263,"velocity":2.3483384705912256,"acceleration":0.1014106887258778,"pose":{"translation":{"x":6.999431171076387,"y":-3.1225780070675384},"rotation":{"radians":-2.318241254923429}},"curvature":-0.15380595190766438},{"time":5.8552672230126,"velocity":2.352737022339687,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":6.929497326547702,"y":-3.196762545899632},"rotation":{"radians":-2.335870731118705}},"curvature":-0.194861153080391},{"time":5.899717128650442,"velocity":2.2327222771175124,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":6.858117613860428,"y":-3.2695012165731363},"rotation":{"radians":-2.358748813332795}},"curvature":-0.2593013384296272},{"time":5.944934833809084,"velocity":2.1106344731891804,"acceleration":-2.699999999999994,"pose":{"translation":{"x":6.787526663779904,"y":-3.3377641372410336},"rotation":{"radians":-2.3888639030390664}},"curvature":-0.3635256304770087},{"time":5.989418615760242,"velocity":1.9905282619210551,"acceleration":-2.699999999999999,"pose":{"translation":{"x":6.7197920583351305,"y":-3.398859770530754},"rotation":{"radians":-2.4290971067632467}},"curvature":-0.5356610055007257},{"time":6.031701359932838,"velocity":1.8763648526550438,"acceleration":-2.6999999999999975,"pose":{"translation":{"x":6.656601980730205,"y":-3.450727966666397},"rotation":{"radians":-2.4832892798282225}},"curvature":-0.8183587416090278},{"time":6.07060527663177,"velocity":1.7713242775679268,"acceleration":-2.699999999999993,"pose":{"translation":{"x":6.5990528652557545,"y":-3.4922330065909497},"rotation":{"radians":-2.555298056570088}},"curvature":-1.2449404671142639},{"time":6.088591031562925,"velocity":1.72276273925381,"acceleration":-2.7,"pose":{"translation":{"x":6.5725222396601435,"y":-3.509069320874307},"rotation":{"radians":-2.5982323985663447}},"curvature":-1.490434262108501},{"time":6.10560378051922,"velocity":1.6768283170718135,"acceleration":-1.6075173121301318,"pose":{"translation":{"x":6.54743704720037,"y":-3.523456645088511},"rotation":{"radians":-2.6444979603316265}},"curvature":-1.6992170806461648},{"time":6.121654007997198,"velocity":1.6510272985373382,"acceleration":2.699999999999941,"pose":{"translation":{"x":6.523673350632037,"y":-3.535643506256487},"rotation":{"radians":-2.6913081853774186}},"curvature":-1.774003430184897},{"time":6.136551222782785,"velocity":1.6912497784584215,"acceleration":2.7000000000000095,"pose":{"translation":{"x":6.501030412762045,"y":-3.5459911539065083},"rotation":{"radians":-2.7337687491128717}},"curvature":-1.5775458889187617},{"time":6.163448865918772,"velocity":1.763873414925586,"acceleration":0.5898675188170396,"pose":{"translation":{"x":6.457880048959601,"y":-3.5632323648779205},"rotation":{"radians":-2.776857839325408}},"curvature":-1.584925225748621E-13},{"time":6.216287903699245,"velocity":1.795041447037833,"acceleration":1.4843174372266403,"pose":{"translation":{"x":6.369041077151645,"y":-3.5940269028326286},"rotation":{"radians":-2.860821375273488}},"curvature":-1.384057166132905},{"time":6.245331939076744,"velocity":1.8381520151960826,"acceleration":2.7000000000000126,"pose":{"translation":{"x":6.317846915588791,"y":-3.6067906237074308},"rotation":{"radians":-2.9327003132299985}},"curvature":-1.2792101250108316},{"time":6.277062854451142,"velocity":1.9238254867069577,"acceleration":2.699999999999982,"pose":{"translation":{"x":6.259061474304257,"y":-3.6171168133072693},"rotation":{"radians":-2.999364669084655}},"curvature":-0.9467954404791119},{"time":6.311927480859543,"velocity":2.017959978009642,"acceleration":2.699999999999973,"pose":{"translation":{"x":6.190792006175295,"y":-3.6249241061565423},"rotation":{"radians":-3.0522210502140377}},"curvature":-0.6096553728135898},{"time":6.35032925925486,"velocity":2.121644779676995,"acceleration":2.6999999999999797,"pose":{"translation":{"x":6.111496849558919,"y":-3.6304012460923025},"rotation":{"radians":-3.0896606061200957}},"curvature":-0.353851382751024},{"time":6.392361729781593,"velocity":2.235132450099173,"acceleration":2.700000000000023,"pose":{"translation":{"x":6.020002416298989,"y":-3.633945504738575},"rotation":{"radians":-3.11350665356117}},"curvature":-0.18361810354773783},{"time":6.437866439936436,"velocity":2.357995167517252,"acceleration":2.7000000000000157,"pose":{"translation":{"x":5.9155201797332975,"y":-3.636101099980673},"rotation":{"radians":-3.126593778437945}},"curvature":-0.07787241969584908},{"time":6.48649760563623,"velocity":2.489299314906695,"acceleration":2.7000000000000375,"pose":{"translation":{"x":5.797663662700654,"y":-3.637497614439511},"rotation":{"radians":-3.131671858607972}},"curvature":-0.015160834274840121},{"time":6.511840562268768,"velocity":2.557725297814548,"acceleration":0.9714232436397892,"pose":{"translation":{"x":5.733713390949158,"y":-3.6381161480355493},"rotation":{"radians":-3.1319535332838484}},"curvature":0.0051750895814174375},{"time":6.53800398336805,"velocity":2.5831410532035264,"acceleration":-0.3243754664065556,"pose":{"translation":{"x":5.666465425547974,"y":-3.638788413945925},"rotation":{"radians":-3.1310713777692607}},"curvature":0.02014361017736069},{"time":6.565334674888355,"velocity":2.5742756473944137,"acceleration":-0.2095071537532404,"pose":{"translation":{"x":5.595992098246022,"y":-3.6395896958069844},"rotation":{"radians":-3.1292495195133143}},"curvature":0.030842132270335474},{"time":6.593960462416835,"velocity":2.568278340125377,"acceleration":-0.12400652059046208,"pose":{"translation":{"x":5.522394054137359,"y":-3.640589066014985},"rotation":{"radians":-3.1266908581421378}},"curvature":0.03812139677701209},{"time":6.623808803743112,"velocity":2.564576951172109,"acceleration":-0.05881554574041326,"pose":{"translation":{"x":5.445800782536409,"y":-3.641847461303413},"rotation":{"radians":-3.1235808397927354}},"curvature":0.04263096787444006},{"time":6.654797679446467,"velocity":2.562754323535734,"acceleration":-0.007440045050724061,"pose":{"translation":{"x":5.366371147853182,"y":-3.6434157583203124},"rotation":{"radians":-3.1200912947252863}},"curvature":0.044856344793040924},{"time":6.686834863283236,"velocity":2.5625159654446903,"acceleration":0.03493640086990599,"pose":{"translation":{"x":5.284293920468491,"y":-3.6453328492056007},"rotation":{"radians":-3.1163842924016727}},"curvature":0.0451476073659524},{"time":6.71981715782295,"velocity":2.563668248108339,"acceleration":0.07207292306155494,"pose":{"translation":{"x":5.199788307609177,"y":-3.6476237171683965},"rotation":{"radians":-3.112616057150509}},"curvature":0.043740073149245745},{"time":6.753629586934229,"velocity":2.5661052087102005,"acceleration":0.10713649323979355,"pose":{"translation":{"x":5.113104484223335,"y":-3.650297512064338},"rotation":{"radians":-3.108941055840065}},"curvature":0.040767445157153345},{"time":6.788144529501378,"velocity":2.5698030186212177,"acceleration":0.1430927209925127,"pose":{"translation":{"x":5.024524123855524,"y":-3.6533456259729093},"rotation":{"radians":-3.1055164327073452}},"curvature":0.03626758904698537},{"time":6.823220770684417,"velocity":2.5748221734142884,"acceleration":0.18309357503111698,"pose":{"translation":{"x":4.934360929521998,"y":-3.656739768774758},"rotation":{"radians":-3.102507039797005}},"curvature":0.030180469205327767},{"time":6.8587024363543785,"velocity":2.5813186384298605,"acceleration":0.23094281361280353,"pose":{"translation":{"x":4.842961164585926,"y":-3.660430043729022},"rotation":{"radians":-3.100091409608961}},"curvature":0.022336848503019185},{"time":6.894417760741938,"velocity":2.5895668359330175,"acceleration":0.29175634963114444,"pose":{"translation":{"x":4.75070418363261,"y":-3.664343023050649},"rotation":{"radians":-3.0984691595038396}},"curvature":0.012434945959572133},{"time":6.930177613372969,"velocity":2.5999999999999948,"acceleration":-1.109895112252858,"pose":{"translation":{"x":4.658002963344707,"y":-3.668379823487721},"rotation":{"radians":-3.0978705349882136}},"curvature":-6.536113973974191E-15},{"time":6.966187245985808,"velocity":2.5600330847689827,"acceleration":-0.9087239167292626,"pose":{"translation":{"x":4.565183191430934,"y":-3.6723688305926707},"rotation":{"radians":-3.1001622138304556}},"curvature":-0.048184797834389725},{"time":7.002795309338471,"velocity":2.5267664620552783,"acceleration":-0.7333491332714035,"pose":{"translation":{"x":4.472143318281693,"y":-3.