From a3544b8b8ccecdba6f5527d8586f12ee4c5cb3e7 Mon Sep 17 00:00:00 2001 From: Shom770 Date: Mon, 12 Aug 2024 18:45:53 -0400 Subject: [PATCH] working integration --- src/main/deploy/choreo/testPath.1.traj | 1664 +++++++++++ src/main/deploy/choreo/testPath.traj | 2625 ++++++++--------- .../robot2023/auto/mode/TestAutoPath.kt | 22 + 3 files changed, 2862 insertions(+), 1449 deletions(-) create mode 100644 src/main/deploy/choreo/testPath.1.traj diff --git a/src/main/deploy/choreo/testPath.1.traj b/src/main/deploy/choreo/testPath.1.traj new file mode 100644 index 00000000..106dd9bd --- /dev/null +++ b/src/main/deploy/choreo/testPath.1.traj @@ -0,0 +1,1664 @@ +{ + "samples": [ + { + "x": 1.2931568622589111, + "y": 5.645050525665283, + "heading": 9.863132744480867e-22, + "angularVelocity": -1.310337186560847e-22, + "velocityX": 9.246921980570656e-18, + "velocityY": 3.2983811579168285e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 1.343799445827174, + "y": 5.686349011181913, + "heading": -2.185322648938425e-9, + "angularVelocity": -2.4679430158978717e-8, + "velocityX": 0.5719201715193928, + "velocityY": 0.46639478588852723, + "moduleForcesX": [ + 119.6307223027276, + 119.63072114658863, + 119.63072088666854, + 119.63071973052953 + ], + "moduleForcesY": [ + 97.55757252647905, + 97.55757394253814, + 97.55757426429025, + 97.55757568034934 + ], + "timestamp": 0.08854834309082542 + }, + { + "x": 1.445078382074947, + "y": 5.7689414285969844, + "heading": -6.485636481052408e-9, + "angularVelocity": -4.856458836162058e-8, + "velocityX": 1.1437699759592643, + "velocityY": 0.9327381465542383, + "moduleForcesX": [ + 119.61600331113128, + 119.61600219211743, + 119.61600194096575, + 119.61600082195187 + ], + "moduleForcesY": [ + 97.5468157676705, + 97.54681713783607, + 97.54681744946923, + 97.5468188196348 + ], + "timestamp": 0.17709668618165084 + }, + { + "x": 1.596983263750729, + "y": 5.892820172208711, + "heading": -1.2783716570884731e-8, + "angularVelocity": -7.112589429046143e-8, + "velocityX": 1.715502248525555, + "velocityY": 1.3989956140092918, + "moduleForcesX": [ + 119.59141865222557, + 119.59141759510212, + 119.59141735850679, + 119.5914163013833 + ], + "moduleForcesY": [ + 97.52884924248248, + 97.5288505362013, + 97.52885083093452, + 97.52885212465333 + ], + "timestamp": 0.26564502927247624 + }, + { + "x": 1.7994931968116394, + "y": 6.0579699725831135, + "heading": -2.0845299702317347e-8, + "angularVelocity": -9.104160338807694e-8, + "velocityX": 2.2869985591160913, + "velocityY": 1.8650806396782396, + "moduleForcesX": [ + 119.54206144869299, + 119.54206051529708, + 119.54206030757253, + 119.5420593741766 + ], + "moduleForcesY": [ + 97.4927791067116, + 97.4927802478321, + 97.49278050866418, + 97.49278164978467 + ], + "timestamp": 0.3541933723633017 + }, + { + "x": 2.0525449345825186, + "y": 6.264344608556005, + "heading": -2.997283053362701e-8, + "angularVelocity": -1.0307963440941558e-7, + "velocityX": 2.8577806081729307, + "velocityY": 2.3306436774465364, + "moduleForcesX": [ + 119.39265623180582, + 119.39265566718883, + 119.39265554369022, + 119.39265497907323 + ], + "moduleForcesY": [ + 97.38359341299814, + 97.38359410111377, + 97.3835942599803, + 97.38359494809595 + ], + "timestamp": 0.4427417154541271 + }, + { + "x": 2.3109247362782566, + "y": 6.477284398215312, + "heading": -2.9978397636763864e-8, + "angularVelocity": -6.287077705541376e-11, + "velocityX": 2.9179518517907357, + "velocityY": 2.4047857049190724, + "moduleForcesX": [ + 12.586245171072513, + 12.586251231721738, + 12.586245270193341, + 12.58625133084262 + ], + "moduleForcesY": [ + 15.508573390797594, + 15.50857329199487, + 15.508567371533152, + 15.50856727273049 + ], + "timestamp": 0.5312900585449525 + }, + { + "x": 2.516803015678093, + "y": 6.677553191065454, + "heading": -2.891749398831526e-8, + "angularVelocity": 1.1981067208332311e-8, + "velocityX": 2.3250381906080406, + "velocityY": 2.2616887663850385, + "moduleForcesX": [ + -124.0220094731335, + -124.02200919585896, + -124.02200925332713, + -124.02200897605258 + ], + "moduleForcesY": [ + -29.93213108609413, + -29.93213130575234, + -29.93213222111139, + -29.932132440769607 + ], + "timestamp": 0.6198384016357779 + }, + { + "x": 2.671906350630823, + "y": 6.836878431882889, + "heading": -2.5391766506480523e-8, + "angularVelocity": 3.981697861016178e-8, + "velocityX": 1.7516232324421919, + "velocityY": 1.7993023387674476, + "moduleForcesX": [ + -119.94339267154128, + -119.94339138380434, + -119.94339108395741, + -119.94338979622043 + ], + "moduleForcesY": [ + -96.71912875200961, + -96.71913033959362, + -96.71913072835702, + -96.719132315941 + ], + "timestamp": 0.7083867447266032 + }, + { + "x": 2.776285446349634, + "y": 6.955077603588071, + "heading": -1.9397318395363455e-8, + "angularVelocity": 6.769689756559143e-8, + "velocityX": 1.178780901763999, + "velocityY": 1.334854697209851, + "moduleForcesX": [ + -119.82361400738414, + -119.82361270991461, + -119.82361241179706, + -119.82361111432749 + ], + "moduleForcesY": [ + -97.15028072235391, + -97.15028231794108, + -97.15028269412913, + -97.15028428971625 + ], + "timestamp": 0.7969350878174286 + }, + { + "x": 2.829957905014571, + "y": 7.032088880814194, + "heading": -1.093345690972935e-8, + "angularVelocity": 9.558463987751333e-8, + "velocityX": 0.6061373572039676, + "velocityY": 0.8697088453407108, + "moduleForcesX": [ + -119.78203316041275, + -119.78203185994937, + -119.78203156253329, + -119.78203026206987 + ], + "moduleForcesY": [ + -97.29632803295534, + -97.29632963083489, + -97.29633000265406, + -97.2963316005336 + ], + "timestamp": 0.885483430908254 + }, + { + "x": 2.832932710647583, + "y": 7.067881107330322, + "heading": -2.2633854347234395e-21, + "angularVelocity": 1.234744381238507e-7, + "velocityX": 0.033595271563980234, + "velocityY": 0.4042111378564888, + "moduleForcesX": [ + -119.7608106128327, + -119.76080931094269, + -119.76080901390996, + -119.76080771201991 + ], + "moduleForcesY": [ + -97.36992701243318, + -97.36992861135596, + -97.36992898094637, + -97.36993057986913 + ], + "timestamp": 0.9740317739990794 + }, + { + "x": 2.78729371448382, + "y": 7.063413801272634, + "heading": 1.3065400573056297e-8, + "angularVelocity": 1.5076994188478403e-7, + "velocityX": -0.5266573160709344, + "velocityY": -0.051551077282913214, + "moduleForcesX": [ + -119.74672912103541, + -119.74672781828085, + -119.74672752152203, + -119.74672621876742 + ], + "moduleForcesY": [ + -97.41326334542237, + -97.41326494493576, + -97.41326531320819, + -97.41326691272157 + ], + "timestamp": 1.0606896343771957 + }, + { + "x": 2.6939772892061593, + "y": 7.018413137622599, + "heading": 2.8165948748880055e-8, + "angularVelocity": 1.7425480054603146e-7, + "velocityX": -1.0768374025399854, + "velocityY": -0.519291192444077, + "moduleForcesX": [ + -117.59386240632055, + -117.59386122548916, + -117.59386101933472, + -117.5938598385033 + ], + "moduleForcesY": [ + -99.97338447096998, + -99.97338585795575, + -99.97338610408845, + -99.97338749107422 + ], + "timestamp": 1.147347494755312 + }, + { + "x": 2.554477763461983, + "y": 6.931202467365692, + "heading": 4.4753100238689467e-8, + "angularVelocity": 1.9140965883116865e-7, + "velocityX": -1.6097734831463446, + "velocityY": -1.0063792237094664, + "moduleForcesX": [ + -113.90817939392653, + -113.90817845823949, + -113.90817837194203, + -113.90817743625497 + ], + "moduleForcesY": [ + -104.10875115715115, + -104.10875217913559, + -104.10875227695492, + -104.10875329893933 + ], + "timestamp": 1.2340053551334282 + }, + { + "x": 2.371905157625909, + "y": 6.798645393237711, + "heading": 6.174430650759392e-8, + "angularVelocity": 1.960723031361673e-7, + "velocityX": -2.1068210666686924, + "velocityY": -1.5296601318111425, + "moduleForcesX": [ + -106.23747769647844, + -106.23747740281911, + -106.23747741816142, + -106.2374771245021 + ], + "moduleForcesY": [ + -111.84451018714446, + -111.84451046546144, + -111.84451045216203, + -111.84451073047899 + ], + "timestamp": 1.3206632155115445 + }, + { + "x": 2.156019973051206, + "y": 6.613231505561584, + "heading": 7.613085450001695e-8, + "angularVelocity": 1.6601549969010575e-7, + "velocityX": -2.491236035967274, + "velocityY": -2.139608419449619, + "moduleForcesX": [ + -82.16371415791812, + -82.16371673208674, + -82.16371577529314, + -82.16371834946179 + ], + "moduleForcesY": [ + -130.3685406286524, + -130.36853901127768, + -130.36853960142238, + -130.36853798404763 + ], + "timestamp": 1.4073210758896608 + }, + { + "x": 1.9749390425537012, + "y": 6.376176937960185, + "heading": 7.580445297818894e-8, + "angularVelocity": -3.766554127489828e-9, + "velocityX": -2.089607679069294, + "velocityY": -2.735522970067513, + "moduleForcesX": [ + 85.842857015094, + 85.84284306766386, + 85.84286634064873, + 85.84285239321846 + ], + "moduleForcesY": [ + -127.36900848225132, + -127.3690178078068, + -127.36900208643765, + -127.36901141199468 + ], + "timestamp": 1.4939789362677771 + }, + { + "x": 1.8553283394789406, + "y": 6.150300076149966, + "heading": 6.616101674441166e-8, + "angularVelocity": -1.1128172553234897e-7, + "velocityX": -1.3802637470274053, + "velocityY": -2.6065363352466524, + "moduleForcesX": [ + 151.6130711121397, + 151.61307067332172, + 151.6130688545455, + 151.6130684157272 + ], + "moduleForcesY": [ + 27.56921370047896, + 27.56921595807198, + 27.569226144101208, + 27.56922840169518 + ], + "timestamp": 1.5806367966458934 + }, + { + "x": 1.7938358541632247, + "y": 5.947528283459231, + "heading": 4.973735035987024e-8, + "angularVelocity": -1.8952310053672027e-7, + "velocityX": -0.7096007799764257, + "velocityY": -2.339912291918097, + "moduleForcesX": [ + 143.34551719403174, + 143.34551590658504, + 143.3455139832212, + 143.34551269577418 + ], + "moduleForcesY": [ + 56.98742718273292, + 56.987430393542994, + 56.9874352701478, + 56.98743848095819 + ], + "timestamp": 1.6672946570240097 + }, + { + "x": 1.7886957294994308, + "y": 5.77194044386587, + "heading": 2.7513592089048904e-8, + "angularVelocity": -2.564540386087889e-7, + "velocityX": -0.05931515782252375, + "velocityY": -2.0262194200071955, + "moduleForcesX": [ + 138.99012396420133, + 138.990122446352, + 138.99012083084142, + 138.99011931299182 + ], + "moduleForcesY": [ + 67.04777993835994, + 67.04778307171968, + 67.04778644015857, + 67.04778957351849 + ], + "timestamp": 1.753952517402126 + }, + { + "x": 1.8389002084732056, + "y": 5.6255598068237305, + "heading": 4.055327230070153e-21, + "angularVelocity": -3.1749678528268847e-7, + "velocityX": 0.5793413171691045, + "velocityY": -1.6891789896829525, + "moduleForcesX": [ + 136.5045444948511, + 136.50454289912028, + 136.50454147936068, + 136.50453988362963 + ], + "moduleForcesY": [ + 72.03801832949686, + 72.03802134498733, + 72.03802404789246, + 72.03802706338304 + ], + "timestamp": 1.8406103777802423 + }, + { + "x": 1.932586995970095, + "y": 5.515912108146417, + "heading": -2.981780004597168e-8, + "angularVelocity": -3.708061420975098e-7, + "velocityX": 1.165063692875257, + "velocityY": -1.363549291703795, + "moduleForcesX": [ + 134.9120957435803, + 134.91209411649652, + 134.912092823252, + 134.91209119616803 + ], + "moduleForcesY": [ + 75.00376232461161, + 75.00376524494017, + 75.00376758105645, + 75.00377050138506 + ], + "timestamp": 1.9210238247615612 + }, + { + "x": 2.072893292354899, + "y": 5.433276966021023, + "heading": -6.312070268839717e-8, + "angularVelocity": -4.1414594069615497e-7, + "velocityX": 1.7448113673999244, + "velocityY": -1.0276284033421705, + "moduleForcesX": [ + 133.53591534313648, + 133.53591393462526, + 133.53591291889813, + 133.5359115103868 + ], + "moduleForcesY": [ + 77.37417970093152, + 77.37418212517024, + 77.37418388863757, + 77.37418631287635 + ], + "timestamp": 2.00143727174288 + }, + { + "x": 2.258810492069129, + "y": 5.379289535560129, + "heading": -9.829658813765189e-8, + "angularVelocity": -4.3743785115853224e-7, + "velocityX": 2.312016294456422, + "velocityY": -0.671373165649834, + "moduleForcesX": [ + 130.64688657117748, + 130.64688571900783, + 130.6468852193578, + 130.64688436718814 + ], + "moduleForcesY": [ + 82.05788423502257, + 82.05788558684256, + 82.05788639040253, + 82.05788774222253 + ], + "timestamp": 2.0818507187241986 + }, + { + "x": 2.4869621450309225, + "y": 5.358638320477592, + "heading": -1.3049020076458206e-7, + "angularVelocity": -4.003511084011157e-7, + "velocityX": 2.8372325963691503, + "velocityY": -0.25681295673344706, + "moduleForcesX": [ + 120.97545276782269, + 120.97545460835994, + 120.97545508712251, + 120.9754569276597 + ], + "moduleForcesY": [ + 95.48753729862771, + 95.48753497932728, + 95.48753435036843, + 95.48753203106799 + ], + "timestamp": 2.1622641657055173 + }, + { + "x": 2.684386176627491, + "y": 5.381660136745595, + "heading": -1.174942896101012e-7, + "angularVelocity": 1.616136559628798e-7, + "velocityX": 2.4551121610598123, + "velocityY": 0.28629311553605696, + "moduleForcesX": [ + -88.01554176399203, + -88.01549346175122, + -88.01557526103844, + -88.01552695879725 + ], + "moduleForcesY": [ + 125.09608224011077, + 125.09611573713896, + 125.09605797908412, + 125.09609147613145 + ], + "timestamp": 2.242677612686836 + }, + { + "x": 2.8297319558336604, + "y": 5.391130011320559, + "heading": -8.906746641054596e-8, + "angularVelocity": 3.5350832812931685e-7, + "velocityX": 1.8074810204308625, + "velocityY": 0.11776481331907433, + "moduleForcesX": [ + -149.17182412128693, + -149.17182250795267, + -149.17181810573, + -149.17181649239393 + ], + "moduleForcesY": [ + -38.817874232270434, + -38.81788024782893, + -38.81789739718229, + -38.81790341274389 + ], + "timestamp": 2.3230910596681547 + }, + { + "x": 2.924513748085357, + "y": 5.382038479512075, + "heading": -4.9408956263264936e-8, + "angularVelocity": 4.931825663350352e-7, + "velocityX": 1.1786808775118574, + "velocityY": -0.1130598444685554, + "moduleForcesX": [ + -144.83439511692174, + -144.83439296146898, + -144.83438929423372, + -144.83438713877976 + ], + "moduleForcesY": [ + -53.16688032143878, + -53.16688614412766, + -53.1668962013109, + -53.16690202400104 + ], + "timestamp": 2.4035045066494733 + }, + { + "x": 2.9693684577941895, + "y": 5.352687835693359, + "heading": -9.95816987009453e-21, + "angularVelocity": 6.144364919256301e-7, + "velocityX": 0.5578011065643855, + "velocityY": -0.36499671284500834, + "moduleForcesX": [ + -143.01005973432845, + -143.0100575133056, + -143.01005428670052, + -143.01005206567675 + ], + "moduleForcesY": [ + -58.02975302712591, + -58.029758474753876, + -58.02976646291992, + -58.02977191054874 + ], + "timestamp": 2.483917953630792 + }, + { + "x": 2.972028570318804, + "y": 5.3130801469874305, + "heading": 4.7910770402387625e-8, + "angularVelocity": 7.085178554960283e-7, + "velocityX": 0.03933848699000482, + "velocityY": -0.5857295640872034, + "moduleForcesX": [ + -142.0112830926876, + -142.0112808699428, + -142.01127789225583, + -142.0112756695102 + ], + "moduleForcesY": [ + -60.460578846019835, + -60.46058404645099, + -60.460591069607084, + -60.4605962700389 + ], + "timestamp": 2.5515390728887 + }, + { + "x": 2.9398958402890725, + "y": 5.257945469820181, + "heading": 9.995529397954742e-8, + "angularVelocity": 7.696489521145367e-7, + "velocityX": -0.4751877871391213, + "velocityY": -0.8153470066011785, + "moduleForcesX": [ + -140.93308372709248, + -140.93308216372208, + -140.93308023869454, + -140.9330786753238 + ], + "moduleForcesY": [ + -62.89414630127541, + -62.894149789672426, + -62.89415412467518, + -62.89415761307246 + ], + "timestamp": 2.619160192146608 + }, + { + "x": 2.8733629027908885, + "y": 5.18644506119485, + "heading": 1.5299174939257662e-7, + "angularVelocity": 7.843179171770856e-7, + "velocityX": -0.9839076641555082, + "velocityY": -1.0573680147038802, + "moduleForcesX": [ + -139.3426607596389, + -139.3426603427219, + -139.34265988730513, + -139.34265947038816 + ], + "moduleForcesY": [ + -66.29159171402073, + -66.29159258635414, + -66.29159354954506, + -66.29159442187846 + ], + "timestamp": 2.686781311404516 + }, + { + "x": 2.773061888815304, + "y": 5.097329323659858, + "heading": 2.0226963775348285e-7, + "angularVelocity": 7.287351777400647e-7, + "velocityX": -1.48327941152013, + "velocityY": -1.3178684190994527, + "moduleForcesX": [ + -136.78212598677672, + -136.78212781768485, + -136.78212947917513, + -136.78213131008297 + ], + "moduleForcesY": [ + -71.35326049364686, + -71.35325700125024, + -71.35325378974278, + -71.3532502973463 + ], + "timestamp": 2.7544024306624237 + }, + { + "x": 2.640157639100714, + "y": 4.98855231529807, + "heading": 2.398188884834147e-7, + "angularVelocity": 5.552888083248427e-7, + "velocityX": -1.965425168466217, + "velocityY": -1.60862478402276, + "moduleForcesX": [ + -132.06377531718047, + -132.06378243740187, + -132.06378706140407, + -132.06379418162265 + ], + "moduleForcesY": [ + -79.64063350918447, + -79.64062176496829, + -79.64061399645699, + -79.64060225224159 + ], + "timestamp": 2.8220235499203317 + }, + { + "x": 2.4773532921896435, + "y": 4.8562491896939335, + "heading": 2.498359480171676e-7, + "angularVelocity": 1.4813507442372045e-7, + "velocityX": -2.4075961578938143, + "velocityY": -1.9565355773406004, + "moduleForcesX": [ + -121.11433205679074, + -121.11435599346808, + -121.1143623097702, + -121.1143862464343 + ], + "moduleForcesY": [ + -95.29573174319873, + -95.29570149024292, + -95.29569316081164, + -95.29566290785296 + ], + "timestamp": 2.8896446691782396 + }, + { + "x": 2.2943375459035003, + "y": 4.691790976756344, + "heading": 1.91559842307804e-7, + "angularVelocity": -8.618033293357527e-7, + "velocityX": -2.7064879773098527, + "velocityY": -2.4320539905489436, + "moduleForcesX": [ + -81.86889728927109, + -81.86900818935574, + -81.868966620313, + -81.86907752041763 + ], + "moduleForcesY": [ + -130.2485562206196, + -130.24848688964423, + -130.2485120432227, + -130.24844271215318 + ], + "timestamp": 2.9572657884361475 + }, + { + "x": 2.13126277923584, + "y": 4.495091438293457, + "heading": 5.975433619600283e-16, + "angularVelocity": -0.0000028328404471028883, + "velocityX": -2.4115952006861754, + "velocityY": -2.9088477182990804, + "moduleForcesX": [ + 80.77365803769528, + 80.77343989211649, + 80.77379189467241, + 80.77357374900728 + ], + "moduleForcesY": [ + -130.59779419016493, + -130.59792804692003, + -130.59770967993722, + -130.59784353705064 + ], + "timestamp": 3.0248869076940554 + }, + { + "x": 2.0032910531969774, + "y": 4.28616005013908, + "heading": -0.000010437829988328339, + "angularVelocity": -0.0001610231941016359, + "velocityX": -1.974204993227667, + "velocityY": -3.223160322480984, + "moduleForcesX": [ + 124.97678365664471, + 124.96812539691692, + 124.98870717824062, + 124.98005126463296 + ], + "moduleForcesY": [ + -89.81301253418921, + -89.82493693199925, + -89.79633029041709, + -89.80825475268969 + ], + "timestamp": 3.0897088114316524 + }, + { + "x": 1.9062243086877848, + "y": 4.061165700631144, + "heading": -0.000018080770110137542, + "angularVelocity": -0.00011790675188927531, + "velocityX": -1.497437423506231, + "velocityY": -3.470961766538433, + "moduleForcesX": [ + 136.23062339335198, + 136.23211540576654, + 136.22783017055224, + 136.22932237338358 + ], + "moduleForcesY": [ + -70.80464618372476, + -70.8018532303719, + -70.81006061730237, + -70.80726756522982 + ], + "timestamp": 3.1545307151692494 + }, + { + "x": 1.8418240055405963, + "y": 3.8247229136026326, + "heading": -0.00002435190020831502, + "angularVelocity": -0.00009674399756887133, + "velocityX": -0.9934960165528424, + "velocityY": -3.647575485992533, + "moduleForcesX": [ + 143.99484949952958, + 143.99525193144993, + 143.99381668520851, + 143.99421915676984 + ], + "moduleForcesY": [ + -50.464036878539254, + -50.46300418970742, + -50.467024349048394, + -50.46599161398018 + ], + "timestamp": 3.2193526189068464 + }, + { + "x": 1.8105198895844752, + "y": 3.58166625967955, + "heading": -0.00003001876739961412, + "angularVelocity": -0.00008742210370387607, + "velocityX": -0.4829249706794009, + "velocityY": -3.749606844418375, + "moduleForcesX": [ + 145.88894484974224, + 145.88905182332124, + 145.88867857114562, + 145.88878554948369 + ], + "moduleForcesY": [ + -29.153539542929213, + -29.153273317338538, + -29.154925775412487, + -29.154659538151467 + ], + "timestamp": 3.2841745226444434 + }, + { + "x": 1.8024722419008212, + "y": 3.33673212932336, + "heading": -0.00003553430465243456, + "angularVelocity": -0.00008508755427345708, + "velocityX": -0.12415012842943239, + "velocityY": -3.778570455877343, + "moduleForcesX": [ + 102.51507910007795, + 102.51518423687807, + 102.51506579615898, + 102.5151709329993 + ], + "moduleForcesY": [ + -8.275837831568287, + -8.275824535217552, + -8.276106648504642, + -8.276093351739002 + ], + "timestamp": 3.3489964263820404 + }, + { + "x": 1.796828380035443, + "y": 3.091730742957491, + "heading": -0.000041043935905152124, + "angularVelocity": -0.00008499644309411878, + "velocityX": -0.08706720317372728, + "velocityY": -3.779608006541749, + "moduleForcesX": [ + 10.595947573714204, + 10.595954821041902, + 10.595947569448708, + 10.595954816770423 + ], + "moduleForcesY": [ + -0.296462589929015, + -0.2964625852756554, + -0.296469936986262, + -0.2964699323695876 + ], + "timestamp": 3.4138183301196374 + }, + { + "x": 1.7939833453103726, + "y": 2.846680977275823, + "heading": -0.00004656110955676702, + "angularVelocity": -0.0000851127988080732, + "velocityX": -0.04389002133697856, + "velocityY": -3.780354348641125, + "moduleForcesX": [ + 12.337308326299663, + 12.337299101893912, + 12.337308326621399, + 12.337299102224474 + ], + "moduleForcesY": [ + -0.21326200606993817, + -0.21326200462964853, + -0.21325259226558269, + -0.21325259097986995 + ], + "timestamp": 3.4786402338572344 + }, + { + "x": 1.8159161882417845, + "y": 2.602600441743404, + "heading": -0.00005224725736014014, + "angularVelocity": -0.00008771954347280927, + "velocityX": 0.33835542738270385, + "velocityY": -3.765402147398833, + "moduleForcesX": [ + 109.22159405625094, + 109.22148952858703, + 109.22158589366553, + 109.22148136596881 + ], + "moduleForcesY": [ + 4.272231429508218, + 4.272239620682706, + 4.272544455954335, + 4.27255264770243 + ], + "timestamp": 3.5434621375948314 + }, + { + "x": 1.8712704660699522, + "y": 2.3638785134918403, + "heading": -0.00005857197134145274, + "angularVelocity": -0.00009757062992666658, + "velocityX": 0.853944031663137, + "velocityY": -3.682735533624222, + "moduleForcesX": [ + 147.322725438609, + 147.32263593545377, + 147.32249522199265, + 147.32240571441153 + ], + "moduleForcesY": [ + 23.620022706004214, + 23.620253010394116, + 23.62151116365126, + 23.62174148181551 + ], + "timestamp": 3.6082840413324284 + }, + { + "x": 1.9597215353518649, + "y": 2.135361175853261, + "heading": -0.00006632598386628761, + "angularVelocity": -0.00011962025298375993, + "velocityX": 1.364524399776463, + "velocityY": -3.5253104963422537, + "moduleForcesX": [ + 145.8921847496811, + 145.89184482549703, + 145.89121300268917, + 145.89087303853586 + ], + "moduleForcesY": [ + 44.98002231504798, + 44.98099428831718, + 44.983214302731305, + 44.98418633193411 + ], + "timestamp": 3.6731059450700254 + }, + { + "x": 2.079670767396322, + "y": 1.921726045366113, + "heading": -0.00007626408840238003, + "angularVelocity": -0.00015331398742959087, + "velocityX": 1.8504429079273583, + "velocityY": -3.2957244105669967, + "moduleForcesX": [ + 138.8462641371881, + 138.84525968108505, + 138.84420320822346, + 138.8431986371533 + ], + "moduleForcesY": [ + 65.59793427460023, + 65.59999563433864, + 65.60232686331548, + 65.60438829967792 + ], + "timestamp": 3.7379278488076224 + }, + { + "x": 2.2287168502807617, + "y": 1.727392911911011, + "heading": -4.851759429258919e-16, + "angularVelocity": 0.0011765172571248151, + "velocityX": 2.299316655115688, + "velocityY": -2.9979547382823237, + "moduleForcesX": [ + 128.17822332234317, + 128.2436851445856, + 128.27577216379717, + 128.34106000246095 + ], + "moduleForcesY": [ + 85.20626790560172, + 85.10879577091357, + 85.05861690429025, + 84.961165519158 + ], + "timestamp": 3.8027497525452194 + }, + { + "x": 2.412905781860358, + "y": 1.5500598165786572, + "heading": 0.003550800533051762, + "angularVelocity": 0.052226429435794405, + "velocityX": 2.709115915981301, + "velocityY": -2.60827785300451, + "moduleForcesX": [ + 107.81212856266865, + 111.57957169065422, + 111.78039762781707, + 115.39113807131136 + ], + "moduleForcesY": [ + 110.11382808197652, + 106.31127137325744, + 106.0655178000106, + 102.14502141641552 + ], + "timestamp": 3.8707383278926573 + }, + { + "x": 2.621987878431923, + "y": 1.4019834041243118, + "heading": 0.005857959640492429, + "angularVelocity": 0.03393451172624946, + "velocityX": 3.0752533863916818, + "velocityY": -2.177960218962736, + "moduleForcesX": [ + 101.23854724204294, + 99.63276836455239, + 99.86460697582241, + 98.24852957090697 + ], + "moduleForcesY": [ + 115.95198449609323, + 117.32659871000864, + 117.14638574410132, + 118.49738766681736 + ], + "timestamp": 3.938726903240095 + }, + { + "x": 2.8512261734608613, + "y": 1.2864969867180789, + "heading": 0.007026400444164835, + "angularVelocity": 0.017185840381041883, + "velocityX": 3.3717178784306943, + "velocityY": -1.6986150513302787, + "moduleForcesX": [ + 82.25644096640582, + 80.41799697844736, + 81.1096575275246, + 79.27686522812137 + ], + "moduleForcesY": [ + 129.6565307718983, + 130.79539364083323, + 130.39144378930055, + 131.5048877309234 + ], + "timestamp": 4.006715478587533 + }, + { + "x": 3.095123585183908, + "y": 1.2061327217112916, + "heading": 0.0079668529137452, + "angularVelocity": 0.01383250737017269, + "velocityX": 3.587329348735207, + "velocityY": -1.1820260183136184, + "moduleForcesX": [ + 59.04439466931189, + 58.613751963114915, + 58.86305162902231, + 58.433241832138684 + ], + "moduleForcesY": [ + 140.6037263836282, + 140.78106415326096, + 140.68609971544836, + 140.86245851405673 + ], + "timestamp": 4.074704053934971 + }, + { + "x": 3.3480028156584862, + "y": 1.1614775323205067, + "heading": 0.009000520422504892, + "angularVelocity": 0.0152035471178202, + "velocityX": 3.7194371140065976, + "velocityY": -0.6568043110596186, + "moduleForcesX": [ + 35.87222804428158, + 36.060585128652825, + 35.91903101533029, + 36.10759348694155 + ], + "moduleForcesY": [ + 143.11806212232074, + 143.0730963939894, + 143.09719848156644, + 143.05212182096915 + ], + "timestamp": 4.142692629282409 + }, + { + "x": 3.6034731871804415, + "y": 1.135813994560095, + "heading": 0.010195064238106108, + "angularVelocity": 0.017569772708415542, + "velocityX": 3.7575485324447677, + "velocityY": -0.3774683854183151, + "moduleForcesX": [ + 10.263752848936145, + 10.487233723079386, + 10.277878336998906, + 10.501611033007087 + ], + "moduleForcesY": [ + 76.17309295920809, + 76.16253204511933, + 76.03535111152244, + 76.02477757224345 + ], + "timestamp": 4.2106812046298465 + }, + { + "x": 3.859057165678206, + "y": 1.1113383881757815, + "heading": 0.011401507619908406, + "angularVelocity": 0.017744795734354855, + "velocityX": 3.7592195040790157, + "velocityY": -0.3599958708136832, + "moduleForcesX": [ + 0.44845362004802874, + 0.4618303176616834, + 0.44860869744491794, + 0.46198546656261685 + ], + "moduleForcesY": [ + 4.766603596828671, + 4.766753501198274, + 4.75325227256591, + 4.753402184372775 + ], + "timestamp": 4.278669779977284 + }, + { + "x": 4.114646724571668, + "y": 1.0869188279208404, + "heading": 0.012606599508509949, + "angularVelocity": 0.01772491749461761, + "velocityX": 3.7593015824400906, + "velocityY": -0.3591715244063279, + "moduleForcesX": [ + 0.023128901166371594, + 0.021611101126360943, + 0.023109792721397897, + 0.021591992763603806 + ], + "moduleForcesY": [ + 0.2238257310074067, + 0.22380662355860045, + 0.22534352672886185, + 0.22532441928847913 + ], + "timestamp": 4.346658355324722 + }, + { + "x": 4.370236945131545, + "y": 1.0625021665040923, + "heading": 0.01380966498678589, + "angularVelocity": 0.017695112335272847, + "velocityX": 3.7593113145127917, + "velocityY": -0.3591288873127057, + "moduleForcesX": [ + 0.0038048847893746135, + 0.0015291566410609166, + 0.0037734223047099663, + 0.0014976941647483577 + ], + "moduleForcesY": [ + 0.010493406958160771, + 0.010461944486527312, + 0.012769135106003766, + 0.01273767263642891 + ], + "timestamp": 4.41464693067216 + }, + { + "x": 4.625827594009371, + "y": 1.038085901995486, + "heading": 0.015010680924758206, + "angularVelocity": 0.017664966972043283, + "velocityX": 3.7593176143399134, + "velocityY": -0.3591230495367508, + "moduleForcesX": [ + 0.002884379458168314, + 0.0005827155572148225, + 0.002849783522255477, + 0.0005481196284273315 + ], + "moduleForcesY": [ + 0.00045683988266759153, + 0.0004222439573450066, + 