From b0f4857b0d156dc28b148e87b0eb375dafeb0d49 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 12 Mar 2021 15:17:58 -0700 Subject: [PATCH] barrelStart consistent, not hitting points --- PathWeaver/Paths/BarrelStart | 18 +++++++++--------- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/PathWeaver/Paths/BarrelStart b/PathWeaver/Paths/BarrelStart index 85dd553..8004513 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, -4.466263479997423,-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, +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, 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, +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, diff --git a/src/main/deploy/paths/BarrelStart.wpilib.json b/src/main/deploy/paths/BarrelStart.wpilib.json index c0ed443..51ab2e9 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":-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":0.2187102673732586,"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