6759544573219087},"rotation":{"radians":-3.10662435054302}},"curvature":-0.08945402810085602},{"time":7.039971609624855,"velocity":2.499503254462021,"acceleration":-0.5897608589314204,"pose":{"translation":{"x":4.3787569347648425,"y":-3.67877791386903},"rotation":{"radians":-3.1166502834141783}},"curvature":-0.12409471361783743},{"time":7.077659203689805,"velocity":2.4772765866152175,"acceleration":-0.47851411070672134,"pose":{"translation":{"x":4.28499181786043,"y":-3.6805270035762203},"rotation":{"radians":-3.129681392766839}},"curvature":-0.15290015224118203},{"time":7.115781432955378,"velocity":2.459034561980044,"acceleration":-0.3975116795361816,"pose":{"translation":{"x":4.190901104860151,"y":-3.6809338667145757},"rotation":{"radians":3.1379531294552194}},"curvature":-0.17693062112024188},{"time":7.154246880132229,"velocity":2.443744097468664,"acceleration":-0.3437352371564912,"pose":{"translation":{"x":4.096614467566786,"y":-3.679772724264408},"rotation":{"radians":3.12028279056059}},"curvature":-0.19734934791601944},{"time":7.192952945953665,"velocity":2.430439458754138,"acceleration":-0.31424121755001644,"pose":{"translation":{"x":4.002329286493645,"y":-3.676857621695557},"rotation":{"radians":3.100804037663684}},"curvature":-0.21532525813809772},{"time":7.231788622693848,"velocity":2.418235688410924,"acceleration":-0.30670128783893735,"pose":{"translation":{"x":3.908301825064018,"y":-3.6720401727476966},"rotation":{"radians":3.079740631842971}},"curvature":-0.23198771086838318},{"time":7.2706368998239075,"velocity":2.406320871784811,"acceleration":-0.31968482412405264,"pose":{"translation":{"x":3.814838403810609,"y":-3.6652073032106465},"rotation":{"radians":3.057233144001043}},"curvature":-0.24841869348892615},{"time":7.309377108610757,"velocity":2.393936214952258,"acceleration":-0.3528077874299479,"pose":{"translation":{"x":3.7222865745749876,"y":-3.656278994704678},"rotation":{"radians":3.033343869715562}},"curvature":-0.26567096173854743},{"time":7.347887409195935,"velocity":2.380349481009539,"acceleration":-0.4068179263329628,"pose":{"translation":{"x":3.6310262947070306,"y":-3.6452060284608265},"rotation":{"radians":3.00806122540392}},"curvature":-0.28480427180815576},{"time":7.386047546449169,"velocity":2.3648252531035974,"acceleration":-0.48364425701864866,"pose":{"translation":{"x":3.541461101264366,"y":-3.6319677291011976},"rotation":{"radians":2.981302847226315}},"curvature":-0.30693514596715016},{"time":7.423741944579849,"velocity":2.3465945739259197,"acceleration":-0.5863991825377483,"pose":{"translation":{"x":3.4540092852118165,"y":-3.6165697084192776},"rotation":{"radians":2.9529169637619845}},"curvature":-0.3332980998357211},{"time":7.4608631670086085,"velocity":2.324826719438893,"acceleration":-0.7192730944868855,"pose":{"translation":{"x":3.3690950656208436,"y":-3.599041609160243},"rotation":{"radians":2.922681897901662}},"curvature":-0.36531765638446073},{"time":7.497315726958837,"velocity":2.2986073738415236,"acceleration":-0.8871923635175112,"pose":{"translation":{"x":3.2871397638689923,"y":-3.5794348488012666},"rotation":{"radians":2.8903038411287967}},"curvature":-0.4046903204941369},{"time":7.533020182119614,"velocity":2.2669306538793284,"acceleration":-1.0950147217860615,"pose":{"translation":{"x":3.208552977839335,"y":-3.557820363331831},"rotation":{"radians":2.8554134272328864}},"curvature":-0.4534729843876117},{"time":7.567917364950333,"velocity":2.228717724930832,"acceleration":-1.345920941154476,"pose":{"translation":{"x":3.133723756119915,"y":-3.5342863510340328},"rotation":{"radians":2.817562245050194}},"curvature":-0.5141669287796017},{"time":7.601972462399997,"velocity":2.1828822561202723,"acceleration":-1.6385858922980785,"pose":{"translation":{"x":3.0630117722031907,"y":-3.5089360162628953},"rotation":{"radians":2.776221463865625}},"curvature":-0.5897709051707558},{"time":7.635178429173778,"velocity":2.128471427424636,"acceleration":-1.9628278922102822,"pose":{"translation":{"x":2.996738498685479,"y":-3.4818853132266767},"rotation":{"radians":2.730786468275186}},"curvature":-0.683746599456185},{"time":7.6675578552982175,"velocity":2.0649161866938233,"acceleration":-2.327261201155125,"pose":{"translation":{"x":2.9351783814664003,"y":-3.4532606897671765},"rotation":{"radians":2.6805941284248154}},"curvature":-0.7997870623452412},{"time":7.699170220617474,"velocity":1.991345955409575,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.8785500139483227,"y":-3.423196831140048},"rotation":{"radians":2.6249632802939846}},"curvature":-0.9411983547465382},{"time":7.730117868356848,"velocity":1.9077873065132662,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.8270073112358043,"y":-3.391834403795105},"rotation":{"radians":2.563273815132427}},"curvature":-1.1096110523006073},{"time":7.760458255707204,"velocity":1.8258682606673058,"acceleration":-2.6999999999999966,"pose":{"translation":{"x":2.780630684335039,"y":-3.3593177991566328},"rotation":{"radians":2.4951035746793218}},"curvature":-1.3027037636632286},{"time":7.790209061154435,"velocity":1.7455410859597802,"acceleration":-2.520915315934618,"pose":{"translation":{"x":2.7394182143532984,"y":-3.3257928774036944},"rotation":{"radians":2.4204400037773532}},"curvature":-1.510831736764557},{"time":7.819404425030332,"velocity":1.6719420460107473,"acceleration":-1.9146340759452602,"pose":{"translation":{"x":2.7032768266983798,"y":-3.291404711250441},"rotation":{"radians":2.339966241154922}},"curvature":-1.71320316277457},{"time":7.84799010905702,"velocity":1.617210921289047,"acceleration":-0.8953290763434051,"pose":{"translation":{"x":2.6720134652780447,"y":-3.2562953297264228},"rotation":{"radians":2.2553800405381295}},"curvature":-1.8756363723003466},{"time":7.875761831385261,"velocity":1.5923460907884373,"acceleration":0.6471272646584905,"pose":{"translation":{"x":2.645326266699467,"y":-3.220601461956895},"rotation":{"radians":2.169644038330739}},"curvature":-1.9531199578135712},{"time":7.902368223735602,"velocity":1.609563812692544,"acceleration":2.699999999999989,"pose":{"translation":{"x":2.6227957344686748,"y":-3.184452280943127},"rotation":{"radians":2.087027023954205}},"curvature":-1.8992113195957256},{"time":7.927377833238739,"velocity":1.6770897583510143,"acceleration":2.7000000000000433,"pose":{"translation":{"x":2.603875913189997,"y":-3.147967147342715},"rotation":{"radians":2.0128426549062963}},"curvature":-1.6794199317853202},{"time":7.950813340116328,"velocity":1.7403656269205052,"acceleration":-1.5002082255398563,"pose":{"translation":{"x":2.5878855627655017,"y":-3.1112533532498854},"rotation":{"radians":1.9529404458216484}},"curvature":-1.2808228953852543},{"time":7.996786069658067,"velocity":1.6713969599114693,"acceleration":-2.7000000000000046,"pose":{"translation":{"x":2.561238935772726,"y":-3.037495071828908},"rotation":{"radians":1.8988163915220286}},"curvature":1.3733156427988944E-14},{"time":8.020652800120878,"velocity":1.6069567876618787,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.5483214632955575,"y":-3.0005673916527327},"rotation":{"radians":1.9237125960812718}},"curvature":1.2139295083630919},{"time":8.04600240630976,"velocity":1.5385128509518942,"acceleration":-2.6999999999999957,"pose":{"translation":{"x":2.533411783854248,"y":-2.963592055376708},"rotation":{"radians":1.9898481047384622}},"curvature":2.0239261536773245},{"time":8.059464063752465,"velocity":1.5021663758565929,"acceleration":-2.330370381065069,"pose":{"translation":{"x":2.524682191327289,"y":-2.9450808888935773},"rotation":{"radians":2.033851457021515}},"curvature":2.255659185039662},{"time":8.073574994350423,"velocity":1.469282681141846,"acceleration":-0.35580604250274306,"pose":{"translation":{"x":2.514867052094596,"y":-2.9265554358697705},"rotation":{"radians":2.082592536079697}},"curvature":2.3752190867509495},{"time":8.088288667437302,"velocity":1.4640474673501243,"acceleration":1.112232011091173,"pose":{"translation":{"x":2.503816771912779,"y":-2.9080192814336328},"rotation":{"radians":2.1342325270868994}},"curvature":2.3947490867115873},{"time":8.103442443599208,"velocity":1.4809019822863065,"acceleration":2.225228301917792,"pose":{"translation":{"x":2.4914025599346905,"y":-2.8894779233130747},"rotation":{"radians":2.1871069828902323}},"curvature":2.3323665366285047},{"time":8.118904351644124,"velocity":1.5153