0.0027585037426458383, + 0.0027239078168724558 + ], + "timestamp": 4.482635506019598 + }, + { + "x": 4.88141865718498, + "y": 1.01366990734822, + "heading": 0.016209655034525275, + "angularVelocity": 0.01763493504108612, + "velocityX": 3.7593237079565065, + "velocityY": -0.35911908028202716, + "moduleForcesX": [ + 0.0028251591381557996, + 0.0005321990158961951, + 0.0027879450046666057, + 0.0004949848861119464 + ], + "moduleForcesY": [ + -0.00004653671710346091, + -0.00008375084792873392, + 0.0022464233982299607, + 0.002209209265925902 + ], + "timestamp": 4.550624081367036 + }, + { + "x": 5.137010130926119, + "y": 0.9892541671045945, + "heading": 0.01740659657562051, + "angularVelocity": 0.01760503930262427, + "velocityX": 3.7593297467326456, + "velocityY": -0.3591153383645669, + "moduleForcesX": [ + 0.002806278380132895, + 0.0005237626337347522, + 0.0027665012321905526, + 0.00048398548745042284 + ], + "moduleForcesY": [ + -0.00010196606986244216, + -0.0001417432162498522, + 0.002180549675557283, + 0.002140772528750764 + ], + "timestamp": 4.618612656714474 + }, + { + "x": 5.39260201199741, + "y": 0.9648386712662416, + "heading": 0.018601514973974838, + "angularVelocity": 0.0175752822040923, + "velocityX": 3.7593357378978447, + "velocityY": -0.3591117435938667, + "moduleForcesX": [ + 0.0027892567008380065, + 0.0005173749658646174, + 0.0027469477891360634, + 0.00047506605500349173 + ], + "moduleForcesY": [ + -0.0001354700863485035, + -0.00017777899711789955, + 0.002136411648314481, + 0.0020941027379303306 + ], + "timestamp": 4.6866012320619115 + }, + { + "x": 5.648194297198488, + "y": 0.9404234103082635, + "heading": 0.019794419748818085, + "angularVelocity": 0.01754566511776423, + "velocityX": 3.7593416819462657, + "velocityY": -0.35910828898638736, + "moduleForcesX": [ + 0.002772300484663731, + 0.0005111602372138924, + 0.0027274906536400583, + 0.00046635040671519617 + ], + "moduleForcesY": [ + -0.00016703327483918843, + -0.00021184310532456648, + 0.0020941069723923573, + 0.00204929714265546 + ], + "timestamp": 4.754589807409349 + }, + { + "x": 5.9037869833433785, + "y": 0.9160083750192775, + "heading": 0.020985320502493673, + "angularVelocity": 0.017516189266104244, + "velocityX": 3.759347579196427, + "velocityY": -0.35910496971945244, + "moduleForcesX": [ + 0.002755367310773569, + 0.0005050645146699375, + 0.0027080880582359716, + 0.00045778526254154834 + ], + "moduleForcesY": [ + -0.00019725039806273143, + -0.0002445296502296068, + 0.002053052397853081, + 0.0020057731465514487 + ], + "timestamp": 4.822578382756787 + }, + { + "x": 6.159380067453165, + "y": 0.8915935584492016, + "heading": 0.02217422693709868, + "angularVelocity": 0.017486856116324438, + "velocityX": 3.7593534326196383, + "velocityY": -0.3591017525071681, + "moduleForcesX": [ + 0.0027391699400533755, + 0.0004998191656550004, + 0.0026894540257688896, + 0.0004501032517748606 + ], + "moduleForcesY": [ + -0.0002183586052414872, + -0.00026807451913778537, + 0.0020209921689733294, + 0.0019712762559638895 + ], + "timestamp": 4.890566958104225 + }, + { + "x": 6.414973550599167, + "y": 0.8671789975526848, + "heading": 0.023361149375100747, + "angularVelocity": 0.01745767479305274, + "velocityX": 3.7593593017338995, + "velocityY": -0.35909799227097344, + "moduleForcesX": [ + 0.0027388134669650253, + 0.0005111137546048422, + 0.002686708799537303, + 0.00045900908774501034 + ], + "moduleForcesY": [ + -0.00006340375912654188, + -0.000115508425755067, + 0.0021642959526807066, + 0.002112191287043113 + ], + "timestamp": 4.958555533451663 + }, + { + "x": 6.670567519840017, + "y": 0.8427656600359394, + "heading": 0.024546109990917008, + "angularVelocity": 0.017428819618946392, + "velocityX": 3.759366451431555, + "velocityY": -0.3590799981772696, + "moduleForcesX": [ + 0.003076213216172313, + 0.0008734742739906851, + 0.003022081924770823, + 0.0008193429849693847 + ], + "moduleForcesY": [ + 0.003827791828529431, + 0.003773660542590459, + 0.006030530759553911, + 0.005976399475288095 + ], + "timestamp": 5.026544108799101 + }, + { + "x": 6.926163893038365, + "y": 0.818374355480302, + "heading": 0.02572938690941355, + "angularVelocity": 0.01740405520365497, + "velocityX": 3.7594018096770174, + "velocityY": -0.358755929849752, + "moduleForcesX": [ + 0.010602131735299721, + 0.008711727990277498, + 0.010553426921571298, + 0.00866302320594391 + ], + "moduleForcesY": [ + 0.08736444996752385, + 0.08731574552611711, + 0.08925485234322754, + 0.08920614790681332 + ], + "timestamp": 5.094532684146539 + }, + { + "x": 7.181800519497069, + "y": 0.7944491337435572, + "heading": 0.026925160899024633, + "angularVelocity": 0.01758786654333922, + "velocityX": 3.7599938688610623, + "velocityY": -0.3519006185995603, + "moduleForcesX": [ + 0.15408785642238088, + 0.16812076234067827, + 0.15446626703482155, + 0.16849920390874462 + ], + "moduleForcesY": [ + 1.874404620735274, + 1.8747822343924236, + 1.860375763271548, + 1.8607533818657287 + ], + "timestamp": 5.1625212594939764 + }, + { + "x": 7.433659258692974, + "y": 0.7800546241768421, + "heading": 0.04226624460474227, + "angularVelocity": 0.2256420821777314, + "velocityX": 3.7044273675060677, + "velocityY": -0.2117195350325348, + "moduleForcesX": [ + -23.266574949309533, + -6.95696377681956, + -23.737158090892574, + -6.59079515722573 + ], + "moduleForcesY": [ + 44.96579502004912, + 46.43056619908954, + 30.014152364061257, + 31.346517175873885 + ], + "timestamp": 5.230509834841414 + }, + { + "x": 7.655359133445337, + "y": 0.7706410925829612, + "heading": 0.1435944906790308, + "angularVelocity": 1.4903716625397891, + "velocityX": 3.2608401281933515, + "velocityY": -0.13845755044807687, + "moduleForcesX": [ + -138.56654412877734, + -74.70614377170685, + -146.8895377181403, + -123.22018116270912 + ], + "moduleForcesY": [ + 62.70417478186203, + 130.5460858732264, + -37.80332497812658, + -75.61246052714783 + ], + "timestamp": 5.298498410188852 + }, + { + "x": 7.844449701590052, + "y": 0.761608369901602, + "heading": 0.3207031331054212, + "angularVelocity": 2.6049765202654025, + "velocityX": 2.7812109193040384, + "velocityY": -0.13285647834395287, + "moduleForcesX": [ + -149.07885190464665, + -105.48900237375544, + -141.38548566319452, + -126.70443920162151 + ], + "moduleForcesY": [ + 36.421057989067705, + 110.52007703020566, + -59.23124044223031, + -81.60633822049049 + ], + "timestamp": 5.36648698553629 + }, + { + "x": 8.000552187790145, + "y": 0.7498289764146391, + "heading": 0.5684288036956183, + "angularVelocity": 3.643636733439962, + "velocityX": 2.2960105489021014, + "velocityY": -0.1732554834465717, + "moduleForcesX": [ + -153.18897038972779, + -115.60357987544919, + -130.09581790372394, + -129.8403733957266 + ], + "moduleForcesY": [ + 14.371856387537223, + 101.04380216558926, + -81.8600378352485, + -77.5789076550236 + ], + "timestamp": 5.434475560883728 + }, + { + "x": 8.125218089511387, + "y": 0.7421832924938894, + "heading": 0.8941665096786507, + "angularVelocity": 4.791065327055905, + "velocityX": 1.83363015158347, + "velocityY": -0.11245542183881331, + "moduleForcesX": [ + -153.77503725922782, + -120.4454433310894, + -109.10509609112468, + -120.53596282220182 + ], + "moduleForcesY": [ + -8.935951607241737, + 95.79297681739413, + -108.45613508723609, + 87.85367607710111 + ], + "timestamp": 5.502464136231166 + }, + { + "x": 8.21165612545991, + "y": 0.73691788446322, + "heading": 1.2081323354703097, + "angularVelocity": 4.6179203518702385, + "velocityX": 1.2713611883588238, + "velocityY": -0.07744548250077309, + "moduleForcesX": [ + -152.79292270875644, + -153.82295782344187, + -152.0275856106588, + -154.06785784141556 + ], + "moduleForcesY": [ + 19.181472811266357, + -7.746699702368304, + 24.955023447135506, + 1.7609599099437483 + ], + "timestamp": 5.5704527115786036 + }, + { + "x": 8.265102585027156, + "y": 0.734438632837738, + "heading": 1.4445840060195683, + "angularVelocity": 3.4778147555066012, + "velocityX": 0.7861094204927617, + "velocityY": -0.03646570939921409, + "moduleForcesX": [ + -110.74517750169417, + -124.90953664520113, + -142.20826122266996, + -150.9217746364994 + ], + "moduleForcesY": [ + 107.13388451706673, + -90.27364461266357, + 59.826103243664704, + -32.030186262566765 + ], + "timestamp": 5.638441286926041 + }, + { + "x": 8.290366172790527, + "y": 0.7333604693412779, + "heading": 1.5707963267948972, + "angularVelocity": 1.8563754296999986, + "velocityX": 0.371585779440757, + "velocityY": -0.015858009777666833, + "moduleForcesX": [ + -74.00800706883395, + -89.52580705491948, + -141.67650012743988, + -146.50113621760156 + ], + "moduleForcesY": [ + 135.3057637296217, + -125.52295829034652, + 61.229341465207334, + -48.555686126400225 + ], + "timestamp": 5.706429862273479 + }, + { + "x": 8.290366172790527, + "y": 0.733360469341278, + "heading": 1.5707963267948968, + "angularVelocity": -2.6464413891793245e-17, + "velocityX": 1.738042518661347e-16, + "velocityY": 5.4423385734300905e-17, + "moduleForcesX": [ + -53.801388810450106, + -66.01325071675733, + -140.05883235874362, + -145.04806884646564 + ], + "moduleForcesY": [ + 144.59558886319894, + -139.40453807841024, + 64.9072136882858, + -52.817598453536355 + ], + "timestamp": 5.774418437620917 + } + ], + "eventMarkers": [] +} \ No newline at end of file diff --git a/src/main/deploy/choreo/testPath.traj b/src/main/deploy/choreo/testPath.traj index 21af555a..106dd9bd 100644 --- a/src/main/deploy/choreo/testPath.traj +++ b/src/main/deploy/choreo/testPath.traj @@ -1,12 +1,12 @@ { "samples": [ { - "x": 1.3070156574249268, - "y": 5.500247001647949, - "heading": -2.6778060937839227e-19, - "angularVelocity": -7.372647931949523e-20, - "velocityX": 7.428755189887608e-17, - "velocityY": -4.660665332715418e-17, + "x": 1.2931568622589111, + "y": 5.645050525665283, + "heading": 9.863132744480867e-22, + "angularVelocity": -1.310337186560847e-22, + "velocityX": 9.246921980570656e-18, + "velocityY": 3.2983811579168285e-18, "moduleForcesX": [ 0, 0, @@ -22,1915 +22,1642 @@ "timestamp": 0 }, { - "x": 1.3554918844839934, - "y": 5.549097714331471, - "heading": 0.0003212933761000263, - "angularVelocity": 0.003535614137605136, - "velocityX": 0.5334477660518092, - "velocityY": 0.5375687245484332, + "x": 1.343799445827174, + "y": 5.686349011181913, + "heading": -2.185322648938425e-9, + "angularVelocity": -2.4679430158978717e-8, + "velocityX": 0.5719201715193928, + "velocityY": 0.46639478588852723, "moduleForcesX": [ - 108.52557999624473, - 108.72924309855405, - 108.7276089585938, - 108.93090593521238 + 119.6307223027276, + 119.63072114658863, + 119.63072088666854, + 119.63071973052953 ], "moduleForcesY": [ - 109.76929128411597, - 109.56776493197286, - 109.56897696341338, - 109.36707108706692 + 97.55757252647905, + 97.55757394253814, + 97.55757426429025, + 97.55757568034934 ], - "timestamp": 0.0908734278106607 + "timestamp": 0.08854834309082542 }, { - "x": 1.4524007192926522, - "y": 5.646827578537273, - "heading": 0.0009327138558770081, - "angularVelocity": 0.006728264735989478, - "velocityX": 1.0664155313980075, - "velocityY": 1.075450399092361, + "x": 1.445078382074947, + "y": 5.7689414285969844, + "heading": -6.485636481052408e-9, + "angularVelocity": -4.856458836162058e-8, + "velocityX": 1.1437699759592643, + "velocityY": 0.9327381465542383, "moduleForcesX": [ - 108.44731487746527, - 108.63136394417742, - 108.62978472736336, - 108.81353582609049 + 119.61600331113128, + 119.61600219211743, + 119.61600194096575, + 119.61600082195187 ], "moduleForcesY": [ - 109.81342323374896, - 109.63159743689621, - 109.63268164607871, - 109.45054619424099 + 97.5468157676705, + 97.54681713783607, + 97.54681744946923, + 97.5468188196348 ], - "timestamp": 0.1817468556213214 + "timestamp": 0.17709668618165084 }, { - "x": 1.5976610290855968, - "y": 5.793489370562098, - "heading": 0.001776371397116106, - "angularVelocity": 0.009283874962842413, - "velocityX": 1.598490486172229, - "velocityY": 1.6139128407349006, + "x": 1.596983263750729, + "y": 5.892820172208711, + "heading": -1.2783716570884731e-8, + "angularVelocity": -7.112589429046143e-8, + "velocityX": 1.715502248525555, + "velocityY": 1.3989956140092918, "moduleForcesX": [ - 108.30174644992682, - 108.44932508728901, - 108.44782091989144, - 108.59520954778503 + 119.59141865222557, + 119.59141759510212, + 119.59141735850679, + 119.5914163013833 ], "moduleForcesY": [ - 109.89537756789258, - 109.75001624121458, - 109.75095354573837, - 109.60539335819846 + 97.52884924248248, + 97.5288505362013, + 97.52885083093452, + 97.52885212465333 ], - "timestamp": 0.2726202834319821 + "timestamp": 0.26564502927247624 }, { - "x": 1.7910693584652388, - "y": 5.989214740408208, - "heading": 0.002707508049357294, - "angularVelocity": 0.010246522824925454, - "velocityX": 2.128326552990793, - "velocityY": 2.1538240007079086, + "x": 1.7994931968116394, + "y": 6.0579699725831135, + "heading": -2.0845299702317347e-8, + "angularVelocity": -9.104160338807694e-8, + "velocityX": 2.2869985591160913, + "velocityY": 1.8650806396782396, "moduleForcesX": [ - 107.93676602962572, - 107.99265984474492, - 107.9917356380727, - 108.04760295026917 + 119.54206144869299, + 119.54206051529708, + 119.54206030757253, + 119.5420593741766 ], "moduleForcesY": [ - 110.1000940947703, - 110.04544979662712, - 110.04599584189451, - 109.9913230408089 + 97.4927791067116, + 97.4927802478321, + 97.49278050866418, + 97.49278164978467 ], - "timestamp": 0.3634937112426428 + "timestamp": 0.3541933723633017 }, { - "x": 2.0311826979551073, - "y": 6.234908865040079, - "heading": 0.002710967634321872, - "angularVelocity": 0.00003807036939100646, - "velocityX": 2.6422832865157804, - "velocityY": 2.7036960149029143, + "x": 2.0525449345825186, + "y": 6.264344608556005, + "heading": -2.997283053362701e-8, + "angularVelocity": -1.0307963440941558e-7, + "velocityX": 2.8577806081729307, + "velocityY": 2.3306436774465364, "moduleForcesX": [ - 105.35316549134257, - 104.73395972491994, - 104.77857524021677, - 104.15684080085224 + 119.39265623180582, + 119.39265566718883, + 119.39265554369022, + 119.39265497907323 ], "moduleForcesY": [ - 111.51575588785045, - 112.09019840194765, - 112.06346090947005, - 112.63440830347463 + 97.38359341299814, + 97.38359410111377, + 97.3835942599803, + 97.38359494809595 ], - "timestamp": 0.4543671390533035 + "timestamp": 0.4427417154541271 }, { - "x": 2.21588840898235, - "y": 