diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json new file mode 100644 index 0000000..ff1ba9c --- /dev/null +++ b/.pathplanner/settings.json @@ -0,0 +1,7 @@ +{ + "robotWidth": 0.75, + "robotLength": 1.0, + "holonomicMode": true, + "generateJSON": true, + "generateCSV": false +} \ No newline at end of file diff --git a/Logs/CougarRobot_20231026_181801.log.lck b/Logs/CougarRobot_20231026_181801.log.lck new file mode 100644 index 0000000..e69de29 diff --git a/build.gradle b/build.gradle index 63e3de1..f019812 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.4.2" + id "edu.wpi.first.GradleRIO" version "2023.4.3" } apply from: "${project.rootDir}/buildSrc/java.gradle" diff --git a/scripteditor/build.gradle b/scripteditor/build.gradle deleted file mode 100644 index 7e93f09..0000000 --- a/scripteditor/build.gradle +++ /dev/null @@ -1,9 +0,0 @@ -plugins { - id 'java' -} -repositories { - mavenCentral() -} -dependencies { - implementation 'org.json:json:20210307' -} \ No newline at end of file diff --git a/scripteditor/build/tmp/compileJava/previous-compilation-data.bin b/scripteditor/build/tmp/compileJava/previous-compilation-data.bin deleted file mode 100644 index 29e54a8..0000000 Binary files a/scripteditor/build/tmp/compileJava/previous-compilation-data.bin and /dev/null differ diff --git a/scripteditor/build/tmp/jar/MANIFEST.MF b/scripteditor/build/tmp/jar/MANIFEST.MF deleted file mode 100644 index 58630c0..0000000 --- a/scripteditor/build/tmp/jar/MANIFEST.MF +++ /dev/null @@ -1,2 +0,0 @@ -Manifest-Version: 1.0 - diff --git a/scripteditor/src/main/java/Main.java b/scripteditor/src/main/java/Main.java deleted file mode 100644 index bb15178..0000000 --- a/scripteditor/src/main/java/Main.java +++ /dev/null @@ -1,10 +0,0 @@ -import gui.MainWindow; - -/** - * Main Class. - */ -public class Main { - public static void main(String[] args) { - new MainWindow(); - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/commands/Commands.java b/scripteditor/src/main/java/commands/Commands.java deleted file mode 100644 index 7bfe145..0000000 --- a/scripteditor/src/main/java/commands/Commands.java +++ /dev/null @@ -1,169 +0,0 @@ -package commands; - -import java.awt.Color; -import java.awt.Graphics; -import java.util.ArrayList; -import java.util.List; -import java.util.SortedMap; -import java.util.TreeMap; -import java.util.function.Supplier; - -import preview.Robot; -import util.Point; - -/** - * A class that contains the commandMap, which stores suppliers for the different RobotCommands. - * - * @author Brandon C. - */ -public class Commands { - - public static final Color DRIVE_COLOR = new Color(192, 139, 252);//light purple - public static final Color TURRET_COLOR = new Color(139, 212, 252);//light blue - public static final Color SHOOT_COLOR = new Color(163, 252, 139);//light green - public static final Color MISC_COLOR = new Color(252, 184, 139);//light red-orange - - /** - * A map containing presets for the RobotCommands on the 2021 1403 robot. - * The two MISC ones (SetStartPosition and ParallelCommand) are required. - */ - public static final SortedMap> commandMap = new TreeMap>(); - static { - commandMap.put("SetStartPosition", () -> new RobotCommand("SetStartPosition", MISC_COLOR, - new NumberField("angle"), new PointSelect("position") - ){ - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - Point p = ((PointSelect) getInteractable("position")).getValue(); - output.setPosition(new Point(p.x, p.y)); - output.setAngle(getNumberFromName("angle").getValue()); - return output; - } - @Override - public void drawPreview(Graphics g) { - g.setColor(Color.red); - getOutput().getPosition().toPixels().draw(g); - if (getHovered()) { - getOutput().draw(g); - } - } - }); - commandMap.put("ParallelCommand", ()->new RobotCommand("ParallelCommand", Commands.MISC_COLOR, - new InteractableList("Commands", "Command", true, ParallelCommandField::new) - ){ - @Override - @SuppressWarnings("unchecked") - public Robot applyCommand(Robot initial) { - Robot output = initial; - List list = ((InteractableList)getInteractable("Commands")).getValue(); - for (int i = 0; i < list.size(); i++) { - ParallelCommandField field = list.get(i); - if (field.hasCommand()) { - output = field.getValue().applyCommand(output); - } - } - return output; - } - }); - - commandMap.put("SwerveDrivePath", ()->new RobotCommand("SwerveDrivePath", DRIVE_COLOR, - new NumberField("StartAngle"), - new NumberField("EndAngle"), - new InteractableList("Waypoints", "Waypoint", false, PointSelect::new) - ) { - List points; - @Override - @SuppressWarnings("unchecked") - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - List pointSelections = ((InteractableList) getInteractable("Waypoints")).getValue(); - points = new ArrayList(); - pointSelections.forEach((PointSelect ps)->points.add(ps.getValue())); - if (points.size() > 0) { - initial.setPosition(points.get(0)); - output.setPosition(points.get(points.size()-1)); - } - initial.setAngle(getNumberFromName("StartAngle").getValue()); - output.setAngle(getNumberFromName("EndAngle").getValue()); - - return output; - } - @Override - public void drawPreview(Graphics g) { - super.drawPreview(g); - List scaledPoints = new ArrayList(); - for (int i = 0; i < points.size(); i++) { - scaledPoints.add(points.get(i).toPixels()); - } - g.setColor(Color.red); - for (int i = 0; i < points.size()-1; i++) { - scaledPoints.get(i).drawLine(g, scaledPoints.get(i+1)); - } - if (getHovered()) { - g.setColor(Color.orange); - for (int i = 0; i < scaledPoints.size(); i++) { - Point p = scaledPoints.get(i); - g.drawString(Integer.toString(i), (int)p.x-3, (int) p.y+3); - } - } - } - }); - - commandMap.put("Delay", () -> new RobotCommand("Delay", MISC_COLOR, new NumberField("seconds")) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("Tuck", () -> new RobotCommand("Tuck", MISC_COLOR) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("High Node", () -> new RobotCommand("High Node", MISC_COLOR) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("Middle Node", () -> new RobotCommand("Middle Node", MISC_COLOR) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("Low Node", () -> new RobotCommand("Low Node", MISC_COLOR) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("Floor Pickup", () -> new RobotCommand("Floor Pickup", MISC_COLOR) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - - commandMap.put("Run Intake", () -> new RobotCommand("Run Intake", MISC_COLOR, new NumberField("Intake Speed")) { - @Override - public Robot applyCommand(Robot initial) { - Robot output = initial.getCopy(); - return output; - } - }); - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/commands/Interactable.java b/scripteditor/src/main/java/commands/Interactable.java deleted file mode 100644 index 4bbaa8d..0000000 --- a/scripteditor/src/main/java/commands/Interactable.java +++ /dev/null @@ -1,51 +0,0 @@ -package commands; - -import org.json.JSONObject; - -import gui_elements.Element; - -/** - * An interface that provides functionality for loading from and exporting information to JSON format. - * T is the type of the value stored in the Interactable. - * - * @author Brandon C. - */ -public interface Interactable extends Element{ - - /** - * Sets the value of the interactable from JSON. - * @param json The JSONObject storing the information for the parameters of the command. - */ - public void setFromJson(JSONObject json); - - /** - * Adds this interactable's value to the JSONObject with the parameters of the command. - * @param json The JSONObject to add to. - * @return The edited JSONObject. - */ - public JSONObject addToJson(JSONObject json); - - /** - * Gets the name of the interactable, used as the key when added to a JSONObject. - * @return the name. - */ - public String getName(); - - /** - * Sets the name of the interactable. - * @param name The name to use. - */ - public void setName(String name); - - /** - * Gets the value of the interactable. - * @return the Value of type T stored in the interactable. - */ - public T getValue(); - - /** - * Sets the value of the interactable. - * @param the Value of type T to be used. - */ - public void setValue(T value); -} \ No newline at end of file diff --git a/scripteditor/src/main/java/commands/InteractableList.java b/scripteditor/src/main/java/commands/InteractableList.java deleted file mode 100644 index bb318d9..0000000 --- a/scripteditor/src/main/java/commands/InteractableList.java +++ /dev/null @@ -1,308 +0,0 @@ -package commands; - -import java.awt.Color; -import java.util.ArrayList; -import java.util.List; -import java.util.function.Supplier; - -import org.json.JSONArray; -import org.json.JSONObject; - -import gui.MainWindow; -import gui_elements.Button; -import gui_elements.EventButton; -import util.Pos; - -/** - * An interactable that stores a list of other interactables of type T. - * V is the type of the data stored in T. - * - * @author Brandon C. - */ -public class InteractableList, V> extends Button implements Interactable> { - - private static final Color ADD_BUTTON_COLOR = new Color(163, 252, 139); - private static final Color DOWN_BUTTON_COLOR = new Color(105, 177, 255); - private static final Color REMOVE_BUTTON_COLOR = new Color(255, 112, 102); - - private static final int MARGIN = 10; - private static final int ADD_BUTTON_HEIGHT = 40; - private static final int REMOVE_WIDTH = 30; - - private String listName; - private final List interactables; - private final List removeButtons; - private final List upButtons; - private final List downButtons; - private final Supplier supplier; - private final String elementName; - private final T dummy; - private final boolean autopopulate; - private final int buttonHeight; - private final EventButton addNew; - - /** - * Creates a new InteractableList. - * @param listName The name of the interactable. - * @param elementName The name to give each element in the list (followed by index). - * @param autopopulate Whether or not to create new elements automatically. - * @param supplier The supplier for new elements. - */ - public InteractableList(String listName, String elementName, boolean autopopulate, Supplier supplier) { - super(listName, 0, 0, 0, 20); - this.listName = listName; - this.supplier = supplier; - this.elementName = elementName; - this.autopopulate = autopopulate; - interactables = new ArrayList(); - dummy = supplier.get(); - dummy.resize(); - buttonHeight = dummy.getSize().y/3; - removeButtons = new ArrayList(); - upButtons = new ArrayList(); - downButtons = new ArrayList(); - if (!autopopulate) { - addNew = new EventButton("New " + elementName, MARGIN, 20, REMOVE_WIDTH + MARGIN + dummy.getSize().x, ADD_BUTTON_HEIGHT, true) { - @Override - public void onClick() { - addInteractable(supplier.get()); - MainWindow.getInstance().addHistoryEntry('+'); - } - }; - addNew.setColor(ADD_BUTTON_COLOR); - addChild(addNew); - } else { - addNew = null; - } - resize(); - } - - /** - * Adds an interactable to the end of the list. - * @param i The interactable to add. - */ - private void addInteractable(T i) { - addInteractable(interactables.size(), i); - } - - /** - * Adds an interactable to the list. Creates the buttons to remove, move up, and move down. - * @param index The index to put the interactable. - * @param i The interactable to add. - */ - private void addInteractable(int index, T i) { - i.update(new Pos(x, y)); - interactables.add(index, i); - RemoveButton rb = new RemoveButton(i); - removeButtons.add(index, rb); - MoveButton up = new MoveButton(i, true); - upButtons.add(index, up); - MoveButton dn = new MoveButton(i, false); - downButtons.add(index, dn); - addChild(i, rb, up, dn); - resize(); - if (i instanceof PointSelect) { - PointSelect ps = ((PointSelect) i); - if (index < interactables.size() - 1) { - ps.setNext((PointSelect) interactables.get(index+1)); - } else { - ps.setNext(null); - } - if (index > 0) { - ((PointSelect) interactables.get(index-1)).setNext(ps); - } - } - } - - /** - * Removes an interactable from the list. Removes the remove button, up arrow, and down arrow as well. - * Changes the links if the elements are point selects so that they are in the proper order. - * @param i The interactable to remove. - */ - private void removeInteractable(T i) { - int j = interactables.indexOf(i); - removeChild(interactables.remove(j), removeButtons.remove(j), upButtons.remove(j), downButtons.remove(j)); - if (i instanceof PointSelect) { - if (j > 0) {//if there is one before this - PointSelect prev = (PointSelect) interactables.get(j-1); - if (j < interactables.size()) {//if there is one after this - prev.setNext((PointSelect)interactables.get(j)); - } else { - prev.setNext(null); - } - } - } - } - - /** - * Sets the relative positions of the interactables in the list. - */ - private void resetInteractablePositions() { - int currentY = 20 + MARGIN; - if (!autopopulate) { - currentY += ADD_BUTTON_HEIGHT; - } - for (int k = 0; k < interactables.size(); k++) { - T i = interactables.get(k); - i.setRelativePosition(new Pos(REMOVE_WIDTH + 2*MARGIN, currentY)); - currentY += i.getSize().y + MARGIN; - i.setName(elementName + " " + k); - } - } - - /** - * {@inheritDoc} - * If the InteractableList is set to autopopulate it will create new elements and remove extra null elements. - * Sets the relative positions of elements based on their position in the list. - */ - @Override - public void update(Pos parentPos) { - if (autopopulate) { - if (interactables.size() == 0 || - interactables.get(interactables.size()-1).getValue() != null - ) { - addInteractable(supplier.get()); - } - for (int j = interactables.size()-2; j >= 0; j--) { - T i = interactables.get(j); - if (i.getValue() == null) { - removeInteractable(i); - } - } - } - resetInteractablePositions(); - for (int j = 0; j < interactables.size(); j++) { - T i = interactables.get(j); - i.resize(); - if (removeButtons.size() > j) { - Button rb = removeButtons.get(j); - rb.setRelativePosition(new Pos(i.getRelativePosition().x - MARGIN - REMOVE_WIDTH, i.getRelativePosition().y + buttonHeight)); - Button up = upButtons.get(j); - up.setRelativePosition(new Pos(i.getRelativePosition().x - MARGIN - REMOVE_WIDTH, i.getRelativePosition().y)); - Button dn = downButtons.get(j); - dn.setRelativePosition(new Pos(i.getRelativePosition().x - MARGIN - REMOVE_WIDTH, i.getRelativePosition().y + 2*buttonHeight)); - } - } - super.update(parentPos); - } - - @Override - public List getValue() { - return interactables; - } - - @Override - public void setValue(List value) { - for (int i = interactables.size()-1; i >= 0; i--) { - removeInteractable(interactables.get(i)); - } - for (int i = 0; i < value.size(); i++) { - addInteractable(value.get(i)); - } - } - - @Override - public void setFromJson(JSONObject json) { - JSONArray array = json.getJSONArray(getName()); - for (int j = 0; j < array.length(); j++) { - T i = supplier.get(); - i.setFromJson(array.getJSONObject(j)); - addInteractable(i); - } - } - - @Override - public JSONObject addToJson(JSONObject json) { - JSONArray array = new JSONArray(); - for (int i = 0; i < interactables.size(); i++) { - JSONObject o = new JSONObject(); - o = interactables.get(i).addToJson(o); - if (o != null) { - array.put(o); - } - } - json.put(getName(), array); - return json; - } - - @Override - public String getName() { - return listName; - } - - @Override - public void setName(String name) { - listName = name; - } - - /** - * A button for removing elements of the list. - */ - private class RemoveButton extends EventButton{ - private T interactable; - - /** - * Create a new remove button. - * @param interactable The interactable to remove. - */ - public RemoveButton(T interactable) { - super("X", 0, 0, REMOVE_WIDTH, buttonHeight, true); - this.interactable = interactable; - setColor(REMOVE_BUTTON_COLOR); - } - - /** - * Removes the interactable from the list. - */ - @Override - public void onClick() { - InteractableList.this.removeInteractable(interactable); - MainWindow.getInstance().addHistoryEntry('-'); - } - } - - /** - * A button for moving elements of a list. - */ - private class MoveButton extends EventButton{ - private T interactable; - private boolean isUp; - - /** - * Create a new MoveButton. - * @param interactable The interactable the button is linked to. - * @param isUp true = up, false = down; - */ - public MoveButton(T interactable, boolean isUp) { - super("^", 0, 0, REMOVE_WIDTH, buttonHeight, true); - this.interactable = interactable; - this.isUp = isUp; - if (isUp) { - setColor(ADD_BUTTON_COLOR); - } else { - setColor(DOWN_BUTTON_COLOR); - setText("v"); - } - - } - - /** - * Moves the interactable up or down depending on whether it is an up button or not. - */ - @Override - public void onClick() { - int index = interactables.indexOf(interactable); - if (isUp) { - if (index != 0) { - InteractableList.this.removeInteractable(interactable); - InteractableList.this.addInteractable(index - 1, interactable); - } - } else { - if (index != interactables.size()-1) { - InteractableList.this.removeInteractable(interactable); - InteractableList.this.addInteractable(index + 1, interactable); - } - } - } - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/commands/NumberField.java b/scripteditor/src/main/java/commands/NumberField.java deleted file mode 100644 index 9b14205..0000000 --- a/scripteditor/src/main/java/commands/NumberField.java +++ /dev/null @@ -1,130 +0,0 @@ -package commands; - -import java.awt.event.KeyEvent; -import java.util.Set; - -import org.json.JSONObject; - -import gui.MainWindow; -import gui_elements.TextField; - -/** - * A type of textfield that is used to input doubles as parameters for RobotCommands. - * - * @author Brandon C. - */ -public class NumberField extends TextField implements Interactable{ - - private static final Set numbers = Set.of('1', '2', '3', '4', '5', '6', '7', '8', '9', '0', '.', '-'); - - private double previous = 0.0; - - /** - * Create a new NumberField. - * @param name The name of the interactable. - */ - public NumberField(String name) { - super(name, 0, 0, 100, 15); - setText("0.0"); - } - - /** - * Rounds the value of the NumberField. - */ - private void round() { - int i = getText().indexOf('.'); - if (i != -1 && i + 4 < getText().length()) { - String cut = getText().substring(0, i + 4); - double value = Double.parseDouble(cut); - value = Math.round(value * 100) / 100.0; - super.setText(Double.toString(value)); - } else { - //super.setText(text); - } - } - - /** - * {@inheritDoc} - * Sets the text to empty if the value is 0. - */ - @Override - public void onSelect() { - previous = getValue(); - if (getValue() == 0.0) { - setText(""); - } - super.onSelect(); - } - - /** - * {@inheritDoc} - * Rounds the value of the NumberField. If the value was changed adds a new history entry. - */ - @Override - public void onDeselect() { - round(); - if (getValue() == 0.0) { - setValue(0.0); - } - if (previous != getValue().doubleValue()) { - MainWindow.getInstance().addHistoryEntry('n'); - } - super.onDeselect(); - } - - /** - * Checks if the character makes a valid double when added to the text. - */ - @Override - public boolean isValidCharacter(KeyEvent e) { - for (char c : numbers) { - if (e.getKeyCode() == c) { - if (c == '.') { - if (getText().indexOf('.') == -1) { - return true; - } - } else if (c == '-') { - if (getText().length() == 0) { - return true; - } - } else { - return true; - } - } - } - return false; - } - - @Override - public Double getValue() { - String text = getText(); - if (text.length() == 0) { - return 0.0; - } else if (text.length() == 1 && (text.equals("-") || text.equals("."))) { - return 0.0; - } else { - return Double.parseDouble(text); - } - } - - /** - * {@inheritDoc} - * Rounds the value. - */ - @Override - public void setValue(Double d) { - setText(Double.toString(d)); - round(); - } - - @Override - public void setFromJson(JSONObject parameters) { - setText(parameters.get(getName()).toString()); - } - - @Override - public JSONObject addToJson(JSONObject parameters) { - parameters.put(getName(), getValue()); - return parameters; - } -} diff --git a/scripteditor/src/main/java/commands/ParallelCommandField.java b/scripteditor/src/main/java/commands/ParallelCommandField.java deleted file mode 100644 index 557042a..0000000 --- a/scripteditor/src/main/java/commands/ParallelCommandField.java +++ /dev/null @@ -1,141 +0,0 @@ -package commands; - -import java.awt.event.MouseEvent; - -import org.json.JSONObject; - -import gui.MainWindow; -import gui_elements.Button; -import gui_elements.Element; -import util.Pos; - -/** - * An interactable used by the ParallelCommand that stores a command. - * Also contains a toggleButton that tells whetehr the command is an end command or not. - * - * @author Brandon C. - */ -public class ParallelCommandField extends Button implements Interactable{ - - private static final int MARGIN = 10; - private static final int DEFAULT_WIDTH = 200; - private static final int DEFAULT_HEIGHT = 50; - private static final int END_HEIGHT = 30; - - private String name; - private RobotCommand command; - private ToggleButton endCondition; - - /** - * Creates a new ParallelCommandField. - */ - public ParallelCommandField () { - super("", 0, 0, DEFAULT_WIDTH, DEFAULT_HEIGHT); - endCondition = new ToggleButton("End Condition"); - endCondition.setRelativePosition(new Pos(MARGIN, 2 * MARGIN)); - } - - /** - * Determines whether the field has a command. - * @return true if command is not null. - */ - public boolean hasCommand() { - return this.command != null; - } - - /** - * Sets the current command to null and removes it from the children. - * Also removes the button temporarily. - */ - public void removeCommand() { - if (hasCommand()) { - removeChild(command, endCondition); - command.setRelativePosition(new Pos(0, 0)); - command = null; - } - } - - /** - * {@inheritDoc} - * Interacts with the MainWindow to set the command based on the MouseCommand. - * If the field is clicked while there is no MouseCommand, it will pick the command out from the field. - * If the field is clicked while there is a MouseCommand it will swap with the current command. - * Addsa history entry. - */ - @Override - public Element processClick(MouseEvent e) { - Element clicked = super.processClick(e); - if (inBounds(e)) { - MainWindow instance = MainWindow.getInstance(); - RobotCommand mouseCommand = instance.getMouseCommand(); - if (mouseCommand == null && hasCommand() && clicked == command) { - instance.setMouseCommand(getValue()); - removeCommand(); - instance.addHistoryEntry('p'); - return this; - } else { - if (!hasCommand() || clicked == command) { - instance.setMouseCommand(command); - removeCommand(); - setValue(mouseCommand); - if (mouseCommand != null) { - instance.addHistoryEntry('p'); - } - return this; - } - } - } - return clicked; - } - - @Override - public void setFromJson(JSONObject parameters) { - endCondition.setValue(parameters.getBoolean("EndCondition")); - JSONObject commandJSON = parameters.getJSONObject("Command"); - setValue(RobotCommand.getFromJSON(commandJSON)); - } - - @Override - public JSONObject addToJson(JSONObject parameters) { - if (command == null) { - return null; - } - parameters.put("Command", command.getJSON()); - parameters.put("EndCondition", endCondition.getValue()); - return parameters; - } - - @Override - public String getName() { - return name; - } - - @Override - public void setName(String name) { - this.name = name; - setText(name); - } - - /** - * {@inheritDoc} - * If the field currently has a command it will remove it as a child. - * Sets the relative position of the command in the field and adds it as a child. - */ - @Override - public void setValue(RobotCommand c) { - if (hasCommand()) { - removeCommand(); - } - if (c == null) { - return; - } - this.command = c; - c.setRelativePosition(new Pos(MARGIN, 2 * MARGIN + END_HEIGHT)); - addChild(c, endCondition); - } - - @Override - public RobotCommand getValue() { - return this.command; - } -} diff --git a/scripteditor/src/main/java/commands/PointSelect.java b/scripteditor/src/main/java/commands/PointSelect.java deleted file mode 100644 index 3b578d4..0000000 --- a/scripteditor/src/main/java/commands/PointSelect.java +++ /dev/null @@ -1,123 +0,0 @@ -package commands; - -import java.awt.Color; -import java.awt.Graphics; - -import org.json.JSONObject; - -import gui.MainWindow; -import gui_elements.Button; -import gui_elements.EventButton; -import util.Point; -import util.Pos; - -/** - * An interactable that stores a Point. - * The PointSelect has 2 NumberFields that can be used to set the x and y of the point. - * It also has a button that can be used to select a point by clicking on other point selects (copy point) or the field image. - * - * @author Brandon C. - */ -public class PointSelect extends Button implements Interactable{ - - public static final Color HIGHLIGHT_COLOR = new Color(255, 248, 54); - public static final Color DEFAULT_COLOR = new Color(130, 255, 239); - - private static final Pos SELECT_POS = new Pos(130, 20); - private static final int MARGIN = 10; - - private final NumberField xField, yField; - private final EventButton select; - private PointSelect next; - - /** - * Create a new PointSelect with a name. - * @param name The name of the interactable. - */ - public PointSelect(String name) { - this(); - setName(name); - } - - /** - * Create a new PointSelect. - */ - public PointSelect() { - super("", 0, 0, 220, 60); - setColor(DEFAULT_COLOR); - xField = new NumberField("x"); - xField.setRelativePosition(new Pos(MARGIN, 20)); - yField = new NumberField("y"); - yField.setRelativePosition(new Pos(MARGIN, 20 + 20)); - PointSelect ps = this; - select = new EventButton("Select Point", SELECT_POS.x, SELECT_POS.y, 80, 35, true) { - @Override - public void onClick() { - MainWindow.getInstance().enterPointSelection(ps); - } - }; - addChild(xField, yField, select); - } - - /** - * Gets the next point select to use after the current one (automatic if in a list). - * @return The next PointSelect. - */ - public PointSelect getNext() { - return next; - } - - /** - * Sets the next point select to use after the current one. - */ - public void setNext(PointSelect next) { - this.next = next; - } - - /** - * {@inheritDoc} - * If the PointSelect is hovered it will draw a circle around its point on the preview. - */ - @Override - public void draw(Graphics g) { - super.draw(g); - if (getHovered()) { - Point p = getValue().toPixels(); - g.setColor(Color.blue); - g.drawOval((int) p.x - 10, (int) p.y - 10, 20, 20); - } - } - - @Override - public void setValue(Point p) { - xField.setValue(p.x); - yField.setValue(p.y); - } - - @Override - public Point getValue() { - return new Point(xField.getValue(), yField.getValue()); - } - - @Override - public void setFromJson(JSONObject json) { - setValue(new Point(json.getDouble("x"), json.getDouble("y"))); - } - - @Override - public JSONObject addToJson(JSONObject parameters) { - parameters.put("x", xField.getValue()); - parameters.put("y", yField.getValue()); - return parameters; - } - - @Override - public String getName() { - return getText(); - } - - @Override - public void setName(String name) { - setText(name); - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/commands/RobotCommand.java b/scripteditor/src/main/java/commands/RobotCommand.java deleted file mode 100644 index 95b82a2..0000000 --- a/scripteditor/src/main/java/commands/RobotCommand.java +++ /dev/null @@ -1,212 +0,0 @@ -package commands; - -import java.awt.Color; -import java.awt.Graphics; -import java.awt.Toolkit; -import java.awt.datatransfer.StringSelection; -import java.util.Arrays; -import java.util.List; -import java.util.function.Supplier; - -import org.json.JSONException; -import org.json.JSONObject; - -import gui_elements.Button; -import gui_elements.EventButton; -import preview.Robot; -import util.Pos; - -/** - * A class to represent a command given to the robot in a visual format. - * The RobotCommand contains a list of interactables which can be used to input values - * through the GUI. - * It also features the ability to export all the values of its interactables as a JSONObject, - * and load them from one as well. - * - * @author Brandon C. - */ -@SuppressWarnings("rawtypes") -public abstract class RobotCommand extends Button{ - - private static final int TITLE_SPACE = 30; - private static final int MARGIN = 10; - private static final int COPY_WIDTH = 50; - private static final int COPY_HEIGHT = 15; - - /** - * The internal list of interactables that the robotcommand will use when exporting to a JSON format. - */ - private final List interactables; - private final EventButton copyButton; - private Robot initial; - private Robot output; - - /** - * Creates a new RobotCommand. - * @param name The name of the command. - * @param color The background color of the command. - * @param fieldNames The names of the double fields for the command. These will be automatically created. - * @param buttonNames The names of the boolean buttons for hte command. These will be automatically created. - */ - public RobotCommand(String name, Color color, Interactable... interactables) { - super(name, 0, 0, 200, TITLE_SPACE); - setColor(color); - - this.interactables = Arrays.asList(interactables); - int currentY = TITLE_SPACE; - copyButton = new EventButton("Copy", 0, 0, COPY_WIDTH, COPY_HEIGHT, true) { - @Override - public void onClick() { - Toolkit.getDefaultToolkit().getSystemClipboard().setContents(new StringSelection(getJSON().toString()), null); - } - }; - addChild(copyButton); - for (int i = 0; i < interactables.length; i++) { - Interactable a = interactables[i]; - addChild(a); - a.setRelativePosition(new Pos(MARGIN, currentY)); - currentY += a.getSize().y + MARGIN; - } - resize(); - } - - /** - * Gets the interactable with the given name. - * @param name The name of the interactable. - * @return Interactable with the corresponding name. Null if there are no interactables with the name. - */ - public Interactable getInteractable(String name) { - for (int i = 0; i < interactables.size(); i++) { - if (interactables.get(i).getName().equals(name)) { - return interactables.get(i); - } - } - return null; - } - - /** - * Gets the double input field from its name. - * @param name The name of the field. - * @return The input field object with the given name. - */ - public NumberField getNumberFromName(String name) { - Interactable i = getInteractable(name); - if (i instanceof NumberField) { - return (NumberField) i; - } - return null; - } - - /** - * Gets the boolean button from its name. - * @param name The name of the button. - * @return The input button object with the given name. - */ - public ToggleButton getBooleanFromName(String name) { - Interactable i = getInteractable(name); - if (i instanceof ToggleButton) { - return (ToggleButton) i; - } - return null; - } - - /** - * Gets the values represented by the interactables of the RobotCommand in the form of a JSONObject. - * @return A JSONObject containing the information of the interactables in the RobotCommand. - */ - public JSONObject getJSON() { - JSONObject command = new JSONObject(); - JSONObject parameters = new JSONObject(); - for (int i = 0; i < interactables.size(); i++) { - interactables.get(i).addToJson(parameters); - } - command.put("CommandName", getText()); - command.put("Parameters", parameters); - return command; - } - - /** - * Sets the initial and output robots based on the applyCommand method. - * @param initial The initial state to use. - */ - public void updateRobot(Robot initial) { - this.initial = initial; - this.output = applyCommand(initial); - } - - /** - * Draws the preview of the RobotCommand on the field image. - * @param g The graphics object to use. - */ - public void drawPreview(Graphics g) { - g.setColor(Color.red); - initial.getPosition().toPixels().draw(g); - output.getPosition().toPixels().draw(g); - if (getHovered()) { - initial.draw(g); - output.draw(g); - } - } - - /** - * Gets the Robot that represents before the command is applied. - * @return initial robot. - */ - public Robot getInitial() { - return initial; - } - - /** - * Gets the Robot that represents after the command is applied. - * @return output robot. - */ - public Robot getOutput() { - return output; - } - - /** - * Applies the effect of the RobotCommand on the Robot representation. - * Example: a drive forward command would take the initial position of the robot and return a copy - * that is translated by the amount specified in the "distance" double field. - * @param g The graphics object to use to draw. - * @param initial The state of the robot representation before the command's effect is accounted for - * @return The state of the robot representation after the command's effect is accounted for - */ - public abstract Robot applyCommand(Robot initial); - - /** - * {@inheritDoc} - * Handles the copy button. - */ - @Override - public void resize() { - removeChild(copyButton); - super.resize(); - addChild(copyButton); - copyButton.setRelativePosition(new Pos(w - COPY_WIDTH - MARGIN, MARGIN)); - } - - /** - * Creates a RobotCommand from the JSON formatted information. - * @param commandJSON The JSONObject that stores the information to create the RobotCommand from. - * @return A RobotCommand with the information from the JSONObject. - */ - public static RobotCommand getFromJSON(JSONObject commandJSON) { - String commandName = (String) commandJSON.get("CommandName"); - JSONObject parameters = (JSONObject) commandJSON.get("Parameters"); - Supplier supplier = Commands.commandMap.get(commandName); - if (supplier != null) { - RobotCommand c = supplier.get(); - for (int i = 0; i < c.interactables.size(); i++) { - try { - c.interactables.get(i).setFromJson(parameters); - c.resize(); - } catch (JSONException e) { - e.printStackTrace(); - } - } - return c; - } - return null; - } -} diff --git a/scripteditor/src/main/java/commands/ToggleButton.java b/scripteditor/src/main/java/commands/ToggleButton.java deleted file mode 100644 index f4436b4..0000000 --- a/scripteditor/src/main/java/commands/ToggleButton.java +++ /dev/null @@ -1,81 +0,0 @@ -package commands; - -import java.awt.Color; -import java.awt.Graphics; -import java.awt.event.MouseEvent; - -import org.json.JSONObject; - -import gui.MainWindow; -import gui_elements.Element; -import gui_elements.LabeledButton; - -/** - * An interactable that stores a boolean. - * When clicked, the boolean toggles. - * Green = true, red = false - * - * @author Brandon C. - */ -public class ToggleButton extends LabeledButton implements Interactable{ - - private static final Color TRUE_COLOR = new Color(163, 252, 139); - private static final Color FALSE_COLOR = new Color(245, 66, 66); - - private boolean value; - - /** - * Create a new Toggle Button. - * @param name The name of the interactable. - */ - public ToggleButton(String name) { - super(name, "", 0, 0, 20, 20); - } - - /** - * Draws a green button for true and a red button for false. - */ - @Override - public void draw(Graphics g) { - if (value) { - setColor(TRUE_COLOR); - } else { - setColor(FALSE_COLOR); - } - super.draw(g); - } - - /** - * {@inheritDoc} - * Toggles the value of the button. - */ - @Override - public Element processClick(MouseEvent e) { - if (inBounds(e)) { - value = !value; - MainWindow.getInstance().addHistoryEntry('b'); - } - return super.processClick(e); - } - - @Override - public void setFromJson(JSONObject parameters) { - value = parameters.getBoolean(getName()); - } - - @Override - public JSONObject addToJson(JSONObject parameters) { - parameters.put(getName(), value); - return parameters; - } - - @Override - public Boolean getValue() { - return value; - } - - @Override - public void setValue(Boolean value) { - this.value = value; - } -} diff --git a/scripteditor/src/main/java/exceptions/SubsystemNotFound.java b/scripteditor/src/main/java/exceptions/SubsystemNotFound.java deleted file mode 100644 index d10eb92..0000000 --- a/scripteditor/src/main/java/exceptions/SubsystemNotFound.java +++ /dev/null @@ -1,22 +0,0 @@ -package exceptions; - -public class SubsystemNotFound extends RuntimeException { - - private static String blurb = "Unable to find subsystem - perhaps it was not added" - + " to the initial Robot configuration in preview.Robot or the" - + " provided name does not match the name inputted in the invokation of super() in the inheriting subsystem?"; - - /** - * - */ - private static final long serialVersionUID = 1L; - - public SubsystemNotFound() { - super(blurb); - } - - public SubsystemNotFound(String subsystem) { - super(blurb + " Offending subsystem: " + subsystem); - } - -} \ No newline at end of file diff --git a/scripteditor/src/main/java/gui/FilePicker.java b/scripteditor/src/main/java/gui/FilePicker.java deleted file mode 100644 index 48f48ac..0000000 --- a/scripteditor/src/main/java/gui/FilePicker.java +++ /dev/null @@ -1,108 +0,0 @@ -package gui; - -import java.io.File; -import java.io.FileWriter; -import java.io.IOException; -import java.util.Scanner; - -import javax.imageio.ImageIO; -import javax.swing.JFileChooser; -import javax.swing.JFrame; -import javax.swing.filechooser.FileNameExtensionFilter; - -import org.json.JSONArray; -import org.json.JSONTokener; - -/** - * Contains the JFileChooser used to access stored Cougar scripts in JSON format as well as select an image for the preview. - * - * @author Brandon C. - */ -public class FilePicker { - - private final JFrame chooserFrame; - private final JFileChooser fileChooser; - private final FileNameExtensionFilter json = new FileNameExtensionFilter("Json scripts", "json"); - private final FileNameExtensionFilter image = new FileNameExtensionFilter("Images", "jpg", "png"); - - /** - * Initializes the FilePicker. - */ - public FilePicker() { - chooserFrame = new JFrame(); - fileChooser = new JFileChooser(); - } - - /** - * Creates or modifies a file to store the script information. - * The file is selected using a JFileChooser. - * @param commandList The JSONArray containing the script information. - */ - public void exportToJSON(JSONArray commandList) { - fileChooser.setFileFilter(json); - fileChooser.setDialogTitle("Save to a file"); - int userSelection = fileChooser.showSaveDialog(chooserFrame); - if (userSelection == JFileChooser.APPROVE_OPTION) { - File saveFile = fileChooser.getSelectedFile(); - MainWindow.getInstance().scriptName = saveFile.getName(); - String path = saveFile.getAbsolutePath(); - if (path.length() > 5 && !path.substring(path.length() - 5, path.length()).equals(".json")) { - path += ".json"; - } - try (FileWriter fileWriter = new FileWriter(path)) { - commandList.write(fileWriter, 4, 0); - fileWriter.flush(); - } catch (IOException e) { - e.printStackTrace(); - } - } - } - - /** - * Loads a JSON file containing a script and sets the queue based on the information in the script file. - * @param mw The MainWindow to modify. - */ - public void importFromJSON(MainWindow mw) { - fileChooser.setFileFilter(json); - fileChooser.setDialogTitle("Specify a file to open"); - int userSelection = fileChooser.showOpenDialog(chooserFrame); - if (userSelection == JFileChooser.APPROVE_OPTION) { - File fileToOpen = fileChooser.getSelectedFile(); - mw.scriptName = fileToOpen.getName(); - try (Scanner sc = new Scanner(fileToOpen);) { - String data = ""; - while (sc.hasNextLine()) { - data += sc.nextLine(); - } - sc.close(); - JSONTokener tokener = new JSONTokener(data); - JSONArray commandList = new JSONArray(tokener); - mw.setQueueFromJSON(commandList); - mw.addHistoryEntry('O'); - mw.clearHistory(); - } catch (IOException e) { - e.printStackTrace(); - } - } - } - - /** - * Sets the field image to use for the preview. - * The image must have the pixels per foot ratio as a valid double in the beginning of the title, delimited with a space. - * @param mw The MainWindow to modify. - */ - public void selectFieldImage(MainWindow mw) { - fileChooser.setFileFilter(image); - fileChooser.setDialogTitle("Select a field image to display"); - int userSelection = fileChooser.showOpenDialog(chooserFrame); - if (userSelection == JFileChooser.APPROVE_OPTION) { - try { - File selected = fileChooser.getSelectedFile(); - String imageName = selected.getName(); - mw.setFieldImage(ImageIO.read(selected), imageName); - } catch (IOException e) { - e.printStackTrace(); - } - } - } -} diff --git a/scripteditor/src/main/java/gui/MainWindow.java b/scripteditor/src/main/java/gui/MainWindow.java deleted file mode 100644 index e5defce..0000000 --- a/scripteditor/src/main/java/gui/MainWindow.java +++ /dev/null @@ -1,680 +0,0 @@ -package gui; - -import java.awt.Color; -import java.awt.FontMetrics; -import java.awt.Toolkit; -import java.awt.datatransfer.DataFlavor; -import java.awt.event.KeyEvent; -import java.awt.event.KeyListener; -import java.awt.event.MouseEvent; -import java.awt.event.MouseListener; -import java.awt.event.MouseMotionListener; -import java.awt.event.MouseWheelEvent; -import java.awt.event.MouseWheelListener; -import java.awt.image.BufferedImage; -import java.io.File; -import java.io.IOException; -import java.util.ArrayList; -import java.util.List; -import java.util.Set; -import java.util.function.Supplier; - -import javax.imageio.ImageIO; -import javax.swing.ImageIcon; - -import org.json.JSONArray; -import org.json.JSONException; -import org.json.JSONObject; - -import commands.Commands; -import commands.PointSelect; -import commands.RobotCommand; -import gui_elements.Button; -import gui_elements.Element; -import gui_elements.EventButton; -import gui_elements.TextField; -import preview.Robot; -import util.Point; -import util.Pos; - -/** - * The Main Window that displays the GUI. - * - * @author Brandon C. - */ -public class MainWindow extends Window implements MouseListener, MouseMotionListener, MouseWheelListener, KeyListener { - - private static final Color insertColor = new Color(163, 252, 139); - private static final Color backgroundColor = new Color(235, 235, 235); - private static final Color REMOVE_COLOR = new Color(255, 112, 102); - private static MainWindow instance = null; - - private FilePicker picker = new FilePicker(); - private Pos m = new Pos(0, 0); - private MouseEvent mEvent; - private Pos prevM = new Pos(0, 0); - private final int margin = 10; - private final Button qRect = new Button("", margin, 200, 455, 1000); - private final Button buttonRect = new Button("", qRect.x + qRect.w + margin, qRect.y, 200, 50); - private final int infoHeight = 75; - private final Pos fileButtonSize = new Pos(100, (infoHeight - margin) / 2); - public final Button imageRect = new Button("", qRect.x + qRect.w + buttonRect.w + margin * 2, qRect.y, 0, 0); - private final int logoHeight = qRect.y - 3 * margin - infoHeight; - private final Button scrollBar = new Button("", qRect.x + qRect.w - 2 * margin, qRect.y + margin / 2, 3 * margin / 2, - 5 * margin); - private boolean scrolling = false; - private ArrayList queue = new ArrayList(); - private ArrayList queueBuffer = null; - private ArrayList eventButtons = new ArrayList(); - private ArrayList commandButtons = new ArrayList();// for resizing and repositioning - private RobotCommand mouseCommand = null; - private BufferedImage fieldImage = null; - private String fieldImageName = ""; - private double fieldScaleFactor; - private BufferedImage logoImage = null; - private PointSelect currentPointSelect = null; - public String scriptName = ""; - private int scrollPosition = 0; - - private List history = new ArrayList(); - private int historyPosition = -1; - - private EventButton removeButton; - - public MainWindow() { - super(925, 675, "Cougar Script Editor"); - if (instance != null) { - return; - } - instance = this; - canvas.addMouseListener(this); - canvas.addMouseMotionListener(this); - canvas.addMouseWheelListener(this); - canvas.addKeyListener(this); - - scrollBar.setColor(new Color(200, 200, 200)); - // event buttons - Set keySet = Commands.commandMap.keySet(); - String[] keys = keySet.toArray(new String[keySet.size()]); - for (int i = 0; i < keys.length; i++) { - String key = keys[i]; - Supplier supplier = Commands.commandMap.get(key); - EventButton eb = new EventButton(key, buttonRect.x, qRect.y + i * (buttonRect.h + margin), buttonRect.w, - buttonRect.h, true) { - public void onClick() { - mouseCommand = supplier.get(); - } - }; - RobotCommand dummy = supplier.get(); - eb.setColor(dummy.getColor()); - eventButtons.add(eb); - commandButtons.add(eb); - } - eventButtons.add(new EventButton("Undo (z)", qRect.x + qRect.w - 2 * fileButtonSize.x - margin, - qRect.y - margin - fileButtonSize.y, fileButtonSize.x, fileButtonSize.y, true) { - @Override - public void onClick() { - undoChange(); - } - }); - eventButtons.add(new EventButton("Redo (x)", qRect.x + qRect.w - fileButtonSize.x, - qRect.y - margin - fileButtonSize.y, fileButtonSize.x, fileButtonSize.y, true) { - @Override - public void onClick() { - redoChange(); - } - }); - eventButtons.add(new EventButton("Export (s)", qRect.x + qRect.w - 2 * fileButtonSize.x - margin, - qRect.y - margin - infoHeight, fileButtonSize.x, fileButtonSize.y, true) { - @Override - public void onClick() { - picker.exportToJSON(getScriptJSON()); - } - }); - eventButtons.add(new EventButton("Import (o)", qRect.x + qRect.w - fileButtonSize.x, qRect.y - margin - infoHeight, - fileButtonSize.x, fileButtonSize.y, true) { - @Override - public void onClick() { - picker.importFromJSON(MainWindow.this); - } - }); - eventButtons.add(new EventButton("Paste (v)", buttonRect.x, buttonRect.y - infoHeight - margin, - (buttonRect.w - margin) / 2, infoHeight, true) { - @Override - public void onClick() { - pasteFromClipboard(); - } - }); - eventButtons.add(new EventButton("Select Image", imageRect.x, imageRect.y - margin - fileButtonSize.y, - fileButtonSize.x, fileButtonSize.y, true) { - @Override - public void onClick() { - picker.selectFieldImage(MainWindow.this); - } - }); - removeButton = new EventButton("Remove (esc)", buttonRect.x + (buttonRect.w + margin) / 2, - buttonRect.y - infoHeight - margin, (buttonRect.w - margin) / 2, infoHeight, true) { - @Override - public void onClick() { - mouseCommand = null; - } - }; - eventButtons.add(removeButton); - // load images - try { - logoImage = ImageIO.read(new File("scripteditor/src/resources/logo.png")); - frame.setIconImage(new ImageIcon("scripteditor/src/resources/Icon.png").getImage()); - setFieldImage(ImageIO.read(new File("scripteditor/src/resources/21.1215992958 FieldImage.png")), - "21.1215992958 FieldImage.png"); - } catch (IOException e) { - e.printStackTrace(); - } - addHistoryEntry('.'); - // add a set start position - queue.add(Commands.commandMap.get("SetStartPosition").get()); - timer.start(); - } - - private void pasteFromClipboard() { - try { - mouseCommand = RobotCommand.getFromJSON(new JSONObject((String) Toolkit.getDefaultToolkit() - .getSystemClipboard().getData(DataFlavor.stringFlavor))); - } catch (JSONException e) { - System.out.println("Invalid JSON");// TODO popup - } catch (Exception e) { - e.printStackTrace(); - } - } - - public void addHistoryEntry(char c) { - for (int i = history.size() - 1; i > historyPosition; i--) { - history.remove(i); - } - history.add(new HistoryEntry(c, getScriptJSON())); - historyPosition++; - } - - public void undoChange() { - if (historyPosition > 0) { - historyPosition--; - setQueueFromJSON(history.get(historyPosition).getData()); - } - } - - public void redoChange() { - if (historyPosition < history.size() - 1) { - historyPosition++; - setQueueFromJSON(history.get(historyPosition).getData()); - } - } - - public void clearHistory() { - history.clear(); - historyPosition = -1; - } - - private int getInsertBoxY() { - int output = qRect.y + scrollPosition; - for (int i = 0; i < queue.size(); i++) { - RobotCommand command = queue.get(i); - if (output + command.h + margin > m.y) { - return output; - } - output += margin; - output += command.h; - } - return output; - } - - private void updateRobotPath() { - Robot initial = Robot.getInitialRobot(); - if (queue.size() >= 1) { - queue.get(0).updateRobot(initial); - } - for (int i = 1; i < queue.size(); i++) { - queue.get(i).updateRobot(queue.get(i - 1).getOutput()); - } - } - - private void deselectPointSelect(boolean selectNext) { - if (currentPointSelect != null) { - highlightPointSelects(PointSelect.DEFAULT_COLOR); - if (selectNext && currentPointSelect.getNext() != null) {// automatically select the next one - enterPointSelection(currentPointSelect.getNext()); - } else { - currentPointSelect = null; - } - } - } - - public void enterPointSelection(PointSelect ps) { - if (mouseCommand == null) { - currentPointSelect = ps; - highlightPointSelects(PointSelect.HIGHLIGHT_COLOR); - ps.setColor(new Color(255, 184, 184)); - } - } - - private void highlightPointSelects(Color c) { - for (PointSelect ps : getPointSelects()) { - ps.setColor(c); - } - } - - private void scrollQueue(int amount) { - scrollPosition += amount; - int max = -1 * (10 * (qRect.h - scrollBar.h - margin)); - if (scrollPosition > 0) { - scrollPosition = 0; - } else if (scrollPosition < max) { - scrollPosition = max; - } - } - - public void update() { - // resize - qRect.h = h - qRect.y - 2 * margin - frame.getInsets().top; - double buttonListh = frame.getSize().height - insets.top - insets.bottom - 3 * margin - logoHeight - infoHeight; - double tempHeight = buttonListh / commandButtons.size(); - for (int i = 0; i < commandButtons.size(); i++) { - EventButton eb = commandButtons.get(i); - eb.h = (int) (tempHeight - margin); - eb.y = (int) (buttonRect.y + i * tempHeight); - } - // background - g.setColor(backgroundColor); - g.fillRect(0, 0, w, h); - // draw field image - if (fieldImage != null) { - g.setColor(Color.black); - g.drawString("Current image: " + fieldImageName, imageRect.x, imageRect.y - margin - fileButtonSize.y - 2); - imageRect.w = frame.getSize().width - insets.left - insets.right - 4 * margin - qRect.w - buttonRect.w; - imageRect.h = (int) ((double) imageRect.w * fieldImage.getHeight() / fieldImage.getWidth()); - int maxh = frame.getSize().height - insets.top - insets.bottom - 4 * margin - logoHeight - infoHeight; - if (imageRect.h > maxh) { - imageRect.h = maxh; - imageRect.w = (int) ((double) imageRect.h * fieldImage.getWidth() / fieldImage.getHeight()); - } - g.drawImage(fieldImage, imageRect.x, imageRect.y, imageRect.w, imageRect.h, null); - } - if (imageRect.inBounds(m)) { - g.setColor(Color.darkGray); - g.drawLine(m.x, imageRect.y, m.x, imageRect.y + imageRect.h); - g.drawLine(imageRect.x, m.y, imageRect.x + imageRect.w, m.y); - Point mfeet = new Point(m).toFeet().getRounded(); - Pos ft = new Pos((int) mfeet.x, (int) mfeet.y); - Point inches = new Point(12 * (mfeet.x - ft.x), 12 * (mfeet.y - ft.y)).getRounded(); - g.drawString("x: " + mfeet.x, imageRect.x + imageRect.w - 110, - imageRect.y - g.getFontMetrics().getHeight() - margin - 2); - g.drawString(((inches.x < 0) ? "-" : " ") + Math.abs(ft.x) + "\' ", imageRect.x + imageRect.w - 60, - imageRect.y - g.getFontMetrics().getHeight() - margin - 2); - g.drawString(+Math.abs(inches.x) + "\'\'", imageRect.x + imageRect.w - 35, - imageRect.y - g.getFontMetrics().getHeight() - margin - 2); - g.drawString("y: " + mfeet.y, imageRect.x + imageRect.w - 110, imageRect.y - margin - 2); - g.drawString(((inches.y < 0) ? "-" : " ") + Math.abs(ft.y) + "\' ", imageRect.x + imageRect.w - 60, - imageRect.y - margin - 2); - g.drawString(+Math.abs(inches.y) + "\'\'", imageRect.x + imageRect.w - 35, imageRect.y - margin - 2); - } - // update robot path - updateRobotPath(); - for (int i = 0; i < queue.size(); i++) { - queue.get(i).drawPreview(g); - } - // draw queue - qRect.draw(g); - int currentY = qRect.y; - for (int i = 0; i < queue.size(); i++) { - currentY += margin; - RobotCommand command = queue.get(i); - command.update(new Pos(qRect.x + 3 * margin, currentY + scrollPosition)); - g.setColor(Color.black); - g.drawString(Integer.toString(i), qRect.x + margin, currentY + margin + scrollPosition); - currentY += command.h; - command.draw(g); - } - g.setColor(Color.black); - if (mouseCommand != null && m.x > qRect.x && m.x < qRect.x + qRect.w && m.y > qRect.y && m.y < qRect.y + qRect.h) { - // insert line - g.setColor(insertColor); - g.fillRect(qRect.x + 1, getInsertBoxY() + 1, qRect.w - 1, margin - 1); - } - // Mask the part of the queue that goes above and below - g.setColor(backgroundColor); - g.fillRect(0, 0, qRect.x + qRect.w, qRect.y); - g.fillRect(0, qRect.y + qRect.h + 1, qRect.x + qRect.w, 2 * margin); - // display top info - g.setColor(Color.black); - g.drawString("Script Name: " + scriptName, qRect.x, qRect.y - margin - 2 * g.getFontMetrics().getHeight()); - g.drawString("Script length: " + Integer.toString(queue.size()), qRect.x, - qRect.y - margin - g.getFontMetrics().getHeight()); - String historyString = "History: "; - int stringLength = 20; - int lower = Math.max(0, Math.min(historyPosition - stringLength / 2, history.size() - stringLength)); - int upper = Math.min(lower + stringLength, history.size()); - if (lower > 0) { - lower += 2; - historyString += "[" + lower + "] "; - lower += Integer.toString(lower).length(); - } - boolean addEnding = false; - if (upper < history.size()) { - addEnding = true; - upper -= Integer.toString(upper).length(); - } - for (int i = lower; i < upper; i++) { - historyString += history.get(i).getCharacter(); - if (i == historyPosition) { - historyString += " | "; - } - } - if (addEnding) { - historyString += " [" + (history.size() - upper) + "]"; - } - g.drawString(historyString, qRect.x, qRect.y - margin); - // draw scrollbar - g.setColor(Color.black); - scrollBar.y = qRect.y - (int) (0.1 * scrollPosition) + margin / 2; - scrollBar.draw(g); - // draw lambdaButtons - for (EventButton button : eventButtons) { - button.draw(g); - } - // draw remove button - if (mouseCommand == null) { - removeButton.setColor(Button.DEFAULT_BACKGROUND_COLOR); - } else { - removeButton.setColor(REMOVE_COLOR); - } - // draw logo - if (logoImage != null) { - g.drawImage(logoImage, margin, margin, (int) (logoImage.getWidth() * logoHeight / logoImage.getHeight()), - logoHeight, null); - } - // draw mouse command - if (mouseCommand != null) { - g.setColor(Color.black); - mouseCommand.update(m); - mouseCommand.draw(g); - } - // point selection - if (currentPointSelect != null) { - g.setColor(Color.black); - // g.drawString("Select a point on the field image", imageRect.x, imageRect.y + - // g.getFontMetrics().getHeight()); - int nextPoints = 0; - for (PointSelect ps = currentPointSelect; ps != null; ps = ps.getNext()) { - nextPoints++; - } - if (imageRect.inBounds(mEvent)) { - g.setColor(Color.blue); - String str = Integer.toString(nextPoints); - g.drawString(str, m.x - 3 - g.getFontMetrics().stringWidth(str), m.y - 3); - } - } - // update queue - if (queueBuffer != null) { - queue = queueBuffer; - queueBuffer = null; - } - } - - // listener methods - @Override - public void mouseDragged(MouseEvent e) { - mouseMoved(e); - if (scrolling) { - scrollQueue(-10 * (m.y - prevM.y)); - } - } - - @Override - public void mouseMoved(MouseEvent e) { - mEvent = e; - prevM.x = m.x; - prevM.y = m.y; - m.x = e.getX(); - m.y = e.getY(); - for (int i = 0; i < queue.size(); i++) { - queue.get(i).processMouseMove(e); - } - for (int i = 0; i < eventButtons.size(); i++) { - eventButtons.get(i).processMouseMove(e); - } - } - - @Override - public void mouseClicked(MouseEvent e) { - } - - @Override - public void mouseEntered(MouseEvent arg0) { - } - - @Override - public void mouseExited(MouseEvent arg0) { - } - - @Override - public void mousePressed(MouseEvent e) { - mouseMoved(e);// update hover - if (scrollBar.inBounds(e)) { - scrolling = true; - return; - } - scrolling = false; - // deselect text field - TextField.deselectTextField(); - // run lambdaButtons - for (int i = 0; i < eventButtons.size(); i++) { - eventButtons.get(i).processClick(e); - } - // point selection - if (currentPointSelect != null) { - for (PointSelect ps : getPointSelects()) { - if (ps.inBounds(e)) { - currentPointSelect.setValue(ps.getValue()); - MainWindow.getInstance().addHistoryEntry('*'); - deselectPointSelect(true); - return; - } - } - if (imageRect.inBounds(e)) { - currentPointSelect.setValue(new Point(m).toFeet()); - MainWindow.getInstance().addHistoryEntry('*'); - deselectPointSelect(true); - return; - } - deselectPointSelect(false); - return; - } - // queue - RobotCommand toPickup = null; - if (qRect.inBounds(e)) { - for (int i = 0; i < queue.size(); i++) { - RobotCommand command = queue.get(i); - Element clicked = command.processClick(e); - if (command == clicked) { - toPickup = command; - queue.remove(command); - addHistoryEntry('q'); - } - if (clicked != null && !(clicked instanceof RobotCommand)) { - return; - } - } - // put into queue - if (mouseCommand != null) { - int currentY = qRect.y + scrollPosition; - int indexToInsert = queue.size(); - for (int i = 0; i < queue.size(); i++) { - if (e.getY() < currentY + queue.get(i).h + margin) { - indexToInsert = i; - break; - } - currentY += queue.get(i).h + margin; - } - queue.add(indexToInsert, mouseCommand); - addHistoryEntry('Q'); - } - mouseCommand = toPickup; - return; - } - } - - @Override - public void mouseReleased(MouseEvent arg0) { - } - - @Override - public void mouseWheelMoved(MouseWheelEvent e) { - scrollQueue(-e.getWheelRotation() * 25); - if (mEvent != null) { - mouseMoved(mEvent); - } - } - - @Override - public void keyPressed(KeyEvent e) { - int k = e.getKeyCode(); - if (k == KeyEvent.VK_ESCAPE) {// esc - mouseCommand = null; - deselectPointSelect(false); - TextField.deselectTextField(); - } - if (TextField.getSelectedTextField() == null) {// hotkeys - if (k == KeyEvent.VK_V) {// paste - pasteFromClipboard(); - } else if (k == KeyEvent.VK_Z) {// undo - undoChange(); - } else if (k == KeyEvent.VK_X) {// redo - redoChange(); - } else if (k == KeyEvent.VK_S) {// save - picker.exportToJSON(getScriptJSON()); - } else if (k == KeyEvent.VK_O) {// open - picker.importFromJSON(this); - } - } else { - if (k == KeyEvent.VK_ENTER) { - TextField.deselectTextField(); - } else { - TextField.getSelectedTextField().processKeyEvent(e); - } - } - } - - @Override - public void keyReleased(KeyEvent arg0) { - } - - @Override - public void keyTyped(KeyEvent arg0) { - } - - /* Getters and setters */ - - public static MainWindow getInstance() { - return instance; - } - - public void setFieldImage(BufferedImage image, String name) { - int i = name.indexOf(' '); - try { - if (i > -1) { - fieldScaleFactor = Double.parseDouble(name.substring(0, i)); - } - } catch (NumberFormatException e) { - fieldScaleFactor = 10.0; - } - fieldImage = image; - fieldImageName = name; - } - - public BufferedImage getFieldImage() { - return fieldImage; - } - - public double getFieldImageScale() { - double unscaledWidth = 1; - if (fieldImage != null) { - unscaledWidth = fieldImage.getWidth(); - } - return fieldScaleFactor * (imageRect.w / unscaledWidth); - } - - public FontMetrics getFontMetrics() { - return g.getFontMetrics(); - } - - private JSONArray getScriptJSON() { - JSONArray commandList = new JSONArray(); - for (int i = 0; i < queue.size(); i++) { - RobotCommand command = queue.get(i); - commandList.put(command.getJSON()); - } - return commandList; - } - - public void setQueueFromJSON(JSONArray commandList) { - queueBuffer = new ArrayList(); - for (int i = 0; i < commandList.length(); i++) { - JSONObject command = commandList.getJSONObject(i); - queueBuffer.add(RobotCommand.getFromJSON(command)); - } - } - - private List getPointSelects() { - List cList = new ArrayList(); - for (int i = 0; i < queue.size(); i++) { - cList.add(queue.get(i)); - } - List output = new ArrayList(); - return getPointSelects(cList, output); - } - - private List getPointSelects(List children, List output) { - for (Element element : children) { - if (element instanceof PointSelect) { - output.add((PointSelect) element); - } - getPointSelects(element.getChildren(), output); - } - return output; - } - - public RobotCommand getMouseCommand() { - return mouseCommand; - } - - public void setMouseCommand(RobotCommand c) { - mouseCommand = c; - } - - private class HistoryEntry { - /** - * . = open file / start - * Q = put into queue - * q = take from queue - * p = parallel command interaction - * n = number field - * b = toggle button - * * = point selection - * + = add to list - * - = remove from list - **/ - private char c; - private JSONArray data; - - public HistoryEntry(char c, JSONArray data) { - this.c = c; - this.data = data; - } - - public char getCharacter() { - return c; - } - - public JSONArray getData() { - return data; - } - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/gui/Window.java b/scripteditor/src/main/java/gui/Window.java deleted file mode 100644 index 88c829d..0000000 --- a/scripteditor/src/main/java/gui/Window.java +++ /dev/null @@ -1,79 +0,0 @@ -package gui; - -import java.awt.Canvas; -import java.awt.Color; -import java.awt.Dimension; -import java.awt.Graphics; -import java.awt.Insets; -import java.awt.event.ActionEvent; -import java.awt.event.ActionListener; -import java.awt.event.WindowAdapter; -import java.awt.event.WindowEvent; -import java.awt.image.BufferStrategy; - -import javax.swing.JFrame; -import javax.swing.Timer; - -/** - * A supporting class to handle running the window. - * - * @author Brandon C. - */ -public abstract class Window{ - protected int w; - protected int h; - protected String name; - protected JFrame frame; - protected Canvas canvas; - protected BufferStrategy bs; - protected Graphics g; - protected Insets insets; - protected Timer timer; - - public Window (int width, int height, String name) { - this.w = width; - this.h = height; - this.name = name; - frame = new JFrame(name); - frame.setSize(new Dimension(w, h)); - frame.setMinimumSize(new Dimension(w, h)); - frame.setVisible(true); - frame.setResizable(true); - canvas = new Canvas(); - canvas.setSize(new Dimension(w, h)); - canvas.setBackground(new Color(255, 255, 255)); - frame.add(canvas); - canvas.createBufferStrategy(3); - bs = canvas.getBufferStrategy(); - insets = frame.getInsets(); - timer = new Timer(16, new ActionListener() { - @Override - public void actionPerformed(ActionEvent e) { - w = frame.getWidth(); - h = frame.getHeight(); - g = bs.getDrawGraphics(); - g.clearRect(0, 0, w, h); - update(); - bs.show(); - g.dispose(); - } - }); - frame.addWindowListener(new WindowAdapter() { - @Override - public void windowClosing(WindowEvent e) { - timer.stop(); - } - - @Override - public void windowClosed(WindowEvent e) { - timer.stop(); - } - - }); - } - - /** - * Called once per loop. - */ - public abstract void update(); -} \ No newline at end of file diff --git a/scripteditor/src/main/java/gui_elements/Button.java b/scripteditor/src/main/java/gui_elements/Button.java deleted file mode 100644 index ebea78f..0000000 --- a/scripteditor/src/main/java/gui_elements/Button.java +++ /dev/null @@ -1,201 +0,0 @@ -package gui_elements; - -import java.awt.Color; -import java.awt.FontMetrics; -import java.awt.Graphics; -import java.awt.event.MouseEvent; -import java.util.ArrayList; -import java.util.List; - -import util.Pos; - -/** - * The most basic form of UI element with fucntionality for displaying itself as a rectangle with a String of text. - * Contains a list of child Elements which, once added, will automatically be drawn and process mouse events. - * - * @author Brandon C. - */ -public class Button implements Element{ - - public static final Color DEFAULT_BACKGROUND_COLOR = Color.white; - - public int x, y, w, h; - - private Color backgroundColor; - private Color hoverColor; - private boolean hovered; - private String text; - private List children; - private boolean centerText = false; - private Pos relativePos; - private Pos defaultSize; - - /** - * Create a new Button. - * @param text The text to display on the button. - * @param x The x position of the Button. - * @param y The y position of the Button. - * @param w The width of the Button. - * @param h The height of the Button. - */ - public Button(String text, int x, int y, int w, int h) { - this.text = text; - this.x = x; - this.y = y; - this.w = w; - this.h = h; - this.relativePos = new Pos(x, y); - this.defaultSize = new Pos(w, h); - children = new ArrayList(); - hovered = false; - setColor(DEFAULT_BACKGROUND_COLOR); - } - - /** - * Sets whether the text of the button is centered or not - * @param center Whether the text should be centered or not - */ - public void setCentered(boolean center) { - this.centerText = center; - } - - /** - * Sets the background color and color when hovered (90% the brightness). - * @param c The background color. - */ - public void setColor(Color c) { - backgroundColor = c; - float[] hsb = Color.RGBtoHSB(c.getRed(), c.getGreen(), c.getBlue(), null); - int rgb = Color.HSBtoRGB(hsb[0], hsb[1], (float)(hsb[2] * 0.9)); - hoverColor = new Color(rgb); - } - - /** - * Gets the backgorund color of the button. - * @return The background color. - */ - public Color getColor() { - return backgroundColor; - } - - /** - * {@inheritDoc} - * Uses the hovor color if hovered. - */ - @Override - public void draw(Graphics g) { - if (hovered) { - draw(g, hoverColor); - } else { - draw(g, backgroundColor); - } - } - - /** - * Draws the button with a given color. Any children will also be drawn. - * @param g The graphics object to draw to. - * @param backgroundColor The color to draw the background with. - */ - public void draw(Graphics g, Color backgroundColor) { - g.setColor(backgroundColor); - g.fillRect(x, y, w, h); - g.setColor(hoverColor); - g.drawRect(x, y, w, h); - g.setColor(Color.black); - if (centerText) { - FontMetrics fm = g.getFontMetrics(); - g.drawString(text, x + w/2 - fm.stringWidth(text)/2, y + h/2 + fm.getHeight()/2-3); - } else { - g.drawString(text, x + 3, y + g.getFontMetrics().getHeight()-3); - } - for (int i = 0; i < children.size(); i++) { - children.get(i).draw(g); - } - } - - /** - * Sets the text of the button. - * @param text The String to use. - */ - public void setText(String text) { - this.text = text; - } - - /** - * Gets the text of the button. - * @return The text as a String. - */ - public String getText() { - return text; - } - - /** - * Gets whether or not the button is hovered. - * @return hovered. - */ - public boolean getHovered() { - return hovered; - } - - @Override - public boolean inBounds (MouseEvent e) { - return (e.getX() >= x && e.getX() <= x + w) && (e.getY() >= y && e.getY() <= y + h); - } - - /** - * Gets whether the Pos is within the bounds of the button. - * @param p The position to use. - * @return Whether the Pos is within the bounds of the button or not. - */ - public boolean inBounds(Pos p) { - return (p.x >= x && p.x <= x + w) && (p.y >= y && p.y <= y + h); - } - - @Override - public void processMouseMove(MouseEvent e) { - hovered = inBounds(e); - Element.super.processMouseMove(e); - } - - @Override - public Pos getSize() { - return new Pos(w, h); - } - - @Override - public Pos getDefaultSize() { - return defaultSize; - } - - @Override - public void setSize(Pos p) { - w = p.x; - h = p.y; - } - - @Override - public List getChildren() { - return children; - } - - @Override - public void setRelativePosition(Pos p) { - this.relativePos = p; - } - - @Override - public Pos getRelativePosition() { - return this.relativePos; - } - - @Override - public Pos getPosition() { - return new Pos(x, y); - } - - @Override - public void setPosition(Pos p) { - this.x = p.x; - this.y = p.y; - } -} diff --git a/scripteditor/src/main/java/gui_elements/Element.java b/scripteditor/src/main/java/gui_elements/Element.java deleted file mode 100644 index dc2263b..0000000 --- a/scripteditor/src/main/java/gui_elements/Element.java +++ /dev/null @@ -1,164 +0,0 @@ -package gui_elements; - -import java.awt.Graphics; -import java.awt.event.MouseEvent; -import java.util.List; - -import util.Pos; - -/** - * An interface for any GUI Elements that can be displayed or added as a child. - * - * @author Brandon C. - */ -public interface Element { - - public static final int MARGIN = 10; - - /** - * Sets the position of the Element and its children. - * @param parentPos The position of this Element. - */ - public default void update(Pos parentPos) { - setPosition(parentPos.add(getRelativePosition())); - for (int i = 0; i < getChildren().size(); i++) { - Element element = getChildren().get(i); - element.update(getPosition()); - } - } - - /** - * Sets the size based on the children to fit everything. - */ - public default void resize() { - Pos max = new Pos(getDefaultSize().x, getDefaultSize().y); - for (int i = 0; i < getChildren().size(); i++) { - Element element = getChildren().get(i); - element.resize(); - element.update(getPosition()); - int currentX = element.getRelativePosition().x + element.getSize().x + MARGIN; - int currentY = element.getRelativePosition().y + element.getSize().y + MARGIN; //bottom of the element - if (max.y < currentY) { - max.y = currentY; - } - if (max.x < currentX) { - max.x = currentX; - } - } - update(getPosition().subtract(getRelativePosition())); - setSize(max); - } - - /** - * Called whenever the user clicks and returns the Element clicked on. - * Calls processClick(e) on all children to determine if they were clicked. - * @param e The mouse clicked event. - * @return The element that was clicked on, out of the children and the Element. - */ - public default Element processClick(MouseEvent e) { - for (int i = 0; i < getChildren().size(); i++) { - Element clicked = getChildren().get(i).processClick(e); - if (clicked != null) { - resize(); - return clicked; - } - } - if (inBounds(e)) { - return this; - } - return null; - } - - /** - * Called when the mouse is moved. Calls process mouse move for its children. - * @param e The mouse moved event. - */ - public default void processMouseMove(MouseEvent e) { - for (int i = 0; i < getChildren().size(); i++) { - getChildren().get(i).processMouseMove(e); - } - } - - /** - * Draws the Element and its children. - */ - public void draw(Graphics g); - - /** - * Gets the children of the Element. - * @return list containing the children. - */ - public List getChildren(); - - /** - * Adds children to the Element. - * @param e The elements to be added. - */ - public default void addChild(Element... e) { - for (Element i : e) { - getChildren().add(i); - i.resize(); - i.update(getPosition()); - } - } - - /** - * Removes children of the Element. - * @param e The elements to remove. - */ - public default void removeChild(Element... e) { - for (Element i : e) { - getChildren().remove(i); - i.resize(); - i.update(getPosition()); - } - } - - /** - * Sets the relative position of this Element, relative to the position of its parent. - * @param p The relative position. - */ - public void setRelativePosition(Pos p); - - /** - * Gets the relative position of this Element, relative to the position of its parent. - * @return The relative position. - */ - public Pos getRelativePosition(); - - /** - * Sets the absolute position of this Element - */ - public void setPosition(Pos p); - - /** - * Gets the absolute position of this Element - * @return The absolute position. - */ - public Pos getPosition(); - - /** - * Gets the size of the Element. - * @return The size. - */ - public Pos getSize(); - - /*** - * Gets the default size of the Element. - * @return The size. - */ - public Pos getDefaultSize(); - - /** - * Sets the size of the Element. - * @param p The size. - */ - public void setSize(Pos p); - - /** - * Gets whether the mouse is over the Element - * @param e Mouse moved event - * @return true if the mouse is in the Element's bounds - */ - public boolean inBounds(MouseEvent e); -} \ No newline at end of file diff --git a/scripteditor/src/main/java/gui_elements/EventButton.java b/scripteditor/src/main/java/gui_elements/EventButton.java deleted file mode 100644 index bef8a8c..0000000 --- a/scripteditor/src/main/java/gui_elements/EventButton.java +++ /dev/null @@ -1,43 +0,0 @@ -package gui_elements; - -import java.awt.event.MouseEvent; - -/** - * A button that has an onClick() method. - * Calls the onClick() method when clicked. - * - * @author Brandon C. - */ -public abstract class EventButton extends Button{ - - /** - * Create a new EventButton. - * @param text The text in the EventButton. - * @param x The x position. - * @param y The y position. - * @param w The width. - * @param h The height. - * @param centered Whether the text is centered or not. - */ - public EventButton(String text, int x, int y, int w, int h, boolean centered) { - super(text, x, y, w, h); - setCentered(centered); - } - - /** - * {@inheritDoc} - * Calls onClick() if the button was clicked. - */ - @Override - public Element processClick(MouseEvent e) { - if (inBounds(e)) { - onClick(); - } - return super.processClick(e); - } - - /** - * Called when the EventButton is clicked. - */ - public abstract void onClick(); -} diff --git a/scripteditor/src/main/java/gui_elements/LabeledButton.java b/scripteditor/src/main/java/gui_elements/LabeledButton.java deleted file mode 100644 index 2825517..0000000 --- a/scripteditor/src/main/java/gui_elements/LabeledButton.java +++ /dev/null @@ -1,75 +0,0 @@ -package gui_elements; - -import java.awt.Graphics; - -import util.Pos; - -/** - * A button which has a name that displays to the left of the Button. - * The position of the button is offset by the width of the name. - * - * @author Brandon C. - */ -public class LabeledButton extends Button{ - - private String name; - private int stringWidth = 0; - - /** - * Create a new labeled button. - * @param name The name/label of the button. - * @param text The text to display in the button. - * @param x The x position. - * @param y The y position. - * @param w The width. - * @param h The height. - */ - public LabeledButton(String name, String text, int x, int y, int w, int h) { - super(text, x, y, w, h); - this.name = name; - } - - /** - * Gets the name/label of the labeled button. - * @return The name/label of the button. - */ - public String getName() { - return name; - } - - /** - * Sets the name/label of the labeled button. - * @param name The name to use. - */ - public void setName(String name) { - this.name = name; - } - - /** - * {@inheritDoc} - * The button is offset by the width of the label. - */ - @Override - public void draw(Graphics g) { - boolean changed = false; - if (stringWidth == 0) { - changed = true; - } - stringWidth = g.getFontMetrics().stringWidth(getName()) + 5; - if (changed) { - update(new Pos(x - getRelativePosition().x, y - getRelativePosition().y)); - } - g.drawString(getName(), x-stringWidth, y + 12); - super.draw(g); - } - - /** - * {@inheritDoc} - * The button is offset by the width of the label. - */ - @Override - public void update(Pos parentPos) { - super.update(new Pos(parentPos.x + stringWidth, parentPos.y)); - } - -} \ No newline at end of file diff --git a/scripteditor/src/main/java/gui_elements/TextField.java b/scripteditor/src/main/java/gui_elements/TextField.java deleted file mode 100644 index 9b11dc2..0000000 --- a/scripteditor/src/main/java/gui_elements/TextField.java +++ /dev/null @@ -1,141 +0,0 @@ -package gui_elements; - -import java.awt.Color; -import java.awt.Graphics; -import java.awt.event.KeyEvent; -import java.awt.event.MouseEvent; - -/** - * A labeled button that allows the user to input text into the button area. - * - * @author Brandon C. - */ -public class TextField extends LabeledButton{ - - private static final Color selectedColor1 = new Color(181, 209, 255); - private static final Color selectedColor2 = new Color(84, 149, 255); - - private static TextField selectedTextField; - private int counter = 0; - private boolean selected = false; - - /** - * Create a new TextField. - * @param name The name of the text field. - * @param x The x position. - * @param y The y position. - * @param w The width. - * @param h The height. - */ - public TextField(String name, int x, int y, int w, int h) { - super(name, "", x, y, w ,h); - setText(""); - } - - /** - * Called when the text field is selected. - */ - public void onSelect() { - selected = true; - counter = 50; - } - - /** - * Called when the text field is deselected. - */ - public void onDeselect() { - selected = false; - counter = 0; - setColor(Button.DEFAULT_BACKGROUND_COLOR); - } - - /** - * Adds a character to the text of the textfield. - */ - public void addCharacter(char c) { - setText(getText() + c); - } - - /** - * Updates the text of the Text Field based on the Key Pressed event. - * If the KeyEvent is a valid character it will add the character to the text. - * If the KeyEvent is backspace it will remove one from the end of the text. - * @param e The key pressed event. - */ - public void processKeyEvent(KeyEvent e) { - if (e.getKeyCode() == KeyEvent.VK_BACK_SPACE && getText().length() >= 1) { - setText(getText().substring(0, getText().length()-1)); - } else { - if (isValidCharacter(e)) {//check for actual letter - addCharacter(e.getKeyChar()); - } - } - } - - /** - * Determines if a character is valid to be added to the text. - * @param e The key pressed event. - * @return Whether the character is valid or not. - */ - public boolean isValidCharacter(KeyEvent e) { - return KeyEvent.getKeyText(e.getKeyCode()).length() == 1 || e.getKeyCode() == KeyEvent.VK_SPACE; - } - - /** - * Deselects the currently selected text field. - */ - public static void deselectTextField() { - if (selectedTextField != null) { - selectedTextField.onDeselect(); - } - selectedTextField = null; - } - - /** - * Selects a text field. - * @param tf the text field to select. - */ - public static void selectTextField(TextField tf) { - deselectTextField(); - selectedTextField = tf; - tf.onSelect(); - } - - /** - * Gets the currently selected text field. - * @return The currently selected text field. - */ - public static TextField getSelectedTextField() { - return selectedTextField; - } - - /** - * {@inheritDoc} - * Cycles between the select colors if selected. - */ - @Override - public void draw(Graphics g) { - if (selected) { - counter++; - counter %= 100; - if (counter < 50) { - setColor(selectedColor1); - } else { - setColor(selectedColor2); - } - } - super.draw(g); - } - - /** - * {@inheritDoc} - * Selects the text field. - */ - @Override - public Element processClick(MouseEvent e) { - if (inBounds(e)) { - selectTextField(this); - } - return super.processClick(e); - } -} diff --git a/scripteditor/src/main/java/preview/Robot.java b/scripteditor/src/main/java/preview/Robot.java deleted file mode 100644 index 06320b8..0000000 --- a/scripteditor/src/main/java/preview/Robot.java +++ /dev/null @@ -1,162 +0,0 @@ -package preview; - -import java.awt.Color; -import java.awt.Graphics; -import java.awt.Polygon; -import java.util.HashSet; -import java.util.Set; - -import exceptions.SubsystemNotFound; -import util.Point; - -/** - * Represents the state of the robot for calculating and displaying the preview. - * - * @author Brandon C. - */ -public class Robot { - - /** - * The initial robot to use in the preview. To make a custom subsystem display on the preview, - * an instance of it must be added to the initialRobot by adding it as a parameter for the varArg. - */ - private static final Robot initialRobot = new Robot(new Point(0, 0), 0, - new Turret(0) - ); - - private Set subsystems; - private Point position;//in feet - private Point robotSize;//in feet - private double angle;//in degrees - - /** - * Create a new Robot. - * @param position The position of the robot relative to the field image, in feet. - * @param angle The angle of the robot in standard form, in degrees. - * @param subsystems The subsystems to use. Creates copies of the subsystems. - */ - public Robot(Point position, double angle, Subsystem... subsystems) { - this.position = position.getCopy(); - this.angle = angle; - this.robotSize = new Point(2, 3); //<-- width, height - this.subsystems = new HashSet(); - for (Subsystem s : subsystems) { - addSubsystem(s.getCopy()); - } - } - - /** - * Adds a subsystem to the Robot. - * @param s The subsystem to add. - */ - public void addSubsystem(Subsystem s) { - subsystems.add(s); - s.setParent(this); - } - - /** - * Gets a subsystem from the set. - * @param name The name of the subsystem - * @return The subsystem with the given name. null if not found. - */ - public Subsystem getSubsystem(String name) { - for (Subsystem s : subsystems) { - if (s.getName().equals(name)) { - return s; - } - } - throw new SubsystemNotFound(name + ", available subsystems: " + subsystems.toString()); - } - - /** - * Gets the position of the robot. - * @return The position. - */ - public Point getPosition() { - return position.getCopy(); - } - - /** - * Sets the position of the robot. - * @param p The position to use. - */ - public void setPosition(Point p) { - this.position = p.getCopy(); - } - - /** - * Gets the angle of the robot. - * @return The angle in degrees. - */ - public double getAngle() { - return angle; - } - - /** - * Sets the angle of the robot. - * @param angle The angle in degrees. - */ - public void setAngle(double angle) { - this.angle = angle; - } - - /** - * Gets a copy of the robot with the same position, angle, and subsystems. - */ - public Robot getCopy() { - Robot copy = new Robot(getPosition(), angle); - for (Subsystem s : subsystems) { - copy.addSubsystem(s.getCopy()); - } - return copy; - } - - /** - * Gets the corners of the robot. - * @param size The size of hte rectangle to use. - * @return An array of length 4 containing the 4 corners of the robot. - */ - public Point[] getCorners(Point size) { - Point[] corners = new Point[4];//tl, tr, br, bl - corners[0] = new Point(-size.x/2, size.y/2); - corners[1] = new Point(size.x/2, size.y/2); - corners[2] = new Point(size.x/2, -size.y/2); - corners[3] = new Point(-size.x/2, -size.y/2); - for (int i = 0; i < corners.length; i++) { - corners[i] = corners[i].getRotatedAroundPoint(Point.origin, angle).add(position); - } - return corners; - } - - /** - * Draws the robot and its subsystems. - * @param g The graphics object to use. - */ - public void draw(Graphics g) { - Point[] corners = getCorners(robotSize); - Polygon p = new Polygon(); - for (int i = 0; i < corners.length; i++) { - corners[i] = corners[i].toPixels(); - p.addPoint((int)corners[i].x, (int)corners[i].y); - } - g.setColor(Color.gray); - g.fillPolygon(p); - g.setColor(Color.black); - g.drawPolygon(p); - g.setColor(Color.green); - Point endOfAngle = Point.fromPolar(25, angle).add(position.toPixels()); - position.toPixels().drawLine(g, endOfAngle); - for (Subsystem s : subsystems) { - s.draw(g); - } - } - - /** - * Gets a copy of the initial robot, including its subsystems. - * @return A copy of the initial robot. - */ - public static Robot getInitialRobot() { - return initialRobot.getCopy(); - } - -} diff --git a/scripteditor/src/main/java/preview/Subsystem.java b/scripteditor/src/main/java/preview/Subsystem.java deleted file mode 100644 index 5c777eb..0000000 --- a/scripteditor/src/main/java/preview/Subsystem.java +++ /dev/null @@ -1,58 +0,0 @@ -package preview; - -import java.awt.Graphics; - -/** - * Can be added to the robot to give the preview additional functionality. - * - * @author Brandon C. - */ -public abstract class Subsystem { - - private String name; - private Robot parent; - - /** - * Create a new Subsystem. - * @param name The name of the subsystem. - */ - public Subsystem(String name) { - this.name = name; - } - - /** - * Sets the parent robot of the Subsystem. - * @param parent The robot to set as the parent. - */ - public void setParent(Robot parent) { - this.parent = parent; - } - - /** - * Gets the parent robot of the subsystem. - * @return The parent robot. - */ - public Robot getParent() { - return parent; - } - - /** - * Gets the name of the Subsystem. - * @return The name of the subsystem. - */ - public String getName() { - return name; - } - - /** - * Draws the Subsystem on the preview. - * @param g The graphics object to use. - */ - public abstract void draw(Graphics g); - - /** - * Gets a copy of the Subsystem. - * @return Subsystem A subsystem with the same information. - */ - public abstract Subsystem getCopy(); -} \ No newline at end of file diff --git a/scripteditor/src/main/java/preview/Turret.java b/scripteditor/src/main/java/preview/Turret.java deleted file mode 100644 index fbfb226..0000000 --- a/scripteditor/src/main/java/preview/Turret.java +++ /dev/null @@ -1,51 +0,0 @@ -package preview; - -import java.awt.Color; -import java.awt.Graphics; - -import util.Point; - -/** - * A subsystem implementation for the Turret on the 1403 2021 robot. - * - * @author Brandon C. - */ -public class Turret extends Subsystem { - - private double turretAngle; - - /** - * Create a new Turret. - * @param turretAngle The angle of the turret. - */ - public Turret(double turretAngle) { - super("Turret"); - this.turretAngle = turretAngle; - } - - /** - * Sets the angle of the turret relative to the robot. - * @param angle The angle of the turret in degrees. - */ - public void setAngle(double angle) { - turretAngle = angle; - } - - /** - * {@inheritDoc} Draws a magenta line to represent the turret. - */ - @Override - public void draw(Graphics g) { - g.setColor(Color.magenta); - Point position = getParent().getPosition(); - Point endOfTurret = Point.fromPolar(50, - turretAngle + getParent().getAngle()) - .add(position.toPixels()); - position.toPixels().drawLine(g, endOfTurret); - } - - @Override - public Subsystem getCopy() { - return new Turret(this.turretAngle); - } -} \ No newline at end of file diff --git a/scripteditor/src/main/java/util/Point.java b/scripteditor/src/main/java/util/Point.java deleted file mode 100644 index ecc447a..0000000 --- a/scripteditor/src/main/java/util/Point.java +++ /dev/null @@ -1,151 +0,0 @@ -package util; - -import java.awt.Graphics; -import java.math.RoundingMode; -import java.text.DecimalFormat; - -import gui.MainWindow; -import gui_elements.Button; - -/** - * Utility class for storing a position with double precision. - * - * @author Brandon C. - */ -public class Point { - - public static final Point origin = new Point(0, 0); - - public double x; - public double y; - - /** - * Create a new point. - * @param x The x position of the point. - * @param y The y position of the point. - */ - public Point (double x, double y) { - this.x = x; - this.y = y; - } - - /** - * Create a new point. - * @param p The position of the point. - */ - public Point (Pos p) { - this.x = p.x; - this.y = p.y; - } - - /** - * Gets a point from its polar coordinates. - * @param distance The distancae from the origin. - * @param angle The angle in degrees between the x axis and the origin. - * @return A new point from the specified polar coordinates. - */ - public static Point fromPolar(double distance, double angle) { - double cx = distance * Math.cos(Math.toRadians(angle += 90)); - double cy = -1 * distance * Math.sin(Math.toRadians(angle)); - return new Point(cx, cy); - } - - /** - * Gets a new point with the same coordinates - * @return A new point using the x and y. - */ - public Point getCopy() { - return new Point(x, y); - } - - /** - * Draws a dot on the screen that represents the position of the point. - * @param g The graphics object to draw with. - */ - public void draw(Graphics g) { - g.fillOval((int) x - 3, (int) y - 3, 6, 6); - } - - /** - * Draws a line between the point and another point. - * @param g The graphics object to draw with. - * @param other The other point to draw a line to. - */ - public void drawLine(Graphics g, Point other) { - g.drawLine((int) x, (int) y, (int) other.x, (int) other.y); - } - - /** - * Gets a new point with the current position scaled based on the preview conversion. - * @return New point with position in feet relative to the center of the preview. - */ - public Point toFeet() { - MainWindow mw = MainWindow.getInstance(); - Button img = mw.imageRect; - double scale = mw.getFieldImageScale(); - return new Point((img.x + img.w - x)/scale, (img.y - y + img.h)/scale); - } - - /** - * Gets a new point with the current position scaled based on the preview conversion. - * @return New point with position in screen space pixels relative to the top left corner of the screen. - */ - public Point toPixels() { - MainWindow mw = MainWindow.getInstance(); - Button img = mw.imageRect; - double scale = mw.getFieldImageScale(); - return new Point(img.x + img.w -x*scale, ((img.y / scale) - y + (img.h / scale))*scale); - } - - /** - * Gets a new point based on the current point translated by the other point. - * @param p The point to add. - * @return A new point with position added. - */ - public Point add(Point p) { - return new Point(x+p.x, y+p.y); - } - - /** - * Gets the angle between the x axis and the line from the point to the other point in degrees. - * @param other The point to use as the endpoint of the line. - * @return The angle in degrees. - */ - public double getAngleToPoint(Point other) { - return Math.toDegrees(Math.atan2(other.x - x, other.y - y)); - } - - /** - * Gets the distance between the point and another point. - * @param other The other point. - * @return The distance between the two points. - */ - public double getDistance(Point other) { - return Math.sqrt(Math.pow(other.x - x, 2) + Math.pow(other.y - y, 2)); - } - - /** - * Gets a new point with the position of the current point rotated around a pivot point. - * @param pivot The point to rotate around. - * @param angle The angle to rotate by in degrees. - * @return A new point which is rotated around the pivot. - */ - public Point getRotatedAroundPoint(Point pivot, double angle) { - double currentAngle = pivot.getAngleToPoint(this); - double distance = getDistance(pivot); - currentAngle -= angle; - Point rotated = fromPolar(distance, currentAngle); - return rotated.add(pivot); - } - - /** - * Gets a new point with the position of the point to 2 decimal places. - * @return A new point with rounded position. - */ - public Point getRounded() { - DecimalFormat df = new DecimalFormat("#.##"); - df.setRoundingMode(RoundingMode.CEILING); - return new Point(Double.parseDouble(df.format(x)), Double.parseDouble(df.format(y))); - } -} - diff --git a/scripteditor/src/main/java/util/Pos.java b/scripteditor/src/main/java/util/Pos.java deleted file mode 100644 index d7e1f1b..0000000 --- a/scripteditor/src/main/java/util/Pos.java +++ /dev/null @@ -1,52 +0,0 @@ -package util; - -import java.awt.event.MouseEvent; - -/** - * Utility class for storing a position with integer precision. - * - * @author Brandon C. - */ -public class Pos { - - public static final Pos ORIGIN = new Pos(0, 0); - - public int x; - public int y; - - /** - * Create a new Pos - * @param x The x position. - * @param y The y position. - */ - public Pos (int x, int y) { - this.x = x; - this.y = y; - } - - /** - * Create a new Pos. - * @param e MouseEvent to use as position. - */ - public Pos(MouseEvent e) { - this(e.getX(), e.getY()); - } - - /** - * Gets a new Pos with the position translated. - * @param other The amount to translate by. - * @return New Pos with translated(added) position. - */ - public Pos add(Pos other) { - return new Pos(x + other.x, y + other.y); - } - - /** - * Gets a new Pos with the position translated in the opposite direction. - * @param other The amount to translate by. - * @return New Pos with translated(added) position. - */ - public Pos subtract(Pos other) { - return new Pos(x - other.x, y - other.y); - } -} \ No newline at end of file diff --git a/scripteditor/src/resources/17.7 BarrelRacing.png b/scripteditor/src/resources/17.7 BarrelRacing.png deleted file mode 100644 index 7acf488..0000000 Binary files a/scripteditor/src/resources/17.7 BarrelRacing.png and /dev/null differ diff --git a/scripteditor/src/resources/17.9 Bounce.png b/scripteditor/src/resources/17.9 Bounce.png deleted file mode 100644 index be73ff2..0000000 Binary files a/scripteditor/src/resources/17.9 Bounce.png and /dev/null differ diff --git a/scripteditor/src/resources/17.9 Slalom.png b/scripteditor/src/resources/17.9 Slalom.png deleted file mode 100644 index 2aad2c0..0000000 Binary files a/scripteditor/src/resources/17.9 Slalom.png and /dev/null differ diff --git a/scripteditor/src/resources/21.1215992958 FieldImage.png b/scripteditor/src/resources/21.1215992958 FieldImage.png deleted file mode 100644 index daa0a11..0000000 Binary files a/scripteditor/src/resources/21.1215992958 FieldImage.png and /dev/null differ diff --git a/scripteditor/src/resources/44 AutoBalls1.png b/scripteditor/src/resources/44 AutoBalls1.png deleted file mode 100644 index 76464f3..0000000 Binary files a/scripteditor/src/resources/44 AutoBalls1.png and /dev/null differ diff --git a/scripteditor/src/resources/44 AutoBalls2.png b/scripteditor/src/resources/44 AutoBalls2.png deleted file mode 100644 index 405331a..0000000 Binary files a/scripteditor/src/resources/44 AutoBalls2.png and /dev/null differ diff --git a/scripteditor/src/resources/47.350364343 FieldImage.png b/scripteditor/src/resources/47.350364343 FieldImage.png deleted file mode 100644 index 27e3ce1..0000000 Binary files a/scripteditor/src/resources/47.350364343 FieldImage.png and /dev/null differ diff --git a/scripteditor/src/resources/59.9719522809 2023FieldImage.png b/scripteditor/src/resources/59.9719522809 2023FieldImage.png deleted file mode 100644 index d6e5b2e..0000000 Binary files a/scripteditor/src/resources/59.9719522809 2023FieldImage.png and /dev/null differ diff --git a/scripteditor/src/resources/Icon.png b/scripteditor/src/resources/Icon.png deleted file mode 100644 index 492c162..0000000 Binary files a/scripteditor/src/resources/Icon.png and /dev/null differ diff --git a/scripteditor/src/resources/logo.png b/scripteditor/src/resources/logo.png deleted file mode 100644 index dd36050..0000000 Binary files a/scripteditor/src/resources/logo.png and /dev/null differ diff --git a/settings.gradle b/settings.gradle index b0a6aa1..70a04a2 100644 --- a/settings.gradle +++ b/settings.gradle @@ -24,5 +24,4 @@ pluginManagement { url frcHomeMaven } } -} -include 'scripteditor' \ No newline at end of file +} \ No newline at end of file diff --git a/src/main/deploy/Circle.json b/src/main/deploy/Circle.json deleted file mode 100644 index 462223d..0000000 --- a/src/main/deploy/Circle.json +++ /dev/null @@ -1,47 +0,0 @@ -[ - { - "Parameters": { - "x": 0, - "angle": 0, - "y": 0 - }, - "CommandName": "SetStartPosition" - }, - { - "Parameters": { - "Waypoints": [ - { - "x": 0, - "y": 0 - }, - { - "x": 0, - "y": 6.1 - }, - { - "x": 5.11, - "y": 11.51 - }, - { - "x": 7.41, - "y": 8.49 - }, - { - "x": 7.216, - "y": 3.608 - }, - { - "x": 4.85, - "y": 0 - }, - { - "x": 0, - "y": 0 - } - ], - "EndAngle": 90, - "StartAngle": 0 - }, - "CommandName": "SwerveDrivePath" - } -] \ No newline at end of file diff --git a/src/main/deploy/ForwardsBackwards.json b/src/main/deploy/ForwardsBackwards.json deleted file mode 100644 index c769e18..0000000 --- a/src/main/deploy/ForwardsBackwards.json +++ /dev/null @@ -1,47 +0,0 @@ -[ - { - "Parameters": { - "x": 0, - "angle": 0, - "y": 0 - }, - "CommandName": "SetStartPosition" - }, - { - "Parameters": { - "Waypoints": [ - { - "x": 0, - "y": 0 - }, - { - "x": 0, - "y": 3.28 - }, - { - "x": 0, - "y": 6.56 - }, - { - "x": 0, - "y": 9.84 - }, - { - "x": 0, - "y": 6.56 - }, - { - "x": 0, - "y": 3.28 - }, - { - "x": 0, - "y": 0 - } - ], - "EndAngle": 178, - "StartAngle": 0 - }, - "CommandName": "SwerveDrivePath" - } -] \ No newline at end of file diff --git a/src/main/deploy/Grid2Mobility.json b/src/main/deploy/Grid2Mobility.json deleted file mode 100644 index 53cec81..0000000 --- a/src/main/deploy/Grid2Mobility.json +++ /dev/null @@ -1,31 +0,0 @@ -[ - { - "Parameters": { - "x": 0, - "angle": 0, - "y": 0 - }, - "CommandName": "SetStartPosition" - }, - { - "Parameters": { - "Waypoints": [ - { - "x": 0, - "y": 0 - }, - { - "x": 0, - "y": -3.28 - }, - { - "x": 0, - "y": -6.56 - } - ], - "EndAngle": 0, - "StartAngle": 0 - }, - "CommandName": "SwerveDrivePath" - } -] \ No newline at end of file diff --git a/src/main/deploy/TestAuto.json b/src/main/deploy/TestAuto.json deleted file mode 100644 index 7e32f0c..0000000 --- a/src/main/deploy/TestAuto.json +++ /dev/null @@ -1,35 +0,0 @@ -[ - { - "Parameters": { - "x": 0, - "angle": 0, - "y": 0 - }, - "CommandName": "SetStartPosition" - }, - { - "Parameters": { - "Waypoints": [ - { - "x": 0, - "y": 0 - }, - { - "x": 0, - "y": 1.6 - }, - { - "x": 0, - "y": 3.28 - }, - { - "x": 0, - "y": 6.56 - } - ], - "EndAngle": 90, - "StartAngle": 0 - }, - "CommandName": "SwerveDrivePath" - } -] \ No newline at end of file diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt deleted file mode 100644 index bb82515..0000000 --- a/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/src/main/deploy/logging.properties b/src/main/deploy/logging.properties deleted file mode 100644 index 24aa4d5..0000000 --- a/src/main/deploy/logging.properties +++ /dev/null @@ -1,21 +0,0 @@ -# handlers = java.util.logging.ConsoleHandler -# java.util.logging.ConsoleHandler.level = FINEST -# java.util.logging.ConsoleHandler.formatter = java.util.logging.SimpleFormatter -# java.util.logging.SimpleFormatter.format = %1$tM:%1$tS.%1$tL %5$s%n - -# Dont normally log things outside team1403 packages. -.level = WARNING - -# Use INFO as the default within 1403 code. -# (INFO and above should be rare) -team1403.level = ALL - -# Example to turn on debugging for a particular robot. -# team1403.robots.datalogexplorer.level = FINE - -# The AlwaysOn logger is used on a temporary basis, -# probably for debugging. So configure it as such. -# This is the AlwaysOnlogger, not default settings -# for other loggers nor intended for errors. -team1403.logging.AlwaysOn.level = FINEST - diff --git a/src/main/deploy/pathplanner/One Piece Auto.path b/src/main/deploy/pathplanner/One Piece Auto.path new file mode 100644 index 0000000..925e3e4 --- /dev/null +++ b/src/main/deploy/pathplanner/One Piece Auto.path @@ -0,0 +1,53 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.9326182242108072, + "y": 4.921661467254559 + }, + "prevControl": null, + "nextControl": { + "x": 2.932618224210805, + "y": 4.921661467254559 + }, + "holonomicAngle": -179.3634064240365, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "highNodeCone", + "runOutake", + "tuck" + ], + "executionBehavior": "sequential", + "waitBehavior": "after", + "waitTime": 0.0 + } + }, + { + "anchorPoint": { + "x": 5.529656187517504, + "y": 4.921661467254559 + }, + "prevControl": { + "x": 4.49051188700668, + "y": 4.887403962842114 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Three Piece Auto.path b/src/main/deploy/pathplanner/Three Piece Auto.path new file mode 100644 index 0000000..74c48a8 --- /dev/null +++ b/src/main/deploy/pathplanner/Three Piece Auto.path @@ -0,0 +1,74 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 3.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.0, + "y": 3.0 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.0, + "y": 5.0 + }, + "prevControl": { + "x": 3.0, + "y": 4.0 + }, + "nextControl": { + "x": 3.0, + "y": 4.0 + }, + "holonomicAngle": 0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.0, + "y": 3.0 + }, + "prevControl": { + "x": 4.0, + "y": 3.0 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Two Piece Auto.path b/src/main/deploy/pathplanner/Two Piece Auto.path new file mode 100644 index 0000000..a677546 --- /dev/null +++ b/src/main/deploy/pathplanner/Two Piece Auto.path @@ -0,0 +1,127 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.9296074696662469, + "y": 4.960177426293095 + }, + "prevControl": null, + "nextControl": { + "x": 4.7188952497563115, + "y": 4.259349715280627 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "highNodeCone", + "runOutake", + "tuck" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 7.099235766167495, + "y": 5.274353731605326 + }, + "prevControl": { + "x": 7.032592307464901, + "y": 6.274005612144241 + }, + "nextControl": { + "x": 7.144159473048744, + "y": 4.600498128386583 + }, + "holonomicAngle": -90.