082576695027,"acceleration":2.6999999999999282,"pose":{"translation":{"x":2.4775156386177857,"y":-2.8709386650943522},"rotation":{"radians":2.2398007084312432}},"curvature":2.2093286977049846},{"time":8.13460496183046,"velocity":1.5576999051726101,"acceleration":2.699999999999919,"pose":{"translation":{"x":2.462066453632486,"y":-2.85241050948084},"rotation":{"radians":2.291190654612604}},"curvature":2.0469278631271264},{"time":8.150552849969785,"velocity":1.6007592031487854,"acceleration":2.7000000000000672,"pose":{"translation":{"x":2.444983883770539,"y":-2.8339040515518112},"rotation":{"radians":2.340453464667204}},"curvature":1.8639875473056107},{"time":8.166782276554665,"velocity":1.6445786549279624,"acceleration":2.6999999999999873,"pose":{"translation":{"x":2.426214450853383,"y":-2.8154313720212123},"rotation":{"radians":2.3870431753564345}},"curvature":1.6754286944397923},{"time":8.200153490406636,"velocity":1.7346809323282864,"acceleration":2.7000000000000224,"pose":{"translation":{"x":2.3834845577378108,"y":-2.7786424587371226},"rotation":{"radians":2.471148718145685}},"curvature":1.3201689342844123},{"time":8.234766242981639,"velocity":1.828135364280793,"acceleration":2.699999999999967,"pose":{"translation":{"x":2.333771785968804,"y":-2.7421660718671483},"rotation":{"radians":2.542970309683693}},"curvature":1.0244834787427641},{"time":8.270508205812414,"velocity":1.9246386639238817,"acceleration":2.700000000000017,"pose":{"translation":{"x":2.277202869839584,"y":-2.7061414523663716},"rotation":{"radians":2.603537603515345}},"curvature":0.7950613432598573},{"time":8.307159742124714,"velocity":2.023597811967091,"acceleration":2.699999999999978,"pose":{"translation":{"x":2.214110983321141,"y":-2.6707213641872403},"rotation":{"radians":2.6544646645509116}},"curvature":0.6230751943600459},{"time":8.344433453624506,"velocity":2.124236833016526,"acceleration":2.699999999999989,"pose":{"translation":{"x":2.145010457129812,"y":-2.636068678560426},"rotation":{"radians":2.6974228344296773}},"curvature":0.49603672598420384},{"time":8.382005863287787,"velocity":2.2256823391073866,"acceleration":2.6999999999999886,"pose":{"translation":{"x":2.0705714957948604,"y":-2.6023529582756857},"rotation":{"radians":2.7339158993163672}},"curvature":0.40262090735208655},{"time":8.419540733169217,"velocity":2.327026487787249,"acceleration":1.4448487423563816,"pose":{"translation":{"x":1.991594894726059,"y":-2.5697470419627213},"rotation":{"radians":2.765215330131297}},"curvature":0.3339540727498021},{"time":8.457069282891482,"velocity":2.3812495656559207,"acceleration":0.00886103854902697,"pose":{"translation":{"x":1.9089867572812675,"y":-2.5384236283720374},"rotation":{"radians":2.7923672320049677}},"curvature":0.2835299883277155},{"time":8.495002750188378,"velocity":2.381585695571937,"acceleration":-2.699999999999998,"pose":{"translation":{"x":1.8237332118340135,"y":-2.508551860655804},"rotation":{"radians":2.816225516240684}},"curvature":0.24674776446836313},{"time":8.534227113442524,"velocity":2.275679914785742,"acceleration":-2.700000000000002,"pose":{"translation":{"x":1.7368751288410733,"y":-2.4802939106487143},"rotation":{"radians":2.83749078341364}},"curvature":0.22044501782389023},{"time":8.575359229872117,"velocity":2.1646232004258437,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.6494828379100515,"y":-2.453801563148844},"rotation":{"radians":2.856746993485445}},"curvature":0.2025353391347686},{"time":8.618204469798997,"velocity":2.04894105262327,"acceleration":-2.700000000000007,"pose":{"translation":{"x":1.56263084486696,"y":-2.4292128001985134},"rotation":{"radians":2.8744937882746595}},"curvature":0.1917647479857161},{"time":8.662543333724372,"velocity":1.9292261200247565,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.477372548823801,"y":-2.4066483853651452},"rotation":{"radians":2.891174796464362}},"curvature":0.18757752783871454},{"time":8.708133233046397,"velocity":1.8061333918552906,"acceleration":-2.699999999999999,"pose":{"translation":{"x":1.394714959246144,"y":-2.3862084480221246},"rotation":{"radians":2.9072032101855347}},"curvature":0.19008413851562195},{"time":8.754710873486962,"velocity":1.680373762665763,"acceleration":-2.700000000000001,"pose":{"translation":{"x":1.3155934130207094,"y":-2.36796906762966},"rotation":{"radians":2.9229862244829046}},"curvature":0.20013636925635758},{"time":8.801996058487173,"velocity":1.5527037631651945,"acceleration":-2.7000000000000033,"pose":{"translation":{"x":1.240846291522944,"y":-2.351978858015642},"rotation":{"radians":2.9389498734576893}},"curvature":0.21953170955605658},{"time":8.849698304007033,"velocity":1.4239077002615745,"acceleration":-2.699999999999995,"pose":{"translation":{"x":1.1711897376846057,"y":-2.3382555516565025},"rotation":{"radians":2.955565251180675}},"curvature":0.2513845268711664},{"time":8.897528711436449,"velocity":1.2947656002021515,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":1.1071923730613418,"y":-2.3267825839580762},"rotation":{"radians":2.973375332851433}},"curvature":0.30069580485984204},{"time":8.992567949480712,"velocity":1.0381596574826413,"acceleration":-2.6999999999999984,"pose":{"translation":{"x":0.9975603932075479,"y":-2.3103294264988667},"rotation":{"radians":3.0152162857097102}},"curvature":0.48492337289951704},{"time":9.086254260156872,"velocity":0.7852066186570078,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":0.9125881454525704,"y":-2.3016711301453974},"rotation":{"radians":3.0699921387064424}},"curvature":0.8466513447276512},{"time":9.183718227159597,"velocity":0.5220539077496517,"acceleration":-2.7,"pose":{"translation":{"x":0.8489349735947764,"y":-2.2990920802505044},"rotation":{"radians":3.1357118422547248}},"curvature":1.1422919320328881},{"time":9.377071526326134,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":0.7984727179024591,"y":-2.2999999999999927},"rotation":{"radians":-3.109345771154581}},"curvature":-1.795475984210717E-13}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 75955a6..76e9547 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -70,6 +70,7 @@ public class Robot extends TimedRobot { /* Builds Autos */ m_robotContainer.buildAutos(); SmartDashboard.putString("Is Auto Start?", "NAH"); + m_robotContainer.m_robotLime.limeOff(); } @Override diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index c851e5f..100b794 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -105,7 +105,7 @@ public class RobotContainer { /* Cameras */ private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40); private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40); - private final LimeLight m_robotLime = new LimeLight(); + public final LimeLight m_robotLime = new LimeLight(); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index d8e39a4..9ea2c96 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -20,7 +20,7 @@ public class LimeLight extends SubsystemBase { public void limeOff(){ NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } public void limeOn(){ From 05f8eb14b130e358776097de39a02017a432c841 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 27 Mar 2021 16:20:46 -0600 Subject: [PATCH 21/30] Bounce testijg --- PathWeaver/Paths/Bounce1 | 2 +- PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Bounce1.wpilib.json | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 8 ++++---- .../frc4388/robot/commands/auto/DriveOffLineForward.java | 7 ++++++- src/main/java/frc4388/robot/subsystems/Drive.java | 2 +- 6 files changed, 14 insertions(+), 9 deletions(-) diff --git a/PathWeaver/Paths/Bounce1 b/PathWeaver/Paths/Bounce1 index 3f78c70..fe78803 100644 --- a/PathWeaver/Paths/Bounce1 +++ b/PathWeaver/Paths/Bounce1 @@ -1,3 +1,3 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.2190625523416865,-2.295277716936159,2.158615473813051,-0.2968869419570952,true, +1.2190625523416865,-2.295277716936159,2.4431321265219355,-0.012370289248212707,true, 2.295277716936159,-0.6685846807962377,-0.061851446241061314,0.5442927269213425,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index 4fb66d3..ec4f6d5 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 2.6, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Slalom Path", + "gameName": "Bounce Path", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/paths/Bounce1.wpilib.json b/src/main/deploy/paths/Bounce1.wpilib.json