6.506453410246418, - "heading": 0.0029963090350193624, - "angularVelocity": 0.0031399872060735292, - "velocityX": 2.032560182546878, - "velocityY": 2.9881622356294715, + "x": 2.3109247362782566, + "y": 6.477284398215312, + "heading": -2.9978397636763864e-8, + "angularVelocity": -6.287077705541376e-11, + "velocityX": 2.9179518517907357, + "velocityY": 2.4047857049190724, "moduleForcesX": [ - -124.2654798793926, - -124.17754591511112, - -124.372119342791, - -124.28452847955815 + 12.586245171072513, + 12.586251231721738, + 12.586245270193341, + 12.58625133084262 ], "moduleForcesY": [ - 58.05976680987412, - 58.16778675505278, - 57.793248794504095, - 57.90097419420366 + 15.508573390797594, + 15.50857329199487, + 15.508567371533152, + 15.50856727273049 ], - "timestamp": 0.5452405668639642 + "timestamp": 0.5312900585449525 }, { - "x": 2.351153340804766, - "y": 6.7302919529938405, - "heading": 0.002874679292424512, - "angularVelocity": -0.0013384522354351889, - "velocityX": 1.4884981791607312, - "velocityY": 2.4631902651865967, + "x": 2.516803015678093, + "y": 6.677553191065454, + "heading": -2.891749398831526e-8, + "angularVelocity": 1.1981067208332311e-8, + "velocityX": 2.3250381906080406, + "velocityY": 2.2616887663850385, "moduleForcesX": [ - -110.64093371791817, - -110.88728898694927, - -110.89653431084918, - -111.1422368376938 + -124.0220094731335, + -124.02200919585896, + -124.02200925332713, + -124.02200897605258 ], "moduleForcesY": [ - -107.26039098151571, - -107.00685421825904, - -106.99497563909188, - -106.7409062631336 + -29.93213108609413, + -29.93213130575234, + -29.93213222111139, + -29.932132440769607 ], - "timestamp": 0.6361139946746248 + "timestamp": 0.6198384016357779 }, { - "x": 2.43737564534731, - "y": 6.905906840684208, - "heading": 0.002336558336481477, - "angularVelocity": -0.005921653545018915, - "velocityX": 0.9488175653268764, - "velocityY": 1.9325218814846388, + "x": 2.671906350630823, + "y": 6.836878431882889, + "heading": -2.5391766506480523e-8, + "angularVelocity": 3.981697861016178e-8, + "velocityX": 1.7516232324421919, + "velocityY": 1.7993023387674476, "moduleForcesX": [ - -109.73923171120661, - -109.99639119187174, - -110.00138792830721, - -110.25789053898615 + -119.94339267154128, + -119.94339138380434, + -119.94339108395741, + -119.94338979622043 ], "moduleForcesY": [ - -108.42541466217824, - -108.16510679928294, - -108.15886046471721, - -107.89796015378198 + -96.71912875200961, + -96.71913033959362, + -96.71913072835702, + -96.719132315941 ], - "timestamp": 0.7269874224852855 + "timestamp": 0.7083867447266032 }, { - "x": 2.474691445614589, - "y": 7.0331239970189765, - "heading": 0.0013788406918391752, - "angularVelocity": -0.010539028489579265, - "velocityX": 0.4106348927253463, - "velocityY": 1.3999379070622664, + "x": 2.776285446349634, + "y": 6.955077603588071, + "heading": -1.9397318395363455e-8, + "angularVelocity": 6.769689756559143e-8, + "velocityX": 1.178780901763999, + "velocityY": 1.334854697209851, "moduleForcesX": [ - -109.43103466550532, - -109.69203825725323, - -109.69511365262494, - -109.95546191342338 + -119.82361400738414, + -119.82361270991461, + -119.82361241179706, + -119.82361111432749 ], "moduleForcesY": [ - -108.8170885903777, - -108.55437230612574, - -108.5504849223644, - -108.28715358290343 + -97.15028072235391, + -97.15028231794108, + -97.15028269412913, + -97.15028428971625 ], - "timestamp": 0.8178608502959461 + "timestamp": 0.7969350878174286 }, { - "x": 2.463169574737549, - "y": 7.111855983734131, - "heading": 5.265279729015491e-19, - "angularVelocity": -0.015173199966793609, - "velocityX": -0.1267903187669292, - "velocityY": 0.8663917342031587, + "x": 2.829957905014571, + "y": 7.032088880814194, + "heading": -1.093345690972935e-8, + "angularVelocity": 9.558463987751333e-8, + "velocityX": 0.6061373572039676, + "velocityY": 0.8697088453407108, "moduleForcesX": [ - -109.27521580675912, - -109.53837948931273, - -109.53999643869177, - -109.80250811967483 + -119.78203316041275, + -119.78203185994937, + -119.78203156253329, + -119.78203026206987 ], "moduleForcesY": [ - -109.01379663275763, - -108.74965642206317, - -108.74744188839352, - -108.48267289306156 + -97.29632803295534, + -97.29632963083489, + -97.29633000265406, + -97.2963316005336 ], - "timestamp": 0.9087342781066068 + "timestamp": 0.885483430908254 }, { - "x": 2.4013577255692367, - "y": 7.14179137924006, - "heading": -0.0018311972756857647, - "angularVelocity": -0.0198805968517791, - "velocityX": -0.6710672139542413, - "velocityY": 0.3249969501258092, + "x": 2.832932710647583, + "y": 7.067881107330322, + "heading": -2.2633854347234395e-21, + "angularVelocity": 1.234744381238507e-7, + "velocityX": 0.033595271563980234, + "velocityY": 0.4042111378564888, "moduleForcesX": [ - -109.18184438290785, - -109.44657258374399, - -109.4467767910145, - -109.71085764524344 + -119.7608106128327, + -119.76080931094269, + -119.76080901390996, + -119.76080771201991 ], "moduleForcesY": [ - -109.13271501144166, - -108.86745439480707, - -108.86678624069017, - -108.60088593725547 + -97.36992701243318, + -97.36992861135596, + -97.36992898094637, + -97.36993057986913 ], - "timestamp": 1.0008440517385657 + "timestamp": 0.9740317739990794 }, { - "x": 2.290922718557695, - "y": 7.1203951892216475, - "heading": -0.004034081513696653, - "angularVelocity": -0.023915857689681318, - "velocityX": -1.19894993394521, - "velocityY": -0.2322901161983511, + "x": 2.78729371448382, + "y": 7.063413801272634, + "heading": 1.3065400573056297e-8, + "angularVelocity": 1.5076994188478403e-7, + "velocityX": -0.5266573160709344, + "velocityY": -0.051551077282913214, "moduleForcesX": [ - -105.91649411559473, - -106.15735302745799, - -106.14259067610085, - -106.38305121324576 + -119.74672912103541, + -119.74672781828085, + -119.74672752152203, + -119.74672621876742 ], "moduleForcesY": [ - -112.28351929915492, - -112.05605754949066, - -112.06956786328594, - -111.8415644790462 + -97.41326334542237, + -97.41326494493576, + -97.41326531320819, + -97.41326691272157 ], - "timestamp": 1.0929538253705247 + "timestamp": 1.0606896343771957 }, { - "x": 2.1343510181297027, - "y": 7.045436080556737, - "heading": -0.006509694042936416, - "angularVelocity": -0.026876762710668297, - "velocityX": -1.6998380763935106, - "velocityY": -0.8138018986492067, + "x": 2.6939772892061593, + "y": 7.018413137622599, + "heading": 2.8165948748880055e-8, + "angularVelocity": 1.7425480054603146e-7, + "velocityX": -1.0768374025399854, + "velocityY": -0.519291192444077, "moduleForcesX": [ - -100.5434948322907, - -100.7362139083839, - -100.70713439557335, - -100.89970967527127 + -117.59386240632055, + -117.59386122548916, + -117.59386101933472, + -117.5938598385033 ], "moduleForcesY": [ - -117.08727575903963, - -116.92170750844724, - -116.94632632568955, - -116.78041340830605 + -99.97338447096998, + -99.97338585795575, + -99.97338610408845, + -99.97338749107422 ], - "timestamp": 1.1850635990024836 + "timestamp": 1.147347494755312 }, { - "x": 1.9364281935515635, - "y": 6.913163272413777, - "heading": -0.009076653719965572, - "angularVelocity": -0.0278684831784046, - "velocityX": -2.1487711539569334, - "velocityY": -1.4360344502789606, + "x": 2.554477763461983, + "y": 6.931202467365692, + "heading": 4.4753100238689467e-8, + "angularVelocity": 1.9140965883116865e-7, + "velocityX": -1.6097734831463446, + "velocityY": -1.0063792237094664, "moduleForcesX": [ - -90.211077615658, - -90.28504370179296, - -90.26335120560015, - -90.33731682899719 + -113.90817939392653, + -113.90817845823949, + -113.90817837194203, + -113.90817743625497 ], "moduleForcesY": [ - -125.1678553724851, - -125.11459056719237, - -125.13005473305151, - -125.07674338862756 + -104.10875115715115, + -104.10875217913559, + -104.10875227695492, + -104.10875329893933 ], - "timestamp": 1.2771733726344425 + "timestamp": 1.2340053551334282 }, { - "x": 1.7093327703360945, - "y": 6.716566770341815, - "heading": -0.01131577825223746, - "angularVelocity": -0.024309304474229586, - "velocityX": -2.4654867150314037, - "velocityY": -2.134371786180068, + "x": 2.371905157625909, + "y": 6.798645393237711, + "heading": 6.174430650759392e-8, + "angularVelocity": 1.960723031361673e-7, + "velocityX": -2.1068210666686924, + "velocityY": -1.5296601318111425, "moduleForcesX": [ - -63.927565191696644, - -63.5932926244851, - -63.78065432383307, - -63.44686341416149 + -106.23747769647844, + -106.23747740281911, + -106.23747741816142, + -106.2374771245021 ], "moduleForcesY": [ - -140.3165793844479, - -140.4681090787614, - -140.38405880350535, - -140.53495085953656 + -111.84451018714446, + -111.84451046546144, + -111.84451045216203, + -111.84451073047899 ], - "timestamp": 1.3692831462664015 + "timestamp": 1.3206632155115445 }, { - "x": 1.5003109835149915, - "y": 6.451804379591733, - "heading": -0.011994162043645224, - "angularVelocity": -0.0073649490673851035, - "velocityX": -2.269268271759241, - "velocityY": -2.8744223366010355, + "x": 2.156019973051206, + "y": 6.613231505561584, + "heading": 7.613085450001695e-8, + "angularVelocity": 1.6601549969010575e-7, + "velocityX": -2.491236035967274, + "velocityY": -2.139608419449619, "moduleForcesX": [ - 38.81122731246289, - 40.593852236830735, - 38.32869312048155, - 40.093425677475494 + -82.16371415791812, + -82.16371673208674, + -82.16371577529314, + -82.16371834946179 ], "moduleForcesY": [ - -148.9827987326087, - -148.50866170076782, - -149.11359557828422, - -148.65043098792833 + -130.3685406286524, + -130.36853901127768, + -130.36853960142238, + -130.36853798404763 ], - "timestamp": 1.4613929198983604 + "timestamp": 1.4073210758896608 }, { - "x": 1.3613094109475117, - "y": 6.178216656145147, - "heading": -0.01085251644317183, - "angularVelocity": 0.01239440241200569, - "velocityX": -1.509086029508705, - "velocityY": -2.970235542463543, + "x": 1.9749390425537012, + "y": 6.376176937960185, + "heading": 7.580445297818894e-8, + "angularVelocity": -3.766554127489828e-9, + "velocityX": -2.089607679069294, + "velocityY": -2.735522970067513, "moduleForcesX": [ - 152.9831701794809, - 153.01645133785516, - 152.7039600276355, - 152.7447182527736 + 85.842857015094, + 85.84284306766386, + 85.84286634064873, + 85.84285239321846 ], "moduleForcesY": [ - -18.289573742578163, - -18.05355744668737, - -20.49506755300209, - -20.228613091398245 + -127.36900848225132, + -127.3690178078068, + -127.36900208643765, + -127.36901141199468 ], - "timestamp": 1.5535026935303193 + "timestamp": 1.4939789362677771 }, { - "x": 1.2904778892217943, - "y": 5.92319126481974, - "heading": -0.008348050315013409, - "angularVelocity": 0.027190015015835633, - "velocityX": -0.7689902920487692, - "velocityY": -2.7687115196044823, + "x": 1.8553283394789406, + "y": 6.150300076149966, + "heading": 6.616101674441166e-8, + "angularVelocity": -1.1128172553234897e-7, + "velocityX": -1.3802637470274053, + "velocityY": -2.6065363352466524, "moduleForcesX": [ - 148.55020588299894, - 148.67496040061232, - 148.97522348550365, - 149.09144317046176 + 151.6130711121397, + 151.61307067332172, + 151.6130688545455, + 151.6130684157272 ], "moduleForcesY": [ - 41.51804437489715, - 41.07664194399363, - 39.96393098007861, - 39.53609407020187 + 27.56921370047896, + 27.56921595807198, + 27.569226144101208, + 27.56922840169518 ], - "timestamp": 1.6456124671622783 + "timestamp": 1.5806367966458934 }, { - "x": 1.284708735549953, - "y": 5.695787590374295, - "heading": -0.004693293372415836, - "angularVelocity": 0.03967827515460508, - "velocityX": -0.06263345833025247, - "velocityY": -2.468833278787432, + "x": 1.7938358541632247, + "y": 5.947528283459231, + "heading": 4.973735035987024e-8, + "angularVelocity": -1.8952310053672027e-7, + "velocityX": -0.7096007799764257, + "velocityY": -2.339912291918097, "moduleForcesX": [ - 141.6752507609916, - 141.8972830734087, - 142.18364294353609, - 142.397959194848 + 143.34551719403174, + 143.34551590658504, + 143.3455139832212, + 143.34551269577418 ], "moduleForcesY": [ - 61.153261165967876, - 60.63900805741022, - 59.96052962680112, - 59.452573102581916 + 56.98742718273292, + 56.987430393542994, + 56.9874352701478, + 56.98743848095819 ], - "timestamp": 1.7377222407942372 + "timestamp": 1.6672946570240097 }, { - "x": 1.342050552368164, - "y": 5.500247001647949, - "heading": -8.725973873185936e-19, - "angularVelocity": 0.050953261389701555, - "velocityX": 0.6225378106587401, - "velocityY": -2.12290814555191, + "x": 1.7886957294994308, + "y": 5.77194044386587, + "heading": 2.7513592089048904e-8, + "angularVelocity": -2.564540386087889e-7, + "velocityX": -0.05931515782252375, + "velocityY": -2.0262194200071955, "moduleForcesX": [ - 137.39209323246155, - 137.65400116402512, - 137.90609358133054, - 138.16145847264715 + 138.99012396420133, + 138.990122446352, + 138.99012083084142, + 138.99011931299182 ], "moduleForcesY": [ - 70.3231789276353, - 69.81065304771738, - 69.30898934971464, - 68.80010888068882 + 67.04777993835994, + 67.04778307171968, + 67.04778644015857, + 67.04778957351849 ], - "timestamp": 1.8298320144261961 + "timestamp": 1.753952517402126 }, { - "x": 1.4496598474328988, - "y": 5.347439285930915, - "heading": 0.005234540845404397, - "angularVelocity": 0.06080382398784245, - "velocityX": 1.2499771861112527, - "velocityY": -1.7749968382858377, + "x": 1.8389002084732056, + "y": 5.6255598068237305, + "heading": 4.055327230070153e-21, + "angularVelocity": -3.1749678528268847e-7, + "velocityX": 0.5793413171691045, + "velocityY": -1.6891789896829525, "moduleForcesX": [ - 134.60079637247242, - 134.8807516563637, - 135.10847269291824, - 135.3826830280629 + 136.5045444948511, + 136.50454289912028, + 136.50454147936068, + 136.50453988362963 ], "moduleForcesY": [ - 75.55828032348028, - 75.05849708657975, - 74.64607014260096, - 74.14872366742301 + 72.03801832949686, + 72.03802134498733, + 72.03802404789246, + 72.03802706338304 ], - "timestamp": 1.9159210216973837 + "timestamp": 1.8406103777802423 }, { - "x": 1.6091790450782282, - "y": 5.22808427126823, - "heading": 0.011059724283702298, - "angularVelocity": 0.06766466036655742, - "velocityX": 1.8529566399150748, - "velocityY": -1.386414113086662, + "x": 1.932586995970095, + "y": 5.515912108146417, + "heading": -2.981780004597168e-8, + "angularVelocity": -3.708061420975098e-7, + "velocityX": 1.165063692875257, + "velocityY": -1.363549291703795, "moduleForcesX": [ - 