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.09958388562858, + "y": 4.674562603281976 + }, + "prevControl": { + "x": 7.236259420835242, + "y": 4.744154982988507 + }, + "nextControl": { + "x": 4.233567041955938, + "y": 4.560316674077529 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.872484505064023, + "y": 4.407988768471599 + }, + "prevControl": { + "x": 2.6063491443222206, + "y": 4.453475573617814 + }, + "nextControl": null, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "stop", + "highNodeCube", + "runOutake", + "tuck" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [ + { + "position": 0.6639180824973354, + "names": [ + "lowCubeIntake" + ] + }, + { + "position": 0.9039180824973372, + "names": [ + "runIntake" + ] + }, + { + "position": 1.88573626431551, + "names": [ + "tuck" + ] + } + ] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json new file mode 100644 index 0000000..6aeafc6 --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"pose":{"rotation":{"radians":0.003994666723425411},"translation":{"x":1.0,"y":3.0}},"velocity":0,"acceleration":3.0,"curvature":0.6639756640813854,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":0.08944283740393223,"pose":{"rotation":{"radians":0.003994666723425411},"translation":{"x":1.011999936,"y":3.000047936}},"velocity":0.2683285122117967,"acceleration":3.0,"curvature":0.6639756640813854,"holonomicRotation":0.0,"angularVelocity":0.21506066046275568,"holonomicAngularVelocity":0.0},{"time":0.12649227216974931,"pose":{"rotation":{"radians":0.011962542633933815},"translation":{"x":1.023999488,"y":3.000191488}},"velocity":0.37947681650924797,"acceleration":3.0000000000000004,"curvature":0.6612478412834536,"holonomicRotation":0.0,"angularVelocity":0.2791196654351322,"holonomicAngularVelocity":0.0},{"time":0.15492278103446244,"pose":{"rotation":{"radians":0.019898056756403104},"translation":{"x":1.035998272,"y":3.000430272}},"velocity":0.4647683431033873,"acceleration":2.999999999999999,"curvature":0.6584819160891061,"holonomicRotation":0.0,"angularVelocity":0.3297027488703112,"holonomicAngularVelocity":0.0},{"time":0.1788926532379475,"pose":{"rotation":{"radians":0.027800989511962193},"translation":{"x":1.047995904,"y":3.000763904}},"velocity":0.5366779597138426,"acceleration":3.000000000000002,"curvature":0.6556801390904735,"holonomicRotation":0.0,"angularVelocity":0.3726393102517324,"holonomicAngularVelocity":0.0},{"time":0.20001267329763361,"pose":{"rotation":{"radians":0.035671139219506376},"translation":{"x":1.059992,"y":3.001192}},"velocity":0.600038019892901,"acceleration":3.0000000000000027,"curvature":0.6528447360474213,"holonomicRotation":0.0,"angularVelocity":0.41040227730614015,"holonomicAngularVelocity":0.0},{"time":0.21910901626437457,"pose":{"rotation":{"radians":0.043508321861275956},"translation":{"x":1.071986176,"y":3.001714176}},"velocity":0.6573270487931238,"acceleration":2.999999999999997,"curvature":0.6499779059037429,"holonomicRotation":0.0,"angularVelocity":0.44433343266184905,"holonomicAngularVelocity":0.0},{"time":0.23667251341123324,"pose":{"rotation":{"radians":0.05131237083808626},"translation":{"x":1.083978048,"y":3.0023300479999997}},"velocity":0.7100175402336998,"acceleration":3.0,"curvature":0.6470818190817624,"holonomicRotation":0.0,"angularVelocity":0.4752620325524382,"holonomicAngularVelocity":0.0},{"time":0.2530230008132736,"pose":{"rotation":{"radians":0.059083136714003004},"translation":{"x":1.095967232,"y":3.0030392320000003}},"velocity":0.7590690024398208,"acceleration":2.9999999999999933,"curvature":0.6441586157879952,"holonomicRotation":0.0,"angularVelocity":0.503744881604611,"holonomicAngularVelocity":0.0},{"time":0.2683826610691287,"pose":{"rotation":{"radians":0.06682048695107579},"translation":{"x":1.107953344,"y":3.003841344}},"velocity":0.8051479832073861,"acceleration":3.0,"curvature":0.6412104045031461,"holonomicRotation":0.0,"angularVelocity":0.5301782294749301,"holonomicAngularVelocity":0.0},{"time":0.28291328163710894,"pose":{"rotation":{"radians":0.07452430563697954},"translation":{"x":1.119936,"y":3.004736}},"velocity":0.8487398449113267,"acceleration":2.999999999999996,"curvature":0.6382392605344197,"holonomicRotation":0.0,"angularVelocity":0.5548565565084475,"holonomicAngularVelocity":0.0},{"time":0.29673701224983334,"pose":{"rotation":{"radians":0.08219449320285621},"translation":{"x":1.131914816,"y":3.005722816}},"velocity":0.8902110367494999,"acceleration":2.999999999999996,"curvature":0.6352472246423004,"holonomicRotation":0.0,"angularVelocity":0.578006214771147,"holonomicAngularVelocity":0.0},{"time":0.3099487610809687,"pose":{"rotation":{"radians":0.08983096613524788},"translation":{"x":1.1438894080000002,"y":3.0068014080000003}},"velocity":0.9298462832429059,"acceleration":2.999999999999996,"curvature":0.6322363019942066,"holonomicRotation":0.0,"angularVelocity":0.5998059641247867,"holonomicAngularVelocity":0.0},{"time":0.32262401107954614,"pose":{"rotation":{"radians":0.09743365668116732},"translation":{"x":1.1558593920000002,"y":3.007971392}},"velocity":0.9678720332386382,"acceleration":3.0000000000000044,"curvature":0.6292084609699508,"holonomicRotation":0.0,"angularVelocity":0.6204001606264152,"holonomicAngularVelocity":0.0},{"time":0.33482396902093875,"pose":{"rotation":{"radians":0.10500251254764281},"translation":{"x":1.1678243840000002,"y":3.009232384}},"velocity":1.004471907062816,"acceleration":3.0,"curvature":0.6261656322069515,"holonomicRotation":0.0,"angularVelocity":0.6399075802749538,"holonomicAngularVelocity":0.0},{"time":0.34659908199060496,"pose":{"rotation":{"radians":0.11253749659552614},"translation":{"x":1.1797840000000002,"y":3.010584}},"velocity":1.0397972459718146,"acceleration":2.999999999999986,"curvature":0.6231097077741713,"holonomicRotation":0.0,"angularVelocity":0.6584275258643302,"holonomicAngularVelocity":0.0},{"time":0.35799151265261864,"pose":{"rotation":{"radians":0.12003858652989674},"translation":{"x":1.191737856,"y":3.012025856}},"velocity":1.0739745379578558,"acceleration":3.0000000000000195,"curvature":0.6200425403858878,"holonomicRotation":0.0,"angularVelocity":0.6760441751840484,"holonomicAngularVelocity":0.0},{"time":0.3690369270353713,"pose":{"rotation":{"radians":0.12750577458585077},"translation":{"x":1.203685568,"y":3.013557568}},"velocity":1.1071107811061136,"acceleration":2.99999999999999,"curvature":0.6169659427566434,"holonomicRotation":0.0,"angularVelocity":0.6928297531996462,"holonomicAngularVelocity":0.0},{"time":0.3797658147476807,"pose":{"rotation":{"radians":0.1349390672116768},"translation":{"x":1.2156267520000001,"y":3.0151787519999997}},"velocity":1.1392974442430417,"acceleration":2.99999999999999,"curvature":0.6138816870208452,"holonomicRotation":0.0,"angularVelocity":0.7088468950979862,"holonomicAngularVelocity":0.0},{"time":0.39020448294066074,"pose":{"rotation":{"radians":0.14233848474922883},"translation":{"x":1.2275610240000001,"y":3.016889024}},"velocity":1.170613448821982,"acceleration":3.0000000000000053,"curvature":0.6107915042289077,"holonomicRotation":0.0,"angularVelocity":0.7241504390542802,"holonomicAngularVelocity":0.0},{"time":0.40037581746696743,"pose":{"rotation":{"radians":0.1497040611122218},"translation":{"x":1.2394880000000001,"y":3.018688}},"velocity":1.2011274524009021,"acceleration":3.000000000000011,"curvature":0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7387888084367961,"holonomicAngularVelocity":0.0},{"time":0.4102998746100373,"pose":{"rotation":{"radians":0.15703584346380906},"translation":{"x":1.2514072960000002,"y":3.020575296}},"velocity":1.2308996238301118,"acceleration":3.0,"curvature":0.6046000745612534,"holonomicRotation":0.0,"angularVelocity":0.7528050925445897,"holonomicAngularVelocity":0.0},{"time":0.4199943473238247,"pose":{"rotation":{"radians":0.16433389189228276},"translation":{"x":1.263318528,"y":3.022550528}},"velocity":1.2599830419714737,"acceleration":2.9999999999999827,"curvature":0.6015020816536292,"holonomicRotation":0.0,"angularVelocity":0.7662379027190784,"holonomicAngularVelocity":0.0},{"time":0.4294749370586641,"pose":{"rotation":{"radians":0.17159827908724612},"translation":{"x":1.2752213120000002,"y":3.024613312}},"velocity":1.288424811175992,"acceleration":3.0000000000000058,"curvature":0.598404669370064,"holonomicRotation":0.0,"angularVelocity":0.7791220580680622,"holonomicAngularVelocity":0.0},{"time":0.4387556535437481,"pose":{"rotation":{"radians":0.178829090015451},"translation":{"x":1.2871152640000003,"y":3.026763264}},"velocity":1.316266960631244,"acceleration":2.9999999999999942,"curvature":0.595309359586865,"holonomicRotation":0.0,"angularVelocity":0.7914891405693073,"holonomicAngularVelocity":0.0},{"time":0.4478490588896583,"pose":{"rotation":{"radians":0.1860264215975338},"translation":{"x":1.2990000000000002,"y":3.0290000000000004}},"velocity":1.3435471766689746,"acceleration":3.0,"curvature":0.5922176320623258,"holonomicRotation":0.0,"angularVelocity":0.8033679485304233,"holonomicAngularVelocity":0.0},{"time":0.4567664681550803,"pose":{"rotation":{"radians":0.19319038238530206},"translation":{"x":1.3108751360000002,"y":3.031323136}},"velocity":1.3702994044652408,"acceleration":3.0000000000000187,"curvature":0.5891309246519478,"holonomicRotation":0.0,"angularVelocity":0.8147848704001008,"holonomicAngularVelocity":0.0},{"time":0.4655181155102056,"pose":{"rotation":{"radians":0.2003210922413352},"translation":{"x":1.3227402880000003,"y":3.033732288}},"velocity":1.3965543465306167,"acceleration":3.000000000000006,"curvature":0.586050633250819,"holonomicRotation":0.0,"angularVelocity":0.8257641950388135,"holonomicAngularVelocity":0.0},{"time":0.4741132929479354,"pose":{"rotation":{"radians":0.20741868201941793},"translation":{"x":1.3345950720000002,"y":3.036227072}},"velocity":1.4223398788438062,"acceleration":3.0000000000000067,"curvature":0.5829781121894732,"holonomicRotation":0.0,"angularVelocity":0.8363283714373475,"holonomicAngularVelocity":0.0},{"time":0.48256046689262294,"pose":{"rotation":{"radians":0.21448329324782645},"translation":{"x":1.3464391040000003,"y":3.038807104}},"velocity":1.4476814006778689,"acceleration":3.0000000000000133,"curvature":0.5799146744073622,"holonomicRotation":0.0,"angularVelocity":0.8464982273774265,"holonomicAngularVelocity":0.0},{"time":0.4908673768658824,"pose":{"rotation":{"radians":0.22151507781517443},"translation":{"x":1.3582720000000004,"y":3.041472}},"velocity":1.472602130597647,"acceleration":2.9999999999999867,"curvature":0.576861591813293,"holonomicRotation":0.0,"angularVelocity":0.8562931546703403,"holonomicAngularVelocity":0.0},{"time":0.49904111947427243,"pose":{"rotation":{"radians":0.22851419765877612},"translation":{"x":1.3700933760000003,"y":3.044221376}},"velocity":1.4971233584228174,"acceleration":3.0000000000000204,"curvature":0.5738200956320813,"holonomicRotation":0.0,"angularVelocity":0.865731267137874,"holonomicAngularVelocity":0.0},{"time":0.5070882203039146,"pose":{"rotation":{"radians":0.2354808244568085},"translation":{"x":1.3819028480000004,"y":3.047054848}},"velocity":1.521264660911744,"acceleration":2.9999999999999862,"curvature":0.5707913768705666,"holonomicRotation":0.0,"angularVelocity":0.8748295358184321,"holonomicAngularVelocity":0.0},{"time":0.5150146957856219,"pose":{"rotation":{"radians":0.24241513932314662},"translation":{"x":1.3937000320000004,"y":3.0499720320000003}},"velocity":1.5450440873568656,"acceleration":3.0,"curvature":0.5677765867125653,"holonomicRotation":0.0,"angularVelocity":0.8836039055955357,"holonomicAngularVelocity":0.0},{"time":0.5228261066903811,"pose":{"rotation":{"radians":0.24931733250680344},"translation":{"x":1.4054845440000003,"y":3.0529725439999997}},"velocity":1.5684783200711434,"acceleration":3.000000000000014,"curvature":0.5647768371119535,"holonomicRotation":0.0,"angularVelocity":0.8920693959970966,"holonomicAngularVelocity":0.0},{"time":0.5305276045997832,"pose":{"rotation":{"radians":0.2561876030951167},"translation":{"x":1.4172560000000003,"y":3.0560560000000003}},"velocity":1.5915828137993497,"acceleration":3.0,"curvature":0.5617932012303706,"holonomicRotation":0.0,"angularVelocity":0.9002401887205707,"holonomicAngularVelocity":0.0},{"time":0.5381239724478855,"pose":{"rotation":{"radians":0.2630261587202831},"translation":{"x":1.4290140160000004,"y":3.059222016}},"velocity":1.6143719173436566,"acceleration":3.0000000000000147,"curvature":0.5588267141256478,"holonomicRotation":0.0,"angularVelocity":0.9081297043799728,"holonomicAngularVelocity":0.0},{"time":0.545619660034259,"pose":{"rotation":{"radians":0.26983321527222115},"translation":{"x":1.4407582080000003,"y":3.062470208}},"velocity":1.636858980102777,"acceleration":2.9999999999999853,"curvature":0.5558783732950194,"holonomicRotation":0.0,"angularVelocity":0.9157506692832025,"holonomicAngularVelocity":0.0},{"time":0.5530188152508757,"pose":{"rotation":{"radians":0.2766089966139682},"translation":{"x":1.4524881920000003,"y":3.065800192}},"velocity":1.6590564457526273,"acceleration":3.000000000000015,"curvature":0.5529491392614916,"holonomicRotation":0.0,"angularVelocity":0.9231151746218296,"holonomicAngularVelocity":0.0},{"time":0.5603253116392223,"pose":{"rotation":{"radians":0.2833537343033705},"translation":{"x":1.4642035840000003,"y":3.069211584}},"velocity":1.680975934917667,"acceleration":2.999999999999985,"curvature":0.550039936396451,"holonomicRotation":0.0,"angularVelocity":0.930234728482705,"holonomicAngularVelocity":0.0},{"time":0.5675427727919045,"pose":{"rotation":{"radians":0.2900676673190703},"translation":{"x":1.4759040000000003,"y":3.072704}},"velocity":1.7026283183757136,"acceleration":3.0000000000000155,"curvature":0.5471516534114057,"holonomicRotation":0.0,"angularVelocity":0.9371203020376715,"holonomicAngularVelocity":0.0},{"time":0.5746745940299195,"pose":{"rotation":{"radians":0.29675104179171763},"translation":{"x":1.4875890560000005,"y":3.0762770560000003}},"velocity":1.7240237820897588,"acceleration":3.0000000000000155,"curvature":0.5442851441519642,"holonomicRotation":0.0,"angularVelocity":0.9437823705764029,"holonomicAngularVelocity":0.0},{"time":0.5817239617188056,"pose":{"rotation":{"radians":0.30340411074019924},"translation":{"x":1.4992583680000005,"y":3.0799303680000003}},"velocity":1.745171885156417,"acceleration":3.0,"curvature":0.5414412284047404,"holonomicRotation":0.0,"angularVelocity":0.9502309502250106,"holonomicAngularVelocity":0.0},{"time":0.5886938705309835,"pose":{"rotation":{"radians":0.3100271338137768},"translation":{"x":1.5109115520000005,"y":3.083663552}},"velocity":1.766081611592951,"acceleration":3.0,"curvature":0.538620692477182,"holonomicRotation":0.0,"angularVelocity":0.9564756306438044,"holonomicAngularVelocity":0.0},{"time":0.595587138915401,"pose":{"rotation":{"radians":0.3166203770389595},"translation":{"x":1.5225482240000003,"y":3.087476224}},"velocity":1.7867614167462034,"acceleration":2.999999999999984,"curvature":0.5358242899805497,"holonomicRotation":0.0,"angularVelocity":0.9625256044965456,"holonomicAngularVelocity":0.0},{"time":0.6024064229972305,"pose":{"rotation":{"radians":0.32318411257205604},"translation":{"x":1.5341680000000004,"y":3.091368}},"velocity":1.8072192689916917,"acceleration":3.0000000000000164,"curvature":0.5330527427341295,"holonomicRotation":0.0,"angularVelocity":0.9683896940146024,"holonomicAngularVelocity":0.0},{"time":0.609154229098364,"pose":{"rotation":{"radians":0.32971861845760264},"translation":{"x":1.5457704960000005,"y":3.095338496}},"velocity":1.8274626872950925,"acceleration":3.0000000000000164,"curvature":0.530306741366546,"holonomicRotation":0.0,"angularVelocity":0.9740763749015857,"holonomicAngularVelocity":0.0},{"time":0.6158329250426408,"pose":{"rotation":{"radians":0.33622417839207364},"translation":{"x":1.5573553280000003,"y":3.099387328}},"velocity":1.8474987751279226,"acceleration":2.9999999999999836,"curvature":0.5275869461466284,"holonomicRotation":0.0,"angularVelocity":0.9795937980259228,"holonomicAngularVelocity":0.0},{"time":0.6224447503871835,"pose":{"rotation":{"radians":0.3427010814932183},"translation":{"x":1.5689221120000005,"y":3.103514112}},"velocity":1.867334251161551,"acceleration":3.000000000000017,"curvature":0.5248939877909048,"holonomicRotation":0.0,"angularVelocity":0.9849498091847217,"holonomicAngularVelocity":0.0},{"time":0.6289918257021776,"pose":{"rotation":{"radians":0.34914962207543976},"translation":{"x":1.5804704640000005,"y":3.1077184640000004}},"velocity":1.8869754771065332,"acceleration":3.0,"curvature":0.5222284682600525,"holonomicRotation":0.0,"angularVelocity":0.9901519669517042,"holonomicAngularVelocity":0.0},{"time":0.6354761610052784,"pose":{"rotation":{"radians":0.35557009943017936},"translation":{"x":1.5920000000000005,"y":3.112}},"velocity":1.9064284830158356,"acceleration":3.0,"curvature":0.5195909614569448,"holonomicRotation":0.0,"angularVelocity":0.995207559235847,"holonomicAngularVelocity":0.0},{"time":0.6418996634430969,"pose":{"rotation":{"radians":0.36196281761306626},"translation":{"x":1.6035103360000005,"y":3.1163583360000002}},"velocity":1.925698990329291,"acceleration":2.9999999999999654,"curvature":0.5169820141397625,"holonomicRotation":0.0,"angularVelocity":1.0001236180941289,"holonomicAngularVelocity":0.0},{"time":0.6482641443004898,"pose":{"rotation":{"radians":0.3683280852354529},"translation":{"x":1.6150010880000005,"y":3.120793088}},"velocity":1.9447924329014699,"acceleration":3.0000000000000173,"curvature":0.5144021466205864,"holonomicRotation":0.0,"angularVelocity":1.0049069337160952,"holonomicAngularVelocity":0.0},{"time":0.654571325408339,"pose":{"rotation":{"radians":0.37466621526293364},"translation":{"x":1.6264718720000004,"y":3.1253038720000004}},"velocity":1.963713976225017,"acceleration":2.9999999999999822,"curvature":0.5118518535480218,"holonomicRotation":0.0,"angularVelocity":1.0095640669411767,"holonomicAngularVelocity":0.0},{"time":0.6608228450118765,"pose":{"rotation":{"radians":0.3809775248184435},"translation":{"x":1.6379223040000006,"y":3.1298903040000003}},"velocity":1.9824685350356297,"acceleration":3.0,"curvature":0.5093316047891678,"holonomicRotation":0.0,"angularVelocity":1.0141013611142926,"holonomicAngularVelocity":0.0},{"time":0.6670202631541803,"pose":{"rotation":{"radians":0.3872623349919482},"translation":{"x":1.6493520000000006,"y":3.1345520000000002}},"velocity":2.001060789462541,"acceleration":2.9999999999999822,"curvature":0.5068418460483123,"holonomicRotation":0.0,"angularVelocity":1.0185249527914209,"holonomicAngularVelocity":0.0},{"time":0.6731650666230385,"pose":{"rotation":{"radians":0.3935209706549796},"translation":{"x":1.6607605760000006,"y":3.139288576}},"velocity":2.019495199869116,"acceleration":3.000000000000036,"curvature":0.5043829997706955,"holonomicRotation":0.0,"angularVelocity":1.0228407818457754,"holonomicAngularVelocity":0.0},{"time":0.6792586735038131,"pose":{"rotation":{"radians":0.3997537602811718},"translation":{"x":1.6721476480000006,"y":3.144099648}},"velocity":2.0377760205114397,"acceleration":3.000000000000018,"curvature":0.5019554658535227,"holonomicRotation":0.0,"angularVelocity":1.0270546007967487,"holonomicAngularVelocity":0.0},{"time":0.6853024373760951,"pose":{"rotation":{"radians":0.4059610357723282},"translation":{"x":1.6835128320000006,"y":3.1489848320000005}},"velocity":2.055907312128286,"acceleration":3.000000000000018,"curvature":0.4995596223797258,"holonomicRotation":0.0,"angularVelocity":1.0311719834309776,"holonomicAngularVelocity":0.0},{"time":0.6912976511877287,"pose":{"rotation":{"radians":0.41214313228956323},"translation":{"x":1.6948557440000005,"y":3.153943744}},"velocity":2.073892953563187,"acceleration":3.0000000000000555,"curvature":0.497195826433042,"holonomicRotation":0.0,"angularVelocity":1.0351983330346652,"holonomicAngularVelocity":0.0},{"time":0.6972455508361,"pose":{"rotation":{"radians":0.41830038809061465},"translation":{"x":1.7061760000000006,"y":3.158976}},"velocity":2.0917366525083008,"acceleration":3.0,"curvature":0.49486441475959786,"holonomicRotation":0.0,"angularVelocity":1.0391388898355578,"holonomicAngularVelocity":0.0},{"time":0.7031473184833589,"pose":{"rotation":{"radians":0.4244331443716547},"translation":{"x":1.7174732160000006,"y":3.164081216}},"velocity":2.1094419554500776,"acceleration":3.0000000000000187,"curvature":0.49256570452373255,"holonomicRotation":0.0,"angularVelocity":1.0429987382017707,"holonomicAngularVelocity":0.0},{"time":0.7090040856294209,"pose":{"rotation":{"radians":0.4305417451149389},"translation":{"x":1.7287470080000005,"y":3.1692590080000005}},"velocity":2.1270122568882632,"acceleration":2.999999999999943,"curvature":0.4902999940555179,"holonomicRotation":0.0,"angularVelocity":1.0467828132720296,"holonomicAngularVelocity":0.0},{"time":0.7148169359641001,"pose":{"rotation":{"radians":0.43662653694140374},"translation":{"x":1.7399969920000007,"y":3.1745089920000003}},"velocity":2.144450807892301,"acceleration":3.0,"curvature":0.48806756353004915,"holonomicRotation":0.0,"angularVelocity":1.0504959073278146,"holonomicAngularVelocity":0.0},{"time":0.7205869080175377,"pose":{"rotation":{"radians":0.44268786896893575},"translation":{"x":1.7512227840000005,"y":3.1798307840000004}},"velocity":2.1617607240526135,"acceleration":2.999999999999981,"curvature":0.48586867565117137,"holonomicRotation":0.0,"angularVelocity":1.0541426755241503,"holonomicAngularVelocity":0.0},{"time":0.7263149976261485,"pose":{"rotation":{"radians":0.44872609267459884},"translation":{"x":1.7624240000000007,"y":3.1852240000000003}},"velocity":2.178944992878446,"acceleration":3.0000000000000195,"curvature":0.4837035763245057,"holonomicRotation":0.0,"angularVelocity":1.057727641711773,"holonomicAngularVelocity":0.0},{"time":0.7320021602295974,"pose":{"rotation":{"radians":0.45474156176317626},"translation":{"x":1.7736002560000006,"y":3.190688256}},"velocity":2.196006480688793,"acceleration":3.0,"curvature":0.48157249540881814,"holonomicRotation":0.0,"angularVelocity":1.0612552035501235,"holonomicAngularVelocity":0.0},{"time":0.7376493130127955,"pose":{"rotation":{"radians":0.46073463203958775},"translation":{"x":1.7847511680000006,"y":3.1962231680000004}},"velocity":2.212947939038387,"acceleration":2.9999999999999605,"curvature":0.47947564724702235,"holonomicRotation":0.0,"angularVelocity":1.064729637583078,"holonomicAngularVelocity":0.0},{"time":0.7432573369055535,"pose":{"rotation":{"radians":0.4667056612864813},"translation":{"x":1.7958763520000005,"y":3.2018283520000006}},"velocity":2.229772010716661,"acceleration":3.0,"curvature":0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0681551040334438,"holonomicAngularVelocity":0.0},{"time":0.7488270784513326,"pose":{"rotation":{"radians":0.4726550091467523},"translation":{"x":1.8069754240000007,"y":3.2075034240000004}},"velocity":2.246481235353998,"acceleration":2.99999999999994,"curvature":0.47538543331431704,"holonomicRotation":0.0,"angularVelocity":1.0715356512801077,"holonomicAngularVelocity":0.0},{"time":0.7543593515554528,"pose":{"rotation":{"radians":0.47858303701043514},"translation":{"x":1.8180480000000006,"y":3.2132480000000005}},"velocity":2.2630780546663583,"acceleration":2.99999999999998,"curvature":0.47339242474423837,"holonomicRotation":0.0,"angularVelocity":1.0748752201197043,"holonomicAngularVelocity":0.0},{"time":0.7598549391221702,"pose":{"rotation":{"radians":0.48449010790589764},"translation":{"x":1.8290936960000006,"y":3.2190616960000002}},"velocity":2.2795648173665106,"acceleration":3.00000000000002,"curvature":0.4714343645997835,"holonomicRotation":0.0,"angularVelocity":1.078177648009616,"holonomicAngularVelocity":0.0},{"time":0.7653145945891694,"pose":{"rotation":{"radians":0.4903765863962497},"translation":{"x":1.8401121280000006,"y":3.2249441280000006}},"velocity":2.2959437837675085,"acceleration":3.000000000000041,"curvature":0.46951139933779384,"holonomicRotation":0.0,"angularVelocity":1.081446672778329,"holonomicAngularVelocity":0.0},{"time":0.7707390433672545,"pose":{"rotation":{"radians":0.49624283847896633},"translation":{"x":1.8511029120000007,"y":3.230894912}},"velocity":2.312217130101764,"acceleration":3.0000000000000204,"curvature":0.4676236637211531,"holonomicRotation":0.0,"angularVelocity":1.084685936629946,"holonomicAngularVelocity":0.0},{"time":0.7761289841923315,"pose":{"rotation":{"radians":0.5020892314911949},"translation":{"x":1.8620656640000006,"y":3.2369136640000002}},"velocity":2.328386952576995,"acceleration":3.0000000000000617,"curvature":0.465771281161275,"holonomicRotation":0.0,"angularVelocity":1.087898989421331,"holonomicAngularVelocity":0.0},{"time":0.7814850903961527,"pose":{"rotation":{"radians":0.5079161340175653},"translation":{"x":1.8730000000000007,"y":3.2430000000000003}},"velocity":2.3444552711884588,"acceleration":3.0,"curvature":0.4639543644847911,"holonomicRotation":0.0,"angularVelocity":1.091089292363366,"holonomicAngularVelocity":0.0},{"time":0.78680801110174,"pose":{"rotation":{"radians":0.5137239158035309},"translation":{"x":1.8839055360000008,"y":3.249153536}},"velocity":2.360424033305221,"acceleration":3.0,"curvature":0.462173016289964,"holonomicRotation":0.0,"angularVelocity":1.0942602211599142,"holonomicAngularVelocity":0.0},{"time":0.7920983723488966,"pose":{"rotation":{"radians":0.5195129476718603},"translation":{"x":1.8947818880000007,"y":3.2553738880000003}},"velocity":2.376295117046691,"acceleration":3.000000000000063,"curvature":0.4604273295606459,"holonomicRotation":0.0,"angularVelocity":1.0974150691626414,"holonomicAngularVelocity":0.0},{"time":0.7973567781547642,"pose":{"rotation":{"radians":0.5252836014429918},"translation":{"x":1.9056286720000006,"y":3.2616606720000005}},"velocity":2.392070334464294,"acceleration":3.0000000000000213,"curvature":0.4587173881423953,"holonomicRotation":0.0,"angularVelocity":1.1005570504763318,"holonomicAngularVelocity":0.0},{"time":0.8025838115139726,"pose":{"rotation":{"radians":0.5310362498595436},"translation":{"x":1.9164455040000006,"y":3.2680135040000002}},"velocity":2.407751434541919,"acceleration":3.0,"curvature":0.45704326727847255,"holonomicRotation":0.0,"angularVelocity":1.103689302847837,"holonomicAngularVelocity":0.0},{"time":0.8077800353425552,"pose":{"rotation":{"radians":0.5367712665143531},"translation":{"x":1.9272320000000007,"y":3.2744320000000005}},"velocity":2.4233401060276667,"acceleration":3.0,"curvature":0.4554050339448593,"holonomicRotation":0.0,"angularVelocity":1.106814890388444,"holonomicAngularVelocity":0.0},{"time":0.8129459933694659,"pose":{"rotation":{"radians":0.5424890257816597},"translation":{"x":1.9379877760000008,"y":3.2809157760000005}},"velocity":2.4388379801083993,"acceleration":3.000000000000043,"curvature":0.45380274753675837,"holonomicRotation":0.0,"angularVelocity":1.1099368064146276,"holonomicAngularVelocity":0.0},{"time":0.8180822109792315,"pose":{"rotation":{"radians":0.5481899027524935},"translation":{"x":1.9487124480000007,"y":3.2874644480000006}},"velocity":2.454246632937696,"acceleration":3.0,"curvature":0.45223646009204105,"holonomicRotation":0.0,"angularVelocity":1.1130579759190018,"holonomicAngularVelocity":0.0},{"time":0.8231891960089878,"pose":{"rotation":{"radians":0.5538742731727626},"translation":{"x":1.9594056320000008,"y":3.2940776320000005}},"velocity":2.469567588026965,"acceleration":3.0000000000000435,"curvature":0.45070621683540724,"holonomicRotation":0.0,"angularVelocity":1.1161812581904715,"holonomicAngularVelocity":0.0},{"time":0.8282674395029013,"pose":{"rotation":{"radians":0.5595425133851966},"translation":{"x":1.9700669440000007,"y":3.3007549440000004}},"velocity":2.484802318508706,"acceleration":3.0000000000000657,"curvature":0.44921205667481234,"holonomicRotation":0.0,"angularVelocity":1.1193094491211109,"holonomicAngularVelocity":0.0},{"time":0.833317416426745,"pose":{"rotation":{"radians":0.5651950002738984},"translation":{"x":1.980696000000001,"y":3.3074960000000004}},"velocity":2.499952249280237,"acceleration":3.0,"curvature":0.4477540124322439,"holonomicRotation":0.0,"angularVelocity":1.1224452836441048,"holonomicAngularVelocity":0.0},{"time":0.8383395863451837,"pose":{"rotation":{"radians":0.5708321112125092},"translation":{"x":1.9912924160000007,"y":3.3143004160000005}},"velocity":2.515018759035553,"acceleration":3.0,"curvature":0.44633211133455136,"holonomicRotation":0.0,"angularVelocity":1.1255914379185776,"holonomicAngularVelocity":0.0},{"time":0.8433343940641395,"pose":{"rotation":{"radians":0.5764542240150154},"translation":{"x":2.0018558080000006,"y":3.3211678080000007}},"velocity":2.5300031821924205,"acceleration":3.000000000000022,"curvature":0.4449463754713489,"holonomicRotation":0.0,"angularVelocity":1.1287505315367143,"holonomicAngularVelocity":0.0},{"time":0.8483022702404226,"pose":{"rotation":{"radians":0.5820617168896036},"translation":{"x":2.012385792000001,"y":3.3280977920000003}},"velocity":2.54490681072127,"acceleration":2.999999999999978,"curvature":0.44359682198548334,"holonomicRotation":0.0,"angularVelocity":1.1319251296711867,"holonomicAngularVelocity":0.0},{"time":0.8532436319606614,"pose":{"rotation":{"radians":0.5876549683955372},"translation":{"x":2.022881984000001,"y":3.3350899840000006}},"velocity":2.559730895881986,"acceleration":2.9999999999999325,"curvature":0.44228346357140413,"holonomicRotation":0.0,"angularVelocity":1.1351177449809835,"holonomicAngularVelocity":0.0},{"time":0.8581588832914108,"pose":{"rotation":{"radians":0.5932343574021122},"translation":{"x":2.0333440000000005,"y":3.3421440000000007}},"velocity":2.574476649874234,"acceleration":3.0000000000000453,"curvature":0.44100630878383207,"holonomicRotation":0.0,"angularVelocity":1.138330839718644,"holonomicAngularVelocity":0.0},{"time":0.8630484158021899,"pose":{"rotation":{"radians":0.598800263050939},"translation":{"x":2.043771456000001,"y":3.3492594560000004}},"velocity":2.589145247406572,"acceleration":3.0000000000000453,"curvature":0.43976536240568537,"holonomicRotation":0.0,"angularVelocity":1.1415668276354243,"holonomicAngularVelocity":0.0},{"time":0.8679126090630681,"pose":{"rotation":{"radians":0.6043530647207653},"translation":{"x":2.0541639680000006,"y":3.356435968000001}},"velocity":2.603737827189206,"acceleration":2.9999999999999543,"curvature":0.43856062556178693,"holonomicRotation":0.0,"angularVelocity":1.1448280756028915,"holonomicAngularVelocity":0.0},{"time":0.8727518311183128,"pose":{"rotation":{"radians":0.6098931419936862},"translation":{"x":2.0645211520000006,"y":3.3636731520000005}},"velocity":2.6182554933549405,"acceleration":3.0000000000000457,"curvature":0.43739209639321713,"holonomicRotation":0.0,"angularVelocity":1.1458505886525359,"holonomicAngularVelocity":0.0},{"time":0.8775759614950274,"pose":{"rotation":{"radians":0.6154208746255811},"translation":{"x":2.074842624000001,"y":3.3709706240000004}},"velocity":2.622334232261645,"acceleration":0.8454868729070896,"curvature":0.4362597700073285,"holonomicRotation":0.0,"angularVelocity":1.1445003863931786,"holonomicAngularVelocity":0.0},{"time":0.8823953289299136,"pose":{"rotation":{"radians":0.6209366425169791},"translation":{"x":2.085128000000001,"y":3.3783280000000007}},"velocity":2.625634845989314,"acceleration":0.6848645122545891,"curvature":0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1430465952169684,"holonomicAngularVelocity":0.0},{"time":0.8872106909573768,"pose":{"rotation":{"radians":0.626440825687208},"translation":{"x":2.0953768960000008,"y":3.3857448960000003}},"velocity":2.6288383813504206,"acceleration":0.6652740422913254,"curvature":0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.1416385324626965,"holonomicAngularVelocity":0.0},{"time":0.8920221776120565,"pose":{"rotation":{"radians":0.6319338042506204},"translation":{"x":2.105588928000001,"y":3.3932209280000003}},"velocity":2.6319437458571184,"acceleration":0.6454064470235114,"curvature":0.4330799216330578,"holonomicRotation":0.0,"angularVelocity":1.1402763514325127,"holonomicAngularVelocity":0.0},{"time":0.8968299192939927,"pose":{"rotation":{"radians":0.6374159583943286},"translation":{"x":2.1157637120000006,"y":3.4007557120000005}},"velocity":2.6349498803219897,"acceleration":0.6252695472733159,"curvature":0.4320923098070697,"holonomicRotation":0.0,"angularVelocity":1.1389601981623954,"holonomicAngularVelocity":0.0},{"time":0.9016340467540943,"pose":{"rotation":{"radians":0.6428876683582834},"translation":{"x":2.125900864000001,"y":3.4083488640000006}},"velocity":2.6378557595292262,"acceleration":0.6048713801558966,"curvature":0.4311408427216499,"holonomicRotation":0.0,"angularVelocity":1.1376902117011674,"holonomicAngularVelocity":0.0},{"time":0.906434691079727,"pose":{"rotation":{"radians":0.6483493144174144},"translation":{"x":2.136000000000001,"y":3.4160000000000004}},"velocity":2.640660392350118,"acceleration":0.584220081857935,"curvature":0.4302255037988389,"holonomicRotation":0.0,"angularVelocity":1.1364665242198737,"holonomicAngularVelocity":0.0},{"time":0.9112319836804512,"pose":{"rotation":{"radians":0.6538012768650252},"translation":{"x":2.146060736000001,"y":3.4237087360000005}},"velocity":2.6433628223610883,"acceleration":0.5633239904028693,"curvature":0.4293462752752821,"holonomicRotation":0.0,"angularVelocity":1.135289261297001,"holonomicAngularVelocity":0.0},{"time":0.9160260562739342,"pose":{"rotation":{"radians":0.6592439359982847},"translation":{"x":2.1560826880000006,"y":3.4314746880000007}},"velocity":2.6459621279004737,"acceleration":0.5421915268698363,"curvature":0.4285031384986032,"holonomicRotation":0.0,"angularVelocity":1.134158542054684,"holonomicAngularVelocity":0.0},{"time":0.9208170408723271,"pose":{"rotation":{"radians":0.6646776721054044},"translation":{"x":2.1660654720000005,"y":3.4392974720000007}},"velocity":2.648457422337088,"acceleration":0.5208312373726626,"curvature":0.42769607414071226,"holonomicRotation":0.0,"angularVelocity":1.133074479392834,"holonomicAngularVelocity":0.0},{"time":0.9256050697685123,"pose":{"rotation":{"radians":0.6701028654542673},"translation":{"x":2.176008704000001,"y":3.4471767040000008}},"velocity":2.6508478547544363,"acceleration":0.49925187779313374,"curvature":0.42692506226405785,"holonomicRotation":0.0,"angularVelocity":1.132037180125681,"holonomicAngularVelocity":0.0},{"time":0.9303902755226879,"pose":{"rotation":{"radians":0.6755198962825455},"translation":{"x":2.185912000000001,"y":3.4551120000000006}},"velocity":2.653132609673996,"acceleration":0.47746221101694586,"curvature":0.4261900826856946,"holonomicRotation":0.0,"angularVelocity":1.1310467451481108,"holonomicAngularVelocity":0.0},{"time":0.9351727909491765,"pose":{"rotation":{"radians":0.680929144789296},"translation":{"x":2.195774976000001,"y":3.463102976000001}},"velocity":2.655310907833249,"acceleration":0.4554712248680483,"curvature":0.42549111498766573,"holonomicRotation":0.0,"angularVelocity":1.1301032696261668,"holonomicAngularVelocity":0.0},{"time":0.9399527491031683,"pose":{"rotation":{"radians":0.6863309911277984},"translation":{"x":2.205597248000001,"y":3.4711492480000006}},"velocity":2.657382006198557,"acceleration":0.4332879700166909,"curvature":0.42482813876175346,"holonomicRotation":0.0,"angularVelocity":1.1292068432179385,"holonomicAngularVelocity":0.0},{"time":0.9447302832677758,"pose":{"rotation":{"radians":0.6917258154001806},"translation":{"x":2.215378432000001,"y":3.4792504320000006}},"velocity":2.6593451982965712,"acceleration":0.41092162407919103,"curvature":0.424201133738781,"holonomicRotation":0.0,"angularVelocity":1.1283575500272023,"holonomicAngularVelocity":0.0},{"time":0.9495055269412395,"pose":{"rotation":{"radians":0.697113997652353},"translation":{"x":2.225118144000001,"y":3.487406144000001}},"velocity":2.6611998143698017,"acceleration":0.38838145235114474,"curvature":0.42361007996169614,"holonomicRotation":0.0,"angularVelocity":1.1275554689255944,"holonomicAngularVelocity":0.0},{"time":0.954278613824305,"pose":{"rotation":{"radians":0.7024959178710106},"translation":{"x":2.234816000000001,"y":3.495616000000001}},"velocity":2.6629452216557663,"acceleration":0.3656768311000486,"curvature":0.42305495790658737,"holonomicRotation":0.0,"angularVelocity":1.1268006736112952,"holonomicAngularVelocity":0.0},{"time":0.9590496778075177,"pose":{"rotation":{"radians":0.7078719559811373},"translation":{"x":2.244471616000001,"y":3.5038796160000008}},"velocity":2.6645808247919645,"acceleration":0.34281727135773626,"curvature":0.42253574855162407,"holonomicRotation":0.0,"angularVelocity":1.1260932327968134,"holonomicAngularVelocity":0.0},{"time":0.9638188529587666,"pose":{"rotation":{"radians":0.7132424918449813},"translation":{"x":2.2540846080000008,"y":3.512196608000001}},"velocity":2.6661060656923015,"acceleration":0.3198123054754257,"curvature":0.4220524336016502,"holonomicRotation":0.0,"angularVelocity":1.1254332101237627,"holonomicAngularVelocity":0.0},{"time":0.9685862735110955,"pose":{"rotation":{"radians":0.7186079052611989},"translation":{"x":2.263654592000001,"y":3.5205665920000007}},"velocity":2.6675204238998145,"acceleration":0.29667158413832084,"curvature":0.4216049955488846,"holonomicRotation":0.0,"angularVelocity":1.124820664571741,"holonomicAngularVelocity":0.0},{"time":0.9733520738504342,"pose":{"rotation":{"radians":0.7239685759661101},"translation":{"x":2.2731811840000007,"y":3.5289891840000007}},"velocity":2.6688234168146447,"acceleration":0.27340484746599136,"curvature":0.4211934177613658,"holonomicRotation":0.0,"angularVelocity":1.1242556502653611,"holonomicAngularVelocity":0.0},{"time":0.9781163885034462,"pose":{"rotation":{"radians":0.7293248836344008},"translation":{"x":2.282664000000001,"y":3.5374640000000004}},"velocity":2.6700145997957936,"acceleration":0.2500218956772268,"curvature":0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.123738216844328,"holonomicAngularVelocity":0.0},{"time":0.9828793521254612,"pose":{"rotation":{"radians":0.7346772078818984},"translation":{"x":2.292102656000001,"y":3.5459906560000007}},"velocity":2.671093566389595,"acceleration":0.22653261276539288,"curvature":0.4204777814786742,"holonomicRotation":0.0,"angularVelocity":1.1232684092819534,"holonomicAngularVelocity":0.0},{"time":0.9876410994884608,"pose":{"rotation":{"radians":0.7400259282677375},"translation":{"x":2.3014967680000007,"y":3.5545687680000007}},"velocity":2.6720599484322793,"acceleration":0.20294693712507567,"curvature":0.42017369496416096,"holonomicRotation":0.0,"angularVelocity":1.1228462681894709,"holonomicAngularVelocity":0.0},{"time":0.9924017654693136,"pose":{"rotation":{"radians":0.7453714242984346},"translation":{"x":2.310845952000001,"y":3.563197952000001}},"velocity":2.672913416024821,"acceleration":0.17927483170934566,"curvature":0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1224718297170306,"holonomicAngularVelocity":0.0},{"time":0.997161485037997,"pose":{"rotation":{"radians":0.7507140754316346},"translation":{"x":2.320149824000001,"y":3.571877824000001}},"velocity":2.6736536778913673,"acceleration":0.15552636155641372,"curvature":0.4196729243382383,"holonomicRotation":0.0,"angularVelocity":1.1221451257033959,"holonomicAngularVelocity":0.0},{"time":1.0019203932456864,"pose":{"rotation":{"radians":0.7560542610805632},"translation":{"x":2.329408000000001,"y":3.5806080000000007}},"velocity":2.6742804814591006,"acceleration":0.1317116322438141,"curvature":0.41947621972129306,"holonomicRotation":0.0,"angularVelocity":1.1218661837350683,"holonomicAngularVelocity":0.0},{"time":1.0066786252132192,"pose":{"rotation":{"radians":0.7613923606193054},"translation":{"x":2.338620096000001,"y":3.5893880960000004}},"velocity":2.674793612605643,"acceleration":0.10784071689727757,"curvature":0.419315290918276,"holonomicRotation":0.0,"angularVelocity":1.1216350272072997,"holonomicAngularVelocity":0.0},{"time":1.0114363161192206,"pose":{"rotation":{"radians":0.7667287533881022},"translation":{"x":2.3477857280000007,"y":3.598217728000001}},"velocity":2.6751928965083205,"acceleration":0.08392388462520017,"curvature":0.4191901310828717,"holonomicRotation":0.0,"angularVelocity":1.1214516752369148,"holonomicAngularVelocity":0.0},{"time":1.0161936011885375,"pose":{"rotation":{"radians":0.7720638186986672},"translation":{"x":2.3569045120000007,"y":3.607096512000001}},"velocity":2.6754781966265213,"acceleration":0.05997120501374331,"curvature":0.4191007350133541,"holonomicRotation":0.0,"angularVelocity":1.1213161429216323,"holonomicAngularVelocity":0.0},{"time":1.020950615680859,"pose":{"rotation":{"radians":0.7773979358410195},"translation":{"x":2.3659760640000007,"y":3.616024064000001}},"velocity":2.6756494156563497,"acceleration":0.03599295947170036,"curvature":0.4190470988943057,"holonomicRotation":0.0,"angularVelocity":1.1212284410937938,"holonomicAngularVelocity":0.0},{"time":1.0257074948789369,"pose":{"rotation":{"radians":0.7827314840887518},"translation":{"x":2.375000000000001,"y":3.625000000000001}},"velocity":2.675706495129876,"acceleration":0.011999353178753079,"curvature":0.41902922045158014,"holonomicRotation":0.0,"angularVelocity":1.1211885766455594,"holonomicAngularVelocity":0.0},{"time":1.030464374077015,"pose":{"rotation":{"radians":0.7880648427061199},"translation":{"x":2.383975936000001,"y":3.634023936000001}},"velocity":2.67564941565635,"acceleration":-0.011999353178659161,"curvature":0.4190470988943055,"holonomicRotation":0.0,"angularVelocity":1.1211965522473806,"holonomicAngularVelocity":0.0},{"time":1.0352213885693364,"pose":{"rotation":{"radians":0.7933983909539015},"translation":{"x":2.392903488000001,"y":3.643095488000001}},"velocity":2.675478196626521,"acceleration":-0.03599295947188707,"curvature":0.41910073501335415,"holonomicRotation":0.0,"angularVelocity":1.1212523665452967,"holonomicAngularVelocity":0.0},{"time":1.0399786736386536,"pose":{"rotation":{"radians":0.798732508096204},"translation":{"x":2.401782272000001,"y":3.652214272000001}},"velocity":2.675192896508296,"acceleration":-0.05997120501878138,"curvature":0.4191901310828794,"holonomicRotation":0.0,"angularVelocity":1.1213560141038383,"holonomicAngularVelocity":0.0},{"time":1.0447363645446093,"pose":{"rotation":{"radians":0.8040675734068445},"translation":{"x":2.410611904000001,"y":3.661379904000001}},"velocity":2.674793612656831,"acceleration":-0.08392387386188453,"curvature":0.4193152909022269,"holonomicRotation":0.0,"angularVelocity":1.1215074853712201,"holonomicAngularVelocity":0.0},{"time":1.0494945965121423,"pose":{"rotation":{"radians":0.8094039661755654},"translation":{"x":2.419392000000001,"y":3.670592000000001}},"velocity":2.6742804814079513,"acceleration":-0.10784073840468338,"curvature":0.41947621973733923,"holonomicRotation":0.0,"angularVelocity":1.1217067667100076,"holonomicAngularVelocity":0.0},{"time":1.054253504719877,"pose":{"rotation":{"radians":0.8147420657143334},"translation":{"x":2.428122176000001,"y":3.679850176000001}},"velocity":2.673653677891392,"acceleration":-0.13171162148921356,"curvature":0.4196729243382304,"holonomicRotation":0.0,"angularVelocity":1.1219538403138642,"holonomicAngularVelocity":0.0},{"time":1.0590132242886061,"pose":{"rotation":{"radians":0.8200822513632859},"translation":{"x":2.436802048000001,"y":3.689154048000001}},"velocity":2.6729134159737282,"acceleration":-0.15552637229458416,"curvature":0.4199054129041197,"holonomicRotation":0.0,"angularVelocity":1.1222486842418435,"holonomicAngularVelocity":0.0},{"time":1.0637738902695042,"pose":{"rotation":{"radians":0.8254249024964637},"translation":{"x":2.4454312320000007,"y":3.698503232000001}},"velocity":2.672059948432254,"acceleration":-0.17927482098065445,"curvature":0.42017369496416906,"holonomicRotation":0.0,"angularVelocity":1.1225912723143032,"holonomicAngularVelocity":0.0},{"time":1.068535637632504,"pose":{"rotation":{"radians":0.8307703985271329},"translation":{"x":2.454009344000001,"y":3.707897344000001}},"velocity":2.6710935663895956,"acceleration":-0.20294693711966175,"curvature":0.42047778147867415,"holonomicRotation":0.0,"angularVelocity":1.1229815741545088,"holonomicAngularVelocity":0.0},{"time":1.073298601254519,"pose":{"rotation":{"radians":0.8361191189130239},"translation":{"x":2.462536000000001,"y":3.717336000000001}},"velocity":2.6700145997957936,"acceleration":-0.2265326127654861,"curvature":0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.1234195550165338,"holonomicAngularVelocity":0.0},{"time":1.078062915907531,"pose":{"rotation":{"radians":0.8414714431604695},"translation":{"x":2.471010816000001,"y":3.726818816000001}},"velocity":2.6688234168146683,"acceleration":-0.2500218956722808,"curvature":0.4211934177613584,"holonomicRotation":0.0,"angularVelocity":1.1239051758218945,"holonomicAngularVelocity":0.0},{"time":1.0828287162468697,"pose":{"rotation":{"radians":0.846827750828786},"translation":{"x":2.479433408000001,"y":3.736345408000001}},"velocity":2.6675204238998145,"acceleration":-0.27340484747093,"curvature":0.42160499554888453,"holonomicRotation":0.0,"angularVelocity":1.124438393072715,"holonomicAngularVelocity":0.0},{"time":1.0875961367991533,"pose":{"rotation":{"radians":0.8521884215336977},"translation":{"x":2.487803392000001,"y":3.745915392000001}},"velocity":2.6661060657428792,"acceleration":-0.2966715735320978,"curvature":0.42205243358563704,"holonomicRotation":0.0,"angularVelocity":1.125019158687412,"holonomicAngularVelocity":0.0},{"time":1.0923653119503571,"pose":{"rotation":{"radians":0.8575538349499379},"translation":{"x":2.496120384000001,"y":3.755528384000001}},"velocity":2.6645808247919636,"acceleration":-0.31981231608377336,"curvature":0.4225357485516242,"holonomicRotation":0.0,"angularVelocity":1.1256474200922537,"holonomicAngularVelocity":0.0},{"time":1.0971363759335697,"pose":{"rotation":{"radians":0.8629243708137362},"translation":{"x":2.504384000000001,"y":3.765184000000001}},"velocity":2.6629452216557663,"acceleration":-0.3428172713575581,"curvature":0.4230549579065874,"holonomicRotation":0.0,"angularVelocity":1.1263231199908168,"holonomicAngularVelocity":0.0},{"time":1.1019094628166803,"pose":{"rotation":{"radians":0.8683004089239086},"translation":{"x":2.512593856000001,"y":3.7748818560000013}},"velocity":2.6611998143196263,"acceleration":-0.36567684160874825,"curvature":0.42361007997767003,"holonomicRotation":0.0,"angularVelocity":1.1270461963058591,"holonomicAngularVelocity":0.0},{"time":1.106684706490189,"pose":{"rotation":{"radians":0.8736823291425702},"translation":{"x":2.5207495680000007,"y":3.7846215680000013}},"velocity":2.6593451982965486,"acceleration":-0.38838144184482565,"curvature":0.42420113373878826,"holonomicRotation":0.0,"angularVelocity":1.1278165820374502,"holonomicAngularVelocity":0.0},{"time":1.1114622406548413,"pose":{"rotation":{"radians":0.8790705113947155},"translation":{"x":2.5288507520000008,"y":3.794402752000001}},"velocity":2.6573820061486866,"acceleration":-0.41092163450910085,"curvature":0.42482813877769865,"holonomicRotation":0.0,"angularVelocity":1.1286342052595717,"holonomicAngularVelocity":0.0},{"time":1.116242198808878,"pose":{"rotation":{"radians":0.8844653356670706},"translation":{"x":2.536897024000001,"y":3.8042250240000013}},"velocity":2.6553109078332495,"acceleration":-0.4332879595793174,"curvature":0.4254911149876656,"holonomicRotation":0.0,"angularVelocity":1.1294989888873823,"holonomicAngularVelocity":0.0},{"time":1.1210247142353664,"pose":{"rotation":{"radians":0.8898671820056276},"translation":{"x":2.5448880000000007,"y":3.8140880000000013}},"velocity":2.6531326096739956,"acceleration":-0.4554712248682446,"curvature":0.42619008268569475,"holonomicRotation":0.0,"angularVelocity":1.1304108505628179,"holonomicAngularVelocity":0.0},{"time":1.1258099199895422,"pose":{"rotation":{"radians":0.8952764305123235},"translation":{"x":2.552823296000001,"y":3.8239912960000013}},"velocity":2.6508478547544305,"acceleration":-0.4774622110180485,"curvature":0.4269250622640598,"holonomicRotation":0.0,"angularVelocity":1.1313697025929383,"holonomicAngularVelocity":0.0},{"time":1.1305979488857274,"pose":{"rotation":{"radians":0.900693461340607},"translation":{"x":2.560702528000001,"y":3.8339345280000012}},"velocity":2.648457422337061,"acceleration":-0.49925187779758573,"curvature":0.427696074140721,"holonomicRotation":0.0,"angularVelocity":1.1323754517400342,"holonomicAngularVelocity":0.0},{"time":1.1353889334841203,"pose":{"rotation":{"radians":0.9061186546894917},"translation":{"x":2.568525312000001,"y":3.843917312000001}},"velocity":2.645962127900453,"acceleration":-0.5208312373713648,"curvature":0.42850313849861,"holonomicRotation":0.0,"angularVelocity":1.133427999095026,"holonomicAngularVelocity":0.0},{"time":1.1401830060776033,"pose":{"rotation":{"radians":0.9115523907966394},"translation":{"x":2.576291264000001,"y":3.853939264000001}},"velocity":2.643362822361095,"acceleration":-0.542191526864093,"curvature":0.42934627527527985,"holonomicRotation":0.0,"angularVelocity":1.1345272398916992,"holonomicAngularVelocity":0.0},{"time":1.1449802986783277,"pose":{"rotation":{"radians":0.9169950499298922},"translation":{"x":2.584000000000001,"y":3.864000000000001}},"velocity":2.6406603923501453,"acceleration":-0.5633239903985849,"curvature":0.43022550379883,"holonomicRotation":0.0,"angularVelocity":1.1356730633905898,"holonomicAngularVelocity":0.0},{"time":1.1497809430040045,"pose":{"rotation":{"radians":0.9224470123774822},"translation":{"x":2.5916511360000007,"y":3.874099136000001}},"velocity":2.6378557594807597,"acceleration":-0.5842200919540596,"curvature":0.43114084273749304,"holonomicRotation":0.0,"angularVelocity":1.1368653526407893,"holonomicAngularVelocity":0.0},{"time":1.15458507046415,"pose":{"rotation":{"radians":0.9279086584365919},"translation":{"x":2.599244288000001,"y":3.884236288000001}},"velocity":2.6349498803219897,"acceleration":-0.6048713700618353,"curvature":0.43209230980706964,"holonomicRotation":0.0,"angularVelocity":1.1381039843726668,"holonomicAngularVelocity":0.0},{"time":1.1593928121460426,"pose":{"rotation":{"radians":0.9333803684005884},"translation":{"x":2.606779072000001,"y":3.8944110720000014}},"velocity":2.6319437459051516,"acceleration":-0.6252695372882013,"curvature":0.4330799216172504,"holonomicRotation":0.0,"angularVelocity":1.139388828711607,"holonomicAngularVelocity":0.0},{"time":1.164204298800591,"pose":{"rotation":{"radians":0.9388625225442757},"translation":{"x":2.614255104000001,"y":3.9046231040000015}},"velocity":2.628838381445997,"acceleration":-0.6454064371599206,"curvature":0.4341036934345355,"holonomicRotation":0.0,"angularVelocity":1.1407197490356886,"holonomicAngularVelocity":0.0},{"time":1.1690196608279666,"pose":{"rotation":{"radians":0.9443555011076596},"translation":{"x":2.621672000000001,"y":3.9148720000000012}},"velocity":2.625634845989314,"acceleration":-0.6652740621516621,"curvature":0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.141368679059864,"holonomicAngularVelocity":0.0},{"time":1.173842101877269,"pose":{"rotation":{"radians":0.9498596842779459},"translation":{"x":2.629029376000001,"y":3.9251573760000014}},"velocity":2.618989404766512,"acceleration":-1.3780243563088321,"curvature":0.43625977000734745,"holonomicRotation":0.0,"angularVelocity":1.1396328812838714,"holonomicAngularVelocity":0.0},{"time":1.1786820533931346,"pose":{"rotation":{"radians":0.9553754521692461},"translation":{"x":2.6363268480000013,"y":3.9354788480000007}},"velocity":2.604469550218915,"acceleration":-3.0,"curvature":0.437392096408939,"holonomicRotation":0.0,"angularVelocity":1.1362290451451276,"holonomicAngularVelocity":0.0},{"time":1.1835470343189463,"pose":{"rotation":{"radians":0.9609031848012304},"translation":{"x":2.643564032000001,"y":3.945836032000001}},"velocity":2.5898746074414802,"acceleration":-2.9999999999999085,"curvature":0.4385606255617841,"holonomicRotation":0.0,"angularVelocity":1.1328524486335545,"holonomicAngularVelocity":0.0},{"time":1.1884374128317103,"pose":{"rotation":{"radians":0.9664432620741601},"translation":{"x":2.650740544000001,"y":3.956228544000001}},"velocity":2.5752034719031878,"acceleration":-3.0000000000000453,"curvature":0.4397653623900097,"holonomicRotation":0.0,"angularVelocity":1.1295007542703375,"holonomicAngularVelocity":0.0},{"time":1.1933535686189238,"pose":{"rotation":{"radians":0.9719960637439282},"translation":{"x":2.657856000000001,"y":3.9666560000000013}},"velocity":2.5604550045415473,"acceleration":-3.0,"curvature":0.4410063087994853,"holonomicRotation":0.0,"angularVelocity":1.1261715790988696,"holonomicAngularVelocity":0.0},{"time":1.1982958933518377,"pose":{"rotation":{"radians":0.9775619693928133},"translation":{"x":2.6649100160000008,"y":3.977118016000001}},"velocity":2.5456280303428054,"acceleration":-3.000000000000045,"curvature":0.4422834635714009,"holonomicRotation":0.0,"angularVelocity":1.1228624931602014,"holonomicAngularVelocity":0.0},{"time":1.2032647911826513,"pose":{"rotation":{"radians":0.9831413583993789},"translation":{"x":2.671902208000001,"y":3.9876142080000014}},"velocity":2.5307213368503647,"acceleration":-3.0,"curvature":0.4435968219542736,"holonomicRotation":0.0,"angularVelocity":1.1195710174570126,"holonomicAngularVelocity":0.0},{"time":1.208260679267134,"pose":{"rotation":{"radians":0.9887346099052245},"translation":{"x":2.678832192000001,"y":3.9981441920000007}},"velocity":2.5157336725969164,"acceleration":-3.0000000000000444,"curvature":0.4449463754713487,"holonomicRotation":0.0,"angularVelocity":1.116294622142275,"holonomicAngularVelocity":0.0},{"time":1.213283988314313,"pose":{"rotation":{"radians":0.994342102779949},"translation":{"x":2.685699584000001,"y":4.0087075840000015}},"velocity":2.500663745455379,"acceleration":-3.0000000000000884,"curvature":0.44633211131899053,"holonomicRotation":0.0,"angularVelocity":1.1130307242686392,"holonomicAngularVelocity":0.0},{"time":1.2183351631649564,"pose":{"rotation":{"radians":0.9999642155823683},"translation":{"x":2.692504000000001,"y":4.019304000000001}},"velocity":2.4855102209034485,"acceleration":-3.000000000000044,"curvature":0.4477540124322387,"holonomicRotation":0.0,"angularVelocity":1.1097766860870264,"holonomicAngularVelocity":0.0},{"time":1.2234146634007506,"pose":{"rotation":{"radians":1.0056013265210262},"translation":{"x":2.699245056000001,"y":4.029933056000002}},"velocity":2.470271720196066,"acceleration":-3.0000000000000435,"curvature":0.44921205667481756,"holonomicRotation":0.0,"angularVelocity":1.1065298124299,"holonomicAngularVelocity":0.0},{"time":1.2285229639861848,"pose":{"rotation":{"radians":1.0112538134096622},"translation":{"x":2.705922368000001,"y":4.040594368000001}},"velocity":2.4549468184397636,"acceleration":-2.999999999999913,"curvature":0.4507062168508919,"holonomicRotation":0.0,"angularVelocity":1.1032873489277657,"holonomicAngularVelocity":0.0},{"time":1.2336605559453493,"pose":{"rotation":{"radians":1.0169220536221615},"translation":{"x":2.7125355520000007,"y":4.051287552000002}},"velocity":2.43953404256227,"acceleration":-3.000000000000043,"curvature":0.45223646007658325,"holonomicRotation":0.0,"angularVelocity":1.1000464792593154,"holonomicAngularVelocity":0.0},{"time":1.2388279470759953,"pose":{"rotation":{"radians":1.0226064240423844},"translation":{"x":2.719084224000001,"y":4.062012224000001}},"velocity":2.4240318691703315,"acceleration":-3.000000000000043,"curvature":0.4538027475367534,"holonomicRotation":0.0,"angularVelocity":1.0968043231892513,"holonomicAngularVelocity":0.0},{"time":1.2440256627034307,"pose":{"rotation":{"radians":1.028307301013264},"translation":{"x":2.725568000000001,"y":4.072768000000002}},"velocity":2.4084387222880252,"acceleration":-3.0,"curvature":0.4554050339448751,"holonomicRotation":0.0,"angularVelocity":1.093557933627122,"holonomicAngularVelocity":0.0},{"time":1.2492542464770038,"pose":{"rotation":{"radians":1.0340250602804888},"translation":{"x":2.731986496000001,"y":4.0835544960000005}},"velocity":2.392752970967306,"acceleration":-3.0000000000000426,"curvature":0.45704326729385686,"holonomicRotation":0.0,"angularVelocity":1.0903042944971009,"holonomicAngularVelocity":0.0},{"time":1.2545142612121893,"pose":{"rotation":{"radians":1.0397600769353796},"translation":{"x":2.738339328000001,"y":4.094371328000001}},"velocity":2.3769729267617494,"acceleration":-2.999999999999958,"curvature":0.45871738815772506,"holonomicRotation":0.0,"angularVelocity":1.087040317564224,"holonomicAngularVelocity":0.0},{"time":1.2598062897815119,"pose":{"rotation":{"radians":1.045512725351935},"translation":{"x":2.7446261120000006,"y":4.105218112000001}},"velocity":2.3610968410537816,"acceleration":-3.0000000000000417,"curvature":0.4604273295453317,"holonomicRotation":0.0,"angularVelocity":1.0837628401270711,"holonomicAngularVelocity":0.0},{"time":1.2651309360578522,"pose":{"rotation":{"radians":1.0512833791230536},"translation":{"x":2.7508464640000008,"y":4.1160944640000015}},"velocity":2.345122902224761,"acceleration":-2.9999999999999165,"curvature":0.4621730162746951,"holonomicRotation":0.0,"angularVelocity":1.0804686217426966,"holonomicAngularVelocity":0.0},{"time":1.270488825913959,"pose":{"rotation":{"radians":1.0570724109913305},"translation":{"x":2.7570000000000006,"y":4.127000000000001}},"velocity":2.3290492326564407,"acceleration":-2.9999999999999587,"curvature":0.4639543644847909,"holonomicRotation":0.0,"angularVelocity":1.0771543414066895,"holonomicAngularVelocity":0.0},{"time":1.2758806082823524,"pose":{"rotation":{"radians":1.0628801927773655},"translation":{"x":2.7630863360000006,"y":4.137934336000002}},"velocity":2.312873885551261,"acceleration":-2.9999999999999587,"curvature":0.4657712811612695,"holonomicRotation":0.0,"angularVelocity":1.0738165942689333,"holonomicAngularVelocity":0.0},{"time":1.2813069562801476,"pose":{"rotation":{"radians":1.068707095303676},"translation":{"x":2.7691050880000008,"y":4.148897088000001}},"velocity":2.2965948415578756,"acceleration":-2.999999999999959,"curvature":0.46762366370596037,"holonomicRotation":0.0,"angularVelocity":1.0704518885397352,"holonomicAngularVelocity":0.0},{"time":1.286768568403775,"pose":{"rotation":{"radians":1.0745534883158845},"translation":{"x":2.775055872000001,"y":4.159887872000001}},"velocity":2.280210005186993,"acceleration":-3.000000000000041,"curvature":0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0670566418127445,"holonomicAngularVelocity":0.0},{"time":1.2922661697989868,"pose":{"rotation":{"radians":1.0804197403986842},"translation":{"x":2.7809383040000006,"y":4.170906304000001}},"velocity":2.2637172010013575,"acceleration":-3.0000000000000404,"curvature":0.4714343645997839,"holonomicRotation":0.0,"angularVelocity":1.0636271776953912,"holonomicAngularVelocity":0.0},{"time":1.2978005136120798,"pose":{"rotation":{"radians":1.0863062188890003},"translation":{"x":2.786752000000001,"y":4.181952000000002}},"velocity":2.2471141695620784,"acceleration":-3.0,"curvature":0.4733924247442271,"holonomicRotation":0.0,"angularVelocity":1.0601597219446663,"holonomicAngularVelocity":0.0},{"time":1.303372382428791,"pose":{"rotation":{"radians":1.092213289784437},"translation":{"x":2.792496576000001,"y":4.193024576000001}},"velocity":2.2303985631119447,"acceleration":-3.0,"curvature":0.47538543332938343,"holonomicRotation":0.0,"angularVelocity":1.05665039864859,"holonomicAngularVelocity":0.0},{"time":1.3089825898079743,"pose":{"rotation":{"radians":1.0981413176481523},"translation":{"x":2.7981716480000007,"y":4.204123648000001}},"velocity":2.213567940974395,"acceleration":-2.9999999999999605,"curvature":0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0530952259318735,"holonomicAngularVelocity":0.0},{"time":1.314631981917819,"pose":{"rotation":{"radians":1.1040906655084468},"translation":{"x":2.8037768320000005,"y":4.215248832000001}},"velocity":2.1966197646448617,"acceleration":-2.9999999999999214,"curvature":0.4794756472470108,"holonomicRotation":0.0,"angularVelocity":1.0494901118766216,"holonomicAngularVelocity":0.0},{"time":1.3203214392831757,"pose":{"rotation":{"radians":1.1100616947553323},"translation":{"x":2.809311744000001,"y":4.226399744000002}},"velocity":2.1795513925487917,"acceleration":-2.999999999999961,"curvature":0.48157249539387187,"holonomicRotation":0.0,"angularVelocity":1.0458308498080762,"holonomicAngularVelocity":0.0},{"time":1.3260518786533824,"pose":{"rotation":{"radians":1.1160547650316492},"translation":{"x":2.814776000000001,"y":4.237576000000001}},"velocity":2.1623600744381717,"acceleration":-3.0,"curvature":0.4837035763394283,"holonomicRotation":0.0,"angularVelocity":1.0421131136383825,"holonomicAngularVelocity":0.0},{"time":1.3318242550009647,"pose":{"rotation":{"radians":1.1220702341203208},"translation":{"x":2.820169216000001,"y":4.2487772160000015}},"velocity":2.1450429453954247,"acceleration":-3.0,"curvature":0.4858686756511655,"holonomicRotation":0.0,"angularVelocity":1.0383324526570552,"holonomicAngularVelocity":0.0},{"time":1.3376395636626297,"pose":{"rotation":{"radians":1.1281084578259453},"translation":{"x":2.825491008000001,"y":4.260003008000001}},"velocity":2.1275970194104294,"acceleration":-3.000000000000038,"curvature":0.48806756354488817,"holonomicRotation":0.0,"angularVelocity":1.0344842865366874,"holonomicAngularVelocity":0.0},{"time":1.343498842635211,"pose":{"rotation":{"radians":1.1341697898535155},"translation":{"x":2.830740992000001,"y":4.271252992000002}},"velocity":2.1100191824926853,"acceleration":-3.0000000000000377,"curvature":0.49029999405552943,"holonomicRotation":0.0,"angularVelocity":1.0305638993094042,"holonomicAngularVelocity":0.0},{"time":1.3494031750405304,"pose":{"rotation":{"radians":1.1402545816799603},"translation":{"x":2.835918784000001,"y":4.282526784000001}},"velocity":2.0923061852767266,"acceleration":-3.000000000000075,"curvature":0.49256570453850973,"holonomicRotation":0.0,"angularVelocity":1.026566433840469,"holonomicAngularVelocity":0.0},{"time":1.3553536917747062,"pose":{"rotation":{"radians":1.1463631824232712},"translation":{"x":2.841024000000001,"y":4.293824000000002}},"velocity":2.074454635074199,"acceleration":-3.0000000000000746,"curvature":0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0224868851113715,"holonomicAngularVelocity":0.0},{"time":1.3613515743591078,"pose":{"rotation":{"radians":1.1524959387042597},"translation":{"x":2.8460562560000007,"y":4.305144256000001}},"velocity":2.0564609873209942,"acceleration":-2.999999999999963,"curvature":0.49719582643303056,"holonomicRotation":0.0,"angularVelocity":1.0183200938587464,"holonomicAngularVelocity":0.0},{"time":1.3673980580121383,"pose":{"rotation":{"radians":1.158653194505329},"translation":{"x":2.851015168000001,"y":4.316487168000002}},"velocity":2.0383215363619027,"acceleration":-3.0,"curvature":0.49955962237973184,"holonomicRotation":0.0,"angularVelocity":1.014060739171566,"holonomicAngularVelocity":0.0},{"time":1.3734944349631748,"pose":{"rotation":{"radians":1.1648352910225657},"translation":{"x":2.855900352000001,"y":4.327852352000001}},"velocity":2.0200324055087933,"acceleration":-3.0,"curvature":0.5019554658535155,"holonomicRotation":0.0,"angularVelocity":1.009703331056945,"holonomicAngularVelocity":0.0},{"time":1.3796420580325273,"pose":{"rotation":{"radians":1.1710425665137734},"translation":{"x":2.8607114240000007,"y":4.339239424000002}},"velocity":2.001589536300736,"acceleration":-3.0,"curvature":0.5043829997560954,"holonomicRotation":0.0,"angularVelocity":1.005242202071386,"holonomicAngularVelocity":0.0},{"time":1.385842344504059,"pose":{"rotation":{"radians":1.1772753561398894},"translation":{"x":2.8654480000000007,"y":4.350648000000001}},"velocity":1.9829886768861407,"acceleration":-2.999999999999964,"curvature":0.5068418460483195,"holonomicRotation":0.0,"angularVelocity":1.000671498890062,"holonomicAngularVelocity":0.0},{"time":1.3920967803203892,"pose":{"rotation":{"radians":1.1835339918029282},"translation":{"x":2.870109696000001,"y":4.362077696000002}},"velocity":1.9642253694371505,"acceleration":-2.9999999999999645,"curvature":0.5093316047891755,"holonomicRotation":0.0,"angularVelocity":0.9959851725933427,"holonomicAngularVelocity":0.0},{"time":1.3984069246342183,"pose":{"rotation":{"radians":1.1898188019764262},"translation":{"x":2.874696128000001,"y":4.373528128000001}},"velocity":1.9452949364956633,"acceleration":-2.999999999999965,"curvature":0.5118518535624833,"holonomicRotation":0.0,"angularVelocity":0.9911769688340709,"holonomicAngularVelocity":0.0},{"time":1.4047744147535932,"pose":{"rotation":{"radians":1.196130111532029},"translation":{"x":2.879206912000001,"y":4.384998912000002}},"velocity":1.9261924661375385,"acceleration":-3.000000000000035,"curvature":0.5144021466205787,"holonomicRotation":0.0,"angularVelocity":0.9862404167758717,"holonomicAngularVelocity":0.0},{"time":1.4112009715237113,"pose":{"rotation":{"radians":1.2024682415594241},"translation":{"x":2.8836416640000007,"y":4.3964896640000015}},"velocity":1.9069127958271843,"acceleration":-3.0,"curvature":0.5169820141541447,"holonomicRotation":0.0,"angularVelocity":0.9811688175075026,"holonomicAngularVelocity":0.0},{"time":1.41768840519348,"pose":{"rotation":{"radians":1.2088335091818494},"translation":{"x":2.888000000000001,"y":4.408000000000002}},"velocity":1.8874504948178785,"acceleration":-2.999999999999966,"curvature":0.5195909614569449,"holonomicRotation":0.0,"angularVelocity":0.9759552310949556,"holonomicAngularVelocity":0.0},{"time":1.4242386218214258,"pose":{"rotation":{"radians":1.2152262273646983},"translation":{"x":2.8922815360000005,"y":4.4195295360000015}},"velocity":1.867799844934041,"acceleration":-3.0,"curvature":0.5222284682600655,"holonomicRotation":0.0,"angularVelocity":0.9705924628872844,"holonomicAngularVelocity":0.0},{"time":1.4308536302830257,"pose":{"rotation":{"radians":1.2216467047194628},"translation":{"x":2.896485888000001,"y":4.431077888000002}},"velocity":1.847954819549241,"acceleration":-3.0000000000000338,"curvature":0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9650730483864461,"holonomicAngularVelocity":0.0},{"time":1.4375355499501146,"pose":{"rotation":{"radians":1.2280952453016536},"translation":{"x":2.9006126720000007,"y":4.442644672000001}},"velocity":1.8279090605479742,"acceleration":-3.0000000000000333,"curvature":0.527586946160825,"holonomicRotation":0.0,"angularVelocity":0.9593892367630158,"holonomicAngularVelocity":0.0},{"time":1.4442866191231065,"pose":{"rotation":{"radians":1.2345721484028647},"translation":{"x":2.904661504000001,"y":4.454229504000002}},"velocity":1.8076558530289983,"acceleration":-3.0,"curvature":0.5303067413665304,"holonomicRotation":0.0,"angularVelocity":0.9535329728703047,"holonomicAngularVelocity":0.0},{"time":1.4511092043084484,"pose":{"rotation":{"radians":1.2410777083373046},"translation":{"x":2.9086320000000003,"y":4.465832000000002}},"velocity":1.787188097472973,"acceleration":-2.9999999999999676,"curvature":0.533052742734141,"holonomicRotation":0.0,"angularVelocity":0.9474958775078474,"holonomicAngularVelocity":0.0},{"time":1.4580058104475067,"pose":{"rotation":{"radians":1.2476122142228576},"translation":{"x":2.9125237760000005,"y":4.477451776000002}},"velocity":1.766498279055798,"acceleration":-3.000000000000032,"curvature":0.5358242899805569,"holonomicRotation":0.0,"angularVelocity":0.9412692255924726,"holonomicAngularVelocity":0.0},{"time":1.4649790922191754,"pose":{"rotation":{"radians":1.2541759497559144},"translation":{"x":2.9163364480000005,"y":4.489088448000001}},"velocity":1.7455784337407918,"acceleration":-2.999999999999968,"curvature":0.53862069246313,"holonomicRotation":0.0,"angularVelocity":0.9348439222379099,"holonomicAngularVelocity":0.0},{"time":1.472031866557601,"pose":{"rotation":{"radians":1.2607691929811071},"translation":{"x":2.9200696320000006,"y":4.500741632000002}},"velocity":1.724420110725515,"acceleration":-2.9999999999999685,"curvature":0.5414412283907459,"holonomicRotation":0.0,"angularVelocity":0.9282104760898124,"holonomicAngularVelocity":0.0},{"time":1.4791671265489101,"pose":{"rotation":{"radians":1.2673922160546647},"translation":{"x":2.9237229440000005,"y":4.512410944000001}},"velocity":1.7030143307515877,"acceleration":-3.000000000000031,"curvature":0.5442851441519826,"holonomicRotation":0.0,"angularVelocity":0.9213589699954693,"holonomicAngularVelocity":0.0},{"time":1.4863880568977,"pose":{"rotation":{"radians":1.2740452850032347},"translation":{"x":2.9272960000000006,"y":4.524096000000002}},"velocity":1.6813515397052183,"acceleration":-3.0,"curvature":0.5471516533835759,"holonomicRotation":0.0,"angularVelocity":0.9142790279992806,"holonomicAngularVelocity":0.0},{"time":1.4936980511859816,"pose":{"rotation":{"radians":1.2807286594758052},"translation":{"x":2.9307884160000004,"y":4.535796416000001}},"velocity":1.6594215568403732,"acceleration":-3.0,"curvature":0.5500399363964437,"holonomicRotation":0.0,"angularVelocity":0.9069597788904717,"holonomicAngularVelocity":0.0},{"time":1.5011007311857052,"pose":{"rotation":{"radians":1.2874425924915514},"translation":{"x":2.9341998080000002,"y":4.547511808000002}},"velocity":1.6372135168412023,"acceleration":-3.00000000000003,"curvature":0.5529491392614659,"holonomicRotation":0.0,"angularVelocity":0.8993898149606812,"holonomicAngularVelocity":0.0},{"time":1.508599968532113,"pose":{"rotation":{"radians":1.2941873301808833},"translation":{"x":2.9375297920000008,"y":4.559241792000002}},"velocity":1.6147158048019792,"acceleration":-2.9999999999999702,"curvature":0.5558783732812413,"holonomicRotation":0.0,"angularVelocity":0.8915571460678879,"holonomicAngularVelocity":0.0},{"time":1.516199909121133,"pose":{"rotation":{"radians":1.3009631115227154},"translation":{"x":2.9407779840000003,"y":4.570985984000002}},"velocity":1.5919159830349192,"acceleration":-3.0000000000000293,"curvature":0.5588267141256481,"holonomicRotation":0.0,"angularVelocity":0.8834491473354206,"holonomicAngularVelocity":0.0},{"time":1.5239050006619295,"pose":{"rotation":{"radians":1.3077701680745735},"translation":{"x":2.9439440000000006,"y":4.582744000000002}},"velocity":1.5688007084125297,"acceleration":-2.999999999999971,"curvature":0.5617932012303778,"holonomicRotation":0.0,"angularVelocity":0.875052500540059,"holonomicAngularVelocity":0.0},{"time":1.5317200238988449,"pose":{"rotation":{"radians":1.314608723699815},"translation":{"x":2.9470274560000007,"y":4.594515456000002}},"velocity":1.545355638701783,"acceleration":-3.000000000000057,"curvature":0.5647768371119463,"holonomicRotation":0.0,"angularVelocity":0.866353126952262,"holonomicAngularVelocity":0.0},{"time":1.539650128119067,"pose":{"rotation":{"radians":1.3214789942880618},"translation":{"x":2.9500279680000006,"y":4.606299968000002}},"velocity":1.5215653260411162,"acceleration":-3.000000000000028,"curvature":0.5677765867261405,"holonomicRotation":0.0,"angularVelocity":0.8573361111436658,"holonomicAngularVelocity":0.0},{"time":1.5477008716886214,"pose":{"rotation":{"radians":1.3283811874717983},"translation":{"x":2.9529451520000003,"y":4.6180971520000025}},"velocity":1.4974130953324531,"acceleration":-3.0000000000000275,"curvature":0.5707913768706009,"holonomicRotation":0.0,"angularVelocity":0.8479856135548375,"holonomicAngularVelocity":0.0},{"time":1.55587826851637,"pose":{"rotation":{"radians":1.335315502338058},"translation":{"x":2.9557786240000006,"y":4.629906624000001}},"velocity":1.472880904849207,"acceleration":-3.000000000000054,"curvature":0.5738200956456002,"holonomicRotation":0.0,"angularVelocity":0.8382847700393716,"holonomicAngularVelocity":0.0},{"time":1.5641888415424363,"pose":{"rotation":{"radians":1.3422821291361096},"translation":{"x":2.9585280000000007,"y":4.641728000000002}},"velocity":1.4479491857710078,"acceleration":-3.0,"curvature":0.576861591813262,"holonomicRotation":0.0,"angularVelocity":0.8282155756134849,"holonomicAngularVelocity":0.0},{"time":1.5726396845955335,"pose":{"rotation":{"radians":1.3492812489797497},"translation":{"x":2.9611928960000005,"y":4.653560896000002}},"velocity":1.4225966566117165,"acceleration":-2.999999999999974,"curvature":0.5799146744073892,"holonomicRotation":0.0,"angularVelocity":0.8177587498554331,"holonomicAngularVelocity":0.0},{"time":1.5812385342789634,"pose":{"rotation":{"radians":1.3563130335470661},"translation":{"x":2.9637729280000005,"y":4.665404928000002}},"velocity":1.3968001075614265,"acceleration":-3.0000000000000258,"curvature":0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8068935795489924,"holonomicAngularVelocity":0.0},{"time":1.5899938539486989,"pose":{"rotation":{"radians":1.3633776447754746},"translation":{"x":2.9662677120000005,"y":4.6772597120000015}},"velocity":1.37053414855222,"acceleration":-3.0000000000000253,"curvature":0.5860506332508155,"holonomicRotation":0.0,"angularVelocity":0.7955977342737229,"holonomicAngularVelocity":0.0},{"time":1.5989149323684775,"pose":{"rotation":{"radians":1.3704752345535287},"translation":{"x":2.9686768640000007,"y":4.689124864000002}},"velocity":1.3437709132928843,"acceleration":-2.999999999999975,"curvature":0.5891309246386679,"holonomicRotation":0.0,"angularVelocity":0.7838470488111148,"holonomicAngularVelocity":0.0},{"time":1.608012000306507,"pose":{"rotation":{"radians":1.3776059444095874},"translation":{"x":2.9710000000000005,"y":4.701000000000001}},"velocity":1.316479709478796,"acceleration":-2.9999999999999756,"curvature":0.5922176320623127,"holonomicRotation":0.0,"angularVelocity":0.7716152648033403,"holonomicAngularVelocity":0.0},{"time":1.6172963692331,"pose":{"rotation":{"radians":1.3847699051974123},"translation":{"x":2.9732367360000005,"y":4.712884736000002}},"velocity":1.288626602699017,"acceleration":-3.000000000000024,"curvature":0.5953093595736683,"holonomicRotation":0.0,"angularVelocity":0.7588737220632151,"holonomicAngularVelocity":0.0},{"time":1.6267805974686687,"pose":{"rotation":{"radians":1.3919672367794353},"translation":{"x":2.9753866880000004,"y":4.724778688000002}},"velocity":1.2601739179923108,"acceleration":-3.0,"curvature":0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7455909869329629,"holonomicAngularVelocity":0.0},{"time":1.636478690732875,"pose":{"rotation":{"radians":1.3991980477076629},"translation":{"x":2.9774494720000004,"y":4.736681472000003}},"velocity":1.2310796381996918,"acceleration":-3.0,"curvature":0.6015020816536214,"holonomicRotation":0.0,"angularVelocity":0.7317324013974611,"holonomicAngularVelocity":0.0},{"time":1.6464063462269714,"pose":{"rotation":{"radians":1.4064624349026047},"translation":{"x":2.9794247040000004,"y":4.748592704000002}},"velocity":1.201296671717403,"acceleration":-2.999999999999978,"curvature":0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.717259531383458,"holonomicAngularVelocity":0.0},{"time":1.6565812523929566,"pose":{"rotation":{"radians":1.41376048333109},"translation":{"x":2.9813120000000004,"y":4.760512000000002}},"velocity":1.1707719532194472,"acceleration":-3.0,"curvature":0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7021294852003354,"holonomicAngularVelocity":0.0},{"time":1.6670234607122523,"pose":{"rotation":{"radians":1.4210922656826717},"translation":{"x":2.9831109760000003,"y":4.772438976000002}},"velocity":1.1394453282615602,"acceleration":-3.0,"curvature":0.6107915042418585,"holonomicRotation":0.0,"angularVelocity":0.6862940629818453,"holonomicAngularVelocity":0.0},{"time":1.6777558519135327,"pose":{"rotation":{"radians":1.428457842045709},"translation":{"x":2.9848212480000003,"y":4.784373248000002}},"velocity":1.107248154657719,"acceleration":-2.999999999999979,"curvature":0.6138816870079442,"holonomicRotation":0.0,"angularVelocity":0.6696986828773126,"holonomicAngularVelocity":0.0},{"time":1.6888047276641542,"pose":{"rotation":{"radians":1.4358572595831753},"translation":{"x":2.9864424320000005,"y":4.796314432000002}},"velocity":1.0741015274058545,"acceleration":-3.0,"curvature":0.6169659427695113,"holonomicRotation":0.0,"angularVelocity":0.652281008129766,"holonomicAngularVelocity":0.0},{"time":1.7002005716841848,"pose":{"rotation":{"radians":1.4432905522090504},"translation":{"x":2.9879741440000003,"y":4.808262144000002}},"velocity":1.039913995345763,"acceleration":-2.9999999999999805,"curvature":0.6200425403987194,"holonomicRotation":0.0,"angularVelocity":0.6339691664027446,"holonomicAngularVelocity":0.0},{"time":1.7119790436535878,"pose":{"rotation":{"radians":1.450757740264991},"translation":{"x":2.9894160000000003,"y":4.820216000000001}},"velocity":1.004578579437554,"acceleration":-3.0000000000000187,"curvature":0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6146794031013213,"holonomicAngularVelocity":0.0},{"time":1.724182299361434,"pose":{"rotation":{"radians":1.4582588301993826},"translation":{"x":2.9907676160000003,"y":4.8321756160000024}},"velocity":0.9679688123140158,"acceleration":-2.9999999999999636,"curvature":0.6261656322069277,"holonomicRotation":0.0,"angularVelocity":0.5943129313748706,"holonomicAngularVelocity":0.0},{"time":1.7368607784086099,"pose":{"rotation":{"radians":1.4657938142472846},"translation":{"x":2.992028608,"y":4.844140608000002}},"velocity":0.9299333751724882,"acceleration":-2.999999999999991,"curvature":0.6292084609699685,"holonomicRotation":0.0,"angularVelocity":0.5727516148206816,"holonomicAngularVelocity":0.0},{"time":1.7500756793718817,"pose":{"rotation":{"radians":1.473362670113694},"translation":{"x":2.993198592,"y":4.856110592000002}},"velocity":0.8902886722826729,"acceleration":-2.999999999999983,"curvature":0.6322363020068372,"holonomicRotation":0.0,"angularVelocity":0.549851904665754,"holonomicAngularVelocity":0.0},{"time":1.763902476153777,"pose":{"rotation":{"radians":1.4809653606596453},"translation":{"x":2.9942771840000004,"y":4.868085184000002}},"velocity":0.8488082819369874,"acceleration":-2.999999999999984,"curvature":0.6352472246674356,"holonomicRotation":0.0,"angularVelocity":0.5254360802848803,"holonomicAngularVelocity":0.0},{"time":1.7784360668586583,"pose":{"rotation":{"radians":1.488601833592083},"translation":{"x":2.995264,"y":4.880064000000003}},"velocity":0.8052075098223431,"acceleration":-3.000000000000015,"curvature":0.6382392605344301,"holonomicRotation":0.0,"angularVelocity":0.49927915802747,"holonomicAngularVelocity":0.0},{"time":1.7937985898931266,"pose":{"rotation":{"radians":1.49627202115791},"translation":{"x":2.996158656,"y":4.8920466560000015}},"velocity":0.759119940718938,"acceleration":-3.0000000000000218,"curvature":0.6412104045156426,"holonomicRotation":0.0,"angularVelocity":0.4710885081646315,"holonomicAngularVelocity":0.0},{"time":1.81015181981141,"pose":{"rotation":{"radians":1.5039758398437872},"translation":{"x":2.996960768,"y":4.904032768000002}},"velocity":0.7100602509640875,"acceleration":-3.0000000000000204,"curvature":0.6441586157880042,"holonomicRotation":0.0,"angularVelocity":0.44047046706200677,"holonomicAngularVelocity":0.0},{"time":1.8277179242740946,"pose":{"rotation":{"radians":1.511713190080926},"translation":{"x":2.9976699520000003,"y":4.916021952000001}},"velocity":0.6573619375760337,"acceleration":-2.9999999999999876,"curvature":0.6470818190817547,"holonomicRotation":0.0,"angularVelocity":0.40687199814347647,"holonomicAngularVelocity":0.0},{"time":1.8468167217124687,"pose":{"rotation":{"radians":1.5194839559568147},"translation":{"x":2.998285824,"y":4.928013824000002}},"velocity":0.6000655452609113,"acceleration":-3.0000000000000115,"curvature":0.6499779058913984,"holonomicRotation":0.0,"angularVelocity":0.3694696536402002,"holonomicAngularVelocity":0.0},{"time":1.8679390220148424,"pose":{"rotation":{"radians":1.527288004933617},"translation":{"x":2.998808,"y":4.9400080000000015}},"velocity":0.5366986443537898,"acceleration":-3.000000000000016,"curvature":0.6528447360474303,"holonomicRotation":0.0,"angularVelocity":0.3269313584685308,"holonomicAngularVelocity":0.0},{"time":1.891910973431456,"pose":{"rotation":{"radians":1.5351251875753922},"translation":{"x":2.999236096,"y":4.952004096000002}},"velocity":0.4647827901039487,"acceleration":-3.000000000000002,"curvature":0.6556801391027219,"holonomicRotation":0.0,"angularVelocity":0.2768026259312415,"holonomicAngularVelocity":0.0},{"time":1.9203433254767548,"pose":{"rotation":{"radians":1.5429953372829324},"translation":{"x":2.999569728,"y":4.964001728000001}},"velocity":0.3794857339680527,"acceleration":-2.999999999999996,"curvature":0.6584819160890972,"holonomicRotation":0.0,"angularVelocity":0.21329879823738362,"holonomicAngularVelocity":0.0},{"time":1.9573943207044333,"pose":{"rotation":{"radians":1.5508982700384952},"translation":{"x":2.999808512,"y":4.976000512000002}},"velocity":0.26833274828501735,"acceleration":-2.9999999999999942,"curvature":0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0887202271044126,"holonomicAngularVelocity":0.0},{"time":2.0468385701327723,"pose":{"rotation":{"radians":1.5588337841609612},"translation":{"x":2.999952064,"y":4.988000064000001}},"velocity":0,"acceleration":-3.0000000000000058,"curvature":0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":2.0468385701327723,"pose":{"rotation":{"radians":1.5747909935183229},"translation":{"x":3.0,"y":5.0}},"velocity":0,"acceleration":-3.0,"curvature":-0.663975664093471,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":2.1362814075366994,"pose":{"rotation":{"radians":1.5747909935183229},"translation":{"x":3.000047936,"y":4.988000064000001}},"velocity":-0.26832851221178183,"acceleration":-3.0,"curvature":-0.663975664093471,"holonomicRotation":0.0,"angularVelocity":0.21506066046267544,"holonomicAngularVelocity":0.0},{"time":2.1733308423025224,"pose":{"rotation":{"radians":1.5827588694288295},"translation":{"x":3.000191488,"y":4.976000512}},"velocity":-0.37947681650924975,"acceleration":-2.999999999999999,"curvature":-0.6612478412834536,"holonomicRotation":0.0,"angularVelocity":0.2791196654352754,"holonomicAngularVelocity":0.0},{"time":2.201761351167232,"pose":{"rotation":{"radians":1.5906943835513019},"translation":{"x":3.000430272,"y":4.964001728000001}},"velocity":-0.4647683431033788,"acceleration":-2.999999999999999,"curvature":-0.6584819160890969,"holonomicRotation":0.0,"angularVelocity":0.32970274886998213,"holonomicAngularVelocity":0.0},{"time":2.2257312233707207,"pose":{"rotation":{"radians":1.5985973163068543},"translation":{"x":3.000763904,"y":4.952004096}},"velocity":-0.536677959713845,"acceleration":-2.9999999999999956,"curvature":-0.6556801391026855,"holonomicRotation":0.0,"angularVelocity":0.37263931025212366,"holonomicAngularVelocity":0.0},{"time":2.2468512434304047,"pose":{"rotation":{"radians":1.606467466014406},"translation":{"x":3.001192,"y":4.940008000000001}},"velocity":-0.6000380198928976,"acceleration":-3.0000000000000013,"curvature":-0.6528447360474302,"holonomicRotation":0.0,"angularVelocity":0.41040227730578355,"holonomicAngularVelocity":0.0},{"time":2.2659475863971474,"pose":{"rotation":{"radians":1.6143046486561694},"translation":{"x":3.001714176,"y":4.928013824}},"velocity":-0.6573270487931249,"acceleration":-3.000000000000003,"curvature":-0.6499779059037698,"holonomicRotation":0.0,"angularVelocity":0.4443334326624615,"holonomicAngularVelocity":0.0},{"time":2.2835110835440036,"pose":{"rotation":{"radians":1.6221086976329895},"translation":{"x":3.0023300479999997,"y":4.916021952000001}},"velocity":-0.7100175402336942,"acceleration":-3.0,"curvature":-0.6470818190817534,"holonomicRotation":0.0,"angularVelocity":0.47526203255141736,"holonomicAngularVelocity":0.0},{"time":2.2998615709460464,"pose":{"rotation":{"radians":1.6298794635088907},"translation":{"x":3.0030392320000003,"y":4.9040327679999995}},"velocity":-0.7590690024398227,"acceleration":-3.000000000000005,"curvature":-0.6441586157755366,"holonomicRotation":0.0,"angularVelocity":0.5037448816056413,"holonomicAngularVelocity":0.0},{"time":2.3152212312019,"pose":{"rotation":{"radians":1.6376168137459786},"translation":{"x":3.003841344,"y":4.892046656000001}},"velocity":-0.8051479832073837,"acceleration":-3.0,"curvature":-0.6412104045031639,"holonomicRotation":0.0,"angularVelocity":0.5301782294741988,"holonomicAngularVelocity":0.0},{"time":2.329751851769881,"pose":{"rotation":{"radians":1.645320632431872},"translation":{"x":3.004736,"y":4.880064}},"velocity":-0.8487398449113267,"acceleration":-3.000000000000004,"curvature":-0.6382392605344286,"holonomicRotation":0.0,"angularVelocity":0.5548565565092586,"holonomicAngularVelocity":0.0},{"time":2.3435755823826048,"pose":{"rotation":{"radians":1.6529908199977594},"translation":{"x":3.005722816,"y":4.868085184000001}},"velocity":-0.8902110367494969,"acceleration":-2.999999999999996,"curvature":-0.6352472246548937,"holonomicRotation":0.0,"angularVelocity":0.5780062147703856,"holonomicAngularVelocity":0.0},{"time":2.3567873312137406,"pose":{"rotation":{"radians":1.6606272929301413},"translation":{"x":3.0068014080000003,"y":4.856110592}},"velocity":-0.9298462832429044,"acceleration":-3.0,"curvature":-0.6322363020068388,"holonomicRotation":0.0,"angularVelocity":0.5998059641255189,"holonomicAngularVelocity":0.0},{"time":2.3694625812123173,"pose":{"rotation":{"radians":1.6682299834760697},"translation":{"x":3.007971392,"y":4.844140608000001}},"velocity":-0.9678720332386348,"acceleration":-3.0000000000000044,"curvature":-0.629208460982605,"holonomicRotation":0.0,"angularVelocity":0.6204001606251212,"holonomicAngularVelocity":0.0},{"time":2.381662539153711,"pose":{"rotation":{"radians":1.67579883934253},"translation":{"x":3.009232384,"y":4.832175616}},"velocity":-1.004471907062816,"acceleration":-3.000000000000009,"curvature":-0.6261656322196447,"holonomicRotation":0.0,"angularVelocity":0.639907580276147,"holonomicAngularVelocity":0.0},{"time":2.3934376521233767,"pose":{"rotation":{"radians":1.6833338233904271},"translation":{"x":3.010584,"y":4.820216}},"velocity":-1.0397972459718132,"acceleration":-2.999999999999986,"curvature":-0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6584275258631126,"holonomicAngularVelocity":0.0},{"time":2.404830082785391,"pose":{"rotation":{"radians":1.6908349133247844},"translation":{"x":3.012025856,"y":4.8082621439999995}},"velocity":-1.0739745379578567,"acceleration":-2.999999999999995,"curvature":-0.6200425403987191,"holonomicRotation":0.0,"angularVelocity":0.6760441751862138,"holonomicAngularVelocity":0.0},{"time":2.4158754971681424,"pose":{"rotation":{"radians":1.6983021013807615},"translation":{"x":3.013557568,"y":4.796314432000001}},"velocity":-1.107110781106111,"acceleration":-3.0,"curvature":-0.6169659427566521,"holonomicRotation":0.0,"angularVelocity":0.6928297531971396,"holonomicAngularVelocity":0.0},{"time":2.426604384880453,"pose":{"rotation":{"radians":1.7057353940065614},"translation":{"x":3.0151787519999997,"y":4.784373248}},"velocity":-1.1392974442430421,"acceleration":-3.0,"curvature":-0.6138816870079441,"holonomicRotation":0.0,"angularVelocity":0.7088468951007417,"holonomicAngularVelocity":0.0},{"time":2.437043053073432,"pose":{"rotation":{"radians":1.7131348115441414},"translation":{"x":3.016889024,"y":4.772438976000001}},"velocity":-1.170613448821979,"acceleration":-3.0000000000000053,"curvature":-0.6107915042418562,"holonomicRotation":0.0,"angularVelocity":0.7241504390507798,"holonomicAngularVelocity":0.0},{"time":2.44721438759974,"pose":{"rotation":{"radians":1.7205003879070997},"translation":{"x":3.018688,"y":4.760511999999999}},"velocity":-1.201127452400903,"acceleration":-2.999999999999989,"curvature":-0.6076970841012463,"holonomicRotation":0.0,"angularVelocity":0.7387888084396566,"holonomicAngularVelocity":0.0},{"time":2.4571384447428093,"pose":{"rotation":{"radians":1.727832170258715},"translation":{"x":3.020575296,"y":4.748592704}},"velocity":-1.230899623830111,"acceleration":-3.000000000000011,"curvature":-0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.7528050925433399,"holonomicAngularVelocity":0.0},{"time":2.466832917456597,"pose":{"rotation":{"radians":1.7351302186871767},"translation":{"x":3.022550528,"y":4.736681472}},"velocity":-1.2599830419714737,"acceleration":-3.0,"curvature":-0.6015020816667189,"holonomicRotation":0.0,"angularVelocity":0.7662379027193594,"holonomicAngularVelocity":0.0},{"time":2.476313507191436,"pose":{"rotation":{"radians":1.7423946058821427},"translation":{"x":3.024613312,"y":4.724778688}},"velocity":-1.288424811175992,"acceleration":-3.0000000000000058,"curvature":-0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7791220580677133,"holonomicAngularVelocity":0.0},{"time":2.4855942236765203,"pose":{"rotation":{"radians":1.7496254168103444},"translation":{"x":3.026763264,"y":4.7128847359999995}},"velocity":-1.3162669606312447,"acceleration":-3.000000000000012,"curvature":-0.5953093595736652,"holonomicRotation":0.0,"angularVelocity":0.791489140569654,"holonomicAngularVelocity":0.0},{"time":2.4946876290224305,"pose":{"rotation":{"radians":1.7568227483924304},"translation":{"x":3.0290000000000004,"y":4.701}},"velocity":-1.3435471766689753,"acceleration":-3.000000000000018,"curvature":-0.5922176320623417,"holonomicRotation":0.0,"angularVelocity":0.8033679485311952,"holonomicAngularVelocity":0.0},{"time":2.5036050382878523,"pose":{"rotation":{"radians":1.7639867091802053},"translation":{"x":3.031323136,"y":4.689124864}},"velocity":-1.3702994044652403,"acceleration":-2.9999999999999876,"curvature":-0.589130924651956,"holonomicRotation":0.0,"angularVelocity":0.8147848703989182,"holonomicAngularVelocity":0.0},{"time":2.5123566856429775,"pose":{"rotation":{"radians":1.7711174190362282},"translation":{"x":3.033732288,"y":4.677259712}},"velocity":-1.3965543465306167,"acceleration":-3.0,"curvature":-0.586050633250819,"holonomicRotation":0.0,"angularVelocity":0.8257641950397024,"holonomicAngularVelocity":0.0},{"time":2.5209518630807075,"pose":{"rotation":{"radians":1.7782150088143185},"translation":{"x":3.036227072,"y":4.665404928}},"velocity":-1.4223398788438055,"acceleration":-2.9999999999999676,"curvature":-0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8363283714374167,"holonomicAngularVelocity":0.0},{"time":2.529399037025395,"pose":{"rotation":{"radians":1.7852796200427274},"translation":{"x":3.038807104,"y":4.653560896}},"velocity":-1.4476814006778675,"acceleration":-2.9999999999999933,"curvature":-0.5799146744073547,"holonomicRotation":0.0,"angularVelocity":0.8464982273758479,"holonomicAngularVelocity":0.0},{"time":2.5377059469986545,"pose":{"rotation":{"radians":1.7923114046100626},"translation":{"x":3.041472,"y":4.641728}},"velocity":-1.4726021305976469,"acceleration":-3.00000000000002,"curvature":-0.5768615917997932,"holonomicRotation":0.0,"angularVelocity":0.8562931546703597,"holonomicAngularVelocity":0.0},{"time":2.545879689607045,"pose":{"rotation":{"radians":1.7993105244536647},"translation":{"x":3.044221376,"y":4.629906623999999}},"velocity":-1.497123358422818,"acceleration":-3.0000000000000067,"curvature":-0.5738200956456038,"holonomicRotation":0.0,"angularVelocity":0.8657312671405707,"holonomicAngularVelocity":0.0},{"time":2.5539267904366865,"pose":{"rotation":{"radians":1.8062771512517184},"translation":{"x":3.047054848,"y":4.618097152}},"velocity":-1.5212646609117435,"acceleration":-3.0000000000000138,"curvature":-0.5707913768570366,"holonomicRotation":0.0,"angularVelocity":0.87482953581738,"holonomicAngularVelocity":0.0},{"time":2.5618532659183937,"pose":{"rotation":{"radians":1.813211466118048},"translation":{"x":3.0499720320000003,"y":4.606299968}},"velocity":-1.5450440873568647,"acceleration":-2.999999999999986,"curvature":-0.5677765867125653,"holonomicRotation":0.0,"angularVelocity":0.8836039055943861,"holonomicAngularVelocity":0.0},{"time":2.569664676823153,"pose":{"rotation":{"radians":1.820113659301696},"translation":{"x":3.0529725439999997,"y":4.594515456}},"velocity":-1.5684783200711427,"acceleration":-3.0,"curvature":-0.5647768371119459,"holonomicRotation":0.0,"angularVelocity":0.8920693959976156,"holonomicAngularVelocity":0.0},{"time":2.577366174732555,"pose":{"rotation":{"radians":1.8269839298900132},"translation":{"x":3.0560560000000003,"y":4.582744}},"velocity":-1.591582813799349,"acceleration":-3.0,"curvature":-0.5617932012303779,"holonomicRotation":0.0,"angularVelocity":0.9002401887212853,"holonomicAngularVelocity":0.0},{"time":2.5849625425806573,"pose":{"rotation":{"radians":1.833822485515185},"translation":{"x":3.059222016,"y":4.570985984}},"velocity":-1.6143719173436557,"acceleration":-3.0000000000000293,"curvature":-0.5588267141256478,"holonomicRotation":0.0,"angularVelocity":0.9081297043785966,"holonomicAngularVelocity":0.0},{"time":2.592458230167031,"pose":{"rotation":{"radians":1.8406295420671128},"translation":{"x":3.062470208,"y":4.559241792}},"velocity":-1.6368589801027766,"acceleration":-3.0,"curvature":-0.5558783732812124,"holonomicRotation":0.0,"angularVelocity":0.9157506692825748,"holonomicAngularVelocity":0.0},{"time":2.5998573853836477,"pose":{"rotation":{"radians":1.8474053234088554},"translation":{"x":3.065800192,"y":4.547511807999999}},"velocity":-1.6590564457526276,"acceleration":-3.000000000000015,"curvature":-0.5529491392614698,"holonomicRotation":0.0,"angularVelocity":0.9231151746224233,"holonomicAngularVelocity":0.0},{"time":2.607163881771995,"pose":{"rotation":{"radians":1.8541500610982622},"translation":{"x":3.069211584,"y":4.535796415999999}},"velocity":-1.6809759349176676,"acceleration":-3.0,"curvature":-0.5500399363825702,"holonomicRotation":0.0,"angularVelocity":0.9302347284834435,"holonomicAngularVelocity":0.0},{"time":2.614381342924677,"pose":{"rotation":{"radians":1.8608639941139673},"translation":{"x":3.072704,"y":4.524095999999999}},"velocity":-1.7026283183757143,"acceleration":-3.0000000000000155,"curvature":-0.5471516533975169,"holonomicRotation":0.0,"angularVelocity":0.9371203020405943,"holonomicAngularVelocity":0.0},{"time":2.6215131641626916,"pose":{"rotation":{"radians":1.867547368586635},"translation":{"x":3.0762770560000003,"y":4.512410944}},"velocity":-1.7240237820897581,"acceleration":-3.0000000000000155,"curvature":-0.5442851441519785,"holonomicRotation":0.0,"angularVelocity":0.9437823705718374,"holonomicAngularVelocity":0.0},{"time":2.6285625318515775,"pose":{"rotation":{"radians":1.8742004375350847},"translation":{"x":3.0799303680000003,"y":4.5007416319999995}},"velocity":-1.7451718851564173,"acceleration":-3.0000000000000315,"curvature":-0.5414412284047262,"holonomicRotation":0.0,"angularVelocity":0.9502309502266035,"holonomicAngularVelocity":0.0},{"time":2.6355324406637557,"pose":{"rotation":{"radians":1.8808234606086733},"translation":{"x":3.083663552,"y":4.4890884479999995}},"velocity":-1.7660816115929512,"acceleration":-3.0,"curvature":-0.538620692477182,"holonomicRotation":0.0,"angularVelocity":0.9564756306438044,"holonomicAngularVelocity":0.0},{"time":2.6424257090481733,"pose":{"rotation":{"radians":1.887416703833856},"translation":{"x":3.087476224,"y":4.477451776}},"velocity":-1.7867614167462036,"acceleration":-2.999999999999984,"curvature":-0.5358242899805565,"holonomicRotation":0.0,"angularVelocity":0.9625256044974729,"holonomicAngularVelocity":0.0},{"time":2.6492449931300026,"pose":{"rotation":{"radians":1.8939804393669588},"translation":{"x":3.091368,"y":4.465832}},"velocity":-1.8072192689916917,"acceleration":-3.0000000000000324,"curvature":-0.5330527427341364,"holonomicRotation":0.0,"angularVelocity":0.9683896940137469,"holonomicAngularVelocity":0.0},{"time":2.655992799231136,"pose":{"rotation":{"radians":1.9005149452524996},"translation":{"x":3.095338496,"y":4.454229504}},"velocity":-1.8274626872950925,"acceleration":-3.0000000000000164,"curvature":-0.5303067413665257,"holonomicRotation":0.0,"angularVelocity":0.9740763748988773,"holonomicAngularVelocity":0.0},{"time":2.662671495175413,"pose":{"rotation":{"radians":1.9070205051869529},"translation":{"x":3.099387328,"y":4.442644671999999}},"velocity":-1.8474987751279237,"acceleration":-3.0,"curvature":-0.527586946146635,"holonomicRotation":0.0,"angularVelocity":0.9795937980323695,"holonomicAngularVelocity":0.0},{"time":2.6692833205199555,"pose":{"rotation":{"radians":1.9134974082881397},"translation":{"x":3.103514112,"y":4.431077888}},"velocity":-1.8673342511615505,"acceleration":-2.999999999999983,"curvature":-0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9849498091799569,"holonomicAngularVelocity":0.0},{"time":2.6758303958349496,"pose":{"rotation":{"radians":1.91994594887033},"translation":{"x":3.1077184640000004,"y":4.419529536}},"velocity":-1.886975477106533,"acceleration":-2.999999999999983,"curvature":-0.5222284682600391,"holonomicRotation":0.0,"angularVelocity":0.9901519669516187,"holonomicAngularVelocity":0.0},{"time":2.6823147311380504,"pose":{"rotation":{"radians":1.9263664262250693},"translation":{"x":3.112,"y":4.4079999999999995}},"velocity":-1.9064284830158356,"acceleration":-2.9999999999999827,"curvature":-0.5195909614569447,"holonomicRotation":0.0,"angularVelocity":0.9952075592378692,"holonomicAngularVelocity":0.0},{"time":2.6887382335758687,"pose":{"rotation":{"radians":1.932759144407969},"translation":{"x":3.1163583360000002,"y":4.396489664}},"velocity":-1.9256989903292907,"acceleration":-2.9999999999999827,"curvature":-0.5169820141397626,"holonomicRotation":0.0,"angularVelocity":1.0001236180920878,"holonomicAngularVelocity":0.0},{"time":2.695102714433262,"pose":{"rotation":{"radians":1.9391244120303428},"translation":{"x":3.120793088,"y":4.3849989119999995}},"velocity":-1.9447924329014699,"acceleration":-3.0,"curvature":-0.5144021466205735,"holonomicRotation":0.0,"angularVelocity":1.0049069337160776,"holonomicAngularVelocity":0.0},{"time":2.7014098955411114,"pose":{"rotation":{"radians":1.9454625420578235},"translation":{"x":3.1253038720000004,"y":4.373528127999999}},"velocity":-1.9637139762250175,"acceleration":-3.0,"curvature":-0.5118518535624782,"holonomicRotation":0.0,"angularVelocity":1.009564066942242,"holonomicAngularVelocity":0.0},{"time":2.7076614151446488,"pose":{"rotation":{"radians":1.95177385161334},"translation":{"x":3.1298903040000003,"y":4.362077695999999}},"velocity":-1.9824685350356301,"acceleration":-3.0,"curvature":-0.5093316047891807,"holonomicRotation":0.0,"angularVelocity":1.0141013611165504,"holonomicAngularVelocity":0.0},{"time":2.7138588332869524,"pose":{"rotation":{"radians":1.9580586617868585},"translation":{"x":3.1345520000000002,"y":4.350648}},"velocity":-2.001060789462541,"acceleration":-3.0000000000000178,"curvature":-0.506841846048325,"holonomicRotation":0.0,"angularVelocity":1.018524952789108,"holonomicAngularVelocity":0.0},{"time":2.7200036367558105,"pose":{"rotation":{"radians":1.9643172974498757},"translation":{"x":3.139288576,"y":4.339239424}},"velocity":-2.019495199869116,"acceleration":-3.000000000000036,"curvature":-0.5043829997561204,"holonomicRotation":0.0,"angularVelocity":1.0228407818470144,"holonomicAngularVelocity":0.0},{"time":2.726097243636585,"pose":{"rotation":{"radians":1.9705500870760755},"translation":{"x":3.144099648,"y":4.327852352}},"velocity":-2.0377760205114392,"acceleration":-2.9999999999999454,"curvature":-0.5019554658388903,"holonomicRotation":0.0,"angularVelocity":1.027054600792063,"holonomicAngularVelocity":0.0},{"time":2.7321410075088677,"pose":{"rotation":{"radians":1.976757362567204},"translation":{"x":3.1489848320000005,"y":4.316487167999999}},"velocity":-2.0559073121282863,"acceleration":-3.0,"curvature":-0.49955962237970714,"holonomicRotation":0.0,"angularVelocity":1.0311719834343849,"holonomicAngularVelocity":0.0},{"time":2.738136221320501,"pose":{"rotation":{"radians":1.9829394590844593},"translation":{"x":3.153943744,"y":4.305144255999999}},"velocity":-2.0738929535631874,"acceleration":-3.0000000000000555,"curvature":-0.4971958264330603,"holonomicRotation":0.0,"angularVelocity":1.0351983330386056,"holonomicAngularVelocity":0.0},{"time":2.744084120968872,"pose":{"rotation":{"radians":1.9890967148855339},"translation":{"x":3.158976,"y":4.293824}},"velocity":-2.0917366525083003,"acceleration":-3.0000000000000187,"curvature":-0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0391388898266953,"holonomicAngularVelocity":0.0},{"time":2.7499858886161315,"pose":{"rotation":{"radians":1.995229471166522},"translation":{"x":3.164081216,"y":4.282526783999999}},"velocity":-2.109441955450078,"acceleration":-3.0,"curvature":-0.49256570452370857,"holonomicRotation":0.0,"angularVelocity":1.0429987382066992,"holonomicAngularVelocity":0.0},{"time":2.7558426557621933,"pose":{"rotation":{"radians":2.001338071909835},"translation":{"x":3.1692590080000005,"y":4.271252991999999}},"velocity":-2.1270122568882637,"acceleration":-2.999999999999943,"curvature":-0.49029999405552377,"holonomicRotation":0.0,"angularVelocity":1.0467828132733483,"holonomicAngularVelocity":0.0},{"time":2.761655506096872,"pose":{"rotation":{"radians":2.0074228637363074},"translation":{"x":3.1745089920000003,"y":4.260003007999999}},"velocity":-2.144450807892301,"acceleration":-2.999999999999981,"curvature":-0.4880675635449118,"holonomicRotation":0.0,"angularVelocity":1.0504959073292972,"holonomicAngularVelocity":0.0},{"time":2.76742547815031,"pose":{"rotation":{"radians":2.013484195763848},"translation":{"x":3.1798307840000004,"y":4.248777216}},"velocity":-2.161760724052613,"acceleration":-2.9999999999999614,"curvature":-0.4858686756363079,"holonomicRotation":0.0,"angularVelocity":1.0541426755227752,"holonomicAngularVelocity":0.0},{"time":2.7731535677589205,"pose":{"rotation":{"radians":2.019522419469503},"translation":{"x":3.1852240000000003,"y":4.237576}},"velocity":-2.1789449928784457,"acceleration":-3.0000000000000777,"curvature":-0.4837035763095772,"holonomicRotation":0.0,"angularVelocity":1.0577276417062655,"holonomicAngularVelocity":0.0},{"time":2.7788407303623694,"pose":{"rotation":{"radians":2.0255378885580493},"translation":{"x":3.190688256,"y":4.226399743999999}},"velocity":-2.1960064806887933,"acceleration":-3.000000000000039,"curvature":-0.4815724954088063,"holonomicRotation":0.0,"angularVelocity":1.0612552035558065,"holonomicAngularVelocity":0.0},{"time":2.7844878831455677,"pose":{"rotation":{"radians":2.0315309588344928},"translation":{"x":3.1962231680000004,"y":4.2152488319999994}},"velocity":-2.2129479390383873,"acceleration":-3.0000000000000195,"curvature":-0.47947564724702796,"holonomicRotation":0.0,"angularVelocity":1.0647296375816526,"holonomicAngularVelocity":0.0},{"time":2.7900959070383258,"pose":{"rotation":{"radians":2.0375019880813783},"translation":{"x":3.2018283520000006,"y":4.2041236479999995}},"velocity":-2.2297720107166614,"acceleration":-3.0,"curvature":-0.47741323142346864,"holonomicRotation":0.0,"angularVelocity":1.0681551040319075,"holonomicAngularVelocity":0.0},{"time":2.7956656485841047,"pose":{"rotation":{"radians":2.043451335941641},"translation":{"x":3.2075034240000004,"y":4.193024575999999}},"velocity":-2.2464812353539987,"acceleration":-2.99999999999996,"curvature":-0.4753854333143056,"holonomicRotation":0.0,"angularVelocity":1.0715356512800862,"holonomicAngularVelocity":0.0},{"time":2.801197921688225,"pose":{"rotation":{"radians":2.0493793638053237},"translation":{"x":3.2132480000000005,"y":4.181951999999999}},"velocity":-2.2630780546663596,"acceleration":-3.0,"curvature":-0.4733924247442328,"holonomicRotation":0.0,"angularVelocity":1.0748752201213205,"holonomicAngularVelocity":0.0},{"time":2.8066935092549423,"pose":{"rotation":{"radians":2.055286434700795},"translation":{"x":3.2190616960000002,"y":4.170906303999999}},"velocity":-2