index e6d8b91..4d9bc17 100644 --- a/src/main/deploy/paths/Bounce1.wpilib.json +++ b/src/main/deploy/paths/Bounce1.wpilib.json @@ -1 +1 @@ -[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2190625523416865,"y":-2.295277716936159},"rotation":{"radians":-0.13667831434709032}},"curvature":0.0},{"time":0.22438746704252197,"velocity":0.6058461610148095,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.2864606822508553,"y":-2.304092719711363},"rotation":{"radians":-0.1170421427859319}},"curvature":0.5643286724104043},{"time":0.31659154428955705,"velocity":0.8547971695818043,"acceleration":2.700000000000002,"pose":{"translation":{"x":1.3535125948797755,"y":-2.3103001998044204},"rotation":{"radians":-0.06200050429081461}},"curvature":1.0620304408056782},{"time":0.3865335497601475,"velocity":1.0436405843523986,"acceleration":2.699999999999999,"pose":{"translation":{"x":1.4198872043666615,"y":-2.3117422180116645},"rotation":{"radians":0.02340135914057638}},"curvature":1.499027877863022},{"time":0.416844551908855,"velocity":1.125480290153909,"acceleration":2.6999999999999957,"pose":{"translation":{"x":1.4527217018630596,"y":-2.3101287966124655},"rotation":{"radians":0.07581618388523016}},"curvature":1.685127643900189},{"time":0.44497336103755447,"velocity":1.2014280748013975,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.4852704747922563,"y":-2.306721971042591},"rotation":{"radians":0.1336105355281614}},"curvature":1.8407145612445912},{"time":0.471379880600669,"velocity":1.2727256776218068,"acceleration":2.6999999999999953,"pose":{"translation":{"x":1.5174970307016695,"y":-2.30137640225166},"rotation":{"radians":0.19578792312700474}},"curvature":1.9585936486426558},{"time":0.4964217065576293,"velocity":1.3403386077055994,"acceleration":2.7,"pose":{"translation":{"x":1.549366017414454,"y":-2.2939715408501544},"rotation":{"radians":0.26122235838180147}},"curvature":2.03295328985009},{"time":0.5203871822425515,"velocity":1.4050453920548895,"acceleration":2.6999999999999975,"pose":{"translation":{"x":1.5808432416930818,"y":-2.284410619275986},"rotation":{"radians":0.3287008506010951}},"curvature":2.0608068154284185},{"time":0.5435135951843582,"velocity":1.4674867069977673,"acceleration":2.699999999999998,"pose":{"translation":{"x":1.6118956879029251,"y":-2.2726196439610704},"rotation":{"radians":0.3969894480167388}},"curvature":2.0429019581541517},{"time":0.5659975247394938,"velocity":1.5281933167966335,"acceleration":2.7000000000000064,"pose":{"translation":{"x":1.6424915366758384,"y":-2.2585463874978995},"rotation":{"radians":0.46491024547085325}},"curvature":1.9837890618025127},{"time":0.5880010283970155,"velocity":1.5876027766719423,"acceleration":2.70000000000001,"pose":{"translation":{"x":1.67260018357374,"y":-2.2421593808061115},"rotation":{"radians":0.5314136858990691}},"curvature":1.8910366087386976},{"time":0.6096557249934808,"velocity":1.6460704574823986,"acceleration":2.3824430758266333,"pose":{"translation":{"x":1.7021922577521942,"y":-2.223446905299065},"rotation":{"radians":0.5956324894326599}},"curvature":1.7738908881089923},{"time":0.6311088152873973,"velocity":1.6971812239082236,"acceleration":2.39609176688845,"pose":{"translation":{"x":1.7312396406239934,"y":-2.2024159850504086},"rotation":{"radians":0.6569096615732013}},"curvature":1.6418268507415719},{"time":0.6524749443925159,"velocity":1.748376429947274,"acceleration":2.5423972750022616,"pose":{"translation":{"x":1.7597154845227396,"y":-2.179091378960654},"rotation":{"radians":0.7148003790857229}},"curvature":1.5033763689458892},{"time":0.6737841905632574,"velocity":1.8025529993441198,"acceleration":2.5993191212527873,"pose":{"translation":{"x":1.7875942313664275,"y":-2.153514572923748},"rotation":{"radians":0.7690532266628125}},"curvature":1.3654279101692903},{"time":0.6950460822266684,"velocity":1.857819440898829,"acceleration":2.579218978047936,"pose":{"translation":{"x":1.8148516313210254,"y":-2.1257427719936435},"rotation":{"radians":0.8195788318011353}},"curvature":1.2329942768056759},{"time":0.7162770095253918,"velocity":1.9125786515092522,"acceleration":2.43338352449836,"pose":{"translation":{"x":1.8414647614640578,"y":-2.0958478925508723},"rotation":{"radians":0.8664136765870671}},"curvature":1.1093247469853833},{"time":0.7587269745945849,"velocity":2.015875697124158,"acceleration":2.1245035714402802,"pose":{"translation":{"x":1.8926732671647957,"y":-2.030044073281779},"rotation":{"radians":0.9495798158971775}},"curvature":0.89432735819266},{"time":0.8012650300854439,"velocity":2.1062479479366125,"acceleration":1.7669130771236268,"pose":{"translation":{"x":1.9410636125360727,"y":-1.9569343750220183},"rotation":{"radians":1.0201473202306437}},"curvature":0.7235264433649939},{"time":0.8439404610869192,"velocity":2.1816517250450063,"acceleration":1.4244526372270472,"pose":{"translation":{"x":1.9865020866994656,"y":-1.8775209375629944},"rotation":{"radians":1.080021306548925}},"curvature":0.5918444106673741},{"time":0.8867044214537462,"velocity":2.242566961167806,"acceleration":1.1252799160815283,"pose":{"translation":{"x":2.028878001065319,"y":-1.7929445299122628},"rotation":{"radians":1.1310447963445298}},"curvature":0.49193108190754337},{"time":0.9294101433394317,"velocity":2.290622852307531,"acceleration":-0.06023521002664441,"pose":{"translation":{"x":2.0681042865673716,"y":-1.7044522996238305},"rotation":{"radians":1.1748459816272578}},"curvature":0.41685943141170323},{"time":0.9721945986679412,"velocity":2.288045721654943,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.1041180908973773,"y":-1.6133655221284542},"rotation":{"radians":1.2128035189738537}},"curvature":0.36102176191660384},{"time":1.0161481138765462,"velocity":2.169371230591709,"acceleration":-2.700000000000004,"pose":{"translation":{"x":2.1368813757397325,"y":-1.5210473500639399},"rotation":{"radians":1.2460656619288912}},"curvature":0.32023752262865446},{"time":1.0620737216703373,"velocity":2.045372089548473,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.166381514006097,"y":-1.4288705626054419},"rotation":{"radians":1.2755894219550927}},"curvature":0.2916029622975603},{"time":1.1097296494911872,"velocity":1.9167010844321783,"acceleration":-2.700000000000003,"pose":{"translation":{"x":2.1926318870700214,"y":-1.3381853147957623},"rotation":{"radians":1.3021844585295703}},"curvature":0.2733200598956795},{"time":1.1588367235587358,"velocity":1.784111984449797,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.215672482001568,"y":-1.250286886875649},"rotation":{"radians":1.326556269034668}},"curvature":0.2646072442463823},{"time":1.2090793402466995,"velocity":1.6484569193922949,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":2.2355704888019376,"y":-1.1663834336140964},"rotation":{"radians":1.3493482566795647}},"curvature":0.26575243847025265},{"time":1.260106347293777,"velocity":1.5106840003651854,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.252420897638091,"y":-1.0875637336386417},"rotation":{"radians":1.371184938708623}},"curvature":0.2783830448470933},{"time":1.311532833633159,"velocity":1.3718324872488539,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2663470960773764,"y":-1.014764938765669},"rotation":{"radians":1.3927203241814738}},"curvature":0.3060902519064523},{"time":1.362944728553117,"velocity":1.2330203709649672,"acceleration":-2.7,"pose":{"translation":{"x":2.27750146632215,"y":-0.9487403233307015},"rotation":{"radians":1.4146968384455714}},"curvature":0.35567097701480005},{"time":1.4639957714232565,"velocity":0.9601825552155909,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.2922528076203808,"y":-0.8389138366943976},"rotation":{"radians":1.4638501053751873}},"curvature":0.5793213657302914},{"time":1.560302229108694,"velocity":0.7001551194649095,"acceleration":-2.7,"pose":{"translation":{"x":2.298496566767544,"y":-0.75920739334815},"rotation":{"radians":1.5292488420790011}},"curvature":1.1903140188336137},{"time":1.606657073494272,"velocity":0.574997039623849,"acceleration":-2.700000000000002,"pose":{"translation":{"x":2.299134147724131,"y":-0.7296595314270296},"rotation":{"radians":1.5718987210540936}},"curvature":1.739266666769078},{"time":1.653402330862959,"velocity":0.448784844728394,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2985565261744956,"y":-0.7057380303558152},"rotation":{"radians":1.6201260709062921}},"curvature":2.2622779404584725},{"time":1.8196189400216236,"velocity":0.0,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":2.2952777169361562,"y":-0.6685846807962372},"rotation":{"radians":1.683947308385398}},"curvature":9.41080494104515E-14}] \ No newline at end of file +[{"time":0.0,"velocity":0.0,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2190625523416865,"y":-2.295277716936159},"rotation":{"radians":-0.005063247870847721}},"curvature":0.0},{"time":0.23764169808406713,"velocity":0.6416325848269814,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.2953018763449697,"y":-2.295251525617249},"rotation":{"radians":0.010949549347500726}},"curvature":0.40972371495957366},{"time":0.33542236151992944,"velocity":0.9056403761038098,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.370912030261624,"y":-2.2929007644225723},"rotation":{"radians":0.055714394589566285}},"curvature":0.7669736685380631},{"time":0.4096876384931884,"velocity":1.106156623931609,"acceleration":2.7000000000000024,"pose":{"translation":{"x":1.4453236780664336,"y":-2.2863057443118926},"rotation":{"radians":0.12498321185020449}},"curvature":1.0800248800896324},{"time":0.44186280346512774,"velocity":1.1930295693558453,"acceleration":2.700000000000006,"pose":{"translation":{"x":1.4819194496977797,"y":-2.2809310487777457},"rotation":{"radians":0.16750843496324888}},"curvature":1.2167808919573002},{"time":0.47168344191293404,"velocity":1.2735452931649225,"acceleration":2.700000000000003,"pose":{"translation":{"x":1.5180305251667259,"y":-2.273961920668121},"rotation":{"radians":0.21452182721062504}},"curvature":1.3366350444133313},{"time":0.49961027761634846,"velocity":1.3489477495641415,"acceleration":2.7000000000000055,"pose":{"translation":{"x":1.5536030650507113,"y":-2.2652703679026183},"rotation":{"radians":0.26536263992327724}},"curvature":1.4362096180614292},{"time":0.5259948559351011,"velocity":1.4201861110247738,"acceleration":2.7000000000000033,"pose":{"translation":{"x":1.5885868631044722,"y":-2.2547506951601366},"rotation":{"radians":0.319301168365105}},"curvature":1.5123140768865972},{"time":0.5511162592243557,"velocity":1.4880138999057613,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.6229352695319808,"y":-2.242318591437087},"rotation":{"radians":0.3755508101995731}},"curvature":1.5625402389991099},{"time":0.575202083272446,"velocity":1.553045624835605,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.6566051142583884,"y":-2.2279102176056074},"rotation":{"radians":0.43329232863303013}},"curvature":1.5857699243094716},{"time":0.5984408959914688,"velocity":1.6157904191769663,"acceleration":2.6999999999999984,"pose":{"translation":{"x":1.6895566302019644,"y":-2.2114812939717736},"rotation":{"radians":0.49170701115109644}},"curvature":1.582475933416692},{"time":0.6209899009134207,"velocity":1.6766727324662365,"acceleration":2.6999999999999993,"pose":{"translation":{"x":1.7217533765460369,"y":-2.193006187833815},"rotation":{"radians":0.550013546001952}},"curvature":1.5547418114095763},{"time":0.642979868898357,"velocity":1.7360456460255647,"acceleration":1.6879997853718869,"pose":{"translation":{"x":1.7531621620109346,"y":-2.172477001040325},"rotation":{"radians":0.6075027337768031}},"curvature":1.5060027623166354},{"time":0.6646509709102172,"velocity":1.7726264615703569,"acceleration":1.4286093250786047,"pose":{"translation":{"x":1.7837529681259259,"y":-2.149902657548476},"rotation":{"radians":0.66356490346266}},"curvature":1.440586659147591},{"time":0.6862370242380261,"velocity":1.8034644986461088,"acceleration":1.6268592413124754,"pose":{"translation":{"x":1.8134988725011614,"y":-2.1253079909822326},"rotation":{"radians":0.7177068279802047}},"curvature":1.3631778763922657},{"time":0.7077881227895433,"velocity":1.8385251024850804,"acceleration":1.7643488783697436,"pose":{"translation":{"x":1.8423759720996122,"y":-2.0987328321905636},"rotation":{"radians":0.769557329886478}},"curvature":1.2783242186863626},{"time":0.729293124524764,"velocity":1.8764674281759566,"acceleration":1.8446740404154778,"pose":{"translation":{"x":1.870363306509013,"y":-2.0702310968056565},"rotation":{"radians":0.8188628711882234}},"curvature":1.1900687366845921},{"time":0.7507474810992104,"velocity":1.916043722802655,"acceleration":1.8670531709141556,"pose":{"translation":{"x":1.8974427812138006,"y":-2.03986987280113},"rotation":{"radians":0.8654757371813367}},"curvature":1.10173694841449},{"time":0.7934978282307765,"velocity":1.9958608939723264,"acceleration":1.7723531568910438,"pose":{"translation":{"x":1.9488196425624462,"y":-1.9738976978841287},"rotation":{"radians":0.9504629314574979}},"curvature":0.9342469087335289},{"time":0.8360697947251532,"velocity":2.0713134531836945,"acceleration":1.5868111672064373,"pose":{"translation":{"x":1.996416202288854,"y":-1.9015817852692374},"rotation":{"radians":1.0248137424279251}},"curvature":0.787784484659639},{"time":0.8784534346768569,"velocity":2.138568286365915,"acceleration":1.3642881010655703,"pose":{"translation":{"x":2.040183050287781,"y":-1.8238399739746793},"rotation":{"radians":1.0894645028484775}},"curvature":0.6659464487247512},{"time":0.9205874994340326,"velocity":2.196051289563656,"acceleration":1.139730722918328,"pose":{"translation":{"x":2.080109264907537,"y":-1.7417132660700458},"rotation":{"radians":1.1456154277171473}},"curvature":0.567725938392014},{"time":0.9623467724696898,"velocity":2.2436456160091294,"acceleration":-0.4261087441360956,"pose":{"translation":{"x":2.1162199576520844,"y":-1.6563366285391186},"rotation":{"radians":1.1945018786066128}},"curvature":0.49021075431900635},{"time":1.0040610697871553,"velocity":2.2258707891666645,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":2.1485738178831406,"y":-1.5689097951426918},"rotation":{"radians":1.237278715383875}},"curvature":0.43011509193279407},{"time":1.0468578975965073,"velocity":2.110319354081414,"acceleration":-2.699999999999998,"pose":{"translation":{"x":2.1772606575222793,"y":-1.480668068281394},"rotation":{"radians":1.2749756605653983}},"curvature":0.3845048418255803},{"time":1.091411329462198,"velocity":1.9900250880440487,"acceleration":-2.699999999999999,"pose":{"translation":{"x":2.2023989557530284,"y":-1.3928531208585118},"rotation":{"radians":1.3084920051668882}},"curvature":0.35108267862816467},{"time":1.1375097066154454,"velocity":1.865559469730281,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.224133403722975,"y":-1.3066837981428092},"rotation":{"radians":1.3386110539304803}},"curvature":0.3282812713988414},{"time":1.184904252577451,"velocity":1.737594195632866,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.242632449245864,"y":-1.2233269196313539},"rotation":{"radians":1.366023762819537}},"curvature":0.315312666863858},{"time":1.2333107866468274,"velocity":1.6068965536455497,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.258085841503699,"y":-1.1438680809123354},"rotation":{"radians":1.3913568392337845}},"curvature":0.312267998860509},{"time":1.2824115422640514,"velocity":1.474324513479045,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.2707021757488444,"y":-1.06928245552789},"rotation":{"radians":1.4152041135990487}},"curvature":0.3203504243404985},{"time":1.3318581338176085,"velocity":1.3408187162844405,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.280706438006125,"y":-1.000405596836922},"rotation":{"radians":1.4381621328281249}},"curvature":0.3423512275507715},{"time":1.3812776266134272,"velocity":1.20738608573573,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":2.28833754977493,"y":-0.9379042398779245},"rotation":{"radians":1.4608720121583854}},"curvature":0.3835443611862364},{"time":1.478505525328493,"velocity":0.9448707592050519,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.297490953430074,"y":-0.8336756908847058},"rotation":{"radians":1.5086330840822888}},"curvature":0.5673302027865098},{"time":1.5716270816790128,"velocity":0.6934425570586489,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.3002591668804566,"y":-0.7574447932352428},"rotation":{"radians":1.5661182732327583}},"curvature":1.0329548682264864},{"time":1.662742064333248,"velocity":0.44743210389221405,"acceleration":-2.7,"pose":{"translation":{"x":2.2988047988197104,"y":-0.7054897577106034},"rotation":{"radians":1.6377930168152517}},"curvature":1.7198718777663586},{"time":1.8284576583674013,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":2.2952777169361562,"y":-0.6685846807962426},"rotation":{"radians":1.6839473083854013}},"curvature":1.037327362819861E-13}] \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 100b794..ac2f717 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -353,7 +353,7 @@ public class RobotContainer { "DriveOffLineForward" }; - m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths)); + m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths)); String[] driveOffLineBackwardPaths = new String[]{ "DriveOffLineBackward" @@ -399,13 +399,13 @@ public class RobotContainer { //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - + //return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); } diff --git a/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java index a5fb618..05b2533 100644 --- a/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java +++ b/src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java @@ -7,8 +7,11 @@ package frc4388.robot.commands.auto; +import edu.wpi.first.