129.42104962541896, - 129.6612740082219, - 129.80136226026872, - 130.03887254645184 + 134.9120957435803, + 134.91209411649652, + 134.912092823252, + 134.91209119616803 ], "moduleForcesY": [ - 84.08264315320264, - 83.71257866144582, - 83.493799113489, - 83.12426737550719 + 75.00376232461161, + 75.00376524494017, + 75.00376758105645, + 75.00377050138506 ], - "timestamp": 2.002010028968571 + "timestamp": 1.9210238247615612 }, { - "x": 1.8164445894921661, - "y": 5.147872909338232, - "heading": 0.017025973003947804, - "angularVelocity": 0.06930325844567453, - "velocityX": 2.407572708555864, - "velocityY": -0.9317259481990136, + "x": 2.072893292354899, + "y": 5.433276966021023, + "heading": -6.312070268839717e-8, + "angularVelocity": -4.1414594069615497e-7, + "velocityX": 1.7448113673999244, + "velocityY": -1.0276284033421705, "moduleForcesX": [ - 119.23731597654914, - 119.3151981204585, - 119.3354447823771, - 119.41319537329292 + 133.53591534313648, + 133.53591393462526, + 133.53591291889813, + 133.5359115103868 ], "moduleForcesY": [ - 97.93309992647768, - 97.8384181741223, - 97.81332767809015, - 97.71861295043699 + 77.37417970093152, + 77.37418212517024, + 77.37418388863757, + 77.37418631287635 ], - "timestamp": 2.0880990362397585 + "timestamp": 2.00143727174288 }, { - "x": 2.061113530077252, - "y": 5.116748182585659, - "heading": 0.02221817269179668, - "angularVelocity": 0.060311993974957685, - "velocityX": 2.842046253537368, - "velocityY": -0.3615412436429252, + "x": 2.258810492069129, + "y": 5.379289535560129, + "heading": -9.829658813765189e-8, + "angularVelocity": -4.3743785115853224e-7, + "velocityX": 2.312016294456422, + "velocityY": -0.671373165649834, "moduleForcesX": [ - 94.08169786056925, - 93.4081946017425, - 93.5456576681145, - 92.87125898917226 + 130.64688657117748, + 130.64688571900783, + 130.6468852193578, + 130.64688436718814 ], "moduleForcesY": [ - 122.21256361970481, - 122.7269461067315, - 122.62477480720307, - 123.13519752210007 + 82.05788423502257, + 82.05788558684256, + 82.05788639040253, + 82.05788774222253 ], - "timestamp": 2.174188043510946 + "timestamp": 2.0818507187241986 }, { - "x": 2.311326836441068, - "y": 5.147037317544644, - "heading": 0.024695101429476403, - "angularVelocity": 0.028771719133404657, - "velocityX": 2.906448968269831, - "velocityY": 0.35183510553789515, + "x": 2.4869621450309225, + "y": 5.358638320477592, + "heading": -1.3049020076458206e-7, + "angularVelocity": -4.003511084011157e-7, + "velocityX": 2.8372325963691503, + "velocityY": -0.25681295673344706, "moduleForcesX": [ - 15.972269349192121, - 12.171956516025206, - 15.495695107875212, - 11.784888759093944 + 120.97545276782269, + 120.97545460835994, + 120.97545508712251, + 120.9754569276597 ], "moduleForcesY": [ - 153.28498295726337, - 153.63252983939498, - 153.34173308584263, - 153.6705951966039 + 95.48753729862771, + 95.48753497932728, + 95.48753435036843, + 95.48753203106799 ], - "timestamp": 2.2602770507821335 + "timestamp": 2.1622641657055173 }, { - "x": 2.5181333257352954, - "y": 5.221129515987561, - "heading": 0.023230084460390366, - "angularVelocity": -0.01701746849596592, - "velocityX": 2.4022403771473377, - "velocityY": 0.8606464494299005, + "x": 2.684386176627491, + "y": 5.381660136745595, + "heading": -1.174942896101012e-7, + "angularVelocity": 1.616136559628798e-7, + "velocityX": 2.4551121610598123, + "velocityY": 0.28629311553605696, "moduleForcesX": [ - -108.41316694601032, - -111.2321176513841, - -105.69763138962104, - -108.57769348373897 + -88.01554176399203, + -88.01549346175122, + -88.01557526103844, + -88.01552695879725 ], "moduleForcesY": [ - 109.56063230410423, - 106.70853115463795, - 112.19373542819865, - 109.41882771299842 + 125.09608224011077, + 125.09611573713896, + 125.09605797908412, + 125.09609147613145 ], - "timestamp": 2.346366058053321 + "timestamp": 2.242677612686836 }, { - "x": 2.666354727775785, - "y": 5.314620295533158, - "heading": 0.01835018139099095, - "angularVelocity": -0.056684392399000735, - "velocityX": 1.7217227464697291, - "velocityY": 1.0859781348336282, + "x": 2.8297319558336604, + "y": 5.391130011320559, + "heading": -8.906746641054596e-8, + "angularVelocity": 3.5350832812931685e-7, + "velocityX": 1.8074810204308625, + "velocityY": 0.11776481331907433, "moduleForcesX": [ - -146.8885965342673, - -147.35255075407713, - -145.43329693881458, - -145.97726869154903 + -149.17182412128693, + -149.17182250795267, + -149.17181810573, + -149.17181649239393 ], "moduleForcesY": [ - 47.067304333633864, - 45.613084757094576, - 51.3943127137636, - 49.84516387206727 + -38.817874232270434, + -38.81788024782893, + -38.81789739718229, + -38.81790341274389 ], - "timestamp": 2.4324550653245085 + "timestamp": 2.3230910596681547 }, { - "x": 2.7532899117523724, - "y": 5.41557479906501, - "heading": 0.010513569219032034, - "angularVelocity": -0.09102918503026107, - "velocityX": 1.0098290912192291, - "velocityY": 1.172675893582626, + "x": 2.924513748085357, + "y": 5.382038479512075, + "heading": -4.9408956263264936e-8, + "angularVelocity": 4.931825663350352e-7, + "velocityX": 1.1786808775118574, + "velocityY": -0.1130598444685554, "moduleForcesX": [ - -153.3831637486552, - -153.4393401816358, - -152.87395967012318, - -152.95737491699774 + -144.83439511692174, + -144.83439296146898, + -144.83438929423372, + -144.83438713877976 ], "moduleForcesY": [ - 16.859995787388527, - 16.373581091114332, - 20.984606167177404, - 20.393683904762796 + -53.16688032143878, + -53.16688614412766, + -53.1668962013109, + -53.16690202400104 ], - "timestamp": 2.518544072595696 + "timestamp": 2.4035045066494733 }, { - "x": 2.778484344482422, - "y": 5.517764568328857, - "heading": 3.409556035284359e-18, - "angularVelocity": -0.12212440998320895, - "velocityX": 0.2926556308269772, - "velocityY": 1.187024598201884, + "x": 2.9693684577941895, + "y": 5.352687835693359, + "heading": -9.95816987009453e-21, + "angularVelocity": 6.144364919256301e-7, + "velocityX": 0.5578011065643855, + "velocityY": -0.36499671284500834, "moduleForcesX": [ - -154.3355657800553, - -154.33815858205566, - -154.25883776263115, - -154.265063042345 + -143.01005973432845, + -143.0100575133056, + -143.01005428670052, + -143.01005206567675 ], "moduleForcesY": [ - 1.2288296805357475, - 1.1993671202812168, - 5.020256046495134, - 4.900005237533408 + -58.02975302712591, + -58.029758474753876, + -58.02976646291992, + -58.02977191054874 ], - "timestamp": 2.6046330798668835 + "timestamp": 2.483917953630792 }, { - "x": 2.740307620424036, - "y": 5.619100265857353, - "heading": -0.013270922477725634, - "angularVelocity": -0.1516198559512514, - "velocityX": -0.4361678257617589, - "velocityY": 1.157757035185066, + "x": 2.972028570318804, + "y": 5.3130801469874305, + "heading": 4.7910770402387625e-8, + "angularVelocity": 7.085178554960283e-7, + "velocityX": 0.03933848699000482, + "velocityY": -0.5857295640872034, "moduleForcesX": [ - -154.15195993415608, - -154.16529492870362, - -154.29568789460046, - -154.3016529768746 + -142.0112830926876, + -142.0112808699428, + -142.01127789225583, + -142.0112756695102 ], "moduleForcesY": [ - -8.050731923381523, - -7.8251346391155385, - -4.522430341846901, - -4.375311358662583 + -60.460578846019835, + -60.46058404645099, + -60.460591069607084, + -60.4605962700389 ], - "timestamp": 2.6921606823331357 + "timestamp": 2.5515390728887 }, { - "x": 2.638552285891462, - "y": 5.71470298893124, - "heading": -0.028533015565441466, - "angularVelocity": -0.17436891514956152, - "velocityX": -1.1625513742490714, - "velocityY": 1.0922579892639022, + "x": 2.9398958402890725, + "y": 5.257945469820181, + "heading": 9.995529397954742e-8, + "angularVelocity": 7.696489521145367e-7, + "velocityX": -0.4751877871391213, + "velocityY": -0.8153470066011785, "moduleForcesX": [ - -153.57452494689505, - -153.60981936912162, - -153.81964851415287, - -153.84533606017774 + -140.93308372709248, + -140.93308216372208, + -140.93308023869454, + -140.9330786753238 ], "moduleForcesY": [ - -15.36388885646759, - -15.024148783783128, - -12.67422844488714, - -12.37957935760334 + -62.89414630127541, + -62.894149789672426, + -62.89415412467518, + -62.89415761307246 ], - "timestamp": 2.779688284799388 + "timestamp": 2.619160192146608 }, { - "x": 2.4739734161343065, - "y": 5.799052258968906, - "heading": -0.044740551050503924, - "angularVelocity": -0.1851705636662327, - "velocityX": -1.8803082126818789, - "velocityY": 0.9636876557935182, + "x": 2.8733629027908885, + "y": 5.18644506119485, + "heading": 1.5299174939257662e-7, + "angularVelocity": 7.843179171770856e-7, + "velocityX": -0.9839076641555082, + "velocityY": -1.0573680147038802, "moduleForcesX": [ - -151.7504526111824, - -151.80319600141806, - -151.972382144181, - -152.02119596093803 + -139.3426607596389, + -139.3426603427219, + -139.34265988730513, + -139.34265947038816 ], "moduleForcesY": [ - -27.9627275438964, - -27.680956771579254, - -26.72888098146361, - -26.45614291655738 + -66.29159171402073, + -66.29159258635414, + -66.29159354954506, + -66.29159442187846 ], - "timestamp": 2.86721588726564 + "timestamp": 2.686781311404516 }, { - "x": 2.2497911373047184, - "y": 5.860665830513774, - "heading": -0.05964030316558503, - "angularVelocity": -0.1702291813692036, - "velocityX": -2.561275215092799, - "velocityY": 0.7039330429167614, + "x": 2.773061888815304, + "y": 5.097329323659858, + "heading": 2.0226963775348285e-7, + "angularVelocity": 7.287351777400647e-7, + "velocityX": -1.48327941152013, + "velocityY": -1.3178684190994527, "moduleForcesX": [ - -144.51647693394824, - -144.26079987980307, - -143.9483209290917, - -143.6807722809335 + -136.78212598677672, + -136.78212781768485, + -136.78212947917513, + -136.78213131008297 ], "moduleForcesY": [ - -53.87626186781413, - -54.551013979559, - -55.379068537193575, - -56.06365368544316 + -71.35326049364686, + -71.35325700125024, + -71.35325378974278, + -71.3532502973463 ], - "timestamp": 2.954743489731892 + "timestamp": 2.7544024306624237 }, { - "x": 1.986657324192824, - "y": 5.871886992391596, - "heading": -0.06718803169869343, - "angularVelocity": -0.08623255202163715, - "velocityX": -3.00629522225652, - "velocityY": 0.12820140804959382, + "x": 2.640157639100714, + "y": 4.98855231529807, + "heading": 2.398188884834147e-7, + "angularVelocity": 5.552888083248427e-7, + "velocityX": -1.965425168466217, + "velocityY": -1.60862478402276, "moduleForcesX": [ - -99.62634817088802, - -93.08058312507251, - -95.25756838122567, - -88.72389492328746 + -132.06377531718047, + -132.06378243740187, + -132.06378706140407, + -132.06379418162265 ], "moduleForcesY": [ - -117.51582500208663, - -122.7473404348839, - -121.10823615738015, - -125.95820555161387 + -79.64063350918447, + -79.64062176496829, + -79.64061399645699, + -79.64060225224159 ], - "timestamp": 3.042271092198144 + "timestamp": 2.8220235499203317 }, { - "x": 1.751543751133842, - "y": 5.825961827390374, - "heading": -0.06294389885672898, - "angularVelocity": 0.048489079129428694, - "velocityX": -2.686164894663892, - "velocityY": -0.524693510488545, + "x": 2.4773532921896435, + "y": 4.8562491896939335, + "heading": 2.498359480171676e-7, + "angularVelocity": 1.4813507442372045e-7, + "velocityX": -2.4075961578938143, + "velocityY": -1.9565355773406004, "moduleForcesX": [ - 64.93841049302762, - 77.59899421056672, - 58.10944002159399, - 70.32834117075777 + -121.11433205679074, + -121.11435599346808, + -121.1143623097702, + -121.1143862464343 ], "moduleForcesY": [ - -139.70009294128207, - -133.10880224212764, - -142.71318439029457, - -137.12259875416024 + -95.29573174319873, + -95.29570149024292, + -95.29569316081164, + -95.29566290785296 ], - "timestamp": 3.1297986946643963 + "timestamp": 2.8896446691782396 }, { - "x": 1.5684069507839817, - "y": 5.743134187510745, - "heading": -0.04946757916420255, - "angularVelocity": 0.15396651242307863, - "velocityX": -2.092331963687142, - "velocityY": -0.9463030809231876, + "x": 2.2943375459035003, + "y": 4.691790976756344, + "heading": 1.91559842307804e-7, + "angularVelocity": -8.618033293357527e-7, + "velocityX": -2.7064879773098527, + "velocityY": -2.4320539905489436, "moduleForcesX": [ - 126.9157136205963, - 130.50735635390487, - 120.50861171225469, - 124.71981674802984 + -81.86889728927109, + -81.86900818935574, + -81.868966620313, + -81.86907752041763 ], "moduleForcesY": [ - -87.62937716995671, - -82.21190823153208, - -96.2659636500679, - -90.76531775328948 + -130.2485562206196, + -130.24848688964423, + -130.2485120432227, + -130.24844271215318 ], - "timestamp": 3.2173262971306484 + "timestamp": 2.9572657884361475 }, { - "x": 1.4428914283605596, - "y": 5.63294295305701, - "heading": -0.028224042523380344, - "angularVelocity": 0.24270671242155348, - "velocityX": -1.4340107450940407, - "velocityY": -1.2589312553779803, + "x": 2.13126277923584, + "y": 4.495091438293457, + "heading": 5.975433619600283e-16, + "angularVelocity": -0.0000028328404471028883, + "velocityX": -2.4115952006861754, + "velocityY": -2.9088477182990804, "moduleForcesX": [ - 140.57005374564045, - 142.17685469755776, - 136.21950181963885, - 138.27137449945397 + 80.77365803769528, + 80.77343989211649, + 80.77379189467241, + 80.77357374900728 ], "moduleForcesY": [ - -63.63672123509604, - -59.98254769194662, - -72.49154166954264, - -68.51415737639743 + -130.59779419016493, + -130.59792804692003, + -130.59770967993722, + -130.59784353705064 ], - "timestamp": 3.3048538995969006 + "timestamp": 3.0248869076940554 }, { - "x": 1.3770855665206905, - "y": 5.50024700164795, - "heading": 9.41629019212599e-17, - "angularVelocity": 0.32245876418382624, - "velocityX": -0.7518298225953183, - "velocityY": -1.5160469117156965, + "x": 2.0032910531969774, + "y": 4.28616005013908, + "heading": -0.000010437829988328339, + "angularVelocity": -0.0001610231941016359, + "velocityX": -1.974204993227667, + "velocityY": -3.223160322480984, "moduleForcesX": [ - 145.40911558509293, - 146.42765329337692, - 142.12362953804833, - 143.4734975658228 + 124.97678365664471, + 124.96812539691692, + 124.98870717824062, + 124.98005126463296 ], "moduleForcesY": [ - -51.74031831100655, - -48.8010913394159, - -60.186664178240775, - -56.908172304486214 + -89.81301253418921, + -89.82493693199925, + -89.79633029041709, + -89.80825475268969 ], - "timestamp": 3.3923815020631527 + "timestamp": 3.0897088114316524 }, { - "x": 1.3741009431905982, - "y": 