.279564817366512,"acceleration":-3.00000000000002,"curvature":-0.47143436459980015,"holonomicRotation":0.0,"angularVelocity":1.0781776480141334,"holonomicAngularVelocity":0.0},{"time":2.8121531647219413,"pose":{"rotation":{"radians":2.0611729131911716},"translation":{"x":3.2249441280000006,"y":4.159887872}},"velocity":-2.295943783767509,"acceleration":-3.0,"curvature":-0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0814466727704475,"holonomicAngularVelocity":0.0},{"time":2.817577613500027,"pose":{"rotation":{"radians":2.0670391652738456},"translation":{"x":3.230894912,"y":4.148897087999999}},"velocity":-2.312217130101765,"acceleration":-3.000000000000041,"curvature":-0.4676236637363229,"holonomicRotation":0.0,"angularVelocity":1.084685936631654,"holonomicAngularVelocity":0.0},{"time":2.822967554325104,"pose":{"rotation":{"radians":2.0728855582860835},"translation":{"x":3.2369136640000002,"y":4.137934335999999}},"velocity":-2.328386952576996,"acceleration":-3.0,"curvature":-0.46577128117650907,"holonomicRotation":0.0,"angularVelocity":1.087898989429441,"holonomicAngularVelocity":0.0},{"time":2.8283236605289246,"pose":{"rotation":{"radians":2.078712460812497},"translation":{"x":3.2430000000000003,"y":4.127}},"velocity":-2.3444552711884588,"acceleration":-3.000000000000021,"curvature":-0.46395436448481275,"holonomicRotation":0.0,"angularVelocity":1.0910892923568585,"holonomicAngularVelocity":0.0},{"time":2.833646581234512,"pose":{"rotation":{"radians":2.084520242598428},"translation":{"x":3.249153536,"y":4.116094464}},"velocity":-2.360424033305221,"acceleration":-3.0,"curvature":-0.4621730162899535,"holonomicRotation":0.0,"angularVelocity":1.0942602211565104,"holonomicAngularVelocity":0.0},{"time":2.838936942481669,"pose":{"rotation":{"radians":2.0903092744667395},"translation":{"x":3.2553738880000003,"y":4.105218111999999}},"velocity":-2.376295117046691,"acceleration":-2.999999999999937,"curvature":-0.46042732956063537,"holonomicRotation":0.0,"angularVelocity":1.0974150691660196,"holonomicAngularVelocity":0.0},{"time":2.8441953482875366,"pose":{"rotation":{"radians":2.096079928237889},"translation":{"x":3.2616606720000005,"y":4.094371327999999}},"velocity":-2.392070334464294,"acceleration":-3.0000000000000213,"curvature":-0.45871738814240054,"holonomicRotation":0.0,"angularVelocity":1.1005570504780544,"holonomicAngularVelocity":0.0},{"time":2.849422381646745,"pose":{"rotation":{"radians":2.1018325766544494},"translation":{"x":3.2680135040000002,"y":4.083554496}},"velocity":-2.4077514345419186,"acceleration":-2.9999999999999787,"curvature":-0.45704326726309885,"holonomicRotation":0.0,"angularVelocity":1.1036893028426855,"holonomicAngularVelocity":0.0},{"time":2.8546186054753275,"pose":{"rotation":{"radians":2.1075675933092324},"translation":{"x":3.2744320000000005,"y":4.072767999999999}},"velocity":-2.4233401060276667,"acceleration":-3.0000000000000213,"curvature":-0.4554050339602513,"holonomicRotation":0.0,"angularVelocity":1.1068148903936257,"holonomicAngularVelocity":0.0},{"time":2.859784563502238,"pose":{"rotation":{"radians":2.1132853525765656},"translation":{"x":3.2809157760000005,"y":4.062012223999999}},"velocity":-2.438837980108399,"acceleration":-3.0000000000000213,"curvature":-0.4538027475367536,"holonomicRotation":0.0,"angularVelocity":1.1099368064092427,"holonomicAngularVelocity":0.0},{"time":2.8649207811120037,"pose":{"rotation":{"radians":2.118986229547372},"translation":{"x":3.2874644480000006,"y":4.051287551999999}},"velocity":-2.454246632937696,"acceleration":-3.0000000000000218,"curvature":-0.45223646007658297,"holonomicRotation":0.0,"angularVelocity":1.113057975924393,"holonomicAngularVelocity":0.0},{"time":2.87002776614176,"pose":{"rotation":{"radians":2.1246705999676685},"translation":{"x":3.2940776320000005,"y":4.040594367999999}},"velocity":-2.469567588026965,"acceleration":-3.0000000000000435,"curvature":-0.4507062168354121,"holonomicRotation":0.0,"angularVelocity":1.1161812581885475,"holonomicAngularVelocity":0.0},{"time":2.8751060096356733,"pose":{"rotation":{"radians":2.1303388401800927},"translation":{"x":3.3007549440000004,"y":4.029933055999999}},"velocity":-2.484802318508706,"acceleration":-3.0000000000000657,"curvature":-0.4492120566748173,"holonomicRotation":0.0,"angularVelocity":1.119309449123158,"holonomicAngularVelocity":0.0},{"time":2.880155986559517,"pose":{"rotation":{"radians":2.1359913270688047},"translation":{"x":3.3074960000000004,"y":4.019303999999999}},"velocity":-2.499952249280237,"acceleration":-3.000000000000066,"curvature":-0.44775401243225865,"holonomicRotation":0.0,"angularVelocity":1.1224452836459866,"holonomicAngularVelocity":0.0},{"time":2.8851781564779557,"pose":{"rotation":{"radians":2.141628438007425},"translation":{"x":3.3143004160000005,"y":4.008707584}},"velocity":-2.5150187590355526,"acceleration":-2.999999999999978,"curvature":-0.4463321113345515,"holonomicRotation":0.0,"angularVelocity":1.1255914379109953,"holonomicAngularVelocity":0.0},{"time":2.8901729641969114,"pose":{"rotation":{"radians":2.1472505508098934},"translation":{"x":3.3211678080000007,"y":3.9981441919999994}},"velocity":-2.5300031821924205,"acceleration":-3.0000000000000444,"curvature":-0.4449463754557567,"holonomicRotation":0.0,"angularVelocity":1.1287505315403796,"holonomicAngularVelocity":0.0},{"time":2.8951408403731946,"pose":{"rotation":{"radians":2.1528580436844997},"translation":{"x":3.3280977920000003,"y":3.987614207999999}},"velocity":-2.54490681072127,"acceleration":-2.999999999999978,"curvature":-0.44359682198548334,"holonomicRotation":0.0,"angularVelocity":1.1319251296711867,"holonomicAngularVelocity":0.0},{"time":2.900082202093434,"pose":{"rotation":{"radians":2.1584512951904333},"translation":{"x":3.3350899840000006,"y":3.977118015999999}},"velocity":-2.559730895881986,"acceleration":-2.9999999999999325,"curvature":-0.44228346357140413,"holonomicRotation":0.0,"angularVelocity":1.1351177449810737,"holonomicAngularVelocity":0.0},{"time":2.904997453424183,"pose":{"rotation":{"radians":2.1640306841970087},"translation":{"x":3.3421440000000007,"y":3.9666559999999995}},"velocity":-2.574476649874234,"acceleration":-3.0000000000000453,"curvature":-0.44100630878383207,"holonomicRotation":0.0,"angularVelocity":1.1383308397188256,"holonomicAngularVelocity":0.0},{"time":2.9098869859349623,"pose":{"rotation":{"radians":2.1695965898458365},"translation":{"x":3.3492594560000004,"y":3.956228543999999}},"velocity":-2.589145247406572,"acceleration":-3.0000000000000453,"curvature":-0.43976536240568537,"holonomicRotation":0.0,"angularVelocity":1.1415668276352418,"holonomicAngularVelocity":0.0},{"time":2.9147511791958403,"pose":{"rotation":{"radians":2.175149391515662},"translation":{"x":3.356435968000001,"y":3.9458360319999994}},"velocity":-2.603737827189206,"acceleration":-2.9999999999999543,"curvature":-0.43856062556178693,"holonomicRotation":0.0,"angularVelocity":1.1448280756029832,"holonomicAngularVelocity":0.0},{"time":2.919590401251085,"pose":{"rotation":{"radians":2.180689468788583},"translation":{"x":3.3636731520000005,"y":3.9354788479999994}},"velocity":-2.6182554933549405,"acceleration":-3.0000000000000457,"curvature":-0.43739209639321713,"holonomicRotation":0.0,"angularVelocity":1.145850588652444,"holonomicAngularVelocity":0.0},{"time":2.9244145316277996,"pose":{"rotation":{"radians":2.1862172014204777},"translation":{"x":3.3709706240000004,"y":3.925157375999999}},"velocity":-2.622334232261645,"acceleration":-0.8454868729070896,"curvature":-0.4362597700073285,"holonomicRotation":0.0,"angularVelocity":1.1445003863930865,"holonomicAngularVelocity":0.0},{"time":2.9292338990626856,"pose":{"rotation":{"radians":2.1917329693118752},"translation":{"x":3.3783280000000007,"y":3.914871999999999}},"velocity":-2.625634845989314,"acceleration":-0.6848645122545891,"curvature":-0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1430465952170605,"holonomicAngularVelocity":0.0},{"time":2.934049261090149,"pose":{"rotation":{"radians":2.1972371524821046},"translation":{"x":3.3857448960000003,"y":3.9046231039999992}},"velocity":-2.6288383813504206,"acceleration":-0.6652740422913254,"curvature":-0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.141638532462789,"holonomicAngularVelocity":0.0},{"time":2.9388607477448287,"pose":{"rotation":{"radians":2.2027301310455174},"translation":{"x":3.3932209280000003,"y":3.894411071999999}},"velocity":-2.6319437458571184,"acceleration":-0.6454064470235114,"curvature":-0.4330799216330578,"holonomicRotation":0.0,"angularVelocity":1.1402763514325127,"holonomicAngularVelocity":0.0},{"time":2.9436684894267646,"pose":{"rotation":{"radians":2.2082122851892256},"translation":{"x":3.4007557120000005,"y":3.8842362879999994}},"velocity":-2.6349498803219897,"acceleration":-0.6252695472733159,"curvature":-0.4320923098070697,"holonomicRotation":0.0,"angularVelocity":1.138960198162488,"holonomicAngularVelocity":0.0},{"time":2.9484726168868667,"pose":{"rotation":{"radians":2.213683995153181},"translation":{"x":3.4083488640000006,"y":3.874099135999999}},"velocity":-2.6378557595292262,"acceleration":-0.6048713801558966,"curvature":-0.4311408427216499,"holonomicRotation":0.0,"angularVelocity":1.1376902117009824,"holonomicAngularVelocity":0.0},{"time":2.953273261212499,"pose":{"rotation":{"radians":2.219145641212311},"translation":{"x":3.4160000000000004,"y":3.863999999999999}},"velocity":-2.640660392350118,"acceleration":-0.584220081857935,"curvature":-0.4302255037988389,"holonomicRotation":0.0,"angularVelocity":1.1364665242199663,"holonomicAngularVelocity":0.0},{"time":2.9580705538132235,"pose":{"rotation":{"radians":2.224597603659922},"translation":{"x":3.4237087360000005,"y":3.853939263999999}},"velocity":-2.6433628223610883,"acceleration":-0.5633239904028693,"curvature":-0.4293462752752821,"holonomicRotation":0.0,"angularVelocity":1.135289261297001,"holonomicAngularVelocity":0.0},{"time":2.9628646264067062,"pose":{"rotation":{"radians":2.2300402627931817},"translation":{"x":3.4314746880000007,"y":3.8439173119999994}},"velocity":-2.6459621279004737,"acceleration":-0.5421915268698363,"curvature":-0.4285031384986032,"holonomicRotation":0.0,"angularVelocity":1.1341585420547766,"holonomicAngularVelocity":0.0},{"time":2.967655611005099,"pose":{"rotation":{"radians":2.235473998900302},"translation":{"x":3.4392974720000007,"y":3.8339345279999995}},"velocity":-2.648457422337088,"acceleration":-0.5208312373726626,"curvature":-0.42769607414071226,"holonomicRotation":0.0,"angularVelocity":1.133074479392834,"holonomicAngularVelocity":0.0},{"time":2.9724436399012846,"pose":{"rotation":{"radians":2.240899192249165},"translation":{"x":3.4471767040000008,"y":3.823991295999999}},"velocity":-2.6508478547544363,"acceleration":-0.49925187779313374,"curvature":-0.42692506226405785,"holonomicRotation":0.0,"angularVelocity":1.1320371801254954,"holonomicAngularVelocity":0.0},{"time":2.97722884565546,"pose":{"rotation":{"radians":2.246316223077442},"translation":{"x":3.4551120000000006,"y":3.814087999999999}},"velocity":-2.653132609673996,"acceleration":-0.47746221101694586,"curvature":-0.4261900826856946,"holonomicRotation":0.0,"angularVelocity":1.1310467451481108,"holonomicAngularVelocity":0.0},{"time":2.9820113610819488,"pose":{"rotation":{"radians":2.2517254715841926},"translation":{"x":3.463102976000001,"y":3.804225023999999}},"velocity":-2.655310907833249,"acceleration":-0.4554712248680483,"curvature":-0.42549111498766573,"holonomicRotation":0.0,"angularVelocity":1.1301032696261668,"holonomicAngularVelocity":0.0},{"time":2.9867913192359405,"pose":{"rotation":{"radians":2.257127317922695},"translation":{"x":3.4711492480000006,"y":3.794402751999999}},"velocity":-2.657382006198557,"acceleration":-0.4332879700166909,"curvature":-0.42482813876175346,"holonomicRotation":0.0,"angularVelocity":1.1292068432180316,"holonomicAngularVelocity":0.0},{"time":2.991568853400548,"pose":{"rotation":{"radians":2.2625221421950776},"translation":{"x":3.4792504320000006,"y":3.784621567999999}},"velocity":-2.6593451982965712,"acceleration":-0.41092162407919103,"curvature":-0.424201133738781,"holonomicRotation":0.0,"angularVelocity":1.1283575500272023,"holonomicAngularVelocity":0.0},{"time":2.9963440970740116,"pose":{"rotation":{"radians":2.26791032444725},"translation":{"x":3.487406144000001,"y":3.774881855999999}},"velocity":-2.6611998143698017,"acceleration":-0.38838145235114474,"curvature":-0.42361007996169614,"holonomicRotation":0.0,"angularVelocity":1.1275554689254084,"holonomicAngularVelocity":0.0},{"time":3.001117183957077,"pose":{"rotation":{"radians":2.2732922446659067},"translation":{"x":3.495616000000001,"y":3.765183999999999}},"velocity":-2.6629452216557663,"acceleration":-0.3656768311000486,"curvature":-0.42305495790658737,"holonomicRotation":0.0,"angularVelocity":1.1268006736114815,"holonomicAngularVelocity":0.0},{"time":3.0058882479402897,"pose":{"rotation":{"radians":2.2786682827760343},"translation":{"x":3.5038796160000008,"y":3.755528383999999}},"velocity":-2.6645808247919645,"acceleration":-0.34281727135773626,"curvature":-0.42253574855162407,"holonomicRotation":0.0,"angularVelocity":1.1260932327968134,"holonomicAngularVelocity":0.0},{"time":3.010657423091539,"pose":{"rotation":{"radians":2.2840388186398783},"translation":{"x":3.512196608000001,"y":3.7459153919999992}},"velocity":-2.6661060656923015,"acceleration":-0.3198123054754257,"curvature":-0.4220524336016502,"holonomicRotation":0.0,"angularVelocity":1.1254332101236695,"holonomicAngularVelocity":0.0},{"time":3.0154248436438675,"pose":{"rotation":{"radians":2.2894042320560954},"translation":{"x":3.5205665920000007,"y":3.736345407999999}},"velocity":-2.6675204238998145,"acceleration":-0.29667158413832084,"curvature":-0.4216049955488846,"holonomicRotation":0.0,"angularVelocity":1.1248206645718342,"holonomicAngularVelocity":0.0},{"time":3.0201906439832062,"pose":{"rotation":{"radians":2.294764902761007},"translation":{"x":3.5289891840000007,"y":3.7268188159999993}},"velocity":-2.6688234168146447,"acceleration":-0.27340484746599136,"curvature":-0.4211934177613658,"holonomicRotation":0.0,"angularVelocity":1.1242556502653611,"holonomicAngularVelocity":0.0},{"time":3.0249549586362185,"pose":{"rotation":{"radians":2.300121210429298},"translation":{"x":3.5374640000000004,"y":3.717335999999999}},"velocity":-2.6700145997957936,"acceleration":-0.2500218956772268,"curvature":-0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.123738216844328,"holonomicAngularVelocity":0.0},{"time":3.029717922258233,"pose":{"rotation":{"radians":2.3054735346767954},"translation":{"x":3.5459906560000007,"y":3.707897343999999}},"velocity":-2.671093566389595,"acceleration":-0.22653261276539288,"curvature":-0.4204777814786742,"holonomicRotation":0.0,"angularVelocity":1.1232684092818601,"holonomicAngularVelocity":0.0},{"time":3.034479669621233,"pose":{"rotation":{"radians":2.310822255062634},"translation":{"x":3.5545687680000007,"y":3.6985032319999993}},"velocity":-2.6720599484322793,"acceleration":-0.20294693712507567,"curvature":-0.42017369496416096,"holonomicRotation":0.0,"angularVelocity":1.1228462681895641,"holonomicAngularVelocity":0.0},{"time":3.0392403356020856,"pose":{"rotation":{"radians":2.3161677510933316},"translation":{"x":3.563197952000001,"y":3.689154047999999}},"velocity":-2.672913416024821,"acceleration":-0.17927483170934566,"curvature":-0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1224718297169374,"holonomicAngularVelocity":0.0},{"time":3.044000055170769,"pose":{"rotation":{"radians":2.321510402226531},"translation":{"x":3.571877824000001,"y":3.679850175999999}},"velocity":-2.6736536778913673,"acceleration":-0.15552636155641372,"curvature":-0.4196729243382383,"holonomicRotation":0.0,"angularVelocity":1.122145125703422,"holonomicAngularVelocity":0.0},{"time":3.048758963378458,"pose":{"rotation":{"radians":2.3268505878754597},"translation":{"x":3.5806080000000007,"y":3.670591999999999}},"velocity":-2.6742804814591006,"acceleration":-0.13171163224381718,"curvature":-0.41947621972129306,"holonomicRotation":0.0,"angularVelocity":1.1218661837351616,"holonomicAngularVelocity":0.0},{"time":3.053517195345991,"pose":{"rotation":{"radians":2.3321886874142024},"translation":{"x":3.5893880960000004,"y":3.661379903999999}},"velocity":-2.674793612605643,"acceleration":-0.10784071689727757,"curvature":-0.419315290918276,"holonomicRotation":0.0,"angularVelocity":1.1216350272072997,"holonomicAngularVelocity":0.0},{"time":3.0582748862519926,"pose":{"rotation":{"radians":2.337525080182999},"translation":{"x":3.598217728000001,"y":3.6522142719999993}},"velocity":-2.6751928965083205,"acceleration":-0.08392388462520017,"curvature":-0.4191901310828717,"holonomicRotation":0.0,"angularVelocity":1.1214516752368215,"holonomicAngularVelocity":0.0},{"time":3.06303217132131,"pose":{"rotation":{"radians":2.342860145493564},"translation":{"x":3.607096512000001,"y":3.6430954879999993}},"velocity":-2.6754781966265213,"acceleration":-0.05997120501374331,"curvature":-0.4191007350133541,"holonomicRotation":0.0,"angularVelocity":1.1213161429216323,"holonomicAngularVelocity":0.0},{"time":3.067789185813631,"pose":{"rotation":{"radians":2.348194262635916},"translation":{"x":3.616024064000001,"y":3.6340239359999993}},"velocity":-2.6756494156563497,"acceleration":-0.03599295947170036,"curvature":-0.4190470988943057,"holonomicRotation":0.0,"angularVelocity":1.121228441093887,"holonomicAngularVelocity":0.0},{"time":3.072546065011709,"pose":{"rotation":{"radians":2.353527810883649},"translation":{"x":3.625000000000001,"y":3.624999999999999}},"velocity":-2.675706495129876,"acceleration":-0.011999353178753079,"curvature":-0.41902922045158014,"holonomicRotation":0.0,"angularVelocity":1.1211885766455594,"holonomicAngularVelocity":0.0},{"time":3.0773029442097872,"pose":{"rotation":{"radians":2.358861169501017},"translation":{"x":3.634023936000001,"y":3.616024063999999}},"velocity":-2.67564941565635,"acceleration":0.011999353178659161,"curvature":-0.4190470988943055,"holonomicRotation":0.0,"angularVelocity":1.1211965522473806,"holonomicAngularVelocity":0.0},{"time":3.0820599587021085,"pose":{"rotation":{"radians":2.3641947177487985},"translation":{"x":3.643095488000001,"y":3.607096511999999}},"velocity":-2.675478196626521,"acceleration":0.03599295947188707,"curvature":-0.41910073501335415,"holonomicRotation":0.0,"angularVelocity":1.1212523665345682,"holonomicAngularVelocity":0.0},{"time":3.0868172437714714,"pose":{"rotation":{"radians":2.369528834891101},"translation":{"x":3.652214272000001,"y":3.598217727999999}},"velocity":-2.675192896457028,"acceleration":0.059971215794916974,"curvature":-0.4191901310989462,"holonomicRotation":0.0,"angularVelocity":1.1213560140984302,"holonomicAngularVelocity":0.0},{"time":3.0915749346774724,"pose":{"rotation":{"radians":2.374863900201767},"translation":{"x":3.661379904000001,"y":3.5893880959999995}},"velocity":-2.674793612656831,"acceleration":0.08392386308529144,"curvature":-0.4193152909022269,"holonomicRotation":0.0,"angularVelocity":1.121507485349945,"holonomicAngularVelocity":0.0},{"time":3.096333166645051,"pose":{"rotation":{"radians":2.3802002929704376},"translation":{"x":3.670592000000001,"y":3.580607999999999}},"velocity":-2.674280481356777,"acceleration":0.10784074915852378,"curvature":-0.4194762197533931,"holonomicRotation":0.0,"angularVelocity":1.1217067667098233,"holonomicAngularVelocity":0.0},{"time":3.101092074852831,"pose":{"rotation":{"radians":2.3855383925092557},"translation":{"x":3.679850176000001,"y":3.5718778239999995}},"velocity":-2.6736536778913917,"acceleration":0.13171161073470328,"curvature":-0.4196729243382305,"holonomicRotation":0.0,"angularVelocity":1.121953840313771,"holonomicAngularVelocity":0.0},{"time":3.1058517944215147,"pose":{"rotation":{"radians":2.3908785781581567},"translation":{"x":3.689154048000001,"y":3.563197951999999}},"velocity":-2.672913416024821,"acceleration":0.15552636156154168,"curvature":-0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1222486842580777,"holonomicAngularVelocity":0.0},{"time":3.1106124604023675,"pose":{"rotation":{"radians":2.3962212292913607},"translation":{"x":3.698503232000001,"y":3.5545687679999993}},"velocity":-2.672059948432254,"acceleration":0.17927483171467115,"curvature":-0.42017369496416906,"holonomicRotation":0.0,"angularVelocity":1.1225912723143032,"holonomicAngularVelocity":0.0},{"time":3.1153742077653668,"pose":{"rotation":{"radians":2.40156672532203},"translation":{"x":3.707897344000001,"y":3.545990655999999}},"velocity":-2.671093566389572,"acceleration":0.20294693712460463,"curvature":-0.42047778147868153,"holonomicRotation":0.0,"angularVelocity":1.1229815741706488,"holonomicAngularVelocity":0.0},{"time":3.1201371713873365,"pose":{"rotation":{"radians":2.4069154457079467},"translation":{"x":3.717336000000001,"y":3.5374639999999995}},"velocity":-2.670014599846641,"acceleration":0.22653260208714474,"curvature":-0.4208176845831703,"holonomicRotation":0.0,"angularVelocity":1.123419555016309,"holonomicAngularVelocity":0.0},{"time":3.1249014860403035,"pose":{"rotation":{"radians":2.4122677699553403},"translation":{"x":3.726818816000001,"y":3.528989183999999}},"velocity":-2.6688234168146687,"acceleration":0.2500219063471021,"curvature":-0.4211934177613582,"holonomicRotation":0.0,"angularVelocity":1.1239051758329424,"holonomicAngularVelocity":0.0},{"time":3.1296672863796418,"pose":{"rotation":{"radians":2.4176240776237092},"translation":{"x":3.736345408000001,"y":3.5205665919999993}},"velocity":-2.6675204238998145,"acceleration":0.27340484747103594,"curvature":-0.42160499554888453,"holonomicRotation":0.0,"angularVelocity":1.1244383930403559,"holonomicAngularVelocity":0.0},{"time":3.1344347069320158,"pose":{"rotation":{"radians":2.4229847483285685},"translation":{"x":3.745915392000001,"y":3.512196607999999}},"velocity":-2.666106065641778,"acceleration":0.2966715947331795,"curvature":-0.42205243361764627,"holonomicRotation":0.0,"angularVelocity":1.1250191586770815,"holonomicAngularVelocity":0.0},{"time":3.13920388208331,"pose":{"rotation":{"radians":2.428350161744861},"translation":{"x":3.755528384000001,"y":3.5038796159999994}},"velocity":-2.6645808247919636,"acceleration":0.31981229487879587,"curvature":-0.4225357485516243,"holonomicRotation":0.0,"angularVelocity":1.1256474200811772,"holonomicAngularVelocity":0.0},{"time":3.143974946066523,"pose":{"rotation":{"radians":2.4337206976086065},"translation":{"x":3.765184000000001,"y":3.495615999999999}},"velocity":-2.6629452216557663,"acceleration":0.3428172713575581,"curvature":-0.4230549579065874,"holonomicRotation":0.0,"angularVelocity":1.1263231200018886,"holonomicAngularVelocity":0.0},{"time":3.1487480329496336,"pose":{"rotation":{"radians":2.439096735718832},"translation":{"x":3.7748818560000013,"y":3.4874061439999995}},"velocity":-2.661199814319626,"acceleration":0.3656768416088413,"curvature":-0.42361007997767014,"holonomicRotation":0.0,"angularVelocity":1.1270461962946063,"holonomicAngularVelocity":0.0},{"time":3.153523276623142,"pose":{"rotation":{"radians":2.4444786559374396},"translation":{"x":3.7846215680000013,"y":3.4792504319999993}},"velocity":-2.659345198296571,"acceleration":0.3883814418400827,"curvature":-0.42420113373878104,"holonomicRotation":0.0,"angularVelocity":1.1278165820431203,"holonomicAngularVelocity":0.0},{"time":3.1583008107877943,"pose":{"rotation":{"radians":2.449866838189612},"translation":{"x":3.794402752000001,"y":3.4711492479999992}},"velocity":-2.6573820061486866,"acceleration":0.4109216345137485,"curvature":-0.42482813877769865,"holonomicRotation":0.0,"angularVelocity":1.1286342052597576,"holonomicAngularVelocity":0.0},{"time":3.163080768941831,"pose":{"rotation":{"radians":2.455261662461968},"translation":{"x":3.8042250240000013,"y":3.463102975999999}},"velocity":-2.6553109078332495,"acceleration":0.4332879595793174,"curvature":-0.4254911149876656,"holonomicRotation":0.0,"angularVelocity":1.1294989888871036,"holonomicAngularVelocity":0.0},{"time":3.1678632843683197,"pose":{"rotation":{"radians":2.4606635088005238},"translation":{"x":3.8140880000000013,"y":3.4551119999999993}},"velocity":-2.6531326096739956,"acceleration":0.4554712248682446,"curvature":-0.42619008268569475,"holonomicRotation":0.0,"angularVelocity":1.1304108505629107,"holonomicAngularVelocity":0.0},{"time":3.172648490122495,"pose":{"rotation":{"radians":2.46607275730722},"translation":{"x":3.8239912960000013,"y":3.447176703999999}},"velocity":-2.650847854754409,"acceleration":0.4774622110225031,"curvature":-0.4269250622640667,"holonomicRotation":0.0,"angularVelocity":1.1313697026092349,"holonomicAngularVelocity":0.0},{"time":3.1774365190186358,"pose":{"rotation":{"radians":2.471489788135531},"translation":{"x":3.8339345280000012,"y":3.4392974719999994}},"velocity":-2.6484574223862847,"acceleration":0.49925186751720285,"curvature":-0.4276960741248228,"holonomicRotation":0.0,"angularVelocity":1.1323754517286329,"holonomicAngularVelocity":0.0},{"time":3.1822275036170287,"pose":{"rotation":{"radians":2.476914981484361},"translation":{"x":3.843917312000001,"y":3.431474687999999}},"velocity":-2.6459621278514356,"acceleration":0.5208312578767472,"curvature":-0.4285031385144863,"holonomicRotation":0.0,"angularVelocity":1.13342799909027,"holonomicAngularVelocity":0.0},{"time":3.1870215762105563,"pose":{"rotation":{"radians":2.4823487175915364},"translation":{"x":3.853939264000001,"y":3.423708735999999}},"velocity":-2.643362822361095,"acceleration":0.5421915166345206,"curvature":-0.42934627527527985,"holonomicRotation":0.0,"angularVelocity":1.1345272398917918,"holonomicAngularVelocity":0.0},{"time":3.1918188688112803,"pose":{"rotation":{"radians":2.4877913767247897},"translation":{"x":3.864000000000001,"y":3.415999999999999}},"velocity":-2.6406603923501453,"acceleration":0.5633239903985849,"curvature":-0.43022550379883,"holonomicRotation":0.0,"angularVelocity":1.1356730633904046,"holonomicAngularVelocity":0.0},{"time":3.196619513136957,"pose":{"rotation":{"radians":2.4932433391723787},"translation":{"x":3.874099136000001,"y":3.4083488639999993}},"velocity":-2.6378557594807597,"acceleration":0.5842200919540596,"curvature":-0.43114084273749304,"holonomicRotation":0.0,"angularVelocity":1.1368653526407893,"holonomicAngularVelocity":0.0},{"time":3.2014236405971026,"pose":{"rotation":{"radians":2.4987049852314884},"translation":{"x":3.884236288000001,"y":3.400755711999999}},"velocity":-2.6349498803219897,"acceleration":0.6048713700618353,"curvature":-0.43209230980706964,"holonomicRotation":0.0,"angularVelocity":1.1381039843727592,"holonomicAngularVelocity":0.0},{"time":3.2062313822789954,"pose":{"rotation":{"radians":2.5041766951954854},"translation":{"x":3.8944110720000014,"y":3.393220927999999}},"velocity":-2.6319437459051516,"acceleration":0.6252695372882013,"curvature":-0.4330799216172504,"holonomicRotation":0.0,"angularVelocity":1.1393888286909821,"holonomicAngularVelocity":0.0},{"time":3.2110428689336312,"pose":{"rotation":{"radians":2.509658849339173},"translation":{"x":3.9046231040000015,"y":3.385744895999999}},"velocity":-2.6288383813504206,"acceleration":0.6454064570124066,"curvature":-0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.1407197490207739,"holonomicAngularVelocity":0.0},{"time":3.2158582309610946,"pose":{"rotation":{"radians":2.515151827902585},"translation":{"x":3.9148720000000012,"y":3.3783279999999993}},"velocity":-2.625634845989314,"acceleration":0.6652740422913407,"curvature":-0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1413686790480242,"holonomicAngularVelocity":0.0},{"time":3.220680672010397,"pose":{"rotation":{"radians":2.5206560110728145},"translation":{"x":3.9251573760000014,"y":3.370970623999999}},"velocity":-2.618989404766512,"acceleration":1.3780243563087686,"curvature":-0.4362597700073408,"holonomicRotation":0.0,"angularVelocity":1.1396328812896521,"holonomicAngularVelocity":0.0},{"time":3.2255206235262626,"pose":{"rotation":{"radians":2.5261717789641427},"translation":{"x":3.9354788480000007,"y":3.3636731519999987}},"velocity":-2.604469550218915,"acceleration":3.0,"curvature":-0.437392096408939,"holonomicRotation":0.0,"angularVelocity":1.1362290451451276,"holonomicAngularVelocity":0.0},{"time":3.2303856044520742,"pose":{"rotation":{"radians":2.531699511596127},"translation":{"x":3.945836032000001,"y":3.356435967999999}},"velocity":-2.5898746074414802,"acceleration":2.9999999999999085,"curvature":-0.4385606255617841,"holonomicRotation":0.0,"angularVelocity":1.1328524486334637,"holonomicAngularVelocity":0.0},{"time":3.235275982964838,"pose":{"rotation":{"radians":2.537239588869056},"translation":{"x":3.956228544000001,"y":3.349259455999999}},"velocity":-2.5752034719031878,"acceleration":3.0000000000000453,"curvature":-0.4397653623900097,"holonomicRotation":0.0,"angularVelocity":1.1295007542704276,"holonomicAngularVelocity":0.0},{"time":3.240192138752052,"pose":{"rotation":{"radians":2.5427923905388248},"translation":{"x":3.9666560000000013,"y":3.342143999999999}},"velocity":-2.5604550045415473,"acceleration":3.0,"curvature":-0.4410063087994853,"holonomicRotation":0.0,"angularVelocity":1.1261715790987796,"holonomicAngularVelocity":0.0},{"time":3.2451344634849657,"pose":{"rotation":{"radians":2.5483582961877094},"translation":{"x":3.977118016000001,"y":3.3350899839999992}},"velocity":-2.5456280303428054,"acceleration":3.000000000000045,"curvature":-0.4422834635714009,"holonomicRotation":0.0,"angularVelocity":1.1228624931603801,"holonomicAngularVelocity":0.0},{"time":3.2501033613157793,"pose":{"rotation":{"radians":2.553937685194276},"translation":{"x":3.9876142080000014,"y":3.328097791999999}},"velocity":-2.5307213368503647,"acceleration":3.0,"curvature":-0.4435968219542736,"holonomicRotation":0.0,"angularVelocity":1.1195710174568347,"holonomicAngularVelocity":0.0},{"time":3.2550992494002617,"pose":{"rotation":{"radians":2.5595309367001207},"translation":{"x":3.9981441920000007,"y":3.321167807999999}},"velocity":-2.5157336725969164,"acceleration":3.0000000000000444,"curvature":-0.4449463754713487,"holonomicRotation":0.0,"angularVelocity":1.1162946221424517,"holonomicAngularVelocity":0.0},{"time":3.260122558447441,"pose":{"rotation":{"radians":2.565138429574846},"translation":{"x":4.0087075840000015,"y":3.314300415999999}},"velocity":-2.500663745455379,"acceleration":3.0000000000000884,"curvature":-0.44633211131899053,"holonomicRotation":0.0,"angularVelocity":1.1130307242685513,"holonomicAngularVelocity":0.0},{"time":3.2651737332980844,"pose":{"rotation":{"radians":2.570760542377265},"translation":{"x":4.019304000000001,"y":3.307495999999999}},"velocity":-2.4855102209034485,"acceleration":3.000000000000044,"curvature":-0.4477540124322387,"holonomicRotation":0.0,"angularVelocity":1.109776686086939,"holonomicAngularVelocity":0.0},{"time":3.2702532335338788,"pose":{"rotation":{"radians":2.5763976533159223},"translation":{"x":4.029933056000002,"y":3.300754943999999}},"velocity":-2.470271720196066,"acceleration":3.0000000000000435,"curvature":-0.44921205667481756,"holonomicRotation":0.0,"angularVelocity":1.1065298124301608,"holonomicAngularVelocity":0.0},{"time":3.2753615341193125,"pose":{"rotation":{"radians":2.5820501402045597},"translation":{"x":4.040594368000001,"y":3.294077631999999}},"velocity":-2.4549468184397636,"acceleration":2.999999999999913,"curvature":-0.4507062168508919,"holonomicRotation":0.0,"angularVelocity":1.103287348927679,"holonomicAngularVelocity":0.0},{"time":3.2804991260784773,"pose":{"rotation":{"radians":2.5877183804170585},"translation":{"x":4.051287552000002,"y":3.2874644479999993}},"velocity":-2.43953404256227,"acceleration":3.000000000000043,"curvature":-0.45223646007658325,"holonomicRotation":0.0,"angularVelocity":1.1000464792593154,"holonomicAngularVelocity":0.0},{"time":3.2856665172091235,"pose":{"rotation":{"radians":2.5934027508372814},"translation":{"x":4.062012224000001,"y":3.280915775999999}},"velocity":-2.4240318691703315,"acceleration":3.000000000000043,"curvature":-0.4538027475367534,"holonomicRotation":0.0,"angularVelocity":1.0968043231891658,"holonomicAngularVelocity":0.0},{"time":3.290864232836559,"pose":{"rotation":{"radians":2.5991036278081605},"translation":{"x":4.072768000000002,"y":3.274431999999999}},"velocity":-2.4084387222880252,"acceleration":3.0,"curvature":-0.4554050339448751,"holonomicRotation":0.0,"angularVelocity":1.0935579336272918,"holonomicAngularVelocity":0.0},{"time":3.2960928166101318,"pose":{"rotation":{"radians":2.6048213870753862},"translation":{"x":4.0835544960000005,"y":3.268013503999999}},"velocity":-2.392752970967306,"acceleration":3.0000000000000426,"curvature":-0.45704326729385686,"holonomicRotation":0.0,"angularVelocity":1.0903042944970165,"holonomicAngularVelocity":0.0},{"time":3.3013528313453175,"pose":{"rotation":{"radians":2.6105564037302766},"translation":{"x":4.094371328000001,"y":3.261660671999999}},"velocity":-2.3769729267617494,"acceleration":2.999999999999958,"curvature":-0.45871738815772506,"holonomicRotation":0.0,"angularVelocity":1.087040317564224,"holonomicAngularVelocity":0.0},{"time":3.30664485991464,"pose":{"rotation":{"radians":2.616309052146832},"translation":{"x":4.105218112000001,"y":3.2553738879999994}},"velocity":-2.3610968410537816,"acceleration":3.0000000000000417,"curvature":-0.4604273295453317,"holonomicRotation":0.0,"angularVelocity":1.0837628401271546,"holonomicAngularVelocity":0.0},{"time":3.31196950619098,"pose":{"rotation":{"radians":2.622079705917951},"translation":{"x":4.1160944640000015,"y":3.2491535359999992}},"velocity":-2.345122902224761,"acceleration":2.9999999999999165,"curvature":-0.4621730162746951,"holonomicRotation":0.0,"angularVelocity":1.0804686217425308,"holonomicAngularVelocity":0.0},{"time":3.3173273960470873,"pose":{"rotation":{"radians":2.627868737786227},"translation":{"x":4.127000000000001,"y":3.2429999999999994}},"velocity":-2.3290492326564407,"acceleration":2.9999999999999587,"curvature":-0.4639543644847909,"holonomicRotation":0.0,"angularVelocity":1.0771543414066895,"holonomicAngularVelocity":0.0},{"time":3.3227191784154804,"pose":{"rotation":{"radians":2.633676519572262},"translation":{"x":4.137934336000002,"y":3.2369136639999994}},"velocity":-2.312873885551261,"acceleration":2.9999999999999587,"curvature":-0.4657712811612695,"holonomicRotation":0.0,"angularVelocity":1.0738165942689333,"holonomicAngularVelocity":0.0},{"time":3.3281455264132758,"pose":{"rotation":{"radians":2.6395034220985725},"translation":{"x":4.148897088000001,"y":3.2308949119999992}},"velocity":-2.2965948415578756,"acceleration":2.999999999999959,"curvature":-0.46762366370596037,"holonomicRotation":0.0,"angularVelocity":1.0704518885397352,"holonomicAngularVelocity":0.0},{"time":3.333607138536903,"pose":{"rotation":{"radians":2.645349815110781},"translation":{"x":4.159887872000001,"y":3.224944127999999}},"velocity":-2.280210005186993,"acceleration":3.000000000000041,"curvature":-0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0670566418128253,"holonomicAngularVelocity":0.0},{"time":3.3391047399321145,"pose":{"rotation":{"radians":2.651216067193581},"translation":{"x":4.170906304000001,"y":3.2190616959999994}},"velocity":-2.2637172010013575,"acceleration":3.0000000000000404,"curvature":-0.4714343645997839,"holonomicRotation":0.0,"angularVelocity":1.0636271776952306,"holonomicAngularVelocity":0.0},{"time":3.344639083745208,"pose":{"rotation":{"radians":2.6571025456838964},"translation":{"x":4.181952000000002,"y":3.213247999999999}},"velocity":-2.2471141695620784,"acceleration":3.0,"curvature":-0.4733924247442271,"holonomicRotation":0.0,"angularVelocity":1.0601597219448258,"holonomicAngularVelocity":0.0},{"time":3.350210952561919,"pose":{"rotation":{"radians":2.663009616579334},"translation":{"x":4.193024576000001,"y":3.207503423999999}},"velocity":-2.2303985631119447,"acceleration":3.0,"curvature":-0.47538543332938343,"holonomicRotation":0.0,"angularVelocity":1.056650398648511,"holonomicAngularVelocity":0.0},{"time":3.3558211599411023,"pose":{"rotation":{"radians":2.668937644443049},"translation":{"x":4.204123648000001,"y":3.2018283519999993}},"velocity":-2.213567940974395,"acceleration":2.9999999999999605,"curvature":-0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0530952259318735,"holonomicAngularVelocity":0.0},{"time":3.361470552050947,"pose":{"rotation":{"radians":2.6748869923033434},"translation":{"x":4.215248832000001,"y":3.1962231679999995}},"velocity":-2.1966197646448617,"acceleration":2.9999999999999214,"curvature":-0.4794756472470108,"holonomicRotation":0.0,"angularVelocity":1.0494901118766216,"holonomicAngularVelocity":0.0},{"time":3.3671600094163034,"pose":{"rotation":{"radians":2.680858021550229},"translation":{"x":4.226399744000002,"y":3.190688255999999}},"velocity":-2.1795513925487917,"acceleration":2.999999999999961,"curvature":-0.48157249539387187,"holonomicRotation":0.0,"angularVelocity":1.0458308498079987,"holonomicAngularVelocity":0.0},{"time":3.37289044878651,"pose":{"rotation":{"radians":2.6868510918265454},"translation":{"x":4.237576000000001,"y":3.185223999999999}},"velocity":-2.1623600744381717,"acceleration":3.0,"curvature":-0.4837035763394283,"holonomicRotation":0.0,"angularVelocity":1.0421131136385364,"holonomicAngularVelocity":0.0},{"time":3.378662825134093,"pose":{"rotation":{"radians":2.692866560915218},"translation":{"x":4.2487772160000015,"y":3.179830783999999}},"velocity":-2.1450429453954247,"acceleration":3.0,"curvature":-0.4858686756511655,"holonomicRotation":0.0,"angularVelocity":1.0383324526569788,"holonomicAngularVelocity":0.0},{"time":3.3844781337957577,"pose":{"rotation":{"radians":2.698904784620842},"translation":{"x":4.260003008000001,"y":3.174508991999999}},"velocity":-2.1275970194104294,"acceleration":3.000000000000038,"curvature":-0.48806756354488817,"holonomicRotation":0.0,"angularVelocity":1.0344842865367634,"holonomicAngularVelocity":0.0},{"time":3.390337412768339,"pose":{"rotation":{"radians":2.7049661166484125},"translation":{"x":4.271252992000002,"y":3.169259007999999}},"velocity":-2.1100191824926853,"acceleration":3.0000000000000377,"curvature":-0.49029999405552943,"holonomicRotation":0.0,"angularVelocity":1.0305638993092536,"holonomicAngularVelocity":0.0},{"time":3.3962417451736586,"pose":{"rotation":{"radians":2.7110509084748564},"translation":{"x":4.282526784000001,"y":3.164081215999999}},"velocity":-2.0923061852767266,"acceleration":3.000000000000075,"curvature":-0.49256570453850973,"holonomicRotation":0.0,"angularVelocity":1.0265664338405436,"holonomicAngularVelocity":0.0},{"time":3.4021922619078344,"pose":{"rotation":{"radians":2.7171595092181677},"translation":{"x":4.293824000000002,"y":3.158975999999999}},"velocity":-2.074454635074199,"acceleration":3.0000000000000746,"curvature":-0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0224868851114455,"holonomicAngularVelocity":0.0},{"time":3.408190144492236,"pose":{"rotation":{"radians":2.7232922654991567},"translation":{"x":4.305144256000001,"y":3.1539437439999993}},"velocity":-2.0564609873209942,"acceleration":2.999999999999963,"curvature":-0.49719582643303056,"holonomicRotation":0.0,"angularVelocity":1.0183200938587098,"holonomicAngularVelocity":0.0},{"time":3.4142366281452663,"pose":{"rotation":{"radians":2.729449521300226},"translation":{"x":4.316487168000002,"y":3.148984831999999}},"velocity":-2.0383215363619027,"acceleration":3.0,"curvature":-0.49955962237973184,"holonomicRotation":0.0,"angularVelocity":1.0140607391716023,"holonomicAngularVelocity":0.0},{"time":3.420333005096303,"pose":{"rotation":{"radians":2.7356316178174627},"translation":{"x":4.327852352000001,"y":3.144099647999999}},"velocity":-2.0200324055087933,"acceleration":3.0,"curvature":-0.5019554658535155,"holonomicRotation":0.0,"angularVelocity":1.0097033310569088,"holonomicAngularVelocity":0.0},{"time":3.4264806281656552,"pose":{"rotation":{"radians":2.74183889330867},"translation":{"x":4.339239424000002,"y":3.1392885759999993}},"velocity":-2.001589536300736,"acceleration":3.0,"curvature":-0.5043829997560954,"holonomicRotation":0.0,"angularVelocity":1.0052422020712786,"holonomicAngularVelocity":0.0},{"time":3.432680914637187,"pose":{"rotation":{"radians":2.7480716829347855},"translation":{"x":4.350648000000001,"y":3.1345519999999993}},"velocity":-1.9829886768861407,"acceleration":2.999999999999964,"curvature":-0.5068418460483195,"holonomicRotation":0.0,"angularVelocity":1.0006714988901686,"holonomicAngularVelocity":0.0},{"time":3.438935350453517,"pose":{"rotation":{"radians":2.754330318597825},"translation":{"x":4.362077696000002,"y":3.129890303999999}},"velocity":-1.9642253694371505,"acceleration":2.9999999999999645,"curvature":-0.5093316047891755,"holonomicRotation":0.0,"angularVelocity":0.9959851725933427,"holonomicAngularVelocity":0.0},{"time":3.445245494767346,"pose":{"rotation":{"radians":2.760615128771323},"translation":{"x":4.373528128000001,"y":3.125303871999999}},"velocity":-1.9452949364956633,"acceleration":2.999999999999965,"curvature":-0.5118518535624833,"holonomicRotation":0.0,"angularVelocity":0.9911769688340359,"holonomicAngularVelocity":0.0},{"time":3.4516129848867214,"pose":{"rotation":{"radians":2.7669264383269256},"translation":{"x":4.384998912000002,"y":3.120793087999999}},"velocity":-1.9261924661375385,"acceleration":3.000000000000035,"curvature":-0.5144021466205787,"holonomicRotation":0.0,"angularVelocity":0.9862404167759408,"holonomicAngularVelocity":0.0},{"time":3.4580395416568392,"pose":{"rotation":{"radians":2.773264568354321},"translation":{"x":4.3964896640000015,"y":3.1163583359999993}},"velocity":-1.9069127958271843,"acceleration":3.0,"curvature":-0.5169820141541447,"holonomicRotation":0.0,"angularVelocity":0.9811688175075026,"holonomicAngularVelocity":0.0},{"time":3.464526975326608,"pose":{"rotation":{"radians":2.7796298359767464},"translation":{"x":4.408000000000002,"y":3.111999999999999}},"velocity":-1.8874504948178785,"acceleration":2.999999999999966,"curvature":-0.5195909614569449,"holonomicRotation":0.0,"angularVelocity":0.9759552310949895,"holonomicAngularVelocity":0.0},{"time":3.4710771919545538,"pose":{"rotation":{"radians":2.7860225541595955},"translation":{"x":4.4195295360000015,"y":3.1077184639999995}},"velocity":-1.867799844934041,"acceleration":3.0,"curvature":-0.5222284682600655,"holonomicRotation":0.0,"angularVelocity":0.9705924628872172,"holonomicAngularVelocity":0.0},{"time":3.4776922004161537,"pose":{"rotation":{"radians":2.7924430315143596},"translation":{"x":4.431077888000002,"y":3.103514111999999}},"velocity":-1.847954819549241,"acceleration":3.0000000000000338,"curvature":-0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9650730483865126,"holonomicAngularVelocity":0.0},{"time":3.4843741200832428,"pose":{"rotation":{"radians":2.798891572096551},"translation":{"x":4.442644672000001,"y":3.0993873279999993}},"velocity":-1.8279090605479742,"acceleration":3.0000000000000333,"curvature":-0.527586946160825,"holonomicRotation":0.0,"angularVelocity":0.9593892367629828,"holonomicAngularVelocity":0.0},{"time":3.4911251892562345,"pose":{"rotation":{"radians":2.8053684751977617},"translation":{"x":4.454229504000002,"y":3.095338495999999}},"velocity":-1.8076558530289983,"acceleration":3.0,"curvature":-0.5303067413665304,"holonomicRotation":0.0,"angularVelocity":0.9535329728703047,"holonomicAngularVelocity":0.0},{"time":3.4979477744415766,"pose":{"rotation":{"radians":2.8118740351322016},"translation":{"x":4.465832000000002,"y":3.0913679999999997}},"velocity":-1.787188097472973,"acceleration":2.9999999999999676,"curvature":-0.533052742734141,"holonomicRotation":0.0,"angularVelocity":0.9474958775078796,"holonomicAngularVelocity":0.0},{"time":3.504844380580635,"pose":{"rotation":{"radians":2.818408541017755},"translation":{"x":4.477451776000002,"y":3.0874762239999995}},"velocity":-1.766498279055798,"acceleration":3.000000000000032,"curvature":-0.5358242899805569,"holonomicRotation":0.0,"angularVelocity":0.9412692255924409,"holonomicAngularVelocity":0.0},{"time":3.5118176623523034,"pose":{"rotation":{"radians":2.8249722765508114},"translation":{"x":4.489088448000001,"y":3.0836635519999995}},"velocity":-1.7455784337407918,"acceleration":2.999999999999968,"curvature":-0.53862069246313,"holonomicRotation":0.0,"angularVelocity":0.9348439222378784,"holonomicAngularVelocity":0.0},{"time":3.518870436690729,"pose":{"rotation":{"radians":2.831565519776004},"translation":{"x":4.500741632000002,"y":3.0799303679999994}},"velocity":-1.724420110725515,"acceleration":2.9999999999999685,"curvature":-0.5414412283907459,"holonomicRotation":0.0,"angularVelocity":0.9282104760898124,"holonomicAngularVelocity":0.0},{"time":3.526005696682038,"pose":{"rotation":{"radians":2.8381885428495615},"translation":{"x":4.512410944000001,"y":3.0762770559999995}},"velocity":-1.7030143307515877,"acceleration":3.000000000000031,"curvature":-0.5442851441519826,"holonomicRotation":0.0,"angularVelocity":0.9213589699954078,"holonomicAngularVelocity":0.0},{"time":3.533226627030828,"pose":{"rotation":{"radians":2.844841611798131},"translation":{"x":4.524096000000002,"y":3.0727039999999994}},"velocity":-1.6813515397052183,"acceleration":3.0,"curvature":-0.5471516533835759,"holonomicRotation":0.0,"angularVelocity":0.9142790279993414,"holonomicAngularVelocity":0.0},{"time":3.5405366213191094,"pose":{"rotation":{"radians":2.851524986270702},"translation":{"x":4.535796416000001,"y":3.0692115839999996}},"velocity":-1.6594215568403732,"acceleration":3.0,"curvature":-0.5500399363964437,"holonomicRotation":0.0,"angularVelocity":0.9069597788904417,"holonomicAngularVelocity":0.0},{"time":3.5479393013188334,"pose":{"rotation":{"radians":2.858238919286448},"translation":{"x":4.547511808000002,"y":3.0658001919999998}},"velocity":-1.6372135168412023,"acceleration":3.00000000000003,"curvature":-0.5529491392614659,"holonomicRotation":0.0,"angularVelocity":0.8993898149607107,"holonomicAngularVelocity":0.0},{"time":3.555438538665241,"pose":{"rotation":{"radians":2.86498365697578},"translation":{"x":4.559241792000002,"y":3.0624702079999992}},"velocity":-1.6147158048019792,"acceleration":2.9999999999999702,"curvature":-0.5558783732812413,"holonomicRotation":0.0,"angularVelocity":0.8915571460679171,"holonomicAngularVelocity":0.0},{"time":3.563038479254261,"pose":{"rotation":{"radians":2.8717594383176124},"translation":{"x":4.570985984000002,"y":3.0592220159999997}},"velocity":-1.5919159830349192,"acceleration":3.0000000000000293,"curvature":-0.5588267141256481,"holonomicRotation":0.0,"angularVelocity":0.883449147335363,"holonomicAngularVelocity":0.0},{"time":3.5707435707950577,"pose":{"rotation":{"radians":2.87856649486947},"translation":{"x":4.582744000000002,"y":3.0560559999999994}},"velocity":-1.5688007084125297,"acceleration":2.999999999999971,"curvature":-0.5617932012303778,"holonomicRotation":0.0,"angularVelocity":0.8750525005400022,"holonomicAngularVelocity":0.0},{"time":3.578558594031973,"pose":{"rotation":{"radians":2.885405050494711},"translation":{"x":4.594515456000002,"y":3.0529725439999993}},"velocity":-1.545355638701783,"acceleration":3.000000000000057,"curvature":-0.5647768371119463,"holonomicRotation":0.0,"angularVelocity":0.866353126952402,"holonomicAngularVelocity":0.0},{"time":3.586488698252195,"pose":{"rotation":{"radians":2.892275321082959},"translation":{"x":4.606299968000002,"y":3.0499720319999994}},"velocity":-1.5215653260411162,"acceleration":3.000000000000028,"curvature":-0.5677765867261405,"holonomicRotation":0.0,"angularVelocity":0.857336111143583,"holonomicAngularVelocity":0.0},{"time":3.594539441821749,"pose":{"rotation":{"radians":2.899177514266695},"translation":{"x":4.6180971520000025,"y":3.0470548479999997}},"velocity":-1.4974130953324531,"acceleration":3.0000000000000275,"curvature":-0.5707913768706009,"holonomicRotation":0.0,"angularVelocity":0.847985613554919,"holonomicAngularVelocity":0.0},{"time":3.602716838649498,"pose":{"rotation":{"radians":2.9061118291329553},"translation":{"x":4.629906624000001,"y":3.0442213759999994}},"velocity":-1.472880904849207,"acceleration":3.000000000000054,"curvature":-0.5738200956456002,"holonomicRotation":0.0,"angularVelocity":0.8382847700393182,"holonomicAngularVelocity":0.0},{"time":3.6110274116755643,"pose":{"rotation":{"radians":2.9130784559310063},"translation":{"x":4.641728000000002,"y":3.0414719999999993}},"velocity":-1.4479491857710078,"acceleration":3.0,"curvature":-0.576861591813262,"holonomicRotation":0.0,"angularVelocity":0.8282155756135112,"holonomicAngularVelocity":0.0},{"time":3.6194782547286612,"pose":{"rotation":{"radians":2.9200775757746467},"translation":{"x":4.653560896000002,"y":3.0388071039999995}},"velocity":-1.4225966566117165,"acceleration":2.999999999999974,"curvature":-0.5799146744073892,"holonomicRotation":0.0,"angularVelocity":0.8177587498553298,"holonomicAngularVelocity":0.0},{"time":3.6280771044120916,"pose":{"rotation":{"radians":2.9271093603419622},"translation":{"x":4.665404928000002,"y":3.0362270719999995}},"velocity":-1.3968001075614265,"acceleration":3.0000000000000258,"curvature":-0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8068935795491445,"holonomicAngularVelocity":0.0},{"time":3.6368324240818266,"pose":{"rotation":{"radians":2.934173971570372},"translation":{"x":4.6772597120000015,"y":3.0337322879999995}},"velocity":-1.37053414855222,"acceleration":3.0000000000000253,"curvature":-0.5860506332508155,"holonomicRotation":0.0,"angularVelocity":0.7955977342736981,"holonomicAngularVelocity":0.0},{"time":3.6457535025016057,"pose":{"rotation":{"radians":2.941271561348426},"translation":{"x":4.689124864000002,"y":3.0313231359999993}},"velocity":-1.3437709132928843,"acceleration":2.999999999999975,"curvature":-0.5891309246386679,"holonomicRotation":0.0,"angularVelocity":0.7838470488110904,"holonomicAngularVelocity":0.0},{"time":3.654850570439635,"pose":{"rotation":{"radians":2.9484022712044844},"translation":{"x":4.701000000000001,"y":3.0289999999999995}},"velocity":-1.316479709478796,"acceleration":2.9999999999999756,"curvature":-0.5922176320623127,"holonomicRotation":0.0,"angularVelocity":0.7716152648033164,"holonomicAngularVelocity":0.0},{"time":3.664134939366228,"pose":{"rotation":{"radians":2.955566231992309},"translation":{"x":4.712884736000002,"y":3.0267632639999995}},"velocity":-1.288626602699017,"acceleration":3.000000000000024,"curvature":-0.5953093595736683,"holonomicRotation":0.0,"angularVelocity":0.7588737220632854,"holonomicAngularVelocity":0.0},{"time":3.673619167601797,"pose":{"rotation":{"radians":2.962763563574333},"translation":{"x":4.724778688000002,"y":3.0246133119999996}},"velocity":-1.2601739179923108,"acceleration":3.0,"curvature":-0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7455909869329629,"holonomicAngularVelocity":0.0},{"time":3.683317260866003,"pose":{"rotation":{"radians":2.9699943745025603},"translation":{"x":4.736681472000003,"y":3.0225505279999996}},"velocity":-1.2310796381996918,"acceleration":3.0,"curvature":-0.6015020816536214,"holonomicRotation":0.0,"angularVelocity":0.731732401397394,"holonomicAngularVelocity":0.0},{"time":3.6932449163600993,"pose":{"rotation":{"radians":2.9772587616975015},"translation":{"x":4.748592704000002,"y":3.0205752959999996}},"velocity":-1.201296671717403,"acceleration":2.999999999999978,"curvature":-0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.7172595313835017,"holonomicAngularVelocity":0.0},{"time":3.703419822526085,"pose":{"rotation":{"radians":2.984556810125987},"translation":{"x":4.760512000000002,"y":3.0186879999999996}},"velocity":-1.1707719532194472,"acceleration":3.0,"curvature":-0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7021294852003142,"holonomicAngularVelocity":0.0},{"time":3.7138620308453802,"pose":{"rotation":{"radians":2.9918885924775687},"translation":{"x":4.772438976000002,"y":3.0168890239999997}},"velocity":-1.1394453282615602,"acceleration":3.0,"curvature":-0.6107915042418585,"holonomicRotation":0.0,"angularVelocity":0.6862940629818453,"holonomicAngularVelocity":0.0},{"time":3.7245944220466605,"pose":{"rotation":{"radians":2.999254168840606},"translation":{"x":4.784373248000002,"y":3.0151787519999997}},"velocity":-1.107248154657719,"acceleration":2.999999999999979,"curvature":-0.6138816870079442,"holonomicRotation":0.0,"angularVelocity":0.6696986828773126,"holonomicAngularVelocity":0.0},{"time":3.7356432977972824,"pose":{"rotation":{"radians":3.0066535863780723},"translation":{"x":4.796314432000002,"y":3.0135575679999995}},"velocity":-1.0741015274058545,"acceleration":3.0,"curvature":-0.6169659427695113,"holonomicRotation":0.0,"angularVelocity":0.6522810081297855,"holonomicAngularVelocity":0.0},{"time":3.7470391418173126,"pose":{"rotation":{"radians":3.0140868790039477},"translation":{"x":4.808262144000002,"y":3.0120258559999997}},"velocity":-1.039913995345763,"acceleration":2.9999999999999805,"curvature":-0.6200425403987194,"holonomicRotation":0.0,"angularVelocity":0.6339691664026881,"holonomicAngularVelocity":0.0},{"time":3.7588176137867158,"pose":{"rotation":{"radians":3.0215540670598875},"translation":{"x":4.820216000000001,"y":3.0105839999999997}},"velocity":-1.004578579437554,"acceleration":3.0000000000000187,"curvature":-0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6146794031013395,"holonomicAngularVelocity":0.0},{"time":3.7710208694945617,"pose":{"rotation":{"radians":3.0290551569942794},"translation":{"x":4.8321756160000024,"y":3.0092323839999997}},"velocity":-0.9679688123140158,"acceleration":2.9999999999999636,"curvature":-0.6261656322069277,"holonomicRotation":0.0,"angularVelocity":0.5943129313748355,"holonomicAngularVelocity":0.0},{"time":3.783699348541738,"pose":{"rotation":{"radians":3.036590141042181},"translation":{"x":4.844140608000002,"y":3.007971392}},"velocity":-0.9299333751724882,"acceleration":2.999999999999991,"curvature":-0.6292084609699685,"holonomicRotation":0.0,"angularVelocity":0.5727516148207152,"holonomicAngularVelocity":0.0},{"time":3.7969142495050097,"pose":{"rotation":{"radians":3.0441589969085907},"translation":{"x":4.856110592000002,"y":3.006801408}},"velocity":-0.8902886722826729,"acceleration":2.999999999999983,"curvature":-0.6322363020068372,"holonomicRotation":0.0,"angularVelocity":0.549851904665754,"holonomicAngularVelocity":0.0},{"time":3.810741046286905,"pose":{"rotation":{"radians":3.051761687454542},"translation":{"x":4.868085184000002,"y":3.0057228159999996}},"velocity":-0.8488082819369874,"acceleration":2.999999999999984,"curvature":-0.6352472246674356,"holonomicRotation":0.0,"angularVelocity":0.5254360802848955,"holonomicAngularVelocity":0.0},{"time":3.8252746369917863,"pose":{"rotation":{"radians":3.05939816038698},"translation":{"x":4.880064000000003,"y":3.004736}},"velocity":-0.8052075098223431,"acceleration":3.000000000000015,"curvature":-0.6382392605344301,"holonomicRotation":0.0,"angularVelocity":0.49927915802747,"holonomicAngularVelocity":0.0},{"time":3.8406371600262545,"pose":{"rotation":{"radians":3.067068347952807},"translation":{"x":4.8920466560000015,"y":3.003841344}},"velocity":-0.759119940718938,"acceleration":3.0000000000000218,"curvature":-0.6412104045156426,"holonomicRotation":0.0,"angularVelocity":0.4710885081646451,"holonomicAngularVelocity":0.0},{"time":3.8569903899445377,"pose":{"rotation":{"radians":3.0747721666386845},"translation":{"x":4.904032768000002,"y":3.003039232}},"velocity":-0.7100602509640875,"acceleration":3.0000000000000204,"curvature":-0.6441586157880042,"holonomicRotation":0.0,"angularVelocity":0.4404704670619436,"holonomicAngularVelocity":0.0},{"time":3.874556494407223,"pose":{"rotation":{"radians":3.082509516875822},"translation":{"x":4.916021952000001,"y":3.0023300479999997}},"velocity":-0.6573619375760337,"acceleration":2.9999999999999876,"curvature":-0.6470818190817547,"holonomicRotation":0.0,"angularVelocity":0.40687199814352293,"holonomicAngularVelocity":0.0},{"time":3.8936552918455964,"pose":{"rotation":{"radians":3.0902802827517117},"translation":{"x":4.928013824000002,"y":3.001714176}},"velocity":-0.6000655452609113,"acceleration":3.0000000000000115,"curvature":-0.6499779058913984,"holonomicRotation":0.0,"angularVelocity":0.3694696536401581,"holonomicAngularVelocity":0.0},{"time":3.9147775921479706,"pose":{"rotation":{"radians":3.098084331728513},"translation":{"x":4.9400080000000015,"y":3.001192}},"velocity":-0.5366986443537898,"acceleration":3.000000000000016,"curvature":-0.6528447360474303,"holonomicRotation":0.0,"angularVelocity":0.3269313584685586,"holonomicAngularVelocity":0.0},{"time":3.938749543564584,"pose":{"rotation":{"radians":3.105921514370289},"translation":{"x":4.952004096000002,"y":3.000763904}},"velocity":-0.4647827901039487,"acceleration":3.000000000000002,"curvature":-0.6556801391027219,"holonomicRotation":0.0,"angularVelocity":0.2768026259312415,"holonomicAngularVelocity":0.0},{"time":3.9671818956098828,"pose":{"rotation":{"radians":3.113791664077829},"translation":{"x":4.964001728000001,"y":3.000430272}},"velocity":-0.3794857339680527,"acceleration":2.999999999999996,"curvature":-0.6584819160890972,"holonomicRotation":0.0,"angularVelocity":0.21329879823738962,"holonomicAngularVelocity":0.0},{"time":4.004232890837561,"pose":{"rotation":{"radians":3.1216945968333922},"translation":{"x":4.976000512000002,"y":3.000191488}},"velocity":-0.26833274828501735,"acceleration":2.9999999999999942,"curvature":-0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.08872022710441509,"holonomicAngularVelocity":0.0},{"time":4.0936771402659,"pose":{"rotation":{"radians":3.1296301109558584},"translation":{"x":4.988000064000001,"y":3.000047936}},"velocity":0,"acceleration":3.0000000000000058,"curvature":-0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json new file mode 100644 index 0000000..6aeafc6 --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"pose":{"rotation":{"radians":0.003994666723425411},"translation":{"x":1.0,"y":3.0}},"velocity":0,"acceleration":3.0,"curvature":0.6639756640813854,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":0.08944283740393223,"pose":{"rotation":{"radians":0.003994666723425411},"translation":{"x":1.011999936,"y":3.000047936}},"velocity":0.2683285122117967,"acceleration":3.0,"curvature":0.6639756640813854,"holonomicRotation":0.0,"angularVelocity":0.21506066046275568,"holonomicAngularVelocity":0.0},{"time":0.12649227216974931,"pose":{"rotation":{"radians":0.011962542633933815},"translation":{"x":1.023999488,"y":3.000191488}},"velocity":0.37947681650924797,"acceleration":3.0000000000000004,"curvature":0.6612478412834536,"holonomicRotation":0.0,"angularVelocity":0.2791196654351322,"holonomicAngularVelocity":0.0},{"time":0.15492278103446244,"pose":{"rotation":{"radians":0.019898056756403104},"translation":{"x":1.035998272,"y":3.000430272}},"velocity":0.4647683431033873,"acceleration":2.999999999999999,"curvature":0.6584819160891061,"holonomicRotation":0.0,"angularVelocity":0.3297027488703112,"holonomicAngularVelocity":0.0},{"time":0.1788926532379475,"pose":{"rotation":{"radians":0.027800989511962193},"translation":{"x":1.047995904,"y":3.000763904}},"velocity":0.5366779597138426,"acceleration":3.000000000000002,"curvature":0.6556801390904735,"holonomicRotation":0.0,"angularVelocity":0.3726393102517324,"holonomicAngularVelocity":0.0},{"time":0.20001267329763361,"pose":{"rotation":{"radians":0.035671139219506376},"translation":{"x":1.059992,"y":3.001192}},"velocity":0.600038019892901,"acceleration":3.0000000000000027,"curvature":0.6528447360474213,"holonomicRotation":0.0,"angularVelocity":0.41040227730614015,"holonomicAngularVelocity":0.0},{"time":0.21910901626437457,"pose":{"rotation":{"radians":0.043508321861275956},"translation":{"x":1.071986176,"y":3.001714176}},"velocity":0.6573270487931238,"acceleration":2.999999999999997,"curvature":0.6499779059037429,"holonomicRotation":0.0,"angularVelocity":0.44433343266184905,"holonomicAngularVelocity":0.0},{"time":0.23667251341123324,"pose":{"rotation":{"radians":0.05131237083808626},"translation":{"x":1.083978048,"y":3.0023300479999997}},"velocity":0.7100175402336998,"acceleration":3.0,"curvature":0.6470818190817624,"holonomicRotation":0.0,"angularVelocity":0.4752620325524382,"holonomicAngularVelocity":0.0},{"time":0.2530230008132736,"pose":{"rotation":{"radians":0.059083136714003004},"translation":{"x":1.095967232,"y":3.0030392320000003}},"velocity":0.7590690024398208,"acceleration":2.9999999999999933,"curvature":0.6441586157879952,"holonomicRotation":0.0,"angularVelocity":0.503744881604611,"holonomicAngularVelocity":0.0},{"time":0.2683826610691287,"pose":{"rotation":{"radians":0.06682048695107579},"translation":{"x":1.107953344,"y":3.003841344}},"velocity":0.8051479832073861,"acceleration":3.0,"curvature":0.6412104045031461,"holonomicRotation":0.0,"angularVelocity":0.5301782294749301,"holonomicAngularVelocity":0.0},{"time":0.28291328163710894,"pose":{"rotation":{"radians":0.07452430563697954},"translation":{"x":1.119936,"y":3.004736}},"velocity":0.8487398449113267,"acceleration":2.999999999999996,"curvature":0.6382392605344197,"holonomicRotation":0.0,"angularVelocity":0.5548565565084475,"holonomicAngularVelocity":0.0},{"time":0.29673701224983334,"pose":{"rotation":{"radians":0.08219449320285621},"translation":{"x":1.131914816,"y":3.005722816}},"velocity":0.8902110367494999,"acceleration":2.999999999999996,"curvature":0.6352472246423004,"holonomicRotation":0.0,"angularVelocity":0.578006214771147,"holonomicAngularVelocity":0.0},{"time":0.3099487610809687,"pose":{"rotation":{"radians":0.08983096613524788},"translation":{"x":1.1438894080000002,"y":3.0068014080000003}},"velocity":0.9298462832429059,"acceleration":2.999999999999996,"curvature":0.6322363019942066,"holonomicRotation":0.0,"angularVelocity":0.5998059641247867,"holonomicAngularVelocity":0.0},{"time":0.32262401107954614,"pose":{"rotation":{"radians":0.09743365668116732},"translation":{"x":1.1558593920000002,"y":3.007971392}},"velocity":0.9678720332386382,"acceleration":3.0000000000000044,"curvature":0.6292084609699508,"holonomicRotation":0.0,"angularVelocity":0.6204001606264152,"holonomicAngularVelocity":0.0},{"time":0.33482396902093875,"pose":{"rotation":{"radians":0.10500251254764281},"translation":{"x":1.1678243840000002,"y":3.009232384}},"velocity":1.004471907062816,"acceleration":3.0,"curvature":0.6261656322069515,"holonomicRotation":0.0,"angularVelocity":0.6399075802749538,"holonomicAngularVelocity":0.0},{"time":0.34659908199060496,"pose":{"rotation":{"radians":0.11253749659552614},"translation":{"x":1.1797840000000002,"y":3.010584}},"velocity":1.0397972459718146,"acceleration":2.999999999999986,"curvature":0.6231097077741713,"holonomicRotation":0.0,"angularVelocity":0.6584275258643302,"holonomicAngularVelocity":0.0},{"time":0.35799151265261864,"pose":{"rotation":{"radians":0.12003858652989674},"translation":{"x":1.191737856,"y":3.012025856}},"velocity":1.0739745379578558,"acceleration":3.0000000000000195,"curvature":0.6200425403858878,"holonomicRotation":0.0,"angularVelocity":0.6760441751840484,"holonomicAngularVelocity":0.0},{"time":0.3690369270353713,"pose":{"rotation":{"radians":0.12750577458585077},"translation":{"x":1.203685568,"y":3.013557568}},"velocity":1.1071107811061136,"acceleration":2.99999999999999,"curvature":0.6169659427566434,"holonomicRotation":0.0,"angularVelocity":0.6928297531996462,"holonomicAngularVelocity":0.0},{"time":0.3797658147476807,"pose":{"rotation":{"radians":0.1349390672116768},"translation":{"x":1.2156267520000001,"y":3.0151787519999997}},"velocity":1.1392974442430417,"acceleration":2.99999999999999,"curvature":0.6138816870208452,"holonomicRotation":0.0,"angularVelocity":0.7088468950979862,"holonomicAngularVelocity":0.0},{"time":0.39020448294066074,"pose":{"rotation":{"radians":0.14233848474922883},"translation":{"x":1.2275610240000001,"y":3.016889024}},"velocity":1.170613448821982,"acceleration":3.0000000000000053,"curvature":0.6107915042289077,"holonomicRotation":0.0,"angularVelocity":0.7241504390542802,"holonomicAngularVelocity":0.0},{"time":0.40037581746696743,"pose":{"rotation":{"radians":0.1497040611122218},"translation":{"x":1.2394880000000001,"y":3.018688}},"velocity":1.2011274524009021,"acceleration":3.000000000000011,"curvature":0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7387888084367961,"holonomicAngularVelocity":0.0},{"time":0.4102998746100373,"pose":{"rotation":{"radians":0.15703584346380906},"translation":{"x":1.2514072960000002,"y":3.020575296}},"velocity":1.2308996238301118,"acceleration":3.0,"curvature":0.6046000745612534,"holonomicRotation":0.0,"angularVelocity":0.7528050925445897,"holonomicAngularVelocity":0.0},{"time":0.4199943473238247,"pose":{"rotation":{"radians":0.16433389189228276},"translation":{"x":1.263318528,"y":3.022550528}},"velocity":1.2599830419714737,"acceleration":2.9999999999999827,"curvature":0.6015020816536292,"holonomicRotation":0.0,"angularVelocity":0.7662379027190784,"holonomicAngularVelocity":0.0},{"time":0.4294749370586641,"pose":{"rotation":{"radians":0.17159827908724612},"translation":{"x":1.2752213120000002,"y":3.024613312}},"velocity":1.288424811175992,"acceleration":3.0000000000000058,"curvature":0.598404669370064,"holonomicRotation":0.0,"angularVelocity":0.7791220580680622,"holonomicAngularVelocity":0.0},{"time":0.4387556535437481,"pose":{"rotation":{"radians":0.178829090015451},"translation":{"x":1.2871152640000003,"y":3.026763264}},"velocity":1.316266960631244,"acceleration":2.9999999999999942,"curvature":0.595309359586865,"holonomicRotation":0.0,"angularVelocity":0.7914891405693073,"holonomicAngularVelocity":0.0},{"time":0.4478490588896583,"pose":{"rotation":{"radians":0.1860264215975338},"translation":{"x":1.2990000000000002,"y":3.0290000000000004}},"velocity":1.3435471766689746,"acceleration":3.0,"curvature":0.5922176320623258,"holonomicRotation":0.0,"angularVelocity":0.8033679485304233,"holonomicAngularVelocity":0.0},{"time":0.4567664681550803,"pose":{"rotation":{"radians":0.19319038238530206},"translation":{"x":1.3108751360000002,"y":3.031323136}},"velocity":1.3702994044652408,"acceleration":3.0000000000000187,"curvature":0.5891309246519478,"holonomicRotation":0.0,"angularVelocity":0.8147848704001008,"holonomicAngularVelocity":0.0},{"time":0.4655181155102056,"pose":{"rotation":{"radians":0.2003210922413352},"translation":{"x":1.3227402880000003,"y":3.033732288}},"velocity":1.3965543465306167,"acceleration":3.000000000000006,"curvature":0.586050633250819,"holonomicRotation":0.0,"angularVelocity":0.8257641950388135,"holonomicAngularVelocity":0.0},{"time":0.4741132929479354,"pose":{"rotation":{"radians":0.20741868201941793},"translation":{"x":1.3345950720000002,"y":3.036227072}},"velocity":1.4223398788438062,"acceleration":3.0000000000000067,"curvature":0.5829781121894732,"holonomicRotation":0.0,"angularVelocity":0.8363283714373475,"holonomicAngularVelocity":0.0},{"time":0.48256046689262294,"pose":{"rotation":{"radians":0.21448329324782645},"translation":{"x":1.3464391040000003,"y":3.038807104}},"velocity":1.4476814006778689,"acceleration":3.0000000000000133,"curvature":0.5799146744073622,"holonomicRotation":0.0,"angularVelocity":0.8464982273774265,"holonomicAngularVelocity":0.0},{"time":0.4908673768658824,"pose":{"rotation":{"radians":0.22151507781517443},"translation":{"x":1.3582720000000004,"y":3.041472}},"velocity":1.472602130597647,"acceleration":2.9999999999999867,"curvature":0.576861591813293,"holonomicRotation":0.0,"angularVelocity":0.8562931546703403,"holonomicAngularVelocity":0.0},{"time":0.49904111947427243,"pose":{"rotation":{"radians":0.22851419765877612},"translation":{"x":1.3700933760000003,"y":3.044221376}},"velocity":1.4971233584228174,"acceleration":3.0000000000000204,"curvature":0.5738200956320813,"holonomicRotation":0.0,"angularVelocity":0.865731267137874,"holonomicAngularVelocity":0.0},{"time":0.5070882203039146,"pose":{"rotation":{"radians":0.2354808244568085},"translation":{"x":1.3819028480000004,"y":3.047054848}},"velocity":1.521264660911744,"acceleration":2.9999999999999862,"curvature":0.5707913768705666,"holonomicRotation":0.0,"angularVelocity":0.8748295358184321,"holonomicAngularVelocity":0.0},{"time":0.5150146957856219,"pose":{"rotation":{"radians":0.24241513932314662},"translation":{"x":1.3937000320000004,"y":3.0499720320000003}},"velocity":1.5450440873568656,"acceleration":3.0,"curvature":0.5677765867125653,"holonomicRotation":0.0,"angularVelocity":0.8836039055955357,"holonomicAngularVelocity":0.0},{"time":0.5228261066903811,"pose":{"rotation":{"radians":0.24931733250680344},"translation":{"x":1.4054845440000003,"y":3.0529725439999997}},"velocity":1.5684783200711434,"acceleration":3.000000000000014,"curvature":0.5647768371119535,"holonomicRotation":0.0,"angularVelocity":0.8920693959970966,"holonomicAngularVelocity":0.0},{"time":0.5305276045997832,"pose":{"rotation":{"radians":0.2561876030951167},"translation":{"x":1.4172560000000003,"y":3.0560560000000003}},"velocity":1.5915828137993497,"acceleration":3.0,"curvature":0.5617932012303706,"holonomicRotation":0.0,"angularVelocity":0.9002401887205707,"holonomicAngularVelocity":0.0},{"time":0.5381239724478855,"pose":{"rotation":{"radians":0.2630261587202831},"translation":{"x":1.4290140160000004,"y":3.059222016}},"velocity":1.6143719173436566,"acceleration":3.0000000000000147,"curvature":0.5588267141256478,"holonomicRotation":0.0,"angularVelocity":0.9081297043799728,"holonomicAngularVelocity":0.0},{"time":0.545619660034259,"pose":{"rotation":{"radians":0.26983321527222115},"translation":{"x":1.4407582080000003,"y":3.062470208}},"velocity":1.636858980102777,"acceleration":2.9999999999999853,"curvature":0.5558783732950194,"holonomicRotation":0.0,"angularVelocity":0.9157506692832025,"holonomicAngularVelocity":0.0},{"time":0.5530188152508757,"pose":{"rotation":{"radians":0.2766089966139682},"translation":{"x":1.4524881920000003,"y":3.065800192}},"velocity":1.6590564457526273,"acceleration":3.000000000000015,"curvature":0.5529491392614916,"holonomicRotation":0.0,"angularVelocity":0.9231151746218296,"holonomicAngularVelocity":0.0},{"time":0.5603253116392223,"pose":{"rotation":{"radians":0.2833537343033705},"translation":{"x":1.4642035840000003,"y":3.069211584}},"velocity":1.680975934917667,"acceleration":2.999999999999985,"curvature":0.550039936396451,"holonomicRotation":0.0,"angularVelocity":0.930234728482705,"holonomicAngularVelocity":0.0},{"time":0.5675427727919045,"pose":{"rotation":{"radians":0.2900676673190703},"translation":{"x":1.4759040000000003,"y":3.072704}},"velocity":1.7026283183757136,"acceleration":3.0000000000000155,"curvature":0.5471516534114057,"holonomicRotation":0.0,"angularVelocity":0.9371203020376715,"holonomicAngularVelocity":0.0},{"time":0.5746745940299195,"pose":{"rotation":{"radians":0.29675104179171763},"translation":{"x":1.4875890560000005,"y":3.0762770560000003}},"velocity":1.7240237820897588,"acceleration":3.0000000000000155,"curvature":0.5442851441519642,"holonomicRotation":0.0,"angularVelocity":0.9437823705764029,"holonomicAngularVelocity":0.0},{"time":0.5817239617188056,"pose":{"rotation":{"radians":0.30340411074019924},"translation":{"x":1.4992583680000005,"y":3.0799303680000003}},"velocity":1.745171885156417,"acceleration":3.0,"curvature":0.5414412284047404,"holonomicRotation":0.0,"angularVelocity":0.9502309502250106,"holonomicAngularVelocity":0.0},{"time":0.5886938705309835,"pose":{"rotation":{"radians":0.3100271338137768},"translation":{"x":1.5109115520000005,"y":3.083663552}},"velocity":1.766081611592951,"acceleration":3.0,"curvature":0.538620692477182,"holonomicRotation":0.0,"angularVelocity":0.9564756306438044,"holonomicAngularVelocity":0.0},{"time":0.595587138915401,"pose":{"rotation":{"radians":0.3166203770389595},"translation":{"x":1.5225482240000003,"y":3.087476224}},"velocity":1.7867614167462034,"acceleration":2.999999999999984,"curvature":0.5358242899805497,"holonomicRotation":0.0,"angularVelocity":0.9625256044965456,"holonomicAngularVelocity":0.0},{"time":0.6024064229972305,"pose":{"rotation":{"radians":0.32318411257205604},"translation":{"x":1.5341680000000004,"y":3.091368}},"velocity":1.8072192689916917,"acceleration":3.0000000000000164,"curvature":0.5330527427341295,"holonomicRotation":0.0,"angularVelocity":0.9683896940146024,"holonomicAngularVelocity":0.0},{"time":0.609154229098364,"pose":{"rotation":{"radians":0.32971861845760264},"translation":{"x":1.5457704960000005,"y":3.095338496}},"velocity":1.8274626872950925,"acceleration":3.0000000000000164,"curvature":0.530306741366546,"holonomicRotation":0.0,"angularVelocity":0.9740763749015857,"holonomicAngularVelocity":0.0},{"time":0.6158329250426408,"pose":{"rotation":{"radians":0.33622417839207364},"translation":{"x":1.5573553280000003,"y":3.099387328}},"velocity":1.8474987751279226,"acceleration":2.9999999999999836,"curvature":0.5275869461466284,"holonomicRotation":0.0,"angularVelocity":0.9795937980259228,"holonomicAngularVelocity":0.0},{"time":0.6224447503871835,"pose":{"rotation":{"radians":0.3427010814932183},"translation":{"x":1.5689221120000005,"y":3.103514112}},"velocity":1.867334251161551,"acceleration":3.000000000000017,"curvature":0.5248939877909048,"holonomicRotation":0.0,"angularVelocity":0.9849498091847217,"holonomicAngularVelocity":0.0},{"time":0.6289918257021776,"pose":{"rotation":{"radians":0.34914962207543976},"translation":{"x":1.5804704640000005,"y":3.1077184640000004}},"velocity":1.8869754771065332,"acceleration":3.0,"curvature":0.5222284682600525,"holonomicRotation":0.0,"angularVelocity":0.9901519669517042,"holonomicAngularVelocity":0.0},{"time":0.6354761610052784,"pose":{"rotation":{"radians":0.35557009943017936},"translation":{"x":1.5920000000000005,"y":3.112}},"velocity":1.9064284830158356,"acceleration":3.0,"curvature":0.5195909614569448,"holonomicRotation":0.0,"angularVelocity":0.995207559235847,"holonomicAngularVelocity":0.0},{"time":0.6418996634430969,"pose":{"rotation":{"radians":0.36196281761306626},"translation":{"x":1.6035103360000005,"y":3.1163583360000002}},"velocity":1.925698990329291,"acceleration":2.9999999999999654,"curvature":0.5169820141397625,"holonomicRotation":0.0,"angularVelocity":1.0001236180941289,"holonomicAngularVelocity":0.0},{"time":0.6482641443004898,"pose":{"rotation":{"radians":0.3683280852354529},"translation":{"x":1.6150010880000005,"y":3.120793088}},"velocity":1.9447924329014699,"acceleration":3.0000000000000173,"curvature":0.5144021466205864,"holonomicRotation":0.0,"angularVelocity":1.0049069337160952,"holonomicAngularVelocity":0.0},{"time":0.654571325408339,"pose":{"rotation":{"radians":0.37466621526293364},"translation":{"x":1.6264718720000004,"y":3.1253038720000004}},"velocity":1.963713976225017,"acceleration":2.9999999999999822,"curvature":0.5118518535480218,"holonomicRotation":0.0,"angularVelocity":1.0095640669411767,"holonomicAngularVelocity":0.0},{"time":0.6608228450118765,"pose":{"rotation":{"radians":0.3809775248184435},"translation":{"x":1.6379223040000006,"y":3.1298903040000003}},"velocity":1.9824685350356297,"acceleration":3.0,"curvature":0.5093316047891678,"holonomicRotation":0.0,"angularVelocity":1.0141013611142926,"holonomicAngularVelocity":0.0},{"time":0.6670202631541803,"pose":{"rotation":{"radians":0.3872623349919482},"translation":{"x":1.6493520000000006,"y":3.1345520000000002}},"velocity":2.001060789462541,"acceleration":2.9999999999999822,"curvature":0.5068418460483123,"holonomicRotation":0.0,"angularVelocity":1.0185249527914209,"holonomicAngularVelocity":0.0},{"time":0.6731650666230385,"pose":{"rotation":{"radians":0.3935209706549796},"translation":{"x":1.6607605760000006,"y":3.139288576}},"velocity":2.019495199869116,"acceleration":3.000000000000036,"curvature":0.5043829997706955,"holonomicRotation":0.0,"angularVelocity":1.0228407818457754,"holonomicAngularVelocity":0.0},{"time":0.6792586735038131,"pose":{"rotation":{"radians":0.3997537602811718},"translation":{"x":1.6721476480000006,"y":3.144099648}},"velocity":2.0377760205114397,"acceleration":3.000000000000018,"curvature":0.5019554658535227,"holonomicRotation":0.0,"angularVelocity":1.0270546007967487,"holonomicAngularVelocity":0.0},{"time":0.6853024373760951,"pose":{"rotation":{"radians":0.4059610357723282},"translation":{"x":1.6835128320000006,"y":3.1489848320000005}},"velocity":2.055907312128286,"acceleration":3.000000000000018,"curvature":0.4995596223797258,"holonomicRotation":0.0,"angularVelocity":1.0311719834309776,"holonomicAngularVelocity":0.0},{"time":0.6912976511877287,"pose":{"rotation":{"radians":0.41214313228956323},"translation":{"x":1.6948557440000005,"y":3.153943744}},"velocity":2.073892953563187,"acceleration":3.0000000000000555,"curvature":0.497195826433042,"holonomicRotation":0.0,"angularVelocity":1.0351983330346652,"holonomicAngularVelocity":0.0},{"time":0.6972455508361,"pose":{"rotation":{"radians":0.41830038809061465},"translation":{"x":1.7061760000000006,"y":3.158976}},"velocity":2.0917366525083008,"acceleration":3.0,"curvature":0.49486441475959786,"holonomicRotation":0.0,"angularVelocity":1.0391388898355578,"holonomicAngularVelocity":0.0},{"time":0.7031473184833589,"pose":{"rotation":{"radians":0.4244331443716547},"translation":{"x":1.7174732160000006,"y":3.164081216}},"velocity":2.1094419554500776,"acceleration":3.0000000000000187,"curvature":0.49256570452373255,"holonomicRotation":0.0,"angularVelocity":1.0429987382017707,"holonomicAngularVelocity":0.0},{"time":0.7090040856294209,"pose":{"rotation":{"radians":0.4305417451149389},"translation":{"x":1.7287470080000005,"y":3.1692590080000005}},"velocity":2.1270122568882632,"acceleration":2.999999999999943,"curvature":0.4902999940555179,"holonomicRotation":0.0,"angularVelocity":1.0467828132720296,"holonomicAngularVelocity":0.0},{"time":0.7148169359641001,"pose":{"rotation":{"radians":0.43662653694140374},"translation":{"x":1.7399969920000007,"y":3.1745089920000003}},"velocity":2.144450807892301,"acceleration":3.0,"curvature":0.48806756353004915,"holonomicRotation":0.0,"angularVelocity":1.0504959073278146,"holonomicAngularVelocity":0.0},{"time":0.7205869080175377,"pose":{"rotation":{"radians":0.44268786896893575},"translation":{"x":1.7512227840000005,"y":3.1798307840000004}},"velocity":2.1617607240526135,"acceleration":2.999999999999981,"curvature":0.48586867565117137,"holonomicRotation":0.0,"angularVelocity":1.0541426755241503,"holonomicAngularVelocity":0.0},{"time":0.7263149976261485,"pose":{"rotation":{"radians":0.44872609267459884},"translation":{"x":1.7624240000000007,"y":3.1852240000000003}},"velocity":2.178944992878446,"acceleration":3.0000000000000195,"curvature":0.4837035763245057,"holonomicRotation":0.0,"angularVelocity":1.057727641711773,"holonomicAngularVelocity":0.0},{"time":0.7320021602295974,"pose":{"rotation":{"radians":0.45474156176317626},"translation":{"x":1.7736002560000006,"y":3.190688256}},"velocity":2.196006480688793,"acceleration":3.0,"curvature":0.48157249540881814,"holonomicRotation":0.0,"angularVelocity":1.0612552035501235,"holonomicAngularVelocity":0.0},{"time":0.7376493130127955,"pose":{"rotation":{"radians":0.46073463203958775},"translation":{"x":1.7847511680000006,"y":3.1962231680000004}},"velocity":2.212947939038387,"acceleration":2.9999999999999605,"curvature":0.47947564724702235,"holonomicRotation":0.0,"angularVelocity":1.064729637583078,"holonomicAngularVelocity":0.0},{"time":0.7432573369055535,"pose":{"rotation":{"radians":0.4667056612864813},"translation":{"x":1.7958763520000005,"y":3.2018283520000006}},"velocity":2.229772010716661,"acceleration":3.0,"curvature":0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0681551040334438,"holonomicAngularVelocity":0.0},{"time":0.7488270784513326,"pose":{"rotation":{"radians":0.4726550091467523},"translation":{"x":1.8069754240000007,"y":3.2075034240000004}},"velocity":2.246481235353998,"acceleration":2.99999999999994,"curvature":0.47538543331431704,"holonomicRotation":0.0,"angularVelocity":1.0715356512801077,"holonomicAngularVelocity":0.0},{"time":0.7543593515554528,"pose":{"rotation":{"radians":0.47858303701043514},"translation":{"x":1.8180480000000006,"y":3.2132480000000005}},"velocity":2.2630780546663583,"acceleration":2.99999999999998,"curvature":0.47339242474423837,"holonomicRotation":0.0,"angularVelocity":1.0748752201197043,"holonomicAngularVelocity":0.0},{"time":0.7598549391221702,"pose":{"rotation":{"radians":0.48449010790589764},"translation":{"x":1.8290936960000006,"y":3.2190616960000002}},"velocity":2.2795648173665106,"acceleration":3.00000000000002,"curvature":0.4714343645997835,"holonomicRotation":0.0,"angularVelocity":1.078177648009616,"holonomicAngularVelocity":0.0},{"time":0.7653145945891694,"pose":{"rotation":{"radians":0.4903765863962497},"translation":{"x":1.8401121280000006,"y":3.2249441280000006}},"velocity":2.2959437837675085,"acceleration":3.000000000000041,"curvature":0.46951139933779384,"holonomicRotation":0.0,"angularVelocity":1.081446672778329,"holonomicAngularVelocity":0.0},{"time":0.7707390433672545,"pose":{"rotation":{"radians":0.49624283847896633},"translation":{"x":1.8511029120000007,"y":3.230894912}},"velocity":2.312217130101764,"acceleration":3.0000000000000204,"curvature":0.4676236637211531,"holonomicRotation":0.0,"angularVelocity":1.084685936629946,"holonomicAngularVelocity":0.0},{"time":0.7761289841923315,"pose":{"rotation":{"radians":0.5020892314911949},"translation":{"x":1.8620656640000006,"y":3.2369136640000002}},"velocity":2.328386952576995,"acceleration":3.0000000000000617,"curvature":0.465771281161275,"holonomicRotation":0.0,"angularVelocity":1.087898989421331,"holonomicAngularVelocity":0.0},{"time":0.7814850903961527,"pose":{"rotation":{"radians":0.5079161340175653},"translation":{"x":1.8730000000000007,"y":3.2430000000000003}},"velocity":2.3444552711884588,"acceleration":3.0,"curvature":0.4639543644847911,"holonomicRotation":0.0,"angularVelocity":1.091089292363366,"holonomicAngularVelocity":0.0},{"time":0.78680801110174,"pose":{"rotation":{"radians":0.5137239158035309},"translation":{"x":1.8839055360000008,"y":3.249153536}},"velocity":2.360424033305221,"acceleration":3.0,"curvature":0.462173016289964,"holonomicRotation":0.0,"angularVelocity":1.0942602211599142,"holonomicAngularVelocity":0.0},{"time":0.7920983723488966,"pose":{"rotation":{"radians":0.5195129476718603},"translation":{"x":1.8947818880000007,"y":3.2553738880000003}},"velocity":2.376295117046691,"acceleration":3.000000000000063,"curvature":0.4604273295606459,"holonomicRotation":0.0,"angularVelocity":1.0974150691626414,"holonomicAngularVelocity":0.0},{"time":0.7973567781547642,"pose":{"rotation":{"radians":0.5252836014429918},"translation":{"x":1.9056286720000006,"y":3.2616606720000005}},"velocity":2.392070334464294,"acceleration":3.0000000000000213,"curvature":0.4587173881423953,"holonomicRotation":0.0,"angularVelocity":1.1005570504763318,"holonomicAngularVelocity":0.0},{"time":0.8025838115139726,"pose":{"rotation":{"radians":0.5310362498595436},"translation":{"x":1.9164455040000006,"y":3.2680135040000002}},"velocity":2.407751434541919,"acceleration":3.0,"curvature":0.45704326727847255,"holonomicRotation":0.0,"angularVelocity":1.103689302847837,"holonomicAngularVelocity":0.0},{"time":0.8077800353425552,"pose":{"rotation":{"radians":0.5367712665143531},"translation":{"x":1.9272320000000007,"y":3.2744320000000005}},"velocity":2.4233401060276667,"acceleration":3.0,"curvature":0.4554050339448593,"holonomicRotation":0.0,"angularVelocity":1.106814890388444,"holonomicAngularVelocity":0.0},{"time":0.8129459933694659,"pose":{"rotation":{"radians":0.5424890257816597},"translation":{"x":1.9379877760000008,"y":3.2809157760000005}},"velocity":2.4388379801083993,"acceleration":3.000000000000043,"curvature":0.45380274753675837,"holonomicRotation":0.0,"angularVelocity":1.1099368064146276,"holonomicAngularVelocity":0.0},{"time":0.8180822109792315,"pose":{"rotation":{"radians":0.5481899027524935},"translation":{"x":1.9487124480000007,"y":3.2874644480000006}},"velocity":2.454246632937696,"acceleration":3.0,"curvature":0.45223646009204105,"holonomicRotation":0.0,"angularVelocity":1.1130579759190018,"holonomicAngularVelocity":0.0},{"time":0.8231891960089878,"pose":{"rotation":{"radians":0.5538742731727626},"translation":{"x":1.9594056320000008,"y":3.2940776320000005}},"velocity":2.469567588026965,"acceleration":3.0000000000000435,"curvature":0.45070621683540724,"holonomicRotation":0.0,"angularVelocity":1.1161812581904715,"holonomicAngularVelocity":0.0},{"time":0.8282674395029013,"pose":{"rotation":{"radians":0.5595425133851966},"translation":{"x":1.9700669440000007,"y":3.3007549440000004}},"velocity":2.484802318508706,"acceleration":3.0000000000000657,"curvature":0.44921205667481234,"holonomicRotation":0.0,"angularVelocity":1.1193094491211109,"holonomicAngularVelocity":0.0},{"time":0.833317416426745,"pose":{"rotation":{"radians":0.5651950002738984},"translation":{"x":1.980696000000001,"y":3.3074960000000004}},"velocity":2.499952249280237,"acceleration":3.0,"curvature":0.4477540124322439,"holonomicRotation":0.0,"angularVelocity":1.1224452836441048,"holonomicAngularVelocity":0.0},{"time":0.8383395863451837,"pose":{"rotation":{"radians":0.5708321112125092},"translation":{"x":1.9912924160000007,"y":3.3143004160000005}},"velocity":2.515018759035553,"acceleration":3.0,"curvature":0.44633211133455136,"holonomicRotation":0.0,"angularVelocity":1.1255914379185776,"holonomicAngularVelocity":0.0},{"time":0.8433343940641395,"pose":{"rotation":{"radians":0.5764542240150154},"translation":{"x":2.0018558080000006,"y":3.3211678080000007}},"velocity":2.5300031821924205,"acceleration":3.000000000000022,"curvature":0.4449463754713489,"holonomicRotation":0.0,"angularVelocity":1.1287505315367143,"holonomicAngularVelocity":0.0},{"time":0.8483022702404226,"pose":{"rotation":{"radians":0.5820617168896036},"translation":{"x":2.012385792000001,"y":3.3280977920000003}},"velocity":2.54490681072127,"acceleration":2.999999999999978,"curvature":0.44359682198548334,"holonomicRotation":0.0,"angularVelocity":1.1319251296711867,"holonomicAngularVelocity":0.0},{"time":0.8532436319606614,"pose":{"rotation":{"radians":0.5876549683955372},"translation":{"x":2.022881984000001,"y":3.3350899840000006}},"velocity":2.559730895881986,"acceleration":2.9999999999999325,"curvature":0.44228346357140413,"holonomicRotation":0.0,"angularVelocity":1.1351177449809835,"holonomicAngularVelocity":0.0},{"time":0.8581588832914108,"pose":{"rotation":{"radians":0.5932343574021122},"translation":{"x":2.0333440000000005,"y":3.3421440000000007}},"velocity":2.574476649874234,"acceleration":3.0000000000000453,"curvature":0.44100630878383207,"holonomicRotation":0.0,"angularVelocity":1.138330839718644,"holonomicAngularVelocity":0.0},{"time":0.8630484158021899,"pose":{"rotation":{"radians":0.598800263050939},"translation":{"x":2.043771456000001,"y":3.3492594560000004}},"velocity":2.589145247406572,"acceleration":3.0000000000000453,"curvature":0.43976536240568537,"holonomicRotation":0.0,"angularVelocity":1.1415668276354243,"holonomicAngularVelocity":0.0},{"time":0.8679126090630681,"pose":{"rotation":{"radians":0.6043530647207653},"translation":{"x":2.0541639680000006,"y":3.356435968000001}},"velocity":2.603737827189206,"acceleration":2.9999999999999543,"curvature":0.43856062556178693,"holonomicRotation":0.0,"angularVelocity":1.1448280756028915,"holonomicAngularVelocity":0.0},{"time":0.8727518311183128,"pose":{"rotation":{"radians":0.6098931419936862},"translation":{"x":2.0645211520000006,"y":3.3636731520000005}},"velocity":2.6182554933549405,"acceleration":3.0000000000000457,"curvature":0.43739209639321713,"holonomicRotation":0.0,"angularVelocity":1.1458505886525359,"holonomicAngularVelocity":0.0},{"time":0.8775759614950274,"pose":{"rotation":{"radians":0.6154208746255811},"translation":{"x":2.074842624000001,"y":3.3709706240000004}},"velocity":2.622334232261645,"acceleration":0.8454868729070896,"curvature":0.4362597700073285,"holonomicRotation":0.0,"angularVelocity":1.1445003863931786,"holonomicAngularVelocity":0.0},{"time":0.8823953289299136,"pose":{"rotation":{"radians":0.6209366425169791},"translation":{"x":2.085128000000001,"y":3.3783280000000007}},"velocity":2.625634845989314,"acceleration":0.6848645122545891,"curvature":0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1430465952169684,"holonomicAngularVelocity":0.0},{"time":0.8872106909573768,"pose":{"rotation":{"radians":0.626440825687208},"translation":{"x":2.0953768960000008,"y":3.3857448960000003}},"velocity":2.6288383813504206,"acceleration":0.6652740422913254,"curvature":0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.1416385324626965,"holonomicAngularVelocity":0.0},{"time":0.8920221776120565,"pose":{"rotation":{"radians":0.6319338042506204},"translation":{"x":2.105588928000001,"y":3.3932209280000003}},"velocity":2.6319437458571184,"acceleration":0.6454064470235114,"curvature":0.4330799216330578,"holonomicRotation":0.0,"angularVelocity":1.1402763514325127,"holonomicAngularVelocity":0.0},{"time":0.8968299192939927,"pose":{"rotation":{"radians":0.6374159583943286},"translation":{"x":2.1157637120000006,"y":3.4007557120000005}},"velocity":2.6349498803219897,"acceleration":0.6252695472733159,"curvature":0.4320923098070697,"holonomicRotation":0.0,"angularVelocity":1.1389601981623954,"holonomicAngularVelocity":0.0},{"time":0.9016340467540943,"pose":{"rotation":{"radians":0.6428876683582834},"translation":{"x":2.125900864000001,"y":3.4083488640000006}},"velocity":2.6378557595292262,"acceleration":0.6048713801558966,"curvature":0.4311408427216499,"holonomicRotation":0.0,"angularVelocity":1.1376902117011674,"holonomicAngularVelocity":0.0},{"time":0.906434691079727,"pose":{"rotation":{"radians":0.6483493144174144},"translation":{"x":2.136000000000001,"y":3.4160000000000004}},"velocity":2.640660392350118,"acceleration":0.584220081857935,"curvature":0.4302255037988389,"holonomicRotation":0.0,"angularVelocity":1.1364665242198737,"holonomicAngularVelocity":0.0},{"time":0.9112319836804512,"pose":{"rotation":{"radians":0.6538012768650252},"translation":{"x":2.146060736000001,"y":3.4237087360000005}},"velocity":2.6433628223610883,"acceleration":0.5633239904028693,"curvature":0.4293462752752821,"holonomicRotation":0.0,"angularVelocity":1.135289261297001,"holonomicAngularVelocity":0.0},{"time":0.9160260562739342,"pose":{"rotation":{"radians":0.6592439359982847},"translation":{"x":2.1560826880000006,"y":3.4314746880000007}},"velocity":2.6459621279004737,"acceleration":0.5421915268698363,"curvature":0.4285031384986032,"holonomicRotation":0.0,"angularVelocity":1.134158542054684,"holonomicAngularVelocity":0.0},{"time":0.9208170408723271,"pose":{"rotation":{"radians":0.6646776721054044},"translation":{"x":2.1660654720000005,"y":3.4392974720000007}},"velocity":2.648457422337088,"acceleration":0.5208312373726626,"curvature":0.42769607414071226,"holonomicRotation":0.0,"angularVelocity":1.133074479392834,"holonomicAngularVelocity":0.0},{"time":0.9256050697685123,"pose":{"rotation":{"radians":0.6701028654542673},"translation":{"x":2.176008704000001,"y":3.4471767040000008}},"velocity":2.6508478547544363,"acceleration":0.49925187779313374,"curvature":0.42692506226405785,"holonomicRotation":0.0,"angularVelocity":1.132037180125681,"holonomicAngularVelocity":0.0},{"time":0.9303902755226879,"pose":{"rotation":{"radians":0.6755198962825455},"translation":{"x":2.185912000000001,"y":3.4551120000000006}},"velocity":2.653132609673996,"acceleration":0.47746221101694586,"curvature":0.4261900826856946,"holonomicRotation":0.0,"angularVelocity":1.1310467451481108,"holonomicAngularVelocity":0.0},{"time":0.9351727909491765,"pose":{"rotation":{"radians":0.680929144789296},"translation":{"x":2.195774976000001,"y":3.463102976000001}},"velocity":2.655310907833249,"acceleration":0.4554712248680483,"curvature":0.42549111498766573,"holonomicRotation":0.0,"angularVelocity":1.1301032696261668,"holonomicAngularVelocity":0.0},{"time":0.9399527491031683,"pose":{"rotation":{"radians":0.6863309911277984},"translation":{"x":2.205597248000001,"y":3.4711492480000006}},"velocity":2.657382006198557,"acceleration":0.4332879700166909,"curvature":0.42482813876175346,"holonomicRotation":0.0,"angularVelocity":1.1292068432179385,"holonomicAngularVelocity":0.0},{"time":0.9447302832677758,"pose":{"rotation":{"radians":0.6917258154001806},"translation":{"x":2.215378432000001,"y":3.4792504320000006}},"velocity":2.6593451982965712,"acceleration":0.41092162407919103,"curvature":0.424201133738781,"holonomicRotation":0.0,"angularVelocity":1.1283575500272023,"holonomicAngularVelocity":0.0},{"time":0.9495055269412395,"pose":{"rotation":{"radians":0.697113997652353},"translation":{"x":2.225118144000001,"y":3.487406144000001}},"velocity":2.6611998143698017,"acceleration":0.38838145235114474,"curvature":0.42361007996169614,"holonomicRotation":0.0,"angularVelocity":1.1275554689255944,"holonomicAngularVelocity":0.0},{"time":0.954278613824305,"pose":{"rotation":{"radians":0.7024959178710106},"translation":{"x":2.234816000000001,"y":3.495616000000001}},"velocity":2.6629452216557663,"acceleration":0.3656768311000486,"curvature":0.42305495790658737,"holonomicRotation":0.0,"angularVelocity":1.1268006736112952,"holonomicAngularVelocity":0.0},{"time":0.9590496778075177,"pose":{"rotation":{"radians":0.7078719559811373},"translation":{"x":2.244471616000001,"y":3.5038796160000008}},"velocity":2.6645808247919645,"acceleration":0.34281727135773626,"curvature":0.42253574855162407,"holonomicRotation":0.0,"angularVelocity":1.1260932327968134,"holonomicAngularVelocity":0.0},{"time":0.9638188529587666,"pose":{"rotation":{"radians":0.7132424918449813},"translation":{"x":2.2540846080000008,"y":3.512196608000001}},"velocity":2.6661060656923015,"acceleration":0.3198123054754257,"curvature":0.4220524336016502,"holonomicRotation":0.0,"angularVelocity":1.1254332101237627,"holonomicAngularVelocity":0.0},{"time":0.9685862735110955,"pose":{"rotation":{"radians":0.7186079052611989},"translation":{"x":2.263654592000001,"y":3.5205665920000007}},"velocity":2.6675204238998145,"acceleration":0.29667158413832084,"curvature":0.4216049955488846,"holonomicRotation":0.0,"angularVelocity":1.124820664571741,"holonomicAngularVelocity":0.0},{"time":0.9733520738504342,"pose":{"rotation":{"radians":0.7239685759661101},"translation":{"x":2.2731811840000007,"y":3.5289891840000007}},"velocity":2.6688234168146447,"acceleration":0.27340484746599136,"curvature":0.4211934177613658,"holonomicRotation":0.0,"angularVelocity":1.1242556502653611,"holonomicAngularVelocity":0.0},{"time":0.9781163885034462,"pose":{"rotation":{"radians":0.7293248836344008},"translation":{"x":2.282664000000001,"y":3.5374640000000004}},"velocity":2.6700145997957936,"acceleration":0.2500218956772268,"curvature":0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.123738216844328,"holonomicAngularVelocity":0.0},{"time":0.9828793521254612,"pose":{"rotation":{"radians":0.7346772078818984},"translation":{"x":2.292102656000001,"y":3.5459906560000007}},"velocity":2.671093566389595,"acceleration":0.22653261276539288,"curvature":0.4204777814786742,"holonomicRotation":0.0,"angularVelocity":1.1232684092819534,"holonomicAngularVelocity":0.0},{"time":0.9876410994884608,"pose":{"rotation":{"radians":0.7400259282677375},"translation":{"x":2.3014967680000007,"y":3.5545687680000007}},"velocity":2.6720599484322793,"acceleration":0.20294693712507567,"curvature":0.42017369496416096,"holonomicRotation":0.0,"angularVelocity":1.1228462681894709,"holonomicAngularVelocity":0.0},{"time":0.9924017654693136,"pose":{"rotation":{"radians":0.7453714242984346},"translation":{"x":2.310845952000001,"y":3.563197952000001}},"velocity":2.672913416024821,"acceleration":0.17927483170934566,"curvature":0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1224718297170306,"holonomicAngularVelocity":0.0},{"time":0.997161485037997,"pose":{"rotation":{"radians":0.7507140754316346},"translation":{"x":2.320149824000001,"y":3.571877824000001}},"velocity":2.6736536778913673,"acceleration":0.15552636155641372,"curvature":0.4196729243382383,"holonomicRotation":0.0,"angularVelocity":1.1221451257033959,"holonomicAngularVelocity":0.0},{"time":1.0019203932456864,"pose":{"rotation":{"radians":0.7560542610805632},"translation":{"x":2.329408000000001,"y":3.5806080000000007}},"velocity":2.6742804814591006,"acceleration":0.1317116322438141,"curvature":0.41947621972129306,"holonomicRotation":0.0,"angularVelocity":1.1218661837350683,"holonomicAngularVelocity":0.0},{"time":1.0066786252132192,"pose":{"rotation":{"radians":0.7613923606193054},"translation":{"x":2.338620096000001,"y":3.5893880960000004}},"velocity":2.674793612605643,"acceleration":0.10784071689727757,"curvature":0.419315290918276,"holonomicRotation":0.0,"angularVelocity":1.1216350272072997,"holonomicAngularVelocity":0.0},{"time":1.0114363161192206,"pose":{"rotation":{"radians":0.7667287533881022},"translation":{"x":2.3477857280000007,"y":3.598217728000001}},"velocity":2.6751928965083205,"acceleration":0.08392388462520017,"curvature":0.4191901310828717,"holonomicRotation":0.0,"angularVelocity":1.1214516752369148,"holonomicAngularVelocity":0.0},{"time":1.0161936011885375,"pose":{"rotation":{"radians":0.7720638186986672},"translation":{"x":2.3569045120000007,"y":3.607096512000001}},"velocity":2.6754781966265213,"acceleration":0.05997120501374331,"curvature":0.4191007350133541,"holonomicRotation":0.0,"angularVelocity":1.1213161429216323,"holonomicAngularVelocity":0.0},{"time":1.020950615680859,"pose":{"rotation":{"radians":0.7773979358410195},"translation":{"x":2.3659760640000007,"y":3.616024064000001}},"velocity":2.6756494156563497,"acceleration":0.03599295947170036,"curvature":0.4190470988943057,"holonomicRotation":0.0,"angularVelocity":1.1212284410937938,"holonomicAngularVelocity":0.0},{"time":1.0257074948789369,"pose":{"rotation":{"radians":0.7827314840887518},"translation":{"x":2.375000000000001,"y":3.625000000000001}},"velocity":2.675706495129876,"acceleration":0.011999353178753079,"curvature":0.41902922045158014,"holonomicRotation":0.0,"angularVelocity":1.1211885766455594,"holonomicAngularVelocity":0.0},{"time":1.030464374077015,"pose":{"rotation":{"radians":0.7880648427061199},"translation":{"x":2.383975936000001,"y":3.634023936000001}},"velocity":2.67564941565635,"acceleration":-0.011999353178659161,"curvature":0.4190470988943055,"holonomicRotation":0.0,"angularVelocity":1.1211965522473806,"holonomicAngularVelocity":0.0},{"time":1.0352213885693364,"pose":{"rotation":{"radians":0.7933983909539015},"translation":{"x":2.392903488000001,"y":3.643095488000001}},"velocity":2.675478196626521,"acceleration":-0.03599295947188707,"curvature":0.41910073501335415,"holonomicRotation":0.0,"angularVelocity":1.1212523665452967,"holonomicAngularVelocity":0.0},{"time":1.0399786736386536,"pose":{"rotation":{"radians":0.798732508096204},"translation":{"x":2.401782272000001,"y":3.652214272000001}},"velocity":2.675192896508296,"acceleration":-0.05997120501878138,"curvature":0.4191901310828794,"holonomicRotation":0.0,"angularVelocity":1.1213560141038383,"holonomicAngularVelocity":0.0},{"time":1.0447363645446093,"pose":{"rotation":{"radians":0.8040675734068445},"translation":{"x":2.410611904000001,"y":3.661379904000001}},"velocity":2.674793612656831,"acceleration":-0.08392387386188453,"curvature":0.4193152909022269,"holonomicRotation":0.0,"angularVelocity":1.1215074853712201,"holonomicAngularVelocity":0.0},{"time":1.0494945965121423,"pose":{"rotation":{"radians":0.8094039661755654},"translation":{"x":2.419392000000001,"y":3.670592000000001}},"velocity":2.6742804814079513,"acceleration":-0.10784073840468338,"curvature":0.41947621973733923,"holonomicRotation":0.0,"angularVelocity":1.1217067667100076,"holonomicAngularVelocity":0.0},{"time":1.054253504719877,"pose":{"rotation":{"radians":0.8147420657143334},"translation":{"x":2.428122176000001,"y":3.679850176000001}},"velocity":2.673653677891392,"acceleration":-0.13171162148921356,"curvature":0.4196729243382304,"holonomicRotation":0.0,"angularVelocity":1.1219538403138642,"holonomicAngularVelocity":0.0},{"time":1.0590132242886061,"pose":{"rotation":{"radians":0.8200822513632859},"translation":{"x":2.436802048000001,"y":3.689154048000001}},"velocity":2.6729134159737282,"acceleration":-0.15552637229458416,"curvature":0.4199054129041197,"holonomicRotation":0.0,"angularVelocity":1.1222486842418435,"holonomicAngularVelocity":0.0},{"time":1.0637738902695042,"pose":{"rotation":{"radians":0.8254249024964637},"translation":{"x":2.4454312320000007,"y":3.698503232000001}},"velocity":2.672059948432254,"acceleration":-0.17927482098065445,"curvature":0.42017369496416906,"holonomicRotation":0.0,"angularVelocity":1.1225912723143032,"holonomicAngularVelocity":0.0},{"time":1.068535637632504,"pose":{"rotation":{"radians":0.8307703985271329},"translation":{"x":2.454009344000001,"y":3.707897344000001}},"velocity":2.6710935663895956,"acceleration":-0.20294693711966175,"curvature":0.42047778147867415,"holonomicRotation":0.0,"angularVelocity":1.1229815741545088,"holonomicAngularVelocity":0.0},{"time":1.073298601254519,"pose":{"rotation":{"radians":0.8361191189130239},"translation":{"x":2.462536000000001,"y":3.717336000000001}},"velocity":2.6700145997957936,"acceleration":-0.2265326127654861,"curvature":0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.1234195550165338,"holonomicAngularVelocity":0.0},{"time":1.078062915907531,"pose":{"rotation":{"radians":0.8414714431604695},"translation":{"x":2.471010816000001,"y":3.726818816000001}},"velocity":2.6688234168146683,"acceleration":-0.2500218956722808,"curvature":0.4211934177613584,"holonomicRotation":0.0,"angularVelocity":1.1239051758218945,"holonomicAngularVelocity":0.0},{"time":1.0828287162468697,"pose":{"rotation":{"radians":0.846827750828786},"translation":{"x":2.479433408000001,"y":3.736345408000001}},"velocity":2.6675204238998145,"acceleration":-0.27340484747093,"curvature":0.42160499554888