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.RobotContainer; import frc4388.robot.subsystems.Drive; // NOTE: Consider using this command inline, rather than writing a subclass. For more @@ -18,11 +21,13 @@ public class DriveOffLineForward extends SequentialCommandGroup { /** * Creates a new DriveOffLineForward. */ - public DriveOffLineForward(Drive drive, RamseteCommand[] paths) { + public DriveOffLineForward(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( + new InstantCommand(() -> drive.switchReversed(true)), + new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())), paths[0] ); } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 7f2487e..1a96ced 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -338,7 +338,7 @@ public class Drive extends SubsystemBase { public void updateOdometry(boolean reversed){ if (reversed){ - m_odometry.update(Rotation2d.fromDegrees( getHeading() - 180), + m_odometry.update(Rotation2d.fromDegrees( getHeading()), -inchesToMeters(getDistanceInches(m_rightFrontMotor)), inchesToMeters(getDistanceInches(m_leftFrontMotor))); } From d470e37239366444c69e7c55950b848dbd3f9061 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 29 Mar 2021 17:13:47 -0600 Subject: [PATCH 22/30] test --- src/main/java/frc4388/robot/subsystems/Drive.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 1a96ced..f581304 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -338,7 +338,7 @@ public class Drive extends SubsystemBase { public void updateOdometry(boolean reversed){ if (reversed){ - m_odometry.update(Rotation2d.fromDegrees( getHeading()), + m_odometry.update(Rotation2d.fromDegrees( -getHeading()-180), -inchesToMeters(getDistanceInches(m_rightFrontMotor)), inchesToMeters(getDistanceInches(m_leftFrontMotor))); } From e1fe28d54e900262b49a29bc41a269950258130f Mon Sep 17 00:00:00 2001 From: Kyra <101209@psdschools.org> Date: Tue, 30 Mar 2021 17:45:35 -0600 Subject: [PATCH 23/30] Bounce Working, needs tuning --- src/main/java/frc4388/robot/subsystems/Drive.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 1a96ced..151523f 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -338,7 +338,7 @@ public class Drive extends SubsystemBase { public void updateOdometry(boolean reversed){ if (reversed){ - m_odometry.update(Rotation2d.fromDegrees( getHeading()), + m_odometry.update(Rotation2d.fromDegrees( -getGyroYaw()-180), -inchesToMeters(getDistanceInches(m_rightFrontMotor)), inchesToMeters(getDistanceInches(m_leftFrontMotor))); } From de69bd7a22e410a2f1e29259338b39feccb1d773 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 3 Apr 2021 15:39:00 -0600 Subject: [PATCH 24/30] AhAHHHH --- src/main/java/frc4388/robot/RobotContainer.java | 16 ++++++++-------- .../robot/commands/auto/TenBallAutoMiddle.java | 7 ++++--- .../robot/commands/shooter/ShootPrepGroup.java | 5 +++-- .../robot/commands/shooter/TrackTarget.java | 12 +++++++++--- .../java/frc4388/robot/subsystems/LimeLight.java | 2 +- 5 files changed, 25 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 315aa66..104d757 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -173,7 +173,7 @@ public class RobotContainer { // runs the storage not //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage)); - //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); + m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } /** @@ -233,7 +233,7 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender @@ -254,7 +254,7 @@ public class RobotContainer { // starts tracking target new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whileHeld(new TrackTarget(m_robotShooterAim)) + .whileHeld(new TrackTarget(m_robotShooterAim, m_robotLime)) .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle()))) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); @@ -274,15 +274,15 @@ public class RobotContainer { //Run drum - new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false) - .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) + new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) + .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage, m_robotLime), false) //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); //Run drum manual - new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true) + /*new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true) .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000))) - .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0))); + .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));*/ @@ -356,7 +356,7 @@ public class RobotContainer { }; m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, - m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths)); + m_robotShooterAim, m_robotDrive, m_robotLime, buildPaths(tenBallAutoMiddlePaths)); } /** diff --git a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java index 28ae59c..b2bbc04 100644 --- a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java +++ b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java @@ -18,6 +18,7 @@ import frc4388.robot.commands.shooter.ShootPrepGroup; import frc4388.robot.commands.storage.RunStorage; import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.Intake; +import frc4388.robot.subsystems.LimeLight; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.ShooterAim; import frc4388.robot.subsystems.ShooterHood; @@ -30,7 +31,7 @@ public class TenBallAutoMiddle extends SequentialCommandGroup { /** * Creates a new TenBallAutoMiddle. */ - public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) { + public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, LimeLight m_limeLight, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( @@ -46,10 +47,10 @@ public class TenBallAutoMiddle extends SequentialCommandGroup { new Wait(drive, 4, 0), new PrepChecker(shooter, shooterAim), new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake), - new ShootPrepGroup(shooter, shooterAim, shooterHood, storage) + new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight) ), new ParallelDeadlineGroup( - new ShootPrepGroup(shooter, shooterAim, shooterHood, storage), + new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight), new RunStorage(storage) ) //paths[0], diff --git a/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java b/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java index df92eb4..0f15b7c 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java @@ -9,6 +9,7 @@ package frc4388.robot.commands.shooter; import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; import frc4388.robot.commands.storage.StoragePrep; +import frc4388.robot.subsystems.LimeLight; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.ShooterAim; import frc4388.robot.subsystems.ShooterHood; @@ -24,9 +25,9 @@ public class ShootPrepGroup extends ParallelDeadlineGroup { * @param m_shooterAim The ShooterAim subsystem * @param m_storage The Storage subsytem */ - public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) { + public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage, LimeLight m_limeLight) { super( - new TrackTarget(m_shooterAim), + new TrackTarget(m_shooterAim, m_limeLight), new ShooterVelocityControlPID(m_shooter), new HoodPositionPID(m_shooterHood) ); diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 