5.34168549657959, - "heading": 0.03622577402914118, - "angularVelocity": 0.399443791653678, - "velocityX": -0.032909973438866286, - "velocityY": -1.7483797239826615, + "x": 1.9062243086877848, + "y": 4.061165700631144, + "heading": -0.000018080770110137542, + "angularVelocity": -0.00011790675188927531, + "velocityX": -1.497437423506231, + "velocityY": -3.470961766538433, "moduleForcesX": [ - 147.7016044092289, - 148.4984144172913, - 145.02005793082935, - 146.08832366143446 + 136.23062339335198, + 136.23211540576654, + 136.22783017055224, + 136.22932237338358 ], "moduleForcesY": [ - -44.86091220727504, - -42.16295283246009, - -52.895353740834885, - -49.88081594815421 + -70.80464618372476, + -70.8018532303719, + -70.81006061730237, + -70.80726756522982 ], - "timestamp": 3.4830720442270575 + "timestamp": 3.1545307151692494 }, { - "x": 1.4365976510375027, - "y": 5.162927401298185, - "heading": 0.07732877459601992, - "angularVelocity": 0.4532225696968252, - "velocityX": 0.689120456629968, - "velocityY": -1.97107758993223, + "x": 1.8418240055405963, + "y": 3.8247229136026326, + "heading": -0.00002435190020831502, + "angularVelocity": -0.00009674399756887133, + "velocityX": -0.9934960165528424, + "velocityY": -3.647575485992533, "moduleForcesX": [ - 148.00295454894226, - 148.60762941943693, - 146.25081163982975, - 146.98813690221647 + 143.99484949952958, + 143.99525193144993, + 143.99381668520851, + 143.99421915676984 ], "moduleForcesY": [ - -43.790869454929606, - -41.70553760706859, - -49.33204069204422, - -47.10049408950541 + -50.464036878539254, + -50.46300418970742, + -50.467024349048394, + -50.46599161398018 ], - "timestamp": 3.5737625863909623 + "timestamp": 3.2193526189068464 }, { - "x": 1.5650196830390581, - "y": 4.965479001324364, - "heading": 0.11970997708321031, - "angularVelocity": 0.4673166735537579, - "velocityX": 1.416046579620309, - "velocityY": -2.1771663861013706, + "x": 1.8105198895844752, + "y": 3.58166625967955, + "heading": -0.00003001876739961412, + "angularVelocity": -0.00008742210370387607, + "velocityX": -0.4829249706794009, + "velocityY": -3.749606844418375, "moduleForcesX": [ - 148.5817399465541, - 148.74803762577903, - 148.17196250401898, - 148.34723907880584 + 145.88894484974224, + 145.88905182332124, + 145.88867857114562, + 145.88878554948369 ], "moduleForcesY": [ - -41.67098702172514, - -41.0779160142384, - -43.10718981224558, - -42.50437371055402 + -29.153539542929213, + -29.153273317338538, + -29.154925775412487, + -29.154659538151467 ], - "timestamp": 3.664453128554867 + "timestamp": 3.2841745226444434 }, { - "x": 1.7601381554961701, - "y": 4.752539092915196, - "heading": 0.15582342705649077, - "angularVelocity": 0.398205249531153, - "velocityX": 2.151475421674779, - "velocityY": -2.3479836304630606, + "x": 1.8024722419008212, + "y": 3.33673212932336, + "heading": -0.00003553430465243456, + "angularVelocity": -0.00008508755427345708, + "velocityX": -0.12415012842943239, + "velocityY": -3.778570455877343, "moduleForcesX": [ - 149.7621883905922, - 148.98006971473262, - 151.3164534186648, - 150.7364082038802 + 102.51507910007795, + 102.51518423687807, + 102.51506579615898, + 102.5151709329993 ], "moduleForcesY": [ - -36.95354870378085, - -39.956201825446115, - -29.94253624716067, - -32.69373169588619 + -8.275837831568287, + -8.275824535217552, + -8.276106648504642, + -8.276093351739002 ], - "timestamp": 3.755143670718772 + "timestamp": 3.3489964263820404 }, { - "x": 2.0229221168035156, - "y": 4.535110029508079, - "heading": 0.15996912293488338, - "angularVelocity": 0.04571254926827039, - "velocityX": 2.8975894843397882, - "velocityY": -2.3974833344395248, + "x": 1.796828380035443, + "y": 3.091730742957491, + "heading": -0.000041043935905152124, + "angularVelocity": -0.00008499644309411878, + "velocityX": -0.08706720317372728, + "velocityY": -3.779608006541749, "moduleForcesX": [ - 152.3536377805569, - 149.73771998104488, - 153.6516415673489, - 153.7812156268572 + 10.595947573714204, + 10.595954821041902, + 10.595947569448708, + 10.595954816770423 ], "moduleForcesY": [ - -22.99988471731762, - -35.91871897627306, - 11.256708023561206, - 7.2240193192378985 + -0.296462589929015, + -0.2964625852756554, + -0.296469936986262, + -0.2964699323695876 ], - "timestamp": 3.845834212882677 + "timestamp": 3.4138183301196374 }, { - "x": 2.2951072190209705, - "y": 4.384796789300489, - "heading": 0.15834488671369182, - "angularVelocity": -0.017909653883328183, - "velocityX": 3.001251241159728, - "velocityY": -1.6574301639936793, + "x": 1.7939833453103726, + "y": 2.846680977275823, + "heading": -0.00004656110955676702, + "angularVelocity": -0.0000851127988080732, + "velocityX": -0.04389002133697856, + "velocityY": -3.780354348641125, "moduleForcesX": [ - 25.684266166980365, - 18.733643484157504, - 23.47748357434964, - 16.78917995172028 + 12.337308326299663, + 12.337299101893912, + 12.337308326621399, + 12.337299102224474 ], "moduleForcesY": [ - 150.4579592180587, - 151.4541387821866, - 150.896996250079, - 151.76378584205827 + -0.21326200606993817, + -0.21326200462964853, + -0.21325259226558269, + -0.21325259097986995 ], - "timestamp": 3.9365247550465816 + "timestamp": 3.4786402338572344 }, { - "x": 2.508819487222096, - "y": 4.2697816578490695, - "heading": 0.14150367498555272, - "angularVelocity": -0.18569975794112392, - "velocityX": 2.356500061528662, - "velocityY": -1.2682152819886559, + "x": 1.8159161882417845, + "y": 2.602600441743404, + "heading": -0.00005224725736014014, + "angularVelocity": -0.00008771954347280927, + "velocityX": 0.33835542738270385, + "velocityY": -3.765402147398833, "moduleForcesX": [ - -132.6769152990079, - -138.34808102235007, - -124.3896826332704, - -131.30298563675322 + 109.22159405625094, + 109.22148952858703, + 109.22158589366553, + 109.22148136596881 ], "moduleForcesY": [ - 78.34208407542685, - 67.9074090503163, - 90.97826407584786, - 80.73421037995861 + 4.272231429508218, + 4.272239620682706, + 4.272544455954335, + 4.27255264770243 ], - "timestamp": 4.027215297210486 + "timestamp": 3.5434621375948314 }, { - "x": 2.6611444499480097, - "y": 4.184872024020068, - "heading": 0.10948161149725764, - "angularVelocity": -0.353091543214282, - "velocityX": 1.6796124391583585, - "velocityY": -0.9362567667548851, + "x": 1.8712704660699522, + "y": 2.3638785134918403, + "heading": -0.00005857197134145274, + "angularVelocity": -0.00009757062992666658, + "velocityX": 0.853944031663137, + "velocityY": -3.682735533624222, "moduleForcesX": [ - -139.88936632923634, - -143.72347160831373, - -132.05890567777777, - -137.29919914471148 + 147.322725438609, + 147.32263593545377, + 147.32249522199265, + 147.32240571441153 ], "moduleForcesY": [ - 65.00219541371706, - 56.07070862929404, - 79.74225692684492, - 70.37226669252375 + 23.620022706004214, + 23.620253010394116, + 23.62151116365126, + 23.62174148181551 ], - "timestamp": 4.117905839374392 + "timestamp": 3.6082840413324284 }, { - "x": 2.7511781379530853, - "y": 4.128211050288423, - "heading": 0.06231033023892275, - "angularVelocity": -0.5201345160394126, - "velocityX": 0.9927571921826469, - "velocityY": -0.6247726869661128, + "x": 1.9597215353518649, + "y": 2.135361175853261, + "heading": -0.00006632598386628761, + "angularVelocity": -0.00011962025298375993, + "velocityX": 1.364524399776463, + "velocityY": -3.5253104963422537, "moduleForcesX": [ - -142.26779690541272, - -145.2733403518004, - -134.56654734909242, - -139.00612647210943 + 145.8921847496811, + 145.89184482549703, + 145.89121300268917, + 145.89087303853586 ], "moduleForcesY": [ - 59.77421793928851, - 52.085731787530285, - 75.54685969072143, - 67.05440329172022 + 44.98002231504798, + 44.98099428831718, + 44.983214302731305, + 44.98418633193411 ], - "timestamp": 4.208596381538297 + "timestamp": 3.6731059450700254 }, { - "x": 2.7784843444824228, - "y": 4.098848342895507, - "heading": -1.1112281755766021e-16, - "angularVelocity": -0.6870653626255507, - "velocityX": 0.3010921081486317, - "velocityY": -0.3237681319986113, + "x": 2.079670767396322, + "y": 1.921726045366113, + "heading": -0.00007626408840238003, + "angularVelocity": -0.00015331398742959087, + "velocityX": 1.8504429079273583, + "velocityY": -3.2957244105669967, "moduleForcesX": [ - -143.5837201910047, - -145.937389629508, - -135.87080651418898, - -139.65120301413185 + 138.8462641371881, + 138.84525968108505, + 138.84420320822346, + 138.8431986371533 ], "moduleForcesY": [ - 56.62449945312227, - 50.28039948123572, - 73.23446730564703, - 65.76079064731799 + 65.59793427460023, + 65.59999563433864, + 65.60232686331548, + 65.60438829967792 ], - "timestamp": 4.299286923702202 + "timestamp": 3.7379278488076224 }, { - "x": 2.7527855632128566, - "y": 4.093904989126582, - "heading": -0.06756946091821875, - "angularVelocity": -0.8358721779718046, - "velocityX": -0.3179083565588558, - "velocityY": -0.06115206209031336, + "x": 2.2287168502807617, + "y": 1.727392911911011, + "heading": -4.851759429258919e-16, + "angularVelocity": 0.0011765172571248151, + "velocityX": 2.299316655115688, + "velocityY": -2.9979547382823237, "moduleForcesX": [ - -144.46555584375434, - -146.2487657801265, - -136.71797998140767, - -139.88774167936728 + 128.17822332234317, + 128.2436851445856, + 128.27577216379717, + 128.34106000246095 ], "moduleForcesY": [ - 54.36262517682881, - 49.39466362109693, - 71.65842871353358, - 65.27450590756374 + 85.20626790560172, + 85.10879577091357, + 85.05861690429025, + 84.961165519158 ], - "timestamp": 4.380123997479234 + "timestamp": 3.8027497525452194 }, { - "x": 2.677580991792506, - "y": 4.111458855672551, - "heading": -0.14542966628751341, - "angularVelocity": -0.9631744660131492, - "velocityX": -0.930322782494322, - "velocityY": 0.21715118739324527, + "x": 2.412905781860358, + "y": 1.5500598165786572, + "heading": 0.003550800533051762, + "angularVelocity": 0.052226429435794405, + "velocityX": 2.709115915981301, + "velocityY": -2.60827785300451, "moduleForcesX": [ - -142.87102034465056, - -144.26427863675949, - -135.86900915717573, - -138.27956552407872 + 107.81212856266865, + 111.57957169065422, + 111.78039762781707, + 115.39113807131136 ], "moduleForcesY": [ - 58.38475530987168, - 54.87934842397064, - 73.22220971703554, - 68.5813650796668 + 110.11382808197652, + 106.31127137325744, + 106.0655178000106, + 102.14502141641552 ], - "timestamp": 4.460961071256265 + "timestamp": 3.8707383278926573 }, { - "x": 2.5537325727042637, - "y": 4.153375195535896, - "heading": -0.23096708602066535, - "angularVelocity": -1.0581459191386133, - "velocityX": -1.5320744964277957, - "velocityY": 0.518528663461549, + "x": 2.621987878431923, + "y": 1.4019834041243118, + "heading": 0.005857959640492429, + "angularVelocity": 0.03393451172624946, + "velocityX": 3.0752533863916818, + "velocityY": -2.177960218962736, "moduleForcesX": [ - -140.0360445621592, - -141.02661183701642, - -134.44133817410935, - -136.0073981638454 + 101.23854724204294, + 99.63276836455239, + 99.86460697582241, + 98.24852957090697 ], "moduleForcesY": [ - 64.83844341705945, - 62.6770136038653, - 75.76522884980345, - 72.93474935915037 + 115.95198449609323, + 117.32659871000864, + 117.14638574410132, + 118.49738766681736 ], - "timestamp": 4.5417981450332965 + "timestamp": 3.938726903240095 }, { - "x": 2.3828321485576587, - "y": 4.222644346899329, - "heading": -0.3198634588820398, - "angularVelocity": -1.099698055679051, - "velocityX": -2.1141342232814813, - "velocityY": 0.8568983037781145, + "x": 2.8512261734608613, + "y": 1.2864969867180789, + "heading": 0.007026400444164835, + "angularVelocity": 0.017185840381041883, + "velocityX": 3.3717178784306943, + "velocityY": -1.6986150513302787, "moduleForcesX": [ - -134.42818100782057, - -134.9250355697348, - -131.74844663351587, - -132.36182875860678 + 82.25644096640582, + 80.41799697844736, + 81.1096575275246, + 79.27686522812137 ], "moduleForcesY": [ - 75.71344226721747, - 74.83514008379835, - 80.28796784680642, - 79.28256914632009 + 129.6565307718983, + 130.79539364083323, + 130.39144378930055, + 131.5048877309234 ], - "timestamp": 4.622635218810328 + "timestamp": 4.006715478587533 }, { - "x": 2.1685305267314217, - "y": 4.324695665894409, - "heading": -0.4037858205003977, - "angularVelocity": -1.0381667432213748, - "velocityX": -2.6510314114301456, - "velocityY": 1.2624321264781888, + "x": 3.095123585183908, + "y": 1.2061327217112916, + "heading": 0.0079668529137452, + "angularVelocity": 0.01383250737017269, + "velocityX": 3.587329348735207, + "velocityY": -1.1820260183136184, "moduleForcesX": [ - -121.36087326980936, - -120.06122974157286, - -125.82986866461843, - -124.8196072446471 + 59.04439466931189, + 58.613751963114915, + 58.86305162902231, + 58.433241832138684 ], "moduleForcesY": [ - 95.1657580035585, - 96.78302562742799, - 89.16863764606951, - 90.55833498270258 + 140.6037263836282, + 140.78106415326096, + 140.68609971544836, + 140.86245851405673 ], - "timestamp": 4.703472292587359 + "timestamp": 4.074704053934971 }, { - "x": 1.9230409583724413, - "y": 4.470689861665705, - "heading": -0.46230985490619425, - "angularVelocity": -0.7239751720830165, - "velocityX": -3.036843825076606, - "velocityY": 1.8060301912910977, + "x": 3.3480028156584862, + "y": 1.1614775323205067, + "heading": 0.009000520422504892, + "angularVelocity": 0.0152035471178202, + "velocityX": 3.7194371140065976, + "velocityY": -0.6568043110596186, "moduleForcesX": [ - -83.3351640932095, - -64.41925011469591, - -108.77668626417302, - -97.0697894934259 + 35.87222804428158, + 36.060585128652825, + 35.91903101533029, + 36.10759348694155 ], "moduleForcesY": [ - 129.63959415922508, - 139.92468860739186, - 109.126067206493, - 119.52264862850343 + 143.11806212232074, + 143.0730963939894, + 143.09719848156644, + 143.05212182096915 ], - "timestamp": 4.784309366364391 + "timestamp": 4.142692629282409 }, { - "x": 1.6937031945833447, - "y": 4.665587076302555, - "heading": -0.4570637784416947, - "angularVelocity": 0.06489691196447743, - "velocityX": -2.8370369325689353, - "velocityY": 2.4109879976525193, + "x": 3.6034731871804415, + "y": 1.135813994560095, + "heading": 0.010195064238106108, + "angularVelocity": 0.017569772708415542, + "velocityX": 3.7575485324447677, + "velocityY": -0.3774683854183151, "moduleForcesX": [ - 19.65734760308462, - 83.91890939736672, - -16.56688189437364, - 96.11561649913628 + 10.263752848936145, + 10.487233723079386, + 