453,"holonomicRotation":0.0,"angularVelocity":1.124438393072715,"holonomicAngularVelocity":0.0},{"time":1.0875961367991533,"pose":{"rotation":{"radians":0.8521884215336977},"translation":{"x":2.487803392000001,"y":3.745915392000001}},"velocity":2.6661060657428792,"acceleration":-0.2966715735320978,"curvature":0.42205243358563704,"holonomicRotation":0.0,"angularVelocity":1.125019158687412,"holonomicAngularVelocity":0.0},{"time":1.0923653119503571,"pose":{"rotation":{"radians":0.8575538349499379},"translation":{"x":2.496120384000001,"y":3.755528384000001}},"velocity":2.6645808247919636,"acceleration":-0.31981231608377336,"curvature":0.4225357485516242,"holonomicRotation":0.0,"angularVelocity":1.1256474200922537,"holonomicAngularVelocity":0.0},{"time":1.0971363759335697,"pose":{"rotation":{"radians":0.8629243708137362},"translation":{"x":2.504384000000001,"y":3.765184000000001}},"velocity":2.6629452216557663,"acceleration":-0.3428172713575581,"curvature":0.4230549579065874,"holonomicRotation":0.0,"angularVelocity":1.1263231199908168,"holonomicAngularVelocity":0.0},{"time":1.1019094628166803,"pose":{"rotation":{"radians":0.8683004089239086},"translation":{"x":2.512593856000001,"y":3.7748818560000013}},"velocity":2.6611998143196263,"acceleration":-0.36567684160874825,"curvature":0.42361007997767003,"holonomicRotation":0.0,"angularVelocity":1.1270461963058591,"holonomicAngularVelocity":0.0},{"time":1.106684706490189,"pose":{"rotation":{"radians":0.8736823291425702},"translation":{"x":2.5207495680000007,"y":3.7846215680000013}},"velocity":2.6593451982965486,"acceleration":-0.38838144184482565,"curvature":0.42420113373878826,"holonomicRotation":0.0,"angularVelocity":1.1278165820374502,"holonomicAngularVelocity":0.0},{"time":1.1114622406548413,"pose":{"rotation":{"radians":0.8790705113947155},"translation":{"x":2.5288507520000008,"y":3.794402752000001}},"velocity":2.6573820061486866,"acceleration":-0.41092163450910085,"curvature":0.42482813877769865,"holonomicRotation":0.0,"angularVelocity":1.1286342052595717,"holonomicAngularVelocity":0.0},{"time":1.116242198808878,"pose":{"rotation":{"radians":0.8844653356670706},"translation":{"x":2.536897024000001,"y":3.8042250240000013}},"velocity":2.6553109078332495,"acceleration":-0.4332879595793174,"curvature":0.4254911149876656,"holonomicRotation":0.0,"angularVelocity":1.1294989888873823,"holonomicAngularVelocity":0.0},{"time":1.1210247142353664,"pose":{"rotation":{"radians":0.8898671820056276},"translation":{"x":2.5448880000000007,"y":3.8140880000000013}},"velocity":2.6531326096739956,"acceleration":-0.4554712248682446,"curvature":0.42619008268569475,"holonomicRotation":0.0,"angularVelocity":1.1304108505628179,"holonomicAngularVelocity":0.0},{"time":1.1258099199895422,"pose":{"rotation":{"radians":0.8952764305123235},"translation":{"x":2.552823296000001,"y":3.8239912960000013}},"velocity":2.6508478547544305,"acceleration":-0.4774622110180485,"curvature":0.4269250622640598,"holonomicRotation":0.0,"angularVelocity":1.1313697025929383,"holonomicAngularVelocity":0.0},{"time":1.1305979488857274,"pose":{"rotation":{"radians":0.900693461340607},"translation":{"x":2.560702528000001,"y":3.8339345280000012}},"velocity":2.648457422337061,"acceleration":-0.49925187779758573,"curvature":0.427696074140721,"holonomicRotation":0.0,"angularVelocity":1.1323754517400342,"holonomicAngularVelocity":0.0},{"time":1.1353889334841203,"pose":{"rotation":{"radians":0.9061186546894917},"translation":{"x":2.568525312000001,"y":3.843917312000001}},"velocity":2.645962127900453,"acceleration":-0.5208312373713648,"curvature":0.42850313849861,"holonomicRotation":0.0,"angularVelocity":1.133427999095026,"holonomicAngularVelocity":0.0},{"time":1.1401830060776033,"pose":{"rotation":{"radians":0.9115523907966394},"translation":{"x":2.576291264000001,"y":3.853939264000001}},"velocity":2.643362822361095,"acceleration":-0.542191526864093,"curvature":0.42934627527527985,"holonomicRotation":0.0,"angularVelocity":1.1345272398916992,"holonomicAngularVelocity":0.0},{"time":1.1449802986783277,"pose":{"rotation":{"radians":0.9169950499298922},"translation":{"x":2.584000000000001,"y":3.864000000000001}},"velocity":2.6406603923501453,"acceleration":-0.5633239903985849,"curvature":0.43022550379883,"holonomicRotation":0.0,"angularVelocity":1.1356730633905898,"holonomicAngularVelocity":0.0},{"time":1.1497809430040045,"pose":{"rotation":{"radians":0.9224470123774822},"translation":{"x":2.5916511360000007,"y":3.874099136000001}},"velocity":2.6378557594807597,"acceleration":-0.5842200919540596,"curvature":0.43114084273749304,"holonomicRotation":0.0,"angularVelocity":1.1368653526407893,"holonomicAngularVelocity":0.0},{"time":1.15458507046415,"pose":{"rotation":{"radians":0.9279086584365919},"translation":{"x":2.599244288000001,"y":3.884236288000001}},"velocity":2.6349498803219897,"acceleration":-0.6048713700618353,"curvature":0.43209230980706964,"holonomicRotation":0.0,"angularVelocity":1.1381039843726668,"holonomicAngularVelocity":0.0},{"time":1.1593928121460426,"pose":{"rotation":{"radians":0.9333803684005884},"translation":{"x":2.606779072000001,"y":3.8944110720000014}},"velocity":2.6319437459051516,"acceleration":-0.6252695372882013,"curvature":0.4330799216172504,"holonomicRotation":0.0,"angularVelocity":1.139388828711607,"holonomicAngularVelocity":0.0},{"time":1.164204298800591,"pose":{"rotation":{"radians":0.9388625225442757},"translation":{"x":2.614255104000001,"y":3.9046231040000015}},"velocity":2.628838381445997,"acceleration":-0.6454064371599206,"curvature":0.4341036934345355,"holonomicRotation":0.0,"angularVelocity":1.1407197490356886,"holonomicAngularVelocity":0.0},{"time":1.1690196608279666,"pose":{"rotation":{"radians":0.9443555011076596},"translation":{"x":2.621672000000001,"y":3.9148720000000012}},"velocity":2.625634845989314,"acceleration":-0.6652740621516621,"curvature":0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.141368679059864,"holonomicAngularVelocity":0.0},{"time":1.173842101877269,"pose":{"rotation":{"radians":0.9498596842779459},"translation":{"x":2.629029376000001,"y":3.9251573760000014}},"velocity":2.618989404766512,"acceleration":-1.3780243563088321,"curvature":0.43625977000734745,"holonomicRotation":0.0,"angularVelocity":1.1396328812838714,"holonomicAngularVelocity":0.0},{"time":1.1786820533931346,"pose":{"rotation":{"radians":0.9553754521692461},"translation":{"x":2.6363268480000013,"y":3.9354788480000007}},"velocity":2.604469550218915,"acceleration":-3.0,"curvature":0.437392096408939,"holonomicRotation":0.0,"angularVelocity":1.1362290451451276,"holonomicAngularVelocity":0.0},{"time":1.1835470343189463,"pose":{"rotation":{"radians":0.9609031848012304},"translation":{"x":2.643564032000001,"y":3.945836032000001}},"velocity":2.5898746074414802,"acceleration":-2.9999999999999085,"curvature":0.4385606255617841,"holonomicRotation":0.0,"angularVelocity":1.1328524486335545,"holonomicAngularVelocity":0.0},{"time":1.1884374128317103,"pose":{"rotation":{"radians":0.9664432620741601},"translation":{"x":2.650740544000001,"y":3.956228544000001}},"velocity":2.5752034719031878,"acceleration":-3.0000000000000453,"curvature":0.4397653623900097,"holonomicRotation":0.0,"angularVelocity":1.1295007542703375,"holonomicAngularVelocity":0.0},{"time":1.1933535686189238,"pose":{"rotation":{"radians":0.9719960637439282},"translation":{"x":2.657856000000001,"y":3.9666560000000013}},"velocity":2.5604550045415473,"acceleration":-3.0,"curvature":0.4410063087994853,"holonomicRotation":0.0,"angularVelocity":1.1261715790988696,"holonomicAngularVelocity":0.0},{"time":1.1982958933518377,"pose":{"rotation":{"radians":0.9775619693928133},"translation":{"x":2.6649100160000008,"y":3.977118016000001}},"velocity":2.5456280303428054,"acceleration":-3.000000000000045,"curvature":0.4422834635714009,"holonomicRotation":0.0,"angularVelocity":1.1228624931602014,"holonomicAngularVelocity":0.0},{"time":1.2032647911826513,"pose":{"rotation":{"radians":0.9831413583993789},"translation":{"x":2.671902208000001,"y":3.9876142080000014}},"velocity":2.5307213368503647,"acceleration":-3.0,"curvature":0.4435968219542736,"holonomicRotation":0.0,"angularVelocity":1.1195710174570126,"holonomicAngularVelocity":0.0},{"time":1.208260679267134,"pose":{"rotation":{"radians":0.9887346099052245},"translation":{"x":2.678832192000001,"y":3.9981441920000007}},"velocity":2.5157336725969164,"acceleration":-3.0000000000000444,"curvature":0.4449463754713487,"holonomicRotation":0.0,"angularVelocity":1.116294622142275,"holonomicAngularVelocity":0.0},{"time":1.213283988314313,"pose":{"rotation":{"radians":0.994342102779949},"translation":{"x":2.685699584000001,"y":4.0087075840000015}},"velocity":2.500663745455379,"acceleration":-3.0000000000000884,"curvature":0.44633211131899053,"holonomicRotation":0.0,"angularVelocity":1.1130307242686392,"holonomicAngularVelocity":0.0},{"time":1.2183351631649564,"pose":{"rotation":{"radians":0.9999642155823683},"translation":{"x":2.692504000000001,"y":4.019304000000001}},"velocity":2.4855102209034485,"acceleration":-3.000000000000044,"curvature":0.4477540124322387,"holonomicRotation":0.0,"angularVelocity":1.1097766860870264,"holonomicAngularVelocity":0.0},{"time":1.2234146634007506,"pose":{"rotation":{"radians":1.0056013265210262},"translation":{"x":2.699245056000001,"y":4.029933056000002}},"velocity":2.470271720196066,"acceleration":-3.0000000000000435,"curvature":0.44921205667481756,"holonomicRotation":0.0,"angularVelocity":1.1065298124299,"holonomicAngularVelocity":0.0},{"time":1.2285229639861848,"pose":{"rotation":{"radians":1.0112538134096622},"translation":{"x":2.705922368000001,"y":4.040594368000001}},"velocity":2.4549468184397636,"acceleration":-2.999999999999913,"curvature":0.4507062168508919,"holonomicRotation":0.0,"angularVelocity":1.1032873489277657,"holonomicAngularVelocity":0.0},{"time":1.2336605559453493,"pose":{"rotation":{"radians":1.0169220536221615},"translation":{"x":2.7125355520000007,"y":4.051287552000002}},"velocity":2.43953404256227,"acceleration":-3.000000000000043,"curvature":0.45223646007658325,"holonomicRotation":0.0,"angularVelocity":1.1000464792593154,"holonomicAngularVelocity":0.0},{"time":1.2388279470759953,"pose":{"rotation":{"radians":1.0226064240423844},"translation":{"x":2.719084224000001,"y":4.062012224000001}},"velocity":2.4240318691703315,"acceleration":-3.000000000000043,"curvature":0.4538027475367534,"holonomicRotation":0.0,"angularVelocity":1.0968043231892513,"holonomicAngularVelocity":0.0},{"time":1.2440256627034307,"pose":{"rotation":{"radians":1.028307301013264},"translation":{"x":2.725568000000001,"y":4.072768000000002}},"velocity":2.4084387222880252,"acceleration":-3.0,"curvature":0.4554050339448751,"holonomicRotation":0.0,"angularVelocity":1.093557933627122,"holonomicAngularVelocity":0.0},{"time":1.2492542464770038,"pose":{"rotation":{"radians":1.0340250602804888},"translation":{"x":2.731986496000001,"y":4.0835544960000005}},"velocity":2.392752970967306,"acceleration":-3.0000000000000426,"curvature":0.45704326729385686,"holonomicRotation":0.0,"angularVelocity":1.0903042944971009,"holonomicAngularVelocity":0.0},{"time":1.2545142612121893,"pose":{"rotation":{"radians":1.0397600769353796},"translation":{"x":2.738339328000001,"y":4.094371328000001}},"velocity":2.3769729267617494,"acceleration":-2.999999999999958,"curvature":0.45871738815772506,"holonomicRotation":0.0,"angularVelocity":1.087040317564224,"holonomicAngularVelocity":0.0},{"time":1.2598062897815119,"pose":{"rotation":{"radians":1.045512725351935},"translation":{"x":2.7446261120000006,"y":4.105218112000001}},"velocity":2.3610968410537816,"acceleration":-3.0000000000000417,"curvature":0.4604273295453317,"holonomicRotation":0.0,"angularVelocity":1.0837628401270711,"holonomicAngularVelocity":0.0},{"time":1.2651309360578522,"pose":{"rotation":{"radians":1.0512833791230536},"translation":{"x":2.7508464640000008,"y":4.1160944640000015}},"velocity":2.345122902224761,"acceleration":-2.9999999999999165,"curvature":0.4621730162746951,"holonomicRotation":0.0,"angularVelocity":1.0804686217426966,"holonomicAngularVelocity":0.0},{"time":1.270488825913959,"pose":{"rotation":{"radians":1.0570724109913305},"translation":{"x":2.7570000000000006,"y":4.127000000000001}},"velocity":2.3290492326564407,"acceleration":-2.9999999999999587,"curvature":0.4639543644847909,"holonomicRotation":0.0,"angularVelocity":1.0771543414066895,"holonomicAngularVelocity":0.0},{"time":1.2758806082823524,"pose":{"rotation":{"radians":1.0628801927773655},"translation":{"x":2.7630863360000006,"y":4.137934336000002}},"velocity":2.312873885551261,"acceleration":-2.9999999999999587,"curvature":0.4657712811612695,"holonomicRotation":0.0,"angularVelocity":1.0738165942689333,"holonomicAngularVelocity":0.0},{"time":1.2813069562801476,"pose":{"rotation":{"radians":1.068707095303676},"translation":{"x":2.7691050880000008,"y":4.148897088000001}},"velocity":2.2965948415578756,"acceleration":-2.999999999999959,"curvature":0.46762366370596037,"holonomicRotation":0.0,"angularVelocity":1.0704518885397352,"holonomicAngularVelocity":0.0},{"time":1.286768568403775,"pose":{"rotation":{"radians":1.0745534883158845},"translation":{"x":2.775055872000001,"y":4.159887872000001}},"velocity":2.280210005186993,"acceleration":-3.000000000000041,"curvature":0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0670566418127445,"holonomicAngularVelocity":0.0},{"time":1.2922661697989868,"pose":{"rotation":{"radians":1.0804197403986842},"translation":{"x":2.7809383040000006,"y":4.170906304000001}},"velocity":2.2637172010013575,"acceleration":-3.0000000000000404,"curvature":0.4714343645997839,"holonomicRotation":0.0,"angularVelocity":1.0636271776953912,"holonomicAngularVelocity":0.0},{"time":1.2978005136120798,"pose":{"rotation":{"radians":1.0863062188890003},"translation":{"x":2.786752000000001,"y":4.181952000000002}},"velocity":2.2471141695620784,"acceleration":-3.0,"curvature":0.4733924247442271,"holonomicRotation":0.0,"angularVelocity":1.0601597219446663,"holonomicAngularVelocity":0.0},{"time":1.303372382428791,"pose":{"rotation":{"radians":1.092213289784437},"translation":{"x":2.792496576000001,"y":4.193024576000001}},"velocity":2.2303985631119447,"acceleration":-3.0,"curvature":0.47538543332938343,"holonomicRotation":0.0,"angularVelocity":1.05665039864859,"holonomicAngularVelocity":0.0},{"time":1.3089825898079743,"pose":{"rotation":{"radians":1.0981413176481523},"translation":{"x":2.7981716480000007,"y":4.204123648000001}},"velocity":2.213567940974395,"acceleration":-2.9999999999999605,"curvature":0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0530952259318735,"holonomicAngularVelocity":0.0},{"time":1.314631981917819,"pose":{"rotation":{"radians":1.1040906655084468},"translation":{"x":2.8037768320000005,"y":4.215248832000001}},"velocity":2.1966197646448617,"acceleration":-2.9999999999999214,"curvature":0.4794756472470108,"holonomicRotation":0.0,"angularVelocity":1.0494901118766216,"holonomicAngularVelocity":0.0},{"time":1.3203214392831757,"pose":{"rotation":{"radians":1.1100616947553323},"translation":{"x":2.809311744000001,"y":4.226399744000002}},"velocity":2.1795513925487917,"acceleration":-2.999999999999961,"curvature":0.48157249539387187,"holonomicRotation":0.0,"angularVelocity":1.0458308498080762,"holonomicAngularVelocity":0.0},{"time":1.3260518786533824,"pose":{"rotation":{"radians":1.1160547650316492},"translation":{"x":2.814776000000001,"y":4.237576000000001}},"velocity":2.1623600744381717,"acceleration":-3.0,"curvature":0.4837035763394283,"holonomicRotation":0.0,"angularVelocity":1.0421131136383825,"holonomicAngularVelocity":0.0},{"time":1.3318242550009647,"pose":{"rotation":{"radians":1.1220702341203208},"translation":{"x":2.820169216000001,"y":4.2487772160000015}},"velocity":2.1450429453954247,"acceleration":-3.0,"curvature":0.4858686756511655,"holonomicRotation":0.0,"angularVelocity":1.0383324526570552,"holonomicAngularVelocity":0.0},{"time":1.3376395636626297,"pose":{"rotation":{"radians":1.1281084578259453},"translation":{"x":2.825491008000001,"y":4.260003008000001}},"velocity":2.1275970194104294,"acceleration":-3.000000000000038,"curvature":0.48806756354488817,"holonomicRotation":0.0,"angularVelocity":1.0344842865366874,"holonomicAngularVelocity":0.0},{"time":1.343498842635211,"pose":{"rotation":{"radians":1.1341697898535155},"translation":{"x":2.830740992000001,"y":4.271252992000002}},"velocity":2.1100191824926853,"acceleration":-3.0000000000000377,"curvature":0.49029999405552943,"holonomicRotation":0.0,"angularVelocity":1.0305638993094042,"holonomicAngularVelocity":0.0},{"time":1.3494031750405304,"pose":{"rotation":{"radians":1.1402545816799603},"translation":{"x":2.835918784000001,"y":4.282526784000001}},"velocity":2.0923061852767266,"acceleration":-3.000000000000075,"curvature":0.49256570453850973,"holonomicRotation":0.0,"angularVelocity":1.026566433840469,"holonomicAngularVelocity":0.0},{"time":1.3553536917747062,"pose":{"rotation":{"radians":1.1463631824232712},"translation":{"x":2.841024000000001,"y":4.293824000000002}},"velocity":2.074454635074199,"acceleration":-3.0000000000000746,"curvature":0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0224868851113715,"holonomicAngularVelocity":0.0},{"time":1.3613515743591078,"pose":{"rotation":{"radians":1.1524959387042597},"translation":{"x":2.8460562560000007,"y":4.305144256000001}},"velocity":2.0564609873209942,"acceleration":-2.999999999999963,"curvature":0.49719582643303056,"holonomicRotation":0.0,"angularVelocity":1.0183200938587464,"holonomicAngularVelocity":0.0},{"time":1.3673980580121383,"pose":{"rotation":{"radians":1.158653194505329},"translation":{"x":2.851015168000001,"y":4.316487168000002}},"velocity":2.0383215363619027,"acceleration":-3.0,"curvature":0.49955962237973184,"holonomicRotation":0.0,"angularVelocity":1.014060739171566,"holonomicAngularVelocity":0.0},{"time":1.3734944349631748,"pose":{"rotation":{"radians":1.1648352910225657},"translation":{"x":2.855900352000001,"y":4.327852352000001}},"velocity":2.0200324055087933,"acceleration":-3.0,"curvature":0.5019554658535155,"holonomicRotation":0.0,"angularVelocity":1.009703331056945,"holonomicAngularVelocity":0.0},{"time":1.3796420580325273,"pose":{"rotation":{"radians":1.1710425665137734},"translation":{"x":2.8607114240000007,"y":4.339239424000002}},"velocity":2.001589536300736,"acceleration":-3.0,"curvature":0.5043829997560954,"holonomicRotation":0.0,"angularVelocity":1.005242202071386,"holonomicAngularVelocity":0.0},{"time":1.385842344504059,"pose":{"rotation":{"radians":1.1772753561398894},"translation":{"x":2.8654480000000007,"y":4.350648000000001}},"velocity":1.9829886768861407,"acceleration":-2.999999999999964,"curvature":0.5068418460483195,"holonomicRotation":0.0,"angularVelocity":1.000671498890062,"holonomicAngularVelocity":0.0},{"time":1.3920967803203892,"pose":{"rotation":{"radians":1.1835339918029282},"translation":{"x":2.870109696000001,"y":4.362077696000002}},"velocity":1.9642253694371505,"acceleration":-2.9999999999999645,"curvature":0.5093316047891755,"holonomicRotation":0.0,"angularVelocity":0.9959851725933427,"holonomicAngularVelocity":0.0},{"time":1.3984069246342183,"pose":{"rotation":{"radians":1.1898188019764262},"translation":{"x":2.874696128000001,"y":4.373528128000001}},"velocity":1.9452949364956633,"acceleration":-2.999999999999965,"curvature":0.5118518535624833,"holonomicRotation":0.0,"angularVelocity":0.9911769688340709,"holonomicAngularVelocity":0.0},{"time":1.4047744147535932,"pose":{"rotation":{"radians":1.196130111532029},"translation":{"x":2.879206912000001,"y":4.384998912000002}},"velocity":1.9261924661375385,"acceleration":-3.000000000000035,"curvature":0.5144021466205787,"holonomicRotation":0.0,"angularVelocity":0.9862404167758717,"holonomicAngularVelocity":0.0},{"time":1.4112009715237113,"pose":{"rotation":{"radians":1.2024682415594241},"translation":{"x":2.8836416640000007,"y":4.3964896640000015}},"velocity":1.9069127958271843,"acceleration":-3.0,"curvature":0.5169820141541447,"holonomicRotation":0.0,"angularVelocity":0.9811688175075026,"holonomicAngularVelocity":0.0},{"time":1.41768840519348,"pose":{"rotation":{"radians":1.2088335091818494},"translation":{"x":2.888000000000001,"y":4.408000000000002}},"velocity":1.8874504948178785,"acceleration":-2.999999999999966,"curvature":0.5195909614569449,"holonomicRotation":0.0,"angularVelocity":0.9759552310949556,"holonomicAngularVelocity":0.0},{"time":1.4242386218214258,"pose":{"rotation":{"radians":1.2152262273646983},"translation":{"x":2.8922815360000005,"y":4.4195295360000015}},"velocity":1.867799844934041,"acceleration":-3.0,"curvature":0.5222284682600655,"holonomicRotation":0.0,"angularVelocity":0.9705924628872844,"holonomicAngularVelocity":0.0},{"time":1.4308536302830257,"pose":{"rotation":{"radians":1.2216467047194628},"translation":{"x":2.896485888000001,"y":4.431077888000002}},"velocity":1.847954819549241,"acceleration":-3.0000000000000338,"curvature":0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9650730483864461,"holonomicAngularVelocity":0.0},{"time":1.4375355499501146,"pose":{"rotation":{"radians":1.2280952453016536},"translation":{"x":2.9006126720000007,"y":4.442644672000001}},"velocity":1.8279090605479742,"acceleration":-3.0000000000000333,"curvature":0.527586946160825,"holonomicRotation":0.0,"angularVelocity":0.9593892367630158,"holonomicAngularVelocity":0.0},{"time":1.4442866191231065,"pose":{"rotation":{"radians":1.2345721484028647},"translation":{"x":2.904661504000001,"y":4.454229504000002}},"velocity":1.8076558530289983,"acceleration":-3.0,"curvature":0.5303067413665304,"holonomicRotation":0.0,"angularVelocity":0.9535329728703047,"holonomicAngularVelocity":0.0},{"time":1.4511092043084484,"pose":{"rotation":{"radians":1.2410777083373046},"translation":{"x":2.9086320000000003,"y":4.465832000000002}},"velocity":1.787188097472973,"acceleration":-2.9999999999999676,"curvature":0.533052742734141,"holonomicRotation":0.0,"angularVelocity":0.9474958775078474,"holonomicAngularVelocity":0.0},{"time":1.4580058104475067,"pose":{"rotation":{"radians":1.2476122142228576},"translation":{"x":2.9125237760000005,"y":4.477451776000002}},"velocity":1.766498279055798,"acceleration":-3.000000000000032,"curvature":0.5358242899805569,"holonomicRotation":0.0,"angularVelocity":0.9412692255924726,"holonomicAngularVelocity":0.0},{"time":1.4649790922191754,"pose":{"rotation":{"radians":1.2541759497559144},"translation":{"x":2.9163364480000005,"y":4.489088448000001}},"velocity":1.7455784337407918,"acceleration":-2.999999999999968,"curvature":0.53862069246313,"holonomicRotation":0.0,"angularVelocity":0.9348439222379099,"holonomicAngularVelocity":0.0},{"time":1.472031866557601,"pose":{"rotation":{"radians":1.2607691929811071},"translation":{"x":2.9200696320000006,"y":4.500741632000002}},"velocity":1.724420110725515,"acceleration":-2.9999999999999685,"curvature":0.5414412283907459,"holonomicRotation":0.0,"angularVelocity":0.9282104760898124,"holonomicAngularVelocity":0.0},{"time":1.4791671265489101,"pose":{"rotation":{"radians":1.2673922160546647},"translation":{"x":2.9237229440000005,"y":4.512410944000001}},"velocity":1.7030143307515877,"acceleration":-3.000000000000031,"curvature":0.5442851441519826,"holonomicRotation":0.0,"angularVelocity":0.9213589699954693,"holonomicAngularVelocity":0.0},{"time":1.4863880568977,"pose":{"rotation":{"radians":1.2740452850032347},"translation":{"x":2.9272960000000006,"y":4.524096000000002}},"velocity":1.6813515397052183,"acceleration":-3.0,"curvature":0.5471516533835759,"holonomicRotation":0.0,"angularVelocity":0.9142790279992806,"holonomicAngularVelocity":0.0},{"time":1.4936980511859816,"pose":{"rotation":{"radians":1.2807286594758052},"translation":{"x":2.9307884160000004,"y":4.535796416000001}},"velocity":1.6594215568403732,"acceleration":-3.0,"curvature":0.5500399363964437,"holonomicRotation":0.0,"angularVelocity":0.9069597788904717,"holonomicAngularVelocity":0.0},{"time":1.5011007311857052,"pose":{"rotation":{"radians":1.2874425924915514},"translation":{"x":2.9341998080000002,"y":4.547511808000002}},"velocity":1.6372135168412023,"acceleration":-3.00000000000003,"curvature":0.5529491392614659,"holonomicRotation":0.0,"angularVelocity":0.8993898149606812,"holonomicAngularVelocity":0.0},{"time":1.508599968532113,"pose":{"rotation":{"radians":1.2941873301808833},"translation":{"x":2.9375297920000008,"y":4.559241792000002}},"velocity":1.6147158048019792,"acceleration":-2.9999999999999702,"curvature":0.5558783732812413,"holonomicRotation":0.0,"angularVelocity":0.8915571460678879,"holonomicAngularVelocity":0.0},{"time":1.516199909121133,"pose":{"rotation":{"radians":1.3009631115227154},"translation":{"x":2.9407779840000003,"y":4.570985984000002}},"velocity":1.5919159830349192,"acceleration":-3.0000000000000293,"curvature":0.5588267141256481,"holonomicRotation":0.0,"angularVelocity":0.8834491473354206,"holonomicAngularVelocity":0.0},{"time":1.5239050006619295,"pose":{"rotation":{"radians":1.3077701680745735},"translation":{"x":2.9439440000000006,"y":4.582744000000002}},"velocity":1.5688007084125297,"acceleration":-2.999999999999971,"curvature":0.5617932012303778,"holonomicRotation":0.0,"angularVelocity":0.875052500540059,"holonomicAngularVelocity":0.0},{"time":1.5317200238988449,"pose":{"rotation":{"radians":1.314608723699815},"translation":{"x":2.9470274560000007,"y":4.594515456000002}},"velocity":1.545355638701783,"acceleration":-3.000000000000057,"curvature":0.5647768371119463,"holonomicRotation":0.0,"angularVelocity":0.866353126952262,"holonomicAngularVelocity":0.0},{"time":1.539650128119067,"pose":{"rotation":{"radians":1.3214789942880618},"translation":{"x":2.9500279680000006,"y":4.606299968000002}},"velocity":1.5215653260411162,"acceleration":-3.000000000000028,"curvature":0.5677765867261405,"holonomicRotation":0.0,"angularVelocity":0.8573361111436658,"holonomicAngularVelocity":0.0},{"time":1.5477008716886214,"pose":{"rotation":{"radians":1.3283811874717983},"translation":{"x":2.9529451520000003,"y":4.6180971520000025}},"velocity":1.4974130953324531,"acceleration":-3.0000000000000275,"curvature":0.5707913768706009,"holonomicRotation":0.0,"angularVelocity":0.8479856135548375,"holonomicAngularVelocity":0.0},{"time":1.55587826851637,"pose":{"rotation":{"radians":1.335315502338058},"translation":{"x":2.9557786240000006,"y":4.629906624000001}},"velocity":1.472880904849207,"acceleration":-3.000000000000054,"curvature":0.5738200956456002,"holonomicRotation":0.0,"angularVelocity":0.8382847700393716,"holonomicAngularVelocity":0.0},{"time":1.5641888415424363,"pose":{"rotation":{"radians":1.3422821291361096},"translation":{"x":2.9585280000000007,"y":4.641728000000002}},"velocity":1.4479491857710078,"acceleration":-3.0,"curvature":0.576861591813262,"holonomicRotation":0.0,"angularVelocity":0.8282155756134849,"holonomicAngularVelocity":0.0},{"time":1.5726396845955335,"pose":{"rotation":{"radians":1.3492812489797497},"translation":{"x":2.9611928960000005,"y":4.653560896000002}},"velocity":1.4225966566117165,"acceleration":-2.999999999999974,"curvature":0.5799146744073892,"holonomicRotation":0.0,"angularVelocity":0.8177587498554331,"holonomicAngularVelocity":0.0},{"time":1.5812385342789634,"pose":{"rotation":{"radians":1.3563130335470661},"translation":{"x":2.9637729280000005,"y":4.665404928000002}},"velocity":1.3968001075614265,"acceleration":-3.0000000000000258,"curvature":0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8068935795489924,"holonomicAngularVelocity":0.0},{"time":1.5899938539486989,"pose":{"rotation":{"radians":1.3633776447754746},"translation":{"x":2.9662677120000005,"y":4.6772597120000015}},"velocity":1.37053414855222,"acceleration":-3.0000000000000253,"curvature":0.5860506332508155,"holonomicRotation":0.0,"angularVelocity":0.7955977342737229,"holonomicAngularVelocity":0.0},{"time":1.5989149323684775,"pose":{"rotation":{"radians":1.3704752345535287},"translation":{"x":2.9686768640000007,"y":4.689124864000002}},"velocity":1.3437709132928843,"acceleration":-2.999999999999975,"curvature":0.5891309246386679,"holonomicRotation":0.0,"angularVelocity":0.7838470488111148,"holonomicAngularVelocity":0.0},{"time":1.608012000306507,"pose":{"rotation":{"radians":1.3776059444095874},"translation":{"x":2.9710000000000005,"y":4.701000000000001}},"velocity":1.316479709478796,"acceleration":-2.9999999999999756,"curvature":0.5922176320623127,"holonomicRotation":0.0,"angularVelocity":0.7716152648033403,"holonomicAngularVelocity":0.0},{"time":1.6172963692331,"pose":{"rotation":{"radians":1.3847699051974123},"translation":{"x":2.9732367360000005,"y":4.712884736000002}},"velocity":1.288626602699017,"acceleration":-3.000000000000024,"curvature":0.5953093595736683,"holonomicRotation":0.0,"angularVelocity":0.7588737220632151,"holonomicAngularVelocity":0.0},{"time":1.6267805974686687,"pose":{"rotation":{"radians":1.3919672367794353},"translation":{"x":2.9753866880000004,"y":4.724778688000002}},"velocity":1.2601739179923108,"acceleration":-3.0,"curvature":0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7455909869329629,"holonomicAngularVelocity":0.0},{"time":1.636478690732875,"pose":{"rotation":{"radians":1.3991980477076629},"translation":{"x":2.9774494720000004,"y":4.736681472000003}},"velocity":1.2310796381996918,"acceleration":-3.0,"curvature":0.6015020816536214,"holonomicRotation":0.0,"angularVelocity":0.7317324013974611,"holonomicAngularVelocity":0.0},{"time":1.6464063462269714,"pose":{"rotation":{"radians":1.4064624349026047},"translation":{"x":2.9794247040000004,"y":4.748592704000002}},"velocity":1.201296671717403,"acceleration":-2.999999999999978,"curvature":0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.717259531383458,"holonomicAngularVelocity":0.0},{"time":1.6565812523929566,"pose":{"rotation":{"radians":1.41376048333109},"translation":{"x":2.9813120000000004,"y":4.760512000000002}},"velocity":1.1707719532194472,"acceleration":-3.0,"curvature":0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7021294852003354,"holonomicAngularVelocity":0.0},{"time":1.6670234607122523,"pose":{"rotation":{"radians":1.4210922656826717},"translation":{"x":2.9831109760000003,"y":4.772438976000002}},"velocity":1.1394453282615602,"acceleration":-3.0,"curvature":0.6107915042418585,"holonomicRotation":0.0,"angularVelocity":0.6862940629818453,"holonomicAngularVelocity":0.0},{"time":1.6777558519135327,"pose":{"rotation":{"radians":1.428457842045709},"translation":{"x":2.9848212480000003,"y":4.784373248000002}},"velocity":1.107248154657719,"acceleration":-2.999999999999979,"curvature":0.6138816870079442,"holonomicRotation":0.0,"angularVelocity":0.6696986828773126,"holonomicAngularVelocity":0.0},{"time":1.6888047276641542,"pose":{"rotation":{"radians":1.4358572595831753},"translation":{"x":2.9864424320000005,"y":4.796314432000002}},"velocity":1.0741015274058545,"acceleration":-3.0,"curvature":0.6169659427695113,"holonomicRotation":0.0,"angularVelocity":0.652281008129766,"holonomicAngularVelocity":0.0},{"time":1.7002005716841848,"pose":{"rotation":{"radians":1.4432905522090504},"translation":{"x":2.9879741440000003,"y":4.808262144000002}},"velocity":1.039913995345763,"acceleration":-2.9999999999999805,"curvature":0.6200425403987194,"holonomicRotation":0.0,"angularVelocity":0.6339691664027446,"holonomicAngularVelocity":0.0},{"time":1.7119790436535878,"pose":{"rotation":{"radians":1.450757740264991},"translation":{"x":2.9894160000000003,"y":4.820216000000001}},"velocity":1.004578579437554,"acceleration":-3.0000000000000187,"curvature":0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6146794031013213,"holonomicAngularVelocity":0.0},{"time":1.724182299361434,"pose":{"rotation":{"radians":1.4582588301993826},"translation":{"x":2.9907676160000003,"y":4.8321756160000024}},"velocity":0.9679688123140158,"acceleration":-2.9999999999999636,"curvature":0.6261656322069277,"holonomicRotation":0.0,"angularVelocity":0.5943129313748706,"holonomicAngularVelocity":0.0},{"time":1.7368607784086099,"pose":{"rotation":{"radians":1.4657938142472846},"translation":{"x":2.992028608,"y":4.844140608000002}},"velocity":0.9299333751724882,"acceleration":-2.999999999999991,"curvature":0.6292084609699685,"holonomicRotation":0.0,"angularVelocity":0.5727516148206816,"holonomicAngularVelocity":0.0},{"time":1.7500756793718817,"pose":{"rotation":{"radians":1.473362670113694},"translation":{"x":2.993198592,"y":4.856110592000002}},"velocity":0.8902886722826729,"acceleration":-2.999999999999983,"curvature":0.6322363020068372,"holonomicRotation":0.0,"angularVelocity":0.549851904665754,"holonomicAngularVelocity":0.0},{"time":1.763902476153777,"pose":{"rotation":{"radians":1.4809653606596453},"translation":{"x":2.9942771840000004,"y":4.868085184000002}},"velocity":0.8488082819369874,"acceleration":-2.999999999999984,"curvature":0.6352472246674356,"holonomicRotation":0.0,"angularVelocity":0.5254360802848803,"holonomicAngularVelocity":0.0},{"time":1.7784360668586583,"pose":{"rotation":{"radians":1.488601833592083},"translation":{"x":2.995264,"y":4.880064000000003}},"velocity":0.8052075098223431,"acceleration":-3.000000000000015,"curvature":0.6382392605344301,"holonomicRotation":0.0,"angularVelocity":0.49927915802747,"holonomicAngularVelocity":0.0},{"time":1.7937985898931266,"pose":{"rotation":{"radians":1.49627202115791},"translation":{"x":2.996158656,"y":4.8920466560000015}},"velocity":0.759119940718938,"acceleration":-3.0000000000000218,"curvature":0.6412104045156426,"holonomicRotation":0.0,"angularVelocity":0.4710885081646315,"holonomicAngularVelocity":0.0},{"time":1.81015181981141,"pose":{"rotation":{"radians":1.5039758398437872},"translation":{"x":2.996960768,"y":4.904032768000002}},"velocity":0.7100602509640875,"acceleration":-3.0000000000000204,"curvature":0.6441586157880042,"holonomicRotation":0.0,"angularVelocity":0.44047046706200677,"holonomicAngularVelocity":0.0},{"time":1.8277179242740946,"pose":{"rotation":{"radians":1.511713190080926},"translation":{"x":2.9976699520000003,"y":4.916021952000001}},"velocity":0.6573619375760337,"acceleration":-2.9999999999999876,"curvature":0.6470818190817547,"holonomicRotation":0.0,"angularVelocity":0.40687199814347647,"holonomicAngularVelocity":0.0},{"time":1.8468167217124687,"pose":{"rotation":{"radians":1.5194839559568147},"translation":{"x":2.998285824,"y":4.928013824000002}},"velocity":0.6000655452609113,"acceleration":-3.0000000000000115,"curvature":0.6499779058913984,"holonomicRotation":0.0,"angularVelocity":0.3694696536402002,"holonomicAngularVelocity":0.0},{"time":1.8679390220148424,"pose":{"rotation":{"radians":1.527288004933617},"translation":{"x":2.998808,"y":4.9400080000000015}},"velocity":0.5366986443537898,"acceleration":-3.000000000000016,"curvature":0.6528447360474303,"holonomicRotation":0.0,"angularVelocity":0.3269313584685308,"holonomicAngularVelocity":0.0},{"time":1.891910973431456,"pose":{"rotation":{"radians":1.5351251875753922},"translation":{"x":2.999236096,"y":4.952004096000002}},"velocity":0.4647827901039487,"acceleration":-3.000000000000002,"curvature":0.6556801391027219,"holonomicRotation":0.0,"angularVelocity":0.2768026259312415,"holonomicAngularVelocity":0.0},{"time":1.9203433254767548,"pose":{"rotation":{"radians":1.5429953372829324},"translation":{"x":2.999569728,"y":4.964001728000001}},"velocity":0.3794857339680527,"acceleration":-2.999999999999996,"curvature":0.6584819160890972,"holonomicRotation":0.0,"angularVelocity":0.21329879823738362,"holonomicAngularVelocity":0.0},{"time":1.9573943207044333,"pose":{"rotation":{"radians":1.5508982700384952},"translation":{"x":2.999808512,"y":4.976000512000002}},"velocity":0.26833274828501735,"acceleration":-2.9999999999999942,"curvature":0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0887202271044126,"holonomicAngularVelocity":0.0},{"time":2.0468385701327723,"pose":{"rotation":{"radians":1.5588337841609612},"translation":{"x":2.999952064,"y":4.988000064000001}},"velocity":0,"acceleration":-3.0000000000000058,"curvature":0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":2.0468385701327723,"pose":{"rotation":{"radians":1.5747909935183229},"translation":{"x":3.0,"y":5.0}},"velocity":0,"acceleration":-3.0,"curvature":-0.663975664093471,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0},{"time":2.1362814075366994,"pose":{"rotation":{"radians":1.5747909935183229},"translation":{"x":3.000047936,"y":4.988000064000001}},"velocity":-0.26832851221178183,"acceleration":-3.0,"curvature":-0.663975664093471,"holonomicRotation":0.0,"angularVelocity":0.21506066046267544,"holonomicAngularVelocity":0.0},{"time":2.1733308423025224,"pose":{"rotation":{"radians":1.5827588694288295},"translation":{"x":3.000191488,"y":4.976000512}},"velocity":-0.37947681650924975,"acceleration":-2.999999999999999,"curvature":-0.6612478412834536,"holonomicRotation":0.0,"angularVelocity":0.2791196654352754,"holonomicAngularVelocity":0.0},{"time":2.201761351167232,"pose":{"rotation":{"radians":1.5906943835513019},"translation":{"x":3.000430272,"y":4.964001728000001}},"velocity":-0.4647683431033788,"acceleration":-2.999999999999999,"curvature":-0.6584819160890969,"holonomicRotation":0.0,"angularVelocity":0.32970274886998213,"holonomicAngularVelocity":0.0},{"time":2.2257312233707207,"pose":{"rotation":{"radians":1.5985973163068543},"translation":{"x":3.000763904,"y":4.952004096}},"velocity":-0.536677959713845,"acceleration":-2.9999999999999956,"curvature":-0.6556801391026855,"holonomicRotation":0.0,"angularVelocity":0.37263931025212366,"holonomicAngularVelocity":0.0},{"time":2.2468512434304047,"pose":{"rotation":{"radians":1.606467466014406},"translation":{"x":3.001192,"y":4.940008000000001}},"velocity":-0.6000380198928976,"acceleration":-3.0000000000000013,"curvature":-0.6528447360474302,"holonomicRotation":0.0,"angularVelocity":0.41040227730578355,"holonomicAngularVelocity":0.0},{"time":2.2659475863971474,"pose":{"rotation":{"radians":1.6143046486561694},"translation":{"x":3.001714176,"y":4.928013824}},"velocity":-0.6573270487931249,"acceleration":-3.000000000000003,"curvature":-0.6499779059037698,"holonomicRotation":0.0,"angularVelocity":0.4443334326624615,"holonomicAngularVelocity":0.0},{"time":2.2835110835440036,"pose":{"rotation":{"radians":1.6221086976329895},"translation":{"x":3.0023300479999997,"y":4.916021952000001}},"velocity":-0.7100175402336942,"acceleration":-3.0,"curvature":-0.6470818190817534,"holonomicRotation":0.0,"angularVelocity":0.47526203255141736,"holonomicAngularVelocity":0.0},{"time":2.2998615709460464,"pose":{"rotation":{"radians":1.6298794635088907},"translation":{"x":3.0030392320000003,"y":4.9040327679999995}},"velocity":-0.7590690024398227,"acceleration":-3.000000000000005,"curvature":-0.6441586157755366,"holonomicRotation":0.0,"angularVelocity":0.5037448816056413,"holonomicAngularVelocity":0.0},{"time":2.3152212312019,"pose":{"rotation":{"radians":1.6376168137459786},"translation":{"x":3.003841344,"y":4.892046656000001}},"velocity":-0.8051479832073837,"acceleration":-3.0,"curvature":-0.6412104045031639,"holonomicRotation":0.0,"angularVelocity":0.5301782294741988,"holonomicAngularVelocity":0.0},{"time":2.329751851769881,"pose":{"rotation":{"radians":1.645320632431872},"translation":{"x":3.004736,"y":4.880064}},"velocity":-0.8487398449113267,"acceleration":-3.000000000000004,"curvature":-0.6382392605344286,"holonomicRotation":0.0,"angularVelocity":0.5548565565092586,"holonomicAngularVelocity":0.0},{"time":2.3435755823826048,"pose":{"rotation":{"radians":1.6529908199977594},"translation":{"x":3.005722816,"y":4.868085184000001}},"velocity":-0.8902110367494969,"acceleration":-2.999999999999996,"curvature":-0.6352472246548937,"holonomicRotation":0.0,"angularVelocity":0.5780062147703856,"holonomicAngularVelocity":0.0},{"time":2.3567873312137406,"pose":{"rotation":{"radians":1.6606272929301413},"translation":{"x":3.0068014080000003,"y":4.856110592}},"velocity":-0.9298462832429044,"acceleration":-3.0,"curvature":-0.6322363020068388,"holonomicRotation":0.0,"angularVelocity":0.5998059641255189,"holonomicAngularVelocity":0.0},{"time":2.3694625812123173,"pose":{"rotation":{"radians":1.6682299834760697},"translation":{"x":3.007971392,"y":4.844140608000001}},"velocity":-0.9678720332386348,"acceleration":-3.0000000000000044,"curvature":-0.629208460982605,"holonomicRotation":0.0,"angularVelocity":0.6204001606251212,"holonomicAngularVelocity":0.0},{"time":2.381662539153711,"pose":{"rotation":{"radians":1.67579883934253},"translation":{"x":3.009232384,"y":4.832175616}},"velocity":-1.004471907062816,"acceleration":-3.000000000000009,"curvature":-0.6261656322196447,"holonomicRotation":0.0,"angularVelocity":0.639907580276147,"holonomicAngularVelocity":0.0},{"time":2.3934376521233767,"pose":{"rotation":{"radians":1.6833338233904271},"translation":{"x":3.010584,"y":4.820216}},"velocity":-1.0397972459718132,"acceleration":-2.999999999999986,"curvature":-0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6584275258631126,"holonomicAngularVelocity":0.0},{"time":2.404830082785391,"pose":{"rotation":{"radians":1.6908349133247844},"translation":{"x":3.012025856,"y":4.8082621439999995}},"velocity":-1.0739745379578567,"acceleration":-2.999999999999995,"curvature":-0.6200425403987191,"holonomicRotation":0.0,"angularVelocity":0.6760441751862138,"holonomicAngularVelocity":0.0},{"time":2.4158754971681424,"pose":{"rotation":{"radians":1.6983021013807615},"translation":{"x":3.013557568,"y":4.796314432000001}},"velocity":-1.107110781106111,"acceleration":-3.0,"curvature":-0.6169659427566521,"holonomicRotation":0.0,"angularVelocity":0.6928297531971396,"holonomicAngularVelocity":0.0},{"time":2.426604384880453,"pose":{"rotation":{"radians":1.7057353940065614},"translation":{"x":3.0151787519999997,"y":4.784373248}},"velocity":-1.1392974442430421,"acceleration":-3.0,"curvature":-0.6138816870079441,"holonomicRotation":0.0,"angularVelocity":0.7088468951007417,"holonomicAngularVelocity":0.0},{"time":2.437043053073432,"pose":{"rotation":{"radians":1.7131348115441414},"translation":{"x":3.016889024,"y":4.772438976000001}},"velocity":-1.170613448821979,"acceleration":-3.0000000000000053,"curvature":-0.6107915042418562,"holonomicRotation":0.0,"angularVelocity":0.7241504390507798,"holonomicAngularVelocity":0.0},{"time":2.44721438759974,"pose":{"rotation":{"radians":1.7205003879070997},"translation":{"x":3.018688,"y":4.760511999999999}},"velocity":-1.201127452400903,"acceleration":-2.999999999999989,"curvature":-0.6076970841012463,"holonomicRotation":0.0,"angularVelocity":0.7387888084396566,"holonomicAngularVelocity":0.0},{"time":2.4571384447428093,"pose":{"rotation":{"radians":1.727832170258715},"translation":{"x":3.020575296,"y":4.748592704}},"velocity":-1.230899623830111,"acceleration":-3.000000000000011,"curvature":-0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.7528050925433399,"holonomicAngularVelocity":0.0},{"time":2.466832917456597,"pose":{"rotation":{"radians":1.7351302186871767},"translation":{"x":3.022550528,"y":4.736681472}},"velocity":-1.2599830419714737,"acceleration":-3.0,"curvature":-0.6015020816667189,"holonomicRotation":0.0,"angularVelocity":0.7662379027193594,"holonomicAngularVelocity":0.0},{"time":2.476313507191436,"pose":{"rotation":{"radians":1.7423946058821427},"translation":{"x":3.024613312,"y":4.724778688}},"velocity":-1.288424811175992,"acceleration":-3.0000000000000058,"curvature":-0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7791220580677133,"holonomicAngularVelocity":0.0},{"time":2.4855942236765203,"pose":{"rotation":{"radians":1.7496254168103444},"translation":{"x":3.026763264,"y":4.7128847359999995}},"velocity":-1.3162669606312447,"acceleration":-3.000000000000012,"curvature":-0.5953093595736652,"holonomicRotation":0.0,"angularVelocity":0.791489140569654,"holonomicAngularVelocity":0.0},{"time":2.4946876290224305,"pose":{"rotation":{"radians":1.7568227483924304},"translation":{"x":3.0290000000000004,"y":4.701}},"velocity":-1.3435471766689753,"acceleration":-3.000000000000018,"curvature":-0.5922176320623417,"holonomicRotation":0.0,"angularVelocity":0.8033679485311952,"holonomicAngularVelocity":0.0},{"time":2.5036050382878523,"pose":{"rotation":{"radians":1.7639867091802053},"translation":{"x":3.031323136,"y":4.689124864}},"velocity":-1.3702994044652403,"acceleration":-2.9999999999999876,"curvature":-0.589130924651956,"holonomicRotation":0.0,"angularVelocity":0.8147848703989182,"holonomicAngularVelocity":0.0},{"time":2.5123566856429775,"pose":{"rotation":{"radians":1.7711174190362282},"translation":{"x":3.033732288,"y":4.677259712}},"velocity":-1.3965543465306167,"acceleration":-3.0,"curvature":-0.586050633250819,"holonomicRotation":0.0,"angularVelocity":0.8257641950397024,"holonomicAngularVelocity":0.0},{"time":2.5209518630807075,"pose":{"rotation":{"radians":1.7782150088143185},"translation":{"x":3.036227072,"y":4.665404928}},"velocity":-1.4223398788438055,"acceleration":-2.9999999999999676,"curvature":-0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8363283714374167,"holonomicAngularVelocity":0.0},{"time":2.529399037025395,"pose":{"rotation":{"radians":1.7852796200427274},"translation":{"x":3.038807104,"y":4.653560896}},"velocity":-1.4476814006778675,"acceleration":-2.9999999999999933,"curvature":-0.5799146744073547,"holonomicRotation":0.0,"angularVelocity":0.8464982273758479,"holonomicAngularVelocity":0.0},{"time":2.5377059469986545,"pose":{"rotation":{"radians":1.7923114046100626},"translation":{"x":3.041472,"y":4.641728}},"velocity":-1.4726021305976469,"acceleration":-3.00000000000002,"curvature":-0.5768615917997932,"holonomicRotation":0.0,"angularVelocity":0.8562931546703597,"holonomicAngularVelocity":0.0},{"time":2.545879689607045,"pose":{"rotation":{"radians":1.7993105244536647},"translation":{"x":3.044221376,"y":4.629906623999999}},"velocity":-1.497123358422818,"acceleration":-3.0000000000000067,"curvature":-0.5738200956456038,"holonomicRotation":0.0,"angularVelocity":0.8657312671405707,"holonomicAngularVelocity":0.0},{"time":2.5539267904366865,"pose":{"rotation":{"radians":1.8062771512517184},"translation":{"x":3.047054848,"y":4.618097152}},"velocity":-1.5212646609117435,"acceleration":-3.0000000000000138,"curvature":-0.5707913768570366,"holonomicRotation":0.0,"angularVelocity":0.87482953581738,"holonomicAngularVelocity":0.0},{"time":2.5618532659183937,"pose":{"rotation":{"radians":1.813211466118048},"translation":{"x":3.0499720320000003,"y":4.606299968}},"velocity":-1.5450440873568647,"acceleration":-2.999999999999986,"curvature":-0.5677765867125653,"holonomicRotation":0.0,"angularVelocity":0.8836039055943861,"holonomicAngularVelocity":0.0},{"time":2.569664676823153,"pose":{"rotation":{"radians":1.820113659301696},"translation":{"x":3.0529725439999997,"y":4.594515456}},"velocity":-1.5684783200711427,"acceleration":-3.0,"curvature":-0.5647768371119459,"holonomicRotation":0.0,"angularVelocity":0.8920693959976156,"holonomicAngularVelocity":0.0},{"time":2.577366174732555,"pose":{"rotation":{"radians":1.8269839298900132},"translation":{"x":3.0560560000000003,"y":4.582744}},"velocity":-1.591582813799349,"acceleration":-3.0,"curvature":-0.5617932012303779,"holonomicRotation":0.0,"angularVelocity":0.9002401887212853,"holonomicAngularVelocity":0.0},{"time":2.5849625425806573,"pose":{"rotation":{"radians":1.833822485515185},"translation":{"x":3.059222016,"y":4.570985984}},"velocity":-1.6143719173436557,"acceleration":-3.0000000000000293,"curvature":-0.5588267141256478,"holonomicRotation":0.0,"angularVelocity":0.9081297043785966,"holonomicAngularVelocity":0.0},{"time":2.592458230167031,"pose":{"rotation":{"radians":1.8406295420671128},"translation":{"x":3.062470208,"y":4.559241792}},"velocity":-1.6368589801027766,"acceleration":-3.0,"curvature":-0.5558783732812124,"holonomicRotation":0.0,"angularVelocity":0.9157506692825748,"holonomicAngularVelocity":0.0},{"time":2.5998573853836477,"pose":{"rotation":{"radians":1.8474053234088554},"translation":{"x":3.065800192,"y":4.547511807999999}},"velocity":-1.6590564457526276,"acceleration":-3.000000000000015,"curvature":-0.5529491392614698,"holonomicRotation":0.0,"angularVelocity":0.9231151746224233,"holonomicAngularVelocity":0.0},{"time":2.607163881771995,"pose":{"rotation":{"radians":1.8541500610982622},"translation":{"x":3.069211584,"y":4.535796415999999}},"velocity":-1.6809759349176676,"acceleration":-3.0,"curvature":-0.5500399363825702,"holonomicRotation":0.0,"angularVelocity":0.9302347284834435,"holonomicAngularVelocity":0.0},{"time":2.614381342924677,"pose":{"rotation":{"radians":1.8608639941139673},"translation":{"x":3.072704,"y":4.524095999999999}},"velocity":-1.7026283183757143,"acceleration":-3.0000000000000155,"curvature":-0.5471516533975169,"holonomicRotation":0.0,"angularVelocity":0.9371203020405943,"holonomicAngularVelocity":0.0},{"time":2.6215131641626916,"pose":{"rotation":{"radians":1.867547368586635},"translation":{"x":3.0762770560000003,"y":4.512410944}},"velocity":-1.7240237820897581,"acceleration":-3.0000000000000155,"curvature":-0.5442851441519785,"holonomicRotation":0.0,"angularVelocity":0.9437823705718374,"holonomicAngularVelocity":0.0},{"time":2.6285625318515775,"pose":{"rotation":{"radians":1.8742004375350847},"translation":{"x":3.0799303680000003,"y":4.5007416319999995}},"velocity":-1.7451718851564173,"acceleration":-3.0000000000000315,"curvature":-0.5414412284047262,"holonomicRotation":0.0,"angularVelocity":0.9502309502266035,"holonomicAngularVelocity":0.0},{"time":2.6355324406637557,"pose":{"rotation":{"radians":1.8808234606086733},"translation":{"x":3.083663552,"y":4.4890884479999995}},"velocity":-1.7660816115929512,"acceleration":-3.0,"curvature":-0.538620692477182,"holonomicRotation":0.0,"angularVelocity":0.9564756306438044,"holonomicAngularVelocity":0.0},{"time":2.6424257090481733,"pose":{"rotation":{"radians":1.887416703833856},"translation":{"x":3.087476224,"y":4.477451776}},"velocity":-1.7867614167462036,"acceleration":-2.999999999999984,"curvature":-0.5358242899805565,"holonomicRotation":0.0,"angularVelocity":0.9625256044974729,"holonomicAngularVelocity":0.0},{"time":2.6492449931300026,"pose":{"rotation":{"radians":1.8939804393669588},"translation":{"x":3.091368,"y":4.465832}},"velocity":-1.8072192689916917,"acceleration":-3.0000000000000324,"curvature":-0.5330527427341364,"holonomicRotation":0.0,"angularVelocity":0.9683896940137469,"holonomicAngularVelocity":0.0},{"time":2.655992799231136,"pose":{"rotation":{"radians":1.9005149452524996},"translation":{"x":3.095338496,"y":4.454229504}},"velocity":-1.8274626872950925,"acceleration":-3.0000000000000164,"curvature":-0.5303067413665257,"holonomicRotation":0.0,"angularVelocity":0.9740763748988773,"holonomicAngularVelocity":0.0},{"time":2.662671495175413,"pose":{"rotation":{"radians":1.9070205051869529},"translation":{"x":3.099387328,"y":4.442644671999999}},"velocity":-1.8474987751279237,"acceleration":-3.0,"curvature":-0.527586946146635,"holonomicRotation":0.0,"angularVelocity":0.9795937980323695,"holonomicAngularVelocity":0.0},{"time":2.6692833205199555,"pose":{"rotation":{"radians":1.9134974082881397},"translation":{"x":3.103514112,"y":4.431077888}},"velocity":-1.8673342511615505,"acceleration":-2.999999999999983,"curvature":-0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9849498091799569,"holonomicAngularVelocity":0.0},{"time":2.6758303958349496,"pose":{"rotation":{"radians":1.91994594887033},"translation":{"x":3.1077184640000004,"y":4.419529536}},"velocity":-1.886975477106533,"acceleration":-2.999999999999983,"curvature":-0.5222284682600391,"holonomicRotation":0.0,"angularVelocity":0.9901519669516187,"holonomicAngularVelocity":0.0},{"time":2.6823147311380504,"pose":{"rotation":{"radians":1.9263664262250693},"translation":{"x":3.112,"y":4.4079999999999995}},"velocity":-1.9064284830158356,"acceleration":-2.9999999999999827,"curvature":-0.5195909614569447,"holonomicRotation":0.0,"angularVelocity":0.9952075592378692,"holonomicAngularVelocity":0.0},{"time":2.6887382335758687,"pose":{"rotation":{"radians":1.932759144407969},"translation":{"x":3.1163583360000002,"y":4.396489664}},"velocity":-1.9256989903292907,"acceleration":-2.9999999999999827,"curvature":-0.5169820141397626,"holonomicRotation":0.0,"angularVelocity":1.0001236180920878,"holonomicAngularVelocity":0.0},{"time":2.695102714433262,"pose":{"rotation":{"radians":1.9391244120303428},"translation":{"x":3.120793088,"y":4.3849989119999995}},"velocity":-1.9447924329014699,"acceleration":-3.0,"curvature":-0.5144021466205735,"holonomicRotation":0.0,"angularVelocity":1.0049069337160776,"holonomicAngularVelocity":0.0},{"time":2.7014098955411114,"pose":{"rotation":{"radians":1.9454625420578235},"translation":{"x":3.1253038720000004,"y":4.373528127999999}},"velocity":-1.9637139762250175,"acceleration":-3.0,"curvature":-0.5118518535624782,"holonomicRotation":0.0,"angularVelocity":1.009564066942242,"holonomicAngularVelocity":0.0},{"time":2.7076614151446488,"pose":{"rotation":{"radians":1.95177385161334},"translation":{"x":3.1298903040000003,"y":4.362077695999999}},"velocity":-1.9824685350356301,"acceleration":-3.0,"curvature":-0.5093316047891807,"holonomicRotation":0.0,"angularVelocity":1.0141013611165504,"holonomicAngularVelocity":0.0},{"time":2.7138588332869524,"pose":{"rotation":{"radians":1.9580586617868585},"translation":{"x":3.1345520000000002,"y":4.350648}},"velocity":-2.001060789462541,"acceleration":-3.0000000000000178,"curvature":-0.506841846048325,"holonomicRotation":0.0,"angularVelocity":1.018524952789108,"holonomicAngularVelocity":0.0},{"time":2.7200036367558105,"pose":{"rotation":{"radians":1.9643172974498757},"translation":{"x":3.139288576,"y":4.339239424}},"velocity":-2.019495199869116,"acceleration":-3.000000000000036,"curvature":-0.5043829997561204,"holonomicRotation":0.0,"angularVelocity":1.0228407818470144,"holonomicAngularVelocity":0.0},{"time":2.726097243636585,"pose":{"rotation":{"radians":1.9705500870760755},"translation":{"x":3.144099648,"y":4.327852352}},"velocity":-2.0377760205114392,"acceleration":-2.9999999999999454,"curvature":-0.5019554658388903,"holonomicRotation":0.0,"angularVelocity":1.027054600792063,"holonomicAngularVelocity":0.0},{"time":2.7321410075088677,"pose":{"rotation":{"radians":1.976757362567204},"translation":{"x":3.1489848320000005,"y":4.316487167999999}},"velocity":-2.0559073121282863,"acceleration":-3.0,"curvature":-0.49955962237970714,"holonomicRotation":0.0,"angularVelocity":1.0311719834343849,"holonomicAngularVelocity":0.0},{"time":2.738136221320501,"pose":{"rotation":{"radians":1.9829394590844593},"translation":{"x":3.153943744,"y":4.305144255999999}},"velocity":-2.0738929535631874,"acceleration":-3.0000000000000555,"curvature":-0.4971958264330603,"holonomicRotation":0.0,"angularVelocity":1.0351983330386056,"holonomicAngularVelocity":0.0},{"time":2.744084120968872,"pose":{"rotation":{"radians":1.9890967148855339},"translation":{"x":3.158976,"y":4.293824}},"velocity":-2.0917366525083003,"acceleration":-3.0000000000000187,"curvature":-0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0391388898266953,"holonomicAngularVelocity":0.0},{"time":2.7499858886161315,"pose":{"rotation":{"radians":1.995229471166522},"translation":{"x":3.164081216,"y":4.282526783999999}},"velocity":-2.109441955450078,"acceleration":-3.0,"curvature":-0.49256570452370857,"holonomicRotation":0.0,"angularVelocity":1.0429987382066992,"holonomicAngularVelocity":0.0},{"time":2.7558426557621933,"pose":{"rotation":{"radians":2.001338071909835},"translation":{"x":3.1692590080000005,"y":4.271252991999999}},"velocity":-2.1270122568882637,"acceleration":-2.999999999999943,"curvature":-0.49029999405552377,"holonomicRotation":0.0,"angularVelocity":1.0467828132733483,"holonomicAngularVelocity":0.0},{"time":2.761655506096872,"pose":{"rotation":{"radians":2.0074228637363074},"translation":{"x":3.1745089920000003,"y":4.260003007999999}},"velocity":-2.144450807892301,"acceleration":-2.999999999999981,"curvature":-0.4880675635449118,"holonomicRotation":0.0,"angularVelocity":1.0504959073292972,"holonomicAngularVelocity":0.0},{"time":2.76742547815031,"pose":{"rotation":{"radians":2.013484195763848},"translation":{"x":3.1798307840000004,"y":4.248777216}},"velocity":-2.161760724052613,"acceleration":-2.9999999999999614,"curvature":-0.4858686756363079,"holonomicRotation":0.0,"angularVelocity":1.0541426755227752,"holonomicAngularVelocity":0.0},{"time":2.7731535677589205,"pose":{"rotation":{"radians":2.019522419469503},"translation":{"x":3.1852240000000003,"y":4.237576}},"velocity":-2.1789449928784457,"acceleration":-3.0000000000000777,"curvature":-0.4837035763095772,"holonomicRotation":0.0,"angularVelocity":1.0577276417062655,"holonomicAngularVelocity":0.0},{"time":2.7788407303623694,"pose":{"rotation":{"radians":2.0255378885580493},"translation":{"x":3.190688256,"y":4.226399743999999}},"velocity":-2.1960064806887933,"acceleration":-3.000000000000039,"curvature":-0.4815724954088063,"holonomicRotation":0.0,"angularVelocity":1.0612552035558065,"holonomicAngularVelocity":0.0},{"time":2.7844878831455677,"pose":{"rotation":{"radians":2.0315309588344928},"translation":{"x":3.1962231680000004,"y":4.2152488319999994}},"velocity":-2.2129479390383873,"acceleration":-3.0000000000000195,"curvature":-0.47947564724702796,"holonomicRotation":0.0,"angularVelocity":1.0647296375816526,"holonomicAngularVelocity":0.0},{"time":2.7900959070383258,"pose":{"rotation":{"radians":2.0375019880813783},"translation":{"x":3.2018283520000006,"y":4.2041236479999995}},"velocity":-2.2297720107166614,"acceleration":-3.0,"curvature":-0.47741323142346864,"holonomicRotation":0.0,"angularVelocity":1.0681551040319075,"holonomicAngularVelocity":0.0},{"time":2.7956656485841047,"pose":{"rotation":{"radians":2.043451335941641},"translation":{"x":3.2075034240000004,"y":4.193024575999999}},"velocity":-2.2464812353539987,"acceleration":-2.99999999999996,"curvature":-0.4753854333143056,"holonomicRotation":0.0,"angularVelocity":1.0715356512800862,"holonomicAngularVelocity":0.0},{"time":2.801197921688225,"pose":{"rotation":{"radians":2.0493793638053237},"translation":{"x":3.2132480000000005,"y":4.181951999999999}},"velocity":-2.2630780546663596,"acceleration":-3.0,"curvature":-0.4733924247442328,"holonomicRotation":0.0,"angularVelocity":1.0748752201213205,"holonomicAngularVelocity":0.0},{"time":2.8066935092549423,"pose":{"rotation":{"radians":2.055286434700795},"translation":{"x":3.2190616960000002,"y":4.170906303999999}},"velocity":-2.279564817366512,"acceleration":-3.00000000000002,"curvature":-0.47143436459980015,"holonomicRotation":0.0,"angularVelocity":1.0781776480141334,"holonomicAngularVelocity":0.0},{"time":2.8121531647219413,"pose":{"rotation":{"radians":2.0611729131911716},"translation":{"x":3.2249441280000006,"y":4.159887872}},"velocity":-2.295943783767509,"acceleration":-3.0,"curvature":-0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0814466727704475,"holonomicAngularVelocity":0.0},{"time":2.817577613500027,"pose":{"rotation":{"radians":2.0670391652738456},"translation":{"x":3.230894912,"y":4.148897087999999}},"velocity":-2.312217130101765,"acceleration":-3.000000000000041,"curvature":-0.4676236637363229,"holonomicRotation":0.0,"angularVelocity":1.084685936631654,"holonomicAngularVelocity":0.0},{"time":2.822967554325104,"pose":{"rotation":{"radians":2.0728855582860835},"translation":{"x":3.2369136640000002,"y":4.137934335999999}},"velocity":-2.328386952576996,"acceleration":-3.0,"curvature":-0.46577128117650907,"holonomicRotation":0.0,"angularVelocity":1.087898989429441,"holonomicAngularVelocity":0.0},{"time":2.8283236605289246,"pose":{"rotation":{"radians":2.078712460812497},"translation":{"x":3.2430000000000003,"y":4.127}},"velocity":-2.3444552711884588,"acceleration":-3.000000000000021,"curvature":-0.46395436448481275,"holonomicRotation":0.0,"angularVelocity":1.0910892923568585,"holonomicAngularVelocity":0.0},{"time":2.833646581234512,"pose":{"rotation":{"radians":2.084520242598428},"translation":{"x":3.249153536,"y":4.116094464}},"velocity":-2.360424033305221,"acceleration":-3.0,"curvature":-0.4621730162899535,"holonomicRotation":0.0,"angularVelocity":1.0942602211565104,"holonomicAngularVelocity":0.0},{"time":2.838936942481669,"pose":{"rotation":{"radians":2.0903092744667395},"translation":{"x":3.2553738880000003,"y":4.105218111999999}},"velocity":-2.376295117046691,"acceleration":-2.999999999999937,"curvature":-0.46042732956063537,"holonomicRotation":0.0,"angularVelocity":1.0974150691660196,"holonomicAngularVelocity":0.0},{"time":2.8441953482875366,"pose":{"rotation":{"radians":2.096079928237889},"translation":{"x":3.2616606720000005,"y":4.094371327999999}},"velocity":-2.392070334464294,"acceleration":-3.0000000000000213,"curvature":-0.45871738814240054,"holonomicRotation":0.0,"angularVelocity":1.1005570504780544,"holonomicAngularVelocity":0.0},{"time":2.849422381646745,"pose":{"rotation":{"radians":2.1018325766544494},"translation":{"x":3.2680135040000002,"y":4.083554496}},"velocity":-2.4077514345419186,"acceleration":-2.9999999999999787,"curvature":-0.45704326726309885,"holonomicRotation":0.0,"angularVelocity":1.1036893028426855,"holonomicAngularVelocity":0.0},{"time":2.8546186054753275,"pose":{"rotation":{"radians":2.1075675933092324},"translation":{"x":3.2744320000000005,"y":4.072767999999999}},"velocity":-2.4233401060276667,"acceleration":-3.0000000000000213,"curvature":-0.4554050339602513,"holonomicRotation":0.0,"angularVelocity":1.1068148903936257,"holonomicAngularVelocity":0.0},{"time":2.859784563502238,"pose":{"rotation":{"radians":2.1132853525765656},"translation":{"x":3.2809157760000005,"y":4.062012223999999}},"velocity":-2.438837980108399,"acceleration":-3.0000000000000213,"curvature":-0.4538027475367536,"holonomicRotation":0.0,"angularVelocity":1.1099368064092427,"holonomicAngularVelocity":0.0},{"time":2.8649207811120037,"pose":{"rotation":{"radians":2.118986229547372},"translation":{"x":3.2874644480000006,"y":4.051287551999999}},"velocity":-2.454246632937696,"acceleration":-3.0000000000000218,"curvature":-0.45223646007658297,"holonomicRotation":0.0,"angularVelocity":1.113057975924393,"holonomicAngularVelocity":0.0},{"time":2.87002776614176,"pose":{"rotation":{"radians":2.1246705999676685},"translation":{"x":3.2940776320000005,"y":4.040594367999999}},"velocity":-2.469567588026965,"acceleration":-3.0000000000000435,"curvature":-0.4507062168354121,"holonomicRotation":0.0,"angularVelocity":1.1161812581885475,"holonomicAngularVelocity":0.0},{"time":2.8751060096356733,"pose":{"rotation":{"radians":2.1303388401800927},"translation":{"x":3.3007549440000004,"y":4.029933055999999}},"velocity":-2.484802318508706,"acceleration":-3.0000000000000657,"curvature":-0.4492120566748173,"holonomicRotation":0.0,"angularVelocity":1.119309449123158,"holonomicAngularVelocity":0.0},{"time":2.880155986559517,"pose":{"rotation":{"radians":2.1359913270688047},"translation":{"x":3.3074960000000004,"y":4.019303999999999}},"velocity":-2.499952249280237,"acceleration":-3.000000000000066,"curvature":-0.44775401243225865,"holonomicRotation":0.0,"angularVelocity":1.1224452836459866,"holonomicAngularVelocity":0.0},{"time":2.8851781564779557,"pose":{"rotation":{"radians":2.141628438007425},"translation":{"x":3.3143004160000005,"y":4.008707584}},"velocity":-2.5150187590355526,"acceleration":-2.999999999999978,"curvature":-0.4463321113345515,"holonomicRotation":0.0,"angularVelocity":1.1255914379109953,"holonomicAngularVelocity":0.0},{"time":2.8901729641969114,"pose":{"rotation":{"radians":2.1472505508098934},"translation":{"x":3.3211678080000007,"y":3.9981441919999994}},"velocity":-2.5300031821924205,"acceleration":-3.0000000000000444,"curvature":-0.4449463754557567,"holonomicRotation":0.0,"angularVelocity":1.1287505315403796,"holonomicAngularVelocity":0.0},{"time":2.8951408403731946,"pose":{"rotation":{"radians":2.1528580436844997},"translation":{"x":3.3280977920000003,"y":3.987614207999999}},"velocity":-2.54490681072127,"acceleration":-2.999999999999978,"curvature":-0.44359682198548334,"holonomicRotation":0.0,"angularVelocity":1.1319251296711867,"holonomicAngularVelocity":0.0},{"time":2.900082202093434,"pose":{"rotation":{"radians":2.1584512951904333},"translation":{"x":3.3350899840000006,"y":3.977118015999999}},"velocity":-2.559730895881986,"acceleration":-2.9999999999999325,"curvature":-0.44228346357140413,"holonomicRotation":0.0,"angularVelocity":1.1351177449810737,"holonomicAngularVelocity":0.0},{"time":2.904997453424183,"pose":{"rotation":{"radians":2.1640306841970087},"translation":{"x":3.3421440000000007,"y":3.9666559999999995}},"velocity":-2.574476649874234,"acceleration":-3.0000000000000453,"curvature":-0.44100630878383207,"holonomicRotation":0.0,"angularVelocity":1.1383308397188256,"holonomicAngularVelocity":0.0},{"time":2.9098869859349623,"pose":{"rotation":{"radians":2.1695965898458365},"translation":{"x":3.3492594560000004,"y":3.956228543999999}},"velocity":-2.589145247406572,"acceleration":-3.0000000000000453,"curvature":-0.43976536240568537,"holonomicRotation":0.0,"angularVelocity":1.1415668276352418,"holonomicAngularVelocity":0.0},{"time":2.9147511791958403,"pose":{"rotation":{"radians":2.175149391515662},"translation":{"x":3.356435968000001,"y":3.9458360319999994}},"velocity":-2.603737827189206,"acceleration":-2.9999999999999543,"curvature":-0.43856062556178693,"holonomicRotation":0.0,"angularVelocity":1.1448280756029832,"holonomicAngularVelocity":0.0},{"time":2.919590401251085,"pose":{"rotation":{"radians":2.180689468788583},"translation":{"x":3.3636731520000005,"y":3.9354788479999994}},"velocity":-2.6182554933549405,"acceleration":-3.0000000000000457,"curvature":-0.43739209639321713,"holonomicRotation":0.0,"angularVelocity":1.145850588652444,"holonomicAngularVelocity":0.0},{"time":2.9244145316277996,"pose":{"rotation":{"radians":2.1862172014204777},"translation":{"x":3.3709706240000004,"y":3.925157375999999}},"velocity":-2.622334232261645,"acceleration":-0.8454868729070896,"curvature":-0.4362597700073285,"holonomicRotation":0.0,"angularVelocity":1.1445003863930865,"holonomicAngularVelocity":0.0},{"time":2.9292338990626856,"pose":{"rotation":{"radians":2.1917329693118752},"translation":{"x":3.3783280000000007,"y":3.914871999999999}},"velocity":-2.625634845989314,"acceleration":-0.6848645122545891,"curvature":-0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1430465952170605,"holonomicAngularVelocity":0.0},{"time":2.934049261090149,"pose":{"rotation":{"radians":2.1972371524821046},"translation":{"x":3.3857448960000003,"y":3.9046231039999992}},"velocity":-2.6288383813504206,"acceleration":-0.6652740422913254,"curvature":-0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.141638532462789,"holonomicAngularVelocity":0.0},{"time":2.9388607477448287,"pose":{"rotation":{"radians":2.2027301310455174},"translation":{"x":3.3932209280000003,"y":3.894411071999999}},"velocity":-2.6319437458571184,"acceleration":-0.6454064470235114,"curvature":-0.4330799216330578,"holonomicRotation":0.0,"angularVelocity":1.1402763514325127,"holonomicAngularVelocity":0.0},{"time":2.9436684894267646,"pose":{"rotation":{"radians":2.2082122851892256},"translation":{"x":3.4007557120000005,"y":3.8842362879999994}},"velocity":-2.6349498803219897,"acceleration":-0.6252695472733159,"curvature":-0.4320923098070697,"holonomicRotation":0.0,"angularVelocity":1.138960198162488,"holonomicAngularVelocity":0.0},{"time":2.9484726168868667,"pose":{"rotation":{"radians":2.213683995153181},"translation":{"x":3.4083488640000006,"y":3.874099135999999}},"velocity":-2.6378557595292262,"acceleration":-0.6048713801558966,"curvature":-0.4311408427216499,"holonomicRotation":0.0,"angularVelocity":1.1376902117009824,"holonomicAngularVelocity":0.0},{"time":2.953273261212499,"pose":{"rotation":{"radians":2.219145641212311},"translation":{"x":3.4160000000000004,"y":3.863999999999999}},"velocity":-2.640660392350118,"acceleration":-0.584220081857935,"curvature":-0.4302255037988389,"holonomicRotation":0.0,"angularVelocity":1.1364665242199663,"holonomicAngularVelocity":0.0},{"time":2.9580705538132235,"pose":{"rotation":{"radians":2.224597603659922},"translation":{"x":3.4237087360000005,"y":3.853939263999999}},"velocity":-2.6433628223610883,"acceleration":-0.5633239904028693,"curvature":-0.4293462752752821,"holonomicRotation":0.0,"angularVelocity":1.135289261297001,"holonomicAngularVelocity":0.0},{"time":2.9628646264067062,"pose":{"rotation":{"radians":2.2300402627931817},"translation":{"x":3.4314746880000007,"y":3.8439173119999994}},"velocity":-2.6459621279004737,"acceleration":-0.5421915268698363,"curvature":-0.4285031384986032,"holonomicRotation":0.0,"angularVelocity":1.1341585420547766,"holonomicAngularVelocity":0.0},{"time":2.967655611005099,"pose":{"rotation":{"radians":2.235473998900302},"translation":{"x":3.4392974720000007,"y":3.8339345279999995}},"velocity":-2.648457422337088,"acceleration":-0.5208312373726626,"curvature":-0.42769607414071226,"holonomicRotation":0.0,"angularVelocity":1.133074479392834,"holonomicAngularVelocity":0.0},{"time":2.9724436399012846,"pose":{"rotation":{"radians":2.240899192249165},"translation":{"x":3.4471767040000008,"y":3.823991295999999}},"velocity":-2.6508478547544363,"acceleration":-0.49925187779313374,"curvature":-0.42692506226405785,"holonomicRotation":0.0,"angularVelocity":1.1320371801254954,"holonomicAngularVelocity":0.0},{"time":2.97722884565546,"pose":{"rotation":{"radians":2.246316223077442},"translation":{"x":3.4551120000000006,"y":3.814087999999999}},"velocity":-2.653132609673996,"acceleration":-0.47746221101694586,"curvature":-0.4261900826856946,"holonomicRotation":0.0,"angularVelocity":1.1310467451481108,"holonomicAngularVelocity":0.0},{"time":2.9820113610819488,"pose":{"rotation":{"radians":2.2517254715841926},"translation":{"x":3.463102976000001,"y":3.804225023999999}},"velocity":-2.655310907833249,"acceleration":-0.4554712248680483,"curvature":-0.42549111498766573,"holonomicRotation":0.0,"angularVelocity":1.1301032696261668,"holonomicAngularVelocity":0.0},{"time":2.9867913192359405,"pose":{"rotation":{"radians":2.257127317922695},"translation":{"x":3.4711492480000006,"y":3.794402751999999}},"velocity":-2.657382006198557,"acceleration":-0.4332879700166909,"curvature":-0.42482813876175346,"holonomicRotation":0.0,"angularVelocity":1.1292068432180316,"holonomicAngularVelocity":0.0},{"time":2.991568853400548,"pose":{"rotation":{"radians":2.2625221421950776},"translation":{"x":3.4792504320000006,"y":3.784621567999999}},"velocity":-2.6593451982965712,"acceleration":-0.41092162407919103,"curvature":-0.424201133738781,"holonomicRotation":0.0,"angularVelocity":1.1283575500272023,"holonomicAngularVelocity":0.0},{"time":2.9963440970740116,"pose":{"rotation":{"radians":2.26791032444725},"translation":{"x":3.487406144000001,"y":3.774881855999999}},"velocity":-2.6611998143698017,"acceleration":-0.38838145235114474,"curvature":-0.42361007996169614,"holonomicRotation":0.0,"angularVelocity":1.1275554689254084,"holonomicAngularVelocity":0.0},{"time":3.001117183957077,"pose":{"rotation":{"radians":2.2732922446659067},"translation":{"x":3.495616000000001,"y":3.765183999999999}},"velocity":-2.6629452216557663,"acceleration":-0.3656768311000486,"curvature":-0.42305495790658737,"holonomicRotation":0.0,"angularVelocity":1.1268006736114815,"holonomicAngularVelocity":0.0},{"time":3.0058882479402897,"pose":{"rotation":{"radians":2.2786682827760343},"translation":{"x":3.5038796160000008,"y":3.755528383999999}},"velocity":-2.6645808247919645,"acceleration":-0.34281727135773626,"curvature":-0.42253574855162407,"holonomicRotation":0.0,"angularVelocity":1.1260932327968134,"holonomicAngularVelocity":0.0},{"time":3.010657423091539,"pose":{"rotation":{"radians":2.2840388186398783},"translation":{"x":3.512196608000001,"y":3.7459153919999992}},"velocity":-2.6661060656923015,"acceleration":-0.3198123054754257,"curvature":-0.4220524336016502,"holonomicRotation":0.0,"angularVelocity":1.1254332101236695,"holonomicAngularVelocity":0.0},{"time":3.0154248436438675,"pose":{"rotation":{"radians":2.2894042320560954},"translation":{"x":3.5205665920000007,"y":3.736345407999999}},"velocity":-2.6675204238998145,"acceleration":-0.29667158413832084,"curvature":-0.4216049955488846,"holonomicRotation":0.0,"angularVelocity":1.1248206645718342,"holonomicAngularVelocity":0.0},{"time":3.0201906439832062,"pose":{"rotation":{"radians":2.294764902761007},"translation":{"x":3.5289891840000007,"y":3.7268188159999993}},"velocity":-2.6688234168146447,"acceleration":-0.27340484746599136,"curvature":-0.4211934177613658,"holonomicRotation":0.0,"angularVelocity":1.1242556502653611,"holonomicAngularVelocity":0.0},{"time":3.0249549586362185,"pose":{"rotation":{"radians":2.300121210429298},"translation":{"x":3.5374640000000004,"y":3.717335999999999}},"velocity":-2.6700145997957936,"acceleration":-0.2500218956772268,"curvature":-0.4208176845991983,"holonomicRotation":0.0,"angularVelocity":1.123738216844328,"holonomicAngularVelocity":0.0},{"time":3.029717922258233,"pose":{"rotation":{"radians":2.3054735346767954},"translation":{"x":3.5459906560000007,"y":3.707897343999999}},"velocity":-2.671093566389595,"acceleration":-0.22653261276539288,"curvature":-0.4204777814786742,"holonomicRotation":0.0,"angularVelocity":1.1232684092818601,"holonomicAngularVelocity":0.0},{"time":3.034479669621233,"pose":{"rotation":{"radians":2.310822255062634},"translation":{"x":3.5545687680000007,"y":3.6985032319999993}},"velocity":-2.6720599484322793,"acceleration":-0.20294693712507567,"curvature":-0.42017369496416096,"holonomicRotation":0.0,"angularVelocity":1.1228462681895641,"holonomicAngularVelocity":0.0},{"time":3.0392403356020856,"pose":{"rotation":{"radians":2.3161677510933316},"translation":{"x":3.563197952000001,"y":3.689154047999999}},"velocity":-2.672913416024821,"acceleration":-0.17927483170934566,"curvature":-0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1224718297169374,"holonomicAngularVelocity":0.0},{"time":3.044000055170769,"pose":{"rotation":{"radians":2.321510402226531},"translation":{"x":3.571877824000001,"y":3.679850175999999}},"velocity":-2.6736536778913673,"acceleration":-0.15552636155641372,"curvature":-0.4196729243382383,"holonomicRotation":0.0,"angularVelocity":1.122145125703422,"holonomicAngularVelocity":0.0},{"time":3.048758963378458,"pose":{"rotation":{"radians":2.3268505878754597},"translation":{"x":3.5806080000000007,"y":3.670591999999999}},"velocity":-2.6742804814591006,"acceleration":-0.13171163224381718,"curvature":-0.41947621972129306,"holonomicRotation":0.0,"angularVelocity":1.1218661837351616,"holonomicAngularVelocity":0.0},{"time":3.053517195345991,"pose":{"rotation":{"radians":2.3321886874142024},"translation":{"x":3.5893880960000004,"y":3.661379903999999}},"velocity":-2.674793612605643,"acceleration":-0.10784071689727757,"curvature":-0.419315290918276,"holonomicRotation":0.0,"angularVelocity":1.1216350272072997,"holonomicAngularVelocity":0.0},{"time":3.0582748862519926,"pose":{"rotation":{"radians":2.337525080182999},"translation":{"x":3.598217728000001,"y":3.6522142719999993}},"velocity":-2.6751928965083205,"acceleration":-0.08392388462520017,"curvature":-0.4191901310828717,"holonomicRotation":0.0,"angularVelocity":1.1214516752368215,"holonomicAngularVelocity":0.0},{"time":3.06303217132131,"pose":{"rotation":{"radians":2.342860145493564},"translation":{"x":3.607096512000001,"y":3.6430954879999993}},"velocity":-2.6754781966265213,"acceleration":-0.05997120501374331,"curvature":-0.4191007350133541,"holonomicRotation":0.0,"angularVelocity":1.1213161429216323,"holonomicAngularVelocity":0.0},{"time":3.067789185813631,"pose":{"rotation":{"radians":2.348194262635916},"translation":{"x":3.616024064000001,"y":3.6340239359999993}},"velocity":-2.6756494156563497,"acceleration":-0.03599295947170036,"curvature":-0.4190470988943057,"holonomicRotation":0.0,"angularVelocity":1.121228441093887,"holonomicAngularVelocity":0.0},{"time":3.072546065011709,"pose":{"rotation":{"radians":2.353527810883649},"translation":{"x":3.625000000000001,"y":3.624999999999999}},"velocity":-2.675706495129876,"acceleration":-0.011999353178753079,"curvature":-0.41902922045158014,"holonomicRotation":0.0,"angularVelocity":1.1211885766455594,"holonomicAngularVelocity":0.0},{"time":3.0773029442097872,"pose":{"rotation":{"radians":2.358861169501017},"translation":{"x":3.634023936000001,"y":3.616024063999999}},"velocity":-2.67564941565635,"acceleration":0.011999353178659161,"curvature":-0.4190470988943055,"holonomicRotation":0.0,"angularVelocity":1.1211965522473806,"holonomicAngularVelocity":0.0},{"time":3.0820599587021085,"pose":{"rotation":{"radians":2.3641947177487985},"translation":{"x":3.643095488000001,"y":3.607096511999999}},"velocity":-2.675478196626521,"acceleration":0.03599295947188707,"curvature":-0.41910073501335415,"holonomicRotation":0.0,"angularVelocity":1.1212523665345682,"holonomicAngularVelocity":0.0},{"time":3.0868172437714714,"pose":{"rotation":{"radians":2.369528834891101},"translation":{"x":3.652214272000001,"y":3.598217727999999}},"velocity":-2.675192896457028,"acceleration":0.059971215794916974,"curvature":-0.4191901310989462,"holonomicRotation":0.0,"angularVelocity":1.1213560140984302,"holonomicAngularVelocity":0.0},{"time":3.0915749346774724,"pose":{"rotation":{"radians":2.374863900201767},"translation":{"x":3.661379904000001,"y":3.5893880959999995}},"velocity":-2.674793612656831,"acceleration":0.08392386308529144,"curvature":-0.4193152909022269,"holonomicRotation":0.0,"angularVelocity":1.121507485349945,"holonomicAngularVelocity":0.0},{"time":3.096333166645051,"pose":{"rotation":{"radians":2.3802002929704376},"translation":{"x":3.670592000000001,"y":3.580607999999999}},"velocity":-2.674280481356777,"acceleration":0.10784074915852378,"curvature":-0.4194762197533931,"holonomicRotation":0.0,"angularVelocity":1.1217067667098233,"holonomicAngularVelocity":0.0},{"time":3.101092074852831,"pose":{"rotation":{"radians":2.3855383925092557},"translation":{"x":3.679850176000001,"y":3.5718778239999995}},"velocity":-2.6736536778913917,"acceleration":0.13171161073470328,"curvature":-0.4196729243382305,"holonomicRotation":0.0,"angularVelocity":1.121953840313771,"holonomicAngularVelocity":0.0},{"time":3.1058517944215147,"pose":{"rotation":{"radians":2.3908785781581567},"translation":{"x":3.689154048000001,"y":3.563197951999999}},"velocity":-2.672913416024821,"acceleration":0.15552636156154168,"curvature":-0.4199054128880666,"holonomicRotation":0.0,"angularVelocity":1.1222486842580777,"holonomicAngularVelocity":0.0},{"time":3.1106124604023675,"pose":{"rotation":{"radians":2.3962212292913607},"translation":{"x":3.698503232000001,"y":3.5545687679999993}},"velocity":-2.672059948432254,"acceleration":0.17927483171467115,"curvature":-0.42017369496416906,"holonomicRotation":0.0,"angularVelocity":1.1225912723143032,"holonomicAngularVelocity":0.0},{"time":3.1153742077653668,"pose":{"rotation":{"radians":2.40156672532203},"translation":{"x":3.707897344000001,"y":3.545990655999999}},"velocity":-2.671093566389572,"acceleration":0.20294693712460463,"curvature":-0.42047778147868153,"holonomicRotation":0.0,"angularVelocity":1.1229815741706488,"holonomicAngularVelocity":0.0},{"time":3.1201371713873365,"pose":{"rotation":{"radians":2.4069154457079467},"translation":{"x":3.717336000000001,"y":3.5374639999999995}},"velocity":-2.670014599846641,"acceleration":0.22653260208714474,"curvature":-0.4208176845831703,"holonomicRotation":0.0,"angularVelocity":1.123419555016309,"holonomicAngularVelocity":0.0},{"time":3.1249014860403035,"pose":{"rotation":{"radians":2.4122677699553403},"translation":{"x":3.726818816000001,"y":3.528989183999999}},"velocity":-2.6688234168146687,"acceleration":0.2500219063471021,"curvature":-0.4211934177613582,"holonomicRotation":0.0,"angularVelocity":1.1239051758329424,"holonomicAngularVelocity":0.0},{"time":3.1296672863796418,"pose":{"rotation":{"radians":2.4176240776237092},"translation":{"x":3.736345408000001,"y":3.5205665919999993}},"velocity":-2.6675204238998145,"acceleration":0.27340484747103594,"curvature":-0.42160499554888453,"holonomicRotation":0.0,"angularVelocity":1.1244383930403559,"holonomicAngularVelocity":0.0},{"time":3.1344347069320158,"pose":{"rotation":{"radians":2.4229847483285685},"translation":{"x":3.745915392000001,"y":3.512196607999999}},"velocity":-2.666106065641778,"acceleration":0.2966715947331795,"curvature":-0.42205243361764627,"holonomicRotation":0.0,"angularVelocity":1.1250191586770815,"holonomicAngularVelocity":0.0},{"time":3.13920388208331,"pose":{"rotation":{"radians":2.428350161744861},"translation":{"x":3.755528384000001,"y":3.5038796159999994}},"velocity":-2.6645808247919636,"acceleration":0.31981229487879587,"curvature":-0.4225357485516243,"holonomicRotation":0.0,"angularVelocity":1.1256474200811772,"holonomicAngularVelocity":0.0},{"time":3.143974946066523,"pose":{"rotation":{"radians":2.4337206976086065},"translation":{"x":3.765184000000001,"y":3.495615999999999}},"velocity":-2.6629452216557663,"acceleration":0.3428172713575581,"curvature":-0.4230549579065874,"holonomicRotation":0.0,"angularVelocity":1.1263231200018886,"holonomicAngularVelocity":0.0},{"time":3.1487480329496336,"pose":{"rotation":{"radians":2.439096735718832},"translation":{"x":3.7748818560000013,"y":3.4874061439999995}},"velocity":-2.661199814319626,"acceleration":0.3656768416088413,"curvature":-0.42361007997767014,"holonomicRotation":0.0,"angularVelocity":1.1270461962946063,"holonomicAngularVelocity":0.0},{"time":3.153523276623142,"pose":{"rotation":{"radians":2.4444786559374396},"translation":{"x":3.7846215680000013,"y":3.4792504319999993}},"velocity":-2.659345198296571,"acceleration":0.3883814418400827,"curvature":-0.42420113373878104,"holonomicRotation":0.0,"angularVelocity":1.1278165820431203,"holonomicAngularVelocity":0.0},{"time":3.1583008107877943,"pose":{"rotation":{"radians":2.449866838189612},"translation":{"x":3.794402752000001,"y":3.4711492479999992}},"velocity":-2.6573820061486866,"acceleration":0.4109216345137485,"curvature":-0.42482813877769865,"holonomicRotation":0.0,"angularVelocity":1.1286342052597576,"holonomicAngularVelocity":0.0},{"time":3.163080768941831,"pose":{"rotation":{"radians":2.455261662461968},"translation":{"x":3.8042250240000013,"y":3.463102975999999}},"velocity":-2.6553109078332495,"acceleration":0.4332879595793174,"curvature":-0.4254911149876656,"holonomicRotation":0.0,"angularVelocity":1.1294989888871036,"holonomicAngularVelocity":0.0},{"time":3.1678632843683197,"pose":{"rotation":{"radians":2.4606635088005238},"translation":{"x":3.8140880000000013,"y":3.4551119999999993}},"velocity":-2.6531326096739956,"acceleration":0.4554712248682446,"curvature":-0.42619008268569475,"holonomicRotation":0.0,"angularVelocity":1.1304108505629107,"holonomicAngularVelocity":0.0},{"time":3.172648490122495,"pose":{"rotation":{"radians":2.46607275730722},"translation":{"x":3.8239912960000013,"y":3.447176703999999}},"velocity":-2.650847854754409,"acceleration":0.4774622110225031,"curvature":-0.4269250622640667,"holonomicRotation":0.0,"angularVelocity":1.1313697026092349,"holonomicAngularVelocity":0.0},{"time":3.1774365190186358,"pose":{"rotation":{"radians":2.471489788135531},"translation":{"x":3.8339345280000012,"y":3.4392974719999994}},"velocity":-2.6484574223862847,"acceleration":0.49925186751720285,"curvature":-0.4276960741248228,"holonomicRotation":0.0,"angularVelocity":1.1323754517286329,"holonomicAngularVelocity":0.0},{"time":3.1822275036170287,"pose":{"rotation":{"radians":2.476914981484361},"translation":{"x":3.843917312000001,"y":3.431474687999999}},"velocity":-2.6459621278514356,"acceleration":0.5208312578767472,"curvature":-0.4285031385144863,"holonomicRotation":0.0,"angularVelocity":1.13342799909027,"holonomicAngularVelocity":0.0},{"time":3.1870215762105563,"pose":{"rotation":{"radians":2.4823487175915364},"translation":{"x":3.853939264000001,"y":3.423708735999999}},"velocity":-2.643362822361095,"acceleration":0.5421915166345206,"curvature":-0.42934627527527985,"holonomicRotation":0.0,"angularVelocity":1.1345272398917918,"holonomicAngularVelocity":0.0},{"time":3.1918188688112803,"pose":{"rotation":{"radians":2.4877913767247897},"translation":{"x":3.864000000000001,"y":3.415999999999999}},"velocity":-2.6406603923501453,"acceleration":0.5633239903985849,"curvature":-0.43022550379883,"holonomicRotation":0.0,"angularVelocity":1.1356730633904046,"holonomicAngularVelocity":0.0},{"time":3.196619513136957,"pose":{"rotation":{"radians":2.4932433391723787},"translation":{"x":3.874099136000001,"y":3.4083488639999993}},"velocity":-2.6378557594807597,"acceleration":0.5842200919540596,"curvature":-0.43114084273749304,"holonomicRotation":0.0,"angularVelocity":1.1368653526407893,"holonomicAngularVelocity":0.0},{"time":3.2014236405971026,"pose":{"rotation":{"radians":2.4987049852314884},"translation":{"x":3.884236288000001,"y":3.400755711999999}},"velocity":-2.6349498803219897,"acceleration":0.6048713700618353,"curvature":-0.43209230980706964,"holonomicRotation":0.0,"angularVelocity":1.1381039843727592,"holonomicAngularVelocity":0.0},{"time":3.2062313822789954,"pose":{"rotation":{"radians":2.5041766951954854},"translation":{"x":3.8944110720000014,"y":3.393220927999999}},"velocity":-2.6319437459051516,"acceleration":0.6252695372882013,"curvature":-0.4330799216172504,"holonomicRotation":0.0,"angularVelocity":1.1393888286909821,"holonomicAngularVelocity":0.0},{"time":3.2110428689336312,"pose":{"rotation":{"radians":2.509658849339173},"translation":{"x":3.9046231040000015,"y":3.385744895999999}},"velocity":-2.6288383813504206,"acceleration":0.6454064570124066,"curvature":-0.4341036934661007,"holonomicRotation":0.0,"angularVelocity":1.1407197490207739,"holonomicAngularVelocity":0.0},{"time":3.2158582309610946,"pose":{"rotation":{"radians":2.515151827902585},"translation":{"x":3.9148720000000012,"y":3.3783279999999993}},"velocity":-2.625634845989314,"acceleration":0.6652740422913407,"curvature":-0.43516363895714666,"holonomicRotation":0.0,"angularVelocity":1.1413686790480242,"holonomicAngularVelocity":0.0},{"time":3.220680672010397,"pose":{"rotation":{"radians":2.5206560110728145},"translation":{"x":3.9251573760000014,"y":3.370970623999999}},"velocity":-2.618989404766512,"acceleration":1.3780243563087686,"curvature":-0.4362597700073408,"holonomicRotation":0.0,"angularVelocity":1.1396328812896521,"holonomicAngularVelocity":0.0},{"time":3.2255206235262626,"pose":{"rotation":{"radians":2.5261717789641427},"translation":{"x":3.9354788480000007,"y":3.3636731519999987}},"velocity":-2.604469550218915,"acceleration":3.0,"curvature":-0.437392096408939,"holonomicRotation":0.0,"angularVelocity":1.1362290451451276,"holonomicAngularVelocity":0.0},{"time":3.2303856044520742,"pose":{"rotation":{"radians":2.531699511596127},"translation":{"x":3.945836032000001,"y":3.356435967999999}},"velocity":-2.5898746074414802,"acceleration":2.9999999999999085,"curvature":-0.4385606255617841,"holonomicRotation":0.0,"angularVelocity":1.1328524486334637,"holonomicAngularVelocity":0.0},{"time":3.235275982964838,"pose":{"rotation":{"radians":2.537239588869056},"translation":{"x":3.956228544000001,"y":3.349259455999999}},"velocity":-2.5752034719031878,"acceleration":3.0000000000000453,"curvature":-0.4397653623900097,"holonomicRotation":0.0,"angularVelocity":1.1295007542704276,"holonomicAngularVelocity":0.0},{"time":3.240192138752052,"pose":{"rotation":{"radians":2.5427923905388248},"translation":{"x":3.9666560000000013,"y":3.342143999999999}},"velocity":-2.5604550045415473,"acceleration":3.0,"curvature":-0.4410063087994853,"holonomicRotation":0.0,"angularVelocity":1.1261715790987796,"holonomicAngularVelocity":0.0},{"time":3.2451344634849657,"pose":{"rotation":{"radians":2.5483582961877094},"translation":{"x":3.977118016000001,"y":3.3350899839999992}},"velocity":-2.5456280303428054,"acceleration":3.000000000000045,"curvature":-0.4422834635714009,"holonomicRotation":0.0,"angularVelocity":1.1228624931603801,"holonomicAngularVelocity":0.0},{"time":3.2501033613157793,"pose":{"rotation":{"radians":2.553937685194276},"translation":{"x":3.9876142080000014,"y":3.328097791999999}},"velocity":-2.5307213368503647,"acceleration":3.0,"curvature":-0.4435968219542736,"holonomicRotation":0.0,"angularVelocity":1.1195710174568347,"holonomicAngularVelocity":0.0},{"time":3.2550992494002617,"pose":{"rotation":{"radians":2.5595309367001207},"translation":{"x":3.9981441920000007,"y":3.321167807999999}},"velocity":-2.5157336725969164,"acceleration":3.0000000000000444,"curvature":-0.4449463754713487,"holonomicRotation":0.0,"angularVelocity":1.1162946221424517,"holonomicAngularVelocity":0.0},{"time":3.260122558447441,"pose":{"rotation":{"radians":2.565138429574846},"translation":{"x":4.0087075840000015,"y":3.314300415999999}},"velocity":-2.500663745455379,"acceleration":3.0000000000000884,"curvature":-0.44633211131899053,"holonomicRotation":0.0,"angularVelocity":1.1130307242685513,"holonomicAngularVelocity":0.0},{"time":3.2651737332980844,"pose":{"rotation":{"radians":2.570760542377265},"translation":{"x":4.019304000000001,"y":3.307495999999999}},"velocity":-2.4855102209034485,"acceleration":3.000000000000044,"curvature":-0.4477540124322387,"holonomicRotation":0.0,"angularVelocity":1.109776686086939,"holonomicAngularVelocity":0.0},{"time":3.2702532335338788,"pose":{"rotation":{"radians":2.5763976533159223},"translation":{"x":4.029933056000002,"y":3.300754943999999}},"velocity":-2.470271720196066,"acceleration":3.0000000000000435,"curvature":-0.44921205667481756,"holonomicRotation":0.0,"angularVelocity":1.1065298124301608,"holonomicAngularVelocity":0.0},{"time":3.2753615341193125,"pose":{"rotation":{"radians":2.5820501402045597},"translation":{"x":4.040594368000001,"y":3.294077631999999}},"velocity":-2.4549468184397636,"acceleration":2.999999999999913,"curvature":-0.4507062168508919,"holonomicRotation":0.0,"angularVelocity":1.103287348927679,"holonomicAngularVelocity":0.0},{"time":3.2804991260784773,"pose":{"rotation":{"radians":2.5877183804170585},"translation":{"x":4.051287552000002,"y":3.2874644479999993}},"velocity":-2.43953404256227,"acceleration":3.000000000000043,"curvature":-0.45223646007658325,"holonomicRotation":0.0,"angularVelocity":1.1000464792593154,"holonomicAngularVelocity":0.0},{"time":3.2856665172091235,"pose":{"rotation":{"radians":2.5934027508372814},"translation":{"x":4.062012224000001,"y":3.280915775999999}},"velocity":-2.4240318691703315,"acceleration":3.000000000000043,"curvature":-0.4538027475367534,"holonomicRotation":0.0,"angularVelocity":1.0968043231891658,"holonomicAngularVelocity":0.0},{"time":3.290864232836559,"pose":{"rotation":{"radians":2.5991036278081605},"translation":{"x":4.072768000000002,"y":3.274431999999999}},"velocity":-2.4084387222880252,"acceleration":3.0,"curvature":-0.4554050339448751,"holonomicRotation":0.0,"angularVelocity":1.0935579336272918,"holonomicAngularVelocity":0.0},{"time":3.2960928166101318,"pose":{"rotation":{"radians":2.6048213870753862},"translation":{"x":4.0835544960000005,"y":3.268013503999999}},"velocity":-2.392752970967306,"acceleration":3.0000000000000426,"curvature":-0.45704326729385686,"holonomicRotation":0.0,"angularVelocity":1.0903042944970165,"holonomicAngularVelocity":0.0},{"time":3.3013528313453175,"pose":{"rotation":{"radians":2.6105564037302766},"translation":{"x":4.094371328000001,"y":3.261660671999999}},"velocity":-2.3769729267617494,"acceleration":2.999999999999958,"curvature":-0.45871738815772506,"holonomicRotation":0.0,"angularVelocity":1.087040317564224,"holonomicAngularVelocity":0.0},{"time":3.30664485991464,"pose":{"rotation":{"radians":2.616309052146832},"translation":{"x":4.105218112000001,"y":3.2553738879999994}},"velocity":-2.3610968410537816,"acceleration":3.0000000000000417,"curvature":-0.4604273295453317,"holonomicRotation":0.0,"angularVelocity":1.0837628401271546,"holonomicAngularVelocity":0.0},{"time":3.31196950619098,"pose":{"rotation":{"radians":2.622079705917951},"translation":{"x":4.1160944640000015,"y":3.2491535359999992}},"velocity":-2.345122902224761,"acceleration":2.9999999999999165,"curvature":-0.4621730162746951,"holonomicRotation":0.0,"angularVelocity":1.0804686217425308,"holonomicAngularVelocity":0.0},{"time":3.3173273960470873,"pose":{"rotation":{"radians":2.627868737786227},"translation":{"x":4.127000000000001,"y":3.2429999999999994}},"velocity":-2.3290492326564407,"acceleration":2.9999999999999587,"curvature":-0.4639543644847909,"holonomicRotation":0.0,"angularVelocity":1.0771543414066895,"holonomicAngularVelocity":0.0},{"time":3.3227191784154804,"pose":{"rotation":{"radians":2.633676519572262},"translation":{"x":4.137934336000002,"y":3.2369136639999994}},"velocity":-2.312873885551261,"acceleration":2.9999999999999587,"curvature":-0.4657712811612695,"holonomicRotation":0.0,"angularVelocity":1.0738165942689333,"holonomicAngularVelocity":0.0},{"time":3.3281455264132758,"pose":{"rotation":{"radians":2.6395034220985725},"translation":{"x":4.148897088000001,"y":3.2308949119999992}},"velocity":-2.2965948415578756,"acceleration":2.999999999999959,"curvature":-0.46762366370596037,"holonomicRotation":0.0,"angularVelocity":1.0704518885397352,"holonomicAngularVelocity":0.0},{"time":3.333607138536903,"pose":{"rotation":{"radians":2.645349815110781},"translation":{"x":4.159887872000001,"y":3.224944127999999}},"velocity":-2.280210005186993,"acceleration":3.000000000000041,"curvature":-0.46951139935295344,"holonomicRotation":0.0,"angularVelocity":1.0670566418128253,"holonomicAngularVelocity":0.0},{"time":3.3391047399321145,"pose":{"rotation":{"radians":2.651216067193581},"translation":{"x":4.170906304000001,"y":3.2190616959999994}},"velocity":-2.2637172010013575,"acceleration":3.0000000000000404,"curvature":-0.4714343645997839,"holonomicRotation":0.0,"angularVelocity":1.0636271776952306,"holonomicAngularVelocity":0.0},{"time":3.344639083745208,"pose":{"rotation":{"radians":2.6571025456838964},"translation":{"x":4.181952000000002,"y":3.213247999999999}},"velocity":-2.2471141695620784,"acceleration":3.0,"curvature":-0.4733924247442271,"holonomicRotation":0.0,"angularVelocity":1.0601597219448258,"holonomicAngularVelocity":0.0},{"time":3.350210952561919,"pose":{"rotation":{"radians":2.663009616579334},"translation":{"x":4.193024576000001,"y":3.207503423999999}},"velocity":-2.2303985631119447,"acceleration":3.0,"curvature":-0.47538543332938343,"holonomicRotation":0.0,"angularVelocity":1.056650398648511,"holonomicAngularVelocity":0.0},{"time":3.3558211599411023,"pose":{"rotation":{"radians":2.668937644443049},"translation":{"x":4.204123648000001,"y":3.2018283519999993}},"velocity":-2.213567940974395,"acceleration":2.9999999999999605,"curvature":-0.4774132314234743,"holonomicRotation":0.0,"angularVelocity":1.0530952259318735,"holonomicAngularVelocity":0.0},{"time":3.361470552050947,"pose":{"rotation":{"radians":2.6748869923033434},"translation":{"x":4.215248832000001,"y":3.1962231679999995}},"velocity":-2.1966197646448617,"acceleration":2.9999999999999214,"curvature":-0.4794756472470108,"holonomicRotation":0.0,"angularVelocity":1.0494901118766216,"holonomicAngularVelocity":0.0},{"time":3.3671600094163034,"pose":{"rotation":{"radians":2.680858021550229},"translation":{"x":4.226399744000002,"y":3.190688255999999}},"velocity":-2.1795513925487917,"acceleration":2.999999999999961,"curvature":-0.48157249539387187,"holonomicRotation":0.0,"angularVelocity":1.0458308498079987,"holonomicAngularVelocity":0.0},{"time":3.37289044878651,"pose":{"rotation":{"radians":2.6868510918265454},"translation":{"x":4.237576000000001,"y":3.185223999999999}},"velocity":-2.1623600744381717,"acceleration":3.0,"curvature":-0.4837035763394283,"holonomicRotation":0.0,"angularVelocity":1.0421131136385364,"holonomicAngularVelocity":0.0},{"time":3.378662825134093,"pose":{"rotation":{"radians":2.692866560915218},"translation":{"x":4.2487772160000015,"y":3.179830783999999}},"velocity":-2.1450429453954247,"acceleration":3.0,"curvature":-0.4858686756511655,"holonomicRotation":0.0,"angularVelocity":1.0383324526569788,"holonomicAngularVelocity":0.0},{"time":3.3844781337957577,"pose":{"rotation":{"radians":2.698904784620842},"translation":{"x":4.260003008000001,"y":3.174508991999999}},"velocity":-2.1275970194104294,"acceleration":3.000000000000038,"curvature":-0.48806756354488817,"holonomicRotation":0.0,"angularVelocity":1.0344842865367634,"holonomicAngularVelocity":0.0},{"time":3.390337412768339,"pose":{"rotation":{"radians":2.7049661166484125},"translation":{"x":4.271252992000002,"y":3.169259007999999}},"velocity":-2.1100191824926853,"acceleration":3.0000000000000377,"curvature":-0.49029999405552943,"holonomicRotation":0.0,"angularVelocity":1.0305638993092536,"holonomicAngularVelocity":0.0},{"time":3.3962417451736586,"pose":{"rotation":{"radians":2.7110509084748564},"translation":{"x":4.282526784000001,"y":3.164081215999999}},"velocity":-2.0923061852767266,"acceleration":3.000000000000075,"curvature":-0.49256570453850973,"holonomicRotation":0.0,"angularVelocity":1.0265664338405436,"holonomicAngularVelocity":0.0},{"time":3.4021922619078344,"pose":{"rotation":{"radians":2.7171595092181677},"translation":{"x":4.293824000000002,"y":3.158975999999999}},"velocity":-2.074454635074199,"acceleration":3.0000000000000746,"curvature":-0.4948644147448579,"holonomicRotation":0.0,"angularVelocity":1.0224868851114455,"holonomicAngularVelocity":0.0},{"time":3.408190144492236,"pose":{"rotation":{"radians":2.7232922654991567},"translation":{"x":4.305144256000001,"y":3.1539437439999993}},"velocity":-2.0564609873209942,"acceleration":2.999999999999963,"curvature":-0.49719582643303056,"holonomicRotation":0.0,"angularVelocity":1.0183200938587098,"holonomicAngularVelocity":0.0},{"time":3.4142366281452663,"pose":{"rotation":{"radians":2.729449521300226},"translation":{"x":4.316487168000002,"y":3.148984831999999}},"velocity":-2.0383215363619027,"acceleration":3.0,"curvature":-0.49955962237973184,"holonomicRotation":0.0,"angularVelocity":1.0140607391716023,"holonomicAngularVelocity":0.0},{"time":3.420333005096303,"pose":{"rotation":{"radians":2.7356316178174627},"translation":{"x":4.327852352000001,"y":3.144099647999999}},"velocity":-2.0200324055087933,"acceleration":3.0,"curvature":-0.5019554658535155,"holonomicRotation":0.0,"angularVelocity":1.0097033310569088,"holonomicAngularVelocity":0.0},{"time":3.4264806281656552,"pose":{"rotation":{"radians":2.74183889330867},"translation":{"x":4.339239424000002,"y":3.1392885759999993}},"velocity":-2.001589536300736,"acceleration":3.0,"curvature":-0.5043829997560954,"holonomicRotation":0.0,"angularVelocity":1.0052422020712786,"holonomicAngularVelocity":0.0},{"time":3.432680914637187,"pose":{"rotation":{"radians":2.7480716829347855},"translation":{"x":4.350648000000001,"y":3.1345519999999993}},"velocity":-1.9829886768861407,"acceleration":2.999999999999964,"curvature":-0.5068418460483195,"holonomicRotation":0.0,"angularVelocity":1.0006714988901686,"holonomicAngularVelocity":0.0},{"time":3.438935350453517,"pose":{"rotation":{"radians":2.754330318597825},"translation":{"x":4.362077696000002,"y":3.129890303999999}},"velocity":-1.9642253694371505,"acceleration":2.9999999999999645,"curvature":-0.5093316047891755,"holonomicRotation":0.0,"angularVelocity":0.9959851725933427,"holonomicAngularVelocity":0.0},{"time":3.445245494767346,"pose":{"rotation":{"radians":2.760615128771323},"translation":{"x":4.373528128000001,"y":3.125303871999999}},"velocity":-1.9452949364956633,"acceleration":2.999999999999965,"curvature":-0.5118518535624833,"holonomicRotation":0.0,"angularVelocity":0.9911769688340359,"holonomicAngularVelocity":0.0},{"time":3.4516129848867214,"pose":{"rotation":{"radians":2.7669264383269256},"translation":{"x":4.384998912000002,"y":3.120793087999999}},"velocity":-1.9261924661375385,"acceleration":3.000000000000035,"curvature":-0.5144021466205787,"holonomicRotation":0.0,"angularVelocity":0.9862404167759408,"holonomicAngularVelocity":0.0},{"time":3.4580395416568392,"pose":{"rotation":{"radians":2.773264568354321},"translation":{"x":4.3964896640000015,"y":3.1163583359999993}},"velocity":-1.9069127958271843,"acceleration":3.0,"curvature":-0.5169820141541447,"holonomicRotation":0.0,"angularVelocity":0.9811688175075026,"holonomicAngularVelocity":0.0},{"time":3.464526975326608,"pose":{"rotation":{"radians":2.7796298359767464},"translation":{"x":4.408000000000002,"y":3.111999999999999}},"velocity":-1.8874504948178785,"acceleration":2.999999999999966,"curvature":-0.5195909614569449,"holonomicRotation":0.0,"angularVelocity":0.9759552310949895,"holonomicAngularVelocity":0.0},{"time":3.4710771919545538,"pose":{"rotation":{"radians":2.7860225541595955},"translation":{"x":4.4195295360000015,"y":3.1077184639999995}},"velocity":-1.867799844934041,"acceleration":3.0,"curvature":-0.5222284682600655,"holonomicRotation":0.0,"angularVelocity":0.9705924628872172,"holonomicAngularVelocity":0.0},{"time":3.4776922004161537,"pose":{"rotation":{"radians":2.7924430315143596},"translation":{"x":4.431077888000002,"y":3.103514111999999}},"velocity":-1.847954819549241,"acceleration":3.0000000000000338,"curvature":-0.5248939878051837,"holonomicRotation":0.0,"angularVelocity":0.9650730483865126,"holonomicAngularVelocity":0.0},{"time":3.4843741200832428,"pose":{"rotation":{"radians":2.798891572096551},"translation":{"x":4.442644672000001,"y":3.0993873279999993}},"velocity":-1.8279090605479742,"acceleration":3.0000000000000333,"curvature":-0.527586946160825,"holonomicRotation":0.0,"angularVelocity":0.9593892367629828,"holonomicAngularVelocity":0.0},{"time":3.4911251892562345,"pose":{"rotation":{"radians":2.8053684751977617},"translation":{"x":4.454229504000002,"y":3.095338495999999}},"velocity":-1.8076558530289983,"acceleration":3.0,"curvature":-0.5303067413665304,"holonomicRotation":0.0,"angularVelocity":0.9535329728703047,"holonomicAngularVelocity":0.0},{"time":3.4979477744415766,"pose":{"rotation":{"radians":2.8118740351322016},"translation":{"x":4.465832000000002,"y":3.0913679999999997}},"velocity":-1.787188097472973,"acceleration":2.9999999999999676,"curvature":-0.533052742734141,"holonomicRotation":0.0,"angularVelocity":0.9474958775078796,"holonomicAngularVelocity":0.0},{"time":3.504844380580635,"pose":{"rotation":{"radians":2.818408541017755},"translation":{"x":4.477451776000002,"y":3.0874762239999995}},"velocity":-1.766498279055798,"acceleration":3.000000000000032,"curvature":-0.5358242899805569,"holonomicRotation":0.0,"angularVelocity":0.9412692255924409,"holonomicAngularVelocity":0.0},{"time":3.5118176623523034,"pose":{"rotation":{"radians":2.8249722765508114},"translation":{"x":4.489088448000001,"y":3.0836635519999995}},"velocity":-1.7455784337407918,"acceleration":2.999999999999968,"curvature":-0.53862069246313,"holonomicRotation":0.0,"angularVelocity":0.9348439222378784,"holonomicAngularVelocity":0.0},{"time":3.518870436690729,"pose":{"rotation":{"radians":2.831565519776004},"translation":{"x":4.500741632000002,"y":3.0799303679999994}},"velocity":-1.724420110725515,"acceleration":2.9999999999999685,"curvature":-0.5414412283907459,"holonomicRotation":0.0,"angularVelocity":0.9282104760898124,"holonomicAngularVelocity":0.0},{"time":3.526005696682038,"pose":{"rotation":{"radians":2.8381885428495615},"translation":{"x":4.512410944000001,"y":3.0762770559999995}},"velocity":-1.7030143307515877,"acceleration":3.000000000000031,"curvature":-0.5442851441519826,"holonomicRotation":0.0,"angularVelocity":0.9213589699954078,"holonomicAngularVelocity":0.0},{"time":3.533226627030828,"pose":{"rotation":{"radians":2.844841611798131},"translation":{"x":4.524096000000002,"y":3.0727039999999994}},"velocity":-1.6813515397052183,"acceleration":3.0,"curvature":-0.5471516533835759,"holonomicRotation":0.0,"angularVelocity":0.9142790279993414,"holonomicAngularVelocity":0.0},{"time":3.5405366213191094,"pose":{"rotation":{"radians":2.851524986270702},"translation":{"x":4.535796416000001,"y":3.0692115839999996}},"velocity":-1.6594215568403732,"acceleration":3.0,"curvature":-0.5500399363964437,"holonomicRotation":0.0,"angularVelocity":0.9069597788904417,"holonomicAngularVelocity":0.0},{"time":3.5479393013188334,"pose":{"rotation":{"radians":2.858238919286448},"translation":{"x":4.547511808000002,"y":3.0658001919999998}},"velocity":-1.6372135168412023,"acceleration":3.00000000000003,"curvature":-0.5529491392614659,"holonomicRotation":0.0,"angularVelocity":0.8993898149607107,"holonomicAngularVelocity":0.0},{"time":3.555438538665241,"pose":{"rotation":{"radians":2.86498365697578},"translation":{"x":4.559241792000002,"y":3.0624702079999992}},"velocity":-1.6147158048019792,"acceleration":2.9999999999999702,"curvature":-0.5558783732812413,"holonomicRotation":0.0,"angularVelocity":0.8915571460679171,"holonomicAngularVelocity":0.0},{"time":3.563038479254261,"pose":{"rotation":{"radians":2.8717594383176124},"translation":{"x":4.570985984000002,"y":3.0592220159999997}},"velocity":-1.5919159830349192,"acceleration":3.0000000000000293,"curvature":-0.5588267141256481,"holonomicRotation":0.0,"angularVelocity":0.883449147335363,"holonomicAngularVelocity":0.0},{"time":3.5707435707950577,"pose":{"rotation":{"radians":2.87856649486947},"translation":{"x":4.582744000000002,"y":3.0560559999999994}},"velocity":-1.5688007084125297,"acceleration":2.999999999999971,"curvature":-0.5617932012303778,"holonomicRotation":0.0,"angularVelocity":0.8750525005400022,"holonomicAngularVelocity":0.0},{"time":3.578558594031973,"pose":{"rotation":{"radians":2.885405050494711},"translation":{"x":4.594515456000002,"y":3.0529725439999993}},"velocity":-1.545355638701783,"acceleration":3.000000000000057,"curvature":-0.5647768371119463,"holonomicRotation":0.0,"angularVelocity":0.866353126952402,"holonomicAngularVelocity":0.0},{"time":3.586488698252195,"pose":{"rotation":{"radians":2.892275321082959},"translation":{"x":4.606299968000002,"y":3.0499720319999994}},"velocity":-1.5215653260411162,"acceleration":3.000000000000028,"curvature":-0.5677765867261405,"holonomicRotation":0.0,"angularVelocity":0.857336111143583,"holonomicAngularVelocity":0.0},{"time":3.594539441821749,"pose":{"rotation":{"radians":2.899177514266695},"translation":{"x":4.6180971520000025,"y":3.0470548479999997}},"velocity":-1.4974130953324531,"acceleration":3.0000000000000275,"curvature":-0.5707913768706009,"holonomicRotation":0.0,"angularVelocity":0.847985613554919,"holonomicAngularVelocity":0.0},{"time":3.602716838649498,"pose":{"rotation":{"radians":2.9061118291329553},"translation":{"x":4.629906624000001,"y":3.0442213759999994}},"velocity":-1.472880904849207,"acceleration":3.000000000000054,"curvature":-0.5738200956456002,"holonomicRotation":0.0,"angularVelocity":0.8382847700393182,"holonomicAngularVelocity":0.0},{"time":3.6110274116755643,"pose":{"rotation":{"radians":2.9130784559310063},"translation":{"x":4.641728000000002,"y":3.0414719999999993}},"velocity":-1.4479491857710078,"acceleration":3.0,"curvature":-0.576861591813262,"holonomicRotation":0.0,"angularVelocity":0.8282155756135112,"holonomicAngularVelocity":0.0},{"time":3.6194782547286612,"pose":{"rotation":{"radians":2.9200775757746467},"translation":{"x":4.653560896000002,"y":3.0388071039999995}},"velocity":-1.4225966566117165,"acceleration":2.999999999999974,"curvature":-0.5799146744073892,"holonomicRotation":0.0,"angularVelocity":0.8177587498553298,"holonomicAngularVelocity":0.0},{"time":3.6280771044120916,"pose":{"rotation":{"radians":2.9271093603419622},"translation":{"x":4.665404928000002,"y":3.0362270719999995}},"velocity":-1.3968001075614265,"acceleration":3.0000000000000258,"curvature":-0.5829781121894888,"holonomicRotation":0.0,"angularVelocity":0.8068935795491445,"holonomicAngularVelocity":0.0},{"time":3.6368324240818266,"pose":{"rotation":{"radians":2.934173971570372},"translation":{"x":4.6772597120000015,"y":3.0337322879999995}},"velocity":-1.37053414855222,"acceleration":3.0000000000000253,"curvature":-0.5860506332508155,"holonomicRotation":0.0,"angularVelocity":0.7955977342736981,"holonomicAngularVelocity":0.0},{"time":3.6457535025016057,"pose":{"rotation":{"radians":2.941271561348426},"translation":{"x":4.689124864000002,"y":3.0313231359999993}},"velocity":-1.3437709132928843,"acceleration":2.999999999999975,"curvature":-0.5891309246386679,"holonomicRotation":0.0,"angularVelocity":0.7838470488110904,"holonomicAngularVelocity":0.0},{"time":3.654850570439635,"pose":{"rotation":{"radians":2.9484022712044844},"translation":{"x":4.701000000000001,"y":3.0289999999999995}},"velocity":-1.316479709478796,"acceleration":2.9999999999999756,"curvature":-0.5922176320623127,"holonomicRotation":0.0,"angularVelocity":0.7716152648033164,"holonomicAngularVelocity":0.0},{"time":3.664134939366228,"pose":{"rotation":{"radians":2.955566231992309},"translation":{"x":4.712884736000002,"y":3.0267632639999995}},"velocity":-1.288626602699017,"acceleration":3.000000000000024,"curvature":-0.5953093595736683,"holonomicRotation":0.0,"angularVelocity":0.7588737220632854,"holonomicAngularVelocity":0.0},{"time":3.673619167601797,"pose":{"rotation":{"radians":2.962763563574333},"translation":{"x":4.724778688000002,"y":3.0246133119999996}},"velocity":-1.2601739179923108,"acceleration":3.0,"curvature":-0.5984046693700557,"holonomicRotation":0.0,"angularVelocity":0.7455909869329629,"holonomicAngularVelocity":0.0},{"time":3.683317260866003,"pose":{"rotation":{"radians":2.9699943745025603},"translation":{"x":4.736681472000003,"y":3.0225505279999996}},"velocity":-1.2310796381996918,"acceleration":3.0,"curvature":-0.6015020816536214,"holonomicRotation":0.0,"angularVelocity":0.731732401397394,"holonomicAngularVelocity":0.0},{"time":3.6932449163600993,"pose":{"rotation":{"radians":2.9772587616975015},"translation":{"x":4.748592704000002,"y":3.0205752959999996}},"velocity":-1.201296671717403,"acceleration":2.999999999999978,"curvature":-0.60460007456127,"holonomicRotation":0.0,"angularVelocity":0.7172595313835017,"holonomicAngularVelocity":0.0},{"time":3.703419822526085,"pose":{"rotation":{"radians":2.984556810125987},"translation":{"x":4.760512000000002,"y":3.0186879999999996}},"velocity":-1.1707719532194472,"acceleration":3.0,"curvature":-0.6076970841012796,"holonomicRotation":0.0,"angularVelocity":0.7021294852003142,"holonomicAngularVelocity":0.0},{"time":3.7138620308453802,"pose":{"rotation":{"radians":2.9918885924775687},"translation":{"x":4.772438976000002,"y":3.0168890239999997}},"velocity":-1.1394453282615602,"acceleration":3.0,"curvature":-0.6107915042418585,"holonomicRotation":0.0,"angularVelocity":0.6862940629818453,"holonomicAngularVelocity":0.0},{"time":3.7245944220466605,"pose":{"rotation":{"radians":2.999254168840606},"translation":{"x":4.784373248000002,"y":3.0151787519999997}},"velocity":-1.107248154657719,"acceleration":2.999999999999979,"curvature":-0.6138816870079442,"holonomicRotation":0.0,"angularVelocity":0.6696986828773126,"holonomicAngularVelocity":0.0},{"time":3.7356432977972824,"pose":{"rotation":{"radians":3.0066535863780723},"translation":{"x":4.796314432000002,"y":3.0135575679999995}},"velocity":-1.0741015274058545,"acceleration":3.0,"curvature":-0.6169659427695113,"holonomicRotation":0.0,"angularVelocity":0.6522810081297855,"holonomicAngularVelocity":0.0},{"time":3.7470391418173126,"pose":{"rotation":{"radians":3.0140868790039477},"translation":{"x":4.808262144000002,"y":3.0120258559999997}},"velocity":-1.039913995345763,"acceleration":2.9999999999999805,"curvature":-0.6200425403987194,"holonomicRotation":0.0,"angularVelocity":0.6339691664026881,"holonomicAngularVelocity":0.0},{"time":3.7588176137867158,"pose":{"rotation":{"radians":3.0215540670598875},"translation":{"x":4.820216000000001,"y":3.0105839999999997}},"velocity":-1.004578579437554,"acceleration":3.0000000000000187,"curvature":-0.623109707774154,"holonomicRotation":0.0,"angularVelocity":0.6146794031013395,"holonomicAngularVelocity":0.0},{"time":3.7710208694945617,"pose":{"rotation":{"radians":3.0290551569942794},"translation":{"x":4.8321756160000024,"y":3.0092323839999997}},"velocity":-0.9679688123140158,"acceleration":2.9999999999999636,"curvature":-0.6261656322069277,"holonomicRotation":0.0,"angularVelocity":0.5943129313748355,"holonomicAngularVelocity":0.0},{"time":3.783699348541738,"pose":{"rotation":{"radians":3.036590141042181},"translation":{"x":4.844140608000002,"y":3.007971392}},"velocity":-0.9299333751724882,"acceleration":2.999999999999991,"curvature":-0.6292084609699685,"holonomicRotation":0.0,"angularVelocity":0.5727516148207152,"holonomicAngularVelocity":0.0},{"time":3.7969142495050097,"pose":{"rotation":{"radians":3.0441589969085907},"translation":{"x":4.856110592000002,"y":3.006801408}},"velocity":-0.8902886722826729,"acceleration":2.999999999999983,"curvature":-0.6322363020068372,"holonomicRotation":0.0,"angularVelocity":0.549851904665754,"holonomicAngularVelocity":0.0},{"time":3.810741046286905,"pose":{"rotation":{"radians":3.051761687454542},"translation":{"x":4.868085184000002,"y":3.0057228159999996}},"velocity":-0.8488082819369874,"acceleration":2.999999999999984,"curvature":-0.6352472246674356,"holonomicRotation":0.0,"angularVelocity":0.5254360802848955,"holonomicAngularVelocity":0.0},{"time":3.8252746369917863,"pose":{"rotation":{"radians":3.05939816038698},"translation":{"x":4.880064000000003,"y":3.004736}},"velocity":-0.8052075098223431,"acceleration":3.000000000000015,"curvature":-0.6382392605344301,"holonomicRotation":0.0,"angularVelocity":0.49927915802747,"holonomicAngularVelocity":0.0},{"time":3.8406371600262545,"pose":{"rotation":{"radians":3.067068347952807},"translation":{"x":4.8920466560000015,"y":3.003841344}},"velocity":-0.759119940718938,"acceleration":3.0000000000000218,"curvature":-0.6412104045156426,"holonomicRotation":0.0,"angularVelocity":0.4710885081646451,"holonomicAngularVelocity":0.0},{"time":3.8569903899445377,"pose":{"rotation":{"radians":3.0747721666386845},"translation":{"x":4.904032768000002,"y":3.003039232}},"velocity":-0.7100602509640875,"acceleration":3.0000000000000204,"curvature":-0.6441586157880042,"holonomicRotation":0.0,"angularVelocity":0.4404704670619436,"holonomicAngularVelocity":0.0},{"time":3.874556494407223,"pose":{"rotation":{"radians":3.082509516875822},"translation":{"x":4.916021952000001,"y":3.0023300479999997}},"velocity":-0.6573619375760337,"acceleration":2.9999999999999876,"curvature":-0.6470818190817547,"holonomicRotation":0.0,"angularVelocity":0.40687199814352293,"holonomicAngularVelocity":0.0},{"time":3.8936552918455964,"pose":{"rotation":{"radians":3.0902802827517117},"translation":{"x":4.928013824000002,"y":3.001714176}},"velocity":-0.6000655452609113,"acceleration":3.0000000000000115,"curvature":-0.6499779058913984,"holonomicRotation":0.0,"angularVelocity":0.3694696536401581,"holonomicAngularVelocity":0.0},{"time":3.9147775921479706,"pose":{"rotation":{"radians":3.098084331728513},"translation":{"x":4.9400080000000015,"y":3.001192}},"velocity":-0.5366986443537898,"acceleration":3.000000000000016,"curvature":-0.6528447360474303,"holonomicRotation":0.0,"angularVelocity":0.3269313584685586,"holonomicAngularVelocity":0.0},{"time":3.938749543564584,"pose":{"rotation":{"radians":3.105921514370289},"translation":{"x":4.952004096000002,"y":3.000763904}},"velocity":-0.4647827901039487,"acceleration":3.000000000000002,"curvature":-0.6556801391027219,"holonomicRotation":0.0,"angularVelocity":0.2768026259312415,"holonomicAngularVelocity":0.0},{"time":3.9671818956098828,"pose":{"rotation":{"radians":3.113791664077829},"translation":{"x":4.964001728000001,"y":3.000430272}},"velocity":-0.3794857339680527,"acceleration":2.999999999999996,"curvature":-0.6584819160890972,"holonomicRotation":0.0,"angularVelocity":0.21329879823738962,"holonomicAngularVelocity":0.0},{"time":4.004232890837561,"pose":{"rotation":{"radians":3.1216945968333922},"translation":{"x":4.976000512000002,"y":3.000191488}},"velocity":-0.26833274828501735,"acceleration":2.9999999999999942,"curvature":-0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.08872022710441509,"holonomicAngularVelocity":0.0},{"time":4.0936771402659,"pose":{"rotation":{"radians":3.1296301109558584},"translation":{"x":4.988000064000001,"y":3.000047936}},"velocity":0,"acceleration":3.0000000000000058,"curvature":-0.6612478412834537,"holonomicRotation":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/One Piece Auto.