598c317..0fca6a5 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -39,24 +39,30 @@ public class TrackTarget extends CommandBase { public double m_hoodTrim; public double m_turretTrim; + LimeLight m_limeLight; + /** * Uses the Limelight to track the target * @param shooterSubsystem The Shooter subsystem * @param aimSubsystem The ShooterAim subsystem */ - public TrackTarget(ShooterAim aimSubsystem) { + public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { m_shooterAim = aimSubsystem; m_shooter = m_shooterAim.m_shooterSubsystem; m_shooterHood = m_shooter.m_shooterHoodSubsystem; + m_limeLight = limeLight; addRequirements(m_shooterAim); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); + //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + m_limeLight.limeOff(); } // Called when the command is initially scheduled. @Override public void initialize() { // Vision Processing Mode + //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index d8e39a4..9ea2c96 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -20,7 +20,7 @@ public class LimeLight extends SubsystemBase { public void limeOff(){ NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } public void limeOn(){ From 1f91867209afd9f94af234797434490fd3ffec3e Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 5 Apr 2021 16:56:27 -0600 Subject: [PATCH 25/30] Trying to fix shooter --- .../robot/commands/shooter/TrackTarget.java | 1 + .../frc4388/robot/subsystems/LimeLight.java | 19 ++++++++++++++++++- 2 files changed, 19 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 0fca6a5..dbcfe5a 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -65,6 +65,7 @@ public class TrackTarget extends CommandBase { //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); + m_limeLight.changePipeline(0); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 9ea2c96..09bd99d 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -19,7 +19,7 @@ public class LimeLight extends SubsystemBase { } public void limeOff(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } @@ -27,7 +27,24 @@ public class LimeLight extends SubsystemBase { NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } + + public void changePipeline(int pipelineId) + { + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); + } + public double getV() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); + } + public double getX() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); + } + public double getY() + { + return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); + } @Override public void periodic() { // This method will be called once per scheduler run From 8bb60f4b49cd682135f4aa3e224f476e721144d5 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 6 Apr 2021 16:36:55 -0600 Subject: [PATCH 26/30] Revert "Trying to fix shooter" This reverts commit 1f91867209afd9f94af234797434490fd3ffec3e. --- .../robot/commands/shooter/TrackTarget.java | 1 - .../frc4388/robot/subsystems/LimeLight.java | 19 +------------------ 2 files changed, 1 insertion(+), 19 deletions(-) diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index dbcfe5a..0fca6a5 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -65,7 +65,6 @@ public class TrackTarget extends CommandBase { //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); - m_limeLight.changePipeline(0); } // Called every time the scheduler runs while the command is scheduled. diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 09bd99d..9ea2c96 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -19,7 +19,7 @@ public class LimeLight extends SubsystemBase { } public void limeOff(){ - NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } @@ -27,24 +27,7 @@ public class LimeLight extends SubsystemBase { NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } - - public void changePipeline(int pipelineId) - { - NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipelineId); - } - public double getV() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0); - } - public double getX() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0); - } - public double getY() - { - return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); - } @Override public void periodic() { // This method will be called once per scheduler run From 95eef717eaed7631de8fa9f0ef5a904adb646450 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 6 Apr 2021 16:37:01 -0600 Subject: [PATCH 27/30] Revert "AhAHHHH" This reverts commit de69bd7a22e410a2f1e29259338b39feccb1d773. --- src/main/java/frc4388/robot/RobotContainer.java | 16 ++++++++-------- .../robot/commands/auto/TenBallAutoMiddle.java | 7 +++---- .../robot/commands/shooter/ShootPrepGroup.java | 5 ++--- .../robot/commands/shooter/TrackTarget.java | 12 +++--------- .../java/frc4388/robot/subsystems/LimeLight.java | 2 +- 5 files changed, 17 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 104d757..315aa66 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -173,7 +173,7 @@ public class RobotContainer { // runs the storage not //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage)); m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage)); - m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); + //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } /** @@ -233,7 +233,7 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender @@ -254,7 +254,7 @@ public class RobotContainer { // starts tracking target new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whileHeld(new TrackTarget(m_robotShooterAim, m_robotLime)) + .whileHeld(new TrackTarget(m_robotShooterAim)) .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle()))) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); @@ -274,15 +274,15 @@ public class RobotContainer { //Run drum - new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) - .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage, m_robotLime), false) + new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, false) + .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false) //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)) .whenReleased(new InstantCommand(() -> m_robotLime.limeOff())); //Run drum manual - /*new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true) + new JoystickManualButton(getOperatorJoystick(), XboxController.B_BUTTON, true) .whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(10000))) - .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0)));*/ + .whenReleased(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(0))); @@ -356,7 +356,7 @@ public class RobotContainer { }; m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, - m_robotShooterAim, m_robotDrive, m_robotLime, buildPaths(tenBallAutoMiddlePaths)); + m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths)); } /** diff --git a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java index b2bbc04..28ae59c 100644 --- a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java +++ b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java @@ -18,7 +18,6 @@ import frc4388.robot.commands.shooter.ShootPrepGroup; import frc4388.robot.commands.storage.RunStorage; import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.Intake; -import frc4388.robot.subsystems.LimeLight; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.ShooterAim; import frc4388.robot.subsystems.ShooterHood; @@ -31,7 +30,7 @@ public class TenBallAutoMiddle extends SequentialCommandGroup { /** * Creates a new TenBallAutoMiddle. */ - public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, LimeLight m_limeLight, RamseteCommand[] paths) { + public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); addCommands( @@ -47,10 +46,10 @@ public class TenBallAutoMiddle extends SequentialCommandGroup { new Wait(drive, 4, 0), new PrepChecker(shooter, shooterAim), new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake), - new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight) + new ShootPrepGroup(shooter, shooterAim, shooterHood, storage) ), new ParallelDeadlineGroup( - new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight), + new ShootPrepGroup(shooter, shooterAim, shooterHood, storage), new RunStorage(storage) ) //paths[0], diff --git a/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java b/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java index 