10.277878336998906, + 10.501611033007087 ], "moduleForcesY": [ - 152.73730348664424, - 129.09697753360422, - 152.81207203966343, - 119.80345508620974 + 76.17309295920809, + 76.16253204511933, + 76.03535111152244, + 76.02477757224345 ], - "timestamp": 4.865146440141422 + "timestamp": 4.2106812046298465 }, { - "x": 1.5129579491071692, - "y": 4.8804473983791725, - "heading": -0.40235430068248335, - "angularVelocity": 0.6767869641830527, - "velocityX": -2.235920191425093, - "velocityY": 2.6579428478282576, + "x": 3.859057165678206, + "y": 1.1113383881757815, + "heading": 0.011401507619908406, + "angularVelocity": 0.017744795734354855, + "velocityX": 3.7592195040790157, + "velocityY": -0.3599958708136832, "moduleForcesX": [ - 112.06072879534362, - 142.72825072473745, - 142.07532141096024, - 154.06513296594923 + 0.44845362004802874, + 0.4618303176616834, + 0.44860869744491794, + 0.46198546656261685 ], "moduleForcesY": [ - 105.77977763169235, - 58.30124847473553, - 59.02410080698084, - 3.2314338527746598 + 4.766603596828671, + 4.766753501198274, + 4.75325227256591, + 4.753402184372775 ], - "timestamp": 4.945983513918454 + "timestamp": 4.278669779977284 }, { - "x": 1.38503991996673, - "y": 5.100659659258652, - "heading": -0.3048734343117577, - "angularVelocity": 1.2058930613581387, - "velocityX": -1.582417858193492, - "velocityY": 2.7241493355308877, + "x": 4.114646724571668, + "y": 1.0869188279208404, + "heading": 0.012606599508509949, + "angularVelocity": 0.01772491749461761, + "velocityX": 3.7593015824400906, + "velocityY": -0.3591715244063279, "moduleForcesX": [ - 141.02068085069754, - 151.44617566259558, - 153.91596696422107, - 152.55852327845668 + 0.023128901166371594, + 0.021611101126360943, + 0.023109792721397897, + 0.021591992763603806 ], "moduleForcesY": [ - 62.39515620901944, - 29.39243541632761, - -8.318244492394662, - -22.79044685352256 + 0.2238257310074067, + 0.22380662355860045, + 0.22534352672886185, + 0.22532441928847913 ], - "timestamp": 5.026820587695485 + "timestamp": 4.346658355324722 }, { - "x": 1.3105376628131291, - "y": 5.320036652469323, - "heading": -0.16951924333085555, - "angularVelocity": 1.6744073561189448, - "velocityX": -0.9216347605913222, - "velocityY": 2.713816606694505, + "x": 4.370236945131545, + "y": 1.0625021665040923, + "heading": 0.01380966498678589, + "angularVelocity": 0.017695112335272847, + "velocityX": 3.7593113145127917, + "velocityY": -0.3591288873127057, "moduleForcesX": [ - 150.1067358540101, - 153.3341018425551, - 150.85563494559145, - 151.31776661369102 + 0.0038048847893746135, + 0.0015291566410609166, + 0.0037734223047099663, + 0.0014976941647483577 ], "moduleForcesY": [ - 35.586998962254164, - 17.38835880080915, - -32.19482640342753, - -30.25057945293007 + 0.010493406958160771, + 0.010461944486527312, + 0.012769135106003766, + 0.01273767263642891 ], - "timestamp": 5.107657661472516 + "timestamp": 4.41464693067216 }, { - "x": 1.289498090744018, - "y": 5.5352821350097665, - "heading": -3.0795658979245957e-18, - "angularVelocity": 2.0970482404824025, - "velocityX": -0.2602713223033586, - "velocityY": 2.662707498821488, + "x": 4.625827594009371, + "y": 1.038085901995486, + "heading": 0.015010680924758206, + "angularVelocity": 0.017664966972043283, + "velocityX": 3.7593176143399134, + "velocityY": -0.3591230495367508, "moduleForcesX": [ - 153.36667650332703, - 153.8675682915266, - 147.90146789378224, - 151.0104145412819 + 0.002884379458168314, + 0.0005827155572148225, + 0.002849783522255477, + 0.0005481196284273315 ], "moduleForcesY": [ - 16.97034818982429, - 12.090912266161714, - -43.99982021619646, - -31.90344270090476 + 0.00045683988266759153, + 0.0004222439573450066, + 0.0027585037426458383, + 0.0027239078168724558 ], - "timestamp": 5.188494735249548 + "timestamp": 4.482635506019598 }, { - "x": 1.313701414141019, - "y": 5.723690081032453, - "heading": 0.17750476027218426, - "angularVelocity": 2.44395040610531, - "velocityX": 0.33324020129318344, - "velocityY": 2.594069451921007, + "x": 4.88141865718498, + "y": 1.01366990734822, + "heading": 0.016209655034525275, + "angularVelocity": 0.01763493504108612, + "velocityX": 3.7593237079565065, + "velocityY": -0.35911908028202716, "moduleForcesX": [ - 154.29711734218145, - 154.06918362355162, - 145.89350775888258, - 151.1636940202527 + 0.0028251591381557996, + 0.0005321990158961951, + 0.0027879450046666057, + 0.0004949848861119464 ], "moduleForcesY": [ - 2.2474767176258568, - 9.279377663926692, - -50.320968313970745, - -31.221522030692288 + -0.00004653671710346091, + -0.00008375084792873392, + 0.0022464233982299607, + 0.002209209265925902 ], - "timestamp": 5.261124998052248 + "timestamp": 4.550624081367036 }, { - "x": 1.3811230620575414, - "y": 5.904890364019611, - "heading": 0.36725574529264227, - "angularVelocity": 2.6125609036542548, - "velocityX": 0.9282858868521342, - "velocityY": 2.4948317133379785, + "x": 5.137010130926119, + "y": 0.9892541671045945, + "heading": 0.01740659657562051, + "angularVelocity": 0.01760503930262427, + "velocityX": 3.7593297467326456, + "velocityY": -0.3591153383645669, "moduleForcesX": [ - 152.90940097462314, - 154.0267550569971, - 148.51193921213135, - 151.54036061851477 + 0.002806278380132895, + 0.0005237626337347522, + 0.0027665012321905526, + 0.00048398548745042284 ], "moduleForcesY": [ - -20.66056073935093, - -9.47378995864585, - -41.90580353312129, - -29.189319685951006 + -0.00010196606986244216, + -0.0001417432162498522, + 0.002180549675557283, + 0.002140772528750764 ], - "timestamp": 5.3337552608549474 + "timestamp": 4.618612656714474 }, { - "x": 1.4911601241494188, - "y": 6.075576688327367, - "heading": 0.5498606598698562, - "angularVelocity": 2.514171194358344, - "velocityX": 1.5150304823980987, - "velocityY": 2.3500716880491295, + "x": 5.39260201199741, + "y": 0.9648386712662416, + "heading": 0.018601514973974838, + "angularVelocity": 0.0175752822040923, + "velocityX": 3.7593357378978447, + "velocityY": -0.3591117435938667, "moduleForcesX": [ - 149.80955816439072, - 147.0966351829714, - 151.8557606146119, - 149.75880617331964 + 0.0027892567008380065, + 0.0005173749658646174, + 0.0027469477891360634, + 0.00047506605500349173 ], "moduleForcesY": [ - -36.89941899334703, - -46.520435954522895, - -27.227897380314293, - -37.01765614899875 + -0.0001354700863485035, + -0.00017777899711789955, + 0.002136411648314481, + 0.0020941027379303306 ], - "timestamp": 5.406385523657647 + "timestamp": 4.6866012320619115 }, { - "x": 1.6431118106972078, - "y": 6.234239392839086, - "heading": 0.7136733769855064, - "angularVelocity": 2.255433352356948, - "velocityX": 2.0921263490588258, - "velocityY": 2.184526096814718, + "x": 5.648194297198488, + "y": 0.9404234103082635, + "heading": 0.019794419748818085, + "angularVelocity": 0.01754566511776423, + "velocityX": 3.7593416819462657, + "velocityY": -0.35910828898638736, "moduleForcesX": [ - 149.49056276565958, - 139.58807506652525, - 153.31989967847798, - 146.27984045260908 + 0.002772300484663731, + 0.0005111602372138924, + 0.0027274906536400583, + 0.00046635040671519617 ], "moduleForcesY": [ - -38.017526027100736, - -65.58416665531307, - -16.56817591546854, - -48.698279238154 + -0.00016703327483918843, + -0.00021184310532456648, + 0.0020941069723923573, + 0.00204929714265546 ], - "timestamp": 5.479015786460347 + "timestamp": 4.754589807409349 }, { - "x": 1.8328614058180421, - "y": 6.376463306971989, - "heading": 0.8220506387589573, - "angularVelocity": 1.4921777450793505, - "velocityX": 2.6125417669929654, - "velocityY": 1.958190823548284, + "x": 5.9037869833433785, + "y": 0.9160083750192775, + "heading": 0.020985320502493673, + "angularVelocity": 0.017516189266104244, + "velocityX": 3.759347579196427, + "velocityY": -0.35910496971945244, "moduleForcesX": [ - 149.11958220974017, - 113.82848968260382, - 153.32359734898537, - 114.58866401531189 + 0.002755367310773569, + 0.0005050645146699375, + 0.0027080880582359716, + 0.00045778526254154834 ], "moduleForcesY": [ - -39.253186975591774, - -103.97423110749557, - 15.034277730528146, - -102.68475921258073 + -0.00019725039806273143, + -0.0002445296502296068, + 0.002053052397853081, + 0.0020057731465514487 ], - "timestamp": 5.551646049263047 + "timestamp": 4.822578382756787 }, { - "x": 2.0585893974019025, - "y": 6.499893430123537, - "heading": 0.8683847575931536, - "angularVelocity": 0.6379450802768515, - "velocityX": 3.1079054773244486, - "velocityY": 1.6994310414248148, + "x": 6.159380067453165, + "y": 0.8915935584492016, + "heading": 0.02217422693709868, + "angularVelocity": 0.017486856116324438, + "velocityX": 3.7593534326196383, + "velocityY": -0.3591017525071681, "moduleForcesX": [ - 147.83394575291237, - 108.03193842610786, - 153.51375561015718, - 95.92618953024322 + 0.0027391699400533755, + 0.0004998191656550004, + 0.0026894540257688896, + 0.0004501032517748606 ], "moduleForcesY": [ - -43.32273007789368, - -109.77327752756942, - 9.036452481335049, - -119.89362427390829 + -0.0002183586052414872, + -0.00026807451913778537, + 0.0020209921689733294, + 0.0019712762559638895 ], - "timestamp": 5.624276312065747 + "timestamp": 4.890566958104225 }, { - "x": 2.3157362843639033, - "y": 6.595665019624256, - "heading": 0.8690842818157672, - "angularVelocity": 0.009631305128468338, - "velocityX": 3.5404923104843213, - "velocityY": 1.3186182426411652, + "x": 6.414973550599167, + "y": 0.8671789975526848, + "heading": 0.023361149375100747, + "angularVelocity": 0.01745767479305274, + "velocityX": 3.7593593017338995, + "velocityY": -0.35909799227097344, "moduleForcesX": [ - 133.88197401420044, - 92.48849744913286, - 141.9034978306437, - 72.99502947106865 + 0.0027388134669650253, + 0.0005111137546048422, + 0.002686708799537303, + 0.00045900908774501034 ], "moduleForcesY": [ - -75.00363683683835, - -122.46533822233383, - -56.702533147681756, - -134.2843336150031 + -0.00006340375912654188, + -0.000115508425755067, + 0.0021642959526807066, + 0.002112191287043113 ], - "timestamp": 5.696906574868446 + "timestamp": 4.958555533451663 }, { - "x": 2.5847746515881154, - "y": 6.650477357853088, - "heading": 0.8693560791085606, - "angularVelocity": 0.003742204451769387, - "velocityX": 3.704218556342398, - "velocityY": 0.7546763031574935, + "x": 6.670567519840017, + "y": 0.8427656600359394, + "heading": 0.024546109990917008, + "angularVelocity": 0.017428819618946392, + "velocityX": 3.759366451431555, + "velocityY": -0.3590799981772696, "moduleForcesX": [ - 42.297252606389875, - 41.64903492941923, - 41.858170977900215, - 41.20782906244074 + 0.003076213216172313, + 0.0008734742739906851, + 0.003022081924770823, + 0.0008193429849693847 ], "moduleForcesY": [ - -143.6602922659452, - -143.86395803190902, - -143.76692870888033, - -143.96926796485798 + 0.003827791828529431, + 0.003773660542590459, + 0.006030530759553911, + 0.005976399475288095 ], - "timestamp": 5.769536837671146 + "timestamp": 5.026544108799101 }, { - "x": 2.857878495141045, - "y": 6.678808576763973, - "heading": 0.8696173107866646, - "angularVelocity": 0.0035967332076661173, - "velocityX": 3.7601935200780803, - "velocityY": 0.3900745752224901, + "x": 6.926163893038365, + "y": 0.818374355480302, + "heading": 0.02572938690941355, + "angularVelocity": 0.01740405520365497, + "velocityX": 3.7594018096770174, + "velocityY": -0.358755929849752, "moduleForcesX": [ - 14.284588609554243, - 14.274622068439626, - 14.27457820001951, - 14.264611512794735 + 0.010602131735299721, + 0.008711727990277498, + 0.010553426921571298, + 0.00866302320594391 ], "moduleForcesY": [ - -92.97863733601487, - -92.98451716138221, - -92.9751874100293, - -92.98106733271216 + 0.08736444996752385, + 0.08731574552611711, + 0.08925485234322754, + 0.08920614790681332 ], - "timestamp": 5.842167100473846 + "timestamp": 5.094532684146539 }, { - "x": 3.131149914455768, - "y": 6.705475990069882, - "heading": 0.8698783201269564, - "angularVelocity": 0.003593671979418063, - "velocityX": 3.7625007644101625, - "velocityY": 0.36716669161880006, + "x": 7.181800519497069, + "y": 0.7944491337435572, + "heading": 0.026925160899024633, + "angularVelocity": 0.01758786654333922, + "velocityX": 3.7599938688610623, + "velocityY": -0.3519006185995603, "moduleForcesX": [ - 0.5885422935334275, - 0.5884009002481458, - 0.5883748569384978, - 0.5882334637521958 + 0.15408785642238088, + 0.16812076234067827, + 0.15446626703482155, + 0.16849920390874462 ], "moduleForcesY": [ - -5.841900083912133, - -5.842067103127806, - -5.841759225723547, - -5.841926245054891 + 1.874404620735274, + 1.8747822343924236, + 1.860375763271548, + 1.8607533818657287 ], - "timestamp": 5.914797363276546 + "timestamp": 5.1625212594939764 }, { - "x": 3.4044277204268654, - "y": 6.732077879703486, - "heading": 0.8701393274071573, - "angularVelocity": 0.0035936436153346826, - "velocityX": 3.7625886982331638, - "velocityY": 0.3662645377768622, + "x": 7.433659258692974, + "y": 0.7800546241768421, + "heading": 0.04226624460474227, + "angularVelocity": 0.2256420821777314, + "velocityX": 3.7044273675060677, + "velocityY": -0.2117195350325348, "moduleForcesX": [ - 0.022426100088495084, - 0.022424791356864728, - 0.022424551085864573, - 0.022423242354593323 + -23.266574949309533, + -6.95696377681956, + -23.737158090892574, + -6.59079515722573 ], "moduleForcesY": [ - -0.23006497427069997, - -0.2300665228184349, - -0.23006366613865417, - -0.23006521468568492 + 44.96579502004912, + 46.43056619908954, + 30.014152364061257, + 31.346517175873885 ], - "timestamp": 5.987427626079246 + "timestamp": 5.230509834841414 }, { - "x": 3.677705777473205, - "y": 6.758677190547245, - "heading": 0.8704003339955336, - "angularVelocity": 0.003593634090040267, - "velocityX": 3.762592155136084, - "velocityY": 0.36622903204881174, + "x": 7.655359133445337, + "y": 0.7706410925829612, + "heading": 0.1435944906790308, + "angularVelocity": 1.4903716625397891, + "velocityX": 3.2608401281933515, + "velocityY": -0.13845755044807687, "moduleForcesX": [ - 0.000882050768465755, - 0.0008816116897132841, - 0.0008815303820464618, - 0.0008810913032974143 + -138.56654412877734, + -74.70614377170685, + -146.8895377181403, + -123.22018116270912 ], "moduleForcesY": [ - -0.009054544383250991, - -0.009055064768046192, - -0.009054105306313355, - -0.009054625691093521 + 62.70417478186203, + 130.5460858732264, + -37.80332497812658, + -75.61246052714783 ], - "timestamp": 6.060057888881945 + "timestamp": 5.298498410188852 }, { - "x": 3.950983844729296, - "y": 6.785276397051694, - "heading": 0.870661339940729, - "angularVelocity": 0.0035936252344900992, - "velocityX": 3.762592295691619, - "velocityY": 0.3662275954454381, + "x": 7.844449701590052, + "y": 0.761608369901602, + "heading": 0.3207031331054212, + "angularVelocity": 2.6049765202654025, + "velocityX": 2.7812109193040384, + "velocityY": -0.13285647834395287, "moduleForcesX": [ - 0.00003629011213882197, - 0.00003588218098238602, - 0.000035806085255186065, - 0.00003539815409884478 + -149.07885190464665, + -105.48900237375544, + -141.38548566319452, + -126.70443920162151 ], "moduleForcesY": [ - -0.0003663210757895807, - -0.000366805102962683, - -0.00036591314425162447, - -0.00036639717142417897 + 36.421057989067705, + 110.52007703020566, + -59.23124044223031, + -81.60633822049049 ], - "timestamp": 6.132688151684645 + "timestamp": 5.36648698553629 }, { - "x": 4.224261912723796, - "y": 6.811875596482427, - "heading": 0.8709223452582084, - "angularVelocity": 0.003593616591868598, - "velocityX": 3.7625923058707276, - "velocityY": 0.3662274981242724, + "x": 8.000552187790145, + "y": 0.7498289764146391, + "heading": 0.5684288036956183, + "angularVelocity": 3.643636733439962, + "velocityX": 2.2960105489021014, + "velocityY": -0.1732554834465717, "moduleForcesX": [ - 0.0000030310948110064595, - 0.000002633131799470817, - 0.000002558571515033431, - 0.0000021606085035067914 + -153.18897038972779, + -115.60357987544919, + -130.09581790372394, + -129.8403733957266 ], "moduleForcesY": [ - -0.000024781328546717757, - -0.00002525385188356247, - -0.000024383365482690377, - -0.00002485588881948863 + 14.371856387537223, + 101.04380216558926, + -81.8600378352485, + -77.5789076550236 ], - "timestamp": 6.205318414487345 + "timestamp": 5.434475560883728 }, { - "x": 4.497539981084954, - "y": 6.838474792672485, - "heading": 0.8711833499621685, - "angularVelocity": 0.003593608144709234, - "velocityX": 3.7625923109094166, - "velocityY": 0.3662274534491281, + "x": 8.125218089511387, + "y": 0.7421832924938894, + "heading": 0.8941665096786507, + "angularVelocity": 4.791065327055905, + "velocityX": 1.83363015158347, + "velocityY": -0.11245542183881331, "moduleForcesX": [ - 0.0000017103433002606593, - 0.000001321516107422634, - 0.000001248392547430189, - 8.595653545935313e-7 + -153.77503725922782, + -120.4454433310894, + -109.10509609112468, + -120.53596282220182 ], "moduleForcesY": [ - -0.000011356385650562247, - -0.000011818336408310135, - -0.000010967558451487174, - -0.00001142950920922951 + -8.935951607241737, + 95.79297681739413, + -108.45613508723609, + 87.85367607710111 ], - "timestamp": 6.277948677290045 + "timestamp": 5.502464136231166 }, { - "x": 4.770818049795608, - "y": 6.8650739857697705, - "heading": 0.8714443540667713, - "angularVelocity": 0.003593599892537779, - "velocityX": 3.7625923157307453, - "velocityY": 0.3662274108413567, + "x": 8.21165612545991, + "y": 0.73691788446322, + "heading": 1.2081323354703097, + "angularVelocity": 4.6179203518702385, + "velocityX": 1.2713611883588238, + "velocityY": -0.07744548250077309, "moduleForcesX": [ - 0.000001645083219434914, - 0.0000012653583052069355, - 0.0000011936890263433496, - 8.139641121155992e-7 + -152.79292270875644, + -153.82295782344187, + -152.0275856106588, + -154.06785784141556 ], "moduleForcesY": [ - -0.000010829896344076806, - -0.000011281290537712555, - -0.000010450171429164382, - -0.000010901565622799633 + 19.181472811266357, + -7.746699702368304, + 24.955023447135506, + 1.7609599099437483 ], - "timestamp": 6.350578940092745 + "timestamp": 5.5704527115786036 }, { - "x": 5.044096118855703, - "y": 6.89167317577545, - "heading": 0.8717053575861738, - "angularVelocity": 0.003593591835287854, - "velocityX": 3.762592320528254, - "velocityY": 0.36622736831266695, + "x": 8.265102585027156, + "y": 0.734438632837738, + "heading": 1.4445840060195683, + "angularVelocity": 3.4778147555066012, + "velocityX": 0.7861094204927617, + "velocityY": -0.03646570939921409, "moduleForcesX": [ - 0.0000016291831081620115, - 0.0000012585488566932553, - 0.0000011883491074357276, - 8.177148559670035e-7 + -110.74517750169417, + -124.90953664520113, + -142.20826122266996, + -150.9217746364994 ], "moduleForcesY": [ - -0.000010810463899008152, - -0.000011251297899792914, - -0.000010439829647466144, - -0.000010880663648250963 + 107.13388451706673, + -90.27364461266357, + 59.826103243664704, + -32.030186262566765 ], - "timestamp": 6.423209202895444 + "timestamp": 5.638441286926041 }, { - "x": 5.317374188261372, - "y": 6.918272362692856, - "heading": 0.8719663605345401, - "angularVelocity": 0.0035935839730531043, - "velocityX": 3.762592325309591, - "velocityY": 0.36622732578423756, + "x": 8.290366172790527, + "y": 0.7333604693412779, + "heading": 1.5707963267948972, + "angularVelocity": 1.8563754296999986, + "velocityX": 0.371585779440757, + "velocityY": -0.015858009777666833, "moduleForcesX": [ - 0.0000016152296260409677, - 0.0000012536824244982476, - 0.000001184967655600579, - 8.234204540578244e-7 + -74.00800706883395, + -89.52580705491948, + -141.67650012743988, + -146.50113621760156 ], "moduleForcesY": [ - -0.000010811139996726131, - -0.000011241401967174093, - -0.000010449592795173835, - -0.000010879854765621834 + 135.3057637296217, + -125.52295829034652, + 61.229341465207334, + -48.555686126400225 ], - "timestamp": 6.495839465698144 + "timestamp": 5.706429862273479 }, { - "x": 5.5906522580141464, - "y": 6.9448715465187085, - "heading": 0.8722273629260159, - "angularVelocity": 0.0035935763055799375, - "velocityX": 3.7625923300767874, - "velocityY": 0.3662272832358726, + "x": 8.290366172790527, + "y": 0.733360469341278, + "heading": 1.5707963267948968, + "angularVelocity": -2.6464413891793245e-17, + "velocityX": 1.738042518661347e-16, + "velocityY": 5.4423385734300905e-17, "moduleForcesX": [ - 0.0000016018073373963895, - 0.0000012493277436938813, - 0.0000011821101086496954, - 8.296305149470056e-7 + -53.801388810450106, + -66.01325071675733, + -140.05883235874362, + -145.04806884646564 ], "moduleForcesY": [ - -0.00001081697247217721, - -0.000011236669700925761, - -0.00001046449287847225, - -0.0000108841901072208 + 144.59558886319894, + -139.40453807841024, + 64.9072136882858, + -52.817598453536355 ], - "timestamp": 6.568469728500844 - }, - { - "x": 5.863930328116021, - "y": 6.971470727221096, - "heading": 0.8724883647747603, - "angularVelocity": 0.0035935688330556315, - "velocityX": 3.76259233487226, - "velocityY": 0.36622724023127284, - "moduleForcesX": [ - 0.0000015991932355351181, - 0.0000012557821306000192, - 0.000001190077538497892, - 8.466664335621125e-7 - ], - "moduleForcesY": [ - -0.000010934076906414846, - -0.000011343192603449731, - -0.000010590665801482174, - -0.000010999781498517266 - ], - "timestamp": 6.641099991303544 - }, - { - "x": 6.137208398645799, - "y": 6.998069903963645, - "heading": 0.8727493660949122, - "angularVelocity": 0.003593561555201014, - "velocityX": 3.762592340776083, - "velocityY": 0.36622718567444495, - "moduleForcesX": [ - 0.000001872031799917869, - 0.0000015376685560789235, - 0.000001473488940614162, - 0.0000011391256967747352 - ], - "moduleForcesY": [ - -0.000013880860698401144, - -0.000014279403557679935, - -0.000013546497454587699, - -0.000013945040313869667 - ], - "timestamp": 6.713730254106244 - }, - { - "x": 6.410486471679704, - "y": 7.024669055402479, - "heading": 0.8730103669004102, - "angularVelocity": 0.003593554469259406, - "velocityX": 3.7625923752624972, - "velocityY": 0.3662268373005249, - "moduleForcesX": [ - 0.00000915142429204624, - 0.0000088259735229407, - 0.000008763310683367591, - 0.000008437859914297033 - ], - "moduleForcesY": [ - -0.00008881014450906645, - -0.00008919825811812702, - -0.00008848469373947623, - -0.00008887280734854701 - ], - "timestamp": 6.786360516908943 - }, - { - "x": 6.683764600057138, - "y": 7.051267638687029, - "heading": 0.8732713671999357, - "angularVelocity": 0.0035935475028429716, - "velocityX": 3.7625931372236847, - "velocityY": 0.3662190147510294, - "moduleForcesX": [ - 0.00019466426423530347, - 0.00019434432852701112, - 0.0001942826760179533, - 0.00019396274030967765 - ], - "moduleForcesY": [ - -0.0019948568581535796, - -0.0019952384464280415, - -0.001994536922378218, - -0.00199491851065199 - ], - "timestamp": 6.858990779711643 - }, - { - "x": 6.95704412732338, - "y": 7.077851844535128, - "heading": 0.8735323672612572, - "angularVelocity": 0.0035935442231635304, - "velocityX": 3.762612397671039, - "velocityY": 0.36602106093790765, - "moduleForcesX": [ - 0.004911918280554898, - 0.0049117628970997, - 0.0049117426620214006, - 0.004911587276931862 - ], - "moduleForcesY": [ - -0.050481693339831296, - -0.05048186899927748, - -0.0504815379095095, - -0.050481713564977694 - ], - "timestamp": 6.931621042514343 - }, - { - "x": 7.230355887121584, - "y": 7.104070088475183, - "heading": 0.8738010319798695, - "angularVelocity": 0.0036990740256869145, - "velocityX": 3.763056186923448, - "velocityY": 0.36098236367489867, - "moduleForcesX": [ - 0.10786056954395865, - 0.11270299298761208, - 0.11364514267675394, - 0.11848754918921252 - ], - "moduleForcesY": [ - -1.2854275242620838, - -1.27964368719714, - -1.2902691278462617, - -1.2844853000656147 - ], - "timestamp": 7.004251305317043 - }, - { - "x": 7.477597056440798, - "y": 7.123367144695371, - "heading": 0.9392975497921473, - "angularVelocity": 0.901779992042656, - "velocityX": 3.4041067700635335, - "velocityY": 0.26568892187739696, - "moduleForcesX": [ - -120.46871696868767, - -105.56893723576454, - -81.06900243667158, - -59.04699770859803 - ], - "moduleForcesY": [ - -26.303767447115973, - 37.06282191622233, - -81.4859255343968, - -26.479142681584953 - ], - "timestamp": 7.076881568119743 - }, - { - "x": 7.688604135900261, - "y": 7.143131511136299, - "heading": 1.0955227706148907, - "angularVelocity": 2.1509659306496913, - "velocityX": 2.905222579648714, - "velocityY": 0.27212301976974057, - "moduleForcesX": [ - -150.69482337232304, - -135.24254134947674, - -97.80101074985409, - -125.15859116971613 - ], - "moduleForcesY": [ - -30.894600795236506, - 72.93762636936054, - -118.29647320902023, - 82.8166800711927 - ], - "timestamp": 7.149511830922442 - }, - { - "x": 7.856340024475999, - "y": 7.158861561787143, - "heading": 1.272993084250045, - "angularVelocity": 2.4434761322183607, - "velocityX": 2.309449010698996, - "velocityY": 0.21657708568631628, - "moduleForcesX": [ - -152.2096493254911, - -153.67076711406517, - -147.9393379960757, - -153.91119368583918 - ], - "moduleForcesY": [ - -23.86643510412189, - 10.639423929286856, - -42.6971036420002, - -0.7366451499471117 - ], - "timestamp": 7.222142093725142 - }, - { - "x": 7.980808380759237, - "y": 7.170485754381945, - "heading": 1.427778702628115, - "angularVelocity": 2.1311449581083632, - "velocityX": 1.7137258145500864, - "velocityY": 0.16004613156584627, - "moduleForcesX": [ - -154.08274428125875, - -148.00298846130224, - -153.95863332331092, - -151.63519825547374 - ], - "moduleForcesY": [ - 4.66592747058501, - -43.194488922227045, - 9.067952435577642, - -28.204940676598504 - ], - "timestamp": 7.294772356527842 - }, - { - "x": 8.063012096621636, - "y": 7.1781468176421, - "heading": 1.5409185237362633, - "angularVelocity": 1.5577504024112376, - "velocityX": 1.1318108002146454, - "velocityY": 0.10548031859839103, - "moduleForcesX": [ - -151.42050470734557, - -140.05366297560383, - -153.05687386517548, - -149.06320603094147 - ], - "moduleForcesY": [ - 29.25962109642088, - -64.61817458741045, - 19.601369790030912, - -39.90378378404092 - ], - "timestamp": 7.367402619330542 - }, - { - "x": 8.103799819946289, - "y": 7.181926250457764, - "heading": 1.6010893874682277, - "angularVelocity": 0.8284544404777118, - "velocityX": 0.5615802800463534, - "velocityY": 0.05203661214593982, - "moduleForcesX": [ - -147.57099137078606, - -134.2731185189688, - -152.6319955543972, - -147.19913617591433 - ], - "moduleForcesY": [ - 44.96243196868301, - -75.98032690594495, - 22.92504204586578, - -46.42348701729118 - ], - "timestamp": 7.4400328821332415 - }, - { - "x": 8.103799819946289, - "y": 7.181926250457764, - "heading": 1.6010893874682277, - "angularVelocity": -1.7825790967085197e-17, - "velocityX": 3.743000622922229e-17, - "velocityY": 1.198397950839719e-17, - "moduleForcesX": [ - -144.67280938500443, - -129.59323800443673, - -152.16902830229228, - -146.4163125303958 - ], - "moduleForcesY": [ - 53.64234391265718, - -83.76542499964843, - 25.94179337080161, - -48.899717022295654 - ], - "timestamp": 7.512663144935941 + "timestamp": 5.774418437620917 } ], "eventMarkers": [] diff --git a/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt b/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt index a8be7bd9..8bf1edd2 100644 --- a/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt +++ b/src/main/kotlin/com/team4099/robot2023/auto/mode/TestAutoPath.kt @@ -5,6 +5,7 @@ import com.team4099.lib.trajectory.FieldWaypoint import com.team4099.robot2023.commands.drivetrain.DrivePathCommand import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain import com.team4099.robot2023.subsystems.superstructure.Superstructure +import com.team4099.robot2023.util.CustomTrajectory import com.team4099.robot2023.util.FrameType import com.team4099.robot2023.util.TrajectoryTypes import edu.wpi.first.wpilibj2.command.SequentialCommandGroup @@ -13,6 +14,7 @@ import org.team4099.lib.geometry.Translation2d import org.team4099.lib.units.base.meters import org.team4099.lib.units.derived.degrees import org.team4099.lib.units.derived.inRotation2ds +import org.team4099.lib.units.derived.radians class TestAutoPath(val drivetrain: Drivetrain, val superstructure: Superstructure) : SequentialCommandGroup() { @@ -23,6 +25,26 @@ class TestAutoPath(val drivetrain: Drivetrain, val superstructure: Superstructur DrivePathCommand.createPathInFieldFrame( drivetrain, TrajectoryTypes.Choreo(Choreo.getTrajectory("testPath")), + ), + DrivePathCommand.createPathInFieldFrame( + drivetrain, + CustomTrajectory.fromWaypoints( + drivetrain, + { + listOf( + FieldWaypoint( + Translation2d(8.29.meters, 0.733.meters).translation2d, + null, + 1.571.radians.inRotation2ds + ), + FieldWaypoint( + Translation2d(8.29.meters, 0.733.meters + 4.meters).translation2d, + null, + 1.571.radians.inRotation2ds + ) + ) + } + ) ) ) }