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/One Piece Auto.wpilib.json new file mode 100644 index 0000000..6c87caf --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/One Piece Auto.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"pose":{"rotation":{"radians":-0.00013617878554317286},"translation":{"x":1.9326182242108072,"y":4.921661467254559}},"velocity":0,"acceleration":3.0,"curvature":-0.022266319041280905,"holonomicRotation":-179.3634064240365,"angularVelocity":0.0,"holonomicAngularVelocity":0.07907880050618789},{"time":0.08954220644357688,"pose":{"rotation":{"radians":-0.00013617878554317286},"translation":{"x":1.9446449342014678,"y":4.921659829471788}},"velocity":0.2686266193307307,"acceleration":3.0000000000000004,"curvature":-0.022266319041280905,"holonomicRotation":-179.35632553375626,"angularVelocity":-0.007208876427349547,"holonomicAngularVelocity":0.5705583483045316},{"time":0.12677161996308237,"pose":{"rotation":{"radians":-0.00040456102706798447},"translation":{"x":1.9567247885528352,"y":4.921654942433238}},"velocity":0.38031485988924707,"acceleration":2.9999999999999987,"curvature":-0.021707941099283385,"holonomicRotation":-179.33508398107023,"angularVelocity":-0.009169154144746604,"holonomicAngularVelocity":1.235069237339305},{"time":0.15543305831344886,"pose":{"rotation":{"radians":-0.0006673621733126467},"translation":{"x":1.9688573738339878,"y":4.921646845603555}},"velocity":0.46629917494034656,"acceleration":3.0,"curvature":-0.021163299745494205,"holonomicRotation":-179.2996851202658,"angularVelocity":-0.010615114381772907,"holonomicAngularVelocity":2.0440954654876813},{"time":0.17967389239821693,"pose":{"rotation":{"radians":-0.0009246813998320391},"translation":{"x":1.9810422766140037,"y":4.921635578447384}},"velocity":0.5390216771946508,"acceleration":3.0,"curvature":-0.020631932627077614,"holonomicRotation":-179.25013454123348,"angularVelocity":-0.011759110194722203,"holonomicAngularVelocity":2.9729663214144266},{"time":0.20109844476890823,"pose":{"rotation":{"radians":-0.0011766150720315949},"translation":{"x":1.9932790834619616,"y":4.921621180429369}},"velocity":0.6032953343067247,"acceleration":3.0,"curvature":-0.020113394834138775,"holonomicRotation":-179.18644006858403,"angularVelocity":-0.012693869014225728,"holonomicAngularVelocity":4.005576071691767},{"time":0.22052843605554254,"pose":{"rotation":{"radians":-0.001423256836371678},"translation":{"x":2.0055673809469394,"y":4.921603691014157}},"velocity":0.6615853081666275,"acceleration":2.9999999999999973,"curvature":-0.019607259365018483,"holonomicRotation":-179.1086117604131,"angularVelocity":-0.013471063093925775,"holonomicAngularVelocity":5.130292406944903},{"time":0.23845136254912758,"pose":{"rotation":{"radians":-0.001664697709994556},"translation":{"x":2.017906755638016,"y":4.921583149666391}},"velocity":0.7153540876473826,"acceleration":2.9999999999999987,"curvature":-0.0191131165334402,"holonomicRotation":-179.01666190671284,"angularVelocity":-0.014123439542296064,"holonomicAngularVelocity":6.338161553330794},{"time":0.25518442913152567,"pose":{"rotation":{"radians":-0.00190102616422827},"translation":{"x":2.03029679410427,"y":4.9215595958507175}},"velocity":0.765553287394577,"acceleration":3.000000000000003,"curvature":-0.01863056949025814,"holonomicRotation":-178.91060502743096,"angularVelocity":-0.014673512022013746,"holonomicAngularVelocity":7.621985244627805},{"time":0.2709476657945047,"pose":{"rotation":{"radians":-0.0021323282069083405},"translation":{"x":2.0427370829147793,"y":4.9215330690317804}},"velocity":0.8128429973835138,"acceleration":2.9999999999999893,"curvature":-0.01815923929532811,"holonomicRotation":-178.79045787017816,"angularVelocity":-0.015137658978973373,"holonomicAngularVelocity":8.975790854547995},{"time":0.28590105149274114,"pose":{"rotation":{"radians":-0.0023586874601893015},"translation":{"x":2.055227208638622,"y":4.921503608674226}},"velocity":0.8577031544782232,"acceleration":3.0,"curvature":-0.01769875925914689,"holonomicRotation":-178.6562394075834,"angularVelocity":-0.015528301748736633,"holonomicAngularVelocity":10.39450232105735},{"time":0.3001651854268179,"pose":{"rotation":{"radians":-0.0025801852361020394},"translation":{"x":2.067766757844877,"y":4.921471254242698}},"velocity":0.9004955562804535,"acceleration":3.0,"curvature":-0.017248778185795285,"holonomicRotation":-178.50797083429777,"angularVelocity":-0.01585516549583838,"holonomicAngularVelocity":11.87372335348762},{"time":0.313833625040769,"pose":{"rotation":{"radians":-0.002796900608251107},"translation":{"x":2.080355317102622,"y":4.921436045201844}},"velocity":0.9415008751223068,"acceleration":3.000000000000004,"curvature":-0.016808956944235634,"holonomicRotation":-178.34567556364786,"angularVelocity":-0.016126058232095116,"holonomicAngularVelocity":13.409587903001462},{"time":0.32698066139899656,"pose":{"rotation":{"radians":-0.0030089104821433565},"translation":{"x":2.0929924729809364,"y":4.921398021016306}},"velocity":0.9809419841969895,"acceleration":3.0,"curvature":-0.016378968542200677,"holonomicRotation":-178.16937922393825,"angularVelocity":-0.01634737695170579,"holonomicAngularVelocity":14.998653165992641},{"time":0.33966643841029187,"pose":{"rotation":{"radians":-0.0032162896608722846},"translation":{"x":2.105677812048898,"y":4.921357221150732}},"velocity":1.0189993152308754,"acceleration":2.9999999999999956,"curvature":-0.015958498671908763,"holonomicRotation":-177.9791096544047,"angularVelocity":-0.016524450737159756,"holonomicAngularVelocity":16.63782068231521},{"time":0.35194044697704446,"pose":{"rotation":{"radians":-0.0034191109107810647},"translation":{"x":2.1184109208755846,"y":4.921313685069764}},"velocity":1.0558213409311332,"acceleration":3.0000000000000044,"curvature":-0.015547244195251208,"holonomicRotation":-177.77489690081788,"angularVelocity":-0.016661780851152448,"holonomicAngularVelocity":18.324276671196728},{"time":0.3638439831434609,"pose":{"rotation":{"radians":-0.0036174450217396625},"translation":{"x":2.1311913860300757,"y":4.921267452238049}},"velocity":1.0915319494303826,"acceleration":3.000000000000005,"curvature":-0.015144912838771493,"holonomicRotation":-177.55677321073887,"angularVelocity":-0.016763214284276063,"holonomicAngularVelocity":20.055445944108765},{"time":0.3754119224931245,"pose":{"rotation":{"radians":-0.0038113608678855826},"translation":{"x":2.144018794081449,"y":4.921218562120232}},"velocity":1.1262357674793735,"acceleration":3.0000000000000098,"curvature":-0.014751223783864845,"holonomicRotation":-177.32477302842696,"angularVelocity":-0.01683207171218591,"holonomicAngularVelocity":21.82895564915028},{"time":0.38667402971336623,"pose":{"rotation":{"radians":-0.004000925464247018},"translation":{"x":2.156892731598783,"y":4.921167054180957}},"velocity":1.1600220891400987,"acceleration":3.000000000000005,"curvature":-0.01436590429574931,"holonomicRotation":-177.07893298940033,"angularVelocity":-0.016871244266954837,"holonomicAngularVelocity":23.64260629448125},{"time":0.39765594395392717,"pose":{"rotation":{"radians":-0.004186204021918272},"translation":{"x":2.169812785151156,"y":4.921112967884871}},"velocity":1.1929678318617816,"acceleration":3.0,"curvature":-0.013988692925212856,"holonomicRotation":-176.819291914651,"angularVelocity":-0.01688326792998676,"holonomicAngularVelocity":25.494348266255514},{"time":0.4083799329447844,"pose":{"rotation":{"radians":-0.004367260001329143},"translation":{"x":2.182778541307646,"y":4.921056342696618}},"velocity":1.2251397988343533,"acceleration":3.0,"curvature":-0.013619337011462689,"holonomicRotation":-176.54589080451458,"angularVelocity":-0.016870381641151146,"holonomicAngularVelocity":27.382262565087107},{"time":0.41886547889396936,"pose":{"rotation":{"radians":-0.004544155163207719},"translation":{"x":2.1957895866373325,"y":4.920997218080842}},"velocity":1.2565964366819082,"acceleration":3.0000000000000107,"curvature":-0.013257591858884626,"holonomicRotation":-176.25877283219572,"angularVelocity":-0.01683457339077346,"holonomicAngularVelocity":29.304544830497452},{"time":0.4291297398468348,"pose":{"rotation":{"radians":-0.004716949617520783},"translation":{"x":2.2088455077092926,"y":4.92093563350219}},"velocity":1.2873892195405046,"acceleration":3.0000000000000053,"curvature":-0.012903222264425451,"holonomicRotation":-175.95798333695055,"angularVelocity":-0.01677761735250666,"holonomicAngularVelocity":31.259491962874545},{"time":0.4391879173884484,"pose":{"rotation":{"radians":-0.004885701871577552},"translation":{"x":2.2219458910926053,"y":4.9208716284253065}},"velocity":1.3175637521653456,"acceleration":3.000000000000011,"curvature":-0.01255600129784499,"holonomicRotation":-175.6435698169273,"angularVelocity":-0.01670110385281946,"holonomicAngularVelocity":33.24549082238963},{"time":0.4490535529121937,"pose":{"rotation":{"radians":-0.005050468875033687},"translation":{"x":2.2350903233563493,"y":4.920805242314835}},"velocity":1.3471606587365814,"acceleration":3.0000000000000058,"curvature":-0.012215708484129383,"holonomicRotation":-175.3155819216656,"angularVelocity":-0.016606464184005933,"holonomicAngularVelocity":35.2610086067151},{"time":0.45873876870447067,"pose":{"rotation":{"radians":-0.005211306064202503},"translation":{"x":2.248278391069602,"y":4.920736514635423}},"velocity":1.3762163061134125,"acceleration":3.0000000000000115,"curvature":-0.011882131870917627,"holonomicRotation":-174.97407144425623,"angularVelocity":-0.0164949910846882,"holonomicAngularVelocity":37.30458459941439},{"time":0.4682544659010924,"pose":{"rotation":{"radians":-0.005368267404625371},"translation":{"x":2.261509680801443,"y":4.920665484851714}},"velocity":1.4047633977032776,"acceleration":3.0,"curvature":-0.011555065705506502,"holonomicRotation":-174.61909231316244,"angularVelocity":-0.016367855843362394,"holonomicAngularVelocity":39.37482304743579},{"time":0.47761048837805653,"pose":{"rotation":{"radians":-0.0055214054317955785},"translation":{"x":2.2747837791209493,"y":4.920592192428353}},"velocity":1.43283146513417,"acceleration":2.9999999999999942,"curvature":-0.011234313659050567,"holonomicRotation":-174.25070058370414,"angularVelocity":-0.016226122760596703,"holonomicAngularVelocity":41.470386976502766},{"time":0.48681575947221,"pose":{"rotation":{"radians":-0.005670771290613885},"translation":{"x":2.2881002725972004,"y":4.920516676829987}},"velocity":1.4604472784166307,"acceleration":3.000000000000024,"curvature":-0.010919681195891068,"holonomicRotation":-173.86895442920598,"angularVelocity":-0.016070761431497493,"holonomicAngularVelocity":43.589992791497906},{"time":0.49587839683681256,"pose":{"rotation":{"radians":-0.005816414773640588},"translation":{"x":2.301458747799274,"y":4.920438977521259}},"velocity":1.4876351905104384,"acceleration":3.0,"curvature":-0.010610985096381843,"holonomicRotation":-173.473914131811,"angularVelocity":-0.01590265718676676,"holonomicAngularVelocity":45.732405538366194},{"time":0.50480580955528,"pose":{"rotation":{"radians":-0.005958384357667157},"translation":{"x":2.3148587912962486,"y":4.920359133966815}},"velocity":1.5144174286658407,"acceleration":3.0000000000000124,"curvature":-0.010308045201923504,"holonomicRotation":-173.06564207296168,"angularVelocity":-0.015722620075694086,"holonomicAngularVelocity":47.89643472741564},{"time":0.5136047807482556,"pose":{"rotation":{"radians":-0.0060967272387912885},"translation":{"x":2.328299989657203,"y":4.920277185631301}},"velocity":1.5408143422447673,"acceleration":2.9999999999999876,"curvature":-0.010010688247659102,"holonomicRotation":-172.64420272354891,"angularVelocity":-0.015531392811521931,"holonomicAngularVelocity":50.08093063547147},{"time":0.5222815382346601,"pose":{"rotation":{"radians":-0.006231489367642951},"translation":{"x":2.341781929451215,"y":4.920193171979359}},"velocity":1.5668446147039807,"acceleration":2.999999999999987,"curvature":-0.009718745812841881,"holonomicRotation":-172.20966263373148,"angularVelocity":-0.015329657222873229,"holonomicAngularVelocity":52.284781019161336},{"time":0.5308418152900523,"pose":{"rotation":{"radians":-0.0063627154806349395},"translation":{"x":2.3553041972473636,"y":4.920107132475637}},"velocity":1.5925254458701574,"acceleration":3.000000000000013,"curvature":-0.00943205558587881,"holonomicRotation":-171.76209042242695,"angularVelocity":-0.01511804057995781,"holonomicAngularVelocity":54.50690818282851},{"time":0.5392909031452358,"pose":{"rotation":{"radians":-0.006490449133693232},"translation":{"x":2.3688663796147265,"y":4.920019106584779}},"velocity":1.617872709435708,"acceleration":3.0,"curvature":-0.009150459788283848,"holonomicRotation":-171.3015567664758,"angularVelocity":-0.014897120382991303,"holonomicAngularVelocity":56.746266353770096},{"time":0.5476336965555252,"pose":{"rotation":{"radians":-0.006614732731456741},"translation":{"x":2.3824680631223822,"y":4.91992913377143}},"velocity":1.6429010896665763,"acceleration":3.0000000000000133,"curvature":-0.00887380650227234,"holonomicRotation":-170.82813438948105,"angularVelocity":-0.014667429197192402,"holonomicAngularVelocity":59.00183932528065},{"time":0.5558747335251742,"pose":{"rotation":{"radians":-0.006735607557720513},"translation":{"x":2.3961088343394095,"y":4.919837253500236}},"velocity":1.6676242005755235,"acceleration":3.0,"curvature":-0.008601948034812875,"holonomicRotation":-170.34189805032412,"angularVelocity":-0.014429458591074662,"holonomicAngularVelocity":61.272638333761364},{"time":0.5640182300765476,"pose":{"rotation":{"radians":-0.0068531138039951145},"translation":{"x":2.4097882798348866,"y":4.919743505235841}},"velocity":1.6920546902296434,"acceleration":2.999999999999973,"curvature":-0.008334739719284213,"holonomicRotation":-169.84292453135959,"angularVelocity":-0.014183662679824679,"holonomicAngularVelocity":63.55770014139898},{"time":0.5720681107980174,"pose":{"rotation":{"radians":-0.006967290596761266},"translation":{"x":2.4235059861778914,"y":4.919647928442891}},"velocity":1.7162043323940528,"acceleration":2.9999999999999862,"curvature":-0.008072045195217923,"holonomicRotation":-169.33129262629038,"angularVelocity":-0.01393046142802171,"holonomicAngularVelocity":65.85608530004599},{"time":0.5800280357795391,"pose":{"rotation":{"radians":-0.0070781760246863},"translation":{"x":2.437261539937502,"y":4.919550562586029}},"velocity":1.7400841073386177,"acceleration":3.0,"curvature":-0.007813727534706265,"holonomicRotation":-168.80708312772532,"angularVelocity":-0.013670243364413722,"holonomicAngularVelocity":68.16687657538083},{"time":0.5879014244437649,"pose":{"rotation":{"radians":-0.007185807163828883},"translation":{"x":2.451054527682799,"y":4.919451447129903}},"velocity":1.7637042733312953,"acceleration":3.000000000000014,"curvature":-0.00755965855156374,"holonomicRotation":-168.27037881442104,"angularVelocity":-0.013403368298459032,"holonomicAngularVelocity":70.48917751331105},{"time":0.5956914766983398,"pose":{"rotation":{"radians":-0.007290220103261191},"translation":{"x":2.464884535982858,"y":4.919350621539157}},"velocity":1.78707443009502,"acceleration":3.0000000000000284,"curvature":-0.007309709560366871,"holonomicRotation":-167.72126443821034,"angularVelocity":-0.01313016944323514,"holonomicAngularVelocity":72.82211113301611},{"time":0.6034011917677932,"pose":{"rotation":{"radians":-0.007391449968482178},"translation":{"x":2.4787511514067586,"y":4.919248125278434}},"velocity":1.81020357530338,"acceleration":2.999999999999971,"curvature":-0.007063758288492158,"holonomicRotation":-167.15982671061872,"angularVelocity":-0.012850955588587861,"holonomicAngularVelocity":75.16481873306478},{"time":0.6110333850081475,"pose":{"rotation":{"radians":-0.007489530944857492},"translation":{"x":2.492653960523579,"y":4.919143997812383}},"velocity":1.833100155024443,"acceleration":2.9999999999999853,"curvature":-0.0068216871385242935,"holonomicRotation":-166.58615428917176,"angularVelocity":-0.012566012995880022,"holonomicAngularVelocity":77.51645879886738},{"time":0.6185907029617026,"pose":{"rotation":{"radians":-0.0075844963004758625},"translation":{"x":2.5065925499023987,"y":4.919038278605647}},"velocity":1.8557721088851085,"acceleration":3.0000000000000293,"curvature":-0.006583378847391808,"holonomicRotation":-166.00033776339507,"angularVelocity":-0.012275606967462088,"holonomicAngularVelocity":79.8762060010735},{"time":0.6260756368715334,"pose":{"rotation":{"radians":-0.007676378407330375},"translation":{"x":2.520566506112294,"y":4.918931007122869}},"velocity":1.8782269106146008,"acceleration":2.9999999999999702,"curvature":-0.006348720978748236,"holonomicRotation":-165.402469640509,"angularVelocity":-0.011979983448079774,"holonomicAngularVelocity":82.2432502757697},{"time":0.6334905348436258,"pose":{"rotation":{"radians":-0.007765208762305242},"translation":{"x":2.534575415722345,"y":4.918822222828697}},"velocity":1.9004716045308778,"acceleration":2.999999999999985,"curvature":-0.006117605485651791,"holonomicRotation":-164.7926443308209,"angularVelocity":-0.011679370476672769,"holonomicAngularVelocity":84.61679597875245},{"time":0.6408376128180803,"pose":{"rotation":{"radians":-0.007851018007889898},"translation":{"x":2.5486188653016284,"y":4.918711965187777}},"velocity":1.9225128384542411,"acceleration":3.0,"curvature":-0.005889924817956953,"holonomicRotation":-164.1709581328165,"angularVelocity":-0.011373979387718206,"holonomicAngularVelocity":86.99606110647716},{"time":0.6481189644885647,"pose":{"rotation":{"radians":-0.007933835951704715},"translation":{"x":2.562696441419224,"y":4.91860027366475}},"velocity":1.9443568934656943,"acceleration":3.0,"curvature":-0.005665576918249915,"holonomicRotation":-163.5375092179533,"angularVelocity":-0.011064005864101056,"holonomicAngularVelocity":89.38027657776642},{"time":0.6553365702903764,"pose":{"rotation":{"radians":-0.00801369158462073},"translation":{"x":2.5768077306442105,"y":4.918487187724264}},"velocity":1.9660097108711294,"acceleration":2.9999999999999845,"curvature":-0.005444461284649566,"holonomicRotation":-162.89239761515807,"angularVelocity":-0.010749631271356357,"holonomicAngularVelocity":91.76868557048644},{"time":0.6624923055615587,"pose":{"rotation":{"radians":-0.008090613100261379},"translation":{"x":2.5909523195456643,"y":4.918372746830965}},"velocity":1.9874769166846764,"acceleration":3.0000000000000155,"curvature":-0.005226480781829031,"holonomicRotation":-162.2357251950313,"angularVelocity":-0.010431023375791292,"holonomicAngularVelocity":94.16054290838053},{"time":0.6695879479679636,"pose":{"rotation":{"radians":-0.008164627912068845},"translation":{"x":2.6051297946926657,"y":4.918256990449494}},"velocity":2.0087638439038913,"acceleration":3.0000000000000155,"curvature":-0.005011540948644899,"holonomicRotation":-161.5675956537605,"angularVelocity":-0.010108337263582018,"holonomicAngularVelocity":96.55511449368774},{"time":0.6766251842715822,"pose":{"rotation":{"radians":-0.008235762670029345},"translation":{"x":2.619339742654292,"y":4.918139958044501}},"velocity":2.029875552814747,"acceleration":2.9999999999999685,"curvature":-0.004799549166769502,"holonomicRotation":-160.88811449674546,"angularVelocity":-0.009781716360416208,"holonomicAngularVelocity":98.95167678147719},{"time":0.6836056165115858,"pose":{"rotation":{"radians":-0.008304043278274165},"translation":{"x":2.633581749999622,"y":4.918021689080627}},"velocity":2.050816849534758,"acceleration":3.000000000000032,"curvature":-0.00459041469435832,"holonomicRotation":-160.19738902193762,"angularVelocity":-0.009451292860852858,"holonomicAngularVelocity":101.34951629222937},{"time":0.6905307676589995,"pose":{"rotation":{"radians":-0.008369494909874042},"translation":{"x":2.6478554032977337,"y":4.917902223022519}},"velocity":2.071592302976999,"acceleration":3.000000000000016,"curvature":-0.004384051976118633,"holonomicRotation":-159.49552830289667,"angularVelocity":-0.009117188721011653,"holonomicAngularVelocity":103.74792915956886},{"time":0.697402086798622,"pose":{"rotation":{"radians":-0.00843214202323228},"translation":{"x":2.662160289117706,"y":4.917781599334823}},"velocity":2.0922062603958667,"acceleration":3.0,"curvature":-0.0041803757571009055,"holonomicRotation":-158.78264317156632,"angularVelocity":-0.008779516095912522,"holonomicAngularVelocity":106.1462207101051},{"time":0.7042209538854703,"pose":{"rotation":{"radians":-0.008492008376577154},"translation":{"x":2.676495994028617,"y":4.917659857482183}},"velocity":2.112662861656412,"acceleration":3.0000000000000324,"curvature":-0.003979300828109525,"holonomicRotation":-158.05884620077285,"angularVelocity":-0.00843837797137983,"holonomicAngularVelocity":108.54370507297347},{"time":0.7109886841175508,"pose":{"rotation":{"radians":-0.008549117042283783},"translation":{"x":2.690862104599545,"y":4.917537036929243}},"velocity":2.132966052352653,"acceleration":2.9999999999999836,"curvature":-0.0037807503513989484,"holonomicRotation":-157.32425168644846,"angularVelocity":-0.008093868786370074,"holonomicAngularVelocity":110.93970481664438},{"time":0.7177065319619953,"pose":{"rotation":{"radians":-0.008603490421263515},"translation":{"x":2.7052582073995683,"y":4.917413177140649}},"velocity":2.1531195958859866,"acceleration":3.0,"curvature":-0.003584644616422495,"holonomicRotation":-156.57897562958266,"angularVelocity":-0.00774607476913856,"holonomicAngularVelocity":113.33355061087228},{"time":0.7243756948674572,"pose":{"rotation":{"radians":-0.008655150255776789},"translation":{"x":2.719683888997766,"y":4.917288317581048}},"velocity":2.1731270846023722,"acceleration":2.9999999999999836,"curvature":-0.0033909027051848384,"holonomicRotation":-155.82313571790434,"angularVelocity":-0.007395074694911595,"holonomicAngularVelocity":115.72458091198232},{"time":0.7309973166920342,"pose":{"rotation":{"radians":-0.008704117643770992},"translation":{"x":2.734138735963215,"y":4.917162497715081}},"velocity":2.192991950076103,"acceleration":2.9999999999999662,"curvature":-0.003199456154712012,"holonomicRotation":-155.05685130729753,"angularVelocity":-0.007040939823851286,"holonomicAngularVelocity":118.11214166954602},{"time":0.7375724908728274,"pose":{"rotation":{"radians":-0.008750413049509298},"translation":{"x":2.748622334864995,"y":4.917035757007397}},"velocity":2.2127174726184826,"acceleration":3.000000000000017,"curvature":-0.0030102279382208047,"holonomicRotation":-154.28024340295374,"angularVelocity":-0.006683734893003986,"holonomicAngularVelocity":120.4955860530966},{"time":0.7441022633604543,"pose":{"rotation":{"radians":-0.008794056317728227},"translation":{"x":2.763134272272184,"y":4.916908134922639}},"velocity":2.2323067900813633,"acceleration":3.000000000000017,"curvature":-0.002823148799980177,"holonomicRotation":-153.49343464026376,"angularVelocity":-0.006323517990738502,"holonomicAngularVelocity":122.87427419718696},{"time":0.7505876353393985,"pose":{"rotation":{"radians":-0.008835066684113713},"translation":{"x":2.7776741347538603,"y":4.916779670925453}},"velocity":2.2517629060181963,"acceleration":3.0000000000000173,"curvature":-0.0026381474459256206,"holonomicRotation":-152.6965492654522,"angularVelocity":-0.005960341207899649,"holonomicAngularVelocity":125.24757296368801},{"time":0.7570295657529211,"pose":{"rotation":{"radians":-0.008873462787415853},"translation":{"x":2.792241508879102,"y":4.916650404480483}},"velocity":2.2710886972587643,"acceleration":3.0000000000000346,"curvature":-0.0024551586053712694,"holonomicRotation":-151.88971311595753,"angularVelocity":-0.005594250718858457,"holonomicAngularVelocity":127.61485571991953},{"time":0.7634289736493576,"pose":{"rotation":{"radians":-0.008909262679640761},"translation":{"x":2.806835981216988,"y":4.916520375052375}},"velocity":2.290286920948074,"acceleration":3.0000000000000346,"curvature":-0.0022741150909604034,"holonomicRotation":-151.07305360056088,"angularVelocity":-0.005225287371548775,"holonomicAngularVelocity":129.97550213164237},{"time":0.7697867403649433,"pose":{"rotation":{"radians":-0.008942483837770965},"translation":{"x":2.821457138336596,"y":4.916389622105774}},"velocity":2.309360221094831,"acceleration":3.0000000000000173,"curvature":-0.0020949487693234102,"holonomicRotation":-150.24669967926678,"angularVelocity":-0.004853486618027545,"holonomicAngularVelocity":132.32889796982215},{"time":0.7761037115568187,"pose":{"rotation":{"radians":-0.008973143172917197},"translation":{"x":2.836104566807005,"y":4.916258185105324}},"velocity":2.3283111346704572,"acceleration":3.0,"curvature":-0.001917603530287401,"holonomicRotation":-149.4107818429388,"angularVelocity":-0.004478879047507339,"holonomicAngularVelocity":134.67443493024612},{"time":0.782380699098538,"pose":{"rotation":{"radians":-0.009001257040899269},"translation":{"x":2.850777853197293,"y":4.916126103515672}},"velocity":2.347142097295615,"acceleration":2.999999999999947,"curvature":-0.0017420078836733232,"holonomicRotation":-148.56543209269356,"angularVelocity":-0.004101490507802002,"holonomicAngularVelocity":137.01151046508335},{"time":0.7886184828492335,"pose":{"rotation":{"radians":-0.009026841251742468},"translation":{"x":2.8654765840765384,"y":4.915993416801461}},"velocity":2.365855448547701,"acceleration":2.999999999999929,"curvature":-0.0015681109056721958,"holonomicRotation":-147.7107839190562,"angularVelocity":-0.003721342277817937,"holonomicAngularVelocity":139.33952762566128},{"time":0.7948178123065293,"pose":{"rotation":{"radians":-0.009049911078546025},"translation":{"x":2.88020034601382,"y":4.915860164427338}},"velocity":2.384453436919588,"acceleration":3.0,"curvature":-0.0013958503606409831,"holonomicRotation":-146.84697228088078,"angularVelocity":-0.003338451399327803,"holonomicAngularVelocity":141.6578949157168},{"time":0.8009794081523631,"pose":{"rotation":{"radians":-0.009070481266819641},"translation":{"x":2.8949487255782156,"y":4.915726385857947}},"velocity":2.4029382244570896,"acceleration":2.999999999999964,"curvature":-0.0012251657707917176,"holonomicRotation":-145.97413358403853,"angularVelocity":-0.002952830750898941,"holonomicAngularVelocity":143.96602615430893},{"time":0.8071039637000412,"pose":{"rotation":{"radians":-0.009088566042776414},"translation":{"x":2.9097213093388037,"y":4.915592120557934}},"velocity":2.4213118911001237,"acceleration":2.9999999999999636,"curvature":-0.0010559991924433505,"holonomicRotation":-145.09240565987798,"angularVelocity":-0.0025644893336370877,"holonomicAngularVelocity":146.26334034800655},{"time":0.8131921462500878,"pose":{"rotation":{"radians":-0.009104179121987244},"translation":{"x":2.924517683864663,"y":4.9154574079919415}},"velocity":2.439576438750264,"acceleration":3.0000000000000546,"curvature":-0.0008883064977705838,"holonomicRotation":-144.20192774345972,"angularVelocity":-0.00217343226052949,"holonomicAngularVelocity":148.5492615715508},{"time":0.8192445983617885,"pose":{"rotation":{"radians":-0.009117333716662124},"translation":{"x":2.9393374357248714,"y":4.915322287624618}},"velocity":2.4577337950853657,"acceleration":2.999999999999963,"curvature":-0.0007220190965989486,"holonomicRotation":-143.3028404515694,"angularVelocity":-0.0017796612047939048,"holonomicAngularVelocity":150.8232188564916},{"time":0.8252619390467125,"pose":{"rotation":{"radians":-0.009128042544435111},"translation":{"x":2.954180151488508,"y":4.915186798920606}},"velocity":2.475785817140138,"acceleration":3.000000000000037,"curvature":-0.0005570835503701673,"holonomicRotation":-142.39528576051305,"angularVelocity":-0.001383174179726684,"holonomicAngularVelocity":153.08464608747215},{"time":0.8312447648899567,"pose":{"rotation":{"radians":-0.009136317834663288},"translation":{"x":2.9690454177246504,"y":4.915050981344553}},"velocity":2.4937342946698706,"acceleration":3.0000000000000373,"curvature":-0.0003934590920653286,"holonomicRotation":-141.47940698369703,"angularVelocity":-0.0009839660172072226,"holonomicAngularVelocity":155.33298190538972},{"time":0.8371936511043628,"pose":{"rotation":{"radians":-0.009142171336538496},"translation":{"x":2.983932821002377,"y":4.914914874361102}},"velocity":2.511580953313089,"acceleration":2.9999999999999627,"curvature":-0.0002310869476069011,"holonomicRotation":-140.55534874899746,"angularVelocity":-0.0005820282141353781,"holonomicAngularVelocity":157.5676696173258},{"time":0.8431091525225128,"pose":{"rotation":{"radians":-0.009145614325264617},"translation":{"x":2.9988419478907664,"y":4.9147785174348995}},"velocity":2.529327457567539,"acceleration":3.0,"curvature":-0.00006991690580517707,"holonomicRotation":-139.62325697592158,"angularVelocity":-0.0001773492578129704,"holonomicAngularVelocity":159.7881571125466},{"time":0.8489918045309092,"pose":{"rotation":{"radians":-0.009146657609232278},"translation":{"x":3.0137723849588975,"y":4.914641950030589}},"velocity":2.546975413592728,"acceleration":3.0,"curvature":0.00009007116558882888,"holonomicRotation":-138.6832788525655,"angularVelocity":0.00023008544818595093,"holonomicAngularVelocity":161.99389678445777},{"time":0.8548421239503806,"pose":{"rotation":{"radians":-0.009145311535866618},"translation":{"x":3.0287237187758476,"y":4.914505211612817}},"velocity":2.564526371851142,"acceleration":3.0,"curvature":0.00024897848797598846,"holonomicRotation":-137.73556281237154,"angularVelocity":0.0006402932733709309,"holonomicAngularVelocity":164.18434545790842},{"time":0.8606606098664317,"pose":{"rotation":{"radians":-0.009141585998473367},"translation":{"x":3.043695535910696,"y":4.914368341646227}},"velocity":2.5819818295992953,"acceleration":3.0,"curvature":0.00040684852370736796,"holonomicRotation":-136.78025851068864,"angularVelocity":0.0010532945502446252,"holonomicAngularVelocity":166.35896432175895},{"time":0.8664477444129433,"pose":{"rotation":{"radians":-0.009135490441193994},"translation":{"x":3.0586874229325205,"y":4.914231379595467}},"velocity":2.59934323323883,"acceleration":3.000000000000019,"curvature":0.0005636816511099005,"holonomicRotation":-135.8175168011403,"angularVelocity":0.0014691121242551618,"holonomicAngularVelocity":168.51721886620646},{"time":0.8722039935123752,"pose":{"rotation":{"radians":-0.009127033865851786},"translation":{"x":3.0736989664103995,"y":4.9140943649251785}},"velocity":2.616611980537126,"acceleration":2.999999999999981,"curvature":0.0007195559611827906,"holonomicRotation":-134.84748971180292,"angularVelocity":0.0018877717132083553,"holonomicAngularVelocity":170.65857882470635},{"time":0.8779298075753635,"pose":{"rotation":{"radians":-0.009116224836028586},"translation":{"x":3.0887297529134115,"y":4.913957337100009}},"velocity":2.6337894227260907,"acceleration":2.9999999999999614,"curvature":0.0008745102807742974,"holonomicRotation":-133.87033042119882,"angularVelocity":0.002309301374121848,"holonomicAngularVelocity":172.78251812014315},{"time":0.8836256221623864,"pose":{"rotation":{"radians":-0.00910307148357603},"translation":{"x":3.1037793690106357,"y":4.913820335584603}},"velocity":2.650876866487159,"acceleration":2.9999999999999805,"curvature":0.0010285896133373246,"holonomicRotation":-132.88619323410757,"angularVelocity":0.0027337318255303313,"holonomicAngularVelocity":174.88851481510557},{"time":0.889291858609964,"pose":{"rotation":{"radians":-0.009087581512668308},"translation":{"x":3.118847401271149,"y":4.913683399843606}},"velocity":2.6678755758298918,"acceleration":2.9999999999999805,"curvature":0.0011818373592294537,"holonomicRotation":-131.8952335571995,"angularVelocity":0.0031610961187543154,"holonomicAngularVelocity":176.97605106579653},{"time":0.894928924623678,"pose":{"rotation":{"radians":-0.009069762205171195},"translation":{"x":3.1339334362640305,"y":4.913546569341662}},"velocity":2.684786773871034,"acceleration":2.9999999999999805,"curvature":0.0013342930099724856,"holonomicRotation":-130.89760787449518,"angularVelocity":0.0035914297561566015,"holonomicAngularVelocity":179.04461307971687},{"time":0.9005372148401136,"pose":{"rotation":{"radians":-0.009049620424806726},"translation":{"x":3.149037060558358,"y":4.913409883543416}},"velocity":2.701611644520341,"acceleration":3.0000000000000395,"curvature":0.0014860102487421025,"holonomicRotation":-129.8934737226547,"angularVelocity":0.004024770548126489,"holonomicAngularVelocity":181.0936910764792},{"time":0.9061171113596836,"pose":{"rotation":{"radians":-0.009027162621633167},"translation":{"x":3.1641578607232113,"y":4.913273381913514}},"velocity":2.718351334079051,"acceleration":2.99999999999998,"curvature":0.00163702065685439,"holonomicRotation":-128.88298966610097,"angularVelocity":0.004461158520095287,"holonomicAngularVelocity":183.12277925202434},{"time":0.9116689842521399,"pose":{"rotation":{"radians":-0.0090023948365765},"translation":{"x":3.1792954233276673,"y":4.913137103916601}},"velocity":2.73500695275642,"acceleration":3.00000000000002,"curvature":0.001787369999926683,"holonomicRotation":-127.8663152719804,"angularVelocity":0.004900636031652853,"holonomicAngularVelocity":185.13137574558118},{"time":0.917193192036456,"pose":{"rotation":{"radians":-0.008975322704862343},"translation":{"x":3.194449334940805,"y":4.913001089017322}},"velocity":2.751579576109368,"acceleration":3.0000000000000404,"curvature":0.0019371000937113121,"holonomicRotation":-126.84361108496552,"angularVelocity":0.005343247607938957,"holonomicAngularVelocity":187.11898260958014},{"time":0.922690082136637,"pose":{"rotation":{"radians":-0.008945951459983448},"translation":{"x":3.2096191821317026,"y":4.9128653766803225}},"velocity":2.768070246409911,"acceleration":2.99999999999998,"curvature":0.00208625015970643,"holonomicRotation":-125.81503860190298,"angularVelocity":0.005789039864435407,"holonomicAngularVelocity":189.08510578212},{"time":0.9281599913149056,"pose":{"rotation":{"radians":-0.00891428593769561},"translation":{"x":3.224804551469439,"y":4.912730006370246}},"velocity":2.7844799739447166,"acceleration":2.9999999999999596,"curvature":0.002234855857005775,"holonomicRotation":-124.78076024631147,"angularVelocity":0.006238061687434848,"holonomicAngularVelocity":191.0292550619468},{"time":0.9336032460836121,"pose":{"rotation":{"radians":-0.008880330578667994},"translation":{"x":3.2400050295230916,"y":4.912595017551739}},"velocity":2.800809738250836,"acceleration":2.9999999999999796,"curvature":0.002382965254882804,"holonomicRotation":-123.74093934273307,"angularVelocity":0.0066903639635617455,"holonomicAngularVelocity":192.9509440857116},{"time":0.9390201630971217,"pose":{"rotation":{"radians":-0.008844089432287205},"translation":{"x":3.2552202028617394,"y":4.912460449689447}},"velocity":2.817060489291365,"acceleration":3.0000000000000204,"curvature":0.0025306132107235056,"holonomicRotation":-122.69574009094245,"angularVelocity":0.007145999670272344,"holonomicAngularVelocity":194.8496903074975},{"time":0.9444110495248444,"pose":{"rotation":{"radians":-0.008805566159652223},"translation":{"x":3.27044965805446,"y":4.912326342248013}},"velocity":2.833233148574533,"acceleration":2.9999999999999587,"curvature":0.002677836821153791,"holonomicRotation":-121.64532754001777,"angularVelocity":0.007605023922770979,"holonomicAngularVelocity":196.7250149802467},{"time":0.9497762034065007,"pose":{"rotation":{"radians":-0.00876476403603288},"translation":{"x":3.2856929816703335,"y":4.912192734692085}},"velocity":2.849328610219502,"acceleration":3.000000000000021,"curvature":0.0028246747553744866,"holonomicRotation":-120.58986756227762,"angularVelocity":0.008067493749775998,"holonomicAngularVelocity":198.57644313936188},{"time":0.9551159139906293,"pose":{"rotation":{"radians":-0.008721685954269809},"translation":{"x":3.3009497602784372,"y":4.912059666486305}},"velocity":2.8653477419718874,"acceleration":2.999999999999917,"curvature":0.002971166796446663,"holonomicRotation":-119.52952682708775,"angularVelocity":0.008533468362076198,"holonomicAngularVelocity":200.4035035878339},{"time":0.9604304620572944,"pose":{"rotation":{"radians":-0.008676334426484189},"translation":{"x":3.3162195804478487,"y":4.91192717709532}},"velocity":2.881291386171883,"acceleration":3.0000000000000626,"curvature":0.0031173510223421927,"holonomicRotation":-118.46447277454212,"angularVelocity":0.00900300887933901,"holonomicAngularVelocity":202.20572888321337},{"time":0.9657201202258706,"pose":{"rotation":{"radians":-0.00862871158702383},"translation":{"x":3.3315020287476473,"y":4.911795305983775}},"velocity":2.8971603606776113,"acceleration":2.999999999999958,"curvature":0.0032632605944230776,"holonomicRotation":-117.39487358902213,"angularVelocity":0.009476178453392211,"holonomicAngularVelocity":203.98265532622926},{"time":0.9709851532487332,"pose":{"rotation":{"radians":-0.00857881919453618},"translation":{"x":3.3467966917469116,"y":4.911664092616315}},"velocity":2.912955459746199,"acceleration":2.999999999999979,"curvature":0.003408936190187375,"holonomicRotation":-116.32089817263832,"angularVelocity":0.009953042249119609,"holonomicAngularVelocity":205.73382295073725},{"time":0.9762258182916299,"pose":{"rotation":{"radians":-0.008526658633950746},"translation":{"x":3.362103156014719,"y":4.911533576457583}},"velocity":2.928677454874889,"acceleration":2.999999999999958,"curvature":0.0035544145665490057,"holonomicRotation":-115.2427161185589,"angularVelocity":0.010433667477913668,"holonomicAngularVelocity":207.4587755151269},{"time":0.9814423652014573,"pose":{"rotation":{"radians":-0.008472230918110668},"translation":{"x":3.377421008120149,"y":4.911403796972228}},"velocity":2.9443270956043714,"acceleration":3.000000000000064,"curvature":0.0036997293402570982,"holonomicRotation":-114.16049768422889,"angularVelocity":0.010918123239757731,"holonomicAngularVelocity":209.15706049509177},{"time":0.9866350367621187,"pose":{"rotation":{"radians":-0.008415536690067782},"translation":{"x":3.392749834632279,"y":4.911274793624892}},"velocity":2.9599051102863556,"acceleration":3.0,"curvature":0.0038449175931832033,"holonomicRotation":-113.07441376448449,"angularVelocity":0.011406480758494632,"holonomicAngularVelocity":210.82822907743022},{"time":0.9918040689391014,"pose":{"rotation":{"radians":-0.008356576224000989},"translation":{"x":3.4080892221201884,"y":4.911146605880221}},"velocity":2.975412206817304,"acceleration":3.0000000000000644,"curvature":0.003990017263014471,"holonomicRotation":-111.98463586456697,"angularVelocity":0.011898813164415944,"holonomicAngularVelocity":212.47183615519393},{"time":0.9969496911133673,"pose":{"rotation":{"radians":-0.008295349427134724},"translation":{"x":3.4234387571529545,"y":4.91101927320286}},"velocity":2.990849073340102,"acceleration":3.000000000000043,"curvature":0.004135063257787734,"holonomicRotation":-110.89133607303982,"angularVelocity":0.012395195689907525,"holonomicAngularVelocity":214.08744032366417},{"time":1.002072126305118,"pose":{"rotation":{"radians":-0.008231855840524105},"translation":{"x":3.4387980262996556,"y":4.910892835057454}},"velocity":3.0062163789153535,"acceleration":2.9999999999999134,"curvature":0.00428008976729409,"holonomicRotation":-109.79468703461406,"angularVelocity":0.012895705533942429,"holonomicAngularVelocity":215.67460387740877},{"time":1.0071715913879593,"pose":{"rotation":{"radians":-0.008166094640435162},"translation":{"x":3.454166616129371,"y":4.91076733090865}},"velocity":3.0215147741638777,"acceleration":3.0000000000000435,"curvature":0.004425132100128534,"holonomicRotation":-108.69486192288558,"angularVelocity":0.01340042187142549,"holonomicAngularVelocity":217.2328928081913},{"time":1.0122482972939575,"pose":{"rotation":{"radians":-0.008098064639577629},"translation":{"x":3.469544113211179,"y":4.91064280022109}},"velocity":3.0367448918818725,"acceleration":3.0000000000000435,"curvature":0.004570227320739077,"holonomicRotation":-107.59203441298916,"angularVelocity":0.01390942610539795,"holonomicAngularVelocity":218.7618768038165},{"time":1.017302449210051,"pose":{"rotation":{"radians":-0.00802776428697527},"translation":{"x":3.484930104114157,"y":4.91051928245942}},"velocity":3.0519073476301535,"acceleration":3.000000000000044,"curvature":0.004715409919980516,"holonomicRotation":-106.48637865417292,"angularVelocity":0.01442280150989072,"holonomicAngularVelocity":220.26112924739724},{"time":1.0223342467662584,"pose":{"rotation":{"radians":-0.007955191669584138},"translation":{"x":3.5003241754073846,"y":4.910396817088286}},"velocity":3.0670027402987756,"acceleration":3.000000000000044,"curvature":0.004860714557212405,"holonomicRotation":-105.37806924229841,"angularVelocity":0.014940633540461422,"holonomicAngularVelocity":221.73022721776664},{"time":1.0273438842160851,"pose":{"rotation":{"radians":-0.007880344512275705},"translation":{"x":3.5157259136599395,"y":4.910275443572333}},"velocity":3.0820316526482556,"acceleration":2.9999999999999556,"curvature":0.005006176029954259,"holonomicRotation":-104.26728119226969,"angularVelocity":0.0154630097426294,"holonomicAngularVelocity":223.168751490172},{"time":1.0323315506095239,"pose":{"rotation":{"radians":-0.007803220178240977},"translation":{"x":3.5311349054409,"y":4.910155201376206}},"velocity":3.0969946518285716,"acceleration":2.9999999999999556,"curvature":0.005151829250434091,"holonomicRotation":-103.15418991039648,"angularVelocity":0.015990019738458514,"holonomicAngularVelocity":224.57628653761182},{"time":1.0372974299590076,"pose":{"rotation":{"radians":-0.007723815669423928},"translation":{"x":3.546550737319344,"y":4.910036129964549}},"velocity":3.111892289877023,"acceleration":3.0,"curvature":0.005297710656733984,"holonomicRotation":-102.0389711666956,"angularVelocity":0.016521755378444948,"holonomicAngularVelocity":225.95242053279094},{"time":1.0422417013986616,"pose":{"rotation":{"radians":-0.007642127626173334},"translation":{"x":3.561972995864351,"y":4.909918268802008}},"velocity":3.1267251041959847,"acceleration":3.0,"curvature":0.00544385313756188,"holonomicRotation":-100.92180106713465,"angularVelocity":0.017058310605047786,"holonomicAngularVelocity":227.29674535038987},{"time":1.0471645393371753,"pose":{"rotation":{"radians":-0.007558152327559853},"translation":{"x":3.577401267644999,"y":4.909801657353229}},"velocity":3.1414936180115256,"acceleration":2.99999999999991,"curvature":0.005590292597639786,"holonomicRotation":-99.80285602582305,"angularVelocity":0.01759978160854487,"holonomicAngularVelocity":228.60885656988123},{"time":1.0520661136046032,"pose":{"rotation":{"radians":-0.007471885690915059},"translation":{"x":3.5928351392303663,"y":4.909686335082855}},"velocity":3.156198340813809,"acceleration":2.9999999999999547,"curvature":0.005737062957194555,"holonomicRotation":-98.682312737154,"angularVelocity":0.018146266812741757,"holonomicAngularVelocity":229.88835347851455},{"time":1.0569465895933805,"pose":{"rotation":{"radians":-0.007383323271449527},"translation":{"x":3.6082741971895302,"y":4.909572341455532}},"velocity":3.1708397687801413,"acceleration":3.000000000000091,"curvature":0.005884200897083621,"holonomicRotation":-97.56034814790257,"angularVelocity":0.01869786687055324,"holonomicAngularVelocity":231.13483907467503},{"time":1.0618061283938296,"pose":{"rotation":{"radians":-0.007292460261906442},"translation":{"x":3.623718028091571,"y":4.909459715935906}},"velocity":3.185418385181489,"acceleration":3.0000000000000457,"curvature":0.00603173989653456,"holonomicRotation":-96.43713942928363,"angularVelocity":0.019254684756728223,"holonomicAngularVelocity":232.34792007170532},{"time":1.0666448869244083,"pose":{"rotation":{"radians":-0.007199291491786219},"translation":{"x":3.639166218505566,"y":4.909348497988621}},"velocity":3.199934660773225,"acceleration":3.0,"curvature":0.006179716115107985,"holonomicRotation":-95.31286394897445,"angularVelocity":0.01981682581969099,"holonomicAngularVelocity":233.52720690152154},{"time":1.071463018056951,"pose":{"rotation":{"radians":-0.007103811426356188},"translation":{"x":3.654618355000593,"y":4.909238727078321}},"velocity":3.2143890541708533,"acceleration":3.0,"curvature":0.006328163324208682,"holonomicRotation":-94.18769924310647,"angularVelocity":0.020384397734184604,"holonomicAngularVelocity":234.67231371872762},{"time":1.0762606707371303,"pose":{"rotation":{"radians":-0.007006014165932939},"translation":{"x":3.670074024145732,"y":4.909130442669655}},"velocity":3.2287820122113913,"acceleration":3.0000000000000924,"curvature":0.006477118419061379,"holonomicRotation":-93.06182298822996,"angularVelocity":0.0209575105303416,"holonomicAngularVelocity":235.78285840475107},{"time":1.0810379901003517,"pose":{"rotation":{"radians":-0.0069058934450714204},"translation":{"x":3.6855328125100595,"y":4.909023684227264}},"velocity":3.243113970301056,"acceleration":3.000000000000093,"curvature":0.006626615401406222,"holonomicRotation":-91.93541297325724,"angularVelocity":0.021536276902101976,"holonomicAngularVelocity":236.85846257195655},{"time":1.0857951175832998,"pose":{"rotation":{"radians":-0.006803442630340051},"translation":{"x":3.700994306662656,"y":4.908918491215795}},"velocity":3.2573853527499006,"acceleration":3.0000000000000466,"curvature":0.00677669014867565,"holonomicRotation":-90.80864707138736,"angularVelocity":0.022120811780482013,"holonomicAngularVelocity":237.89875156799772},{"time":1.090532191031317,"pose":{"rotation":{"radians":-0.006698654720206143},"translation":{"x":3.716458093172597,"y":4.908814903099892}},"velocity":3.2715965730939516,"acceleration":2.9999999999998592,"curvature":0.006927378594200803,"holonomicRotation":-89.68170321201815,"angularVelocity":0.02266696758019286,"holonomicAngularVelocity":238.43772008531997},{"time":1.095258556721133,"pose":{"rotation":{"radians":-0.006591522342342948},"translation":{"x":3.7319237586089637,"y":4.908712959344202}},"velocity":3.272967447070575,"acceleration":0.29004822449042894,"curvature":0.007078716734398215,"holonomicRotation":-88.55475935264894,"angularVelocity":0.023117033927695204,"holonomicAngularVelocity":237.91006304586531},{"time":1.099994656940873,"pose":{"rotation":{"radians":-0.006482037752878256},"translation":{"x":3.747390889540833,"y":4.908612699413368}},"velocity":3.2587591464113554,"acceleration":-3.0,"curvature":0.007230740636309643,"holonomicRotation":-87.42799345077908,"angularVelocity":0.023510853054714342,"holonomicAngularVelocity":236.7819707506144},{"time":1.104751818186731,"pose":{"rotation":{"radians":-0.006370192833869304},"translation":{"x":3.7628590725372835,"y":4.908514162772036}},"velocity":3.2444876626737815,"acceleration":-2.9999999999999067,"curvature":0.007383485429865961,"holonomicRotation":-86.30158343580635,"angularVelocity":0.023902221943208266,"holonomicAngularVelocity":235.61914385423333},{"time":1.1095301916094484,"pose":{"rotation":{"radians":-0.0062559790917919855},"translation":{"x":3.7783278941673935,"y":4.9084173888848515}},"velocity":3.230152542405629,"acceleration":-3.0000000000000466,"curvature":0.00753698939915771,"holonomicRotation":-85.17570718092986,"angularVelocity":0.024291194842959538,"holonomicAngularVelocity":234.42197725796467},{"time":1.1143299323122149,"pose":{"rotation":{"radians":-0.006139387655185402},"translation":{"x":3.7937969410002417,"y":4.908322417216459}},"velocity":3.21575332029733,"acceleration":-3.0,"curvature":0.007691289296511571,"holonomicRotation":-84.05054247506182,"angularVelocity":0.024677824088806134,"holonomicAngularVelocity":233.19086942664745},{"time":1.119151199470202,"pose":{"rotation":{"radians":-0.00602040927237546},"translation":{"x":3.8092657996049066,"y":4.908229287231504}},"velocity":3.2012895188233688,"acceleration":-3.0,"curvature":0.007846420510818288,"holonomicRotation":-82.92626699475268,"angularVelocity":0.02506216005665232,"holonomicAngularVelocity":231.9262223870521},{"time":1.123994156454792,"pose":{"rotation":{"radians":-0.005899034309280182},"translation":{"x":3.824734056550465,"y":4.908138038394631}},"velocity":3.1867606478695985,"acceleration":-3.0000000000000457,"curvature":0.00800242143552714,"holonomicRotation":-81.80305827613373,"angularVelocity":0.02544425129712664,"holonomicAngularVelocity":230.62844172596238},{"time":1.1288589709627292,"pose":{"rotation":{"radians":-0.005775252746426318},"translation":{"x":3.840201298405997,"y":4.908048710170485}},"velocity":3.1721662043457863,"acceleration":-3.0000000000000457,"curvature":0.008159330445228572,"holonomicRotation":-80.68109368688229,"angularVelocity":0.025824144367395416,"holonomicAngularVelocity":229.29793658871526},{"time":1.1337458151504243,"pose":{"rotation":{"radians":-0.005649054176622315},"translation":{"x":3.8556671117405816,"y":4.907961342023712}},"velocity":3.157505671782701,"acceleration":-3.0000000000000453,"curvature":0.008317184564364822,"holonomicRotation":-79.56055039821327,"angularVelocity":0.02620188396040775,"holonomicAngularVelocity":227.93511967752016},{"time":1.138654865773666,"pose":{"rotation":{"radians":-0.0055204278018363695},"translation":{"x":3.871131083123295,"y":4.907875973418956}},"velocity":3.1427785199129765,"acceleration":-2.9999999999999094,"curvature":0.008476023154963838,"holonomicRotation":-78.44160535690168,"angularVelocity":0.02657751285168642,"holonomicAngularVelocity":226.5404072499331},{"time":1.1435863043330061,"pose":{"rotation":{"radians":-0.0053893624301482035},"translation":{"x":3.8865927991232168,"y":4.907792643820863}},"velocity":3.127984204234956,"acceleration":-2.999999999999955,"curvature":0.008635884249477714,"holonomicRotation":-77.32443525734072,"angularVelocity":0.026951071843687804,"holonomicAngularVelocity":225.11421911761045},{"time":1.1485403172250939,"pose":{"rotation":{"radians":-0.005255846472778991},"translation":{"x":3.902051846309426,"y":4.907711392694077}},"velocity":3.1131221655586927,"acceleration":-3.000000000000045,"curvature":0.008796807254336207,"holonomicRotation":-76.20921651363982,"angularVelocity":0.02732259989700807,"holonomicAngularVelocity":223.65697864525117},{"time":1.1535170959002574,"pose":{"rotation":{"radians":-0.0051198679402615355},"translation":{"x":3.917507811250999,"y":4.907632259503245}},"velocity":3.098191829533202,"acceleration":-3.0,"curvature":0.008958832014720254,"holonomicRotation":-75.09612523176662,"angularVelocity":0.02769213389658292,"holonomicAngularVelocity":222.16911274974174},{"time":1.1585168370266488,"pose":{"rotation":{"radians":-0.004981414439541254},"translation":{"x":3.9329602805170163,"y":4.907555283713011}},"velocity":3.0831926061540282,"acceleration":-2.9999999999999556,"curvature":0.00912199838907294,"holonomicRotation":-73.98533718173786,"angularVelocity":0.02805970887778668,"holonomicAngularVelocity":220.6510518997581},{"time":1.1635397426612795,"pose":{"rotation":{"radians":-0.004840473169712922},"translation":{"x":3.948408840676554,"y":4.907480504788019}},"velocity":3.068123889250136,"acceleration":-3.0,"curvature":0.009286347084443952,"holonomicRotation":-72.87702776986337,"angularVelocity":0.02842535783837316,"holonomicAngularVelocity":219.10323011556738},{"time":1.1685860204283076,"pose":{"rotation":{"radians":-0.00469703091843332},"translation":{"x":3.9638530782986927,"y":4.907407962192915}},"velocity":3.0529850559490517,"acceleration":-3.0,"curvature":0.009451919213525702,"holonomicRotation":-71.77137201104713,"angularVelocity":0.02878911180392916,"holonomicAngularVelocity":217.52608496945746},{"time":1.1736558837049407,"pose":{"rotation":{"radians":-0.004551074057731697},"translation":{"x":3.97929257995251,"y":4.907337695392345}},"velocity":3.037775466119153,"acceleration":-2.9999999999999125,"curvature":0.009618755896378365,"holonomicRotation":-70.66854450115072,"angularVelocity":0.02915099968451307,"holonomicAngularVelocity":215.92005758659425},{"time":1.1787495518153588,"pose":{"rotation":{"radians":-0.004402588540251884},"translation":{"x":3.994726932207083,"y":4.907269743850952}},"velocity":3.022494461787898,"acceleration":-3.000000000000087,"curvature":0.009786899445463241,"holonomicRotation":-69.56871938942224,"angularVelocity":0.02951104849278268,"holonomicAngularVelocity":214.2855926462169},{"time":1.183867250233079,"pose":{"rotation":{"radians":-0.004251559894075108},"translation":{"x":4.010155721631492,"y":4.907204147033383}},"velocity":3.0071413665347375,"acceleration":-3.0000000000000435,"curvature":0.009956392920026582,"holonomicRotation":-68.47207035099647,"angularVelocity":0.029869282999723287,"holonomicAngularVelocity":212.62313838389008},{"time":1.189009210792203,"pose":{"rotation":{"radians":-0.004097973218961215},"translation":{"x":4.025578534794814,"y":4.907140944404283}},"velocity":2.991715484857366,"acceleration":-2.9999999999998703,"curvature":0.010127278975965274,"holonomicRotation":-67.37877055946933,"angularVelocity":0.030225725936552063,"holonomicAngularVelocity":210.93314659406443},{"time":1.1941756719080312,"pose":{"rotation":{"radians":-0.003941813181212339},"translation":{"x":4.040994958266128,"y":4.9070801754282956}},"velocity":2.9762161015098814,"acceleration":-3.0,"curvature":0.01029960176749607,"holonomicRotation":-66.28899265955181,"angularVelocity":0.030580397902886372,"holonomicAngularVelocity":209.21607263344356},{"time":1.199366878807547,"pose":{"rotation":{"radians":-0.0037830640086289335},"translation":{"x":4.056404578614513,"y":4.907021879570067}},"velocity":2.9606424808113334,"acceleration":-3.0000000000000426,"curvature":0.010473405777449728,"holonomicRotation":-65.20290873980746,"angularVelocity":0.030933317235404427,"holonomicAngularVelocity":207.47237542539582},{"time":1.2045830837703095,"pose":{"rotation":{"radians":-0.0036217094857509124},"translation":{"x":4.071806982409046,"y":4.906966096294242}},"velocity":2.9449938659230464,"acceleration":-2.9999999999999574,"curvature":0.010648736181850858,"holonomicRotation":-64.1206903054774,"angularVelocity":0.03128450008831868,"holonomicAngularVelocity":205.70251746488566},{"time":1.2098245463803305,"pose":{"rotation":{"radians":-0.003457732948264791},"translation":{"x":4.087201756218806,"y":4.906912865065466}},"velocity":2.9292694780929835,"acceleration":-2.999999999999958,"curvature":0.010825638480213033,"holonomicRotation":-63.042508251398004,"angularVelocity":0.03163396027431741,"holonomicAngularVelocity":203.9069648247929},{"time":1.2150915337895474,"pose":{"rotation":{"radians":-0.003291117277796296},"translation":{"x":4.102588486612873,"y":4.906862225348383}},"velocity":2.913468515865333,"acceleration":-3.0,"curvature":0.01100415989204165,"holonomicRotation":-61.9685328350142,"angularVelocity":0.03198170934420066,"holonomicAngularVelocity":202.0861871629586},{"time":1.2203843209935412,"pose":{"rotation":{"radians":-0.0031218448958174605},"translation":{"x":4.117966760160321,"y":4.906814216607639}},"velocity":2.8975901542533515,"acceleration":-3.0,"curvature":0.011184346877562153,"holonomicRotation":-60.89893364949419,"angularVelocity":0.03232775637911001,"holonomicAngularVelocity":200.24065773041426},{"time":1.225703191120204,"pose":{"rotation":{"radians":-0.002949897758150577},"translation":{"x":4.133336163430233,"y":4.906768878307879}},"velocity":2.8816335438733627,"acceleration":-3.0000000000000417,"curvature":0.011366248257336535,"holonomicRotation":-59.83387959694856,"angularVelocity":0.03267210806000122,"holonomicAngularVelocity":198.3708533810539},{"time":1.2310484357320879,"pose":{"rotation":{"radians":-0.0027752573485839704},"translation":{"x":4.1486962829916845,"y":4.906726249913749}},"velocity":2.8655978100377113,"acceleration":-3.0,"curvature":0.011549912428520957,"holonomicRotation":-58.773538861758695,"angularVelocity":0.03301476849549894,"holonomicAngularVelocity":196.47725458230292},{"time":1.236420355143238,"pose":{"rotation":{"radians":-0.0025979046728483723},"translation":{"x":4.164046705413755,"y":4.906686370889893}},"velocity":2.849482051804261,"acceleration":-3.0,"curvature":0.011735389068568938,"holonomicRotation":-57.71807888401854,"angularVelocity":0.03335573928216951,"holonomicAngularVelocity":194.56034542744266},{"time":1.2418192587513548,"pose":{"rotation":{"radians":-0.0024178202516864644},"translation":{"x":4.179387017265523,"y":4.906649280700956}},"velocity":2.8332853409799106,"acceleration":-3.0,"curvature":0.011922728763866412,"holonomicRotation":-56.66766633309387,"angularVelocity":0.03369501926750698,"holonomicAngularVelocity":192.62061364933615},{"time":1.2472454653861929,"pose":{"rotation":{"radians":-0.0022349841145761218},"translation":{"x":4.194716805116067,"y":4.906615018811582}},"velocity":2.8170067210753964,"acceleration":-3.0,"curvature":0.012111982988337735,"holonomicRotation":-55.62246708130326,"angularVelocity":0.034032604654986864,"holonomicAngularVelocity":190.65855063574287},{"time":1.2526993036751717,"pose":{"rotation":{"radians":-0.0020493757922350753},"translation":{"x":4.210035655534464,"y":4.9065836246864185}},"velocity":2.80064520620846,"acceleration":-3.0,"curvature":0.01230320439941677,"holonomicRotation":-54.58264617772484,"angularVelocity":0.034368488702481874,"holonomicAngularVelocity":188.6746514464013},{"time":1.2581811124272357,"pose":{"rotation":{"radians":-0.0018609743100705955},"translation":{"x":4.225343155089793,"y":4.906555137790109}},"velocity":2.7841997799522678,"acceleration":-3.0,"curvature":0.01249644587221327,"holonomicRotation":-53.54836782213332,"angularVelocity":0.034702661868165154,"holonomicAngularVelocity":186.66941483205048},{"time":1.2636912410360812,"pose":{"rotation":{"radians":-0.0016697581801077277},"translation":{"x":4.240638890351134,"y":4.9065295975873}},"velocity":2.7676693941257318,"acceleration":-2.9999999999999196,"curvature":0.012691761752393027,"holonomicRotation":-52.5197953390708,"angularVelocity":0.03503511151075038,"holonomicAngularVelocity":184.64334325527076},{"time":1.2692300499039482,"pose":{"rotation":{"radians":-0.001475705393785276},"translation":{"x":4.2559224478875635,"y":4.906507043542635}},"velocity":2.751052967522131,"acceleration":-3.0,"curvature":0.012889207201948217,"holonomicRotation":-51.4970911520559,"angularVelocity":0.0353658219019922,"holonomicAngularVelocity":182.59694291344385},{"time":1.2747979108872642,"pose":{"rotation":{"radians":-0.0012787934138742685},"translation":{"x":4.271193414268161,"y":4.906487515120759}},"velocity":2.7343493845721825,"acceleration":-3.00000000000004,"curvature":0.013088838490985126,"holonomicRotation":-50.480416757935345,"angularVelocity":0.035694774139440805,"holonomicAngularVelocity":180.53072376411657},{"time":1.2803952077655176,"pose":{"rotation":{"radians":-0.0010789991660136167},"translation":{"x":4.286451376062003,"y":4.906471051786319}},"velocity":2.7175574939374227,"acceleration":-2.9999999999999205,"curvature":0.013290713857842112,"holonomicRotation":-49.46993270138163,"angularVelocity":0.036021945826971755,"holonomicAngularVelocity":178.44519955247438},{"time":1.2860223367348524,"pose":{"rotation":{"radians":-0.0008762990311188545},"translation":{"x":4.301695919838171,"y":4.906457693003959}},"velocity":2.7006761070294187,"acceleration":-2.999999999999921,"curvature":0.013494891109158415,"holonomicRotation":-48.46579854954117,"angularVelocity":0.036347311266972736,"holonomicAngularVelocity":176.34088784170189},{"time":1.2916797069279746,"pose":{"rotation":{"radians":-0.000670668835756949},"translation":{"x":4.316926632165741,"y":4.906447478238323}},"velocity":2.6837039964500518,"acceleration":-3.0000000000000786,"curvature":0.013701430279676146,"holonomicRotation":-47.468172866836824,"angularVelocity":0.036670841073569924,"holonomicAngularVelocity":174.21831004570274},{"time":1.2973677409621018,"pose":{"rotation":{"radians":-0.00046208384367041333},"translation":{"x":4.33214309961379,"y":4.906440446954057}},"velocity":2.66663989434767,"acceleration":-3.0,"curvature":0.01391039241287733,"holonomicRotation":-46.47721318992874,"angularVelocity":0.0369925021169629,"holonomicAngularVelocity":172.07799146487866},{"time":1.3030868755168081,"pose":{"rotation":{"radians":-0.000250518746548245},"translation":{"x":4.3473449087514,"y":4.906436638615807}},"velocity":2.6494824906835515,"acceleration":-2.9999999999999614,"curvature":0.014121839552238492,"holonomicRotation":-45.4930760028375,"angularVelocity":0.037312257352734385,"holonomicAngularVelocity":169.92046132504404},{"time":1.3088375619437644,"pose":{"rotation":{"radians":-0.00003594765463077465},"translation":{"x":4.362531646147648,"y":4.906436092688216}},"velocity":2.6322304314026828,"acceleration":-2.9999999999999614,"curvature":0.014335835011881643,"holonomicRotation":-44.51591671223341,"angularVelocity":0.037630065791582325,"holonomicAngularVelocity":167.74625281940806},{"time":1.3146202669105436,"pose":{"rotation":{"radians":0.00018165591372243384},"translation":{"x":4.377702898371611,"y":4.906438848635931}},"velocity":2.6148823165023454,"acceleration":-3.0,"curvature":0.014552443903573947,"holonomicRotation":-43.545889622896034,"angularVelocity":0.037945882047854054,"holonomicAngularVelocity":165.55590315405863},{"time":1.320435473080827,"pose":{"rotation":{"radians":0.00040231904114396144},"translation":{"x":4.392858251992369,"y":4.906444945923597}},"velocity":2.5974366979914953,"acceleration":-2.999999999999962,"curvature":0.01477173227712905,"holonomicRotation":-42.58314791334771,"angularVelocity":0.03825965646042726,"holonomicAngularVelocity":163.3499535972926},{"time":1.3262836798335391,"pose":{"rotation":{"radians":0.0006260694224122787},"translation":{"x":4.407997293578999,"y":4.906454424015857}},"velocity":2.5798920777333585,"acceleration":-3.000000000000076,"curvature":0.014993767925696703,"holonomicRotation":-41.62784361166481,"angularVelocity":0.03857133475902641,"holonomicAngularVelocity":161.1289495326588},{"time":1.3321654040236535,"pose":{"rotation":{"radians":0.0008529353751094426},"translation":{"x":4.4231196097005805,"y":4.906467322377359}},"velocity":2.5622469051630152,"acceleration":-3.0000000000000377,"curvature":0.015218619817219949,"holonomicRotation":-40.680127571470855,"angularVelocity":0.03888085777992729,"holonomicAngularVelocity":158.89344051627856},{"time":1.33808118078764,"pose":{"rotation":{"radians":0.0010829458501278033},"translation":{"x":4.438224786926192,"y":4.906483680472745}},"velocity":2.5444995748710557,"acceleration":-2.9999999999999623,"curvature":0.015446358611282816,"holonomicRotation":-39.74014944811477,"angularVelocity":0.03918816144790901,"holonomicAngularVelocity":156.64398033854843},{"time":1.3440315643967733,"pose":{"rotation":{"radians":0.0013161304436795085},"translation":{"x":4.4533124118249106,"y":4.906503537766663}},"velocity":2.5266484240436564,"acceleration":-2.9999999999999254,"curvature":0.015677056368822766,"holonomicRotation":-38.80805767503888,"angularVelocity":0.03949317635545543,"holonomicAngularVelocity":154.38112709059925},{"time":1.3500171291618064,"pose":{"rotation":{"radians":0.0015525194085319605},"translation":{"x":4.4683820709658155,"y":4.9065269337237565}},"velocity":2.5086917297485574,"acceleration":-2.9999999999999627,"curvature":0.01591078679416154,"holonomicRotation":-37.883999440339295,"angularVelocity":0.03979582763491927,"holonomicAngularVelocity":152.10544323570787},{"time":1.356038470392815,"pose":{"rotation":{"radians":0.0017921436662922119},"translation":{"x":4.483433350917986,"y":4.906553907808671}},"velocity":2.4906277060555317,"acceleration":-2.999999999999963,"curvature":0.01614762571599558,"holonomicRotation":-36.96812066352329,"angularVelocity":0.04009603465702984,"holonomicAngularVelocity":149.817495686162},{"time":1.3620962054183523,"pose":{"rotation":{"radians":0.002035034819819259},"translation":{"x":4.498465838250498,"y":4.906584499486051}},"velocity":2.4724545009789196,"acceleration":-3.000000000000037,"curvature":0.016387650040729607,"holonomicRotation":-36.06056597246694,"angularVelocity":0.04039371071230862,"holonomicAngularVelocity":147.51785588558633},{"time":1.3681909746684398,"pose":{"rotation":{"radians":0.0022812251657655658},"translation":{"x":4.513479119532432,"y":4.906618748220542}},"velocity":2.4541701932286575,"acceleration":-2.9999999999999636,"curvature":0.01663093875266137,"holonomicRotation":-35.161478680576636,"angularVelocity":0.040688762820809056,"holonomicAngularVelocity":145.2070998976551},{"time":1.3743234428263047,"pose":{"rotation":{"radians":0.0025307477081470964},"translation":{"x":4.528472781332867,"y":4.90665669347679}},"velocity":2.4357727887550626,"acceleration":-3.0,"curvature":0.016877573119407907,"holonomicRotation":-34.27100076415835,"angularVelocity":0.04098109127883197,"holonomicAngularVelocity":142.88580850097534},{"time":1.3804943000542604,"pose":{"rotation":{"radians":0.0027836361714745905},"translation":{"x":4.543446410220877,"y":4.906698374719438}},"velocity":2.4172602170711954,"acceleration":-3.0,"curvature":0.017127634952155968,"holonomicRotation":-33.38927283999781,"angularVelocity":0.04127058943759741,"holonomicAngularVelocity":140.55456729087643},{"time":1.3867042632996092,"pose":{"rotation":{"radians":0.003039925014995948},"translation":{"x":4.5583995927655465,"y":4.9067438314131335}},"velocity":2.3986303273351495,"acceleration":-2.999999999999964,"curvature":0.017381210003505756,"holonomicRotation":-32.51643414315557,"angularVelocity":0.041557143247027306,"holonomicAngularVelocity":138.21396678886046},{"time":1.3929540776870002,"pose":{"rotation":{"radians":0.003299649446760089},"translation":{"x":4.57333191553595,"y":4.90679310302252}},"velocity":2.3798808841729766,"acceleration":-2.9999999999999645,"curvature":0.017638384762435042,"holonomicRotation":-31.652622504980165,"angularVelocity":0.041840630985281145,"holonomicAngularVelocity":135.86460255939085},{"time":1.3992445180043285,"pose":{"rotation":{"radians":0.0035628454388123565},"translation":{"x":4.588242965101166,"y":4.906846229012243}},"velocity":2.3610095632209918,"acceleration":-3.0,"curvature":0.017899247434322516,"holonomicRotation":-30.79797433134279,"angularVelocity":0.04212092271586389,"holonomicAngularVelocity":133.50707533542555},{"time":1.4055763902899088,"pose":{"rotation":{"radians":0.0038295497420000046},"translation":{"x":4.603132328030274,"y":4.906903248846947}},"velocity":2.342013946364251,"acceleration":-2.999999999999965,"curvature":0.018163889560102786,"holonomicRotation":-29.952624581097528,"angularVelocity":0.04239787995360889,"holonomicAngularVelocity":131.14199115276492},{"time":1.4119505335294622,"pose":{"rotation":{"radians":0.004099799901877699},"translation":{"x":4.617999590892351,"y":4.906964201991278}},"velocity":2.3228915166455906,"acceleration":-3.0000000000000346,"curvature":0.018432404325472152,"holonomicRotation":-29.116706744769555,"angularVelocity":0.042671355149120016,"holonomicAngularVelocity":128.76996149395634},{"time":1.418367821472294,"pose":{"rotation":{"radians":0.004373634274780436},"translation":{"x":4.632844340256478,"y":4.9070291279098806}},"velocity":2.3036396528170955,"acceleration":-3.0,"curvature":0.01870488724812382,"holonomicRotation":-28.290352823475487,"angularVelocity":0.04294119120703518,"holonomicAngularVelocity":126.39160344245752},{"time":1.4248291645770077,"pose":{"rotation":{"radians":0.004651092044494209},"translation":{"x":4.64766616269173,"y":4.9070980660674}},"velocity":2.284255623502954,"acceleration":-3.0,"curvature":0.01898143637726365,"holonomicRotation":-27.473693308078843,"angularVelocity":0.043207220912698116,"holonomicAngularVelocity":124.00753984770321},{"time":1.4313355120981792,"pose":{"rotation":{"radians":0.004932213239176253},"translation":{"x":4.662464644767187,"y":4.907171055928481}},"velocity":2.2647365809394393,"acceleration":-3.000000000000034,"curvature":0.019262152261901946,"holonomicRotation":-26.66685715858416,"angularVelocity":0.04346926640506399,"holonomicAngularVelocity":121.6183995019628},{"time":1.4378878543266156,"pose":{"rotation":{"radians":0.005217038749081304},"translation":{"x":4.677239373051929,"y":4.907248136957769}},"velocity":2.24507955425413,"acceleration":-3.0,"curvature":0.01954713748320861,"holonomicRotation":-25.869971783772606,"angularVelocity":0.04372713858953087,"holonomicAngularVelocity":119.22481732989806},{"time":1.4444872249971772,"pose":{"rotation":{"radians":0.0055056103449966365},"translation":{"x":4.691989934115032,"y":4.90732934861991}},"velocity":2.225281442242445,"acceleration":-3.0000000000000338,"curvature":0.019836498184406377,"holonomicRotation":-25.083163021082612,"angularVelocity":0.04398063629446553,"holonomicAngularVelocity":116.82743459136435},{"time":1.4511347038796862,"pose":{"rotation":{"radians":0.005797970696003407},"translation":{"x":4.706715914525574,"y":4.907414730379546}},"velocity":2.205339005594918,"acceleration":-3.0000000000000333,"curvature":0.02013034205354373,"holonomicRotation":-24.30655511673881,"angularVelocity":0.04422954590230451,"holonomicAngularVelocity":114.4268990990481},{"time":1.457831419570142,"pose":{"rotation":{"radians":0.006094163390029106},"translation":{"x":4.7214169008526365,"y":4.907504321701326}},"velocity":2.18524885852355,"acceleration":-3.0000000000000333,"curvature":0.02042878092693801,"holonomicRotation":-23.54027070613201,"angularVelocity":0.04447364017955294,"holonomicAngularVelocity":112.02386545162842},{"time":1.4645785525014252,"pose":{"rotation":{"radians":0.006394232952258605},"translation":{"x":4.736092479665294,"y":4.907598162049893}},"velocity":2.1650074597297007,"acceleration":-3.0,"curvature":0.020731928790188783,"holonomicRotation":-22.784430794453694,"angularVelocity":0.044712677856784615,"holonomicAngularVelocity":109.61899528366001},{"time":1.4713773381948831,"pose":{"rotation":{"radians":0.0066982248667875055},"translation":{"x":4.750742237532629,"y":4.907696290889893}},"velocity":2.144611102649327,"acceleration":-2.999999999999967,"curvature":0.021039902630050646,"holonomicRotation":-22.039154737587914,"angularVelocity":0.04494640236367025,"holonomicAngularVelocity":107.21295753390056},{"time":1.4782290707766668,"pose":{"rotation":{"radians":0.007006185596296621},"translation":{"x":4.765365761023715,"y":4.907798747685969}},"velocity":2.124055904903976,"acceleration":-3.0000000000000324,"curvature":0.021352822826437964,"holonomicRotation":-21.304560223263504,"angularVelocity":0.04517454131530154,"holonomicAngularVelocity":104.80642873281256},{"time":1.485135106785571,"pose":{"rotation":{"radians":0.007318162605305822},"translation":{"x":4.779962636707634,"y":4.907905571902768}},"velocity":2.1033377968772635,"acceleration":-3.0,"curvature":0.02167081270135768,"holonomicRotation":-20.580763252470053,"angularVelocity":0.045396805004319356,"holonomicAngularVelocity":102.40009331172894},{"time":1.492096869302331,"pose":{"rotation":{"radians":0.0076342043807655635},"translation":{"x":4.794532451153464,"y":4.908016803004935}},"velocity":2.082452509326983,"acceleration":-3.000000000000032,"curvature":0.021993998915492367,"holonomicRotation":-19.867878121139714,"angularVelocity":0.04561288570111266,"holonomicAngularVelocity":99.99464393448527},{"time":1.499115852434076,"pose":{"rotation":{"radians":0.00795436045609188},"translation":{"x":4.809074790930283,"y":4.908132480457114}},"velocity":2.0613955599317486,"acceleration":-2.999999999999937,"curvature":0.022322512253421117,"holonomicRotation":-19.166017402098728,"angularVelocity":0.045822456292156956,"holonomicAngularVelocity":97.59078185411639},{"time":1.506193626191851,"pose":{"rotation":{"radians":0.008278681434753299},"translation":{"x":4.823589242607168,"y":4.908252643723952}},"velocity":2.0401622386584237,"acceleration":-3.0,"curvature":0.022656485960724736,"holonomicRotation":-18.47529192729092,"angularVelocity":0.04602516887536532,"holonomicAngularVelocity":95.18921729639248},{"time":1.5133318418040176,"pose":{"rotation":{"radians":0.008607219013772038},"translation":{"x":4.838075392753199,"y":4.908377332270092}},"velocity":2.0187475918219233,"acceleration":-3.000000000000062,"curvature":0.022996057958043655,"holonomicRotation":-17.79581077027589,"angularVelocity":0.0462206536619565,"holonomicAngularVelocity":92.7906698725789},{"time":1.520532237513934,"pose":{"rotation":{"radians":0.008940026010109126},"translation":{"x":4.852532827937453,"y":4.90850658556018}},"velocity":1.9971464046921734,"acceleration":-3.0000000000000617,"curvature":0.023341368996303163,"holonomicRotation":-17.127681229005095,"angularVelocity":0.0464085171191322,"holonomicAngularVelocity":90.39586902402009},{"time":1.5277966449168021,"pose":{"rotation":{"radians":0.009277156385425478},"translation":{"x":4.86696113472901,"y":4.908640443058861}},"velocity":1.9753531824835695,"acceleration":-2.9999999999999694,"curvature":0.023692565413256542,"holonomicRotation":-16.471008808878313,"angularVelocity":0.04658834055819062,"holonomicAngularVelocity":88.00555450141337},{"time":1.535126995898056,"pose":{"rotation":{"radians":0.009618665273351201},"translation":{"x":4.881359899696947,"y":4.9087789442307805}},"velocity":1.953362129539808,"acceleration":-2.99999999999997,"curvature":0.024049795547299958,"holonomicRotation":-15.825897206083084,"angularVelocity":0.04675967819717152,"holonomicAngularVelocity":85.6204768818043},{"time":1.5425253302443793,"pose":{"rotation":{"radians":0.00996460900658036},"translation":{"x":4.895728709410344,"y":4.908922128540583}},"velocity":1.9311671265008385,"acceleration":-2.99999999999994,"curvature":0.02441321345485043,"holonomicRotation":-15.19244829121985,"angularVelocity":0.04692205531051283,"holonomicAngularVelocity":83.24139812708499},{"time":1.5499938040085424,"pose":{"rotation":{"radians":0.010315045145627533},"translation":{"x":4.910067150438278,"y":4.909070035452914}},"velocity":1.9087617052083496,"acceleration":-2.9999999999999702,"curvature":0.024782976725959246,"holonomicRotation":-14.570762093215466,"angularVelocity":0.04707496595793879,"holonomicAngularVelocity":80.86909218763076},{"time":1.557534698721113,"pose":{"rotation":{"radians":0.010670032507514193},"translation":{"x":4.9243748093498265,"y":4.909222704432418}},"velocity":1.8861390210706381,"acceleration":-2.9999999999999707,"curvature":0.02515924838525855,"holonomicRotation":-13.960936783527378,"angularVelocity":0.04721787078253405,"holonomicAngularVelocity":78.5043456557181},{"time":1.5651504315559295,"pose":{"rotation":{"radians":0.011029631196422862},"translation":{"x":4.93865127271407,"y":4.909380174943741}},"velocity":1.863291822566188,"acceleration":-3.000000000000058,"curvature":0.025542195331354656,"holonomicRotation":-13.36306866064134,"angularVelocity":0.04735019426729144,"holonomicAngularVelocity":76.14795847358258},{"time":1.5728435665725424,"pose":{"rotation":{"radians":0.011393902633983988},"translation":{"x":4.952896127100085,"y":4.909542486451526}},"velocity":1.8402124175163492,"acceleration":-3.0,"curvature":0.02593198983354641,"holonomicRotation":-12.777252134864632,"angularVelocity":0.047471322138275616,"holonomicAngularVelocity":73.8007447015634},{"time":1.580616827178066,"pose":{"rotation":{"radians":0.011762909592253568},"translation":{"x":4.967108959076953,"y":4.9097096784204215}},"velocity":1.816892635699778,"acceleration":-3.0000000000000284,"curvature":0.026328808750604605,"holonomicRotation":-12.203579713417662,"angularVelocity":0.04758059797730936,"holonomicAngularVelocity":71.46353335283237},{"time":1.588473109973651,"pose":{"rotation":{"radians":0.012136716225546351},"translation":{"x":4.981289355213747,"y":4.90988179031507}},"velocity":1.793323787313023,"acceleration":-3.0,"curvature":0.02673283462231915,"holonomicRotation":-11.642141985826088,"angularVelocity":0.04767732008614983,"holonomicAngularVelocity":69.13716930148577},{"time":1.596415500177916,"pose":{"rotation":{"radians":0.012515388105564185},"translation":{"x":4.99543690207955,"y":4.910058861600117}},"velocity":1.769496616700229,"acceleration":-2.999999999999944,"curvature":0.02714425472228006,"holonomicRotation":-11.09302760961537,"angularVelocity":0.0477607374629501,"holonomicAngularVelocity":66.82251427231903},{"time":1.6044472888519707,"pose":{"rotation":{"radians":0.012898992255783615},"translation":{"x":5.009551186243439,"y":4.910240931740208}},"velocity":1.7454012506780643,"acceleration":-3.0000000000000275,"curvature":0.027563263039755845,"holonomicRotation":-10.55632329631109,"angularVelocity":0.04783004574579337,"holonomicAngularVelocity":64.5204479211241},{"time":1.612571992189522,"pose":{"rotation":{"radians":0.013287597188089695},"translation":{"x":5.023631794274492,"y":4.910428040199989}},"velocity":1.72102714066541,"acceleration":-3.0000000000000275,"curvature":0.02799005807469619,"holonomicRotation":-10.032113797746026,"angularVelocity":0.04788438240731284,"holonomicAngularVelocity":62.23186901616414},{"time":1.6207933731822142,"pose":{"rotation":{"radians":0.013681272939459976},"translation":{"x":5.037678312741789,"y":4.9106202264441015}},"velocity":1.6963629976873333,"acceleration":-3.000000000000054,"curvature":0.02842484516719765,"holonomicRotation":-9.52048189267683,"angularVelocity":0.04792282181472892,"holonomicAngularVelocity":59.95769673256365},{"time":1.6291154660269442,"pose":{"rotation":{"radians":0.014080091111983606},"translation":{"x":5.051690328214405,"y":4.910817529937195}},"velocity":1.6713967191531431,"acceleration":-3.0,"curvature":0.028867835918574957,"holonomicRotation":-9.021508373712267,"angularVelocity":0.047944368990511625,"holonomicAngularVelocity":57.698872073277506},{"time":1.6375426037106655,"pose":{"rotation":{"radians":0.014484124910625784},"translation":{"x":5.065667427261422,"y":4.911019990143912}},"velocity":1.646115306101979,"acceleration":-3.000000000000026,"curvature":0.02931924782336956,"holonomicRotation":-8.535272034555337,"angularVelocity":0.04794795357205515,"holonomicAngularVelocity":55.45635943266159},{"time":1.6460794492922726,"pose":{"rotation":{"radians":0.014893449186224483},"translation":{"x":5.079609196451915,"y":4.911227646528899}},"velocity":1.6205047693571581,"acceleration":-2.999999999999974,"curvature":0.029779305481766622,"holonomicRotation":-8.061849657560607,"angularVelocity":0.047932422093527646,"holonomicAngularVelocity":53.23114832043275},{"time":1.6547310315046058,"pose":{"rotation":{"radians":0.015308140476602894},"translation":{"x":5.093515222354965,"y":4.911440538556801}},"velocity":1.5945500227201583,"acceleration":-3.0000000000000258,"curvature":0.030248240566635966,"holonomicRotation":-7.601316001609481,"angularVelocity":0.04789652992091477,"holonomicAngularVelocity":51.02425526773682},{"time":1.6635027854274418,"pose":{"rotation":{"radians":0.01572827705082691},"translation":{"x":5.1073850915396495,"y":4.91165870569226}},"velocity":1.5682347609516505,"acceleration":-2.9999999999999747,"curvature":0.03072629146295018,"holonomicRotation":-7.153743790304924,"angularVelocity":0.0478389318729149,"holonomicAngularVelocity":48.836725939654706},{"time":1.6724005991415383,"pose":{"rotation":{"radians":0.01615393895491346},"translation":{"x":5.121218390575047,"y":4.911882187399926}},"velocity":1.5415413198093608,"acceleration":-3.000000000000025,"curvature":0.031213704452089326,"holonomicRotation":-6.719203700487493,"angularVelocity":0.04775817133766132,"holonomicAngularVelocity":46.66963748334478},{"time":1.6814308674731309,"pose":{"rotation":{"radians":0.016585208057118717},"translation":{"x":5.135014706030235,"y":4.91211102314444}},"velocity":1.5144505148145833,"acceleration":-2.9999999999999756,"curvature":0.03171073351493048,"holonomicRotation":-6.297764351074738,"angularVelocity":0.04765266845867268,"holonomicAngularVelocity":44.52410114601074},{"time":1.69060055418978,"pose":{"rotation":{"radians":0.01702216809809709},"translation":{"x":5.148773624474293,"y":4.912345252390449}},"velocity":1.4869414546646362,"acceleration":-2.9999999999999756,"curvature":0.03221764065391951,"holonomicRotation":-5.889492292225423,"angularVelocity":0.04752070571344734,"holonomicAngularVelocity":42.401265203072064},{"time":1.6999172643280978,"pose":{"rotation":{"radians":0.017464904738797582},"translation":{"x":5.162494732476299,"y":4.912584914602598}},"velocity":1.458991324249683,"acceleration":-2.999999999999976,"curvature":0.032734696213016855,"holonomicRotation":-5.4944519948304595,"angularVelocity":0.04736041215808669,"holonomicAngularVelocity":40.30231824476743},{"time":1.709389328743344,"pose":{"rotation":{"radians":0.017913505613491587},"translation":{"x":5.176177616605331,"y":4.912830049245533}},"velocity":1.4305751310039443,"acceleration":-3.0000000000000235,"curvature":0.03326217919625014,"holonomicRotation":-5.112705840332271,"angularVelocity":0.0471697444099181,"holonomicAngularVelocity":38.22849287891888},{"time":1.719025903499903,"pose":{"rotation":{"radians":0.018368060381745543},"translation":{"x":5.189821863430469,"y":4.913080695783895}},"velocity":1.4016654067342675,"acceleration":-2.999999999999977,"curvature":0.03380037774784985,"holonomicRotation":-4.744314110873987,"angularVelocity":0.04694646509323082,"holonomicAngularVelocity":36.181069919363765},{"time":1.7288370874114036,"pose":{"rotation":{"radians":0.01882866078477008},"translation":{"x":5.203427059520789,"y":4.9133368936823345}},"velocity":1.3722318549997652,"acceleration":-3.0000000000000226,"curvature":0.034349589303084675,"holonomicRotation":-4.389334979780243,"angularVelocity":0.04668811690777209,"holonomicAngularVelocity":34.16138314445472},{"time":1.738834061947396,"pose":{"rotation":{"radians":0.019295400700630516},"translation":{"x":5.216992791445369,"y":4.913598682405493}},"velocity":1.3422409313917876,"acceleration":-3.000000000000022,"curvature":0.03491012074726831,"holonomicRotation":-4.047824502370847,"angularVelocity":0.04639199267993938,"holonomicAngularVelocity":32.170824728687684},{"time":1.749029258931863,"pose":{"rotation":{"radians":0.019768376204504445},"translation":{"x":5.230518645773291,"y":4.9138661014180185}},"velocity":1.311655340438387,"acceleration":-2.9999999999999782,"curvature":0.035482289694033574,"holonomicRotation":-3.7198366071091162,"angularVelocity":0.046055099059165217,"holonomicAngularVelocity":30.21085147450308},{"time":1.7594365630850932,"pose":{"rotation":{"radians":0.020247685628220324},"translation":{"x":5.244004209073631,"y":4.914139190184552}},"velocity":1.2804334279786966,"acceleration":-2.9999999999999787,"curvature":0.036066423833625176,"holonomicRotation":-3.4054230870858992,"angularVelocity":0.04567411355043655,"holonomicAngularVelocity":28.282992001727457},{"time":1.7700715586763234,"pose":{"rotation":{"radians":0.020733429624462563},"translation":{"x":5.257449067915466,"y":4.914417988169743}},"velocity":1.2485284412050062,"acceleration":-3.0,"curvature":0.036662862202905905,"holonomicRotation":-3.10463359184073,"angularVelocity":0.04524533190406629,"holonomicAngularVelocity":26.38885509219914},{"time":1.7809518326145337,"pose":{"rotation":{"radians":0.021225711230004052},"translation":{"x":5.270852808867876,"y":4.914702534838232}},"velocity":1.215887619390375,"acceleration":-3.0000000000000204,"curvature":0.03727195424485088,"holonomicRotation":-2.8175156195218665,"angularVelocity":0.04476460457879183,"holonomicAngularVelocity":24.53013943942746},{"time":1.7920973505930011,"pose":{"rotation":{"radians":0.02172463593513596},"translation":{"x":5.284215018499941,"y":4.914992869654669}},"velocity":1.1824510654549727,"acceleration":-3.0,"curvature":0.037894062625923125,"holonomicRotation":-2.544114509385415,"angularVelocity":0.044227257391286696,"holonomicAngularVelocity":22.70864512241672},{"time":1.8035309290099268,"pose":{"rotation":{"radians":0.022230311750684795},"translation":{"x":5.2975352833807365,"y":4.915289032083695}},"velocity":1.1481503302041953,"acceleration":-3.0000000000000195,"curvature":0.03852956105572518,"holonomicRotation":-2.284473434636126,"angularVelocity":0.04362799340299332,"holonomicAngularVelocity":20.92628721684455},{"time":1.8152788342393233,"pose":{"rotation":{"radians":0.022742849282531896},"translation":{"x":5.310813190079342,"y":4.915591061589956}},"velocity":1.1129066145160056,"acceleration":-3.000000000000019,"curvature":0.039178836777572695,"holonomicRotation":-2.0386333956095046,"angularVelocity":0.042960767834717355,"holonomicAngularVelocity":19.18511208428753},{"time":1.8273715539113613,"pose":{"rotation":{"radians":0.023262361804852638},"translation":{"x":5.324048325164836,"y":4.9158989976381005}},"velocity":1.0766284554998917,"acceleration":-3.0,"curvature":0.0398422899579165,"holonomicRotation":-1.8066332132975877,"angularVelocity":0.042218627979167415,"holonomicAngularVelocity":17.487317057894437},{"time":1.8398448046311187,"pose":{"rotation":{"radians":0.023788965336680956},"translation":{"x":5.337240275206296,"y":4.916212879692768}},"velocity":1.0392087033406199,"acceleration":-2.9999999999999822,"curvature":0.04052033477142028,"holonomicRotation":-1.5885095232185809,"angularVelocity":0.041393504403288116,"holonomicAngularVelocity":15.835274493002304},{"time":1.8527408711740174,"pose":{"rotation":{"radians":0.024322778723909533},"translation":{"x":5.350388626772803,"y":4.916532747218609}},"velocity":1.0005205037119234,"acceleration":-3.0000000000000173,"curvature":0.04121340001776601,"holonomicRotation":-1.3842967696317556,"angularVelocity":0.040475932700795414,"holonomicAngularVelocity":14.231561511211979},{"time":1.8661104209162334,"pose":{"rotation":{"radians":0.0248639237195154},"translation":{"x":5.363492966433432,"y":4.916858639680264}},"velocity":0.9604118544852754,"acceleration":-3.0000000000000084,"curvature":0.0419219291463313,"holonomicRotation":-1.1940272000982013,"angularVelocity":0.039454676545078615,"holonomicAngularVelocity":12.67899729449616},{"time":1.880015017282552,"pose":{"rotation":{"radians":0.02541252507163838},"translation":{"x":5.376552880757263,"y":4.9171905965423806}},"velocity":0.9186980653863193,"acceleration":-3.000000000000008,"curvature":0.04264638162577606,"holonomicRotation":-1.0177308603885855,"angularVelocity":0.03831620225944943,"holonomicAngularVelocity":11.180690579264068},{"time":1.8945306922759106,"pose":{"rotation":{"radians":0.02596871061061634},"translation":{"x":5.389567956313375,"y":4.917528657269603}},"velocity":0.8751510404062436,"acceleration":-2.9999999999999925,"curvature":0.04338723282728443,"holonomicRotation":-0.8554355897386821,"angularVelocity":0.037043926999237024,"holonomicAngularVelocity":9.740101221581847},{"time":1.909753180206226,"pose":{"rotation":{"radians":0.02653261134225371},"translation":{"x":5.402537779670844,"y":4.917872861326578}},"velocity":0.8294835766152978,"acceleration":-2.9999999999999853,"curvature":0.044144975387684984,"holonomicRotation":-0.7071670164531028,"angularVelocity":0.035617104201713705,"holonomicAngularVelocity":8.361121637460078},{"time":1.9258058664861908,"pose":{"rotation":{"radians":0.027104361542204636},"translation":{"x":5.415461937398751,"y":4.918223248177948}},"velocity":0.7813255177754033,"acceleration":-3.000000000000007,"curvature":0.044920119684473354,"holonomicRotation":-0.5729485538583304,"angularVelocity":0.03400910295456249,"holonomicAngularVelocity":7.0481870693466915},{"time":1.942852400023207,"pose":{"rotation":{"radians":0.027684098856283423},"translation":{"x":5.428340016066174,"y":4.918579857288361}},"velocity":0.7301859171643545,"acceleration":-3.0,"curvature":0.045713194322629436,"holonomicRotation":-0.45280139660554786,"angularVelocity":0.03218461179804118,"holonomicAngularVelocity":5.806428897774021},{"time":1.9611178229103385,"pose":{"rotation":{"radians":0.028271964401232808},"translation":{"x":5.441171602242189,"y":4.918942728122459}},"velocity":0.67538964850296,"acceleration":-3.0,"curvature":0.04652474748516328,"holonomicRotation":-0.3467445173236445,"angularVelocity":0.030094791911404798,"holonomicAngularVelocity":4.641894198483053},{"time":1.980926515174449,"pose":{"rotation":{"radians":0.028868102872958268},"translation":{"x":5.453956282495877,"y":4.91931190014489}},"velocity":0.6159635717106283,"acceleration":-3.0000000000000058,"curvature":0.04735534727800561,"holonomicRotation":-0.2547946636233337,"angularVelocity":0.027668123001605115,"holonomicAngularVelocity":3.561869755253676},{"time":2.0027769233922386,"pose":{"rotation":{"radians":0.02947266265516335},"translation":{"x":5.466693643396315,"y":4.919687412820296}},"velocity":0.5504123470572596,"acceleration":-3.00000000000001,"curvature":0.04820558251682654,"holonomicRotation":-0.1769663554524429,"angularVelocity":0.024790917239324278,"holonomicAngularVelocity":2.575368929642906},{"time":2.027509097457196,"pose":{"rotation":{"radians":0.03008579593555627},"translation":{"x":5.4793832715125825,"y":4.920069305613326}},"velocity":0.47621582486238784,"acceleration":-2.9999999999999933,"curvature":0.04907606421548773,"holonomicRotation":-0.11327188280303176,"angularVelocity":0.02125750952950055,"holonomicAngularVelocity":1.6938169613990095},{"time":2.056762895335939,"pose":{"rotation":{"radians":0.030707658822737738},"translation":{"x":5.492024753413757,"y":4.92045761798862}},"velocity":0.388454431226158,"acceleration":-3.0,"curvature":0.04996742650338473,"holonomicRotation":-0.06372130377067804,"angularVelocity":0.016592643923036388,"holonomicAngularVelocity":0.9312060657323961},{"time":2.0947768882716136,"pose":{"rotation":{"radians":0.031338411471612204},"translation":{"x":5.504617675668916,"y":4.920852389410827}},"velocity":0.27441245241913415,"acceleration":-3.000000000000016,"curvature":0.050880326451225255,"holonomicRotation":-0.028322442966269568,"angularVelocity":0.006994654205779281,"holonomicAngularVelocity":0.23222218050371216},{"time":2.186247705744658,"pose":{"rotation":{"radians":0.031978218209756104},"translation":{"x":5.51716162484714,"y":4.921253659344592}},"velocity":0,"acceleration":-3.000000000000006,"curvature":0.050880326451225255,"holonomicRotation":-0.007080890280222113,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/Two Piece Auto.