0f15b7c..df92eb4 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java @@ -9,7 +9,6 @@ package frc4388.robot.commands.shooter; import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; import frc4388.robot.commands.storage.StoragePrep; -import frc4388.robot.subsystems.LimeLight; import frc4388.robot.subsystems.Shooter; import frc4388.robot.subsystems.ShooterAim; import frc4388.robot.subsystems.ShooterHood; @@ -25,9 +24,9 @@ public class ShootPrepGroup extends ParallelDeadlineGroup { * @param m_shooterAim The ShooterAim subsystem * @param m_storage The Storage subsytem */ - public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage, LimeLight m_limeLight) { + public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) { super( - new TrackTarget(m_shooterAim, m_limeLight), + new TrackTarget(m_shooterAim), new ShooterVelocityControlPID(m_shooter), new HoodPositionPID(m_shooterHood) ); diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 0fca6a5..598c317 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -39,30 +39,24 @@ public class TrackTarget extends CommandBase { public double m_hoodTrim; public double m_turretTrim; - LimeLight m_limeLight; - /** * Uses the Limelight to track the target * @param shooterSubsystem The Shooter subsystem * @param aimSubsystem The ShooterAim subsystem */ - public TrackTarget(ShooterAim aimSubsystem, LimeLight limeLight) { + public TrackTarget(ShooterAim aimSubsystem) { m_shooterAim = aimSubsystem; m_shooter = m_shooterAim.m_shooterSubsystem; m_shooterHood = m_shooter.m_shooterHoodSubsystem; - m_limeLight = limeLight; addRequirements(m_shooterAim); - //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); - m_limeLight.limeOff(); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); } // Called when the command is initially scheduled. @Override public void initialize() { // Vision Processing Mode - //NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); - //NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3); } diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index 9ea2c96..d8e39a4 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -20,7 +20,7 @@ public class LimeLight extends SubsystemBase { public void limeOff(){ NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); } public void limeOn(){ From 1ccc4a807c99e04fa64f9abc9908e3173d2ec752 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 7 Apr 2021 16:33:35 -0600 Subject: [PATCH 28/30] Power port --- src/main/deploy/Robot Data - Distances.csv | 16 +++++++++------- src/main/deploy/Robot Data - DistancesOLD.csv | 14 ++++++++++++++ src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- .../robot/commands/drive/DriveWithJoystick.java | 2 +- 4 files changed, 26 insertions(+), 10 deletions(-) diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 8b68b83..004b230 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -4,10 +4,12 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) 103,19,6600,1, 126.6,20.25,7000,1.5, 156.6,23,7500,1.5, -174,30,12000,1.5, -180,30,12000,1.3, -185.85,30,12000,1.3, -231,28.8,9500,1.8, -245,28.8,9500,1.8, -262,28.8,9500,1.8, -999,28.8,9500,1.8, \ No newline at end of file +174,28,12000,1.5, +180,28,12000,1.3, +185.85,28,12000,1.3, +187,28.4,12000,1.3 +200,28.4,12000,1.3 +231,28.4,12000,1.8, +245,28.8,12000,1.8, +262,28.8,12000,1.8, +999,28.8,12000,1.8, \ No newline at end of file diff --git a/src/main/deploy/Robot Data - DistancesOLD.csv b/src/main/deploy/Robot Data - DistancesOLD.csv index 65b84e8..61cc162 100644 --- a/src/main/deploy/Robot Data - DistancesOLD.csv +++ b/src/main/deploy/Robot Data - DistancesOLD.csv @@ -47,3 +47,17 @@ HOLD +Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) +0,16,6000,1, +65.9,16,6000,1, +103,19,6600,1, +126.6,20.25,7000,1.5, +156.6,23,7500,1.5, +174,28.5,13000,1.5, +180,28.5,13000,1.3, +185.85,28.5,13000,1.3, +190,28.5,13000,1.9 +231,28.5,13000,1.8, +245,28.8,13000,1.8, +262,28.8,13000,1.8, +999,28.8,13000,1.8, \ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 315aa66..2fa815f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -163,7 +163,7 @@ public class RobotContainer { // runs the hood with joystick m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController())); // moves the drum not - m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.2), m_robotShooter)); + m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter)); // drives climber with input from triggers on the opperator controller m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController())); // drives the leveler with an axis input from the driver controller @@ -233,7 +233,7 @@ public class RobotContainer { //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false); //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET)); //.whenReleased(new RunCommand(() -> m_robotLime.limeOff())); - .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage)) + .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1.0), m_robotStorage)) .whenReleased(new InterruptSubystem(m_robotStorage)); // extends or retracts the extender diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java index 75ab279..b39d6b9 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java @@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase { } */ - m_drive.driveWithInput(moveOutput, steerOutput); + m_drive.driveWithInput(moveOutput, steerOutput * .8); } // Called once the command ends or is interrupted. From 2aa1aa8d6c387011020115e591863bd0e3ce6c00 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 7 Apr 2021 17:58:59 -0600 Subject: [PATCH 29/30] shooter tuning --- PathWeaver/Paths/GSC_ARED | 3 +++ PathWeaver/Paths/GSC_BRED | 3 +++ PathWeaver/pathweaver.json | 2 +- src/main/deploy/Robot Data - Distances.csv | 17 +++++++++-------- 4 files changed, 16 insertions(+), 9 deletions(-) create mode 100644 PathWeaver/Paths/GSC_ARED create mode 100644 PathWeaver/Paths/GSC_BRED diff --git a/PathWeaver/Paths/GSC_ARED b/PathWeaver/Paths/GSC_ARED new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/GSC_ARED @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/PathWeaver/Paths/GSC_BRED b/PathWeaver/Paths/GSC_BRED new file mode 100644 index 0000000..610bd7c --- /dev/null +++ b/PathWeaver/Paths/GSC_BRED @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,10.0,0.0,true, +10.0,-10.0,0.0,-10.0,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index ddd52e0..8f8dfe4 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -4,6 +4,6 @@ "maxVelocity": 1.7, "maxAcceleration": 2.7, "wheelBase": 0.648, - "gameName": "Infinite Recharge", + "gameName": "Galactic Search A", "outputDir": ".." } \ No newline at end of file diff --git a/src/main/deploy/Robot Data - Distances.csv b/src/main/deploy/Robot Data - Distances.csv index 004b230..7f63722 100644 --- a/src/main/deploy/Robot Data - Distances.csv +++ b/src/main/deploy/Robot Data - Distances.csv @@ -1,13 +1,14 @@ Distance (in),Hood Ext. (u),Drum Velocity (u/ds),Center Displacment (deg) -0,16,6000,1, -65.9,16,6000,1, -103,19,6600,1, -126.6,20.25,7000,1.5, -156.6,23,7500,1.5, +0,16,12000,1, +65.9,16,12000,1, +103,19,12000,1, +126.6,20.28,12000,1.5, +156.6,28,12000,1.5, 174,28,12000,1.5, -180,28,12000,1.3, -185.85,28,12000,1.3, -187,28.4,12000,1.3 +178,28,12000,1.3 +180,28.5,12000,1.3, +185.85,28.5,12000,1.3, +187,28.5,12000,1.3 200,28.4,12000,1.3 231,28.4,12000,1.8, 245,28.8,12000,1.8, From 6b16df8eca4f6a8e13af0ab9a56c1f3139ab33ce Mon Sep 17 00:00:00 2001 From: Sebastian <66741@psdschools.org> Date: Thu, 15 Apr 2021 16:14:07 -0700 Subject: [PATCH 30/30] Update RobotContainer.java --- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index fde102e..a39f05b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -196,7 +196,7 @@ public class RobotContainer { // continually sends updates to the Blinkin LED controller to keep the lights on m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // runs the storage not - m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE)); + m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage)); m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime)); } @@ -417,7 +417,7 @@ public class RobotContainer { "TenBallMidComplete" }; - m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths)); + //m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths)); String[] sequentialTestPaths = new String[]{ "Seq1",