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/Two Piece Auto.wpilib.json new file mode 100644 index 0000000..a51a49f --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/Two Piece Auto.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"pose":{"rotation":{"radians":-0.24266517200265714},"translation":{"x":1.9296074696662469,"y":4.960177426293095}},"velocity":0,"acceleration":3.0,"curvature":0.2028810818715099,"holonomicRotation":180.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.023442099337261494},{"time":0.1515653857262107,"pose":{"rotation":{"radians":-0.24266517200265714},"translation":{"x":1.9630559812990291,"y":4.9518974702674745}},"velocity":0.45469615717863204,"acceleration":2.9999999999999996,"curvature":0.2028810818715099,"holonomicRotation":-179.99644698917172,"angularVelocity":0.11147675330682245,"holonomicAngularVelocity":0.17022196247146099},{"time":0.2141805222719072,"pose":{"rotation":{"radians":-0.23568503987267952},"translation":{"x":1.9964581559807184,"y":4.943876000428319}},"velocity":0.6425415668157216,"acceleration":3.000000000000001,"curvature":0.2028022719685043,"holonomicRotation":-179.9857885177485,"angularVelocity":0.1451128148784511,"holonomicAngularVelocity":0.3705463303364074},{"time":0.26211582068889944,"pose":{"rotation":{"radians":-0.22872901378735122},"translation":{"x":2.0298133134695693,"y":4.936110816535734}},"velocity":0.7863474620666984,"acceleration":3.0000000000000013,"curvature":0.2026905791951165,"holonomicRotation":-179.9680262688265,"angularVelocity":0.1719037334117591,"holonomicAngularVelocity":0.6166510456627854},{"time":0.30243557970103546,"pose":{"rotation":{"radians":-0.22179789668290262},"translation":{"x":2.0631207735238384,"y":4.9285997183498305}},"velocity":0.9073067391031064,"acceleration":3.0,"curvature":0.20254626869193942,"holonomicRotation":-179.9431630472708,"angularVelocity":0.19483113394404597,"holonomicAngularVelocity":0.9017348196560824},{"time":0.3378786692899968,"pose":{"rotation":{"radians":-0.21489247934780487},"translation":{"x":2.09637985590178,"y":4.921340505630717}},"velocity":1.0136360078699904,"acceleration":2.999999999999997,"curvature":0.20236962718560086,"holonomicRotation":-179.91120277927223,"angularVelocity":0.21515256912046274,"holonomicAngularVelocity":1.2214376927069244},{"time":0.3698510472326311,"pose":{"rotation":{"radians":-0.20801354009255668},"translation":{"x":2.12958988036165,"y":4.914330978138497}},"velocity":1.1095531416978932,"acceleration":2.9999999999999964,"curvature":0.20216096226118171,"holonomicRotation":-179.87215051172763,"angularVelocity":0.2335462095270757,"holonomicAngularVelocity":1.572658650176156},{"time":0.39918869166022625,"pose":{"rotation":{"radians":-0.2011618444400387},"translation":{"x":2.162750166661703,"y":4.907568935633282}},"velocity":1.1975660749806787,"acceleration":3.000000000000004,"curvature":0.20192060148764654,"holonomicRotation":-179.82601241144278,"angularVelocity":0.25042840459951826,"holonomicAngularVelocity":1.9530402647996314},{"time":0.4264367972131002,"pose":{"rotation":{"radians":-0.1943381448380732},"translation":{"x":2.195860034560196,"y":4.90105217787518}},"velocity":1.2793103916393005,"acceleration":3.0,"curvature":0.20164889156854057,"holonomicRotation":-179.7727957641585,"angularVelocity":0.26607669667019335,"holonomicAngularVelocity":2.360705529195009},{"time":0.4519744129862417,"pose":{"rotation":{"radians":-0.1875431803923231},"translation":{"x":2.228918803815383,"y":4.894778504624299}},"velocity":1.355923238958725,"acceleration":3.0,"curvature":0.20134619744972987,"holonomicRotation":-179.7125089734004,"angularVelocity":0.2806870570100855,"holonomicAngularVelocity":2.794107895306451},{"time":0.4760777822090272,"pose":{"rotation":{"radians":-0.18077767662115196},"translation":{"x":2.2619257941855193,"y":4.888745715640746}},"velocity":1.4282333466270816,"acceleration":3.000000000000002,"curvature":0.2010129014424216,"holonomicRotation":-179.64516155915152,"angularVelocity":0.29440390459548815,"holonomicAngularVelocity":3.2519388594609144},{"time":0.4989556424694517,"pose":{"rotation":{"radians":-0.17404234523169304},"translation":{"x":2.2948803254288612,"y":4.88295161068463}},"velocity":1.496866927408355,"acceleration":3.0,"curvature":0.2006494022241997,"holonomicRotation":-179.57076415634933,"angularVelocity":0.30733725629100583,"holonomicAngularVelocity":3.7330675735169785},{"time":0.5207703140604315,"pose":{"rotation":{"radians":-0.16733788391803195},"translation":{"x":2.327781717303664,"y":4.877393989516058}},"velocity":1.5623109421812946,"acceleration":3.000000000000005,"curvature":0.2002561139738322,"holonomicRotation":-179.48932851320612,"angularVelocity":0.3195731790841541,"holonomicAngularVelocity":4.236499548240667},{"time":0.5416510017236156,"pose":{"rotation":{"radians":-0.16066497618004494},"translation":{"x":2.3606292895681826,"y":4.8720706518951395}},"velocity":1.6249530051708467,"acceleration":2.9999999999999947,"curvature":0.1998334653870163,"holonomicRotation":-179.40086748935408,"angularVelocity":0.33118049155597146,"holonomicAngularVelocity":4.761347369878239},{"time":0.5617025602685484,"pose":{"rotation":{"radians":-0.15402429116467076},"translation":{"x":2.393422361980672,"y":4.866979397581982}},"velocity":1.685107680805645,"acceleration":3.0,"curvature":0.19938189869650233,"holonomicRotation":-179.3053950538142,"angularVelocity":0.342215240298492,"holonomicAngularVelocity":5.306809311942328},{"time":0.5810114830128886,"pose":{"rotation":{"radians":-0.14741648352781134},"translation":{"x":2.4261602542993876,"y":4.862118026336692}},"velocity":1.7430344490386658,"acceleration":2.9999999999999942,"curvature":0.19890186872999902,"holonomicRotation":-179.20292628279097,"angularVelocity":0.35272379281763416,"holonomicAngularVelocity":5.87215332562358},{"time":0.5996501185236941,"pose":{"rotation":{"radians":-0.1408421933174946},"translation":{"x":2.4588422862825863,"y":4.857484337919379}},"velocity":1.7989503555710824,"acceleration":3.000000000000012,"curvature":0.19839384187782455,"holonomicRotation":-179.0934773572911,"angularVelocity":0.36274503606644576,"holonomicAngularVelocity":6.4567048060517855},{"time":0.617679717246138,"pose":{"rotation":{"radians":-0.13430204587865813},"translation":{"x":2.4914677776885217,"y":4.853076132090153}},"velocity":1.853039151738414,"acceleration":2.9999999999999876,"curvature":0.19785829513112674,"holonomicRotation":-178.97706556056872,"angularVelocity":0.3723119775859684,"holonomicAngularVelocity":7.059837078191837},{"time":0.6351526821044632,"pose":{"rotation":{"radians":-0.12779665177796495},"translation":{"x":2.52403604827545,"y":4.8488912086091185}},"velocity":1.9054580463133894,"acceleration":3.0,"curvature":0.19729571516591457,"holonomicRotation":-178.85370927539597,"angularVelocity":0.3814529360655973,"holonomicAngularVelocity":7.6809638850936475},{"time":0.6521142635133362,"pose":{"rotation":{"radians":-0.12132660674923468},"translation":{"x":2.5565464178016266,"y":4.844927367236385}},"velocity":1.9563427905400086,"acceleration":3.0,"curvature":0.1967065972520998,"holonomicRotation":-178.72342798116034,"angularVelocity":0.3901924428249865,"holonomicAngularVelocity":8.319533378981255},{"time":0.6686038578358429,"pose":{"rotation":{"radians":-0.11489249165934279},"translation":{"x":2.5889982060253063,"y":4.841182407732061}},"velocity":2.0058115735075286,"acceleration":3.0000000000000067,"curvature":0.19609144431797512,"holonomicRotation":-178.5862422507884,"angularVelocity":0.39855193537535766,"holonomicAngularVelocity":8.975023259281246},{"time":0.6846560171594505,"pose":{"rotation":{"radians":-0.10849487249396539},"translation":{"x":2.6213907327047457,"y":4.837654129856253}},"velocity":2.0539680514783516,"acceleration":3.0000000000000138,"curvature":0.19545076601051076,"holonomicRotation":-178.44217374749732,"angularVelocity":0.4065502986023253,"holonomicAngularVelocity":9.646936799193702},{"time":0.7003012452007549,"pose":{"rotation":{"radians":-0.1021343003620716},"translation":{"x":2.6537233175981987,"y":4.834340333369071}},"velocity":2.1009037356022646,"acceleration":2.999999999999986,"curvature":0.19478507768555708,"holonomicRotation":-178.29124522137388,"angularVelocity":0.4142042922169402,"holonomicAngularVelocity":10.334799569569311},{"time":0.7155666322583343,"pose":{"rotation":{"radians":-0.09581131152046929},"translation":{"x":2.6859952804639216,"y":4.831238818030624}},"velocity":2.146699896775003,"acceleration":3.0000000000000147,"curvature":0.19409489947522146,"holonomicRotation":-178.1334805057819,"angularVelocity":0.42152889231228835,"holonomicAngularVelocity":11.03815671662549},{"time":0.7304763673171877,"pose":{"rotation":{"radians":-0.08952642741644112},"translation":{"x":2.7182059410601696,"y":4.828347383601016}},"velocity":2.1914291019515635,"acceleration":3.000000000000015,"curvature":0.19338075534577548,"holonomicRotation":-177.96890451359891,"angularVelocity":0.4285375669556267,"holonomicAngularVelocity":11.756570684193242},{"time":0.7450521551825577,"pose":{"rotation":{"radians":-0.08328015474815409},"translation":{"x":2.750354619145198,"y":4.825663829840359}},"velocity":2.2351564655476737,"acceleration":3.0,"curvature":0.19264317212020074,"holonomicRotation":-177.79754323328189,"angularVelocity":0.43524250045355023,"holonomicAngularVelocity":12.489619296055794},{"time":0.7593135593371755,"pose":{"rotation":{"radians":-0.07707298554391961},"translation":{"x":2.782440634477262,"y":4.823185956508758}},"velocity":2.277940678011527,"acceleration":3.000000000000008,"curvature":0.19188267865496672,"holonomicRotation":-177.61942372476352,"angularVelocity":0.44165477756160837,"holonomicAngularVelocity":13.236894132662643},{"time":0.7732782860874241,"pose":{"rotation":{"radians":-0.07090539725732992},"translation":{"x":2.814463306814617,"y":4.820911563366323}},"velocity":2.319834858262273,"acceleration":3.000000000000008,"curvature":0.1910998048491084,"holonomicRotation":-177.43457411517892,"angularVelocity":0.44778453561917375,"holonomicAngularVelocity":13.997999150152815},{"time":0.7869624218485358,"pose":{"rotation":{"radians":-0.06477785288019078},"translation":{"x":2.846421955915519,"y":4.818838450173161}},"velocity":2.360887265545608,"acceleration":3.0,"curvature":0.19029508083785057,"holonomicRotation":-177.2430235944243,"angularVelocity":0.45364109125912244,"holonomicAngularVelocity":14.772549500469898},{"time":0.8003806326909136,"pose":{"rotation":{"radians":-0.058690801070909515},"translation":{"x":2.878315901538223,"y":4.816964416689382}},"velocity":2.4011418980727415,"acceleration":2.9999999999999916,"curvature":0.18946903602549595,"holonomicRotation":-177.04480241054753,"angularVelocity":0.45923304639257245,"holonomicAngularVelocity":15.560170519243975},{"time":0.813546333241744,"pose":{"rotation":{"radians":-0.052644676299059334},"translation":{"x":2.910144463440984,"y":4.815287262675092}},"velocity":2.4406389997252327,"acceleration":3.000000000000017,"curvature":0.18862219839148991,"holonomicRotation":-176.8399418649713,"angularVelocity":0.4645683774695288,"holonomicAngularVelocity":16.360496854453903},{"time":0.8264718305112918,"pose":{"rotation":{"radians":-0.04663989900455867},"translation":{"x":2.9419069613820574,"y":4.8138047878903985}},"velocity":2.479415491533876,"acceleration":3.0,"curvature":0.18775509351091613,"holonomicRotation":-176.62847430755062,"angularVelocity":0.4696545109091632,"holonomicAngularVelocity":17.1731717140198},{"time":0.8391684470546669,"pose":{"rotation":{"radians":-0.04067687577167867},"translation":{"x":2.973602715119699,"y":4.8125147920954126}},"velocity":2.5175053411640014,"acceleration":3.0,"curvature":0.18686824385384507,"holonomicRotation":-176.41043313146417,"angularVelocity":0.4744983871488886,"holonomicAngularVelocity":17.99784621411783},{"time":0.8516466269908161,"pose":{"rotation":{"radians":-0.034755999517422254},"translation":{"x":3.0052310444121644,"y":4.811415075050239}},"velocity":2.5549398809724493,"acceleration":3.0000000000000266,"curvature":0.18596216800886933,"holonomicRotation":-176.18585276794127,"angularVelocity":0.47910651536135984,"holonomicAngularVelocity":18.83417881330409},{"time":0.8639160277120855,"pose":{"rotation":{"radians":-0.02887764969228268},"translation":{"x":3.036791269017708,"y":4.810503436514988}},"velocity":2.5917480831362574,"acceleration":2.999999999999973,"curvature":0.18503737982403728,"holonomicRotation":-175.9547686808248,"angularVelocity":0.4834850200935698,"holonomicAngularVelocity":19.68183482002089},{"time":0.8759855995800646,"pose":{"rotation":{"radians":-0.02304219249517203},"translation":{"x":3.068282708694586,"y":4.809777676249768}},"velocity":2.6279567987401946,"acceleration":3.0,"curvature":0.18409438777731552,"holonomicRotation":-175.71721736097086,"angularVelocity":0.4876396814524139,"holonomicAngularVelocity":20.540485962953777},{"time":0.8878636554802134,"pose":{"rotation":{"radians":-0.017249981099749512},"translation":{"x":3.099704683201054,"y":4.809235594014684}},"velocity":2.663590966440641,"acceleration":3.0,"curvature":0.18313369426274248,"holonomicRotation":-175.47323632048668,"angularVelocity":0.49157596960581584,"holonomicAngularVelocity":21.40981001559414},{"time":0.8995579317721312,"pose":{"rotation":{"radians":-0.011501355892711729},"translation":{"x":3.1310565122953666,"y":4.808874989569848}},"velocity":2.6986737953163944,"acceleration":3.0000000000000093,"curvature":0.18215579480414568,"holonomicRotation":-175.22286408680685,"angularVelocity":0.49529907449868865,"holonomicAngularVelocity":22.28949046747191},{"time":0.9110756419042672,"pose":{"rotation":{"radians":-0.005796644723920608},"translation":{"x":3.1623375157357794,"y":4.808693662675364}},"velocity":2.733226925712802,"acceleration":2.999999999999981,"curvature":0.1811611775009238,"holonomicRotation":-174.9661401966095,"angularVelocity":0.49881393168357724,"holonomicAngularVelocity":23.179216235825916},{"time":0.9224235237463664,"pose":{"rotation":{"radians":-0.00013616316598241696},"translation":{"x":3.1935470132805475,"y":4.808689413091344}},"velocity":2.7672705712391,"acceleration":3.0000000000000098,"curvature":0.1801503223239781,"holonomicRotation":-174.70310518957288,"angularVelocity":0.5021252444707107,"holonomicAngularVelocity":24.078681412274484},{"time":0.933607881518622,"pose":{"rotation":{"radians":0.005479785214659305},"translation":{"x":3.2246843246879275,"y":4.808860040577891}},"velocity":2.8008236445558667,"acceleration":3.0000000000000098,"curvature":0.17912370052574386,"holonomicRotation":-174.43380060197384,"angularVelocity":0.5052375033488385,"holonomicAngularVelocity":24.98758503996877},{"time":0.9446346230546485,"pose":{"rotation":{"radians":0.011050908578394303},"translation":{"x":3.2557487697161736,"y":4.809203344895121}},"velocity":2.8339038691639464,"acceleration":3.0,"curvature":0.17808177401727898,"holonomicRotation":-174.15826896012862,"angularVelocity":0.5081550025851518,"holonomicAngularVelocity":25.90563091715472},{"time":0.9555092930193351,"pose":{"rotation":{"radians":0.016576926522412272},"translation":{"x":3.2867396681235412,"y":4.809717125803133}},"velocity":2.866527879058006,"acceleration":2.99999999999999,"curvature":0.17702499485651327,"holonomicRotation":-173.87655377367759,"angularVelocity":0.5108818549554992,"holonomicAngularVelocity":26.832527423869422},{"time":0.966237102607155,"pose":{"rotation":{"radians":0.02205756978424711},"translation":{"x":3.3176563396682863,"y":4.8103991830620405}},"velocity":2.8987113078214657,"acceleration":2.99999999999999,"curvature":0.17595380461609234,"holonomicRotation":-173.58869952871436,"angularVelocity":0.5134220041670746,"holonomicAngularVelocity":27.76798736868794},{"time":0.9768229561676006,"pose":{"rotation":{"radians":0.02749257993507026},"translation":{"x":3.3484981041086637,"y":4.811247316431952}},"velocity":2.9304688685028024,"acceleration":2.9999999999999893,"curvature":0.17486863391689747,"holonomicRotation":-173.29475168076112,"angularVelocity":0.5157792359285114,"holonomicAngularVelocity":28.71172785307941},{"time":0.9872714751388564,"pose":{"rotation":{"radians":0.03288170906664911},"translation":{"x":3.3792642812029285,"y":4.812259325672972}},"velocity":2.96181442541657,"acceleration":3.0000000000000213,"curvature":0.17376990191649647,"holonomicRotation":-172.9947566475907,"angularVelocity":0.517957187456238,"holonomicAngularVelocity":29.663470151120244},{"time":0.9975870196161357,"pose":{"rotation":{"radians":0.038224719471180446},"translation":{"x":3.4099541907093376,"y":4.813433010545212}},"velocity":2.992761058848408,"acceleration":3.0000000000000213,"curvature":0.17265801579178564,"holonomicRotation":-172.68876180189636,"angularVelocity":0.5199593556451783,"holonomicAngularVelocity":30.622939602549376},{"time":1.007773707835278,"pose":{"rotation":{"radians":0.043521383313763984},"translation":{"x":3.440567152386145,"y":4.8147661708087774}},"velocity":3.023321123505835,"acceleration":3.000000000000011,"curvature":0.17153337031576205,"holonomicRotation":-172.37681546381157,"angularVelocity":0.521789104254922,"holonomicAngularVelocity":31.589865517661103},{"time":1.017835433813651,"pose":{"rotation":{"radians":0.048771482299277746},"translation":{"x":3.4711024859916066,"y":4.816256606223778}},"velocity":3.0535063014409545,"acceleration":3.000000000000022,"curvature":0.17039634737053064,"holonomicRotation":-172.0589668932792,"angularVelocity":0.5234496700233797,"holonomicAngularVelocity":32.56398109232389},{"time":1.0277758833578319,"pose":{"rotation":{"radians":0.05397480733306326},"translation":{"x":3.5015595112839777,"y":4.8179021165503215}},"velocity":3.083327650073497,"acceleration":3.0,"curvature":0.16924731556329436,"holonomicRotation":-171.7352662822733,"angularVelocity":0.524944167963576,"holonomicAngularVelocity":33.545023332120515},{"time":1.0375985486199288,"pose":{"rotation":{"radians":0.05913115817625947},"translation":{"x":3.5319375480215136,"y":4.819700501548515}},"velocity":3.112795645859788,"acceleration":3.0000000000000226,"curvature":0.1680866297719923,"holonomicRotation":-171.40576474687265,"angularVelocity":0.5262755959210145,"holonomicAngularVelocity":34.532732984146136},{"time":1.047306741360918,"pose":{"rotation":{"radians":0.06424034309633964},"translation":{"x":3.5622359159624697,"y":4.821649560978468}},"velocity":3.141920224082756,"acceleration":3.0000000000000457,"curvature":0.16691463079740976,"holonomicRotation":-171.07051431918944,"angularVelocity":0.5274468383688896,"holonomicAngularVelocity":35.526854475820116},{"time":1.0569036050593053,"pose":{"rotation":{"radians":0.06930217851231113},"translation":{"x":3.592453934865101,"y":4.823747094600288}},"velocity":3.170710815177918,"acceleration":3.000000000000046,"curvature":0.16573164494384648,"holonomicRotation":-170.72956793915256,"angularVelocity":0.5284606697534343,"holonomicAngularVelocity":36.527135859568006},{"time":1.0663921259862463,"pose":{"rotation":{"radians":0.07431648863633189},"translation":{"x":3.6225909244876635,"y":4.825990902174081}},"velocity":3.199176377958741,"acceleration":2.9999999999999765,"curvature":0.16453798368569852,"holonomicRotation":-170.38297944614783,"angularVelocity":0.5293197571828538,"holonomicAngularVelocity":37.53332876278634},{"time":1.0757751433534926,"pose":{"rotation":{"radians":0.07928310511080516},"translation":{"x":3.6526462045884123,"y":4.828378783459958}},"velocity":3.2273254300604797,"acceleration":2.9999999999999765,"curvature":0.1633339433156282,"holonomicRotation":-170.03080357051604,"angularVelocity":0.5300266626891266,"holonomicAngularVelocity":38.54518834229231},{"time":1.0850553586278093,"pose":{"rotation":{"radians":0.08420186664168794},"translation":{"x":3.6826190949256024,"y":4.830908538218027}},"velocity":3.2551660758834298,"acceleration":2.999999999999976,"curvature":0.16211980457138195,"holonomicRotation":-169.67309592491048,"angularVelocity":0.5305838450940398,"holonomicAngularVelocity":39.56247324276047},{"time":1.0942353440945112,"pose":{"rotation":{"radians":0.08907261862851801},"translation":{"x":3.71250891525749,"y":4.833577966208393}},"velocity":3.282706032283535,"acceleration":2.999999999999976,"curvature":0.16089583236623212,"holonomicRotation":-169.30991299551516,"angularVelocity":0.5309936614930608,"holonomicAngularVelocity":40.584945558652784},{"time":1.1033175507432256,"pose":{"rotation":{"radians":0.09389521279135549},"translation":{"x":3.7423149853423303,"y":4.8363848671911684}},"velocity":3.3099526522296783,"acceleration":3.0,"curvature":0.1596622754248394,"holonomicRotation":-168.94131213312465,"angularVelocity":0.5312583683110887,"holonomicAngularVelocity":41.61237079899519},{"time":1.1123043155407146,"pose":{"rotation":{"radians":0.09866950679406505},"translation":{"x":3.772036624938378,"y":4.839327040926458}},"velocity":3.336912946622145,"acceleration":2.9999999999999507,"curvature":0.1584193659983417,"holonomicRotation":-168.56735154408818,"angularVelocity":0.531380122226118,"holonomicAngularVelocity":42.644517854916266},{"time":1.12119786814836,"pose":{"rotation":{"radians":0.10339536386574011},"translation":{"x":3.801673153803889,"y":4.8424022871743695}},"velocity":3.363593604445081,"acceleration":2.9999999999999503,"curvature":0.15716731955244373,"holonomicRotation":-168.1880902811178,"angularVelocity":0.5313609806261403,"holonomicAngularVelocity":43.681158969284105},{"time":1.1300003371356107,"pose":{"rotation":{"radians":0.10807265241873676},"translation":{"x":3.831223891697119,"y":4.845608405695013}},"velocity":3.3900010114068326,"acceleration":3.0,"curvature":0.15590633447913868,"holonomicRotation":-167.80358823396352,"angularVelocity":0.5312029019276308,"holonomicAngularVelocity":44.722069708380985},{"time":1.1387137557351688,"pose":{"rotation":{"radians":0.11270124566453221},"translation":{"x":3.860688158376322,"y":4.848943196248497}},"velocity":3.416141267205507,"acceleration":3.0000000000000253,"curvature":0.15463659179234948,"holonomicRotation":-167.41390611995578,"angularVelocity":0.5309077456284891,"holonomicAngularVelocity":45.76702893514197},{"time":1.1473400671808485,"pose":{"rotation":{"radians":0.11728102122724726},"translation":{"x":3.8900652735997543,"y":4.852404458594926}},"velocity":3.442020201542546,"acceleration":2.9999999999999742,"curvature":0.15335825486821392,"holonomicRotation":-167.0191054744178,"angularVelocity":0.5304772721910369,"holonomicAngularVelocity":46.815818783967295},{"time":1.1558811296647657,"pose":{"rotation":{"radians":0.1218118607553289},"translation":{"x":3.919354557125672,"y":4.855989992494413}},"velocity":3.467643388994298,"acceleration":3.0,"curvature":0.1520714691273878,"holonomicRotation":-166.6192486409482,"angularVelocity":0.5299131425696398,"holonomicAngularVelocity":47.86822463665663},{"time":1.1643387209467697,"pose":{"rotation":{"radians":0.1262936495301452},"translation":{"x":3.9485553287123296,"y":4.859697597707062}},"velocity":3.4930161628403096,"acceleration":2.999999999999974,"curvature":0.15077636176801903,"holonomicRotation":-166.2143987615762,"angularVelocity":0.5292169178076173,"holonomicAngularVelocity":48.9240350994439},{"time":1.1727145426457022,"pose":{"rotation":{"radians":0.13072627607376042},"translation":{"x":3.9776669081179823,"y":4.8635250739929825}},"velocity":3.518143627937107,"acceleration":3.0,"curvature":0.14947304146639057,"holonomicRotation":-165.80461976679095,"angularVelocity":0.5283900582076003,"holonomicAngularVelocity":49.98304198095443},{"time":1.1810102242391283,"pose":{"rotation":{"radians":0.13510963175378254},"translation":{"x":4.006688615100886,"y":4.867470221112283}},"velocity":3.543030672717385,"acceleration":2.9999999999999463,"curvature":0.14816159809341878,"holonomicRotation":-165.3899763654461,"angularVelocity":0.5274339224715872,"holonomicAngularVelocity":51.04504027098336},{"time":1.1892273267955782,"pose":{"rotation":{"radians":0.13944361038648223},"translation":{"x":4.035619769419297,"y":4.871530838825071}},"velocity":3.5676819803867343,"acceleration":2.999999999999973,"curvature":0.14684210241799223,"holonomicRotation":-164.97053403454132,"angularVelocity":0.5263497666935769,"holonomicAngularVelocity":52.10982811981568},{"time":1.1973673464610237,"pose":{"rotation":{"radians":0.1437281078382706},"translation":{"x":4.064459690831469,"y":4.875704726891454}},"velocity":3.592102039383071,"acceleration":3.000000000000027,"curvature":0.14551460579531011,"holonomicRotation":-164.54635900888303,"angularVelocity":0.5251387430775398,"holonomicAngularVelocity":53.17720681829309},{"time":1.205431717719248,"pose":{"rotation":{"radians":0.14796302162452513},"translation":{"x":4.093207699095657,"y":4.879989685071542}},"velocity":3.616295153157744,"acceleration":3.0,"curvature":0.14417913988545647,"holonomicRotation":-164.11751827062494,"angularVelocity":0.5238018986482876,"holonomicAngularVelocity":54.246980778239106},{"time":1.2134218164439277,"pose":{"rotation":{"radians":0.15214825050689962},"translation":{"x":4.121863113970118,"y":4.8843835131254405}},"velocity":3.6402654493317823,"acceleration":2.9999999999999165,"curvature":0.14283571627764866,"holonomicRotation":-163.684079538691,"angularVelocity":0.5223401737148252,"holonomicAngularVelocity":55.31895751345358},{"time":1.2213389627586064,"pose":{"rotation":{"radians":0.15628369408823461},"translation":{"x":4.150425255213106,"y":4.888884010813259}},"velocity":3.664016888275819,"acceleration":3.000000000000028,"curvature":0.1414843262447793,"holonomicRotation":-163.2461112580815,"angularVelocity":0.5207544002150258,"holonomicAngularVelocity":56.39294762092092},{"time":1.2291844237192662,"pose":{"rotation":{"radians":0.16036925240521338},"translation":{"x":4.178893442582878,"y":4.893488977895106}},"velocity":3.6875532711577983,"acceleration":3.0000000000000284,"curvature":0.1401249403130027,"holonomicRotation":-162.80368258906503,"angularVelocity":0.5190452999105026,"holonomicAngularVelocity":57.4687647625294},{"time":1.2369594158328805,"pose":{"rotation":{"radians":0.16440482551862612},"translation":{"x":4.207266995837689,"y":4.898196214131089}},"velocity":3.7108782474986413,"acceleration":3.0,"curvature":0.13875750796915218,"holonomicRotation":-162.3568633962572,"angularVelocity":0.5172134824493773,"holonomicAngularVelocity":58.54622564694693},{"time":1.2446651074241606,"pose":{"rotation":{"radians":0.16839031310123298},"translation":{"x":4.235545234735793,"y":4.903003519281315}},"velocity":3.7339953222724813,"acceleration":2.999999999999971,"curvature":0.13738195724040533,"holonomicRotation":-161.90572423758834,"angularVelocity":0.5152594432832431,"holonomicAngularVelocity":59.62515001187986},{"time":1.2523026208616335,"pose":{"rotation":{"radians":0.17232561402309354},"translation":{"x":4.263727479035446,"y":4.9079086931058935}},"velocity":3.7569078625849004,"acceleration":3.000000000000058,"curvature":0.13599819434897392,"holonomicRotation":-161.45033635316128,"angularVelocity":0.5131835613144127,"holonomicAngularVelocity":60.70536060649548},{"time":1.2598730346532303,"pose":{"rotation":{"radians":0.17621062593328896},"translation":{"x":4.2918130484949035,"y":4.912909535364932}},"velocity":3.779619103959691,"acceleration":3.0,"curvature":0.13460610323813194,"holonomicRotation":-160.990771654002,"angularVelocity":0.5109860966035451,"holonomicAngularVelocity":61.78668317414155},{"time":1.2673773854207115,"pose":{"rotation":{"radians":0.180045244839508},"translation":{"x":4.319801262872422,"y":4.918003845818539}},"velocity":3.802132156262135,"acceleration":3.000000000000059,"curvature":0.13320554518944072,"holonomicRotation":-160.527102710704,"angularVelocity":0.5086671876763923,"holonomicAngularVelocity":62.86894643529721},{"time":1.2748166697614616,"pose":{"rotation":{"radians":0.18382936468344235},"translation":{"x":4.347691441926255,"y":4.923189424226822}},"velocity":3.8244500092843854,"acceleration":3.0000000000000298,"curvature":0.13179635834070255,"holonomicRotation":-160.05940274196846,"angularVelocity":0.5062268488505073,"holonomicAngularVelocity":63.95198207069481},{"time":1.2821918460054906,"pose":{"rotation":{"radians":0.1875628769131743},"translation":{"x":4.375482905414659,"y":4.928464070349889}},"velocity":3.8465755380164723,"acceleration":2.99999999999997,"curvature":0.13037835717689497,"holonomicRotation":-159.5877456030421,"angularVelocity":0.5036649672360887,"holonomicAngularVelocity":65.03562470470456},{"time":1.289503835874835,"pose":{"rotation":{"radians":0.19124567005114823},"translation":{"x":4.403174973095889,"y":4.933825583947849}},"velocity":3.8685115076245054,"acceleration":3.0,"curvature":0.1289513320398346,"holonomicRotation":-159.11220577405481,"angularVelocity":0.5009812996520098,"holonomicAngularVelocity":66.11971188895492},{"time":1.2967535260519727,"pose":{"rotation":{"radians":0.1948776292581651},"translation":{"x":4.4307669647282,"y":4.939271764780809}},"velocity":3.8902605781559187,"acceleration":3.0000000000000306,"curvature":0.1275150485819117,"holonomicRotation":-158.63285834825828,"angularVelocity":0.4981754692766834,"holonomicAngularVelocity":67.20408408615292},{"time":1.3039417696633466,"pose":{"rotation":{"radians":0.19845863589253643},"translation":{"x":4.4582582000698485,"y":4.944800412608877}},"velocity":3.9118253089900406,"acceleration":3.0,"curvature":0.12606924719760768,"holonomicRotation":-158.14977902016776,"angularVelocity":0.4952469621878962,"holonomicAngularVelocity":68.28858465416437},{"time":1.3110693876835995,"pose":{"rotation":{"radians":0.20198856706470236},"translation":{"x":4.485647998879089,"y":4.950409327192161}},"velocity":3.933208163050799,"acceleration":3.0,"curvature":0.12461364230842034,"holonomicRotation":-157.66304407360917,"angularVelocity":0.4921951235257808,"holonomicAngularVelocity":69.37305983030035},{"time":1.3181371702657065,"pose":{"rotation":{"radians":0.2054672951857559},"translation":{"x":4.512935680914177,"y":4.956096308290771}},"velocity":3.9544115107971205,"acceleration":3.0000000000000315,"curvature":0.12314792182647477,"holonomicRotation":-157.1727303696731,"angularVelocity":0.4882990131103758,"holonomicAngularVelocity":70.35360164524553},{"time":1.325156214402011,"pose":{"rotation":{"radians":0.20889468751049156},"translation":{"x":4.5401205659333685,"y":4.961859155664812}},"velocity":3.96375996209733,"acceleration":1.331869570652289,"curvature":0.1216717463990346,"holonomicRotation":-156.67891533457714,"angularVelocity":0.48174365992802637,"holonomicAngularVelocity":70.95593815666848},{"time":1.3321639208752778,"pose":{"rotation":{"radians":0.2122706056746244},"translation":{"x":4.567201973694918,"y":4.967695669074395}},"velocity":3.942736842677529,"acceleration":-3.0000000000000635,"curvature":0.12018474864264499,"holonomicRotation":-156.18167694743994,"angularVelocity":0.47333199960505956,"holonomicAngularVelocity":71.27578388348246},{"time":1.3391871087267273,"pose":{"rotation":{"radians":0.21559490522395297},"translation":{"x":4.594179223957082,"y":4.973603648279626}},"velocity":3.9216672791231804,"acceleration":-3.0000000000000315,"curvature":0.1186865323793951,"holonomicRotation":-155.68109372796692,"angularVelocity":0.464933449753277,"holonomicAngularVelocity":71.58261703713106},{"time":1.3462258148368174,"pose":{"rotation":{"radians":0.2188674351375166},"translation":{"x":4.621051636478113,"y":4.979580893040614}},"velocity":3.9005511607929106,"acceleration":-2.999999999999937,"curvature":0.11717667178745744,"holonomicRotation":-155.17724472405143,"angularVelocity":0.4565472487784272,"holonomicAngularVelocity":71.87647595312377},{"time":1.3532800731047123,"pose":{"rotation":{"radians":0.22208803734189653},"translation":{"x":4.64781853101627,"y":4.985625203117467}},"velocity":3.879388385989226,"acceleration":-2.9999999999999685,"curvature":0.11565471047881341,"holonomicRotation":-154.67020949929196,"angularVelocity":0.4481725576621073,"holonomicAngularVelocity":72.15740132208637},{"time":1.3603499144448494,"pose":{"rotation":{"radians":0.22525654621757107},"translation":{"x":4.674479227329807,"y":4.991734378270292}},"velocity":3.8581788619688147,"acceleration":-3.0,"curvature":0.11412016057954748,"holonomicRotation":-154.1600681204282,"angularVelocity":0.4398084595890772,"holonomicAngularVelocity":72.42543612763062},{"time":1.3674353667827008,"pose":{"rotation":{"radians":0.22837278809577333},"translation":{"x":4.701033045176979,"y":4.997906218259198}},"velocity":3.83692250495526,"acceleration":-3.0000000000000315,"curvature":0.11257250163386417,"holonomicRotation":-153.64690114469778,"angularVelocity":0.43145395954662974,"holonomicAngularVelocity":72.68062558540161},{"time":1.3745364550497046,"pose":{"rotation":{"radians":0.2314365807456622},"translation":{"x":4.7274793043160415,"y":5.0041385228442925}},"velocity":3.815619240154249,"acceleration":-3.000000000000031,"curvature":0.11101117960695066,"holonomicRotation":-153.1307896071148,"angularVelocity":0.42310798382939824,"holonomicAngularVelocity":72.92301708303755},{"time":1.3816532011773335,"pose":{"rotation":{"radians":0.23444773285114895},"translation":{"x":4.75381732450525,"y":5.010429091785686}},"velocity":3.794269001771362,"acceleration":-3.0,"curvature":0.10943560564956957,"holonomicRotation":-152.61181500767407,"angularVelocity":0.41476937932703867,"holonomicAngularVelocity":73.15266012147472},{"time":1.3887856240902754,"pose":{"rotation":{"radians":0.23740604347584782},"translation":{"x":4.78004642550286,"y":5.016775724843482}},"velocity":3.7728717330325363,"acceleration":-3.0,"curvature":0.10784515492961831,"holonomicRotation":-152.090059298481,"angularVelocity":0.4064369129530485,"holonomicAngularVelocity":73.36960625711383},{"time":1.395933739698701,"pose":{"rotation":{"radians":0.24031130151716784},"translation":{"x":4.806165927067127,"y":5.023176221777792}},"velocity":3.751427386207259,"acceleration":-3.000000000000031,"curvature":0.1062391652654701,"holonomicRotation":-151.5656048708105,"angularVelocity":0.3981092705627935,"holonomicAngularVelocity":73.57390904518245},{"time":1.4030975608895877,"pose":{"rotation":{"radians":0.243163285145914},"translation":{"x":4.832175148956305,"y":5.029628382348724}},"velocity":3.729935922634599,"acceleration":-3.0,"curvature":0.1046169357249692,"holonomicRotation":-151.03853454209624,"angularVelocity":0.3897850561325342,"holonomicAngularVelocity":73.7656239840378},{"time":1.4102770975170773,"pose":{"rotation":{"radians":0.24596176123326563},"translation":{"x":4.858073410928652,"y":5.036130006316385}},"velocity":3.7083973127521306,"acceleration":-2.999999999999969,"curvature":0.10297772517680343,"holonomicRotation":-150.50893154285322,"angularVelocity":0.3814627906227136,"holonomicAngularVelocity":73.94480846063252},{"time":1.4174723563918383,"pose":{"rotation":{"radians":0.24870648476288482},"translation":{"x":4.883860032742421,"y":5.042678893440883}},"velocity":3.6868115361278475,"acceleration":-3.0,"curvature":0.1013207506760336,"holonomicRotation":-149.97687950353435,"angularVelocity":0.3731409106577553,"holonomicAngularVelocity":74.1115216968401},{"time":1.424683341269413,"pose":{"rotation":{"radians":0.25139719822684237},"translation":{"x":4.909534334155867,"y":5.049272843482326}},"velocity":3.6651785814951228,"acceleration":-3.0000000000000617,"curvature":0.09964518578003739,"holonomicRotation":-149.44246244132438,"angularVelocity":0.36481776718787656,"holonomicAngularVelocity":74.2658246968686},{"time":1.431910052837519,"pose":{"rotation":{"radians":0.2540336310052296},"translation":{"x":4.935095634927249,"y":5.055909656200822}},"velocity":3.643498446790805,"acceleration":-3.0,"curvature":0.09795015871323469,"holonomicRotation":-148.9057647468726,"angularVelocity":0.35649162394494893,"holonomicAngularVelocity":74.40778019559994},{"time":1.4391524887022826,"pose":{"rotation":{"radians":0.2566154987279763},"translation":{"x":4.9605432548148185,"y":5.06258713135648}},"velocity":3.6217711391965146,"acceleration":-2.9999999999999387,"curvature":0.09623475055096914,"holonomicRotation":-148.36687117096653,"angularVelocity":0.3481606556862668,"holonomicAngularVelocity":74.53745260781305},{"time":1.4464106433733872,"pose":{"rotation":{"radians":0.2591425026173404},"translation":{"x":4.985876513576833,"y":5.069303068709408}},"velocity":3.599996675183201,"acceleration":-3.0,"curvature":0.09449799302821218,"holonomicRotation":-147.8258668111489,"angularVelocity":0.3398229463748807,"holonomicAngularVelocity":74.65490797839001},{"time":1.4536845082481054,"pose":{"rotation":{"radians":0.26161432881059987},"translation":{"x":5.011094730971546,"y":5.076055268019712}},"velocity":3.5781750805590464,"acceleration":-3.0,"curvature":0.09273886653010426,"holonomicRotation":-147.28283709827957,"angularVelocity":0.331476487105692,"holonomicAngularVelocity":74.7602139332728},{"time":1.460974071594201,"pose":{"rotation":{"radians":0.2640306476610981},"translation":{"x":5.036197226757217,"y":5.082841529047503}},"velocity":3.5563063905207595,"acceleration":-3.0,"curvature":0.09095629765610816,"holonomicRotation":-146.73786778304532,"angularVelocity":0.3231191738864922,"holonomicAngularVelocity":74.85343963143636},{"time":1.4682793185316743,"pose":{"rotation":{"radians":0.26639111301657126},"translation":{"x":5.061183320692097,"y":5.089659651552887}},"velocity":3.5343906497083397,"acceleration":-3.0,"curvature":0.08914915679800983,"holonomicRotation":-146.19104492241843,"angularVelocity":0.3147488051693879,"holonomicAngularVelocity":74.93465571739357},{"time":1.475600231013341,"pose":{"rotation":{"radians":0.2686953614729255},"translation":{"x":5.086052332534442,"y":5.0965074352959725}},"velocity":3.51242791226334,"acceleration":-2.999999999999939,"curvature":0.08731625556638406,"holonomicRotation":-145.64245486606757,"angularVelocity":0.3063630793141892,"holonomicAngularVelocity":75.00393427469969},{"time":1.4829367878042168,"pose":{"rotation":{"radians":0.27094301160294165},"translation":{"x":5.110803582042509,"y":5.103382680036868}},"velocity":3.4904182418907124,"acceleration":-3.00000000000003,"curvature":0.08545634391277386,"holonomicRotation":-145.0921842427221,"angularVelocity":0.29795959163627284,"holonomicAngularVelocity":75.06134878003628},{"time":1.4902889644597004,"pose":{"rotation":{"radians":0.2731336631568473},"translation":{"x":5.135436388974552,"y":5.110283185535681}},"velocity":3.4683617119242616,"acceleration":-3.0,"curvature":0.08356810723191771,"holonomicRotation":-144.54031994649242,"angularVelocity":0.28953583140529837,"holonomicAngularVelocity":75.10697405798685},{"time":1.4976567333025363,"pose":{"rotation":{"radians":0.27526689623435985},"translation":{"x":5.159950073088827,"y":5.11720675155252}},"velocity":3.4462584053957537,"acceleration":-3.0,"curvature":0.0816501631314829,"holonomicRotation":-143.9869491231483,"angularVelocity":0.28108917854790044,"holonomicAngularVelocity":75.14088623648716},{"time":1.5050400633985466,"pose":{"rotation":{"radians":0.27734227042599535},"translation":{"x":5.18434395414359,"y":5.1241511778474935}},"velocity":3.4241084151077232,"acceleration":-2.99999999999997,"curvature":0.07970105808590847,"holonomicRotation":-143.43215915635756,"angularVelocity":0.27261690004334754,"holonomicAngularVelocity":75.16316270275153},{"time":1.512438920531122,"pose":{"rotation":{"radians":0.27935932392134166},"translation":{"x":5.208617351897096,"y":5.131114264180708}},"velocity":3.401911843709997,"acceleration":-3.0,"curvature":0.07771926385999468,"holonomicRotation":-142.87603765388738,"angularVelocity":0.26411614617247303,"holonomicAngularVelocity":75.1738820598416},{"time":1.5198532671744676,"pose":{"rotation":{"radians":0.2813175725831689},"translation":{"x":5.2327695861076,"y":5.138093810312272}},"velocity":3.3796688037799605,"acceleration":-2.9999999999999702,"curvature":0.07570317366889369,"holonomicRotation":-142.31867243376973,"angularVelocity":0.25558394636501913,"holonomicAngularVelocity":75.17312408362612},{"time":1.527283062465593,"pose":{"rotation":{"radians":0.283216508984359},"translation":{"x":5.256799976533356,"y":5.145087616002296}},"velocity":3.357379417906584,"acceleration":-3.0,"curvature":0.07365109805682006,"holonomicRotation":-141.760151510434,"angularVelocity":0.2470172048245722,"holonomicAngularVelocity":75.16096968014276},{"time":1.5347282621750535,"pose":{"rotation":{"radians":0.28505560140595065},"translation":{"x":5.280707842932623,"y":5.152093481010885}},"velocity":3.3350438187782028,"acceleration":-2.9999999999999702,"curvature":0.07156126057501437,"holonomicRotation":-141.20056308080865,"angularVelocity":0.2384126959031664,"holonomicAngularVelocity":75.13750084341628},{"time":1.5421888186764363,"pose":{"rotation":{"radians":0.2868342927943832},"translation":{"x":5.304492505063654,"y":5.159109205098147}},"velocity":3.312662149274054,"acceleration":-3.0000000000000595,"curvature":0.06943179313462443,"holonomicRotation":-140.63999551039365,"angularVelocity":0.22976705902748046,"holonomicAngularVelocity":75.10280061345948},{"time":1.5496646809146069,"pose":{"rotation":{"radians":0.28855199967454226},"translation":{"x":5.328153282684703,"y":5.166132588024193}},"velocity":3.290234562559543,"acceleration":-2.9999999999999405,"curvature":0.06726073108780058,"holonomicRotation":-140.07853731930663,"angularVelocity":0.2210767932690864,"holonomicAngularVelocity":75.05695303452497},{"time":1.5571557943727217,"pose":{"rotation":{"radians":0.2902081110158772},"translation":{"x":5.351689495554028,"y":5.173161429549129}},"velocity":3.2677612221851984,"acceleration":-3.0,"curvature":0.06504600779700002,"holonomicRotation":-139.5162771683046,"angularVelocity":0.21233825179472104,"holonomicAngularVelocity":75.00004311357284},{"time":1.564662101038022,"pose":{"rotation":{"radians":0.2918019870506221},"translation":{"x":5.3751004634298845,"y":5.180193529433063}},"velocity":3.2452423021892973,"acceleration":-3.0000000000000298,"curvature":0.06278544927311075,"holonomicRotation":-138.9533038447834,"angularVelocity":0.20354763560419029,"holonomicAngularVelocity":74.93215677874934},{"time":1.5721835393664365,"pose":{"rotation":{"radians":0.2933329580387136},"translation":{"x":5.398385506070525,"y":5.187226687436103}},"velocity":3.2226779872040536,"acceleration":-3.0,"curvature":0.06047676792085709,"holonomicRotation":-138.38970624875694,"angularVelocity":0.19470098707606115,"holonomicAngularVelocity":74.85338083789237},{"time":1.579720044246017,"pose":{"rotation":{"radians":0.2948003229778715},"translation":{"x":5.421543943234208,"y":5.194258703318358}},"velocity":3.2000684725653117,"acceleration":-3.0000000000000293,"curvature":0.058117556136534174,"holonomicRotation":-137.82557337881906,"angularVelocity":0.1857941830073414,"holonomicAngularVelocity":74.76380293697547},{"time":1.5872715469592409,"pose":{"rotation":{"radians":0.29620334825495265},"translation":{"x":5.444575094679187,"y":5.201287376839935}},"velocity":3.1774139644256403,"acceleration":-3.0,"curvature":0.055705279539261444,"holonomicRotation":-137.26099431808956,"angularVelocity":0.1768229272482402,"holonomicAngularVelocity":74.66351151834607},{"time":1.5948379751442285,"pose":{"rotation":{"radians":0.29754126623543575},"translation":{"x":5.467478280163717,"y":5.208310507760943}},"velocity":3.154714679870677,"acceleration":-3.0000000000000586,"curvature":0.053237269665671445,"holonomicRotation":-136.696058220147,"angularVelocity":0.16778274275756058,"holonomicAngularVelocity":74.55259577876221},{"time":1.6024192527549255,"pose":{"rotation":{"radians":0.29881327378656497},"translation":{"x":5.490252819446055,"y":5.215325895841488}},"velocity":3.1319708470385863,"acceleration":-2.9999999999999707,"curvature":0.05071071599854185,"holonomicRotation":-136.13085429495013,"angularVelocity":0.15866896327357968,"holonomicAngularVelocity":74.43114562699765},{"time":1.610015300020309,"pose":{"rotation":{"radians":0.3000185307311405},"translation":{"x":5.512898032284456,"y":5.222331340841682}},"velocity":3.1091827052424357,"acceleration":-3.0,"curvature":0.04812265774968085,"holonomicRotation":-135.5654717947508,"angularVelocity":0.14947672427934064,"holonomicAngularVelocity":74.29925164103777},{"time":1.6176260334026966,"pose":{"rotation":{"radians":0.3011561582265032},"translation":{"x":5.535413238437174,"y":5.229324642521629}},"velocity":3.086350505095273,"acceleration":-2.9999999999999707,"curvature":0.04546997463154438,"holonomicRotation":-134.99999999999994,"angularVelocity":0.14020095362026597,"holonomicAngularVelocity":74.15700502466163},{"time":1.6252513655552399,"pose":{"rotation":{"radians":0.30222523706596105},"translation":{"x":5.557797757662466,"y":5.236303600641439}},"velocity":3.0634745086376434,"acceleration":-3.0,"curvature":0.04274937775161203,"holonomicRotation":-134.43452820524908,"angularVelocity":0.13083636123674658,"holonomicAngularVelocity":74.00449756335117},{"time":1.6328912052787012,"pose":{"rotation":{"radians":0.3032248058958107},"translation":{"x":5.5800509097185875,"y":5.24326601496122}},"velocity":3.0405549894672594,"acceleration":-2.999999999999971,"curvature":0.0399573989398156,"holonomicRotation":-133.8691457050498,"angularVelocity":0.12137742849252332,"holonomicAngularVelocity":73.84182157937789},{"time":1.6405454574776301,"pose":{"rotation":{"radians":0.3041538593447499},"translation":{"x":5.602172014363792,"y":5.25020968524108}},"velocity":3.0175922328704723,"acceleration":-3.000000000000058,"curvature":0.03709037977111268,"holonomicRotation":-133.30394177985292,"angularVelocity":0.11181839662349126,"holonomicAngularVelocity":73.66906988585723},{"time":1.6482140231160711,"pose":{"rotation":{"radians":0.3050113460588424},"translation":{"x":5.6241603913563365,"y":5.257132411241126}},"velocity":2.9945865359551496,"acceleration":-2.999999999999971,"curvature":0.03414446024148196,"holonomicRotation":-132.73900568191033,"angularVelocity":0.10215325460813039,"holonomicAngularVelocity":73.48633573979586},{"time":1.65589679917295,"pose":{"rotation":{"radians":0.305796166637478},"translation":{"x":5.646015360454476,"y":5.264031992721468}},"velocity":2.9715382077845125,"acceleration":-3.000000000000029,"curvature":0.031115565767936917,"holonomicRotation":-132.17442662118086,"angularVelocity":0.09237572611088814,"holonomicAngularVelocity":73.2937127938032},{"time":1.6635936785973142,"pose":{"rotation":{"radians":0.3065071714630916},"translation":{"x":5.667736241416466,"y":5.270906229442213}},"velocity":2.94844756951142,"acceleration":-3.0,"curvature":0.02799939362015618,"holonomicRotation":-131.61029375124298,"angularVelocity":0.08247925572305842,"holonomicAngularVelocity":73.0912950463555},{"time":1.6713045502636192,"pose":{"rotation":{"radians":0.30714315841910445},"translation":{"x":5.689322354000561,"y":5.277752921163469}},"velocity":2.9253149545125052,"acceleration":-2.999999999999971,"curvature":0.024791398860224575,"holonomicRotation":-131.0466961552165,"angularVelocity":0.07245699424270645,"holonomicAngularVelocity":72.87917679046451},{"time":1.6790292989272853,"pose":{"rotation":{"radians":0.30770287048855405},"translation":{"x":5.7107730179650185,"y":5.284569867645343}},"velocity":2.9021407085215074,"acceleration":-2.999999999999971,"curvature":0.021486778766613937,"holonomicRotation":-130.48372283169527,"angularVelocity":0.06230178304141614,"holonomicAngularVelocity":72.65745256054025},{"time":1.6867678051807697,"pose":{"rotation":{"radians":0.3081849932262233},"translation":{"x":5.732087553068091,"y":5.291354868647946}},"velocity":2.878925189761054,"acceleration":-2.999999999999971,"curvature":0.018080455821495017,"holonomicRotation":-129.92146268069328,"angularVelocity":0.05200613739812217,"holonomicAngularVelocity":72.42621707714821},{"time":1.6945199454104458,"pose":{"rotation":{"radians":0.3085881520961373},"translation":{"x":5.753265279068035,"y":5.298105723931383}},"velocity":2.8556687690720257,"acceleration":-3.0000000000000284,"curvature":0.01456705999168754,"holonomicRotation":-129.36000448960627,"angularVelocity":0.04156222886520916,"holonomicAngularVelocity":72.18556518958098},{"time":1.702285591754598,"pose":{"rotation":{"radians":0.30891090966677925},"translation":{"x":5.774305515723107,"y":5.3048202332557635}},"velocity":2.8323718300395693,"acceleration":-2.9999999999999716,"curvature":0.010940909500125941,"holonomicRotation":-128.79943691919124,"angularVelocity":0.030961866358317065,"holonomicAngularVelocity":71.93559181588168},{"time":1.7100646120628986,"pose":{"rotation":{"radians":0.3091517626539635},"translation":{"x":5.795207582791562,"y":5.311496196381195}},"velocity":2.8090347691146675,"acceleration":-3.0,"curvature":0.007195990761163825,"holonomicRotation":-128.23984848956587,"angularVelocity":0.020196476183182144,"holonomicAngularVelocity":71.67639188009478},{"time":1.7178568698577668,"pose":{"rotation":{"radians":0.30930913880293076},"translation":{"x":5.8159708000316535,"y":5.3181314130677855}},"velocity":2.7856579957300633,"acceleration":-2.9999999999999716,"curvature":0.003325935590610576,"holonomicRotation":-127.68132756623018,"angularVelocity":0.009257080646687954,"holonomicAngularVelocity":71.40806024640851},{"time":1.7256622242980686,"pose":{"rotation":{"radians":0.3093813935984606},"translation":{"x":5.836594487201639,"y":5.324723683075645}},"velocity":2.7622419324091583,"acceleration":-2.999999999999943,"curvature":-0.0006760039440680229,"holonomicRotation":-127.12396234611253,"angularVelocity":-0.0018657245904496775,"holonomicAngularVelocity":71.1306916499977},{"time":1.7334805301456573,"pose":{"rotation":{"radians":0.3093668067929851},"translation":{"x":5.857077964059774,"y":5.331270806164879}},"velocity":2.7387870148663924,"acceleration":-2.9999999999999716,"curvature":-0.004816975974272423,"holonomicRotation":-126.56784084364233,"angularVelocity":-0.013181794640044743,"holonomicAngularVelocity":70.84438062402083},{"time":1.7413116377353335,"pose":{"rotation":{"radians":0.3092635787409339},"translation":{"x":5.877420550364311,"y":5.3377705820955965}},"velocity":2.715293692097364,"acceleration":-3.0,"curvature":-0.009104564191397733,"holonomicRotation":-126.01305087685165,"angularVelocity":-0.024701461152882836,"holonomicAngularVelocity":70.54922142261356},{"time":1.7491553929488641,"pose":{"rotation":{"radians":0.30906982652623416},"translation":{"x":5.89762156587351,"y":5.344220810627906}},"velocity":2.691762426456772,"acceleration":-3.0,"curvature":-0.013546811012256984,"holonomicRotation":-125.4596800535075,"angularVelocity":-0.03643555958690289,"holonomicAngularVelocity":70.2453079393257},{"time":1.7570116371937665,"pose":{"rotation":{"radians":0.30878357987091976},"translation":{"x":5.917680330345622,"y":5.350619291521914}},"velocity":2.6681936937220647,"acceleration":-3.0,"curvature":-0.018152253725110257,"holonomicRotation":-124.90781575727777,"angularVelocity":-0.048395458325069377,"holonomicAngularVelocity":69.9327336205822},{"time":1.7648802073876746,"pose":{"rotation":{"radians":0.3084027768100226},"translation":{"x":5.937596163538905,"y":5.356963824537731}},"velocity":2.6445879831403407,"acceleration":-2.9999999999999716,"curvature":-0.022929955592140675,"holonomicRotation":-124.35754513393235,"angularVelocity":-0.060593089668637794,"holonomicAngularVelocity":69.61159137387457},{"time":1.772760935949165,"pose":{"rotation":{"radians":0.307925259117642},"translation":{"x":5.957368385211613,"y":5.363252209435463}},"velocity":2.6209457974558696,"acceleration":-3.0,"curvature":-0.027889545576099725,"holonomicRotation":-123.80895507758146,"angularVelocity":-0.0730409827092558,"holonomicAngularVelocity":69.28197346970826},{"time":1.7806536507960644,"pose":{"rotation":{"radians":0.30734876746898054},"translation":{"x":5.976996315122002,"y":5.3694822459752185}},"velocity":2.5972676529151717,"acceleration":-2.9999999999999436,"curvature":-0.03304125730454996,"holonomicRotation":-123.2621322169546,"angularVelocity":-0.0857522984024762,"holonomicAngularVelocity":68.94397143742755},{"time":1.7885581753523396,"pose":{"rotation":{"radians":0.30667093632050113},"translation":{"x":5.996479273028328,"y":5.375651733917107}},"velocity":2.5735540792463465,"acceleration":-2.9999999999999436,"curvature":-0.03839597245362973,"holonomicRotation":-122.71716290172031,"angularVelocity":-0.09874086688645486,"holonomicAngularVelocity":68.59767595353942},{"time":1.7964743285648346,"pose":{"rotation":{"radians":0.3058892884898934},"translation":{"x":6.0158165786888445,"y":5.381758473021234}},"velocity":2.5498056196088617,"acceleration":-3.0,"curvature":-0.04396526718539817,"holonomicRotation":-122.17413318885102,"angularVelocity":-0.11202122700676324,"holonomicAngularVelocity":68.24317672245844},{"time":1.8044019249312504,"pose":{"rotation":{"radians":0.3050012294177131},"translation":{"x":6.035007551861809,"y":5.38780026304771}},"velocity":2.5260228305096146,"acceleration":-2.999999999999944,"curvature":-0.049761462728239884,"holonomicRotation":-121.63312882903338,"angularVelocity":-0.12560866862320597,"holonomicAngularVelocity":67.8805623486764},{"time":1.8123407745409221,"pose":{"rotation":{"radians":0.3040040410878424},"translation":{"x":6.054051512305476,"y":5.393774903756642}},"velocity":2.5022062816805994,"acceleration":-3.0,"curvature":-0.055797679749798525,"holonomicRotation":-121.0942352531273,"angularVelocity":-0.13951927727094357,"holonomicAngularVelocity":67.50992019947518},{"time":1.8202906831301484,"pose":{"rotation":{"radians":0.3028948755871035},"translation":{"x":6.072947779778099,"y":5.399680194908138}},"velocity":2.4783565559129204,"acceleration":-3.000000000000028,"curvature":-0.06208789648458439,"holonomicRotation":-120.5575375586755,"angularVelocity":-0.15376998191968852,"holonomicAngularVelocity":67.13133625754314},{"time":1.8282514521540172,"pose":{"rotation":{"radians":0.30167074827823637},"translation":{"x":6.091695674037938,"y":5.405513936262305}},"velocity":2.454474248841314,"acceleration":-3.0,"curvature":-0.06864701295853218,"holonomicRotation":-120.02312049646554,"angularVelocity":-0.16837860538645957,"holonomicAngularVelocity":66.74489496236555},{"time":1.836222878876898,"pose":{"rotation":{"radians":0.30032853056369735},"translation":{"x":6.110294514843244,"y":5.411273927579253}},"velocity":2.4305599686726715,"acceleration":-3.000000000000028,"curvature":-0.07549091889671267,"holonomicRotation":-119.49106845714667,"angularVelocity":-0.18336391822871836,"holonomicAngularVelocity":66.35067903931179},{"time":1.8442047564840467,"pose":{"rotation":{"radians":0.2988649422108285},"translation":{"x":6.128743621952274,"y":5.41695796861909}},"velocity":2.406614335851225,"acceleration":-3.0000000000000555,"curvature":-0.08263656824821683,"holonomicRotation":-118.96146545790367,"angularVelocity":-0.19874569558691418,"holonomicAngularVelocity":65.94876931546827},{"time":1.8521968742170245,"pose":{"rotation":{"radians":0.2972765432127753},"translation":{"x":6.147042315123283,"y":5.422563859141921}},"velocity":2.382637982652291,"acceleration":-3.0000000000000555,"curvature":-0.0901020589504517,"holonomicRotation":-118.43439512918945,"angularVelocity":-0.21454477758934679,"holonomicAngularVelocity":65.5392445207403},{"time":1.8601990175359726,"pose":{"rotation":{"radians":0.2955597251541735},"translation":{"x":6.165189914114527,"y":5.428089398907859}},"velocity":2.3586315526954467,"acceleration":-3.0,"curvature":-0.09790671985226447,"holonomicRotation":-117.9099407015189,"angularVelocity":-0.2307831335332435,"holonomicAngularVelocity":65.12218107301484},{"time":1.8682109683121308,"pose":{"rotation":{"radians":0.2937107020483376},"translation":{"x":6.183185738684261,"y":5.433532387677008}},"velocity":2.3345957003669717,"acceleration":-3.0000000000000275,"curvature":-0.10607120431665111,"holonomicRotation":-117.38818499232585,"angularVelocity":-0.2474839294285908,"holonomicAngularVelocity":64.6976528458105},{"time":1.876232505054392,"pose":{"rotation":{"radians":0.291725500615307},"translation":{"x":6.201029108590741,"y":5.438890625209478}},"velocity":2.310531090140188,"acceleration":-3.0000000000000555,"curvature":-0.11461759174742617,"holonomicRotation":-116.86921039288512,"angularVelocity":-0.2646715997609168,"holonomicAngularVelocity":64.26573091679165},{"time":1.8842634031741254,"pose":{"rotation":{"radians":0.2895999499624402},"translation":{"x":6.2187193435922214,"y":5.444161911265375}},"velocity":2.2864383957809875,"acceleration":-3.0,"curvature":-0.1235694972283046,"holonomicRotation":-116.35309885530216,"angularVelocity":-0.2823719230956481,"holonomicAngularVelocity":63.8264832954154},{"time":1.8923034352930084,"pose":{"rotation":{"radians":0.28732967063128045},"translation":{"x":6.236255763446958,"y":5.449344045604811}},"velocity":2.2623182994243387,"acceleration":-3.0,"curvature":-0.13295219040297895,"holonomicRotation":-115.83993187957168,"angularVelocity":-0.300612101841478,"holonomicAngularVelocity":63.379974627663714},{"time":1.9003523715991624,"pose":{"rotation":{"radians":0.2849100629706993},"translation":{"x":6.253637687913206,"y":5.45443482798789}},"velocity":2.2381714905058767,"acceleration":-3.0,"curvature":-0.14279272369458534,"holonomicRotation":-115.32979050070796,"angularVelocity":-0.3194208460979523,"holonomicAngularVelocity":62.92626587582365},{"time":1.9084099802575247,"pose":{"rotation":{"radians":0.282336294795519},"translation":{"x":6.270864436749221,"y":5.459432058174721}},"velocity":2.21399866453079,"acceleration":-2.999999999999945,"curvature":-0.15312007161386018,"holonomicRotation":-114.82275527594851,"angularVelocity":-0.338828461821945,"holonomicAngularVelocity":62.465413970985466},{"time":1.9164760278810868,"pose":{"rotation":{"radians":0.2796032882862449},"translation":{"x":6.2879353297132585,"y":5.464333535925414}},"velocity":2.1898005216601035,"acceleration":-3.0000000000000275,"curvature":-0.1639652808712529,"holonomicRotation":-114.31890627203302,"angularVelocity":-0.35886694323784535,"holonomicAngularVelocity":61.997471435627226},{"time":1.9245502800704326,"pose":{"rotation":{"radians":0.2767057060841229},"translation":{"x":6.304849686563574,"y":5.469137061000075}},"velocity":2.165577765092066,"acceleration":-3.0000000000000275,"curvature":-0.17536163299931562,"holonomicRotation":-113.81832305256,"angularVelocity":-0.3795700690147938,"holonomicAngularVelocity":61.52248597368208},{"time":1.9326325020298958,"pose":{"rotation":{"radians":0.2736379365371766},"translation":{"x":6.321606827058422,"y":5.473840433158813}},"velocity":2.141331099213677,"acceleration":-2.999999999999945,"curvature":-0.18734482010748155,"holonomicRotation":-113.32108466542275,"angularVelocity":-0.4009735028979586,"holonomicAngularVelocity":61.04050002495628},{"time":1.9407224592696635,"pose":{"rotation":{"radians":0.27039407804445226},"translation":{"x":6.338206070956058,"y":5.478441452161737}},"velocity":2.1170612274943736,"acceleration":-3.0000000000000275,"curvature":-0.1999531347802973,"holonomicRotation":-112.82726963032681,"angularVelocity":-0.423114897623984,"holonomicAngularVelocity":60.55155028075851},{"time":1.9488199184042796,"pose":{"rotation":{"radians":0.26696792245169476},"translation":{"x":6.354646738014739,"y":5.482937917768952}},"velocity":2.092768850090525,"acceleration":-3.0000000000000275,"curvature":-0.2132276751451775,"holonomicRotation":-112.33695592639071,"angularVelocity":-0.4460340021976357,"holonomicAngularVelocity":60.0556671570646},{"time":1.9569246480592777,"pose":{"rotation":{"radians":0.2633529374469461},"translation":{"x":6.370928147992719,"y":5.4873276297405695}},"velocity":2.0684546611255303,"acceleration":-3.0000000000000546,"curvature":-0.2272125661783851,"holonomicRotation":-111.85022097983216,"angularVelocity":-0.4697727721433509,"holonomicAngularVelocity":59.552874221497426},{"time":1.9650364198991017,"pose":{"rotation":{"radians":0.2595422479027576},"translation":{"x":6.387049620648253,"y":5.4916083878366955}},"velocity":2.0441193456060582,"acceleration":-3.0,"curvature":-0.24195519810020108,"holonomicRotation":-111.36714165174163,"angularVelocity":-0.49437548137053905,"holonomicAngularVelocity":59.04318756996387},{"time":1.9731550097910948,"pose":{"rotation":{"radians":0.2555286161168535},"translation":{"x":6.403010475739597,"y":5.495777991817437}},"velocity":2.019763575930079,"acceleration":-3.0,"curvature":-0.25750648327883885,"holonomicRotation":-110.88779422594507,"angularVelocity":-0.5198888353480811,"holonomicAngularVelocity":58.52661514843435},{"time":1.9812801991221567,"pose":{"rotation":{"radians":0.2513044208985451},"translation":{"x":6.418810033025006,"y":5.499834241442906}},"velocity":1.9953880079368935,"acceleration":-2.9999999999999725,"curvature":-0.273921132627362,"holonomicRotation":-110.41225439695785,"angularVelocity":-0.5463620839528462,"holonomicAngularVelocity":58.003156015171534},{"time":1.9894117762867336,"pose":{"rotation":{"radians":0.24686163545308348},"translation":{"x":6.434447612262737,"y":5.5037749364732065}},"velocity":1.9709932764431626,"acceleration":-3.000000000000027,"curvature":-0.29125795201936056,"holonomicRotation":-109.94059725803149,"angularVelocity":-0.5738471322364519,"holonomicAngularVelocity":57.47279953810895},{"time":1.9975495383671324,"pose":{"rotation":{"radians":0.24219180402042406},"translation":{"x":6.449922533211043,"y":5.507597876668449}},"velocity":1.9465799902019656,"acceleration":-3.0000000000000546,"curvature":-0.3095801601351157,"holonomicRotation":-109.4728972892959,"angularVelocity":-0.6023986475399036,"holonomicAngularVelocity":56.93552452213377},{"time":2.00569329302979,"pose":{"rotation":{"radians":0.23728601722574227},"translation":{"x":6.4652341156281805,"y":5.511300861788741}},"velocity":1.9221487262139927,"acceleration":-2.999999999999973,"curvature":-0.32895572837466747,"holonomicRotation":-109.00922834599791,"angularVelocity":-0.6320741599202001,"holonomicAngularVelocity":56.391298260318344},{"time":2.013842860664105,"pose":{"rotation":{"radians":0.23213488610957},"translation":{"x":6.480381679272405,"y":5.514881691594189}},"velocity":1.8977000233110486,"acceleration":-3.000000000000027,"curvature":-0.34945774315613115,"holonomicRotation":-108.54966364683864,"angularVelocity":-0.6629341527214029,"holonomicAngularVelocity":55.84007550299744},{"time":2.0219980767938286,"pose":{"rotation":{"radians":0.22672851481435163},"translation":{"x":6.495364543901973,"y":5.518338165844904}},"velocity":1.8732343749218774,"acceleration":-2.999999999999973,"curvature":-0.37116479090737636,"holonomicRotation":-108.0942757624116,"angularVelocity":-0.695042139953425,"holonomicAngularVelocity":55.28179733852677},{"time":2.030158794794842,"pose":{"rotation":{"radians":0.2210564719113708},"translation":{"x":6.5101820292751365,"y":5.521668084300992}},"velocity":1.8487522209188376,"acceleration":-2.9999999999999183,"curvature":-0.3941613658345929,"holonomicRotation":-107.6431366037427,"angularVelocity":-0.7284647245042513,"holonomicAngularVelocity":54.71638997876006},{"time":2.0383248889575096,"pose":{"rotation":{"radians":0.2151077603768874},"translation":{"x":6.524833455150154,"y":5.52486924672256}},"velocity":1.8242539384308347,"acceleration":-3.000000000000027,"curvature":-0.41853829935510395,"holonomicRotation":-107.19631741093491,"angularVelocity":-0.7632716323927182,"holonomicAngularVelocity":54.143763442990355},{"time":2.0464962579367336,"pose":{"rotation":{"radians":0.20887078623723188},"translation":{"x":6.53931814128528,"y":5.527939452869719}},"velocity":1.7997398314931632,"acceleration":-2.999999999999946,"curvature":-0.44439321013626315,"holonomicRotation":-106.75388874191842,"angularVelocity":-0.7995357152448688,"holonomicAngularVelocity":53.563810133223264},{"time":2.0546728286384854,"pose":{"rotation":{"radians":0.2023333259329565},"translation":{"x":6.553635407438769,"y":5.530876502502577}},"velocity":1.775210119387907,"acceleration":-3.0000000000000813,"curvature":-0.4718309720934785,"holonomicRotation":-106.3159204613089,"angularVelocity":-0.8373329121900305,"holonomicAngularVelocity":52.976403294399596},{"time":2.062854560598,"pose":{"rotation":{"radians":0.19548249248453775},"translation":{"x":6.567784573368878,"y":5.533678195381238}},"velocity":1.750664923509363,"acceleration":-2.999999999999973,"curvature":-0.5009641971763005,"holonomicRotation":-105.88248172937497,"angularVelocity":-0.8767421609646381,"holonomicAngularVelocity":52.381395353301734},{"time":2.0710414509121207,"pose":{"rotation":{"radians":0.18830470057895532},"translation":{"x":6.581764958833861,"y":5.536342331265814}},"velocity":1.7261042525670018,"acceleration":-2.999999999999973,"curvature":-0.5319137278600865,"holonomicRotation":-105.45364099111691,"angularVelocity":-0.9178452455154451,"holonomicAngularVelocity":51.77861613027252},{"time":2.0792335397966726,"pose":{"rotation":{"radians":0.18078563074542942},"translation":{"x":6.595575883591973,"y":5.5388667099164115}},"velocity":1.701527985913346,"acceleration":-3.0,"curvature":-0.5648091324063985,"holonomicRotation":-105.02946596545863,"angularVelocity":-0.9607265645174314,"holonomicAngularVelocity":51.16787091938922},{"time":2.0874309168492684,"pose":{"rotation":{"radians":0.172910192851635},"translation":{"x":6.609216667401472,"y":5.541249131093139}},"velocity":1.6769358547555588,"acceleration":-2.999999999999973,"curvature":-0.5997891940702812,"holonomicRotation":-104.61002363455384,"angularVelocity":-1.0054728033047517,"holonomicAngularVelocity":50.548938433485766},{"time":2.095633728108905,"pose":{"rotation":{"radians":0.1646624892194284},"translation":{"x":6.622686630020611,"y":5.543487394556104}},"velocity":1.6523274209766485,"acceleration":-3.000000000000054,"curvature":-0.6370023821503232,"holonomicRotation":-104.19538023320897,"angularVelocity":-1.052172487335964,"holonomicAngularVelocity":49.921568612785},{"time":2.1038421840162838,"pose":{"rotation":{"radians":0.15602577775017412},"translation":{"x":6.635985091207645,"y":5.545579300065415}},"velocity":1.6277020532545121,"acceleration":-3.000000000000027,"curvature":-0.6766072892937887,"holonomicRotation":-103.78560123842374,"angularVelocity":-1.1009153918853967,"holonomicAngularVelocity":49.28548029848924},{"time":2.112056568393186,"pose":{"rotation":{"radians":0.14698243555477974},"translation":{"x":6.6491113707208305,"y":5.5475226473811805}},"velocity":1.6030589001238054,"acceleration":-3.0000000000000813,"curvature":-0.7187730156498309,"holonomicRotation":-103.38075135905171,"angularVelocity":-1.1517917782378189,"holonomicAngularVelocity":48.64035877611277},{"time":2.120277248575873,"pose":{"rotation":{"radians":0.13751392370883808},"translation":{"x":6.662064788318423,"y":5.5493152362635065}},"velocity":1.5783968595757438,"acceleration":-3.0,"curvature":-0.763679474541923,"holonomicRotation":-102.98089452558213,"angularVelocity":-1.2048914211158808,"holonomicAngularVelocity":47.98585319813921},{"time":2.1285046868566475,"pose":{"rotation":{"radians":0.12760075390657244},"translation":{"x":6.674844663758678,"y":5.550954866472504}},"velocity":1.5537145447334195,"acceleration":-3.000000000000081,"curvature":-0.8115175888727203,"holonomicRotation":-102.58609388004413,"angularVelocity":-1.2603023871960144,"holonomicAngularVelocity":47.321573901162964},{"time":2.136739453409882,"pose":{"rotation":{"radians":0.11722245796152908},"translation":{"x":6.6874503167998505,"y":5.55243933776828}},"velocity":1.5290102450737164,"acceleration":-2.9999999999999463,"curvature":-0.8624893389226327,"holonomicRotation":-102.19641176603642,"angularVelocity":-1.318109516852128,"holonomicAngularVelocity":46.64708964090008},{"time":2.144982240904542,"pose":{"rotation":{"radians":0.1063575613194283},"translation":{"x":6.699881067200196,"y":5.553766449910941}},"velocity":1.504281882589737,"acceleration":-3.0,"curvature":-0.9168076149950722,"holonomicRotation":-101.81190971888213,"angularVelocity":-1.3783925564094028,"holonomicAngularVelocity":45.96192477704711},{"time":2.153233881035152,"pose":{"rotation":{"radians":0.09498356198522595},"translation":{"x":6.712136234717969,"y":5.5549340026605964}},"velocity":1.4795269621979066,"acceleration":-2.9999999999999463,"curvature":-0.9746958160586736,"holonomicRotation":-101.43264845591176,"angularVelocity":-1.4412238788079266,"holonomicAngularVelocity":45.26555645246384},{"time":2.161495363238054,"pose":{"rotation":{"radians":0.08307691656005733},"translation":{"x":6.7242151391114255,"y":5.555939795777355}},"velocity":1.4547425155892013,"acceleration":-3.000000000000027,"curvature":-1.0363871251583225,"holonomicRotation":-101.05868786687529,"angularVelocity":-1.50666572464733,"holonomicAngularVelocity":44.55741182524334},{"time":2.1697678559006928,"pose":{"rotation":{"radians":0.07061303540786268},"translation":{"x":6.736117100138822,"y":5.556781629021323}},"velocity":1.429925037601284,"acceleration":-3.0000000000000537,"curvature":-1.1021233780832231,"holonomicRotation":-100.69008700448478,"angularVelocity":-1.5747668875174223,"holonomicAngularVelocity":43.83686542965102},{"time":2.178052730419793,"pose":{"rotation":{"radians":0.0575662893479465},"translation":{"x":6.747841437558412,"y":5.557457302152609}},"velocity":1.405070414043982,"acceleration":-3.0000000000000804,"curvature":-1.1721534264789648,"holonomicRotation":-100.32690407508943,"angularVelocity":-1.6455587611409568,"holonomicAngularVelocity":43.10323676324649},{"time":2.1863515885211067,"pose":{"rotation":{"radians":0.0439100306918645},"translation":{"x":6.759387471128452,"y":5.557964614931323}},"velocity":1.3801738397400414,"acceleration":-3.0000000000000266,"curvature":-1.2467308804555532,"holonomicRotation":-99.96919642948393,"angularVelocity":-1.7190506607263905,"holonomicAngularVelocity":42.35578822209062},{"time":2.1946662933209606,"pose":{"rotation":{"radians":0.029616631911930646},"translation":{"x":6.770754520607197,"y":5.55830136711757}},"velocity":1.3552297253404788,"acceleration":-3.00000000000008,"curvature":-1.3261110975448815,"holonomicRotation":-99.61702055385211,"angularVelocity":-1.7952243276016397,"holonomicAngularVelocity":41.59372353508603},{"time":2.20299900469056,"pose":{"rotation":{"radians":0.014657545746342926},"translation":{"x":6.781941905752903,"y":5.5584653584714605}},"velocity":1.330231591231681,"acceleration":-2.99999999999992,"curvature":-1.410547268246003,"holonomicRotation":-99.27043206084733,"angularVelocity":-1.8740275287562451,"holonomicAngularVelocity":40.81618688207561},{"time":2.211352219581061,"pose":{"rotation":{"radians":-0.0009966089120725385},"translation":{"x":6.792948946323824,"y":5.5584543887531}},"velocity":1.305171946560178,"acceleration":-3.0,"curvature":-1.5002854301807218,"holonomicRotation":-98.9294856808105,"angularVelocity":-1.9553666676931916,"holonomicAngularVelocity":40.02226291736749},{"time":2.2197288180851333,"pose":{"rotation":{"radians":-0.01737593041558405},"translation":{"x":6.803774962078217,"y":5.5582662577226}},"velocity":1.2800421510479607,"acceleration":-3.0000000000000795,"curvature":-1.5955582308982657,"holonomicRotation":-98.5942352531273,"angularVelocity":-2.039098340124623,"holonomicAngularVelocity":39.210977961819765},{"time":2.2281321161543994,"pose":{"rotation":{"radians":-0.034511081560197},"translation":{"x":6.8144192727743365,"y":5.557898765140067}},"velocity":1.2548322568401626,"acceleration":-2.9999999999999734,"curvature":-1.6965772487456987,"holonomicRotation":-98.2647337177267,"angularVelocity":-2.1250197911202493,"holonomicAngularVelocity":38.38130267015279},{"time":2.2365659260692903,"pose":{"rotation":{"radians":-0.05243309454388623},"translation":{"x":6.824881198170438,"y":5.557349710765608}},"velocity":1.2295308270954897,"acceleration":-3.000000000000053,"curvature":-1.8035236836783584,"holonomicRotation":-97.94103310672074,"angularVelocity":-2.2128582726546777,"holonomicAngularVelocity":37.532156523716374},{"time":2.2450346259781675,"pose":{"rotation":{"radians":-0.0711731271958751},"translation":{"x":6.835160058024776,"y":5.5566168943593315}},"velocity":1.2041247273688584,"acceleration":-2.9999999999999476,"curvature":-1.9165372410025308,"holonomicRotation":-97.62318453618838,"angularVelocity":-2.302259355389356,"holonomicAngularVelocity":36.662414540903704},{"time":2.2535432400994977,"pose":{"rotation":{"radians":-0.09076216365810552},"translation":{"x":6.845255172095608,"y":5.555698115681346}},"velocity":1.1785988850048674,"acceleration":-3.0000000000000524,"curvature":-2.035703064771473,"holonomicRotation":-97.31123819810358,"angularVelocity":-2.392774329171712,"holonomicAngularVelocity":35.77091663085048},{"time":2.262097531532735,"pose":{"rotation":{"radians":-0.11123065260380915},"translation":{"x":6.855165860141187,"y":5.554591174491759}},"velocity":1.152936010705156,"acceleration":-2.999999999999948,"curvature":-2.1610366339956375,"holonomicRotation":-97.00524335240925,"angularVelocity":-2.4838469301559027,"holonomicAngularVelocity":34.85648003669838},{"time":2.2707041100757945,"pose":{"rotation":{"radians":-0.13260807629713334},"translation":{"x":6.86489144191977,"y":5.55329387055068}},"velocity":1.1271162750759767,"acceleration":-3.0000000000000773,"curvature":-2.292466624944581,"holonomicRotation":-96.70524831923882,"angularVelocity":-2.5747997640381097,"holonomicAngularVelocity":33.91791531305249},{"time":2.2793705580352337,"pose":{"rotation":{"radians":-0.15492244445814585},"translation":{"x":6.874431237189612,"y":5.551804003618215}},"velocity":1.1011169311976596,"acceleration":-2.999999999999949,"curvature":-2.4298158736473696,"holonomicRotation":-96.41130047128559,"angularVelocity":-2.664820954842004,"holonomicAngularVelocity":32.95404624662654},{"time":2.2881055777899837,"pose":{"rotation":{"radians":-0.1781997081415625},"translation":{"x":6.883784565708968,"y":5.550119373454473}},"velocity":1.0749118719334094,"acceleration":-3.0000000000000253,"curvature":-2.572780750594823,"holonomicRotation":-96.12344622632236,"angularVelocity":-2.7529517337002196,"holonomicAngularVelocity":31.963734047442202},{"time":2.2969191659030903,"pose":{"rotation":{"radians":-0.202463090817659},"translation":{"x":6.892950747236093,"y":5.548237779819563}},"velocity":1.0484711075940898,"acceleration":-2.9999999999999747,"curvature":-2.720909489823836,"holonomicRotation":-95.84173103987132,"angularVelocity":-2.838075883741406,"holonomicAngularVelocity":30.945905992105924},{"time":2.3058228199733746,"pose":{"rotation":{"radians":-0.22773233671170878},"translation":{"x":6.901929101529245,"y":5.546157022473592}},"velocity":1.0217601453832363,"acceleration":-3.0000000000000746,"curvature":-2.873580298320207,"holonomicRotation":-95.56619939802607,"angularVelocity":-2.9193480974720747,"holonomicAngularVelocity":29.90405394590741},{"time":2.3148284413545483,"pose":{"rotation":{"radians":-0.2540228803573923},"translation":{"x":6.910718948346676,"y":5.543874901176668}},"velocity":0.9950404083824504,"acceleration":-2.9670064807125263,"curvature":-3.0299804007019064,"holonomicRotation":-95.29689481042703,"angularVelocity":-2.9983440492587285,"holonomicAngularVelocity":28.86565929889964},{"time":2.3239408265702437,"pose":{"rotation":{"radians":-0.28134494634342566},"translation":{"x":6.919319607446643,"y":5.541389215688899}},"velocity":0.969901000788211,"acceleration":-2.758817477441459,"curvature":-3.1890875332334536,"holonomicRotation":-95.03385980339044,"angularVelocity":-3.0767380851445085,"holonomicAngularVelocity":27.85393798354504},{"time":2.3331576163235996,"pose":{"rotation":{"radians":-0.30970259440034553},"translation":{"x":6.927730398587401,"y":5.538697765770394}},"velocity":0.9463690719166271,"acceleration":-2.5531589090459184,"curvature":-3.3496557581787973,"holonomicRotation":-94.77713591319309,"angularVelocity":-3.1540019859597392,"holonomicAngularVelocity":26.868690716336673},{"time":2.342475980077276,"pose":{"rotation":{"radians":-0.3390927321853363},"translation":{"x":6.935950641527206,"y":5.53579835118126}},"velocity":0.9244729646039983,"acceleration":-2.349780271669472,"curvature":-3.510207780178665,"holonomicRotation":-94.52676367951324,"angularVelocity":-3.229549727794271,"holonomicAngularVelocity":25.90966085532802},{"time":2.3518925850203707,"pose":{"rotation":{"radians":-0.36950412611605365},"translation":{"x":6.943979656024312,"y":5.532688771681605}},"velocity":0.9042419105609404,"acceleration":-2.1484446002902344,"curvature":-3.669036146123708,"holonomicRotation":-94.28278263902905,"angularVelocity":-3.302741350236675,"holonomicAngularVelocity":24.976521861704228},{"time":2.361403569823187,"pose":{"rotation":{"radians":-0.4009164489057877},"translation":{"x":6.951816761836976,"y":5.529366827031539}},"velocity":0.8857056920941996,"acceleration":-1.9489273562136296,"curvature":-3.8242157276003357,"holonomicRotation":-94.04523131917517,"angularVelocity":-3.37288962139236,"holonomicAngularVelocity":24.06886473021342},{"time":2.3710045248207217,"pose":{"rotation":{"radians":-0.4332994103724275},"translation":{"x":6.959461278723452,"y":5.525830316991168}},"velocity":0.8688942720692737,"acceleration":-1.7510153968269517,"curvature":-3.9736296372108795,"holonomicRotation":-93.81414723205864,"angularVelocity":-3.4392698101622,"holonomicAngularVelocity":23.186185774000744},{"time":2.380690480316457,"pose":{"rotation":{"radians":-0.466612024691484},"translation":{"x":6.966912526441996,"y":5.5220770413206}},"velocity":0.8538373957216994,"acceleration":-1.5545060427135042,"curvature":-4.115010153596167,"holonomicRotation":-93.58956686853583,"angularVelocity":-3.501132730405811,"holonomicAngularVelocity":22.327875225114543},{"time":2.3904559046520983,"pose":{"rotation":{"radians":-0.5008020714593},"translation":{"x":6.974169824750864,"y":5.518104799779944}},"velocity":0.8405641702960238,"acceleration":-1.3592062125996258,"curvature":-4.245995278254268,"holonomicRotation":-93.37152569244932,"angularVelocity":-3.5577210126995156,"holonomicAngularVelocity":21.49320717282063},{"time":2.4002947135241453,"pose":{"rotation":{"radians":-0.5358058085233157},"translation":{"x":6.981232493408311,"y":5.513911392129307}},"velocity":0.8291026306030534,"acceleration":-1.164931633699462,"curvature":-4.364200236887967,"holonomicRotation":-93.16005813502863,"angularVelocity":-3.608288298372762,"holonomicAngularVelocity":20.681331396796182},{"time":2.410200291731162,"pose":{"rotation":{"radians":-0.5715479904563106},"translation":{"x":6.988099852172591,"y":5.509494618128798}},"velocity":0.8194793007828797,"acceleration":-0.971506116963162,"curvature":-4.467301645390691,"holonomicRotation":-92.95519758945244,"angularVelocity":-3.6521207521516708,"holonomicAngularVelocity":19.89126765173337},{"time":2.4201655281025896,"pose":{"rotation":{"radians":-0.6079422370084977},"translation":{"x":6.994771220801961,"y":5.504852277538525}},"velocity":0.8117187643899075,"acceleration":-0.7787608947463857,"curvature":-4.553130347375928,"holonomicRotation":-92.75697640557559,"angularVelocity":-3.688559983923707,"holonomicAngularVelocity":19.121902917739327},{"time":2.4301828638028353,"pose":{"rotation":{"radians":-0.6448917806179546},"translation":{"x":7.001245919054677,"y":5.499982170118597}},"velocity":0.8058432562721304,"acceleration":-0.5865340139926628,"curvature":-4.6197673269612265,"holonomicRotation":-92.56542588482108,"angularVelocity":-3.717026195226519,"holonomicAngularVelocity":18.371992040223965},{"time":2.4402443535520084,"pose":{"rotation":{"radians":-0.6822906015786341},"translation":{"x":7.007523266688992,"y":5.494882095629119}},"velocity":0.8018722903195581,"acceleration":-0.3946697806752372,"curvature":-4.665635882675284,"holonomicRotation":-92.38057627523648,"angularVelocity":-3.7370401655881778,"holonomicAngularVelocity":17.64016204319758},{"time":2.450341738603361,"pose":{"rotation":{"radians":-0.7200249350829484},"translation":{"x":7.013602583463163,"y":5.489549853830202}},"velocity":0.7998223367396317,"acceleration":-0.20301826359011935,"curvature":-4.689582685087927,"holonomicRotation":-92.20245676671806,"angularVelocity":-3.7482426111898626,"holonomicAngularVelocity":16.924920224191702},{"time":2.460466529624359,"pose":{"rotation":{"radians":-0.757975108217245},"translation":{"x":7.019483189135444,"y":5.483983244481954}},"velocity":0.799706561491099,"acceleration":-0.011434828461404527,"curvature":-4.69094062543293,"holonomicRotation":-92.03109548640106,"angularVelocity":-3.750409508754195,"holonomicAngularVelocity":16.224665931845994},{"time":2.470610097009619,"pose":{"rotation":{"radians":-0.7960176397916143},"translation":{"x":7.0251644034640925,"y":5.47818006734448}},"velocity":0.801534637989468,"acceleration":0.18022027447911565,"curvature":-4.6695675771249405,"holonomicRotation":-91.86651949421804,"angularVelocity":-3.7434621997784516,"holonomicAngularVelocity":15.537705711857262},{"time":2.4807637656732946,"pose":{"rotation":{"radians":-0.8340275146231582},"translation":{"x":7.030645546207363,"y":5.472138122177891}},"velocity":0.8053126382983156,"acceleration":0.3720822920254729,"curvature":-4.625857233040579,"holonomicRotation":-91.70875477862614,"angularVelocity":-3.7274714531515056,"holonomicAngularVelocity":14.862271305404397},{"time":2.4909189110761787,"pose":{"rotation":{"radians":-0.8718805292150114},"translation":{"x":7.03592593712351,"y":5.465855208742295}},"velocity":0.8110430073273306,"acceleration":0.5642823220815316,"curvature":-4.560720800046805,"holonomicRotation":-91.55782625250265,"angularVelocity":-3.702655133553754,"holonomicAngularVelocity":14.196539812423765},{"time":2.501067053172395,"pose":{"rotation":{"radians":-0.9094555996435991},"translation":{"x":7.04100489597079,"y":5.459329126797799}},"velocity":0.8187246195102705,"acceleration":0.7569476373221168,"curvature":-4.475541150211597,"holonomicRotation":-91.41375774921158,"angularVelocity":-3.6693696406325906,"holonomicAngularVelocity":13.538655213038648},{"time":2.5111999451186944,"pose":{"rotation":{"radians":-0.946636925723161},"translation":{"x":7.045881742507458,"y":5.452557676104511}},"velocity":0.8283529136240322,"acceleration":0.9502019921645227,"curvature":-4.372103621107163,"holonomicRotation":-91.27657201883966,"angularVelocity":-3.628095780429502,"holonomicAngularVelocity":12.886750382203942},{"time":2.521309653956973,"pose":{"rotation":{"radians":-0.9833159177006907},"translation":{"x":7.050555796491769,"y":5.4455386564225385}},"velocity":0.8399200978500864,"acceleration":1.144165911312603,"curvature":-4.252509652899164,"holonomicRotation":-91.146290724604,"angularVelocity":-3.5794201449026777,"holonomicAngularVelocity":12.238968741344985},{"time":2.531388631016211,"pose":{"rotation":{"radians":-1.0193928112265391},"translation":{"x":7.055026377681978,"y":5.438269867511991}},"velocity":0.853415414416038,"acceleration":1.3389569682155715,"curvature":-4.119080590183046,"holonomicRotation":-91.02293443943125,"angularVelocity":-3.52401335724792,"holonomicAngularVelocity":11.593484760127701},{"time":2.541429770426059,"pose":{"rotation":{"radians":-1.0547779206288315},"translation":{"x":7.059292805836342,"y":5.430749109132977}},"velocity":0.8688254511577947,"acceleration":1.5346900498805323,"curvature":-3.9742591759613317,"holonomicRotation":-90.90652264270886,"angularVelocity":-3.462606667183167,"holonomicAngularVelocity":10.94852264194149},{"time":2.5514264548262524,"pose":{"rotation":{"radians":-1.0893925066826675},"translation":{"x":7.0633544007131155,"y":5.4229741810456025}},"velocity":0.8861344864219265,"acceleration":1.7314776150977282,"curvature":-3.820515600153062,"holonomicRotation":-90.797073717209,"angularVelocity":-3.3959683498151767,"holonomicAngularVelocity":10.302372681721884},{"time":2.5613725880315736,"pose":{"rotation":{"radians":-1.1231692602509842},"translation":{"x":7.067210482070552,"y":5.414942883009977}},"velocity":0.9053248536427592,"acceleration":1.929429942740535,"curvature":-3.660263646739242,"holonomicRotation":-90.69460494618573,"angularVelocity":-3.3248811995753984,"holonomicAngularVelocity":9.65340495602709},{"time":2.5712626150194304,"pose":{"rotation":{"radians":-1.1560524250462025},"translation":{"x":7.070860369666911,"y":5.406653014786207}},"velocity":0.9263773126643632,"acceleration":2.1286553664062517,"curvature":-3.495790789429555,"holonomicRotation":-90.59913251064592,"angularVelocity":-3.250122154511298,"holonomicAngularVelocity":9.000080177905685},{"time":2.5810915301072344,"pose":{"rotation":{"radians":-1.1879975997278844},"translation":{"x":7.074303383260444,"y":5.3981023761344025}},"velocity":0.9492714164942103,"acceleration":2.329260516072112,"curvature":-3.32920429816022,"holonomicRotation":-90.51067148679385,"angularVelocity":-3.1724447779258047,"holonomicAngularVelocity":8.340957704228723},{"time":2.590854874561297,"pose":{"rotation":{"radians":-1.218971270856266},"translation":{"x":7.0775388426094095,"y":5.389288766814671}},"velocity":0.9739858635888978,"acceleration":2.5313505234780194,"curvature":-3.162393783030745,"holonomicRotation":-90.4292358436507,"angularVelocity":-3.092565014516504,"holonomicAngularVelocity":7.674700816472353},{"time":2.6005487251205968,"pose":{"rotation":{"radians":-1.248950133951908},"translation":{"x":7.080566067472059,"y":5.38020998658712}},"velocity":1.0004988283958556,"acceleration":2.735029248157992,"curvature":-2.9970092676042315,"holonomicRotation":-90.35483844084848,"angularVelocity":-3.011150347499232,"holonomicAngularVelocity":7.000079496719939},{"time":2.6101696750370085,"pose":{"rotation":{"radians":-1.2779202606359839},"translation":{"x":7.083384377606652,"y":5.370863835211859}},"velocity":1.0287882643603,"acceleration":2.940399462654653,"curvature":-2.8344529455453196,"holonomicRotation":-90.28749102659964,"angularVelocity":-2.9268629493490095,"holonomicAngularVelocity":6.311767328948566},{"time":2.619721166341464,"pose":{"rotation":{"radians":-1.3058761666460237},"translation":{"x":7.085993092771441,"y":5.361248112448992}},"velocity":1.0574427382736666,"acceleration":3.0000000000000466,"curvature":-2.675882221072587,"holonomicRotation":-90.22720423584144,"angularVelocity":-2.838058372289423,"holonomicAngularVelocity":5.605472131460234},{"time":2.6292148621508753,"pose":{"rotation":{"radians":-1.3328198295218927},"translation":{"x":7.088391532724683,"y":5.351360618058632}},"velocity":1.0859238257019008,"acceleration":3.0,"curvature":-2.5222214350130208,"holonomicRotation":-90.17398758855722,"angularVelocity":-2.745397922866327,"holonomicAngularVelocity":4.88311838995165},{"time":2.6386633531765673,"pose":{"rotation":{"radians":-1.3587596971580487},"translation":{"x":7.090579017224632,"y":5.341199151800885}},"velocity":1.114269298778977,"acceleration":3.0000000000000235,"curvature":-2.374179741700807,"holonomicRotation":-90.12784948827237,"angularVelocity":-2.6502265887859044,"holonomicAngularVelocity":4.1481868736463285},{"time":2.648077651214273,"pose":{"rotation":{"radians":-1.3837097201323312},"translation":{"x":7.092554866029546,"y":5.330761513435858}},"velocity":1.1425121928920945,"acceleration":3.000000000000047,"curvature":-2.2322728568560155,"holonomicRotation":-90.08879722072777,"angularVelocity":-2.55371183341971,"holonomicAngularVelocity":3.4037404949793353},{"time":2.657467399946792,"pose":{"rotation":{"radians":-1.4076884325834031},"translation":{"x":7.094318398897677,"y":5.320045502723661}},"velocity":1.1706814390896523,"acceleration":3.0000000000000235,"curvature":-2.09684675225175,"holonomicRotation":-90.05683695272921,"angularVelocity":-2.456850785896617,"holonomicAngularVelocity":2.652458118278294},{"time":2.666841052780139,"pose":{"rotation":{"radians":-1.4307180989137338},"translation":{"x":7.095868935587282,"y":5.309048919424401}},"velocity":1.1988023975896938,"acceleration":3.0000000000000475,"curvature":-1.9681017705391133,"holonomicRotation":-90.03197373117348,"angularVelocity":-2.360481158674029,"holonomicAngularVelocity":1.8966688159940448},{"time":2.676206024024572,"pose":{"rotation":{"radians":-1.452823937087742},"translation":{"x":7.097205795856617,"y":5.297769563298186}},"velocity":1.2268973113229935,"acceleration":3.000000000000071,"curvature":-1.8068176531535642,"holonomicRotation":-90.01421148225148,"angularVelocity":-1.6817649532981231,"holonomicAngularVelocity":0.758829188555206},{"time":2.694934194297702,"pose":{"rotation":{"radians":-1.4843203174924913},"translation":{"x":7.099235766167495,"y":5.274353731605326}},"velocity":1.2830818221423823,"acceleration":2.999999999999988,"curvature":-1.2236201520875702,"holonomicRotation":-90.0,"angularVelocity":-3.0951385730098027,"holonomicAngularVelocity":-0.5693620205256283},{"time":2.7011745312014597,"pose":{"rotation":{"radians":-1.5036350249518886},"translation":{"x":7.0997770334487225,"y":5.266306638995928}},"velocity":1.3018028328536553,"acceleration":2.999999999999929,"curvature":0.14459310982641221,"holonomicRotation":-90.00355301082828,"angularVelocity":0.19047439699346627,"holonomicAngularVelocity":-1.749282343951904},{"time":2.707267584995822,"pose":{"rotation":{"radians":-1.5024744542045587},"translation":{"x":7.100322339683616,"y":5.258337631769992}},"velocity":1.3200819942367414,"acceleration":2.999999999999927,"curvature":0.14065708889469034,"holonomicRotation":-90.01421148225151,"angularVelocity":0.18784760475012682,"holonomicAngularVelocity":-2.984206063515101},{"time":2.71321967025533,"pose":{"rotation":{"radians":-1.5013563692452916},"translation":{"x":7.100871194906712,"y":5.250446314115026}},"velocity":1.3379382500152657,"acceleration":3.0,"curvature":0.1364574741827575,"holonomicRotation":-90.0319737311735,"angularVelocity":0.1846642071745989,"holonomicAngularVelocity":-4.274262702550483},{"time":2.71903663174927,"pose":{"rotation":{"radians":-1.500282184662848},"translation":{"x":7.10142310915255,"y":5.242632290218542}},"velocity":1.3553891344970854,"acceleration":3.000000000000038,"curvature":0.13198152647919678,"holonomicRotation":-90.05683695272921,"angularVelocity":0.1809001565622901,"holonomicAngularVelocity":-5.619623974652371},{"time":2.724723892701731,"pose":{"rotation":{"radians":-1.4992533582661371},"translation":{"x":7.101977592455665,"y":5.23489516426805}},"velocity":1.3724509173544697,"acceleration":3.0,"curvature":0.12721587449782085,"holonomicRotation":-90.08879722072777,"angularVelocity":0.17652984428539517,"holonomicAngularVelocity":-7.0205009389081905},{"time":2.7302864968356007,"pose":{"rotation":{"radians":-1.4982713926245639},"translation":{"x":7.102534154850598,"y":5.227234540451059}},"velocity":1.3891387297560778,"acceleration":2.99999999999996,"curvature":0.1221464806318184,"holonomicRotation":-90.12784948827237,"angularVelocity":0.1715260464665924,"holonomicAngularVelocity":-8.477141564133955},{"time":2.7357291451547074,"pose":{"rotation":{"radians":-1.4973378366760794},"translation":{"x":7.103092306371885,"y":5.219650022955081}},"velocity":1.405466674713398,"acceleration":2.999999999999959,"curvature":0.11675860619006878,"holonomicRotation":-90.17398758855724,"angularVelocity":0.16585986423067708,"holonomicAngularVelocity":-9.98982864254292},{"time":2.7410562282497697,"pose":{"rotation":{"radians":-1.4964542873971869},"translation":{"x":7.103651557054067,"y":5.212141215967624}},"velocity":1.4214479239985842,"acceleration":2.9999999999999165,"curvature":0.1110367717060267,"holonomicRotation":-90.2272042358415,"angularVelocity":0.15950065590497717,"holonomicAngularVelocity":-11.558878003189072},{"time":2.746271854778702,"pose":{"rotation":{"radians":-1.4956223915448668},"translation":{"x":7.104211416931679,"y":5.204707723676201}},"velocity":1.4370948035853814,"acceleration":2.9999999999999574,"curvature":0.10496471852366615,"holonomicRotation":-90.28749102659962,"angularVelocity":0.15241596353430817,"holonomicAngularVelocity":-13.184636983824634},{"time":2.751379876662923,"pose":{"rotation":{"radians":-1.4948438474676289},"translation":{"x":7.104771396039261,"y":5.19734915026832}},"velocity":1.452418869238044,"acceleration":2.999999999999913,"curvature":0.09852536509141833,"holonomicRotation":-90.35483844084851,"angularVelocity":0.14457143147083634,"holonomicAngularVelocity":-14.8674831262027},{"time":2.7563839114528506,"pose":{"rotation":{"radians":-1.4941204069949192},"translation":{"x":7.105331004411349,"y":5.190065099931492}},"velocity":1.4674309736078268,"acceleration":3.0000000000001332,"curvature":0.0917007630596501,"holonomicRotation":-90.42923584365069,"angularVelocity":0.13593071988474378,"holonomicAngularVelocity":-16.607823065251893},{"time":2.7612873622436758,"pose":{"rotation":{"radians":-1.493453877399003},"translation":{"x":7.105889752082483,"y":5.182855176853228}},"velocity":1.4821413259803031,"acceleration":3.000000000000136,"curvature":0.08447204899827891,"holonomicRotation":-90.51067148679388,"angularVelocity":0.12645540914584297,"holonomicAngularVelocity":-18.406091586682585},{"time":2.7660934354632642,"pose":{"rotation":{"radians":-1.492846123443635},"translation":{"x":7.1064471490872,"y":5.175718985221037}},"velocity":1.4965595456390686,"acceleration":3.0,"curvature":0.07681939435448952,"holonomicRotation":-90.59913251064593,"angularVelocity":0.11610489925786464,"holonomicAngularVelocity":-20.262750831496525},{"time":2.7708051568052374,"pose":{"rotation":{"radians":-1.492299069511894},"translation":{"x":7.1070027054600375,"y":5.16865612922243}},"velocity":1.5106947096649876,"acceleration":2.999999999999906,"curvature":0.06872195334709626,"holonomicRotation":-90.69460494618578,"angularVelocity":0.1048363004800317,"holonomicAngularVelocity":-22.17828962801041},{"time":2.77542538553982,"pose":{"rotation":{"radians":-1.491814701823989},"translation":{"x":7.1075559312355345,"y":5.161666213044915}},"velocity":1.524555395868735,"acceleration":3.0,"curvature":0.06015780614497832,"holonomicRotation":-90.797073717209,"angularVelocity":0.09260431716932724,"holonomicAngularVelocity":-24.153222935333865},{"time":2.7799568274013438,"pose":{"rotation":{"radians":-1.49139507074461},"translation":{"x":7.1081063364482295,"y":5.154748840876007}},"velocity":1.5381497214533064,"acceleration":2.999999999999951,"curvature":0.051103899371290375,"holonomicRotation":-90.9065226427089,"angularVelocity":0.07936112332793326,"holonomicAngularVelocity":-26.18809138292486},{"time":2.784402046223144,"pose":{"rotation":{"radians":-1.4910422931854734},"translation":{"x":7.108653431132658,"y":5.147903616903211}},"velocity":1.551485377918707,"acceleration":2.9999999999999503,"curvature":0.04153598660524408,"holonomicRotation":-91.0229344394313,"angularVelocity":0.06483745665575202,"holonomicAngularVelocity":-28.188347850350674},{"time":2.7887781907856994,"pose":{"rotation":{"radians":-1.4907585551020794},"translation":{"x":7.109196725323361,"y":5.141130145314041}},"velocity":1.554090836200163,"acceleration":0.5953775621924718,"curvature":0.0314285568096054,"holonomicRotation":-91.14629072460403,"angularVelocity":0.04889651197167101,"holonomicAngularVelocity":-29.98621128032922},{"time":2.7931228975249964,"pose":{"rotation":{"radians":-1.490546114096988},"translation":{"x":7.109735729054876,"y":5.134428030296005}},"velocity":1.5410567159822726,"acceleration":-2.999999999999898,"curvature":0.020754770372810438,"holonomicRotation":-91.27657201883966,"angularVelocity":0.032019543874008974,"holonomicAngularVelocity":-31.64442028984304},{"time":2.797458124055153,"pose":{"rotation":{"radians":-1.490407302120902},"translation":{"x":7.110269952361739,"y":5.127796876036615}},"velocity":1.5280510363918027,"acceleration":-3.0,"curvature":0.009486383132400812,"holonomicRotation":-91.41375774921161,"angularVelocity":0.01451170968889977,"holonomicAngularVelocity":-33.3049638262291},{"time":2.8017838607244,"pose":{"rotation":{"radians":-1.4903445282861671},"translation":{"x":7.11079890527849,"y":5.121236286723379}},"velocity":1.515073826384062,"acceleration":-2.9999999999998974,"curvature":-0.0024063350514594,"holonomicRotation":-91.55782625250268,"angularVelocity":-0.0036498231556492218,"holonomicAngularVelocity":-34.967615472159885},{"time":2.8061000980224113,"pose":{"rotation":{"radians":-1.4903602817890027},"translation":{"x":7.111322097839667,"y":5.114745866543808}},"velocity":1.5021251144900278,"acceleration":-3.000000000000103,"curvature":-0.014954672909333796,"holonomicRotation":-91.70875477862613,"angularVelocity":-0.02248879991200212,"holonomicAngularVelocity":-36.632146693894796},{"time":2.8104068266700737,"pose":{"rotation":{"radians":-1.4904571349478353},"translation":{"x":7.111839040079806,"y":5.1083252196854145}},"velocity":1.489204928547041,"acceleration":-2.9999999999999485,"curvature":-0.028191565634678353,"holonomicRotation":-91.8665194942181,"angularVelocity":-0.04202991339632661,"holonomicAngularVelocity":-38.298326595927776},{"time":2.8147040377184664,"pose":{"rotation":{"radians":-1.490637746356045},"translation":{"x":7.1123492420334475,"y":5.101973950335706}},"velocity":1.4763132954018623,"acceleration":-3.0000000000001035,"curvature":-0.04215169670226056,"holonomicRotation":-92.03109548640107,"angularVelocity":-0.062298841537488416,"holonomicAngularVelocity":-39.9659216432944},{"time":2.8189917226578123,"pose":{"rotation":{"radians":-1.490904864160644},"translation":{"x":7.112852213735129,"y":5.095691662682194}},"velocity":1.4634502405838243,"acceleration":-3.0000000000001035,"curvature":-0.0568715812152505,"holonomicRotation":-92.2024567667181,"angularVelocity":-0.08332228312621175,"holonomicAngularVelocity":-41.63469534824803},{"time":2.82326987353723,"pose":{"rotation":{"radians":-1.4912613294594754},"translation":{"x":7.113347465219387,"y":5.089477960912388}},"velocity":1.4506157879455717,"acceleration":-2.999999999999948,"curvature":-0.07238966924611193,"holonomicRotation":-92.38057627523649,"angularVelocity":-0.10512799542436417,"holonomicAngularVelocity":-43.304407918319434},{"time":2.827538483096175,"pose":{"rotation":{"radians":-1.4917100798256566},"translation":{"x":7.113834506520761,"y":5.083332449213799}},"velocity":1.4378099592687357,"acceleration":-3.000000000000052,"curvature":-0.08874645338558447,"holonomicRotation":-92.5654258848211,"angularVelocity":-0.12774483280539348,"holonomicAngularVelocity":-44.97481586175857},{"time":2.8317975449085315,"pose":{"rotation":{"radians":-1.492254152964784},"translation":{"x":7.114312847673787,"y":5.077254731773936}},"velocity":1.4250327738316668,"acceleration":-2.999999999999948,"curvature":-0.10598457661389703,"holonomicRotation":-92.75697640557567,"angularVelocity":-0.1512027826230369,"holonomicAngularVelocity":-46.64567154676974},{"time":2.836047053540389,"pose":{"rotation":{"radians":-1.4928966904947014},"translation":{"x":7.114781998713006,"y":5.0712444127803105}},"velocity":1.4122842479360933,"acceleration":-3.0000000000001044,"curvature":-0.12414894944888692,"holonomicRotation":-92.95519758945247,"angularVelocity":-0.17553300482977616,"holonomicAngularVelocity":-48.31672270980497},{"time":2.8402870047226463,"pose":{"rotation":{"radians":-1.4936409418660546},"translation":{"x":7.115241469672955,"y":5.0653010964204315}},"velocity":1.3995643943893226,"acceleration":-2.999999999999895,"curvature":-0.143286870650618,"holonomicRotation":-93.16005813502869,"angularVelocity":-0.2007678671898619,"holonomicAngularVelocity":-49.98771190878273},{"time":2.8445173955396252,"pose":{"rotation":{"radians":-1.494490268407759},"translation":{"x":7.115690770588171,"y":5.059424386881811}},"velocity":1.3868732219383852,"acceleration":-3.000000000000105,"curvature":-0.16344815425038367,"holonomicRotation":-93.3715256924494,"angularVelocity":-0.22694098267723478,"holonomicAngularVelocity":-51.658375915515926},{"time":2.848738224635047,"pose":{"rotation":{"radians":-1.4954481475103867},"translation":{"x":7.116129411493193,"y":5.053613888351959}},"velocity":1.3742107346521204,"acceleration":-2.9999999999998948,"curvature":-0.18468526209927735,"holonomicRotation":-93.58956686853584,"angularVelocity":-0.2540872442599975,"holonomicAngularVelocity":-53.32844504252763},{"time":2.8529494924367573,"pose":{"rotation":{"radians":-1.4965181769409641},"translation":{"x":7.116556902422557,"y":5.047869205018383}},"velocity":1.3615769312469896,"acceleration":-2.999999999999947,"curvature":-0.2070534399223828,"holonomicRotation":-93.81414723205872,"angularVelocity":-0.2822428575238393,"holonomicAngularVelocity":-54.997642397770036},{"time":2.8571512014017557,"pose":{"rotation":{"radians":-1.4977040792857288},"translation":{"x":7.1169727534108045,"y":5.042189941068596}},"velocity":1.348971804351995,"acceleration":-2.9999999999998943,"curvature":-0.23061086332832068,"holonomicRotation":-94.0452313191752,"angularVelocity":-0.31144537327302685,"holonomicAngularVelocity":-56.665683061022065},{"time":2.8613433562831876,"pose":{"rotation":{"radians":-1.4990097065275947},"translation":{"x":7.11737647449247,"y":5.036575700690106}},"velocity":1.3363953397076993,"acceleration":-3.0,"curvature":-0.25541878241526117,"holonomicRotation":-94.28278263902914,"angularVelocity":-0.3417337137553124,"holonomicAngularVelocity":-58.332273175042005},{"time":2.865525964421088,"pose":{"rotation":{"radians":-1.5004390447397427},"translation":{"x":7.1177675757020955,"y":5.031026088070427}},"velocity":1.3238475152939977,"acceleration":-2.9999999999999467,"curvature":-0.28154167957006926,"holonomicRotation":-94.52676367951331,"angularVelocity":-0.37314819929602594,"holonomicAngularVelocity":-59.9971089435975},{"time":2.8696990360588432,"pose":{"rotation":{"radians":-1.5019962189069043},"translation":{"x":7.118145567074214,"y":5.025540707397065}},"velocity":1.3113283003807323,"acceleration":-3.0000000000000533,"curvature":-0.3090474239762263,"holonomicRotation":-94.77713591319313,"angularVelocity":-0.4057305661853868,"holonomicAngularVelocity":-61.65987552886251},{"time":2.8738625846874357,"pose":{"rotation":{"radians":-1.5036854978493235},"translation":{"x":7.118509958643369,"y":5.020119162857533}},"velocity":1.2988376544949547,"acceleration":-3.0000000000000533,"curvature":-0.3380074364106205,"holonomicRotation":-95.03385980339051,"angularVelocity":-0.43952398367203305,"holonomicAngularVelocity":-63.320245838412376},{"time":2.8780166274198002,"pose":{"rotation":{"radians":-1.5055112992593962},"translation":{"x":7.1188602604440945,"y":5.014761058639339}},"velocity":1.2863755262978604,"acceleration":-3.0000000000001603,"curvature":-0.36849685433449425,"holonomicRotation":-95.2968948104271,"angularVelocity":-0.4745730598357221,"holonomicAngularVelocity":-64.97787919354901},{"time":2.8821611853977065,"pose":{"rotation":{"radians":-1.5074781948206377},"translation":{"x":7.11919598251093,"y":5.009465998929996}},"velocity":1.2739418523641421,"acceleration":-2.999999999999893,"curvature":-0.4005947016919715,"holonomicRotation":-95.56619939802616,"angularVelocity":-0.5109238431430019,"holonomicAngularVelocity":-66.63241986742008},{"time":2.88629628423388,"pose":{"rotation":{"radians":-1.5095909154097917},"translation":{"x":7.119516634878413,"y":5.004233587917011}},"velocity":1.2615365558556206,"acceleration":-3.0000000000001075,"curvature":-0.4343840595939736,"holonomicRotation":-95.84173103987136,"angularVelocity":-0.5486238125585734,"holonomicAngularVelocity":-68.2834954834602},{"time":2.8904219544922123,"pose":{"rotation":{"radians":-1.5118543563562774},"translation":{"x":7.1198217275810824,"y":4.999063429787897}},"velocity":1.2491595450806243,"acceleration":-3.0,"curvature":-0.469952238578237,"holonomicRotation":-96.12344622632243,"angularVelocity":-0.5877218577872624,"holonomicAngularVelocity":-69.93071526098106},{"time":2.8945382322092206,"pose":{"rotation":{"radians":-1.5142735827432858},"translation":{"x":7.120110770653475,"y":4.993955128730163}},"velocity":1.2368107119295997,"acceleration":-2.9999999999999463,"curvature":-0.5073909494829304,"holonomicRotation":-96.41130047128566,"angularVelocity":-0.6282682452951994,"holonomicAngularVelocity":-71.5736680966522},{"time":2.8986451594601235,"pose":{"rotation":{"radians":-1.5168538347207656},"translation":{"x":7.12038327413013,"y":4.98890828893132}},"velocity":1.2244899301768912,"acceleration":-2.999999999999946,"curvature":-0.5467964742133753,"holonomicRotation":-96.70524831923888,"angularVelocity":-0.6703145711954595,"holonomicAngularVelocity":-73.21192046755117},{"time":2.9027427849732175,"pose":{"rotation":{"radians":-1.5196005328094948},"translation":{"x":7.120638748045583,"y":4.983922514578877}},"velocity":1.212197053637609,"acceleration":-3.000000000000054,"curvature":-0.5882698278022643,"holonomicRotation":-97.00524335240932,"angularVelocity":-0.7139136939571615,"holonomicAngularVelocity":-74.84501414232814},{"time":2.9068311647965204,"pose":{"rotation":{"radians":-1.522519283151449},"translation":{"x":7.120876702434377,"y":4.978997409860344}},"velocity":1.1999319141677007,"acceleration":-2.999999999999891,"curvature":-0.6319169190165773,"holonomicRotation":-97.31123819810364,"angularVelocity":-0.7591196501498377,"holonomicAngularVelocity":-76.47246368498325},{"time":2.9109103630209927,"pose":{"rotation":{"radians":-1.5256158826805022},"translation":{"x":7.121096647331045,"y":4.974132578963233}},"velocity":1.1876943194942835,"acceleration":-3.0000000000000546,"curvature":-0.6778486961027023,"holonomicRotation":-97.62318453618845,"angularVelocity":-0.8059875424292435,"holonomicAngularVelocity":-78.09375373531556},{"time":2.914980452565025,"pose":{"rotation":{"radians":-1.5288963241495637},"translation":{"x":7.121298092770128,"y":4.969327626075052}},"velocity":1.175484050862187,"acceleration":-2.9999999999999454,"curvature":-0.7261812827192289,"holonomicRotation":-97.94103310672078,"angularVelocity":-0.8545734057100913,"holonomicAngularVelocity":-79.70833605016473},{"time":2.919041516025216,"pose":{"rotation":{"radians":-1.5323668009815439},"translation":{"x":7.121480548786162,"y":4.964582155383314}},"velocity":1.1633008604816146,"acceleration":-2.9999999999998908,"curvature":-0.7770360953547963,"holonomicRotation":-98.26473371772673,"angularVelocity":-0.9049340379627109,"holonomicAngularVelocity":-81.31562628661574},{"time":2.9230936465989785,"pose":{"rotation":{"radians":-1.536033711864011},"translation":{"x":7.121643525413687,"y":4.9598957710755265}},"velocity":1.1511444687603263,"acceleration":-3.0000000000001097,"curvature":-0.8305399377060244,"holonomicRotation":-98.59423525312738,"angularVelocity":-0.9571267990652554,"holonomicAngularVelocity":-82.91500051060031},{"time":2.9271369490848818,"pose":{"rotation":{"radians":-1.5399036650299962},"translation":{"x":7.121786532687239,"y":4.955268077339202}},"velocity":1.1390145613026172,"acceleration":-2.9999999999998352,"curvature":-0.8868250684946536,"holonomicRotation":-98.92948568081056,"angularVelocity":-1.011209367467712,"holonomicAngularVelocity":-84.50579141075598},{"time":2.9311715409672257,"pose":{"rotation":{"radians":-1.5439834821353315},"translation":{"x":7.121909080641359,"y":4.950698678361849}},"velocity":1.126910785655586,"acceleration":-2.99999999999989,"curvature":-0.9460292358110766,"holonomicRotation":-99.27043206084744,"angularVelocity":-1.0672394540459482,"holonomicAngularVelocity":-86.08728419940647},{"time":2.93519755359183,"pose":{"rotation":{"radians":-1.5482802016507966},"translation":{"x":7.122010679310581,"y":4.9461871783309785}},"velocity":1.1148327477817728,"acceleration":-2.99999999999989,"curvature":-1.008295667443047,"holonomicRotation":-99.61702055385217,"angularVelocity":-1.1252744610449772,"holonomicAngularVelocity":-87.65871218081578},{"time":2.9392151334406575,"pose":{"rotation":{"radians":-1.552801081649891},"translation":{"x":7.122090838729446,"y":4.941733181434101}},"velocity":1.1027800082352908,"acceleration":-3.0,"curvature":-1.0737730152743001,"holonomicRotation":-99.96919642948397,"angularVelocity":-1.1853710882179236,"holonomicAngularVelocity":-89.21925196701852},{"time":2.94322444351353,"pose":{"rotation":{"radians":-1.557553601893975},"translation":{"x":7.122149068932491,"y":4.937336291858726}},"velocity":1.0907520780166728,"acceleration":-3.0,"curvature":-1.142615235719563,"holonomicRotation":-100.3269040750895,"angularVelocity":-1.247584868984401,"holonomicAngularVelocity":-90.76801832275723},{"time":2.9472256648259085,"pose":{"rotation":{"radians":-1.5625454650607562},"translation":{"x":7.122184879954254,"y":4.932996113792363}},"velocity":1.078748414079538,"acceleration":-2.9999999999999445,"curvature":-1.2149814038518159,"holonomicRotation":-100.69008700448487,"angularVelocity":-1.3119696381545518,"holonomicAngularVelocity":-92.30405862043573},{"time":2.951218998032482,"pose":{"rotation":{"radians":-1.5677845969828148},"translation":{"x":7.122197781829273,"y":4.928712251422525}},"velocity":1.0667684144598175,"acceleration":-3.000000000000111,"curvature":-1.2910354416602698,"holonomicRotation":-101.05868786687535,"angularVelocity":-1.378576916572378,"holonomicAngularVelocity":-93.82634688787898},{"time":2.9552046651871815,"pose":{"rotation":{"radians":-1.5732791457194244},"translation":{"x":7.122187284592088,"y":4.924484308936719}},"velocity":1.0548114129957185,"acceleration":-3.0000000000000555,"curvature":-1.3709457518100314,"holonomicRotation":-101.43264845591182,"angularVelocity":-1.4474552073978213,"holonomicAngularVelocity":-95.33377743353988},{"time":2.9591829116511357,"pose":{"rotation":{"radians":-1.5790374792799868},"translation":{"x":7.122152898277234,"y":4.9203118905224565}},"velocity":1.0428766736038557,"acceleration":-3.000000000000056,"curvature":-1.4548847368238422,"holonomicRotation":-101.81190971888219,"angularVelocity":-1.5186491911578994,"holonomicAngularVelocity":-96.82515803561354},{"time":2.963154008161124,"pose":{"rotation":{"radians":-1.5850681817828907},"translation":{"x":7.12209413291925,"y":4.916194600367249}},"velocity":1.0309633840738905,"acceleration":-3.0,"curvature":-1.5430281913635133,"holonomicRotation":-102.19641176603649,"angularVelocity":-1.5921988148855721,"holonomicAngularVelocity":-98.29920268464703},{"time":2.9671182530722233,"pose":{"rotation":{"radians":-1.591380047832259},"translation":{"x":7.122010498552674,"y":4.912132042658605}},"velocity":1.0190706493405934,"acceleration":-2.999999999999832,"curvature":-1.6355545428279545,"holonomicRotation":-102.58609388004422,"angularVelocity":-1.6681382579184678,"holonomicAngularVelocity":-99.75452387475089},{"time":2.971075974789523,"pose":{"rotation":{"radians":-1.597982074843081},"translation":{"x":7.121901505212046,"y":4.908123821584036}},"velocity":1.0071974841886955,"acceleration":-2.9999999999998876,"curvature":-1.7326439258058208,"holonomicRotation":-102.98089452558219,"angularVelocity":-1.7464947716722916,"holonomicAngularVelocity":-101.18962444135796},{"time":2.975027534405216,"pose":{"rotation":{"radians":-1.6048834530518405},"translation":{"x":7.1217666629319,"y":4.9041695413310515}},"velocity":0.9953428053416161,"acceleration":-2.999999999999972,"curvature":-1.8344770592567463,"holonomicRotation":-103.38075135905181,"angularVelocity":-1.8272873739871478,"holonomicAngularVelocity":-102.60288895248804},{"time":2.9789733285588236,"pose":{"rotation":{"radians":-1.61209355288908},"translation":{"x":7.121605481746777,"y":4.900268806087161}},"velocity":0.9835054228807938,"acceleration":-2.9999999999998592,"curvature":-1.941233912818407,"holonomicRotation":-103.7856012384238,"angularVelocity":-1.9105253981932082,"holonomicAngularVelocity":-103.99257466688977},{"time":2.9829137925400055,"pose":{"rotation":{"radians":-1.6196219094057938},"translation":{"x":7.121417471691215,"y":4.896421220039876}},"velocity":0.9716840309372479,"acceleration":-3.0,"curvature":-2.0530921234801474,"holonomicRotation":-104.19538023320905,"angularVelocity":-1.996206875231615,"holonomicAngularVelocity":-105.35680208236788},{"time":2.9868494036552775,"pose":{"rotation":{"radians":-1.6274782033723376},"translation":{"x":7.121202142799752,"y":4.892626387376707}},"velocity":0.9598771975914321,"acceleration":-2.9999999999999716,"curvature":-2.1702251472436047,"holonomicRotation":-104.61002363455393,"angularVelocity":-2.084316751331201,"holonomicAngularVelocity":-106.69354511026177},{"time":2.990780684882003,"pose":{"rotation":{"radians":-1.6356722386873956},"translation":{"x":7.120959005106924,"y":4.888883912285163}},"velocity":0.9480833539112555,"acceleration":-2.9999999999999436,"curvature":-2.2928001075588647,"holonomicRotation":-105.0294659654587,"angularVelocity":-2.1748249249275,"holonomicAngularVelocity":-108.00062092368432},{"time":2.9947082088353887,"pose":{"rotation":{"radians":-1.6442139156744684},"translation":{"x":7.120687568647272,"y":4.885193398952754}},"velocity":0.9363007820510989,"acceleration":-2.9999999999999716,"curvature":-2.4209753202389335,"holonomicRotation":-105.45364099111698,"angularVelocity":-2.267684105545717,"holonomicAngularVelocity":-109.27567954516877},{"time":2.9986326020768033,"pose":{"rotation":{"radians":-1.6531131998519353},"translation":{"x":7.120387343455331,"y":4.881554451566991}},"velocity":0.9245276023268548,"acceleration":-3.000000000000085,"curvature":-2.5548974572895955,"holonomicRotation":-105.88248172937503,"angularVelocity":-2.362827484295429,"holonomicAngularVelocity":-110.51619325537945},{"time":3.002554549794749,"pose":{"rotation":{"radians":-1.6623800857118667},"translation":{"x":7.120057839565641,"y":4.877966674315384}},"velocity":0.9127617591730188,"acceleration":-2.9999999999998583,"curvature":-2.6946983338839208,"holonomicRotation":-106.31592046130899,"angularVelocity":-2.4601662278208027,"holonomicAngularVelocity":-111.71944592799646},{"time":3.0064748008931277,"pose":{"rotation":{"radians":-1.6720245550686759},"translation":{"x":7.1196985670127395,"y":4.874429671385444}},"velocity":0.9010010058778821,"acceleration":-3.0,"curvature":-2.840491282434278,"holonomicRotation":-106.7538887419185,"angularVelocity":-2.5595867925619595,"holonomicAngularVelocity":-112.88252241548646},{"time":3.0103941735253943,"pose":{"rotation":{"radians":-1.6820565294933543},"translation":{"x":7.119309035831165,"y":4.870943046964681}},"velocity":0.8892428879810829,"acceleration":-2.9999999999998583,"curvature":-2.9923671040979722,"holonomicRotation":-107.19631741093498,"angularVelocity":-2.6609480813320245,"holonomicAngularVelocity":-114.00229814077744},{"time":3.014313561117529,"pose":{"rotation":{"radians":-1.6924858163866414},"translation":{"x":7.118888756055454,"y":4.867506405240603}},"velocity":0.8774847252046795,"acceleration":-2.9999999999998868,"curvature":-3.1503895753854705,"holonomicRotation":-107.64313660374278,"angularVelocity":-2.764078455775838,"holonomicAngularVelocity":-115.07542907321643},{"time":3.0182339389279984,"pose":{"rotation":{"radians":-1.7033220482310618},"translation":{"x":7.118437237720147,"y":4.864119350400723}},"velocity":0.865723591773271,"acceleration":-3.0,"curvature":-3.314590512269237,"holonomicRotation":-108.09427576241167,"angularVelocity":-2.8687726418253794,"holonomicAngularVelocity":-116.09834230052324},{"time":3.022156371198808,"pose":{"rotation":{"radians":-1.7145746146189733},"translation":{"x":7.117953990859779,"y":4.860781486632551}},"velocity":0.8539562949608419,"acceleration":-3.000000000000085,"curvature":-3.48496438755419,"holonomicRotation":-108.54966364683874,"angularVelocity":-2.974788559863446,"holonomicAngularVelocity":-117.06722743797108},{"time":3.0260820189587907,"pose":{"rotation":{"radians":-1.7262525866654235},"translation":{"x":7.1174385255088914,"y":4.857492418123595}},"velocity":0.8421793516808936,"acceleration":-3.0000000000000284,"curvature":-3.6614625331486685,"holonomicRotation":-109.009228345998,"angularVelocity":-3.081844143580542,"holonomicAngularVelocity":-117.97802914891115},{"time":3.0300121485485363,"pose":{"rotation":{"radians":-1.7383646335250935},"translation":{"x":7.116890351702019,"y":4.854251749061368}},"velocity":0.8303889629116566,"acceleration":-3.0000000000000564,"curvature":-3.843986949549447,"holonomicRotation":-109.472897289296,"angularVelocity":-3.1896142008810697,"holonomicAngularVelocity":-118.8264410791613},{"time":3.033948140946255,"pose":{"rotation":{"radians":-1.7509189307714177},"translation":{"x":7.116308979473702,"y":4.851059083633379}},"velocity":0.8185809857185,"acceleration":-2.9999999999999716,"curvature":-4.032383795234341,"holonomicRotation":-109.94059725803157,"angularVelocity":-3.2977274124563207,"holonomicAngularVelocity":-119.60790154121862},{"time":3.037891501985524,"pose":{"rotation":{"radians":-1.7639230605678264},"translation":{"x":7.115693918858478,"y":4.847914026027137}},"velocity":0.8067509026006933,"acceleration":-3.0000000000001408,"curvature":-4.226436623963159,"holonomicRotation":-110.4122543969579,"angularVelocity":-3.405763552973181,"holonomicAngularVelocity":-120.3175913034443},{"time":3.0418438735700577,"pose":{"rotation":{"radians":-1.7773839036582384},"translation":{"x":7.115044679890883,"y":4.844816180430154}},"velocity":0.7948937878470913,"acceleration":-3.0000000000001688,"curvature":-4.425859490607226,"holonomicRotation":-110.88779422594519,"angularVelocity":-3.5132510590870143,"holonomicAngularVelocity":-120.9504338615199},{"time":3.0458070460076643,"pose":{"rotation":{"radians":-1.7913075234220042},"translation":{"x":7.114360772605458,"y":4.84176515102994}},"velocity":0.7830042705342709,"acceleration":-3.000000000000168,"curvature":-4.630290061560628,"holonomicRotation":-111.36714165174172,"angularVelocity":-3.6196650702937987,"holonomicAngularVelocity":-121.50109857576183},{"time":3.0497829716063065,"pose":{"rotation":{"radians":-1.8056990424334964},"translation":{"x":7.113641707036741,"y":4.838760542014004}},"velocity":0.7710764937383447,"acceleration":-2.9999999999998606,"curvature":-4.839282907445877,"holonomicRotation":-111.85022097983224,"angularVelocity":-3.7244260910915656,"holonomicAngularVelocity":-121.9640070543673},{"time":3.053773779700547,"pose":{"rotation":{"radians":-1.8205625122242246},"translation":{"x":7.112886993219266,"y":4.835801957569858}},"velocity":0.7591040694556243,"acceleration":-2.999999999999861,"curvature":-5.052303188470111,"holonomicRotation":-112.3369559263908,"angularVelocity":-3.8268994337112248,"holonomicAngularVelocity":-122.3333431400811},{"time":3.057781793307881,"pose":{"rotation":{"radians":-1.8359007772284386},"translation":{"x":7.1120961411875765,"y":4.83288900188501}},"velocity":0.7470800286336213,"acceleration":-3.000000000000111,"curvature":-5.268720986620879,"holonomicRotation":-112.82726963032692,"angularVelocity":-3.9263956157149664,"holonomicAngularVelocity":-122.60306681785826},{"time":3.0618095476529623,"pose":{"rotation":{"radians":-1.8517153342301427},"translation":{"x":7.111268660976206,"y":4.830021279146972}},"velocity":0.7349967655983769,"acceleration":-3.0000000000001377,"curvature":-5.487806555300713,"holonomicRotation":-113.32108466542284,"angularVelocity":-4.022171878036097,"holonomicAngularVelocity":-122.76693229012359},{"time":3.0658598108456774,"pose":{"rotation":{"radians":-1.868006188942526},"translation":{"x":7.110404062619695,"y":4.827198393543254}},"velocity":0.7228459760202319,"acceleration":-2.9999999999999454,"curvature":-5.7087268171011365,"holonomicRotation":-113.81832305256007,"angularVelocity":-4.113435007748364,"holonomicAngularVelocity":-122.81851036988442},{"time":3.0699356070588495,"pose":{"rotation":{"radians":-1.8847717117702363},"translation":{"x":7.109501856152582,"y":4.824419949261365}},"velocity":0.710618587380715,"acceleration":-3.0000000000001363,"curvature":-5.930543431836906,"holonomicRotation":-114.31890627203309,"angularVelocity":-4.199345615141449,"holonomicAngularVelocity":-122.75121520878457},{"time":3.0740402426264772,"pose":{"rotation":{"radians":-1.9020084951429075},"translation":{"x":7.1085615516094025,"y":4.821685550488818}},"velocity":0.6983046806778319,"acceleration":-2.999999999999973,"curvature":-6.152212794270056,"holonomicRotation":-114.8227552759486,"angularVelocity":-4.27973728196508,"holonomicAngularVelocity":-122.57876452579981},{"time":3.078176646078747,"pose":{"rotation":{"radians":-1.9197112152108353},"translation":{"x":7.107582659024696,"y":4.81899480141312}},"velocity":0.6861241346481126,"acceleration":-2.944719046454613,"curvature":-6.372588311085925,"holonomicRotation":-115.32979050070807,"angularVelocity":-4.356511310054599,"holonomicAngularVelocity":-122.37221010457587},{"time":3.0823454142854154,"pose":{"rotation":{"radians":-1.9378725010521825},"translation":{"x":7.106564688433001,"y":4.8163473062217825}},"velocity":0.6746894308734643,"acceleration":-2.7429454476161776,"curvature":-6.59042528587243,"holonomicRotation":-115.83993187957178,"angularVelocity":-4.431182858438844,"holonomicAngularVelocity":-122.18690835707662},{"time":3.086545266647919,"pose":{"rotation":{"radians":-1.956482814848882},"translation":{"x":7.1055071498688545,"y":4.813742669102316}},"velocity":0.6639969275935691,"acceleration":-2.5459236080197445,"curvature":-6.804388705956521,"holonomicRotation":-116.35309885530225,"angularVelocity":-4.5034165995757345,"holonomicAngularVelocity":-122.02448473553966},{"time":3.0907748402347406,"pose":{"rotation":{"radians":-1.9755303467489016},"translation":{"x":7.104409553366795,"y":4.8111804942422305}},"velocity":0.654043631517808,"acceleration":-2.353262302084842,"curvature":-7.013064161499891,"holonomicRotation":-116.86921039288521,"angularVelocity":-4.572867935653669,"holonomicAngularVelocity":-121.88656505154202},{"time":3.0950326893194307,"pose":{"rotation":{"radians":-1.9950009283031331},"translation":{"x":7.10327140896136,"y":4.808660385829037}},"velocity":0.6448271299210417,"acceleration":-2.164590950371157,"curvature":-7.214972034085063,"holonomicRotation":-117.38818499232593,"angularVelocity":-4.6391861749461105,"holonomicAngularVelocity":-121.77476425716706},{"time":3.09931728565904,"pose":{"rotation":{"radians":-2.014877968407074},"translation":{"x":7.102092226687089,"y":4.806181948050243}},"velocity":0.6363455242930901,"acceleration":-1.9795576889105038,"curvature":-7.408584983005312,"holonomicRotation":-117.90994070151899,"angularVelocity":-4.702018170280656,"holonomicAngularVelocity":-121.69067455550167},{"time":3.103627019577323,"pose":{"rotation":{"radians":-2.035142415599914},"translation":{"x":7.100871516578519,"y":4.803744785093363}},"velocity":0.6285973658489843,"acceleration":-1.7978275668566575,"curvature":-7.592348614605304,"holonomicRotation":-118.43439512918954,"angularVelocity":-4.761012379650554,"holonomicAngularVelocity":-121.63585295152326},{"time":3.1079602019074066,"pose":{"rotation":{"radians":-2.0557727503167262},"translation":{"x":7.099608788670189,"y":4.801348501145903}},"velocity":0.6215815928293627,"acceleration":-1.619080962948055,"curvature":-7.764705074847066,"holonomicRotation":-118.96146545790376,"angularVelocity":-4.81582329780618,"holonomicAngularVelocity":-121.61180842324487},{"time":3.1123150668346664,"pose":{"rotation":{"radians":-2.076745010292223},"translation":{"x":7.098303552996635,"y":4.7989927003953765}},"velocity":0.6152974704123049,"acceleration":-1.4430120157623227,"curvature":-7.924119119302251,"holonomicRotation":-119.49106845714678,"angularVelocity":-4.866116173062456,"holonomicAngularVelocity":-121.61998889680568},{"time":3.1166897756645637,"pose":{"rotation":{"radians":-2.0980328516818254},"translation":{"x":7.096955319592396,"y":4.796676987029292}},"velocity":0.6097445331032482,"acceleration":-1.2693272912490123,"curvature":-8.069106069759775,"holonomicRotation":-120.02312049646565,"angularVelocity":-4.911571918815584,"holonomicAngularVelocity":-121.66176823151899},{"time":3.1210824215218307,"pose":{"rotation":{"radians":-2.1196076477236794},"translation":{"x":7.095563598492009,"y":4.79440096523516}},"velocity":0.6049225304736524,"acceleration":-1.0977444543175499,"curvature":-8.19826088495853,"holonomicRotation":-120.5575375586756,"angularVelocity":-4.951892097247986,"holonomicAngularVelocity":-121.73843346007926},{"time":3.1254910349662266,"pose":{"rotation":{"radians":-2.1414386257988047},"translation":{"x":7.094127899730015,"y":4.79216423920049}},"velocity":0.6008313764301247,"acceleration":-0.9279911008592074,"curvature":-8.31028745416368,"holonomicRotation":-121.09423525312741,"angularVelocity":-4.986803848301729,"holonomicAngularVelocity":-121.85117253391239},{"time":3.1299135904878495,"pose":{"rotation":{"radians":-2.1634930426933616},"translation":{"x":7.09264773334095,"y":4.789966413112794}},"velocity":0.5974711028307208,"acceleration":-0.7598035983889451,"curvature":-8.404027105497317,"holonomicRotation":-121.63312882903348,"angularVelocity":-5.016064616909617,"holonomicAngularVelocity":-122.00106282164361},{"time":3.1343480138224113,"pose":{"rotation":{"radians":-2.185736396678256},"translation":{"x":7.091122609359352,"y":4.787807091159582}},"velocity":0.5948418175717697,"acceleration":-0.592926083186165,"curvature":-8.478485285639104,"holonomicRotation":-122.17413318885113,"angularVelocity":-5.039466538407935,"holonomicAngularVelocity":-122.18906060679709},{"time":3.1387921900045717,"pose":{"rotation":{"radians":-2.2081326738390423},"translation":{"x":7.089552037819758,"y":4.785685877528361}},"velocity":0.592943667955426,"acceleration":-0.42710944358219066,"curvature":-8.532855350999537,"holonomicRotation":-122.7171629017204,"angularVelocity":-5.0568403337822865,"holonomicAngularVelocity":-122.41599184867395},{"time":3.143243972055302,"pose":{"rotation":{"radians":-2.2306446248703837},"translation":{"x":7.087935528756709,"y":4.783602376406646}},"velocity":0.5917768096811863,"acceleration":-0.2621103775842394,"curvature":-8.5665384858896,"holonomicRotation":-123.26213221695468,"angularVelocity":-5.068058581139843,"holonomicAngularVelocity":-122.68254439215018},{"time":3.147701190181452,"pose":{"rotation":{"radians":-2.25323406744263},"translation":{"x":7.086272592204741,"y":4.781556191981944}},"velocity":0.591341381638382,"acceleration":-0.09769053936348134,"curvature":-8.579158892702079,"holonomicRotation":-123.80895507758157,"angularVelocity":-5.073038250439545,"holonomicAngularVelocity":-122.98926183107531},{"time":3.1521616613492873,"pose":{"rotation":{"radians":-2.2758622082920414},"translation":{"x":7.084562738198392,"y":4.779546928441767}},"velocity":0.591637487125679,"acceleration":0.06638435182188886,"curvature":-8.570573566788225,"holonomicRotation":-124.35754513393243,"angularVelocity":-5.07174240182702,"holonomicAngularVelocity":-123.33653916307341},{"time":3.1566231990823828,"pose":{"rotation":{"radians":-2.2984899783903328},"translation":{"x":7.0828054767722,"y":4.777574189973623}},"velocity":0.592665181320124,"acceleration":0.2303452880879303,"curvature":-8.540876218585726,"holonomicRotation":-124.90781575727789,"angularVelocity":-5.06418098969899,"holonomicAngularVelocity":-123.72462033232972},{"time":3.1610836233273503,"pose":{"rotation":{"radians":-2.3210783740576897},"translation":{"x":7.081000317960704,"y":4.775637580765024}},"velocity":0.5944244653627514,"acceleration":0.3944207873527485,"curvature":-8.49039514798531,"holonomicRotation":-125.45968005350761,"angularVelocity":-5.050410736459561,"holonomicAngularVelocity":-124.15359772045491},{"time":3.1655407702284823,"pose":{"rotation":{"radians":-2.3435887966211446},"translation":{"x":7.079146771798442,"y":4.77373670500348}},"velocity":0.596915286871829,"acceleration":0.558837652051584,"curvature":-8.419685163597416,"holonomicRotation":-126.01305087685174,"angularVelocity":-5.030534081965539,"holonomicAngularVelocity":-124.62341356733944},{"time":3.169992501656068,"pose":{"rotation":{"radians":-2.365983383291371},"translation":{"x":7.07724434831995,"y":4.771871166876501}},"velocity":0.6001375467136856,"acceleration":0.7238217071877884,"curvature":-8.329513904711325,"holonomicRotation":-126.56784084364246,"angularVelocity":-5.004697247407725,"holonomicAngularVelocity":-125.1338632726748},{"time":3.1744367143409935,"pose":{"rotation":{"radians":-2.3882253222825125},"translation":{"x":7.075292557559768,"y":4.770040570571598}},"velocity":0.6040911118654724,"acceleration":0.889598548061616,"curvature":-8.220843164765451,"holonomicRotation":-127.12396234611262,"angularVelocity":-4.973087483388404,"holonomicAngularVelocity":-125.68460047576299},{"time":3.1788713484807993,"pose":{"rotation":{"radians":-2.4102791458165878},"translation":{"x":7.073290909552434,"y":4.768244520276279}},"velocity":0.6087758339124949,"acceleration":1.056394259217887,"curvature":-8.09480602372442,"holonomicRotation":-127.6813275662303,"angularVelocity":-4.9359296029970405,"holonomicAngularVelocity":-126.27514377334685},{"time":3.1832943956985336,"pose":{"rotation":{"radians":-2.432110995514056},"translation":{"x":7.0712389143324845,"y":4.766482620178057}},"velocity":0.614191572903413,"acceleration":1.2244361690744872,"curvature":-7.952680738947948,"holonomicRotation":-128.239848489566,"angularVelocity":-4.89348191791445,"holonomicAngularVelocity":-126.90488486582676},{"time":3.1877039062561217,"pose":{"rotation":{"radians":-2.453688855694466},"translation":{"x":7.0691360819344595,"y":4.76475447446444}},"velocity":0.6203382256349935,"acceleration":1.3939535128231184,"curvature":-7.7958624483003165,"holonomicRotation":-128.79943691919135,"angularVelocity":-4.846031722838302,"holonomicAngularVelocity":-127.57309795148966},{"time":3.192097995444331,"pose":{"rotation":{"radians":-2.474982751293509},"translation":{"x":7.066981922392896,"y":4.76305968732294}},"velocity":0.6272157585223878,"acceleration":1.5651782639844511,"curvature":-7.625833734922684,"holonomicRotation":-129.36000448960635,"angularVelocity":-4.793890461653929,"holonomicAngularVelocity":-128.27895012293757},{"time":3.1964748490945123,"pose":{"rotation":{"radians":-2.4959649082591686},"translation":{"x":7.064775945742331,"y":4.761397862941066}},"velocity":0.6348242436057807,"acceleration":1.7383457824955328,"curvature":-7.444135110835671,"holonomicRotation":-129.92146268069337,"angularVelocity":-4.737388735549192,"holonomicAngularVelocity":-129.0215125140453},{"time":3.200832728180303,"pose":{"rotation":{"radians":-2.516609875551078},"translation":{"x":7.062517662017304,"y":4.759768605506329}},"velocity":0.6431638978509233,"acceleration":1.9136956489534473,"curvature":-7.252336348939206,"holonomicRotation":-130.4837228316954,"angularVelocity":-4.6768712827297465,"holonomicAngularVelocity":-129.79977197932863},{"time":3.2051699724985045,"pose":{"rotation":{"radians":-2.5368946089490585},"translation":{"x":7.060206581252352,"y":4.758171519206237}},"velocity":0.6522351246367046,"acceleration":2.0914724005085334,"curvature":-7.0520094993503575,"holonomicRotation":-131.0466961552166,"angularVelocity":-4.6126920675180045,"holonomicAngularVelocity":-130.61264305754264},{"time":3.209485003439102,"pose":{"rotation":{"radians":-2.5567985179398462},"translation":{"x":7.057842213482014,"y":4.756606208228303}},"velocity":0.6620385572460218,"acceleration":2.2719263764908746,"curvature":-6.844704249423034,"holonomicRotation":-131.6102937512431,"angularVelocity":-4.5452095865542965,"holonomicAngularVelocity":-131.45898000334486},{"time":3.2137763258723315,"pose":{"rotation":{"radians":-2.5763034778023575},"translation":{"x":7.0554240687408285,"y":4.755072276760036}},"velocity":0.6725751035330978,"acceleration":2.45531452157652,"curvature":-6.631926133767128,"holonomicRotation":-132.17442662118094,"angularVelocity":-4.4747824916505925,"holonomicAngularVelocity":-132.3375886842339},{"time":3.2180425291962913,"pose":{"rotation":{"radians":-2.595393809742234},"translation":{"x":7.052951657063332,"y":4.753569328988948}},"velocity":0.6838459915712496,"acceleration":2.6419012837134233,"curvature":-6.415117915627122,"holonomicRotation":-132.73900568191044,"angularVelocity":-4.401765599789069,"holonomicAngularVelocity":-133.24723817534877},{"time":3.222282287600883,"pose":{"rotation":{"radians":-2.6140562324389824},"translation":{"x":7.0504244884840634,"y":4.7520969691025465}},"velocity":0.6958528157214938,"acceleration":2.831959513834749,"curvature":-6.195644306924257,"holonomicRotation":-133.303941779853,"angularVelocity":-4.32617492787423,"holonomicAngularVelocity":-134.1763929863998},{"time":3.2264946822898217,"pose":{"rotation":{"radians":-2.63227978872858},"translation":{"x":7.04784207303756,"y":4.750654801288343}},"velocity":0.7084899997883094,"acceleration":2.999999999999842,"curvature":-5.974780040234323,"holonomicRotation":-133.86914570504987,"angularVelocity":-4.24595380733741,"holonomicAngularVelocity":-135.04686271367677},{"time":3.2306812475223516,"pose":{"rotation":{"radians":-2.6500557513173066},"translation":{"x":7.045203920758362,"y":4.749242429733848}},"velocity":0.7210496954858989,"acceleration":2.999999999999947,"curvature":-5.753701188051855,"holonomicRotation":-134.4345282052492,"angularVelocity":-4.159722404182293,"holonomicAngularVelocity":-135.79484265335867},{"time":3.2348454100465083,"pose":{"rotation":{"radians":-2.6673775114636973},"translation":{"x":7.042509541681004,"y":4.747859458626571}},"velocity":0.7335421830583695,"acceleration":3.00000000000016,"curvature":-5.533479516119751,"holonomicRotation":-135.00000000000006,"angularVelocity":-4.068361253764495,"holonomicAngularVelocity":-136.4259810098556},{"time":3.2389903081851554,"pose":{"rotation":{"radians":-2.68424045445177},"translation":{"x":7.039758445840026,"y":4.746505492154023}},"velocity":0.7459768774743111,"acceleration":3.0000000000000266,"curvature":-5.315079594126894,"holonomicRotation":-135.56547179475092,"angularVelocity":-3.9727094542597454,"holonomicAngularVelocity":-136.94589303806163},{"time":3.243118818267909,"pose":{"rotation":{"radians":-2.7006418254895315},"translation":{"x":7.036950143269967,"y":4.745180134503714}},"velocity":0.7583624077225709,"acceleration":2.999999999999839,"curvature":-5.099358328199641,"holonomicRotation":-136.13085429495024,"angularVelocity":-3.8735587512748118,"holonomicAngularVelocity":-137.36012572849015},{"time":3.247233578080477,"pose":{"rotation":{"radians":-2.716580589370898},"translation":{"x":7.034084144005362,"y":4.743882989863153}},"velocity":0.770706687160274,"acceleration":2.999999999999838,"curvature":-4.887066564671262,"holonomicRotation":-136.6960582201471,"angularVelocity":-3.771649258368884,"holonomicAngularVelocity":-137.67412646097526},{"time":3.2513370077695893,"pose":{"rotation":{"radians":-2.732057286914608},"translation":{"x":7.031159958080752,"y":4.742613662419852}},"velocity":0.7830169762276115,"acceleration":3.0,"curvature":-4.6788523980942625,"holonomicRotation":-137.2609943180897,"angularVelocity":-3.6676666676689864,"holonomicAngularVelocity":-137.8932158284041},{"time":3.255431328562224,"pose":{"rotation":{"radians":-2.7470738908124974},"translation":{"x":7.0281770955306735,"y":4.74137175636132}},"velocity":0.7952999386055146,"acceleration":2.9999999999999187,"curvature":-4.47526583542567,"holonomicRotation":-137.82557337881917,"angularVelocity":-3.5622407873822084,"holonomicAngularVelocity":-138.02256466866865},{"time":3.2595185795946335,"pose":{"rotation":{"radians":-2.7616336631484173},"translation":{"x":7.025135066389665,"y":4.740156875875068}},"velocity":0.8075616917027431,"acceleration":2.999999999999837,"curvature":-4.276764483283184,"holonomicRotation":-138.38970624875702,"angularVelocity":-3.455945227201514,"holonomicAngularVelocity":-138.06717520941703},{"time":3.2636006330962832,"pose":{"rotation":{"radians":-2.775741016464625},"translation":{"x":7.022033380692265,"y":4.738968625148606}},"velocity":0.8198078522076917,"acceleration":2.999999999999891,"curvature":-4.083719957865949,"holonomicRotation":-138.9533038447835,"angularVelocity":-3.349298051290204,"holonomicAngularVelocity":-138.03186613365156},{"time":3.2676792081332686,"pose":{"rotation":{"radians":-2.789401379888041},"translation":{"x":7.01887154847301,"y":4.737806608369445}},"velocity":0.8320435773186484,"acceleration":3.000000000000136,"curvature":-3.896424750831382,"holonomicRotation":-139.51627716830473,"angularVelocity":-3.242763223489327,"holonomicAngularVelocity":-137.92126130139553},{"time":3.2717558830831397,"pose":{"rotation":{"radians":-2.802621071489603},"translation":{"x":7.0156490797664395,"y":4.736670429725093}},"velocity":0.8442736021682617,"acceleration":3.000000000000027,"curvature":-3.7150993271796215,"holonomicRotation":-140.07853731930675,"angularVelocity":-3.1367526830022623,"holonomicAngularVelocity":-137.73978181556242},{"time":3.2758321069865493,"pose":{"rotation":{"radians":-2.815407177755141},"translation":{"x":7.01236548460709,"y":4.7355596934030615}},"velocity":0.8565022738784902,"acceleration":2.9999999999999454,"curvature":-3.5398992559620543,"holonomicRotation":-140.63999551039376,"angularVelocity":-3.0316288931877264,"holonomicAngularVelocity":-137.4916410931332},{"time":3.279909209899557,"pose":{"rotation":{"radians":-2.8277674407467144},"translation":{"x":7.009020273029503,"y":4.7344740035908615}},"velocity":0.8687335826175125,"acceleration":2.9999999999999183,"curvature":-3.3709222278356092,"holonomicRotation":-141.20056308080876,"angularVelocity":-2.927707735513571,"holonomicAngularVelocity":-137.18084259034856},{"time":3.283988412352748,"pose":{"rotation":{"radians":-2.8397101533236477},"translation":{"x":7.005612955068211,"y":4.733412964476003}},"velocity":0.8809711899770859,"acceleration":3.0000000000000546,"curvature":-3.2082148325571627,"holonomicRotation":-141.76015151043413,"angularVelocity":-2.825261627004065,"holonomicAngularVelocity":-136.81117983495358},{"time":3.288070834008708,"pose":{"rotation":{"radians":-2.8512440625734827},"translation":{"x":7.002143040757757,"y":4.732376180245994}},"velocity":0.8932184549449673,"acceleration":3.000000000000136,"curvature":-3.051779008760806,"holonomicRotation":-142.31867243376982,"angularVelocity":-2.7245227635865388,"holonomicAngularVelocity":-136.38623842596684},{"time":3.2921575015973903,"pose":{"rotation":{"radians":-2.8623782814460585},"translation":{"x":6.998610040132677,"y":4.731363255088348}},"velocity":0.9054784577110133,"acceleration":2.999999999999891,"curvature":-2.9015780970081897,"holonomicRotation":-142.8760376538875,"angularVelocity":-2.625686402145839,"holonomicAngularVelocity":-135.90939968440566},{"time":3.296249356198776,"pose":{"rotation":{"radians":-2.8731222084324743},"translation":{"x":6.995013463227508,"y":4.730373793190573}},"velocity":0.91775402151517,"acceleration":3.000000000000054,"curvature":-2.757542462124404,"holonomicRotation":-143.43215915635767,"angularVelocity":-2.528914121030544,"holonomicAngularVelocity":-135.38384565805134},{"time":3.300347259933849,"pose":{"rotation":{"radians":-2.883485455054725},"translation":{"x":6.9913528200767905,"y":4.729407398740181}},"velocity":0.9300477327203903,"acceleration":3.0000000000001354,"curvature":-2.6195746519218273,"holonomicRotation":-143.98694912314838,"angularVelocity":-2.434336996141524,"holonomicAngularVelocity":-134.81256521108207},{"time":3.3044520021177672,"pose":{"rotation":{"radians":-2.8934777808126597},"translation":{"x":6.9876276207150605,"y":4.72846367592468}},"velocity":0.9423619592721455,"acceleration":3.0000000000001354,"curvature":-2.4875540926647624,"holonomicRotation":-144.54031994649253,"angularVelocity":-2.342058659830136,"holonomicAngularVelocity":-134.1983609578045},{"time":3.3085643049230393,"pose":{"rotation":{"radians":-2.903109035209591},"translation":{"x":6.983837375176856,"y":4.727542228931582}},"velocity":0.9546988676879617,"acceleration":3.0,"curvature":-2.3613413210632466,"holonomicRotation":-145.09218424272223,"angularVelocity":-2.252158208100747,"holonomicAngularVelocity":-133.54385682497582},{"time":3.3126848285953985,"pose":{"rotation":{"radians":-2.912389106419968},"translation":{"x":6.979981593496716,"y":4.726642661948396}},"velocity":0.9670604387050392,"acceleration":3.0,"curvature":-2.240781768070566,"holonomicRotation":-145.64245486606768,"angularVelocity":-2.164692937012868,"holonomicAngularVelocity":-132.85150605650853},{"time":3.3168141762605843,"pose":{"rotation":{"radians":-2.9213278761452663},"translation":{"x":6.976059785709179,"y":4.725764579162633}},"velocity":0.979448481700597,"acceleration":3.000000000000081,"curvature":-2.12570911417083,"holonomicRotation":-146.19104492241854,"angularVelocity":-2.0797008952350136,"holonomicAngularVelocity":-132.12359949933094},{"time":3.3209528983564023,"pose":{"rotation":{"radians":-2.929935180193068},"translation":{"x":6.972071461848781,"y":4.7249075847618025}},"velocity":0.9918646479880511,"acceleration":3.0000000000000266,"curvature":-2.0159482425645074,"holonomicRotation":-146.73786778304543,"angularVelocity":-1.997203247752751,"holonomicAngularVelocity":-131.36227403330338},{"time":3.325101496721075,"pose":{"rotation":{"radians":-2.938220774320614},"translation":{"x":6.968016131950062,"y":4.724071282933417}},"velocity":1.0043104430820693,"acceleration":3.0,"curvature":-1.9113178152109365,"holonomicRotation":-147.28283709827969,"angularVelocity":-1.9172064452898847,"holonomicAngularVelocity":-130.5695210293779},{"time":3.329260428365981,"pose":{"rotation":{"radians":-2.946194304875748},"translation":{"x":6.96389330604756,"y":4.7232552778649834}},"velocity":1.016787238016787,"acceleration":2.9999999999999467,"curvature":-1.811632507144427,"holonomicRotation":-147.82586681114898,"angularVelocity":-1.839704208992906,"holonomicAngularVelocity":-129.74719474178892},{"time":3.3334301089582614,"pose":{"rotation":{"radians":-2.9538652838115222},"translation":{"x":6.959702494175811,"y":4.722459173744014}},"velocity":1.0292962797936283,"acceleration":3.0,"curvature":-1.7167049222032857,"holonomicRotation":-148.36687117096665,"angularVelocity":-1.764679328205562,"holonomicAngularVelocity":-128.89702055675},{"time":3.3376109160364886,"pose":{"rotation":{"radians":-2.9612430676376853},"translation":{"x":6.955443206369355,"y":4.721682574758019}},"velocity":1.0418387010283097,"acceleration":2.9999999999999467,"curvature":-1.6263472260240879,"holonomicRotation":-148.9057647468727,"angularVelocity":-1.69210528530329,"holonomicAngularVelocity":-128.02060303514423},{"time":3.341803191980576,"pose":{"rotation":{"radians":-2.9683368399201253},"translation":{"x":6.95111495266273,"y":4.720925085094507}},"velocity":1.0544155288605717,"acceleration":3.0,"curvature":-1.540372524205677,"holonomicRotation":-149.4424624413245,"angularVelocity":-1.6219477158530229,"holonomicAngularVelocity":-127.1194337026728},{"time":3.3460072467552373,"pose":{"rotation":{"radians":-2.9751555969592083},"translation":{"x":6.946717243090472,"y":4.72018630894099}},"velocity":1.0670276931845553,"acceleration":2.9999999999998943,"curvature":-1.4585960084757532,"holonomicRotation":-149.97687950353446,"angularVelocity":-1.5541657096485926,"holonomicAngularVelocity":-126.1948985504266},{"time":3.3502233604447005,"pose":{"rotation":{"radians":-2.981708136283352},"translation":{"x":6.9422495876871215,"y":4.719465850484978}},"velocity":1.0796760342529452,"acceleration":3.0000000000001052,"curvature":-1.3808359059947228,"holonomicRotation":-150.50893154285333,"angularVelocity":-1.48871297286386,"holonomicAngularVelocity":-125.24828521993109},{"time":3.3544517855948977,"pose":{"rotation":{"radians":-2.9880030476592343},"translation":{"x":6.937711496487214,"y":4.71876331391398}},"velocity":1.0923613097035365,"acceleration":2.9999999999999476,"curvature":-1.3069142467987176,"holonomicRotation":-151.03853454209636,"angularVelocity":-1.4255388530237416,"holonomicAngularVelocity":-124.28078985627212},{"time":3.3586927493779872,"pose":{"rotation":{"radians":-2.994048706306295},"translation":{"x":6.9331024795252905,"y":4.718078303415508}},"velocity":1.1050842010528046,"acceleration":2.999999999999843,"curvature":-1.2366574774912686,"holonomicRotation":-151.56560487081057,"angularVelocity":-1.3645892439860041,"holonomicAngularVelocity":-123.29352361717471},{"time":3.3629464555929136,"pose":{"rotation":{"radians":-2.99985326805426},"translation":{"x":6.9284220468358875,"y":4.71741042317707}},"velocity":1.1178453196975837,"acceleration":3.0,"curvature":-1.1698969395971688,"holonomicRotation":-152.09005929848112,"angularVelocity":-1.305807380058793,"holonomicAngularVelocity":-122.28751883560253},{"time":3.367213086514541,"pose":{"rotation":{"radians":-3.005424666199708},"translation":{"x":6.923669708453542,"y":4.716759277386179}},"velocity":1.1306452124624657,"acceleration":3.000000000000052,"curvature":-1.1064692301181647,"holonomicRotation":-152.61181500767418,"angularVelocity":-1.2491345280677764,"holonomicAngularVelocity":-121.26373483510112},{"time":3.3714928046029407,"pose":{"rotation":{"radians":-3.0107706098343243},"translation":{"x":6.918844974412793,"y":4.716124470230342}},"velocity":1.1434843667276646,"acceleration":2.999999999999896,"curvature":-1.04621646288412,"holonomicRotation":-153.13078960711488,"angularVelocity":-1.1945105902355608,"holonomicAngularVelocity":-120.22306340258346},{"time":3.37578575408348,"pose":{"rotation":{"radians":-3.015898583452175},"translation":{"x":6.91394735474818,"y":4.715505605897072}},"velocity":1.1563632151692826,"acceleration":2.9999999999998965,"curvature":-0.9889864426966428,"holonomicRotation":-153.64690114469786,"angularVelocity":-1.1418746240911257,"holonomicAngularVelocity":-119.16633392565348},{"time":3.3800920624075292,"pose":{"rotation":{"radians":-3.020815847650919},"translation":{"x":6.908976359494238,"y":4.714902288573878}},"velocity":1.16928214014143,"acceleration":3.0,"curvature":-0.9346327684536208,"holonomicRotation":-154.16006812042832,"angularVelocity":-1.0911652901933693,"holonomicAngularVelocity":-118.09431820508165},{"time":3.3844118416028146,"pose":{"rotation":{"radians":-3.025529440770114},"translation":{"x":6.903931498685507,"y":4.714314122448271}},"velocity":1.1822414777272867,"acceleration":3.000000000000154,"curvature":-0.8830148734200834,"holonomicRotation":-154.67020949929204,"angularVelocity":-1.0423212340265304,"holonomicAngularVelocity":-117.00773495249531},{"time":3.388745189521782,"pose":{"rotation":{"radians":-3.030046181320478},"translation":{"x":6.898812282356524,"y":4.71374071170776}},"velocity":1.195241521484189,"acceleration":3.000000000000051,"curvature":-0.8339980162342525,"holonomicRotation":-155.17724472405152,"angularVelocity":-0.9952814111050059,"holonomicAngularVelocity":-115.90725398762812},{"time":3.393092190995644,"pose":{"rotation":{"radians":-3.034372671081459},"translation":{"x":6.893618220541828,"y":4.713181660539855}},"velocity":1.2082825259057746,"acceleration":2.999999999999898,"curvature":-0.7874532281402653,"holonomicRotation":-155.68109372796704,"angularVelocity":-0.9499853596584157,"holonomicAngularVelocity":-114.79350014746566},{"time":3.3974529189012306,"pose":{"rotation":{"radians":-3.0385152987492203},"translation":{"x":6.888348823275958,"y":4.712636573132068}},"velocity":1.2213647096225342,"acceleration":2.999999999999949,"curvature":-0.7432572270004932,"holonomicRotation":-156.18167694744005,"angularVelocity":-0.906373429132916,"holonomicAngularVelocity":-113.66705692227877},{"time":3.401827435147193,"pose":{"rotation":{"radians":-3.042480244039871},"translation":{"x":6.88300360059345,"y":4.712105053671908}},"velocity":1.2344882583604215,"acceleration":3.0000000000001017,"curvature":-0.7012923033120456,"holonomicRotation":-156.67891533457728,"angularVelocity":-0.8643869685620088,"holonomicAngularVelocity":-112.52846983280905},{"time":3.4062157915856086,"pose":{"rotation":{"radians":-3.0462734821586426},"translation":{"x":6.877582062528842,"y":4.711586706346886}},"velocity":1.247653327675669,"acceleration":3.0000000000000506,"curvature":-0.6614461837327618,"holonomicRotation":-157.17273036967316,"angularVelocity":-0.8239684802280842,"holonomicAngularVelocity":-111.37824956288944},{"time":3.41061803085459,"pose":{"rotation":{"radians":-3.0499007885587055},"translation":{"x":6.872083719116674,"y":4.711081135344511}},"velocity":1.2608600454826129,"acceleration":3.0,"curvature":-0.6236118787526479,"holonomicRotation":-157.6630440736093,"angularVelocity":-0.7850617435736894,"holonomicAngularVelocity":-110.2168748615264},{"time":3.415034187157062,"pose":{"rotation":{"radians":-3.0533677439254183},"translation":{"x":6.866508080391481,"y":4.7105879448522945}},"velocity":1.2741085143900297,"acceleration":3.0,"curvature":-0.5876875154276511,"holonomicRotation":-158.14977902016784,"angularVelocity":-0.7476119108706438,"holonomicAngularVelocity":-109.04479522967266},{"time":3.41946428698047,"pose":{"rotation":{"radians":-3.056679739319744},"translation":{"x":6.860854656387804,"y":4.710106739057745}},"velocity":1.2873988138602535,"acceleration":3.0,"curvature":-0.553576164184147,"holonomicRotation":-158.63285834825837,"angularVelocity":-0.7115655830234756,"holonomicAngularVelocity":-107.86243340321232},{"time":3.4239083497618523,"pose":{"rotation":{"radians":-3.059841981443771},"translation":{"x":6.855122957140179,"y":4.709637122148376}},"velocity":1.3007310022043996,"acceleration":2.9999999999999,"curvature":-0.5211856555803385,"holonomicRotation":-159.1122057740549,"angularVelocity":-0.6768708621148006,"holonomicAngularVelocity":-106.67018764775996},{"time":3.4283663885023254,"pose":{"rotation":{"radians":-3.0628594979693764},"translation":{"x":6.849312492683145,"y":4.7091786983116934}},"velocity":1.3141051184258188,"acceleration":2.9999999999999503,"curvature":-0.49042839739618627,"holonomicRotation":-159.58774560304215,"angularVelocity":-0.6434773902971057,"holonomicAngularVelocity":-105.46843387550715},{"time":3.432838410334783,"pose":{"rotation":{"radians":-3.065737142907478},"translation":{"x":6.84342277305124,"y":4.708731071735211}},"velocity":1.327521183923191,"acceleration":3.0,"curvature":-0.4612211864758729,"holonomicRotation":-160.0594027419685,"angularVelocity":-0.6113363710949119,"holonomicAngularVelocity":-104.25752759784025},{"time":3.4373244170482713,"pose":{"rotation":{"radians":-3.068479601972409},"translation":{"x":6.837453308279002,"y":4.708293846606437}},"velocity":1.3409792040636557,"acceleration":2.9999999999998517,"curvature":-0.43348502368391334,"holonomicRotation":-160.52710271070413,"angularVelocity":-0.5804005809931714,"holonomicAngularVelocity":-103.03780572430846},{"time":3.4418244055722758,"pose":{"rotation":{"radians":-3.071091397926204},"translation":{"x":6.8314036084009695,"y":4.707866627112883}},"velocity":1.3544791696356688,"acceleration":2.9999999999999507,"curvature":-0.4071449286506154,"holonomicRotation":-160.99077165400212,"angularVelocity":-0.5506243683246004,"holonomicAngularVelocity":-101.80958821895291},{"time":3.446338368423897,"pose":{"rotation":{"radians":-3.0735768958700187},"translation":{"x":6.825273183451679,"y":4.707449017442057}},"velocity":1.368021058190532,"acceleration":2.9999999999998526,"curvature":-0.38212975891579043,"holonomicRotation":-161.45033635316133,"angularVelocity":-0.5219636451248137,"holonomicAngularVelocity":-100.57317962430474},{"time":3.4508662941206705,"pose":{"rotation":{"radians":-3.075940308471561},"translation":{"x":6.81906154346567,"y":4.707040621781472}},"velocity":1.3816048352808525,"acceleration":3.000000000000049,"curvature":-0.35837203098082643,"holonomicRotation":-161.90572423758843,"angularVelocity":-0.49437587009447015,"holonomicAngularVelocity":-99.32887046216753},{"time":3.4554081675615924,"pose":{"rotation":{"radians":-3.0781857011057756},"translation":{"x":6.81276819847748,"y":4.706641044318636}},"velocity":1.3952304556036188,"acceleration":3.0000000000000977,"curvature":-0.3358077477636986,"holonomicRotation":-162.35686339625732,"angularVelocity":-0.46782002674095524,"holonomicAngularVelocity":-98.0769385212091},{"time":3.4599639703786957,"pose":{"rotation":{"radians":-3.0803169969014994},"translation":{"x":6.806392658521646,"y":4.706249889241061}},"velocity":1.4088978640549281,"acceleration":2.999999999999854,"curvature":-0.314376229812279,"holonomicRotation":-162.80368258906512,"angularVelocity":-0.4422565956351264,"holonomicAngularVelocity":-96.81765003860275},{"time":3.464533681261371,"pose":{"rotation":{"radians":-3.0823379816795082},"translation":{"x":6.799934433632707,"y":4.7058667607362565}},"velocity":1.4226069967029549,"acceleration":3.0000000000000973,"curvature":-0.2940199519740445,"holonomicRotation":-163.24611125808158,"angularVelocity":-0.4176475230678261,"holonomicAngularVelocity":-95.5512607843017},{"time":3.469117276255457,"pose":{"rotation":{"radians":-3.0842523087755342},"translation":{"x":6.793393033845201,"y":4.705491262991732}},"velocity":1.4363577816852129,"acceleration":3.000000000000145,"curvature":-0.2746843871012745,"holonomicRotation":-163.6840795386911,"angularVelocity":-0.39395618666045257,"holonomicAngularVelocity":-94.27801705532806},{"time":3.473714729038958,"pose":{"rotation":{"radians":-3.0860635037424737},"translation":{"x":6.786767969193667,"y":4.705123000194998}},"velocity":1.450150140035715,"acceleration":2.999999999999903,"curvature":-0.2563178537200007,"holonomicRotation":-164.11751827062506,"angularVelocity":-0.37114735780182184,"holonomicAngularVelocity":-92.99815658664858},{"time":3.478326011176131,"pose":{"rotation":{"radians":-3.0877749689237644},"translation":{"x":6.7800587497126426,"y":4.704761576533566}},"velocity":1.4639839864472348,"acceleration":2.999999999999952,"curvature":-0.23887137174547907,"holonomicRotation":-164.54635900888312,"angularVelocity":-0.34918716307357484,"holonomicAngularVelocity":-91.7119093850475},{"time":3.4829510923515477,"pose":{"rotation":{"radians":-3.089389987898393},"translation":{"x":6.773264885436664,"y":4.704406596194945}},"velocity":1.4778592299734847,"acceleration":3.000000000000096,"curvature":-0.22229852307534262,"holonomicRotation":-164.9705340345414,"angularVelocity":-0.32804304402391143,"holonomicAngularVelocity":-90.41949849233949},{"time":3.4875899405855963,"pose":{"rotation":{"radians":-3.0909117297938553},"translation":{"x":6.766385886400271,"y":4.704057663366645}},"velocity":1.4917757746756304,"acceleration":2.999999999999904,"curvature":-0.20655531823745413,"holonomicRotation":-165.38997636544616,"angularVelocity":-0.3076837156268899,"holonomicAngularVelocity":-89.12114068268103},{"time":3.4922425224328286,"pose":{"rotation":{"radians":-3.09234325346387},"translation":{"x":6.759421262638001,"y":4.703714382236177}},"velocity":1.5057335202173268,"acceleration":2.9999999999999045,"curvature":-0.1916000697036633,"holonomicRotation":-165.80461976679103,"angularVelocity":-0.2880791251319703,"holonomicAngularVelocity":-87.81704709989653},{"time":3.4969088031643945,"pose":{"rotation":{"radians":-3.0936875115346396},"translation":{"x":6.752370524184392,"y":4.703376356991051}},"velocity":1.5197323624120238,"acceleration":2.999999999999905,"curvature":-0.17739327075714656,"holonomicRotation":-166.2143987615763,"angularVelocity":-0.2692004097883986,"holonomicAngularVelocity":-86.50742383888367},{"time":3.501588746935764,"pose":{"rotation":{"radians":-3.094947354315679},"translation":{"x":6.745233181073983,"y":4.703043191818777}},"velocity":1.5337721937261313,"acceleration":2.9999999999998574,"curvature":-0.16389748018578945,"holonomicRotation":-166.61924864094829,"angularVelocity":-0.25101985582706166,"holonomicAngularVelocity":-85.19247247594848},{"time":3.5062823169408195,"pose":{"rotation":{"radians":-3.096125533581662},"translation":{"x":6.73800874334131,"y":4.702714490906866}},"velocity":1.547852903741299,"acceleration":3.000000000000142,"curvature":-0.1510772120429914,"holonomicRotation":-167.01910547441793,"angularVelocity":-0.23351085621612191,"holonomicAngularVelocity":-83.87239055188073},{"time":3.5109894755533277,"pose":{"rotation":{"radians":-3.097224706219614},"translation":{"x":6.730696721020913,"y":4.702389858442826}},"velocity":1.5619743795788235,"acceleration":2.999999999999953,"curvature":-0.1388988322454626,"holonomicRotation":-167.41390611995587,"angularVelocity":-0.2166478707905542,"holonomicAngularVelocity":-82.54737201150724},{"time":3.5157101844567364,"pose":{"rotation":{"radians":-3.0982474377521596},"translation":{"x":6.72329662414733,"y":4.70206889861417}},"velocity":1.5761365062890498,"acceleration":3.000000000000047,"curvature":-0.12733045867000584,"holonomicRotation":-167.80358823396358,"angularVelocity":-0.20040638534213945,"holonomicAngularVelocity":-81.21760760325773},{"time":3.5204444047631576,"pose":{"rotation":{"radians":-3.099196205731183},"translation":{"x":6.715807962755097,"y":4.701751215608407}},"velocity":1.5903391672083138,"acceleration":3.0000000000001408,"curvature":-0.11634186823877403,"holonomicRotation":-168.18809028111787,"angularVelocity":-0.1847628728318245,"holonomicAngularVelocity":-79.88328524207542},{"time":3.5251920971223423,"pose":{"rotation":{"radians":-3.1000734030107875},"translation":{"x":6.708230246878753,"y":4.701436413613048}},"velocity":1.6045822442858675,"acceleration":2.9999999999999063,"curvature":-0.10590440664189697,"holonomicRotation":-168.56735154408824,"angularVelocity":-0.16969475461624167,"holonomicAngularVelocity":-78.54459033825326},{"time":3.529953221821396,"pose":{"rotation":{"radians":-3.1008813408982907},"translation":{"x":6.700562986552837,"y":4.701124096815601}},"velocity":1.618865618383028,"acceleration":2.9999999999999534,"curvature":-0.09599090444737823,"holonomicRotation":-168.94131213312474,"angularVelocity":-0.15518036337337604,"holonomicAngularVelocity":-77.20170609528346},{"time":3.5347277388759224,"pose":{"rotation":{"radians":-3.1016222521897445},"translation":{"x":6.692805691811887,"y":4.700813869403579}},"velocity":1.6331891695466074,"acceleration":2.9999999999999534,"curvature":-0.08657559795839981,"holonomicRotation":-169.30991299551522,"angularVelocity":-0.1411989061800575,"holonomicAngularVelocity":-75.85481377910972},{"time":3.5395156081132386,"pose":{"rotation":{"radians":-3.1022982940889867},"translation":{"x":6.68495787269044,"y":4.700505335564491}},"velocity":1.6475527772585565,"acceleration":3.000000000000093,"curvature":-0.07763405179300337,"holonomicRotation":-169.67309592491057,"angularVelocity":-0.12773042972030882,"holonomicAngularVelocity":-74.50409296098543},{"time":3.544316789248252,"pose":{"rotation":{"radians":-3.102911551018527},"translation":{"x":6.677019039223033,"y":4.700198099485845}},"velocity":1.6619563206635968,"acceleration":3.0000000000000924,"curvature":-0.06914308985781382,"holonomicRotation":-170.03080357051613,"angularVelocity":-0.11475578605260686,"holonomicAngularVelocity":-73.14972173625935},{"time":3.5491312419525496,"pose":{"rotation":{"radians":-3.103464037323022},"translation":{"x":6.668988701444206,"y":4.699891765355154}},"velocity":1.6763996787764903,"acceleration":3.0000000000000924,"curvature":-0.061080723868460536,"holonomicRotation":-170.38297944614789,"angularVelocity":-0.10225659898262142,"holonomicAngularVelocity":-71.79187692098876},{"time":3.553958925917216,"pose":{"rotation":{"radians":-3.1039576998662115},"translation":{"x":6.660866369388498,"y":4.699585937359929}},"velocity":1.6908827306704892,"acceleration":2.999999999999954,"curvature":-0.05342609281561563,"holonomicRotation":-170.72956793915264,"angularVelocity":-0.09021523289102426,"holonomicAngularVelocity":-70.43073422800973},{"time":3.5587998009098447,"pose":{"rotation":{"radians":-3.104394420531068},"translation":{"x":6.652651553090444,"y":4.699280219687679}},"velocity":1.7054053556483757,"acceleration":3.0000000000000457,"curvature":-0.04615940086401656,"holonomicRotation":-171.0705143191895,"angularVelocity":-0.07861476155050894,"holonomicAngularVelocity":-69.06646842461741},{"time":3.563653826826185,"pose":{"rotation":{"radians":-3.104776018621041},"translation":{"x":6.644343762584584,"y":4.698974216525913}},"velocity":1.7199674333973964,"acceleration":3.0000000000000915,"curvature":-0.039261860655762114,"holonomicRotation":-171.40576474687268,"angularVelocity":-0.06743893848222866,"holonomicAngularVelocity":-67.69925347279055},{"time":3.568520963736832,"pose":{"rotation":{"radians":-3.1051042531677426},"translation":{"x":6.6359425079054555,"y":4.698667532062142}},"velocity":1.7345688441293383,"acceleration":3.0000000000000457,"curvature":-0.03271563718107218,"holonomicRotation":-171.73526628227336,"angularVelocity":-0.056672168707203284,"holonomicAngularVelocity":-66.32926265380847},{"time":3.573401171929337,"pose":{"rotation":{"radians":-3.1053808251497546},"translation":{"x":6.6274472990875966,"y":4.6983597704838775}},"velocity":1.7492094687068531,"acceleration":2.9999999999999547,"curvature":-0.026503800361712036,"holonomicRotation":-172.0589668932793,"angularVelocity":-0.04629948082876801,"holonomicAngularVelocity":-64.95666867854302},{"time":3.5782944119460827,"pose":{"rotation":{"radians":-3.1056073796221004},"translation":{"x":6.618857646165545,"y":4.698050535978628}},"velocity":1.7638891887570907,"acceleration":3.0000000000001363,"curvature":-0.020610271895564036,"holonomicRotation":-172.37681546381162,"angularVelocity":-0.03630650132139072,"holonomicAngularVelocity":-63.58164378424496},{"time":3.5832006446182567,"pose":{"rotation":{"radians":-3.1057855077650958},"translation":{"x":6.610173059173839,"y":4.697739432733905}},"velocity":1.778607886773613,"acceleration":3.0000000000000453,"curvature":-0.015019786979314376,"holonomicRotation":-172.68876180189642,"angularVelocity":-0.02667942864176147,"holonomicAngularVelocity":-62.20435981956423},{"time":3.588119831096213,"pose":{"rotation":{"radians":-3.10591674884971},"translation":{"x":6.601393048147017,"y":4.6974260649372175}},"velocity":1.7933654462074824,"acceleration":3.00000000000009,"curvature":-0.009717839929076186,"holonomicRotation":-172.99475664759075,"angularVelocity":-0.017405009514533453,"holonomicAngularVelocity":-60.8249883181022},{"time":3.593051932876513,"pose":{"rotation":{"radians":-3.1060025921281227},"translation":{"x":6.592517123119616,"y":4.697110036776077}},"velocity":1.8081617515483819,"acceleration":2.999999999999955,"curvature":-0.0046906582010188685,"holonomicRotation":-173.29475168076118,"angularVelocity":-0.008470515199991186,"holonomicAngularVelocity":-59.4437005622258},{"time":3.597996911825889,"pose":{"rotation":{"radians":-3.106044478647477},"translation":{"x":6.583544794126174,"y":4.696790952437993}},"velocity":1.8229966883965107,"acceleration":3.0,"curvature":0.00007498889817596293,"holonomicRotation":-173.58869952871441,"angularVelocity":0.00013628049833497527,"holonomicAngularVelocity":-58.06066763714156},{"time":3.6029547302023883,"pose":{"rotation":{"radians":-3.106043802993518},"translation":{"x":6.574475571201231,"y":4.696468416110476}},"velocity":1.8378701435260087,"acceleration":3.0000000000001346,"curvature":0.004591130319341002,"holonomicRotation":-173.87655377367764,"angularVelocity":0.008427122556922762,"holonomicAngularVelocity":-56.67606047686566},{"time":3.607925350673902,"pose":{"rotation":{"radians":-3.1060019149656206},"translation":{"x":6.565308964379324,"y":4.696142031981036}},"velocity":1.8527820049405501,"acceleration":2.999999999999955,"curvature":0.00886999880440609,"holonomicRotation":-174.1582689601287,"angularVelocity":0.016413295379159556,"holonomicAngularVelocity":-55.29004990216541},{"time":3.612908736334301,"pose":{"rotation":{"radians":-3.105920121184788},"translation":{"x":6.55604448369499,"y":4.695811404237182}},"velocity":1.8677321619217473,"acceleration":3.0000000000000893,"curvature":0.01292269952766269,"holonomicRotation":-174.4338006019739,"angularVelocity":0.024105642206222053,"holonomicAngularVelocity":-53.902806651586566},{"time":3.6179048507173563,"pose":{"rotation":{"radians":-3.105799686639049},"translation":{"x":6.546681639182768,"y":4.695476137066427}},"velocity":1.882720505070913,"acceleration":3.0,"curvature":0.01675992073699094,"holonomicRotation":-174.70310518957294,"angularVelocity":0.03151458387893605,"holonomicAngularVelocity":-52.514501405882385},{"time":3.622913657808632,"pose":{"rotation":{"radians":-3.1056418361678375},"translation":{"x":6.537219940877195,"y":4.695135834656279}},"velocity":1.8977469263447397,"acceleration":2.999999999999911,"curvature":0.02039182446311668,"holonomicRotation":-174.96614019660953,"angularVelocity":0.03865013665921476,"holonomicAngularVelocity":-51.125304806669234},{"time":3.6279351220555096,"pose":{"rotation":{"radians":-3.1054477558884663},"translation":{"x":6.527658898812811,"y":4.69479010119425}},"velocity":1.9128113190853726,"acceleration":3.0000000000000444,"curvature":0.02382807850931254,"holonomicRotation":-175.22286408680694,"angularVelocity":0.04552192957222722,"holonomicAngularVelocity":-49.7353874695454},{"time":3.6329692083754987,"pose":{"rotation":{"radians":-3.1052185945655473},"translation":{"x":6.517998023024151,"y":4.694438540867848}},"velocity":1.9279135780453398,"acceleration":2.999999999999956,"curvature":0.02707788017440543,"holonomicRotation":-175.47323632048673,"angularVelocity":0.05213922046703353,"holonomicAngularVelocity":-48.344919992622884},{"time":3.6380158821629704,"pose":{"rotation":{"radians":-3.104955464928317},"translation":{"x":6.508236823545756,"y":4.694080757864584}},"velocity":1.9430535994077553,"acceleration":3.000000000000088,"curvature":0.03014997902836555,"holonomicRotation":-175.71721736097092,"angularVelocity":0.058510911866782984,"holonomicAngularVelocity":-46.954072960184504},{"time":3.6430751092944558,"pose":{"rotation":{"radians":-3.1046594449355127},"translation":{"x":6.498374810412162,"y":4.6937163563719695}},"velocity":1.9582312808022109,"acceleration":2.999999999999912,"curvature":0.03305270086539922,"holonomicRotation":-175.95476868082483,"angularVelocity":0.06464556606918224,"holonomicAngularVelocity":-45.56301694278288},{"time":3.648146856132614,"pose":{"rotation":{"radians":-3.1043315789902004},"translation":{"x":6.488411493657909,"y":4.693344940577513}},"velocity":1.9734465213166843,"acceleration":2.9999999999998685,"curvature":0.03579397206664258,"holonomicRotation":-176.18585276794133,"angularVelocity":0.07055141903334929,"holonomicAngularVelocity":-44.17192249326704},{"time":3.6532310895290006,"pose":{"rotation":{"radians":-3.1039728791093886},"translation":{"x":6.478346383317533,"y":4.692966114668726}},"velocity":1.9886992215058452,"acceleration":3.000000000000131,"curvature":0.03838133650250762,"holonomicRotation":-176.4104331314642,"angularVelocity":0.0762363944280303,"holonomicAngularVelocity":-42.78096013982343},{"time":3.658327776825728,"pose":{"rotation":{"radians":-3.103584326046359},"translation":{"x":6.4681789894255735,"y":4.6925794828331195}},"velocity":2.0039892833960278,"acceleration":3.0,"curvature":0.040821976939701264,"holonomicRotation":-176.62847430755065,"angularVelocity":0.08170811659878985,"holonomicAngularVelocity":-41.390300375838635},{"time":3.6634368858561173,"pose":{"rotation":{"radians":-3.103166870369988},"translation":{"x":6.457908822016568,"y":4.692184649258202}},"velocity":2.019316610487196,"acceleration":3.000000000000087,"curvature":0.04312273419265821,"holonomicRotation":-176.83994186497137,"angularVelocity":0.08697392288728195,"holonomicAngularVelocity":-40.000113647085456},{"time":3.6685583849444368,"pose":{"rotation":{"radians":-3.102721433503213},"translation":{"x":6.447535391125055,"y":4.691781218131482}},"velocity":2.034681107752154,"acceleration":2.9999999999999134,"curvature":0.0452901215549366,"holonomicRotation":-177.0448024105476,"angularVelocity":0.09204087565012288,"holonomicAngularVelocity":-38.6105703366034},{"time":3.6736922429048016,"pose":{"rotation":{"radians":-3.102248908721078},"translation":{"x":6.437058206785571,"y":4.691368793640474}},"velocity":2.050082681633248,"acceleration":2.9999999999999134,"curvature":0.047330346027602846,"holonomicRotation":-177.2430235944244,"angularVelocity":0.09691577391672479,"holonomicAngularVelocity":-37.22184074724027},{"time":3.6788384290393155,"pose":{"rotation":{"radians":-3.101750162109132},"translation":{"x":6.426476779032656,"y":4.690946979972686}},"velocity":2.06552124003679,"acceleration":3.000000000000086,"curvature":0.04924931862347567,"holonomicRotation":-177.43457411517892,"angularVelocity":0.10160516385308854,"holonomicAngularVelocity":-35.83409508235014},{"time":3.6839969131355317,"pose":{"rotation":{"radians":-3.1012260334873023},"translation":{"x":6.415790617900846,"y":4.6905153813156275}},"velocity":2.0809966923254386,"acceleration":3.0,"curvature":0.05105267293597494,"holonomicRotation":-177.61942372476352,"angularVelocity":0.10611534927629891,"holonomicAngularVelocity":-34.44750342468084},{"time":3.689167665463284,"pose":{"rotation":{"radians":-3.1006773372980216},"translation":{"x":6.40499923342468,"y":4.6900736018568105}},"velocity":2.0965089493086952,"acceleration":3.0,"curvature":0.05274577802245623,"holonomicRotation":-177.79754323328194,"angularVelocity":0.11045240198495107,"holonomicAngularVelocity":-33.06223571379385},{"time":3.694350656770962,"pose":{"rotation":{"radians":-3.1001048634586215},"translation":{"x":6.394102135638697,"y":4.689621245783744}},"velocity":2.1120579232317302,"acceleration":3.0000000000000857,"curvature":0.054333751308419866,"holonomicRotation":-177.96890451359894,"angularVelocity":0.11462217066466143,"holonomicAngularVelocity":-31.678461722016284},{"time":3.699545858281288,"pose":{"rotation":{"radians":-3.0995093781844676},"translation":{"x":6.383098834577433,"y":4.689157917283939}},"velocity":2.1276435277627077,"acceleration":3.0,"curvature":0.05582147022244079,"holonomicRotation":-178.13348050578196,"angularVelocity":0.11863029045365271,"holonomicAngularVelocity":-30.296351029217067},{"time":3.7047532416866287,"pose":{"rotation":{"radians":-3.0988916247785885},"translation":{"x":6.371988840275429,"y":4.688683220544904}},"velocity":2.1432656779787305,"acceleration":3.0000000000000853,"curvature":0.057213586680764955,"holonomicRotation":-178.29124522137388,"angularVelocity":0.12248219125181202,"holonomicAngularVelocity":-28.916072996598047},{"time":3.7099727791439183,"pose":{"rotation":{"radians":-3.0982523243934987},"translation":{"x":6.36077166276722,"y":4.6881967597541525}},"velocity":2.1589242903506,"acceleration":3.0000000000000853,"curvature":0.05851453534878741,"holonomicRotation":-178.44217374749735,"angularVelocity":0.12618310649740674,"holonomicAngularVelocity":-27.537796739385367},{"time":3.715204443269213,"pose":{"rotation":{"radians":-3.097592176762018},"translation":{"x":6.349446812087344,"y":4.687698139099191}},"velocity":2.174619282726484,"acceleration":3.000000000000085,"curvature":0.05972854641418576,"holonomicRotation":-178.58624225078844,"angularVelocity":0.12973808042323481,"holonomicAngularVelocity":-26.161691098897105},{"time":3.7204482071319274,"pose":{"rotation":{"radians":-3.0969118609042767},"translation":{"x":6.3380137982703415,"y":4.687186962767532}},"velocity":2.190350574314627,"acceleration":2.999999999999915,"curvature":0.06085965486229711,"holonomicRotation":-178.72342798116034,"angularVelocity":0.13315197633846085,"holonomicAngularVelocity":-24.787924613849523},{"time":3.725704044248798,"pose":{"rotation":{"radians":-3.0962120358048524},"translation":{"x":6.326472131350749,"y":4.686662834946685}},"velocity":2.2061180856652385,"acceleration":3.0,"curvature":0.06191170921918001,"holonomicRotation":-178.853709275396,"angularVelocity":0.13642948336875257,"holonomicAngularVelocity":-23.41666549100805},{"time":3.730971928577594,"pose":{"rotation":{"radians":-3.0954933410674284},"translation":{"x":6.314821321363105,"y":4.686125359824161}},"velocity":2.221921738651627,"acceleration":2.9999999999999156,"curvature":0.06288838243113597,"holonomicRotation":-178.97706556056875,"angularVelocity":0.13957512366900013,"holonomicAngularVelocity":-22.04808157550228},{"time":3.7362518345106226,"pose":{"rotation":{"radians":-3.0947563975438652},"translation":{"x":6.303060878341946,"y":4.685574141587469}},"velocity":2.2377614564507113,"acceleration":2.9999999999998317,"curvature":0.06379317838832801,"holonomicRotation":-179.09347735729114,"angularVelocity":0.1425932588367463,"holonomicAngularVelocity":-20.68234032066996},{"time":3.74154373686804,"pose":{"rotation":{"radians":-3.094001807941275},"translation":{"x":6.291190312321812,"y":4.68500878442412}},"velocity":2.253637163522964,"acceleration":3.000000000000084,"curvature":0.06462944203309579,"holonomicRotation":-179.202926282791,"angularVelocity":0.14548809655753636,"holonomicAngularVelocity":-19.319608757538614},{"time":3.746847610891021,"pose":{"rotation":{"radians":-3.0932301574052907},"translation":{"x":6.2792091333372415,"y":4.684428892521624}},"velocity":2.2695487855919065,"acceleration":2.9999999999998326,"curvature":0.06540036522226693,"holonomicRotation":-179.30539505381427,"angularVelocity":0.1482636962892519,"holonomicAngularVelocity":-17.960053464123995},{"time":3.7521634322347883,"pose":{"rotation":{"radians":-3.0924420140840505},"translation":{"x":6.26711685142277,"y":4.683834070067491}},"velocity":2.2854962496232076,"acceleration":2.9999999999999165,"curvature":0.06610899510016172,"holonomicRotation":-179.40086748935406,"angularVelocity":0.15092397535757435,"holonomicAngularVelocity":-16.603840534623163},{"time":3.7574911769615356,"pose":{"rotation":{"radians":-3.0916379296701995},"translation":{"x":6.254912976612937,"y":4.683223921249233}},"velocity":2.301479483803449,"acceleration":2.9999999999999165,"curvature":0.06675824125017313,"holonomicRotation":-179.48932851320615,"angularVelocity":0.15347271445105853,"holonomicAngularVelocity":-15.251135548285017},{"time":3.7628308215332678,"pose":{"rotation":{"radians":-3.090818439923572},"translation":{"x":6.2425970189422815,"y":4.682598050254358}},"velocity":2.3174984175186455,"acceleration":3.0,"curvature":0.06735088143150379,"holonomicRotation":-179.5707641563493,"angularVelocity":0.1559135627220994,"holonomicAngularVelocity":-13.90210353850125},{"time":3.768182342804574,"pose":{"rotation":{"radians":-3.0899840651761794},"translation":{"x":6.23016848844534,"y":4.681956061270375}},"velocity":2.3335529813325637,"acceleration":2.999999999999917,"curvature":0.06788956807312872,"holonomicRotation":-179.6451615591515,"angularVelocity":0.1582500431449947,"holonomicAngularVelocity":-12.556908961658642},{"time":3.7735457180153498,"pose":{"rotation":{"radians":-3.0891353108176713},"translation":{"x":6.21762689515665,"y":4.681297558484798}},"velocity":2.3496431069648915,"acceleration":3.0000000000000826,"curvature":0.06837683479607552,"holonomicRotation":-179.71250897340042,"angularVelocity":0.16048555733306735,"holonomicAngularVelocity":-11.215715666130684},{"time":3.778920924783489,"pose":{"rotation":{"radians":-3.088272667763706},"translation":{"x":6.204971749110751,"y":4.680622146085135}},"velocity":2.3657687272693093,"acceleration":2.9999999999999174,"curvature":0.06881510134724936,"holonomicRotation":-179.77279576415853,"angularVelocity":0.16262338996905315,"holonomicAngularVelocity":-9.878686861455574},{"time":3.7843079410975586,"pose":{"rotation":{"radians":-3.0873966129088934},"translation":{"x":6.19220256034218,"y":4.679929428258896}},"velocity":2.381929776211518,"acceleration":3.0000000000000826,"curvature":0.069206679150008,"holonomicRotation":-179.82601241144278,"angularVelocity":0.16466671352411008,"holonomicAngularVelocity":-8.545985087413165},{"time":3.789706745309469,"pose":{"rotation":{"radians":-3.086507609562358},"translation":{"x":6.179318838885476,"y":4.679219009193594}},"velocity":2.3981261888472494,"acceleration":3.0,"curvature":0.06955377647699251,"holonomicRotation":-179.87215051172763,"angularVelocity":0.16661859249109315,"holonomicAngularVelocity":-7.217772183473145},{"time":3.795117316127155,"pose":{"rotation":{"radians":-3.085606107868142},"translation":{"x":6.166320094775178,"y":4.678490493076735}},"velocity":2.4143579013003076,"acceleration":3.000000000000082,"curvature":0.06985850302397997,"holonomicRotation":-179.91120277927223,"angularVelocity":0.1684819871876902,"holonomicAngularVelocity":-5.8942092582979955},{"time":3.800539632607277,"pose":{"rotation":{"radians":-3.0846925452124103},"translation":{"x":6.153205838045821,"y":4.677743484095832}},"velocity":2.430624850740674,"acceleration":3.0000000000000817,"curvature":0.07012287492580531,"holonomicRotation":-179.9431630472708,"angularVelocity":0.17025975823395673,"holonomicAngularVelocity":-4.575456659583977},{"time":3.805973674147951,"pose":{"rotation":{"radians":-3.083767346613462},"translation":{"x":6.139975578731944,"y":4.676977586438393}},"velocity":2.4469269753626963,"acceleration":3.0,"curvature":0.0703488186734359,"holonomicRotation":-179.96802626882652,"angularVelocity":0.17195466959756206,"holonomicAngularVelocity":-3.261673944029342},{"time":3.8114194204815206,"pose":{"rotation":{"radians":-3.0828309251019608},"translation":{"x":6.126628826868086,"y":4.676192404291932}},"velocity":2.463264214363405,"acceleration":3.0,"curvature":0.07059013694168864,"holonomicRotation":-179.98578851774852,"angularVelocity":0.1307070391072794,"holonomicAngularVelocity":-1.3006404583346345},{"time":3.8223459468404495,"pose":{"rotation":{"radians":-3.0814027511938575},"translation":{"x":6.09958388562858,"y":4.674562603281976}},"velocity":2.496043793440191,"acceleration":2.999999999999959,"curvature":0.03932569783694887,"holonomicRotation":180.0,"angularVelocity":0.10896550924163824,"holonomicAngularVelocity":0.0},{"time":3.831281233603888,"pose":{"rotation":{"radians":-3.0804291131214594},"translation":{"x":6.077203187745394,"y":4.673192011016068}},"velocity":2.522849653730507,"acceleration":3.0000000000000497,"curvature":0.0013674118175333342,"holonomicRotation":180.0,"angularVelocity":0.003469682398266742,"holonomicAngularVelocity":0.0},{"time":3.840113482372314,"pose":{"rotation":{"radians":-3.0803984680233705},"translation":{"x":6.054845665909885,"y":4.671822150330316}},"velocity":2.5493464000357853,"acceleration":2.99999999999995,"curvature":0.0013610922041417954,"holonomicRotation":180.0,"angularVelocity":0.003489551398644234,"holonomicAngularVelocity":0.0},{"time":3.8488457753710374,"pose":{"rotation":{"radians":-3.0803679962381234},"translation":{"x":6.032511571470906,"y":4.670453041941313}},"velocity":2.5755432790319546,"acceleration":2.999999999999949,"curvature":0.0013547986171329794,"holonomicRotation":180.0,"angularVelocity":0.003508748837734642,"holonomicAngularVelocity":0.0},{"time":3.8574810353847897,"pose":{"rotation":{"radians":-3.0803376972795866},"translation":{"x":6.010201155777315,"y":4.669084706565654}},"velocity":2.601449059073211,"acceleration":2.9999999999999485,"curvature":0.001348527599292274,"holonomicRotation":180.0,"angularVelocity":0.003527292184858649,"holonomicAngularVelocity":0.0},{"time":3.8660220369974496,"pose":{"rotation":{"radians":-3.0803075706713474},"translation":{"x":5.987914670177967,"y":4.667717164919935}},"velocity":2.6270720639111897,"acceleration":2.999999999999896,"curvature":0.0013422774515609512,"holonomicRotation":180.0,"angularVelocity":0.0035451980354009333,"holonomicAngularVelocity":0.0},{"time":3.874471416833168,"pose":{"rotation":{"radians":-3.0802776159465535},"translation":{"x":5.965652366021719,"y":4.666350437720753}},"velocity":2.652420203418345,"acceleration":2.9999999999999476,"curvature":0.0013360539295293361,"holonomicRotation":180.0,"angularVelocity":0.003562482160980323,"holonomicAngularVelocity":0.0},{"time":3.8828316829052425,"pose":{"rotation":{"radians":-3.0802478326478107},"translation":{"x":5.943414494657427,"y":4.664984545684701}},"velocity":2.6775010016345684,"acceleration":3.0000000000000533,"curvature":0.001329849747994383,"holonomicRotation":180.0,"angularVelocity":0.003579159471857789,"holonomicAngularVelocity":3.435253656214194e-12},{"time":3.891105223165942,"pose":{"rotation":{"radians":-3.0802182203278208},"translation":{"x":5.921201307433945,"y":4.663619509528374}},"velocity":2.702321622416668,"acceleration":3.0000000000000537,"curvature":0.001323665016348239,"holonomicRotation":180.00000000000003,"angularVelocity":0.0035952442414198724,"holonomicAngularVelocity":-3.470679749407996e-12},{"time":3.8992943133392006,"pose":{"rotation":{"radians":-3.080188778548533},"translation":{"x":5.89901305570013,"y":4.662255349968367}},"velocity":2.7268888929364437,"acceleration":3.000000000000054,"curvature":0.0013175017760116714,"holonomicRotation":180.0,"angularVelocity":0.0036107499542372165,"holonomicAngularVelocity":0.0},{"time":3.9074011241083473,"pose":{"rotation":{"radians":-3.080159506881919},"translation":{"x":5.876849990804839,"y":4.660892087721279}},"velocity":2.7512093252438836,"acceleration":3.0,"curvature":0.0013113602057449227,"holonomicRotation":180.0,"angularVelocity":0.0036256895508246273,"holonomicAngularVelocity":0.0},{"time":3.9154277277226215,"pose":{"rotation":{"radians":-3.0801304049090663},"translation":{"x":5.854712364096927,"y":4.659529743503699}},"velocity":2.7752891360867062,"acceleration":3.0,"curvature":0.001305234640269234,"holonomicRotation":180.0,"angularVelocity":0.0036400751916016235,"holonomicAngularVelocity":0.0},{"time":3.9233761040788906,"pose":{"rotation":{"radians":-3.0801014722214783},"translation":{"x":5.832600426925251,"y":4.658168338032226}},"velocity":2.799134265155514,"acceleration":3.000000000000056,"curvature":0.0012991290772508249,"holonomicRotation":180.0,"angularVelocity":0.003653918620615005,"holonomicAngularVelocity":0.0},{"time":3.9312481463286453,"pose":{"rotation":{"radians":-3.0800727084197197},"translation":{"x":5.810514430638665,"y":4.656807892023455}},"velocity":2.822750391904778,"acceleration":3.0,"curvature":0.0012930417003089874,"holonomicRotation":180.0,"angularVelocity":0.0036672309114695605,"holonomicAngularVelocity":3.644967942196925e-12},{"time":3.9390456660547786,"pose":{"rotation":{"radians":-3.0800441131143472},"translation":{"x":5.7884546265860255,"y":4.65544842619398}},"velocity":2.8461429510831775,"acceleration":2.999999999999943,"curvature":0.0012869726411180618,"holonomicRotation":180.00000000000003,"angularVelocity":0.003680022657117894,"holonomicAngularVelocity":-3.679313330119522e-12},{"time":3.9467703980578235,"pose":{"rotation":{"radians":-3.080015685925556},"translation":{"x":5.76642126611619,"y":4.654089961260398}},"velocity":2.8693171470923122,"acceleration":3.0,"curvature":0.0012809180073938553,"holonomicRotation":180.0,"angularVelocity":0.0036923039574366674,"holonomicAngularVelocity":0.0},{"time":3.95442400478706,"pose":{"rotation":{"radians":-3.079987426483141},"translation":{"x":5.744414600578012,"y":4.6527325179393015}},"velocity":2.892277967280022,"acceleration":3.0,"curvature":0.001274883957771192,"holonomicRotation":180.0,"angularVelocity":0.003704084380670906,"holonomicAngularVelocity":0.0},{"time":3.962008080448168,"pose":{"rotation":{"radians":-3.0799593344269427},"translation":{"x":5.72243488132035,"y":4.651376116947287}},"velocity":2.9150301942633456,"acceleration":2.9999999999999414,"curvature":0.001268860450366121,"holonomicRotation":180.0,"angularVelocity":0.0037153731122719115,"holonomicAngularVelocity":0.0},{"time":3.9695241548158275,"pose":{"rotation":{"radians":-3.0799314094063273},"translation":{"x":5.700482359692058,"y":4.650020779000952}},"velocity":2.9375784173663244,"acceleration":3.000000000000059,"curvature":0.0012628578041823314,"holonomicRotation":180.0,"angularVelocity":0.0037261788982442196,"holonomicAngularVelocity":-3.815229121397599e-12},{"time":3.976973696776755,"pose":{"rotation":{"radians":-3.079903651080271},"translation":{"x":5.678557287041992,"y":4.648666524816888}},"velocity":2.9599270432491065,"acceleration":2.9999999999999405,"curvature":0.0012568658271295517,"holonomicRotation":179.99999999999997,"angularVelocity":0.00373651000511236,"holonomicAngularVelocity":3.848874544157222e-12},{"time":3.9843581176261043,"pose":{"rotation":{"radians":-3.0798760591178853},"translation":{"x":5.656659914719009,"y":4.647313375111691}},"velocity":2.982080305797154,"acceleration":3.0,"curvature":0.0012508887197716892,"holonomicRotation":180.0,"angularVelocity":0.0037463743568583938,"holonomicAngularVelocity":0.0},{"time":3.9916787741379056,"pose":{"rotation":{"radians":-3.079848633198054},"translation":{"x":5.634790494071965,"y":4.645961350601957}},"velocity":3.0040422753325577,"acceleration":2.999999999999939,"curvature":0.0012449244660812228,"holonomicRotation":180.0,"angularVelocity":0.00375577953105782,"holonomicAngularVelocity":0.0},{"time":3.9989369714281713,"pose":{"rotation":{"radians":-3.079821373009239},"translation":{"x":5.612949276449715,"y":4.644610472004281}},"velocity":3.0258168672033543,"acceleration":2.9999999999999387,"curvature":0.0012389731294664196,"holonomicRotation":180.0,"angularVelocity":0.00376473267501658,"holonomicAngularVelocity":0.0},{"time":4.006133965627534,"pose":{"rotation":{"radians":-3.0797942782500147},"translation":{"x":5.591136513201116,"y":4.6432607600352584}},"velocity":3.0474078498014423,"acceleration":3.0000000000001235,"curvature":0.0012330347835459484,"holonomicRotation":180.0,"angularVelocity":0.0037732406324566922,"holonomicAngularVelocity":0.0},{"time":4.013270966378674,"pose":{"rotation":{"radians":-3.0797673486287866},"translation":{"x":5.5693524556750225,"y":4.641912235411485}},"velocity":3.0688188520548647,"acceleration":3.000000000000062,"curvature":0.0012271073326585258,"holonomicRotation":180.0,"angularVelocity":0.0037813099243944894,"holonomicAngularVelocity":0.0},{"time":4.020349139172371,"pose":{"rotation":{"radians":-3.0797405838637553},"translation":{"x":5.547597355220291,"y":4.640564918849552}},"velocity":3.090053370435954,"acceleration":2.9999999999999374,"curvature":0.00122119081386206,"holonomicRotation":180.0,"angularVelocity":0.0037889466813192216,"holonomicAngularVelocity":-4.0484064543022505e-12},{"time":4.027369607534731,"pose":{"rotation":{"radians":-3.0797139836834524},"translation":{"x":5.525871463185779,"y":4.63921883106606}},"velocity":3.1111147755230344,"acceleration":2.999999999999937,"curvature":0.0012152852737717127,"holonomicRotation":179.99999999999997,"angularVelocity":0.003796156839741253,"holonomicAngularVelocity":0.0},{"time":4.034333455077036,"pose":{"rotation":{"radians":-3.0796875478259738},"translation":{"x":5.50417503092034,"y":4.637873992777601}},"velocity":3.1320063181499487,"acceleration":3.000000000000064,"curvature":0.0012093885301162767,"holonomicRotation":179.99999999999997,"angularVelocity":0.003802945946924001,"holonomicAngularVelocity":4.11415590254881e-12},{"time":4.041241727418586,"pose":{"rotation":{"radians":-3.079661276039672},"translation":{"x":5.4825083097728315,"y":4.636530424700771}},"velocity":3.1527311351745984,"acceleration":2.9999999999998073,"curvature":0.001203500588911042,"holonomicRotation":180.0,"angularVelocity":0.00380931929325358,"holonomicAngularVelocity":0.0},{"time":4.048095433992042,"pose":{"rotation":{"radians":-3.0796351680829916},"translation":{"x":5.460871551092109,"y":4.635188147552165}},"velocity":3.1732922548949674,"acceleration":3.000000000000065,"curvature":0.0011976214649279556,"holonomicRotation":180.0,"angularVelocity":0.0038152818965556134,"holonomicAngularVelocity":0.0},{"time":4.054895549739913,"pose":{"rotation":{"radians":-3.0796092237244843},"translation":{"x":5.439265006227028,"y":4.633847182048378}},"velocity":3.193692602138579,"acceleration":2.999999999999804,"curvature":0.0011917488815213972,"holonomicRotation":180.0,"angularVelocity":0.0038208385318493823,"holonomicAngularVelocity":0.0},{"time":4.061643016710099,"pose":{"rotation":{"radians":-3.0795834427426922},"translation":{"x":5.417688926526445,"y":4.632507548906006}},"velocity":3.2139350030491363,"acceleration":2.9999999999999343,"curvature":0.0011858874517662152,"holonomicRotation":180.0,"angularVelocity":0.00382599366514446,"holonomicAngularVelocity":0.0},{"time":4.068338745557746,"pose":{"rotation":{"radians":-3.0795578249265376},"translation":{"x":5.396143563339216,"y":4.631169268841643}},"velocity":3.2340221895920753,"acceleration":2.999999999999801,"curvature":0.0011800279092963844,"holonomicRotation":180.0,"angularVelocity":0.003830751534253536,"holonomicAngularVelocity":0.0},{"time":4.07498361696003,"pose":{"rotation":{"radians":-3.0795323700752184},"translation":{"x":5.374629168014197,"y":4.629832362571885}},"velocity":3.253956803798929,"acceleration":3.0000000000001337,"curvature":0.0011741748406209865,"holonomicRotation":180.0,"angularVelocity":0.0038351161598988016,"holonomicAngularVelocity":0.0},{"time":4.08157848294998,"pose":{"rotation":{"radians":-3.079507077998088},"translation":{"x":5.353145991900242,"y":4.628496850813327}},"velocity":3.273741401768778,"acceleration":3.0,"curvature":0.0011683282396581904,"holonomicRotation":180.0,"angularVelocity":0.0038390912908596773,"holonomicAngularVelocity":0.0},{"time":4.088124168174902,"pose":{"rotation":{"radians":-3.0794819485149483},"translation":{"x":5.331694286346211,"y":4.627162754282564}},"velocity":3.2933784574435436,"acceleration":2.999999999999864,"curvature":0.0011624856990283354,"holonomicRotation":180.0,"angularVelocity":0.003842680474203097,"holonomicAngularVelocity":0.0},{"time":4.094621471084578,"pose":{"rotation":{"radians":-3.0794569814559223},"translation":{"x":5.310274302700956,"y":4.62583009369619}},"velocity":3.312870366172571,"acceleration":3.000000000000137,"curvature":0.0011566471615604918,"holonomicRotation":180.0,"angularVelocity":0.003845886989243182,"holonomicAngularVelocity":0.0},{"time":4.1010711650539395,"pose":{"rotation":{"radians":-3.079432176661801},"translation":{"x":5.288886292313334,"y":4.624498889770803}},"velocity":3.332219448080657,"acceleration":3.0,"curvature":0.0011508150336916865,"holonomicRotation":180.0,"angularVelocity":0.0038487139820673486,"holonomicAngularVelocity":0.0},{"time":4.1074739994446015,"pose":{"rotation":{"radians":-3.0794075339835567},"translation":{"x":5.267530506532203,"y":4.623169163222995}},"velocity":3.3514279512526435,"acceleration":3.0000000000001386,"curvature":0.0011449794237183238,"holonomicRotation":180.0,"angularVelocity":0.003851164271085375,"holonomicAngularVelocity":0.0},{"time":4.113830700609255,"pose":{"rotation":{"radians":-3.0793830532831494},"translation":{"x":5.2462071967064166,"y":4.621840934769364}},"velocity":3.3704980547466055,"acceleration":3.00000000000014,"curvature":0.0011391500980912194,"holonomicRotation":180.0,"angularVelocity":0.003853240589211299,"holonomicAngularVelocity":0.0},{"time":4.120141972842647,"pose":{"rotation":{"radians":-3.07935873443281},"translation":{"x":5.224916614184832,"y":4.620514225126503}},"velocity":3.3894318714467797,"acceleration":2.99999999999993,"curvature":0.0011333195152129173,"holonomicRotation":180.0,"angularVelocity":0.003854945373798621,"holonomicAngularVelocity":0.0},{"time":4.126408499282564,"pose":{"rotation":{"radians":-3.079334577315701},"translation":{"x":5.203659010316303,"y":4.619189055011008}},"velocity":3.408231450766532,"acceleration":2.999999999999929,"curvature":0.0011274900600636837,"holonomicRotation":180.0,"angularVelocity":0.003856280888150904,"holonomicAngularVelocity":4.5676123077967555e-12},{"time":4.132630942764006,"pose":{"rotation":{"radians":-3.0793105818258257},"translation":{"x":5.182434636449689,"y":4.617865445139475}},"velocity":3.426898781210859,"acceleration":3.000000000000214,"curvature":0.0011216590646324369,"holonomicRotation":180.00000000000003,"angularVelocity":0.0038572492598493422,"holonomicAngularVelocity":-9.199447046546746e-12},{"time":4.138809946629477,"pose":{"rotation":{"radians":-3.079286747867739},"translation":{"x":5.161243743933843,"y":4.616543416228497}},"velocity":3.445435792807273,"acceleration":3.000000000000144,"curvature":0.001115826369235983,"holonomicRotation":179.99999999999997,"angularVelocity":0.0038578523205289586,"holonomicAngularVelocity":4.6318178985095865e-12},{"time":4.144946135498118,"pose":{"rotation":{"radians":-3.079263075357273},"translation":{"x":5.140086584117623,"y":4.615222988994671}},"velocity":3.4638443594131934,"acceleration":2.9999999999998552,"curvature":0.0011099944497660321,"holonomicRotation":180.0,"angularVelocity":0.0038580918094011703,"holonomicAngularVelocity":0.0},{"time":4.151040115996206,"pose":{"rotation":{"radians":-3.0792395642210266},"translation":{"x":5.118963408349884,"y":4.613904184154592}},"velocity":3.482126300907458,"acceleration":3.0000000000001457,"curvature":0.0011041605774785917,"holonomicRotation":180.0,"angularVelocity":0.0038579692230502603,"holonomicAngularVelocity":0.0},{"time":4.157092477451372,"pose":{"rotation":{"radians":-3.079216214396806},"translation":{"x":5.09787446797948,"y":4.612587022424854}},"velocity":3.5002833852729585,"acceleration":3.0000000000000733,"curvature":0.0010983192371020172,"holonomicRotation":180.0,"angularVelocity":0.0038574859059775863,"holonomicAngularVelocity":0.0},{"time":4.1631037925527,"pose":{"rotation":{"radians":-3.079193025833526},"translation":{"x":5.07682001435527,"y":4.611271524522055}},"velocity":3.518317330576942,"acceleration":2.999999999999852,"curvature":0.0010924755486477738,"holonomicRotation":180.0,"angularVelocity":0.0038566430258508456,"holonomicAngularVelocity":0.0},{"time":4.169074617978741,"pose":{"rotation":{"radians":-3.079169998491288},"translation":{"x":5.055800298826109,"y":4.609957711162786}},"velocity":3.5362298068550637,"acceleration":2.9999999999998512,"curvature":0.001086626633608367,"holonomicRotation":180.0,"angularVelocity":0.003855441538250985,"holonomicAngularVelocity":0.0},{"time":4.175005494995327,"pose":{"rotation":{"radians":-3.07914713234168},"translation":{"x":5.034815572740854,"y":4.6086456030636445}},"velocity":3.554022437904822,"acceleration":3.0000000000001497,"curvature":0.001080772274040707,"holonomicRotation":180.0,"angularVelocity":0.0038538822534084577,"holonomicAngularVelocity":0.0},{"time":4.180896950024939,"pose":{"rotation":{"radians":-3.0791244273676948},"translation":{"x":5.013866087448358,"y":4.607335220941226}},"velocity":3.571696802993659,"acceleration":3.0,"curvature":0.0010749122547061645,"holonomicRotation":180.0,"angularVelocity":0.003851965838285611,"holonomicAngularVelocity":0.0},{"time":4.18674949518926,"pose":{"rotation":{"radians":-3.0791018835636548},"translation":{"x":4.992952094297479,"y":4.606026585512125}},"velocity":3.589254438486622,"acceleration":3.000000000000152,"curvature":0.0010690463632656625,"holonomicRotation":180.0,"angularVelocity":0.0038496927111044106,"holonomicAngularVelocity":4.888382552584366e-12},{"time":4.192563628826444,"pose":{"rotation":{"radians":-3.0790795009357703},"translation":{"x":4.972073844637072,"y":4.604719717492937}},"velocity":3.6066968393981726,"acceleration":2.999999999999771,"curvature":0.0010631686721434648,"holonomicRotation":180.00000000000003,"angularVelocity":0.0038470632120556985,"holonomicAngularVelocity":-4.9204795902549156e-12},{"time":4.198339835984521,"pose":{"rotation":{"radians":-3.0790572795017073},"translation":{"x":4.951231589815994,"y":4.603414637600257}},"velocity":3.6240254608724047,"acceleration":3.0,"curvature":0.0010572874603235437,"holonomicRotation":180.0,"angularVelocity":0.003844077432462867,"holonomicAngularVelocity":0.0},{"time":4.204078588892277,"pose":{"rotation":{"radians":-3.079035219291164},"translation":{"x":4.930425581183101,"y":4.602111366550679}},"velocity":3.6412417195956728,"acceleration":3.000000000000155,"curvature":0.0010513938518260013,"holonomicRotation":180.0,"angularVelocity":0.0038407353474182106,"holonomicAngularVelocity":0.0},{"time":4.209780347408837,"pose":{"rotation":{"radians":-3.079013320345687},"translation":{"x":4.909656070087248,"y":4.6008099250608}},"velocity":3.658346995145354,"acceleration":3.0000000000002336,"curvature":0.0010454874539657997,"holonomicRotation":180.0,"angularVelocity":0.0038370367628684683,"holonomicAngularVelocity":0.0},{"time":4.215445559453131,"pose":{"rotation":{"radians":-3.0789915827188037},"translation":{"x":4.888923307877291,"y":4.599510333847214}},"velocity":3.6753426312782347,"acceleration":2.9999999999999214,"curvature":0.0010395738433095993,"holonomicRotation":180.0,"angularVelocity":0.003832981286673866,"holonomicAngularVelocity":0.0},{"time":4.221074661414317,"pose":{"rotation":{"radians":-3.0789700064763257},"translation":{"x":4.868227545902085,"y":4.598212613626518}},"velocity":3.6922299371617924,"acceleration":2.999999999999921,"curvature":0.0010336437615757303,"holonomicRotation":180.0,"angularVelocity":0.0038285684265940293,"holonomicAngularVelocity":0.0},{"time":4.226668078544194,"pose":{"rotation":{"radians":-3.0789485916961055},"translation":{"x":4.847569035510489,"y":4.5969167851153045}},"velocity":3.709010188551424,"acceleration":2.999999999999841,"curvature":0.001027699761545663,"holonomicRotation":180.0,"angularVelocity":0.0038237974396245233,"holonomicAngularVelocity":0.0},{"time":4.232226225332553,"pose":{"rotation":{"radians":-3.078927338468647},"translation":{"x":4.826948028051357,"y":4.595622869030171}},"velocity":3.7256846289165004,"acceleration":2.99999999999992,"curvature":0.0010217476155143074,"holonomicRotation":180.0,"angularVelocity":0.0038186675227277794,"holonomicAngularVelocity":0.0},{"time":4.237749505866362,"pose":{"rotation":{"radians":-3.0789062468966537},"translation":{"x":4.806364774873544,"y":4.59433088608771}},"velocity":3.7422544705179264,"acceleration":2.9999999999999196,"curvature":0.0010157746336269037,"holonomicRotation":180.0,"angularVelocity":0.0038131775774269735,"holonomicAngularVelocity":0.0},{"time":4.24323831417363,"pose":{"rotation":{"radians":-3.0788853170958896},"translation":{"x":4.785819527325908,"y":4.59304085700452}},"velocity":3.7587208954397315,"acceleration":3.000000000000243,"curvature":0.0010097896717201583,"holonomicRotation":180.0,"angularVelocity":0.003807326520061226,"holonomicAngularVelocity":0.0},{"time":4.248693034552743,"pose":{"rotation":{"radians":-3.0788645491943307},"translation":{"x":4.765312536757303,"y":4.591752802497193}},"velocity":3.7750850565770713,"acceleration":3.0000000000000813,"curvature":0.0010037860329248887,"holonomicRotation":180.0,"angularVelocity":0.003801112896081752,"holonomicAngularVelocity":0.0},{"time":4.254114041888003,"pose":{"rotation":{"radians":-3.078843943333439},"translation":{"x":4.744844054516586,"y":4.5904667432823265}},"velocity":3.791348078582851,"acceleration":3.000000000000164,"curvature":0.0009977664229775668,"holonomicRotation":180.0,"angularVelocity":0.0037945353040517212,"holonomicAngularVelocity":0.0},{"time":4.25950170195208,"pose":{"rotation":{"radians":-3.0788234996671195},"translation":{"x":4.724414331952614,"y":4.589182700076513}},"velocity":3.8075110587750824,"acceleration":3.0000000000000826,"curvature":0.000991723876075137,"holonomicRotation":180.0,"angularVelocity":0.003787591948840341,"holonomicAngularVelocity":5.307836111184623e-12},{"time":4.2648563716960295,"pose":{"rotation":{"radians":-3.0788032183631087},"translation":{"x":4.70402362041424,"y":4.587900693596352}},"velocity":3.823575068006932,"acceleration":3.000000000000083,"curvature":0.000985667666884073,"holonomicRotation":180.00000000000003,"angularVelocity":0.003780281132968118,"holonomicAngularVelocity":-5.340390980744919e-12},{"time":4.27017839952749,"pose":{"rotation":{"radians":-3.0787830996017083},"translation":{"x":4.683672171250323,"y":4.586620744558434}},"velocity":3.8395411515013143,"acceleration":3.0000000000002505,"curvature":0.0009795840768216486,"holonomicRotation":180.0,"angularVelocity":0.003772600710608688,"holonomicAngularVelocity":0.0},{"time":4.275468125577648,"pose":{"rotation":{"radians":-3.0787631435774525},"translation":{"x":4.6633602358097175,"y":4.585342873679358}},"velocity":3.8554103296517876,"acceleration":2.999999999999832,"curvature":0.0009734858729343357,"holonomicRotation":180.0,"angularVelocity":0.0037645486264464884,"holonomicAngularVelocity":0.0},{"time":4.2807258819575145,"pose":{"rotation":{"radians":-3.0787433504978945},"translation":{"x":4.643088065441278,"y":4.584067101675716}},"velocity":3.8711835987913883,"acceleration":3.0000000000001688,"curvature":0.0009673589994577593,"holonomicRotation":180.0,"angularVelocity":0.003756122465791113,"holonomicAngularVelocity":0.0},{"time":4.285951993004034,"pose":{"rotation":{"radians":-3.078723720584784},"translation":{"x":4.622855911493864,"y":4.582793449264105}},"velocity":3.8868619319309476,"acceleration":2.999999999999915,"curvature":0.0009612130554971834,"holonomicRotation":180.0,"angularVelocity":0.0037473197648310017,"holonomicAngularVelocity":0.0},{"time":4.291146775516513,"pose":{"rotation":{"radians":-3.078704254073601},"translation":{"x":4.6026640253163285,"y":4.581521937161119}},"velocity":3.9024462794683834,"acceleration":3.000000000000171,"curvature":0.0009550370225594924,"holonomicRotation":180.0,"angularVelocity":0.0037381378207101638,"holonomicAngularVelocity":0.0},{"time":4.296310538983821,"pose":{"rotation":{"radians":-3.0786849512140866},"translation":{"x":4.582512658257528,"y":4.580252586083355}},"velocity":3.9179375698703085,"acceleration":2.999999999999914,"curvature":0.0009488407305347744,"holonomicRotation":180.0,"angularVelocity":0.003728573835736291,"holonomicAngularVelocity":0.0},{"time":4.301443585802815,"pose":{"rotation":{"radians":-3.0786658122700197},"translation":{"x":4.562402061666319,"y":4.578985416747406}},"velocity":3.9333367103272896,"acceleration":2.9999999999999134,"curvature":0.0009426128740744044,"holonomicRotation":180.0,"angularVelocity":0.0037186247130336463,"holonomicAngularVelocity":0.0},{"time":4.306546211488379,"pose":{"rotation":{"radians":-3.078646837520044},"translation":{"x":4.542332486891557,"y":4.577720449869869}},"velocity":3.9486445873839795,"acceleration":2.999999999999739,"curvature":0.0009363598671680883,"holonomicRotation":180.0,"angularVelocity":0.0037082873346208256,"holonomicAngularVelocity":0.0},{"time":4.311618704875481,"pose":{"rotation":{"radians":-3.0786280272570616},"translation":{"x":4.522304185282098,"y":4.5764577061673375}},"velocity":3.9638620675452856,"acceleration":3.0,"curvature":0.0009300736651833333,"holonomicRotation":180.0,"angularVelocity":0.0036931834756009437,"holonomicAngularVelocity":0.0},{"time":4.316667321636686,"pose":{"rotation":{"radians":-3.0786093817890645},"translation":{"x":4.502317408186799,"y":4.575197206356408}},"velocity":3.9695923303845277,"acceleration":1.1350164035572954,"curvature":0.00092376083330828,"holonomicRotation":180.0,"angularVelocity":0.003663793599480924,"holonomicAngularVelocity":0.0},{"time":4.321711369443058,"pose":{"rotation":{"radians":-3.078590901438996},"translation":{"x":4.482372406954515,"y":4.573938971153675}},"velocity":3.954460186965411,"acceleration":-3.0000000000001763,"curvature":0.0009174131001455808,"holonomicRotation":180.0,"angularVelocity":0.0036247453005607963,"holonomicAngularVelocity":0.0},{"time":4.326764108999662,"pose":{"rotation":{"radians":-3.0785725865450333},"translation":{"x":4.4624694329341015,"y":4.572683021275735}},"velocity":3.9393019682956005,"acceleration":-2.999999999999912,"curvature":0.0009110371879433318,"holonomicRotation":180.0,"angularVelocity":0.003585735435104435,"holonomicAngularVelocity":0.0},{"time":4.331825576774919,"pose":{"rotation":{"radians":-3.078554437460678},"translation":{"x":4.442608737474414,"y":4.5714293774391805}},"velocity":3.924117564969828,"acceleration":-3.0000000000001754,"curvature":0.0009046245865669182,"holonomicRotation":180.0,"angularVelocity":0.0035467610075379345,"holonomicAngularVelocity":-5.605602008369735e-12},{"time":4.336895809978769,"pose":{"rotation":{"radians":-3.0785364545552514},"translation":{"x":4.422790571924311,"y":4.570178060360608}},"velocity":3.9089068653582792,"acceleration":-2.999999999999825,"curvature":0.0008981742629696644,"holonomicRotation":179.99999999999997,"angularVelocity":0.0035078190602900196,"holonomicAngularVelocity":0.0},{"time":4.341974846579631,"pose":{"rotation":{"radians":-3.078518638213855},"translation":{"x":4.403015187632646,"y":4.568929090756614}},"velocity":3.893669755555692,"acceleration":-3.000000000000175,"curvature":0.0008916851545451072,"holonomicRotation":179.99999999999997,"angularVelocity":0.0034689066110134207,"holonomicAngularVelocity":0.0},{"time":4.347062725321863,"pose":{"rotation":{"radians":-3.07850098883765},"translation":{"x":4.383282835948276,"y":4.567682489343792}},"velocity":3.8784061193289956,"acceleration":-2.9999999999998255,"curvature":0.0008851602380471372,"holonomicRotation":179.99999999999997,"angularVelocity":0.0034300206699517345,"holonomicAngularVelocity":5.576426411676066e-12},{"time":4.352159485743716,"pose":{"rotation":{"radians":-3.0784835068440533},"translation":{"x":4.363593768220056,"y":4.5664382768387375}},"velocity":3.8631158380634387,"acceleration":-2.999999999999826,"curvature":0.0008786026882335771,"holonomicRotation":180.0,"angularVelocity":0.0033911582077324,"holonomicAngularVelocity":0.0},{"time":4.357265168195811,"pose":{"rotation":{"radians":-3.0784661926670998},"translation":{"x":4.343948235796843,"y":4.565196473958046}},"velocity":3.8477987907071527,"acceleration":-3.000000000000087,"curvature":0.0008719949561249926,"holonomicRotation":180.0,"angularVelocity":0.003352316224329151,"holonomicAngularVelocity":0.0},{"time":4.362379813860163,"pose":{"rotation":{"radians":-3.0784490467574575},"translation":{"x":4.324346490027493,"y":4.563957101418312}},"velocity":3.8324548537140974,"acceleration":-2.9999999999998264,"curvature":0.0008653524865113584,"holonomicRotation":180.0,"angularVelocity":0.0033134916230012257,"holonomicAngularVelocity":0.0},{"time":4.367503464769752,"pose":{"rotation":{"radians":-3.0784320695830893},"translation":{"x":4.304788782260861,"y":4.562720179936132}},"velocity":3.8170839009853315,"acceleration":-3.0,"curvature":0.0008586614951442245,"holonomicRotation":180.0,"angularVelocity":0.003274681419551901,"holonomicAngularVelocity":0.0},{"time":4.372636163828678,"pose":{"rotation":{"radians":-3.078415261628849},"translation":{"x":4.285275363845804,"y":4.5614857302281}},"velocity":3.801685803808555,"acceleration":-2.9999999999997407,"curvature":0.0008519249067443706,"holonomicRotation":180.0,"angularVelocity":0.003235882494589854,"holonomicAngularVelocity":0.0},{"time":4.377777954832912,"pose":{"rotation":{"radians":-3.0783986233973475},"translation":{"x":4.265806486131176,"y":4.560253773010811}},"velocity":3.7862604307958496,"acceleration":-3.000000000000259,"curvature":0.0008451458572849723,"holonomicRotation":180.0,"angularVelocity":0.003197091752436196,"holonomicAngularVelocity":0.0},{"time":4.382928882491671,"pose":{"rotation":{"radians":-3.0783821554090123},"translation":{"x":4.246382400465835,"y":4.559024329000861}},"velocity":3.770807647819575,"acceleration":-3.0,"curvature":0.0008383141897934029,"holonomicRotation":180.0,"angularVelocity":0.003158306115896985,"holonomicAngularVelocity":0.0},{"time":4.388088992449422,"pose":{"rotation":{"radians":-3.078365858202174},"translation":{"x":4.227003358198636,"y":4.557797418914845}},"velocity":3.7553273179463207,"acceleration":-3.0,"curvature":0.0008314374619935182,"holonomicRotation":180.0,"angularVelocity":0.0031195224382956537,"holonomicAngularVelocity":0.0},{"time":4.393258331308567,"pose":{"rotation":{"radians":-3.0783497323336118},"translation":{"x":4.207669610678435,"y":4.556573063469358}},"velocity":3.739819301368886,"acceleration":-3.0000000000000857,"curvature":0.0008245098013746139,"holonomicRotation":180.0,"angularVelocity":0.003080737599645893,"holonomicAngularVelocity":0.0},{"time":4.398436946652802,"pose":{"rotation":{"radians":-3.0783337783786067},"translation":{"x":4.188381409254089,"y":4.555351283380994}},"velocity":3.7242834553361805,"acceleration":-3.0000000000000857,"curvature":0.0008175250047473879,"holonomicRotation":180.0,"angularVelocity":0.003041948392361979,"holonomicAngularVelocity":0.0},{"time":4.4036248870712,"pose":{"rotation":{"radians":-3.0783179969315912},"translation":{"x":4.169139005274452,"y":4.55413209936635}},"velocity":3.708719634080986,"acceleration":-2.9999999999998286,"curvature":0.0008104908998807617,"holonomicRotation":180.0,"angularVelocity":0.00300315167234664,"holonomicAngularVelocity":0.0},{"time":4.408822202183027,"pose":{"rotation":{"radians":-3.0783023886060215},"translation":{"x":4.1499426500883825,"y":4.552915532142021}},"velocity":3.6931276887455056,"acceleration":-3.0000000000002562,"curvature":0.000803391503332131,"holonomicRotation":180.0,"angularVelocity":0.0029643442335797357,"holonomicAngularVelocity":0.0},{"time":4.414028942663326,"pose":{"rotation":{"radians":-3.078286954034903},"translation":{"x":4.130792595044734,"y":4.551701602424601}},"velocity":3.6775074673046064,"acceleration":-3.0000000000000853,"curvature":0.0007962444930586927,"holonomicRotation":180.0,"angularVelocity":0.002925522855229994,"holonomicAngularVelocity":0.0},{"time":4.419245160269303,"pose":{"rotation":{"radians":-3.078271693871079},"translation":{"x":4.111689091492362,"y":4.5504903309306854}},"velocity":3.6618588144866773,"acceleration":-2.99999999999983,"curvature":0.0007890335309549418,"holonomicRotation":180.0,"angularVelocity":0.002886684249369426,"holonomicAngularVelocity":0.0},{"time":4.424470907867523,"pose":{"rotation":{"radians":-3.078256608787796},"translation":{"x":4.092632390780126,"y":4.54928173837687}},"velocity":3.6461815716920163,"acceleration":-3.00000000000017,"curvature":0.0007817617008308654,"holonomicRotation":180.0,"angularVelocity":0.0028478252162703298,"holonomicAngularVelocity":0.0},{"time":4.429706239461981,"pose":{"rotation":{"radians":-3.0782416994784656},"translation":{"x":4.073622744256879,"y":4.54807584547975}},"velocity":3.6304755769086414,"acceleration":-2.999999999999915,"curvature":0.0007744271431991063,"holonomicRotation":180.0,"angularVelocity":0.0028089424075495033,"holonomicAngularVelocity":0.0},{"time":4.434951210223047,"pose":{"rotation":{"radians":-3.0782269666576685},"translation":{"x":4.054660403271477,"y":4.546872672955921}},"velocity":3.6147406646254456,"acceleration":-2.999999999999831,"curvature":0.0007670226278007503,"holonomicRotation":180.0,"angularVelocity":0.0027700325733370913,"holonomicAngularVelocity":0.0},{"time":4.440205876517335,"pose":{"rotation":{"radians":-3.0782124110608713},"translation":{"x":4.0357456191727765,"y":4.5456722415219755}},"velocity":3.598976665742582,"acceleration":-2.9999999999999156,"curvature":0.0007595620247207356,"holonomicRotation":180.0,"angularVelocity":0.002731092287887277,"holonomicAngularVelocity":0.0},{"time":4.445470295938536,"pose":{"rotation":{"radians":-3.07819803344559},"translation":{"x":4.016878643309634,"y":4.544474571894512}},"velocity":3.5831834074789772,"acceleration":-3.0000000000001688,"curvature":0.0007520218636868127,"holonomicRotation":180.0,"angularVelocity":0.0026921182973960248,"holonomicAngularVelocity":0.0},{"time":4.450744527339241,"pose":{"rotation":{"radians":-3.0781838345907313},"translation":{"x":3.9980597270309053,"y":4.543279684790124}},"velocity":3.5673607132768628,"acceleration":-3.0,"curvature":0.000744421697415361,"holonomicRotation":180.0,"angularVelocity":0.002653107137280534,"holonomicAngularVelocity":0.0},{"time":4.456028630863791,"pose":{"rotation":{"radians":-3.078169815297956},"translation":{"x":3.979289121685446,"y":4.542087600925407}},"velocity":3.5515084027032104,"acceleration":-3.0000000000002522,"curvature":0.0007367371009111293,"holonomicRotation":180.0,"angularVelocity":0.002614055432321199,"holonomicAngularVelocity":0.0},{"time":4.461322667982212,"pose":{"rotation":{"radians":-3.078155976391468},"translation":{"x":3.9605670786221117,"y":4.5408983410169546}},"velocity":3.535626291347948,"acceleration":-3.000000000000168,"curvature":0.000728976635585427,"holonomicRotation":180.0,"angularVelocity":0.0025749597096425174,"holonomicAngularVelocity":0.0},{"time":4.466626701525251,"pose":{"rotation":{"radians":-3.078142318718796},"translation":{"x":3.941893849189758,"y":4.539711925781365}},"velocity":3.5197141907188296,"acceleration":-3.0000000000001674,"curvature":0.0007211436818976839,"holonomicRotation":180.0,"angularVelocity":0.0025358165705179425,"holonomicAngularVelocity":0.0},{"time":4.471940795720583,"pose":{"rotation":{"radians":-3.078128843150678},"translation":{"x":3.9232696847372424,"y":4.538528375935232}},"velocity":3.503771908132834,"acceleration":-3.0000000000000835,"curvature":0.0007132359389905609,"holonomicRotation":180.0,"angularVelocity":0.0024966224763504396,"holonomicAngularVelocity":0.0},{"time":4.477265016230215,"pose":{"rotation":{"radians":-3.0781155505820847},"translation":{"x":3.9046948366134195,"y":4.5373477121951495}},"velocity":3.487799246603939,"acceleration":-2.9999999999999165,"curvature":0.0007052448712342844,"holonomicRotation":180.0,"angularVelocity":0.002457373911524374,"holonomicAngularVelocity":0.0},{"time":4.482599430189145,"pose":{"rotation":{"radians":-3.078102441932389},"translation":{"x":3.886169556167146,"y":4.536169955277714}},"velocity":3.471796004727148,"acceleration":-2.9999999999998335,"curvature":0.0006971613445239758,"holonomicRotation":180.0,"angularVelocity":0.002418067337567332,"holonomicAngularVelocity":0.0},{"time":4.48794410624533,"pose":{"rotation":{"radians":-3.0780895181457875},"translation":{"x":3.8676940947472778,"y":4.5349951258995205}},"velocity":3.455761976558595,"acceleration":-2.999999999999917,"curvature":0.000688994698162049,"holonomicRotation":180.0,"angularVelocity":0.0023786991774226115,"holonomicAngularVelocity":0.0},{"time":4.493299114600998,"pose":{"rotation":{"radians":-3.0780767801918167},"translation":{"x":3.84926870370267,"y":4.533823244777165}},"velocity":3.4396969514915874,"acceleration":-3.0000000000002487,"curvature":0.0006807356076135067,"holonomicRotation":180.0,"angularVelocity":0.002339265846155484,"holonomicAngularVelocity":0.0},{"time":4.498664527055391,"pose":{"rotation":{"radians":-3.0780642290657116},"translation":{"x":3.8308936343821784,"y":4.53265433262724}},"velocity":3.423600714128409,"acceleration":-3.0000000000000826,"curvature":0.0006723939828853692,"holonomicRotation":180.0,"angularVelocity":0.002299763672333626,"holonomicAngularVelocity":0.0},{"time":4.504040417048955,"pose":{"rotation":{"radians":-3.078051865789198},"translation":{"x":3.812569138134661,"y":4.531488410166343}},"velocity":3.407473044147716,"acceleration":-3.0000000000000826,"curvature":0.0006639535436982888,"holonomicRotation":180.0,"angularVelocity":0.0022601889969969292,"holonomicAngularVelocity":0.0},{"time":4.509426859709081,"pose":{"rotation":{"radians":-3.0780396914107646},"translation":{"x":3.7942954663089723,"y":4.530325498111069}},"velocity":3.391313716167337,"acceleration":-3.0000000000002474,"curvature":0.0006554174830855746,"holonomicRotation":180.0,"angularVelocity":0.002220538160633146,"holonomicAngularVelocity":0.0},{"time":4.51482393189743,"pose":{"rotation":{"radians":-3.0780277070060147},"translation":{"x":3.7760728702539677,"y":4.529165617178013}},"velocity":3.3751224996022904,"acceleration":-2.999999999999918,"curvature":0.0006467823006908055,"holonomicRotation":180.0,"angularVelocity":0.002180807400213438,"holonomicAngularVelocity":0.0},{"time":4.520231712258919,"pose":{"rotation":{"radians":-3.0780159136785836},"translation":{"x":3.7579016013185043,"y":4.528008788083768}},"velocity":3.3588991585178225,"acceleration":-3.000000000000082,"curvature":0.0006380442913141204,"holonomicRotation":180.0,"angularVelocity":0.0021409929338210587,"holonomicAngularVelocity":0.0},{"time":4.525650281272447,"pose":{"rotation":{"radians":-3.0780043125606142},"translation":{"x":3.7397819108514367,"y":4.526855031544932}},"velocity":3.342643451477239,"acceleration":-3.000000000000164,"curvature":0.0006291995260967616,"holonomicRotation":180.0,"angularVelocity":0.0021010910342330828,"holonomicAngularVelocity":0.0},{"time":4.531079721303416,"pose":{"rotation":{"radians":-3.0779929048128443},"translation":{"x":3.721714050201622,"y":4.5257043682781}},"velocity":3.3263551313843305,"acceleration":-3.0000000000000817,"curvature":0.0006202589786796182,"holonomicRotation":180.0,"angularVelocity":0.0020610978189418636,"holonomicAngularVelocity":0.0},{"time":4.536520116658146,"pose":{"rotation":{"radians":-3.0779816916258445},"translation":{"x":3.703698270717916,"y":4.524556818999866}},"velocity":3.310033945320142,"acceleration":-3.0,"curvature":0.000611196024208061,"holonomicRotation":180.0,"angularVelocity":0.00202100945549916,"holonomicAngularVelocity":0.0},{"time":4.541971553640242,"pose":{"rotation":{"radians":-3.0779706742201576},"translation":{"x":3.6857348237491743,"y":4.523412404426825}},"velocity":3.2936796343738513,"acceleration":-3.000000000000163,"curvature":0.0006020133515463302,"holonomicRotation":180.0,"angularVelocity":0.001980822031084708,"holonomicAngularVelocity":0.0},{"time":4.547434120609027,"pose":{"rotation":{"radians":-3.0779598538471595},"translation":{"x":3.667823960644253,"y":4.522271145275573}},"velocity":3.2772919334674984,"acceleration":-2.9999999999999187,"curvature":0.0005927303335428677,"holonomicRotation":180.0,"angularVelocity":0.0019405316359260585,"holonomicAngularVelocity":0.0},{"time":4.552907908040095,"pose":{"rotation":{"radians":-3.077949231789481},"translation":{"x":3.6499659327520075,"y":4.521133062262704}},"velocity":3.2608705711742942,"acceleration":-2.9999999999999187,"curvature":0.0005833100565662341,"holonomicRotation":180.0,"angularVelocity":0.0019001342879332158,"holonomicAngularVelocity":0.0},{"time":4.558393008588117,"pose":{"rotation":{"radians":-3.077938809361857},"translation":{"x":3.6321609914212942,"y":4.5199981761048145}},"velocity":3.244415269530229,"acceleration":-3.000000000000081,"curvature":0.0005737718432002019,"holonomicRotation":180.0,"angularVelocity":0.001859625997594177,"holonomicAngularVelocity":0.0},{"time":4.563889517151968,"pose":{"rotation":{"radians":-3.077928587911636},"translation":{"x":3.6144093880009693,"y":4.518866507518499}},"velocity":3.2279257438386746,"acceleration":-3.0,"curvature":0.000564110880737282,"holonomicRotation":180.0,"angularVelocity":0.0018190027298813864,"holonomicAngularVelocity":0.0},{"time":4.5693975309423,"pose":{"rotation":{"radians":-3.077918568819515},"translation":{"x":3.596711373839889,"y":4.517738077220354}},"velocity":3.211401702467678,"acceleration":-2.999999999999919,"curvature":0.0005543220070392411,"holonomicRotation":180.0,"angularVelocity":0.0017782604324163905,"holonomicAngularVelocity":0.0},{"time":4.574917149551658,"pose":{"rotation":{"radians":-3.07790875350014},"translation":{"x":3.579067200286908,"y":4.516612905926973}},"velocity":3.194842846639603,"acceleration":-3.0000000000002416,"curvature":0.0005443904022392291,"holonomicRotation":180.0,"angularVelocity":0.0017373949718951238,"holonomicAngularVelocity":0.0},{"time":4.580448475027265,"pose":{"rotation":{"radians":-3.0778991434030707},"translation":{"x":3.5614771186908833,"y":4.51549101435495}},"velocity":3.1782488702127827,"acceleration":-2.9999999999999196,"curvature":0.0005343283521652455,"holonomicRotation":180.0,"angularVelocity":0.0016964021869973675,"holonomicAngularVelocity":0.0},{"time":4.585991611946588,"pose":{"rotation":{"radians":-3.077889740013478},"translation":{"x":3.5439413804006707,"y":4.514372423220883}},"velocity":3.1616194594548133,"acceleration":-2.99999999999992,"curvature":0.0005241203585774505,"holonomicRotation":180.0,"angularVelocity":0.0016552779598869637,"holonomicAngularVelocity":0.0},{"time":4.591546667495829,"pose":{"rotation":{"radians":-3.0778805448524613},"translation":{"x":3.526460236765125,"y":4.513257153241366}},"velocity":3.1449542928070913,"acceleration":-2.99999999999984,"curvature":0.0005137694881500189,"holonomicRotation":180.0,"angularVelocity":0.001614018013658602,"holonomicAngularVelocity":0.0},{"time":4.597113751551456,"pose":{"rotation":{"radians":-3.077871559478512},"translation":{"x":3.5090339391331042,"y":4.512145225132994}},"velocity":3.1282530406402116,"acceleration":-3.0,"curvature":0.0005032690087441937,"holonomicRotation":180.0,"angularVelocity":0.001572618143989208,"holonomicAngularVelocity":0.0},{"time":4.602692976764939,"pose":{"rotation":{"radians":-3.077862785487712},"translation":{"x":3.4916627388534627,"y":4.511036659612363}},"velocity":3.1115153649997627,"acceleration":-2.999999999999761,"curvature":0.0004926115856442357,"holonomicRotation":180.0,"angularVelocity":0.0015310740188488432,"holonomicAngularVelocity":0.0},{"time":4.608284458650827,"pose":{"rotation":{"radians":-3.0778542245150695},"translation":{"x":3.4743468872750567,"y":4.509931477396067}},"velocity":3.0947409193421,"acceleration":-3.0,"curvature":0.00048178919676981224,"holonomicRotation":180.0,"angularVelocity":0.0014893813357284974,"holonomicAngularVelocity":0.0},{"time":4.613888315678329,"pose":{"rotation":{"radians":-3.0778458782350047},"translation":{"x":3.4570866357467427,"y":4.5088296992007}},"velocity":3.077929348259593,"acceleration":-3.0000000000001585,"curvature":0.00047081593321986133,"holonomicRotation":180.0,"angularVelocity":0.001447535692112452,"holonomicAngularVelocity":0.0},{"time":4.619504669366578,"pose":{"rotation":{"radians":-3.0778377483625814},"translation":{"x":3.4398822356173753,"y":4.507731345742862}},"velocity":3.0610802871948457,"acceleration":-2.999999999999921,"curvature":0.00045967259102724337,"holonomicRotation":180.0,"angularVelocity":0.0014055327711719602,"holonomicAngularVelocity":0.0},{"time":4.6251336443837365,"pose":{"rotation":{"radians":-3.0778298366537267},"translation":{"x":3.422733938235812,"y":4.506636437739142}},"velocity":3.0441933621433717,"acceleration":-2.9999999999998423,"curvature":0.0004483620798260938,"holonomicRotation":180.0,"angularVelocity":0.0013633680203848687,"holonomicAngularVelocity":0.0},{"time":4.630775368650152,"pose":{"rotation":{"radians":-3.077822144907282},"translation":{"x":3.405641994950908,"y":4.505544995906139}},"velocity":3.027268189344126,"acceleration":-2.9999999999998423,"curvature":0.0004368753646959968,"holonomicRotation":180.0,"angularVelocity":0.0013210370497380968,"holonomicAngularVelocity":0.0},{"time":4.6364299734457495,"pose":{"rotation":{"radians":-3.0778146749648454},"translation":{"x":3.388606657111519,"y":4.504457040960448}},"velocity":3.0103043749573324,"acceleration":-3.000000000000236,"curvature":0.00042520240343800784,"holonomicRotation":180.0,"angularVelocity":0.0012785353190139705,"holonomicAngularVelocity":0.0},{"time":4.6420975935218785,"pose":{"rotation":{"radians":-3.0778074287124033},"translation":{"x":3.371628176066502,"y":4.503372593618662}},"velocity":2.9933015147289446,"acceleration":-3.0000000000001568,"curvature":0.0004133593801947255,"holonomicRotation":180.0,"angularVelocity":0.001235858261451871,"holonomicAngularVelocity":0.0},{"time":4.647778367217832,"pose":{"rotation":{"radians":-3.0778004080812997},"translation":{"x":3.354706803164712,"y":4.502291674597379}},"velocity":2.9762591936410834,"acceleration":-3.0000000000001563,"curvature":0.0004013084811357331,"holonomicRotation":180.0,"angularVelocity":0.001193001341966915,"holonomicAngularVelocity":0.0},{"time":4.653472436582279,"pose":{"rotation":{"radians":-3.0777936150489067},"translation":{"x":3.3378427897550047,"y":4.5012143046131925}},"velocity":2.959176985547743,"acceleration":-3.0,"curvature":0.0003890654004554072,"holonomicRotation":180.0,"angularVelocity":0.0011499598961225647,"holonomicAngularVelocity":0.0},{"time":4.659179947499857,"pose":{"rotation":{"radians":-3.077787051640245},"translation":{"x":3.3210363871862367,"y":4.500140504382697}},"velocity":2.9420544527950065,"acceleration":-3.0000000000001554,"curvature":0.00037663356488570535,"holonomicRotation":180.0,"angularVelocity":0.001106729291103835,"holonomicAngularVelocity":0.0},{"time":4.664901049823202,"pose":{"rotation":{"radians":-3.077780719928726},"translation":{"x":3.304287846807264,"y":4.49907029462249}},"velocity":2.924891145824973,"acceleration":-2.9999999999998446,"curvature":0.0003639688898852217,"holonomicRotation":180.0,"angularVelocity":0.001063304851583905,"holonomicAngularVelocity":0.0},{"time":4.670635897510674,"pose":{"rotation":{"radians":-3.077774622037357},"translation":{"x":3.2875974199669415,"y":4.498003696049164}},"velocity":2.907686602762559,"acceleration":-2.999999999999845,"curvature":0.00035112137714792056,"holonomicRotation":180.0,"angularVelocity":0.0010196818339567961,"holonomicAngularVelocity":0.0},{"time":4.676384648770104,"pose":{"rotation":{"radians":-3.07776876014013},"translation":{"x":3.2709653580141262,"y":4.496940729379316}},"velocity":2.8904403489842676,"acceleration":-3.0000000000000773,"curvature":0.0003380446156927333,"holonomicRotation":180.0,"angularVelocity":0.0009758555550599739,"holonomicAngularVelocity":0.0},{"time":4.682147466208869,"pose":{"rotation":{"radians":-3.0777631364627194},"translation":{"x":3.2543919122976743,"y":4.495881415329539}},"velocity":2.8731518966679728,"acceleration":-2.9999999999997686,"curvature":0.0003247206665593278,"holonomicRotation":180.0,"angularVelocity":0.000931821116444737,"holonomicAngularVelocity":0.0},{"time":4.687924516990624,"pose":{"rotation":{"radians":-3.07775775328481},"translation":{"x":3.237877334166441,"y":4.494825774616432}},"velocity":2.8558207443227075,"acceleration":-3.000000000000077,"curvature":0.0003111877559330796,"holonomicRotation":180.0,"angularVelocity":0.0008875738530842225,"holonomicAngularVelocity":0.0},{"time":4.693715972999067,"pose":{"rotation":{"radians":-3.077752612939886},"translation":{"x":3.221421874969282,"y":4.493773827956587}},"velocity":2.8384463762973797,"acceleration":-2.999999999999847,"curvature":0.00029741002537725473,"holonomicRotation":180.0,"angularVelocity":0.0008431088309972329,"holonomicAngularVelocity":0.0},{"time":4.699522011009105,"pose":{"rotation":{"radians":-3.0777477178179664},"translation":{"x":3.205025786055054,"y":4.492725596066601}},"velocity":2.821028262267267,"acceleration":-3.0,"curvature":0.0002833881100722386,"holonomicRotation":180.0,"angularVelocity":0.0007984212653315544,"holonomicAngularVelocity":0.0},{"time":4.705342812865838,"pose":{"rotation":{"radians":-3.0777430703659827},"translation":{"x":3.188689318772612,"y":4.491681099663066}},"velocity":2.8035658566970674,"acceleration":-3.0000000000001528,"curvature":0.0002691001227423521,"holonomicRotation":180.0,"angularVelocity":0.0007535061962317458,"holonomicAngularVelocity":0.0},{"time":4.711178565671787,"pose":{"rotation":{"radians":-3.0777386730900838},"translation":{"x":3.1724127244708127,"y":4.4906403594625806}},"velocity":2.7860585982792188,"acceleration":-3.000000000000076,"curvature":0.00025459499968559756,"holonomicRotation":180.0,"angularVelocity":0.000708358795453752,"holonomicAngularVelocity":0.0},{"time":4.71702946198283,"pose":{"rotation":{"radians":-3.0777345285562205},"translation":{"x":3.156196254498512,"y":4.489603396181739}},"velocity":2.768505909346089,"acceleration":-3.000000000000228,"curvature":0.0002397744951851942,"holonomicRotation":180.0,"angularVelocity":0.0006629741177628532,"holonomicAngularVelocity":0.0},{"time":4.7228957000133365,"pose":{"rotation":{"radians":-3.0777306393922377},"translation":{"x":3.140040160204566,"y":4.488570230537135}},"velocity":2.7509071952545696,"acceleration":-2.9999999999999245,"curvature":0.00022471541072292063,"holonomicRotation":180.0,"angularVelocity":0.0006173472106692089,"holonomicAngularVelocity":0.0},{"time":4.728777483851028,"pose":{"rotation":{"radians":-3.0777270082893917},"translation":{"x":3.12394469293783,"y":4.487540883245367}},"velocity":2.733261843741497,"acceleration":-2.999999999999849,"curvature":0.00020936348043423442,"holonomicRotation":180.0,"angularVelocity":0.0005714731854333418,"holonomicAngularVelocity":0.0},{"time":4.73467502368212,"pose":{"rotation":{"radians":-3.0777236380035182},"translation":{"x":3.1079101040471606,"y":4.486515375023026}},"velocity":2.71556922424822,"acceleration":-3.000000000000226,"curvature":0.0001936805167356214,"holonomicRotation":180.0,"angularVelocity":0.0005253470019898071,"holonomicAngularVelocity":0.0},{"time":4.740588536027354,"pose":{"rotation":{"radians":-3.0777205313575364},"translation":{"x":3.0919366448814127,"y":4.48549372658671}},"velocity":2.6978286872125166,"acceleration":-3.000000000000075,"curvature":0.0001777677955195189,"holonomicRotation":180.0,"angularVelocity":0.0004789637868035413,"holonomicAngularVelocity":0.0},{"time":4.746518243989543,"pose":{"rotation":{"radians":-3.077717691242156},"translation":{"x":3.0760245667894432,"y":4.484475958653013}},"velocity":2.6800395633259475,"acceleration":-3.0000000000001497,"curvature":0.00016151895950695878,"holonomicRotation":180.0,"angularVelocity":0.00043231851131781936,"holonomicAngularVelocity":0.0},{"time":4.7524643775133315,"pose":{"rotation":{"radians":-3.077715120618563},"translation":{"x":3.060174121120108,"y":4.483462091938531}},"velocity":2.6622011627545814,"acceleration":-3.0000000000002243,"curvature":0.00014496806072031014,"holonomicRotation":180.0,"angularVelocity":0.0003854062746199716,"holonomicAngularVelocity":0.0},{"time":4.758427173657889,"pose":{"rotation":{"radians":-3.0777128225195147},"translation":{"x":3.044385559222263,"y":4.482452147159858}},"velocity":2.6443127743209085,"acceleration":-3.0,"curvature":0.00012806191287438967,"holonomicRotation":180.0,"angularVelocity":0.0003382220807401488,"holonomicAngularVelocity":0.0},{"time":4.764406876883331,"pose":{"rotation":{"radians":-3.0777108000518476},"translation":{"x":3.028659132444764,"y":4.48144614503359}},"velocity":2.626373664644581,"acceleration":-3.000000000000074,"curvature":0.00011084362088081246,"holonomicRotation":180.0,"angularVelocity":0.00029076100102063524,"holonomicAngularVelocity":0.0},{"time":4.770403739351705,"pose":{"rotation":{"radians":-3.0777090563981133},"translation":{"x":3.012995092136466,"y":4.480444106276322}},"velocity":2.608383077239459,"acceleration":-3.0000000000001483,"curvature":0.00009324104077022628,"holonomicRotation":180.0,"angularVelocity":0.00024301814833022257,"holonomicAngularVelocity":0.0},{"time":4.776418021243438,"pose":{"rotation":{"radians":-3.0777075948184645},"translation":{"x":2.9973936896462265,"y":4.479446051604651}},"velocity":2.590340231564261,"acceleration":-3.0000000000000737,"curvature":0.00007535725358537144,"holonomicRotation":180.0,"angularVelocity":0.00019498863793373624,"holonomicAngularVelocity":0.0},{"time":4.782449991090224,"pose":{"rotation":{"radians":-3.07770641865288},"translation":{"x":2.9818551763229006,"y":4.4784520017351666}},"velocity":2.5722443220239035,"acceleration":-2.9999999999998526,"curvature":0.000057118354555124813,"holonomicRotation":180.0,"angularVelocity":0.00014666749773676832,"holonomicAngularVelocity":0.0},{"time":4.788499926125383,"pose":{"rotation":{"radians":-3.077705531324047},"translation":{"x":2.9663798035153444,"y":4.47746197738447}},"velocity":2.554094516918425,"acceleration":-3.0,"curvature":0.000038410743966647964,"holonomicRotation":180.0,"angularVelocity":0.00009805006727958167,"holonomicAngularVelocity":0.0},{"time":4.794568112652816,"pose":{"rotation":{"radians":-3.0777049363379496},"translation":{"x":2.950967822572414,"y":4.476475999269154}},"velocity":2.535889957336128,"acceleration":-2.9999999999998535,"curvature":0.00001947105178596748,"holonomicRotation":180.0,"angularVelocity":0.00004913146922113939,"holonomicAngularVelocity":0.0},{"time":4.800654846435748,"pose":{"rotation":{"radians":-3.077704637287776},"translation":{"x":2.9356194848429653,"y":4.4754940881058145}},"velocity":2.5176297559873326,"acceleration":-2.999999999999927,"curvature":0,"holonomicRotation":180.0,"angularVelocity":-9.29654523584694e-8,"holonomicAngularVelocity":0.0},{"time":4.806760433106572,"pose":{"rotation":{"radians":-3.0777046378553847},"translation":{"x":2.9203350416758536,"y":4.474516264611045}},"velocity":2.499312995974861,"acceleration":-3.000000000000073,"curvature":-0.000019912453443514045,"holonomicRotation":180.0,"angularVelocity":-0.00004962793396066624,"holonomicAngularVelocity":0.0},{"time":4.812885188599172,"pose":{"rotation":{"radians":-3.077704941814346},"translation":{"x":2.9051147444199352,"y":4.473542549501441}},"velocity":2.4809387294970597,"acceleration":-2.999999999999855,"curvature":-0.00004017607858932933,"holonomicRotation":180.0,"angularVelocity":-0.00009947797356651867,"holonomicAngularVelocity":0.0},{"time":4.819029439605245,"pose":{"rotation":{"radians":-3.077705553031985},"translation":{"x":2.8899588444240667,"y":4.472572963493599}},"velocity":2.462505976478842,"acceleration":-2.9999999999999276,"curvature":-0.00006089624661214022,"holonomicRotation":180.0,"angularVelocity":-0.0001496475619904844,"holonomicAngularVelocity":0.0},{"time":4.825193524056234,"pose":{"rotation":{"radians":-3.077706475472195},"translation":{"x":2.874867593037104,"y":4.471607527304113}},"velocity":2.444013723125875,"acceleration":-3.0000000000002163,"curvature":-0.00008203189202081479,"holonomicRotation":180.0,"angularVelocity":-0.00020014114329147318,"holonomicAngularVelocity":0.0},{"time":4.831377791632644,"pose":{"rotation":{"radians":-3.077707713198578},"translation":{"x":2.859841241607902,"y":4.47064626164958}},"velocity":2.4254609203966453,"acceleration":-2.999999999999928,"curvature":-0.00010366013180943857,"holonomicRotation":180.0,"angularVelocity":-0.0002509629051877634,"holonomicAngularVelocity":0.0},{"time":4.837582604302626,"pose":{"rotation":{"radians":-3.077709270376392},"translation":{"x":2.844880041485317,"y":4.469689187246592}},"velocity":2.4068464823866997,"acceleration":-2.9999999999997855,"curvature":-0.00012574685750956096,"holonomicRotation":180.0,"angularVelocity":-0.0003021170795024283,"holonomicAngularVelocity":0.0},{"time":4.843808336891894,"pose":{"rotation":{"radians":-3.0777111512765396},"translation":{"x":2.8299842440182053,"y":4.468736324811747}},"velocity":2.3881692846188964,"acceleration":-2.9999999999998574,"curvature":-0.00014833902826351565,"holonomicRotation":180.0,"angularVelocity":-0.0003536076149598074,"holonomicAngularVelocity":0.0},{"time":4.850055377687201,"pose":{"rotation":{"radians":-3.077713360277736},"translation":{"x":2.8151541005554224,"y":4.467787695061639}},"velocity":2.369428162232977,"acceleration":-2.999999999999858,"curvature":-0.0001714153812160637,"holonomicRotation":180.0,"angularVelocity":-0.0004054383811389949,"holonomicAngularVelocity":0.0},{"time":4.856324129075786,"pose":{"rotation":{"radians":-3.0777159018701505},"translation":{"x":2.800389862445825,"y":4.466843318712863}},"velocity":2.3506219080672204,"acceleration":-3.0,"curvature":-0.0001950125073780568,"holonomicRotation":180.0,"angularVelocity":-0.0004576130268386399,"holonomicAngularVelocity":0.0},{"time":4.862615008223428,"pose":{"rotation":{"radians":-3.0777187806583988},"translation":{"x":2.785691781038268,"y":4.4659032164820145}},"velocity":2.331749270624295,"acceleration":-3.0000000000000706,"curvature":-0.00021917655971986244,"holonomicRotation":180.0,"angularVelocity":-0.0005101350360807456,"holonomicAngularVelocity":0.0},{"time":4.8689284477939365,"pose":{"rotation":{"radians":-3.077722001365122},"translation":{"x":2.7710601076816084,"y":4.464967409085689}},"velocity":2.3128089519127686,"acceleration":-3.0000000000001408,"curvature":-0.00024388652629865327,"holonomicRotation":180.0,"angularVelocity":-0.0005630076482810591,"holonomicAngularVelocity":0.0},{"time":4.8752648967132055,"pose":{"rotation":{"radians":-3.0777255688343264},"translation":{"x":2.756495093724701,"y":4.464035917240481}},"velocity":2.2937996051549625,"acceleration":-2.9999999999998597,"curvature":-0.00026914862571707107,"holonomicRotation":180.0,"angularVelocity":-0.0006162338466496879,"holonomicAngularVelocity":0.0},{"time":4.8816248209811866,"pose":{"rotation":{"radians":-3.0777294880349224},"translation":{"x":2.741996990516403,"y":4.463108761662985}},"velocity":2.27471983235102,"acceleration":-2.9999999999999303,"curvature":-0.0002950170318400425,"holonomicRotation":180.0,"angularVelocity":-0.0006698164164910014,"holonomicAngularVelocity":0.0},{"time":4.8880087045354825,"pose":{"rotation":{"radians":-3.077733764064928},"translation":{"x":2.7275660494055693,"y":4.462185963069798}},"velocity":2.2555681816881323,"acceleration":-2.9999999999999303,"curvature":-0.00032150546365536625,"holonomicRotation":180.0,"angularVelocity":-0.0007237577467990412,"holonomicAngularVelocity":0.0},{"time":4.894417050170569,"pose":{"rotation":{"radians":-3.0777384021547256},"translation":{"x":2.713202521741057,"y":4.461267542177514}},"velocity":2.2363431447828748,"acceleration":-2.999999999999792,"curvature":-0.0003486005144224654,"holonomicRotation":180.0,"angularVelocity":-0.0007780599916393997,"holonomicAngularVelocity":0.0},{"time":4.900850380517044,"pose":{"rotation":{"radians":-3.077743407671681},"translation":{"x":2.6989066588717203,"y":4.460353519702729}},"velocity":2.2170431537434503,"acceleration":-2.999999999999931,"curvature":-0.00037635842154358495,"holonomicRotation":180.0,"angularVelocity":-0.0008327248447541517,"holonomicAngularVelocity":0.0},{"time":4.907309239085712,"pose":{"rotation":{"radians":-3.07774878612368},"translation":{"x":2.6846787121464164,"y":4.459443916362037}},"velocity":2.1976665780374454,"acceleration":-3.0000000000001377,"curvature":-0.0004047661904401237,"holonomicRotation":180.0,"angularVelocity":-0.0008877537456640943,"holonomicAngularVelocity":0.0},{"time":4.91379419138177,"pose":{"rotation":{"radians":-3.0777545431643714},"translation":{"x":2.670518932914001,"y":4.458538752872034}},"velocity":2.17821172114927,"acceleration":-3.0,"curvature":-0.00043388441278234633,"holonomicRotation":180.0,"angularVelocity":-0.0009431475652224975,"holonomicAngularVelocity":0.0},{"time":4.920305826094869,"pose":{"rotation":{"radians":-3.0777606845967966},"translation":{"x":2.65642757252333,"y":4.457638049949314}},"velocity":2.1586768170099733,"acceleration":-3.0000000000001363,"curvature":-0.0004637109300007569,"holonomicRotation":180.0,"angularVelocity":-0.0009989067863578993,"holonomicAngularVelocity":0.0},{"time":4.926844756371397,"pose":{"rotation":{"radians":-3.0777672163786254},"translation":{"x":2.6424048823232593,"y":4.456741828310474}},"velocity":2.139060026180389,"acceleration":-3.000000000000136,"curvature":-0.0004942878556255621,"holonomicRotation":180.0,"angularVelocity":-0.0010550313470871885,"holonomicAngularVelocity":0.0},{"time":4.933411621175967,"pose":{"rotation":{"radians":-3.0777741446268463},"translation":{"x":2.6284511136626447,"y":4.4558501086721085}},"velocity":2.1193594317666773,"acceleration":-3.0000000000000675,"curvature":-0.0005256137359744742,"holonomicRotation":180.0,"angularVelocity":-0.001111520566709156,"holonomicAngularVelocity":0.0},{"time":4.94000708674979,"pose":{"rotation":{"radians":-3.0777814756224786},"translation":{"x":2.6145665178903426,"y":4.454962911750812}},"velocity":2.0995730350452084,"acceleration":-3.0,"curvature":-0.000557727648624467,"holonomicRotation":180.0,"angularVelocity":-0.0011683732622338153,"holonomicAngularVelocity":0.0},{"time":4.946631848174407,"pose":{"rotation":{"radians":-3.077789215816596},"translation":{"x":2.6007513463552083,"y":4.454080258263179}},"velocity":2.079698750771358,"acceleration":-2.999999999999866,"curvature":-0.0005906473665106756,"holonomicRotation":180.0,"angularVelocity":-0.0012255874821512367,"holonomicAngularVelocity":0.0},{"time":4.95328663105015,"pose":{"rotation":{"radians":-3.0777973718351848},"translation":{"x":2.587005850406099,"y":4.453202168925807}},"velocity":2.059734402144129,"acceleration":-3.0,"curvature":-0.0006244337373317023,"holonomicRotation":180.0,"angularVelocity":-0.001283160538054502,"holonomicAngularVelocity":0.0},{"time":4.959972193299687,"pose":{"rotation":{"radians":-3.077805950484838},"translation":{"x":2.5733302813918684,"y":4.45232866445529}},"velocity":2.0396777153955186,"acceleration":-3.0,"curvature":-0.0006590672071744387,"holonomicRotation":180.0,"angularVelocity":-0.0013410889139986372,"holonomicAngularVelocity":0.0},{"time":4.966689327108116,"pose":{"rotation":{"radians":-3.0778149587585224},"translation":{"x":2.5597248906613745,"y":4.451459765568222}},"velocity":2.01952631397023,"acceleration":-3.000000000000066,"curvature":-0.0006946056702208542,"holonomicRotation":180.0,"angularVelocity":-0.0013993683532186076,"holonomicAngularVelocity":0.0},{"time":4.973438861012362,"pose":{"rotation":{"radians":-3.077824403842667},"translation":{"x":2.5461899295634725,"y":4.4505954929812}},"velocity":1.9992777122574936,"acceleration":-3.0000000000000657,"curvature":-0.0007310713228624398,"holonomicRotation":180.0,"angularVelocity":-0.001457993404466107,"holonomicAngularVelocity":0.0},{"time":4.9802216621540065,"pose":{"rotation":{"radians":-3.0778342931219953},"translation":{"x":2.5327256494470176,"y":4.449735867410817}},"velocity":1.9789293088325595,"acceleration":-2.9999999999999347,"curvature":-0.0007684939104405564,"holonomicRotation":180.0,"angularVelocity":-0.0015169577562841492,"holonomicAngularVelocity":0.0},{"time":4.987038638711336,"pose":{"rotation":{"radians":-3.0778446341874584},"translation":{"x":2.519332301660867,"y":4.448880909573671}},"velocity":1.9584783791605704,"acceleration":-2.9999999999999347,"curvature":-0.000806923991226655,"holonomicRotation":180.0,"angularVelocity":-0.0015762538126060637,"holonomicAngularVelocity":0.0},{"time":4.993890742528174,"pose":{"rotation":{"radians":-3.077855434842224},"translation":{"x":2.506010137553876,"y":4.448030640186356}},"velocity":1.9379220677100573,"acceleration":-2.999999999999838,"curvature":-0.0008463812055467147,"holonomicRotation":180.0,"angularVelocity":-0.001635872824781514,"holonomicAngularVelocity":0.0},{"time":5.000778971959151,"pose":{"rotation":{"radians":-3.077866703109561},"translation":{"x":2.492759408474901,"y":4.4471850799654655}},"velocity":1.9172573794171286,"acceleration":-2.999999999999903,"curvature":-0.0008868995484790955,"holonomicRotation":180.0,"angularVelocity":-0.0016958046046154837,"holonomicAngularVelocity":0.0},{"time":5.007704374953411,"pose":{"rotation":{"radians":-3.0778784472398475},"translation":{"x":2.479580365772797,"y":4.446344249627597}},"velocity":1.8964811704343492,"acceleration":-2.9999999999999036,"curvature":-0.0009285254240009465,"holonomicRotation":180.0,"angularVelocity":-0.0017560374742474716,"holonomicAngularVelocity":0.0},{"time":5.014668052401438,"pose":{"rotation":{"radians":-3.077890675718405},"translation":{"x":2.466473260796421,"y":4.445508169889344}},"velocity":1.8755901380902666,"acceleration":-3.0000000000000955,"curvature":-0.000971290626440953,"holonomicRotation":180.0,"angularVelocity":-0.0018165581534216743,"holonomicAngularVelocity":0.0},{"time":5.021671161772746,"pose":{"rotation":{"radians":-3.0779033972738326},"translation":{"x":2.4534383448946278,"y":4.444676861467302}},"velocity":1.8545808099763426,"acceleration":-3.0000000000001585,"curvature":-0.0010152392556960833,"holonomicRotation":180.0,"angularVelocity":-0.001877351538000847,"holonomicAngularVelocity":0.0},{"time":5.028714921075679,"pose":{"rotation":{"radians":-3.077916620886193},"translation":{"x":2.4404758694162747,"y":4.443850345078068}},"velocity":1.8334495320675432,"acceleration":-3.0000000000000946,"curvature":-0.0010604142133587352,"holonomicRotation":180.0,"angularVelocity":-0.001938400571752307,"holonomicAngularVelocity":0.0},{"time":5.035800613174631,"pose":{"rotation":{"radians":-3.077930355795809},"translation":{"x":2.427586085710216,"y":4.443028641438234}},"velocity":1.8121924557706865,"acceleration":-2.9999999999999374,"curvature":-0.001106863408039355,"holonomicRotation":180.0,"angularVelocity":-0.001999686122568547,"holonomicAngularVelocity":0.0},{"time":5.042929590504597,"pose":{"rotation":{"radians":-3.077944611512844},"translation":{"x":2.414769245125309,"y":4.442211771264398}},"velocity":1.790805523780788,"acceleration":-3.000000000000031,"curvature":-0.001154622149339823,"holonomicRotation":180.0,"angularVelocity":-0.002061186646868201,"holonomicAngularVelocity":0.0},{"time":5.050103280228366,"pose":{"rotation":{"radians":-3.0779593978263113},"translation":{"x":2.40202559901041,"y":4.441399755273154}},"velocity":1.7692844546094812,"acceleration":-3.000000000000124,"curvature":-0.0012037483705744508,"holonomicRotation":180.0,"angularVelocity":-0.002122878065483492,"holonomicAngularVelocity":0.0},{"time":5.0573231898878515,"pose":{"rotation":{"radians":-3.0779747248141622},"translation":{"x":2.389355398714373,"y":4.440592614181096}},"velocity":1.7476247256310238,"acceleration":-3.0000000000000924,"curvature":-0.0012542928900249836,"holonomicRotation":180.0,"angularVelocity":-0.0021847335927891636,"holonomicAngularVelocity":0.0},{"time":5.064590913608278,"pose":{"rotation":{"radians":-3.0779906028543174},"translation":{"x":2.3767588955860552,"y":4.43979036870482}},"velocity":1.7258215544697453,"acceleration":-2.9999999999999085,"curvature":-0.0013063004335091405,"holonomicRotation":180.0,"angularVelocity":-0.002246723281120267,"holonomicAngularVelocity":0.0},{"time":5.071908138922329,"pose":{"rotation":{"radians":-3.0780070426347836},"translation":{"x":2.364236340974313,"y":4.4389930395609225}},"velocity":1.7038698785275908,"acceleration":-3.00000000000003,"curvature":-0.0013598365768486306,"holonomicRotation":180.0,"angularVelocity":-0.0023088138540094403,"holonomicAngularVelocity":0.0},{"time":5.0792766542911965,"pose":{"rotation":{"radians":-3.0780240551651508},"translation":{"x":2.3517879862280013,"y":4.438200647465998}},"velocity":1.6817643324209888,"acceleration":-3.0000000000000604,"curvature":-0.0014149449074796116,"holonomicRotation":180.0,"angularVelocity":-0.002370968378467834,"holonomicAngularVelocity":0.0},{"time":5.086698357410935,"pose":{"rotation":{"radians":-3.078041651788562},"translation":{"x":2.3394140826959764,"y":4.43741321313664}},"velocity":1.6594992230617727,"acceleration":-3.0000000000001497,"curvature":-0.001471699490338919,"holonomicRotation":180.0,"angularVelocity":-0.002433145968868771,"holonomicAngularVelocity":0.0},{"time":5.0941752644061,"pose":{"rotation":{"radians":-3.078059844194677},"translation":{"x":2.327114881727095,"y":4.436630757289446}},"velocity":1.6370685020762772,"acceleration":-3.0000000000001483,"curvature":-0.0015301530625138888,"holonomicRotation":180.0,"angularVelocity":-0.002495301134349957,"holonomicAngularVelocity":0.0},{"time":5.101709520028589,"pose":{"rotation":{"radians":-3.078078644431278},"translation":{"x":2.3148906346702116,"y":4.435853300641011}},"velocity":1.614465735208811,"acceleration":-2.9999999999998526,"curvature":-0.0015903729614565887,"holonomicRotation":180.0,"angularVelocity":-0.0025573836785145105,"holonomicAngularVelocity":0.0},{"time":5.109303408998538,"pose":{"rotation":{"radians":-3.0780980649189864},"translation":{"x":2.302741592874183,"y":4.4350808639079276}},"velocity":1.5916840682989624,"acceleration":-3.000000000000146,"curvature":-0.0016524352408647295,"holonomicRotation":180.0,"angularVelocity":-0.002619337997602517,"holonomicAngularVelocity":0.0},{"time":5.116959368646653,"pose":{"rotation":{"radians":-3.078118118465001},"translation":{"x":2.290668007687865,"y":4.434313467806793}},"velocity":1.568716189354615,"acceleration":-3.000000000000145,"curvature":-0.0017164010522636394,"holonomicRotation":180.0,"angularVelocity":-0.002681102594487019,"holonomicAngularVelocity":0.0},{"time":5.124680003044225,"pose":{"rotation":{"radians":-3.0781388182779152},"translation":{"x":2.278670130460114,"y":4.433551133054203}},"velocity":1.5455542861618992,"acceleration":-3.000000000000086,"curvature":-0.0017823499700418185,"holonomicRotation":180.0,"angularVelocity":-0.0027426094109814073,"holonomicAngularVelocity":0.0},{"time":5.132468098839341,"pose":{"rotation":{"radians":-3.0781601779827366},"translation":{"x":2.266748212539785,"y":4.4327938803667495}},"velocity":1.5221899987765508,"acceleration":-2.999999999999886,"curvature":-0.0018503652623778483,"holonomicRotation":180.0,"angularVelocity":-0.002803783387229075,"holonomicAngularVelocity":0.0},{"time":5.140326643056686,"pose":{"rotation":{"radians":-3.078182211638461},"translation":{"x":2.2549025052757345,"y":4.432041730461031}},"velocity":1.498614366124518,"acceleration":-2.999999999999859,"curvature":-0.0019205207668456657,"holonomicRotation":180.0,"angularVelocity":-0.0028645413176752394,"holonomicAngularVelocity":0.0},{"time":5.148258843165357,"pose":{"rotation":{"radians":-3.0782049337534123},"translation":{"x":2.2431332600168186,"y":4.431294704053643}},"velocity":1.4748177657985029,"acceleration":-3.000000000000168,"curvature":-0.001992903450618346,"holonomicRotation":180.0,"angularVelocity":-0.00292479130017506,"holonomicAngularVelocity":0.0},{"time":5.15626814977641,"pose":{"rotation":{"radians":-3.0782283593037087},"translation":{"x":2.231440728111893,"y":4.430552821861178}},"velocity":1.4507898459653463,"acceleration":-2.999999999999889,"curvature":-0.0020676083894774987,"holonomicRotation":180.0,"angularVelocity":-0.0029844317947118545,"holonomicAngularVelocity":0.0},{"time":5.164358282401837,"pose":{"rotation":{"radians":-3.0782525037527395},"translation":{"x":2.2198251609098136,"y":4.429816104600232}},"velocity":1.426519448089064,"acceleration":-3.000000000000082,"curvature":-0.002144730133524397,"holonomicRotation":180.0,"angularVelocity":-0.003043350260812609,"holonomicAngularVelocity":0.0},{"time":5.172533258792885,"pose":{"rotation":{"radians":-3.0782773830692713},"translation":{"x":2.2082868097594366,"y":4.429084572987401}},"velocity":1.4019945189159175,"acceleration":-3.000000000000163,"curvature":-0.0022243630957931755,"holonomicRotation":180.0,"angularVelocity":-0.003101422250956786,"holonomicAngularVelocity":0.0},{"time":5.1807974284821325,"pose":{"rotation":{"radians":-3.0783030137490313},"translation":{"x":2.196825926009617,"y":4.428358247739281}},"velocity":1.3772020098481763,"acceleration":-2.999999999999973,"curvature":-0.00230662198738206,"holonomicRotation":180.0,"angularVelocity":-0.0031585097929848808,"holonomicAngularVelocity":0.0},{"time":5.189155511286451,"pose":{"rotation":{"radians":-3.0783294128354193},"translation":{"x":2.185442761009212,"y":4.427637149572465}},"velocity":1.3521277614352207,"acceleration":-3.0000000000000533,"curvature":-0.0023916011003619463,"holonomicRotation":180.0,"angularVelocity":-0.0032144599895336913,"holonomicAngularVelocity":0.0},{"time":5.197612641694249,"pose":{"rotation":{"radians":-3.0783565979427414},"translation":{"x":2.174137566107077,"y":4.426921299203548}},"velocity":1.326756370211825,"acceleration":-3.000000000000105,"curvature":-0.002479422952780964,"holonomicRotation":180.0,"angularVelocity":-0.00326910314815242,"holonomicAngularVelocity":0.0},{"time":5.206174420270164,"pose":{"rotation":{"radians":-3.0783845872800377},"translation":{"x":2.162910592652068,"y":4.426210717349128}},"velocity":1.3010710344840806,"acceleration":-2.999999999999896,"curvature":-0.0025702135857665733,"holonomicRotation":180.0,"angularVelocity":-0.003322250546555388,"holonomicAngularVelocity":0.0},{"time":5.2148469734771465,"pose":{"rotation":{"radians":-3.0784133996746696},"translation":{"x":2.1517620919930405,"y":4.425505424725796}},"velocity":1.2750533748631325,"acceleration":-3.0000000000001537,"curvature":-0.002664095189613663,"holonomicRotation":180.0,"angularVelocity":-0.0033736924496733595,"holonomicAngularVelocity":0.0},{"time":5.223637023657716,"pose":{"rotation":{"radians":-3.078443054600596},"translation":{"x":2.1406923154788515,"y":4.424805442050152}},"velocity":1.2486832243214256,"acceleration":-2.999999999999874,"curvature":-0.002761198004935015,"holonomicRotation":180.0,"angularVelocity":-0.003423194827857695,"holonomicAngularVelocity":0.0},{"time":5.232551971357962,"pose":{"rotation":{"radians":-3.078473572203454},"translation":{"x":2.1297015144583553,"y":4.424110790038788}},"velocity":1.2219383812206865,"acceleration":-3.0000000000000746,"curvature":-0.002861663900170797,"holonomicRotation":180.0,"angularVelocity":-0.0034704966780772398,"holonomicAngularVelocity":0.0},{"time":5.241599992754123,"pose":{"rotation":{"radians":-3.0785049733316527},"translation":{"x":2.1187899402804096,"y":4.423421489408299}},"velocity":1.1947943170322024,"acceleration":-3.0000000000000493,"curvature":-0.0029656424491392116,"holonomicRotation":180.0,"angularVelocity":-0.003515305901013608,"holonomicAngularVelocity":0.0},{"time":5.250790155700543,"pose":{"rotation":{"radians":-3.0785372795656896},"translation":{"x":2.1079578442938693,"y":4.422737560875282}},"velocity":1.167223828192942,"acceleration":-3.0,"curvature":-0.0030732945099216343,"holonomicRotation":180.0,"angularVelocity":-0.003557295015339715,"holonomicAngularVelocity":0.0},{"time":5.260132558928027,"pose":{"rotation":{"radians":-3.078570513250122},"translation":{"x":2.0972054778475906,"y":4.422059025156331}},"velocity":1.1391966185104905,"acceleration":-3.0000000000000715,"curvature":-0.003184770891497345,"holonomicRotation":180.0,"angularVelocity":-0.0035960959934722234,"holonomicAngularVelocity":0.0},{"time":5.269638500281705,"pose":{"rotation":{"radians":-3.078604697527738},"translation":{"x":2.086533092290429,"y":4.421385902968042}},"velocity":1.110678794449455,"acceleration":-3.0000000000000235,"curvature":-0.0033002518540697495,"holonomicRotation":180.0,"angularVelocity":-0.003631293972777108,"holonomicAngularVelocity":0.0},{"time":5.279320681741322,"pose":{"rotation":{"radians":-3.0786398563749158},"translation":{"x":2.0759409389712413,"y":4.420718215027008}},"velocity":1.0816322500706053,"acceleration":-2.999999999999908,"curvature":-0.0034199218033222076,"holonomicRotation":180.0,"angularVelocity":-0.0036624198210665065,"holonomicAngularVelocity":0.0},{"time":5.289193461527817,"pose":{"rotation":{"radians":-3.078676014639295},"translation":{"x":2.0654292692388823,"y":4.420055982049826}},"velocity":1.0520139107111217,"acceleration":-2.9999999999999774,"curvature":-0.0035439629086861236,"holonomicRotation":180.0,"angularVelocity":-0.0036889410014084596,"holonomicAngularVelocity":0.0},{"time":5.299273167190141,"pose":{"rotation":{"radians":-3.0787131980787947},"translation":{"x":2.0549983344422094,"y":4.419399224753092}},"velocity":1.0217747937241486,"acceleration":-3.000000000000022,"curvature":-0.003672586072074122,"holonomicRotation":180.0,"angularVelocity":-0.003710250551308281,"holonomicAngularVelocity":0.0},{"time":5.309578488680619,"pose":{"rotation":{"radians":-3.078751433403536},"translation":{"x":2.044648385930077,"y":4.4187479638533995}},"velocity":0.9908588292527162,"acceleration":-2.9999999999999676,"curvature":-0.0038060067578171955,"holonomicRotation":180.0,"angularVelocity":-0.003725653345440869,"holonomicAngularVelocity":0.0},{"time":5.320130977843049,"pose":{"rotation":{"radians":-3.078790748320087},"translation":{"x":2.034379675051342,"y":4.418102220067343}},"velocity":0.9592013617654253,"acceleration":-3.000000000000021,"curvature":-0.003944442233388803,"holonomicRotation":180.0,"angularVelocity":-0.003734348847817344,"holonomicAngularVelocity":0.0},{"time":5.330955691704082,"pose":{"rotation":{"radians":-3.078831171577822},"translation":{"x":2.0241924531548605,"y":4.4174620141115195}},"velocity":0.926727220182327,"acceleration":-2.999999999999959,"curvature":-0.004088134902192077,"holonomicRotation":180.0,"angularVelocity":-0.003735409216108964,"holonomicAngularVelocity":0.0},{"time":5.34208203353263,"pose":{"rotation":{"radians":-3.0788727330176298},"translation":{"x":2.014086971589488,"y":4.416827366702524}},"velocity":0.8933481946966839,"acceleration":-3.0000000000000098,"curvature":-0.004237338953281765,"holonomicRotation":180.0,"angularVelocity":-0.00372775113393317,"holonomicAngularVelocity":0.0},{"time":5.353544871302919,"pose":{"rotation":{"radians":-3.078915463624126},"translation":{"x":2.00406348170408,"y":4.416198298556952}},"velocity":0.8589596813858148,"acceleration":-3.000000000000068,"curvature":-0.004392320625650687,"holonomicRotation":180.0,"angularVelocity":-0.0037100986321299467,"holonomicAngularVelocity":0.0},{"time":5.36538605407045,"pose":{"rotation":{"radians":-3.0789593955801147},"translation":{"x":1.9941222348474934,"y":4.415574830391396}},"velocity":0.8234361330832206,"acceleration":-3.0000000000000187,"curvature":-0.0045533585263612545,"holonomicRotation":180.0,"angularVelocity":-0.0036809334268920802,"holonomicAngularVelocity":0.0},{"time":5.377656513929745,"pose":{"rotation":{"radians":-3.079004562325974},"translation":{"x":1.9842634823685834,"y":4.414956982922454}},"velocity":0.7866247535053364,"acceleration":-3.000000000000018,"curvature":-0.004720753270191786,"holonomicRotation":180.0,"angularVelocity":-0.003638426146223707,"holonomicAngularVelocity":0.0},{"time":5.390419255635962,"pose":{"rotation":{"radians":-3.0790509986190955},"translation":{"x":1.9744874756162063,"y":4.414344776866719}},"velocity":0.7483365283866869,"acceleration":-2.9999999999999303,"curvature":-0.004894824358607678,"holonomicRotation":180.0,"angularVelocity":-0.0035803397468295844,"holonomicAngularVelocity":0.0},{"time":5.403753739255175,"pose":{"rotation":{"radians":-3.079098740600801},"translation":{"x":1.9647944659392182,"y":4.413738232940789}},"velocity":0.7083330775290458,"acceleration":-3.0000000000000333,"curvature":-0.005075907352086466,"holonomicRotation":180.0,"angularVelocity":-0.0035038874307945934,"holonomicAngularVelocity":0.0},{"time":5.417762540732265,"pose":{"rotation":{"radians":-3.079147825864217},"translation":{"x":1.955184704686474,"y":4.413137371861257}},"velocity":0.6663066730977766,"acceleration":-3.0000000000000315,"curvature":-0.0052643513171495284,"holonomicRotation":180.0,"angularVelocity":-0.003405516419468731,"holonomicAngularVelocity":0.0},{"time":5.432581927151822,"pose":{"rotation":{"radians":-3.079198293527995},"translation":{"x":1.9456584432068311,"y":4.412542214344718}},"velocity":0.6218485138391068,"acceleration":-2.9999999999999325,"curvature":-0.005460543186754441,"holonomicRotation":180.0,"angularVelocity":-0.00328056064241974,"holonomicAngularVelocity":0.0},{"time":5.448399585168753,"pose":{"rotation":{"radians":-3.0792501843143407},"translation":{"x":1.9362159328491446,"y":4.411952781107768}},"velocity":0.5743955397883141,"acceleration":-2.999999999999993,"curvature":-0.005664880919691523,"holonomicRotation":180.0,"angularVelocity":-0.0031226458241391127,"holonomicAngularVelocity":0.0},{"time":5.465486478586941,"pose":{"rotation":{"radians":-3.0793035406307205},"translation":{"x":1.9268574249622707,"y":4.411369092867003}},"velocity":0.5231348595337486,"acceleration":-3.0000000000000453,"curvature":-0.005877789028683325,"holonomicRotation":180.0,"angularVelocity":-0.0029225794612912108,"holonomicAngularVelocity":0.0},{"time":5.4842596301153765,"pose":{"rotation":{"radians":-3.0793584066578013},"translation":{"x":1.9175831708950652,"y":4.4107911703390155}},"velocity":0.4668154049484423,"acceleration":-2.999999999999988,"curvature":-0.006099721826132434,"holonomicRotation":180.0,"angularVelocity":-0.0026660154687113986,"holonomicAngularVelocity":0.0},{"time":5.5054229677062745,"pose":{"rotation":{"radians":-3.079414828443188},"translation":{"x":1.9083934219963838,"y":4.410219034240403}},"velocity":0.403325392175748,"acceleration":-3.0000000000000235,"curvature":-0.006331166628950829,"holonomicRotation":180.0,"angularVelocity":-0.002327555426961972,"holonomicAngularVelocity":0.0},{"time":5.530352795680991,"pose":{"rotation":{"radians":-3.079472853999584},"translation":{"x":1.899288429615083,"y":4.40965270528776}},"velocity":0.32853590825159884,"acceleration":-2.99999999999998,"curvature":-0.00657263565874659,"holonomicRotation":180.0,"angularVelocity":-0.0018499815698870359,"holonomicAngularVelocity":0.0},{"time":5.562612258400739,"pose":{"rotation":{"radians":-3.07953253341107},"translation":{"x":1.8902684451000182,"y":4.409092204197682}},"velocity":0.23175752009235553,"acceleration":-3.0000000000000093,"curvature":-0.00682466974250813,"holonomicRotation":180.0,"angularVelocity":-0.0007946089575295583,"holonomicAngularVelocity":0.0},{"time":5.63986476509819,"pose":{"rotation":{"radians":-3.0795939189448833},"translation":{"x":1.8813337198000457,"y":4.408537551686763}},"velocity":0,"acceleration":-3.0000000000000075,"curvature":-0.00682466974250813,"holonomicRotation":180.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/two piece auto 2.0.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/two piece auto 2.0.wpilib.json new file mode 100644 index 0000000..919875f --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/two piece auto 2.0.wpilib.json @@ -0,0 +1 @@ +[{"time":0.0,"pose":{"rotation":{"radians":-0.20713060461065957},"translation":{"x":1.9296074696662469,"y":4.960177426293095}},"velocity":0,"acceleration":3.0,"curvature":0.18978644384672075,"holonomicRotation":180.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.02375011143887092},{"time":0.1514669296455548,"pose":{"rotation":{"radians":-0.20713060461065957},"translation":{"x":1.9632852319847585,"y":4.9531002291468305}},"velocity":0.4544007889366644,"acceleration":3.0,"curvature":0.18978644384672075,"holonomicRotation":-179.99640264354164,"angularVelocity":0.10420451599050694,"holonomicAngularVelocity":0.1724211803968107},{"time":0.2140549555825499,"pose":{"rotation":{"radians":-0.2006086496610937},"translation":{"x":1.996912982005302,"y":4.946262235557296}},"velocity":0.6421648667476497,"acceleration":3.000000000000001,"curvature":0.18954595493078383,"holonomicRotation":-179.98561114223088,"angularVelocity":0.1355357500702889,"holonomicAngularVelocity":0.37526376601393124},{"time":0.26197842618837264,"pose":{"rotation":{"radians":-0.19411330612656208},"translation":{"x":2.0304900616713244,"y":4.939661361678745}},"velocity":0.7859352785651179,"acceleration":2.9999999999999987,"curvature":0.18927866968180818,"holonomicRotation":-179.96762720017088,"angularVelocity":0.1604307672988213,"holonomicAngularVelocity":0.624389834682105},{"time":0.30229545497079335,"pose":{"rotation":{"radians":-0.18764521426378966},"translation":{"x":2.064015812926274,"y":4.933295523665426}},"velocity":0.9068863649123802,"acceleration":3.0000000000000027,"curvature":0.18898489792450948,"holonomicRotation":-179.94245365723455,"angularVelocity":0.18168662203309494,"holonomicAngularVelocity":0.9128936270724146},{"time":0.3377422667994315,"pose":{"rotation":{"radians":-0.18120500276080165},"translation":{"x":2.0974895777135982,"y":4.927162637671593}},"velocity":1.0132268003982945,"acceleration":2.9999999999999982,"curvature":0.1886649623588008,"holonomicRotation":-179.91009448861615,"angularVelocity":0.2004847033452911,"holonomicAngularVelocity":1.2363467353841262},{"time":0.36972333107615013,"pose":{"rotation":{"radians":-0.17479328857661702},"translation":{"x":2.130910697976745,"y":4.921260619851497}},"velocity":1.1091699932284504,"acceleration":3.0,"curvature":0.188319197908524,"holonomicRotation":-179.87055480420352,"angularVelocity":0.21746304286641666,"holonomicAngularVelocity":1.5915990915850193},{"time":0.39907365973575054,"pose":{"rotation":{"radians":-0.16841067679717092},"translation":{"x":2.1642785156591624,"y":4.915587386359388}},"velocity":1.1972209792072517,"acceleration":3.0,"curvature":0.18794795101330633,"holonomicRotation":-179.82384084777118,"angularVelocity":0.2330139559439702,"holonomicAngularVelocity":1.9762562341981327},{"time":0.4263377618518703,"pose":{"rotation":{"radians":-0.1620577605078335},"translation":{"x":2.1975923727042983,"y":4.910140853349519}},"velocity":1.279013285555611,"acceleration":3.0,"curvature":0.18755157879914786,"holonomicRotation":-179.76995999599438,"angularVelocity":0.24739939498073554,"holonomicAngularVelocity":2.3884123001872717},{"time":0.4518941696401474,"pose":{"rotation":{"radians":-0.15573512068313278},"translation":{"x":2.2308516110556,"y":4.90491893697614}},"velocity":1.3556825089204423,"acceleration":3.000000000000002,"curvature":0.18713044844051072,"holonomicRotation":-179.70892075728426,"angularVelocity":0.26080464574195905,"holonomicAngularVelocity":2.8264978289639227},{"time":0.47601871915912236,"pose":{"rotation":{"radians":-0.14944332609215216},"translation":{"x":2.2640555726565146,"y":4.8999195533935005}},"velocity":1.4280561574773671,"acceleration":2.999999999999998,"curvature":0.18668493638229197,"holonomicRotation":-179.64073277044415,"angularVelocity":0.27336650208046187,"holonomicAngularVelocity":3.289185937435516},{"time":0.4989198164912029,"pose":{"rotation":{"radians":-0.1431829332206771},"translation":{"x":2.297203599450491,"y":4.895140618755856}},"velocity":1.496759449473609,"acceleration":3.000000000000005,"curvature":0.1862154275640915,"holonomicRotation":-179.56540680314762,"angularVelocity":0.2851893696208754,"holonomicAngularVelocity":3.7753309857268365},{"time":0.5207595050433313,"pose":{"rotation":{"radians":-0.13695448620977935},"translation":{"x":2.3302950333809775,"y":4.890580049217455}},"velocity":1.5622785151299943,"acceleration":3.0000000000000027,"curvature":0.18572231471262496,"holonomicRotation":-179.48295475023815,"angularVelocity":0.29635508441939773,"holonomicAngularVelocity":4.28392661518619},{"time":0.5416667535638617,"pose":{"rotation":{"radians":-0.13075851680950024},"translation":{"x":2.3633292163914206,"y":4.88623576093255}},"velocity":1.6250002606915852,"acceleration":2.9999999999999893,"curvature":0.18520599757015443,"holonomicRotation":-179.39338963185074,"angularVelocity":0.30692921090715586,"holonomicAngularVelocity":4.814075977673057},{"time":0.561746212413968,"pose":{"rotation":{"radians":-0.1245955443491944},"translation":{"x":2.396305490425268,"y":4.882105670055392}},"velocity":1.6852386372419041,"acceleration":3.0,"curvature":0.1846668821621236,"holonomicRotation":-179.29672559135577,"angularVelocity":0.31696525056016867,"holonomicAngularVelocity":5.364969978406476},{"time":0.5810841954124669,"pose":{"rotation":{"radians":-0.11846607572274692},"translation":{"x":2.4292231974259684,"y":4.878187692740232}},"velocity":1.7432525862374006,"acceleration":2.9999999999999942,"curvature":0.18410538003318005,"holonomicRotation":-179.19297789312589,"angularVelocity":0.32650755104862406,"holonomicAngularVelocity":5.9358709788268795},{"time":0.5997528917833792,"pose":{"rotation":{"radians":-0.11237060538941002},"translation":{"x":2.4620816793369693,"y":4.87447974514132}},"velocity":1.7992586753501376,"acceleration":3.0000000000000058,"curvature":0.18352190752559655,"holonomicRotation":-179.08216292012526,"angularVelocity":0.335593375130711,"holonomicAngularVelocity":6.52610033310484},{"time":0.6178134092113116,"pose":{"rotation":{"radians":-0.10630961538916317},"translation":{"x":2.4948802781017183,"y":4.87097974341291}},"velocity":1.8534402276339346,"acceleration":2.999999999999994,"curvature":0.18291688505321468,"holonomicRotation":-178.96429817132278,"angularVelocity":0.34425440796148277,"holonomicAngularVelocity":7.135028686345135},{"time":0.6353180217201947,"pose":{"rotation":{"radians":-0.10028357537332244},"translation":{"x":2.5276183356636635,"y":4.867685603709252}},"velocity":1.905954065160584,"acceleration":3.0,"curvature":0.18229073637130275,"holonomicRotation":-178.83940225892854,"angularVelocity":0.35251787850911,"holonomicAngularVelocity":7.762068306412862},{"time":0.6523118625711571,"pose":{"rotation":{"radians":-0.09429294264881971},"translation":{"x":2.5602951939662524,"y":4.864595242184598}},"velocity":1.9569355877134713,"acceleration":3.0,"curvature":0.18164388784259186,"holonomicRotation":-178.70749490545506,"angularVelocity":0.3604074090728188,"holonomicAngularVelocity":8.406666942432587},{"time":0.6688342210520827,"pose":{"rotation":{"radians":-0.08833816223693702},"translation":{"x":2.592910194952933,"y":4.861706574993198}},"velocity":2.006502663156248,"acceleration":3.0,"curvature":0.18097676776991467,"holonomicRotation":-178.56859694060245,"angularVelocity":0.3679436692577197,"holonomicAngularVelocity":9.068302848566862},{"time":0.684919550916852,"pose":{"rotation":{"radians":-0.08241966694527303},"translation":{"x":2.6254626805671526,"y":4.859017518289304}},"velocity":2.054758652750556,"acceleration":3.000000000000007,"curvature":0.1802898056325933,"holonomicRotation":-178.42273029796962,"angularVelocity":0.37514488648543864,"holonomicAngularVelocity":9.74648071084448},{"time":0.7005982652049014,"pose":{"rotation":{"radians":-0.07653787745344509},"translation":{"x":2.657951992752359,"y":4.856525988227166}},"velocity":2.1017947956147043,"acceleration":3.0,"curvature":0.17958343148838984,"holonomicRotation":-178.2699180115903,"angularVelocity":0.38202724963259893,"holonomicAngularVelocity":10.440728282790916},{"time":0.7158973703025382,"pose":{"rotation":{"radians":-0.07069320241115484},"translation":{"x":2.690377473452001,"y":4.854229900961039}},"velocity":2.147692110907615,"acceleration":3.0000000000000147,"curvature":0.1788580752461236,"holonomicRotation":-178.11018421229602,"angularVelocity":0.38860523165888716,"holonomicAngularVelocity":11.150593584320973},{"time":0.7308409773070086,"pose":{"rotation":{"radians":-0.06488603854936326},"translation":{"x":2.7227384646095256,"y":4.852127172645171}},"velocity":2.192522931921026,"acceleration":3.0,"curvature":0.17811416603720023,"holonomicRotation":-177.94355412390536,"angularVelocity":0.39489185022475054,"holonomicAngularVelocity":11.875642552764274},{"time":0.7454507185394148,"pose":{"rotation":{"radians":-0.05911677080279354},"translation":{"x":2.7550343081683804,"y":4.850215719433814}},"velocity":2.2363521556182446,"acceleration":3.0,"curvature":0.17735213150865783,"holonomicRotation":-177.77005405924092,"angularVelocity":0.4008988799795813,"holonomicAngularVelocity":12.615457060455014},{"time":0.7597460898765349,"pose":{"rotation":{"radians":-0.05338577244484988},"translation":{"x":2.7872643460720132,"y":4.84849345748122}},"velocity":2.279238269629605,"acceleration":3.0000000000000155,"curvature":0.1765723972847516,"holonomicRotation":-177.58971141597422,"angularVelocity":0.4066370270295936,"holonomicAngularVelocity":13.369633232044645},{"time":0.7737447344486608,"pose":{"rotation":{"radians":-0.047693405233596664},"translation":{"x":2.8194279202638723,"y":4.8469583029416405}},"velocity":2.3212342033459827,"acceleration":3.0,"curvature":0.17577538630707557,"holonomicRotation":-177.40255467229915,"angularVelocity":0.4121160733405775,"holonomicAngularVelocity":14.137780008772177},{"time":0.7874626795393089,"pose":{"rotation":{"radians":-0.04204001956853709},"translation":{"x":2.8515243726874053,"y":4.845608171969324}},"velocity":2.3623880386179272,"acceleration":3.0,"curvature":0.1749615182159125,"holonomicRotation":-177.20861338243515,"angularVelocity":0.4173449970782616,"holonomicAngularVelocity":14.919517917793447},{"time":0.8009145357977201,"pose":{"rotation":{"radians":-0.03642595465767329},"translation":{"x":2.88355304528606,"y":4.844440980718526}},"velocity":2.4027436073931607,"acceleration":3.0,"curvature":0.17413120879554142,"holonomicRotation":-177.0079181719602,"angularVelocity":0.42233207341463375,"holonomicAngularVelocity":15.714478012764593},{"time":0.8141136658494618,"pose":{"rotation":{"radians":-0.030851538695651826},"translation":{"x":2.915513280003284,"y":4.8434546453434955}},"velocity":2.442340997548386,"acceleration":3.0000000000000084,"curvature":0.17328486939031074,"holonomicRotation":-176.80050073297448,"angularVelocity":0.4270849596839548,"holonomicAngularVelocity":16.522300958319807},{"time":0.8270723278674511,"pose":{"rotation":{"radians":-0.02531708905014085},"translation":{"x":2.947404418782525,"y":4.842647081998484}},"velocity":2.481216983602354,"acceleration":3.0000000000000173,"curvature":0.1724229063682809,"holonomicRotation":-176.58639381909612,"angularVelocity":0.4316107673738809,"holonomicAngularVelocity":17.34263623623123},{"time":0.8398017985084885,"pose":{"rotation":{"radians":-0.01982291245849943},"translation":{"x":2.979225803567231,"y":4.842016206837743}},"velocity":2.5194053955254665,"acceleration":3.000000000000026,"curvature":0.171545720595875,"holonomicRotation":-176.36563124028882,"angularVelocity":0.43591612349473147,"holonomicAngularVelocity":18.17514145480786},{"time":0.8523124787324262,"pose":{"rotation":{"radians":-0.014369305232998286},"translation":{"x":3.010976776300849,"y":4.841559936015523}},"velocity":2.5569374361972796,"acceleration":2.999999999999991,"curvature":0.170653706873056,"holonomicRotation":-176.13824785752288,"angularVelocity":0.4400072230179983,"holonomicAngularVelocity":19.019481746362576},{"time":0.8646139853335294,"pose":{"rotation":{"radians":-0.008956553474509299},"translation":{"x":3.0426566789268286,"y":4.841276185686076}},"velocity":2.593841956000589,"acceleration":3.0,"curvature":0.16974725351098835,"holonomicRotation":-175.90427957727044,"angularVelocity":0.4438898738802538,"holonomicAngularVelocity":19.875329240211503},{"time":0.8767152304766143,"pose":{"rotation":{"radians":-0.0035849332941513268},"translation":{"x":3.074264853388616,"y":4.841162872003654}},"velocity":2.630145691429844,"acceleration":3.0,"curvature":0.1688267417297235,"holonomicRotation":-175.66376334583512,"angularVelocity":0.4475695356944888,"holonomicAngularVelocity":20.74236260044195},{"time":0.8886244911078892,"pose":{"rotation":{"radians":0.0017452889570530594},"translation":{"x":3.105800641629659,"y":4.841217911122507}},"velocity":2.6658734733236686,"acceleration":3.0,"curvature":0.1678925453355566,"holonomicRotation":-175.41673714351805,"angularVelocity":0.45105135325269347,"holonomicAngularVelocity":21.620266619738842},{"time":0.9003494697751914,"pose":{"rotation":{"radians":0.007033856451798659},"translation":{"x":3.1372633855934065,"y":4.8414392191968885}},"velocity":2.701048409325575,"acceleration":2.999999999999981,"curvature":0.1669450301132517,"holonomicRotation":-175.16323997862023,"angularVelocity":0.454340185416323,"holonomicAngularVelocity":22.50873186161998},{"time":0.9118973481246103,"pose":{"rotation":{"radians":0.012280521642238806},"translation":{"x":3.1686524272233054,"y":4.8418247123810465}},"velocity":2.7356920443738315,"acceleration":2.999999999999981,"curvature":0.16598455353605268,"holonomicRotation":-174.90331188128255,"angularVelocity":0.4574406303836678,"holonomicAngularVelocity":23.40745434467765},{"time":0.9232748341252736,"pose":{"rotation":{"radians":0.017485046010563554},"translation":{"x":3.199967108462804,"y":4.842372306829235}},"velocity":2.7698245023758212,"acceleration":3.0,"curvature":0.16501146425028082,"holonomicRotation":-174.6369938971648,"angularVelocity":0.4603570474252288,"holonomicAngularVelocity":24.316135263477474},{"time":0.9344882038999667,"pose":{"rotation":{"radians":0.02264719981172858},"translation":{"x":3.2312067712553496,"y":4.843079918695704}},"velocity":2.8034646116999005,"acceleration":2.9999999999999902,"curvature":0.16402610167498727,"holonomicRotation":-174.364328080964,"angularVelocity":0.46309357607176677,"holonomicAngularVelocity":25.234480741319427},{"time":0.9455433388976116,"pose":{"rotation":{"radians":0.02776676181174409},"translation":{"x":3.26237075754439,"y":4.843945464134706}},"velocity":2.8366300166928355,"acceleration":3.00000000000004,"curvature":0.16302879564203487,"holonomicRotation":-174.08535748977323,"angularVelocity":0.4656541526528519,"holonomicAngularVelocity":26.162201610892357},{"time":0.9564457590277127,"pose":{"rotation":{"radians":0.03284351901929172},"translation":{"x":3.2934584092733736,"y":4.8449668593004915}},"velocity":2.869337277083139,"acceleration":3.0,"curvature":0.16201986599969162,"holonomicRotation":-173.80012617628287,"angularVelocity":0.46804252492660176,"holonomicAngularVelocity":27.099013219407997},{"time":0.9672006522815507,"pose":{"rotation":{"radians":0.03787726641313416},"translation":{"x":3.324469068385747,"y":4.846142020347312}},"velocity":2.901601956844653,"acceleration":3.00000000000001,"curvature":0.16099962227394898,"holonomicRotation":-173.5086791818238,"angularVelocity":0.4702622647076607,"holonomicAngularVelocity":28.04463525510348},{"time":0.9778129012860954,"pose":{"rotation":{"radians":0.042867806663652974},"translation":{"x":3.3554020768249595,"y":4.847468863429418}},"velocity":2.9334387038582874,"acceleration":3.0000000000000107,"curvature":0.15996836325744995,"holonomicRotation":-173.211062529255,"angularVelocity":0.47231677905669,"holonomicAngularVelocity":28.998791592637698},{"time":0.9882871071711471,"pose":{"rotation":{"radians":0.0478149498504572},"translation":{"x":3.3862567765344576,"y":4.848945304701061}},"velocity":2.9648613215134425,"acceleration":3.0000000000000107,"curvature":0.1589263767264421,"holonomicRotation":-172.907323215696,"angularVelocity":0.47420931997652016,"holonomicAngularVelocity":29.961210155012186},{"time":0.9986276110756178,"pose":{"rotation":{"radians":0.05271851317521081},"translation":{"x":3.41703250945769,"y":4.850569260316493}},"velocity":2.9958828332268546,"acceleration":2.9999999999999893,"curvature":0.15787393908645786,"holonomicRotation":-172.59750920510544,"angularVelocity":0.4759429929630375,"holonomicAngularVelocity":30.931622790100874},{"time":1.0088385135730904,"pose":{"rotation":{"radians":0.05757832067071167},"translation":{"x":3.447728617538104,"y":4.852338646429966}},"velocity":3.0265155407192728,"acceleration":3.0000000000000435,"curvature":0.1568113150612638,"holonomicRotation":-172.28166942070712,"angularVelocity":0.4775207643992292,"holonomicAngularVelocity":31.909765160090274},{"time":1.0189236922583074,"pose":{"rotation":{"radians":0.06239420290557929},"translation":{"x":3.4783444427191466,"y":4.85425137919573}},"velocity":3.0567710767749237,"acceleration":3.0,"curvature":0.1557387573790131,"holonomicRotation":-171.9598537372643,"angularVelocity":0.478945468141679,"holonomicAngularVelocity":32.8953766422105},{"time":1.0288868177037152,"pose":{"rotation":{"radians":0.06716599668618439},"translation":{"x":3.508879326944267,"y":4.856305374768036}},"velocity":3.086660453111147,"acceleration":3.0,"curvature":0.15465650649868473,"holonomicRotation":-171.63211297320402,"angularVelocity":0.48021981110119794,"holonomicAngularVelocity":33.888200239575305},{"time":1.0387313679676218,"pose":{"rotation":{"radians":0.07189354475429388},"translation":{"x":3.5393326121569126,"y":4.858498549301137}},"velocity":3.1161941039028664,"acceleration":2.9999999999999547,"curvature":0.15356479027173553,"holonomicRotation":-171.29849888259218,"angularVelocity":0.48134637822197684,"holonomicAngularVelocity":34.88798250083677},{"time":1.048460641812074,"pose":{"rotation":{"radians":0.07657669548205082},"translation":{"x":3.569703640300531,"y":4.860828818949283}},"velocity":3.1453819254362236,"acceleration":3.0000000000000226,"curvature":0.15246382370630698,"holonomicRotation":-170.95906414696108,"angularVelocity":0.4823276367404815,"holonomicAngularVelocity":35.894473447720394},{"time":1.0580777707685292,"pose":{"rotation":{"radians":0.08121530256384624},"translation":{"x":3.59999175331857,"y":4.863294099866725}},"velocity":3.1742333123055886,"acceleration":2.999999999999977,"curvature":0.15135380867335452,"holonomicRotation":-170.6138623669903,"angularVelocity":0.48316593986662393,"holonomicAngularVelocity":36.907426509486484},{"time":1.0675857301722396,"pose":{"rotation":{"radians":0.08580922470535368},"translation":{"x":3.6301962931544773,"y":4.865892308207716}},"velocity":3.20275719051672,"acceleration":3.0,"curvature":0.15023493362786883,"holonomicRotation":-170.26294805404268,"angularVelocity":0.48386352991587206,"holonomicAngularVelocity":37.92659846356371},{"time":1.0769873492715398,"pose":{"rotation":{"radians":0.09035832530966559},"translation":{"x":3.6603166017517004,"y":4.868621360126506}},"velocity":3.2309620478146206,"acceleration":3.0,"curvature":0.14910737335294236,"holonomicRotation":-169.90637662155615,"angularVelocity":0.48442254103035953,"holonomicAngularVelocity":38.95174938159413},{"time":1.0862853205055094,"pose":{"rotation":{"radians":0.09486247216125232},"translation":{"x":3.690352021053688,"y":4.871479171777346}},"velocity":3.2588559615165296,"acceleration":3.000000000000024,"curvature":0.14797128870115356,"holonomicRotation":-169.5442043762933,"angularVelocity":0.4848450014042742,"holonomicAngularVelocity":39.98264258026623},{"time":1.0954822080325117,"pose":{"rotation":{"radians":0.09932153710719671},"translation":{"x":3.720301893003887,"y":4.874463659314489}},"velocity":3.2864466240975365,"acceleration":3.0,"curvature":0.14682682633240107,"holonomicRotation":-169.17648850945025,"angularVelocity":0.48513283516167943,"holonomicAngularVelocity":41.019044576563346},{"time":1.104580455582591,"pose":{"rotation":{"radians":0.10373539573616952},"translation":{"x":3.7501655595457457,"y":4.877572738892185}},"velocity":3.313741366747774,"acceleration":2.999999999999951,"curvature":0.14567411844734166,"holonomicRotation":-168.80328708762494,"angularVelocity":0.4852878638883807,"holonomicAngularVelocity":42.06072504657427},{"time":1.1135823936984337,"pose":{"rotation":{"radians":0.10810392705526217},"translation":{"x":3.7799423626227115,"y":4.880804326664684}},"velocity":3.340747181095302,"acceleration":3.000000000000025,"curvature":0.14451328254422485,"holonomicRotation":-168.4246590436482,"angularVelocity":0.48531180782583394,"holonomicAngularVelocity":43.1074567878518},{"time":1.122490246422397,"pose":{"rotation":{"radians":0.11242701316457504},"translation":{"x":3.809631644178232,"y":4.88415633878624}},"velocity":3.367470739267192,"acceleration":3.0,"curvature":0.14334442116484275,"holonomicRotation":-168.0406641672774,"angularVelocity":0.4852062867578233,"holonomicAngularVelocity":44.15901568464448},{"time":1.1313061374808078,"pose":{"rotation":{"radians":0.11670453892948807},"translation":{"x":3.839232746155756,"y":4.887626691411103}},"velocity":3.3939184124424244,"acceleration":3.0,"curvature":0.14216762160585897,"holonomicRotation":-167.65136309575493,"angularVelocity":0.4849728206949155,"holonomicAngularVelocity":45.215180675781035},{"time":1.1400320960112222,"pose":{"rotation":{"radians":0.12093639165125003},"translation":{"x":3.86874501049873,"y":4.891213300693525}},"velocity":3.4200962880336676,"acceleration":2.9999999999999747,"curvature":0.1409829556965783,"holonomicRotation":-167.25681730423287,"angularVelocity":0.4846128302014203,"holonomicAngularVelocity":46.27573372489548},{"time":1.148670061873499,"pose":{"rotation":{"radians":0.12512246073495126},"translation":{"x":3.898167779150603,"y":4.894914082787756}},"velocity":3.446010185620498,"acceleration":2.9999999999999742,"curvature":0.1397904795129689,"holonomicRotation":-166.8570890960654,"angularVelocity":0.484127636618704,"holonomicAngularVelocity":47.34045979271971},{"time":1.1572218905812797,"pose":{"rotation":{"radians":0.12926263735601706},"translation":{"x":3.9275003940548214,"y":4.8987269538480485}},"velocity":3.47166567174384,"acceleration":3.0000000000000258,"curvature":0.1385902330902658,"holonomicRotation":-166.4522415929705,"angularVelocity":0.4835184619303834,"holonomicAngularVelocity":48.409146811246536},{"time":1.1656893578867213,"pose":{"rotation":{"radians":0.13335681412399003},"translation":{"x":3.9567421971548344,"y":4.902649830028652}},"velocity":3.4970680736601643,"acceleration":2.9999999999999214,"curvature":0.137382240197119,"holonomicRotation":-166.04233872506194,"angularVelocity":0.4827864285482716,"holonomicAngularVelocity":49.48158565947344},{"time":1.1740741640480048,"pose":{"rotation":{"radians":0.1374048847446656},"translation":{"x":3.985892530394089,"y":4.90668062748382}},"velocity":3.5222224921440146,"acceleration":3.0,"curvature":0.13616650798576801,"holonomicRotation":-165.6274452207543,"angularVelocity":0.4819325587889887,"holonomicAngularVelocity":50.55757014062286},{"time":1.1823779378062174,"pose":{"rotation":{"radians":0.14140674367956585},"translation":{"x":4.014950735716033,"y":4.910817262367804}},"velocity":3.547133813418652,"acceleration":2.9999999999999734,"curvature":0.13494302674839864,"holonomicRotation":-165.20762659654162,"angularVelocity":0.4809577742548853,"holonomicAngularVelocity":51.63689696071308},{"time":1.1906022400955953,"pose":{"rotation":{"radians":0.14536228580346444},"translation":{"x":4.043916155064115,"y":4.915057650834854}},"velocity":3.571806720286786,"acceleration":2.999999999999973,"curvature":0.13371176960169265,"holonomicRotation":-164.78294914665125,"angularVelocity":0.47986289498400964,"holonomicAngularVelocity":52.71936570817767},{"time":1.1987485675088074,"pose":{"rotation":{"radians":0.149271406059456},"translation":{"x":4.072788130381781,"y":4.9193997090392205}},"velocity":3.596245702526422,"acceleration":3.0,"curvature":0.1324726921499809,"holonomicRotation":-164.35347993257557,"angularVelocity":0.4786486384252242,"holonomicAngularVelocity":53.80477883459026},{"time":1.2068183555368994,"pose":{"rotation":{"radians":0.1531339991114824},"translation":{"x":4.101566003612481,"y":4.923841353135157}},"velocity":3.620455066610698,"acceleration":3.0,"curvature":0.13122573216773642,"holonomicRotation":-163.91928677248205,"angularVelocity":0.47731561822756774,"holonomicAngularVelocity":54.89294163630492},{"time":1.2148129816016788,"pose":{"rotation":{"radians":0.1569499589940908},"translation":{"x":4.130249116699661,"y":4.928380499276913}},"velocity":3.6444389448050365,"acceleration":3.000000000000028,"curvature":0.12997080927789803,"holonomicRotation":-163.48043823050403,"angularVelocity":0.4758643429294651,"holonomicAngularVelocity":55.98366223689888},{"time":1.2227337678966885,"pose":{"rotation":{"radians":0.1607191787598503},"translation":{"x":4.158836811586769,"y":4.9330150636187415}},"velocity":3.6682013036900654,"acceleration":2.999999999999972,"curvature":0.12870782456356425,"holonomicRotation":-163.03700360591355,"angularVelocity":0.4742952143385532,"holonomicAngularVelocity":57.07675157038186},{"time":1.2305819840514374,"pose":{"rotation":{"radians":0.1644415501231422},"translation":{"x":4.187328430217255,"y":4.937742962314893}},"velocity":3.691745952154312,"acceleration":3.0,"curvature":0.12743666021396327,"holonomicRotation":-162.5890529221783,"angularVelocity":0.472608525918705,"holonomicAngularVelocity":58.172023365083696},{"time":1.2383588496322528,"pose":{"rotation":{"radians":0.16811696310155932},"translation":{"x":4.2157233145345625,"y":4.942562111519617}},"velocity":3.715076548896758,"acceleration":2.9999999999999716,"curvature":0.12615717908033114,"holonomicRotation":-162.13665691590398,"angularVelocity":0.47080446084890865,"holonomicAngularVelocity":59.269294128100256},{"time":1.2460655364919324,"pose":{"rotation":{"radians":0.17174530565346213},"translation":{"x":4.244020806482143,"y":4.947470427387168}},"velocity":3.738196609475797,"acceleration":3.0,"curvature":0.12486922431912352,"holonomicRotation":-161.67988702566447,"angularVelocity":0.46888308995530575,"holonomicAngularVelocity":60.36838313044671},{"time":1.2537031709793063,"pose":{"rotation":{"radians":0.1753264633118512},"translation":{"x":4.2722202480034435,"y":4.952465826071795}},"velocity":3.761109512937918,"acceleration":2.999999999999971,"curvature":0.12357261892389534,"holonomicRotation":-161.21881538072037,"angularVelocity":0.4668443695706583,"holonomicAngularVelocity":61.4691123925188},{"time":1.2612728360188759,"pose":{"rotation":{"radians":0.1788603188151101},"translation":{"x":4.300320981041911,"y":4.957546223727751}},"velocity":3.783818508056627,"acceleration":3.0000000000000293,"curvature":0.12226716526868354,"holonomicRotation":-160.75351478962935,"angularVelocity":0.4646881389839521,"holonomicAngularVelocity":62.571306670193565},{"time":1.2687755730698236,"pose":{"rotation":{"radians":0.18234675173260095},"translation":{"x":4.328322347540994,"y":4.962709536509285}},"velocity":3.8063267192094705,"acceleration":3.0000000000000298,"curvature":0.12095264458592944,"holonomicRotation":-160.28405872874868,"angularVelocity":0.4624141179781573,"holonomicAngularVelocity":63.67479344129801},{"time":1.276212383972912,"pose":{"rotation":{"radians":0.18578563808692294},"translation":{"x":4.35622368944414,"y":4.967953680570651}},"velocity":3.828637151918736,"acceleration":3.0,"curvature":0.11962881647282785,"holonomicRotation":-159.81052133063253,"angularVelocity":0.4600219039141397,"holonomicAngularVelocity":64.77940289254073},{"time":1.283584232693088,"pose":{"rotation":{"radians":0.1891768499705453},"translation":{"x":4.384024348694796,"y":4.973276572066099}},"velocity":3.8507526980792637,"acceleration":3.0,"curvature":0.11829541837980333,"holonomicRotation":-159.3329773723254,"angularVelocity":0.4575109688204392,"holonomicAngularVelocity":65.8849679067279},{"time":1.290892046964969,"pose":{"rotation":{"radians":0.1925202551580334},"translation":{"x":4.411723667236411,"y":4.97867612714988}},"velocity":3.8726761408949066,"acceleration":3.0,"curvature":0.11695216492106374,"holonomicRotation":-158.85150226355418,"angularVelocity":0.45488065613572015,"holonomicAngularVelocity":66.99132405050054},{"time":1.2981367198478075,"pose":{"rotation":{"radians":0.19581571671246767},"translation":{"x":4.439320987012431,"y":4.984150261976245}},"velocity":3.8944101595434226,"acceleration":3.0000000000000306,"curvature":0.11559874738345485,"holonomicRotation":-158.36617203482007,"angularVelocity":0.4521301773297835,"holonomicAngularVelocity":68.09830956229308},{"time":1.3053191111960158,"pose":{"rotation":{"radians":0.199063092586385},"translation":{"x":4.466815649966307,"y":4.989696892699447}},"velocity":3.9159573335880475,"acceleration":3.0,"curvature":0.1142348329568489,"holonomicRotation":-157.87706332539224,"angularVelocity":0.4492586081660186,"holonomicAngularVelocity":69.20576534072171},{"time":1.3124400490508337,"pose":{"rotation":{"radians":0.20226223521587716},"translation":{"x":4.494206998041483,"y":4.995313935473735}},"velocity":3.937320147152501,"acceleration":3.0,"curvature":0.11286006414292427,"holonomicRotation":-157.38425337120586,"angularVelocity":0.4462648849608322,"holonomicAngularVelocity":70.31353493320967},{"time":1.3195003309583198,"pose":{"rotation":{"radians":0.20541299110911249},"translation":{"x":4.52149437318141,"y":5.000999306453363}},"velocity":3.958500992874959,"acceleration":2.9999999999999685,"curvature":0.11147405792218741,"holonomicRotation":-156.88781999266553,"angularVelocity":0.4417003637326484,"holonomicAngularVelocity":71.18818335797026},{"time":1.3265236652636052,"pose":{"rotation":{"radians":0.20851520042637306},"translation":{"x":4.548677117329534,"y":5.00675092179258}},"velocity":3.953574582939662,"acceleration":-0.7014346350549803,"curvature":0.11007640505720293,"holonomicRotation":-156.38784158235654,"angularVelocity":0.43473780650460664,"holonomicAngularVelocity":71.67729841669397},{"time":1.3335474301209795,"pose":{"rotation":{"radians":0.21156869655387212},"translation":{"x":4.575754572429303,"y":5.012566697645639}},"velocity":3.9325032883675393,"acceleration":-2.9999999999999685,"curvature":0.10866666918243971,"holonomicRotation":-155.88439709266584,"angularVelocity":0.42688294981189034,"holonomicAngularVelocity":72.00854876690356},{"time":1.3405859148291221,"pose":{"rotation":{"radians":0.21457330566828992},"translation":{"x":4.602726080424166,"y":5.01844455016679}},"velocity":3.9113878342431114,"acceleration":-3.0,"curvature":0.10724438600775757,"holonomicRotation":-155.37756602331444,"angularVelocity":0.4190337603417564,"holonomicAngularVelocity":72.32682951042443},{"time":1.347639142766306,"pose":{"rotation":{"radians":0.21752884629335556},"translation":{"x":4.629590983257568,"y":5.024382395510285}},"velocity":3.89022815043156,"acceleration":-3.0,"curvature":0.10580906229108816,"holonomicRotation":-154.8674284088036,"angularVelocity":0.41118929112996183,"holonomicAngularVelocity":72.63217258847128},{"time":1.3547071346042474,"pose":{"rotation":{"radians":0.22043512884691108},"translation":{"x":4.656348622872959,"y":5.0303781498303755}},"velocity":3.869024174917736,"acceleration":-2.9999999999999685,"curvature":0.10436017492103704,"holonomicRotation":-154.35406480577632,"angularVelocity":0.40334852607454397,"holonomicAngularVelocity":72.92461224687064},{"time":1.361789908301161,"pose":{"rotation":{"radians":0.22329195517808076},"translation":{"x":4.682998341213787,"y":5.036429729281312}},"velocity":3.847775853826995,"acceleration":-3.0,"curvature":0.10289716985409757,"holonomicRotation":-153.83755628029655,"angularVelocity":0.39551037925254573,"holonomicAngularVelocity":73.20418498239847},{"time":1.3688874790940506,"pose":{"rotation":{"radians":0.2260991180941483},"translation":{"x":4.709539480223499,"y":5.042535050017346}},"velocity":3.8264831414483265,"acceleration":-2.999999999999969,"curvature":0.10141946091260048,"holonomicRotation":-153.3179843950482,"angularVelocity":0.3876736940622235,"holonomicAngularVelocity":73.47092949008115},{"time":1.3759998594902167,"pose":{"rotation":{"radians":0.22885640087590575},"translation":{"x":4.735971381845543,"y":5.04869202819273}},"velocity":3.8051460002598283,"acceleration":-2.999999999999969,"curvature":0.09992642871714003,"holonomicRotation":-152.79543119645484,"angularVelocity":0.3798372423427872,"holonomicAngularVelocity":73.72488661102669},{"time":1.3831270592579543,"pose":{"rotation":{"radians":0.23156357678130934},"translation":{"x":4.762293388023366,"y":5.054898579961714}},"velocity":3.7837644009566156,"acceleration":-3.0,"curvature":0.09841741932537487,"holonomicRotation":-152.26997920172425,"angularVelocity":0.3719997233696559,"holonomicAngularVelocity":73.96609928121651},{"time":1.3902690854164264,"pose":{"rotation":{"radians":0.2342204085365598},"translation":{"x":4.7885048407004165,"y":5.0611526214785485}},"velocity":3.7623383224811997,"acceleration":-2.999999999999969,"curvature":0.09689174294025042,"holonomicRotation":-151.74171138581767,"angularVelocity":0.3641597627123983,"holonomicAngularVelocity":74.19461248098337},{"time":1.3974259422246855,"pose":{"rotation":{"radians":0.23682664781362206},"translation":{"x":4.814605081820143,"y":5.067452068897487}},"velocity":3.740867752056422,"acceleration":-3.0,"curvature":0.09534867252679345,"holonomicRotation":-151.210711168347,"angularVelocity":0.3563159109510044,"holonomicAngularVelocity":74.41047318514033},{"time":1.4045976311698296,"pose":{"rotation":{"radians":0.23938203469316832},"translation":{"x":4.840593453325992,"y":5.0737948383727804}},"velocity":3.7193526852209904,"acceleration":-2.9999999999999383,"curvature":0.09378744214035814,"holonomicRotation":-150.67706240040218,"angularVelocity":0.3484666423808735,"holonomicAngularVelocity":74.61373031399694},{"time":1.411784150954268,"pose":{"rotation":{"radians":0.24188629711285525},"translation":{"x":4.8664692971614105,"y":5.080178846058679}},"velocity":3.6977931258676753,"acceleration":-3.000000000000031,"curvature":0.09220724555633893,"holonomicRotation":-150.1408493513099,"angularVelocity":0.3406103534686621,"holonomicAngularVelocity":74.80443468488458},{"time":1.4189854974820846,"pose":{"rotation":{"radians":0.2443391502991452},"translation":{"x":4.89223195526985,"y":5.086602008109435}},"velocity":3.676189086284225,"acceleration":-3.0000000000000306,"curvature":0.09060723433475801,"holonomicRotation":-149.6021566953266,"angularVelocity":0.3327453612382665,"holonomicAngularVelocity":74.98263896457802},{"time":1.4262016638444712,"pose":{"rotation":{"radians":0.24674029618215298},"translation":{"x":4.917880769594754,"y":5.0930622406792985}},"velocity":3.654540587197065,"acceleration":-3.0,"curvature":0.08898651619332233,"holonomicRotation":-149.06106949826744,"angularVelocity":0.3248699014851702,"holonomicAngularVelocity":75.1483976221799},{"time":1.4334326403042246,"pose":{"rotation":{"radians":0.24908942279227464},"translation":{"x":4.943415082079573,"y":5.099557459922521}},"velocity":3.632847657817805,"acceleration":-3.0,"curvature":0.08734415292847371,"holonomicRotation":-148.51767320407328,"angularVelocity":0.31698212686656085,"holonomicAngularVelocity":75.30176688278313},{"time":1.4406784142792823,"pose":{"rotation":{"radians":0.2513862036376828},"translation":{"x":4.968834234667753,"y":5.106085581993355}},"velocity":3.6111103358926315,"acceleration":-3.0000000000000306,"curvature":0.0856791585170455,"holonomicRotation":-147.97205362131814,"angularVelocity":0.30908010481321346,"holonomicAngularVelocity":75.44280468162688},{"time":1.4479389703252885,"pose":{"rotation":{"radians":0.2536302970613846},"translation":{"x":4.994137569302744,"y":5.112644523046052}},"velocity":3.5893286677546126,"acceleration":-3.0000000000000613,"curvature":0.08399049680192598,"holonomicRotation":-147.4242969096593,"angularVelocity":0.30116181528053226,"holonomicAngularVelocity":75.57157061902983},{"time":1.4552142901171685,"pose":{"rotation":{"radians":0.2558213455766536},"translation":{"x":5.019324427927992,"y":5.119232199234862}},"velocity":3.567502708378973,"acceleration":-2.999999999999939,"curvature":0.08227707929422784,"holonomicRotation":-146.8744895662312,"angularVelocity":0.2932251483877851,"holonomicAngularVelocity":75.68812591561343},{"time":1.462504352429708,"pose":{"rotation":{"radians":0.2579589751800042},"translation":{"x":5.0443941524869444,"y":5.125846526714037}},"velocity":3.5456325214413544,"acceleration":-2.9999999999999694,"curvature":0.0805377626791192,"holonomicRotation":-146.32271841198704,"angularVelocity":0.2852679017017852,"holonomicAngularVelocity":75.79253336828327},{"time":1.4698091331171201,"pose":{"rotation":{"radians":0.26004279463909397},"translation":{"x":5.069346084923051,"y":5.132485421637828}},"velocity":3.5237181793791184,"acceleration":-3.0,"curvature":0.07877134621668663,"holonomicRotation":-145.76907057798837,"angularVelocity":0.27728777759599466,"holonomicAngularVelocity":75.88485730657843},{"time":1.4771286050915897,"pose":{"rotation":{"radians":0.2620723947560708},"translation":{"x":5.094179567179759,"y":5.139146800160486}},"velocity":3.5017597634557096,"acceleration":-3.0,"curvature":0.07697656892418048,"holonomicRotation":-145.21363349164625,"angularVelocity":0.2692823801403069,"holonomicAngularVelocity":75.96516354947917},{"time":1.4844627383007927,"pose":{"rotation":{"radians":0.26404734760291104},"translation":{"x":5.118893941200515,"y":5.145828578436262}},"velocity":3.4797573638281007,"acceleration":-3.0,"curvature":0.07515210670342459,"holonomicRotation":-144.65649486291548,"angularVelocity":0.26124921196673884,"holonomicAngularVelocity":76.03351936269809},{"time":1.4918114997043792,"pose":{"rotation":{"radians":0.2659672057285296},"translation":{"x":5.143488548928766,"y":5.15252867261941}},"velocity":3.4577110796173414,"acceleration":-2.99999999999997,"curvature":0.07329656919286208,"holonomicRotation":-144.09774267044403,"angularVelocity":0.2531856707909584,"holonomicAngularVelocity":76.08999341622996},{"time":1.4991748532494211,"pose":{"rotation":{"radians":0.26783150133510203},"translation":{"x":5.167962732307962,"y":5.159244998864178}},"velocity":3.4356210189822156,"acceleration":-3.0,"curvature":0.07140849636526028,"holonomicRotation":-143.53746514768042,"angularVelocity":0.24508904586159508,"holonomicAngularVelocity":76.13465574236247},{"time":1.5065527598448203,"pose":{"rotation":{"radians":0.2696397454230244},"translation":{"x":5.192315833281551,"y":5.16597547332482}},"velocity":3.413487299196018,"acceleration":-3.0,"curvature":0.06948635510140597,"holonomicRotation":-142.9757507689404,"angularVelocity":0.23695651389282532,"holonomicAngularVelocity":76.1675776938719},{"time":1.51394517733468,"pose":{"rotation":{"radians":0.27139142690066187},"translation":{"x":5.216547193792978,"y":5.172718012155584}},"velocity":3.391310046726439,"acceleration":-3.00000000000003,"curvature":0.06752853524614266,"holonomicRotation":-142.41268823543598,"angularVelocity":0.22878513506500212,"holonomicAngularVelocity":76.18883190245647},{"time":1.5213520604706499,"pose":{"rotation":{"radians":0.27308601165933544},"translation":{"x":5.240656155785694,"y":5.179470531510725}},"velocity":3.3690893973185294,"acceleration":-2.99999999999997,"curvature":0.06553334580926733,"holonomicRotation":-141.84836646126843,"angularVelocity":0.22057184842878214,"holonomicAngularVelocity":76.19849223744214},{"time":1.528773360883243,"pose":{"rotation":{"radians":0.2747229416090864},"translation":{"x":5.264642061203144,"y":5.186230947544492}},"velocity":3.3468254960807498,"acceleration":-3.0000000000000298,"curvature":0.0634990105196361,"holonomicRotation":-141.28287455938772,"angularVelocity":0.21231346729797504,"holonomicAngularVelocity":76.19663376447492},{"time":1.5362090270521507,"pose":{"rotation":{"radians":0.27630163367507743},"translation":{"x":5.288504251988779,"y":5.1929971764111365}},"velocity":3.324518497574027,"acceleration":-2.9999999999999405,"curvature":0.061423663363325394,"holonomicRotation":-140.71630182752057,"angularVelocity":0.20400667416228668,"holonomicAngularVelocity":76.1833327044316},{"time":1.5436590042755594,"pose":{"rotation":{"radians":0.2778214787510098},"translation":{"x":5.312242070086044,"y":5.199767134264911}},"velocity":3.302168565903801,"acceleration":-3.0,"curvature":0.059305343684012926,"holonomicRotation":-140.1487377340692,"angularVelocity":0.19564801527693612,"holonomicAngularVelocity":76.15866639216102},{"time":1.5511232346385042,"pose":{"rotation":{"radians":0.2792818406070898},"translation":{"x":5.335854857438386,"y":5.2065387372600656}},"velocity":3.279775874814967,"acceleration":-2.9999999999999405,"curvature":0.05714199113766489,"holonomicRotation":-139.58027190398343,"angularVelocity":0.18723389503715882,"holonomicAngularVelocity":76.12271323534772},{"time":1.5586016569802792,"pose":{"rotation":{"radians":0.28068205475087327},"translation":{"x":5.359341955989256,"y":5.213309901550852}},"velocity":3.2573406077896423,"acceleration":-2.9999999999999702,"curvature":0.054931439989662066,"holonomicRotation":-139.01099410460768,"angularVelocity":0.17876056986090424,"holonomicAngularVelocity":76.07555267310104},{"time":1.5660942068609387,"pose":{"rotation":{"radians":0.2820214272372512},"translation":{"x":5.382702707682101,"y":5.220078543291521}},"velocity":3.234862958147664,"acceleration":-2.9999999999999702,"curvature":0.05267141344512253,"holonomicRotation":-138.44099423150573,"angularVelocity":0.1702241417818431,"holonomicAngularVelocity":76.01726513439313},{"time":1.5736008165269355,"pose":{"rotation":{"radians":0.2832992334253368},"translation":{"x":5.405936454460366,"y":5.226842578636326}},"velocity":3.2123431291496733,"acceleration":-3.0000000000000298,"curvature":0.05035951725335068,"holonomicRotation":-137.87036229426525,"angularVelocity":0.16162055147878626,"holonomicAngularVelocity":75.94793199622661},{"time":1.5811214148759414,"pose":{"rotation":{"radians":0.2845147166779536},"translation":{"x":5.429042538267502,"y":5.233599923739516}},"velocity":3.1897813341026557,"acceleration":-3.0,"curvature":0.047993233185940384,"holonomicRotation":-137.29918840228402,"angularVelocity":0.15294557118249422,"holonomicAngularVelocity":75.86763554135922},{"time":1.588655927420905,"pose":{"rotation":{"radians":0.2856670870027247},"translation":{"x":5.4520203010469555,"y":5.240348494755343}},"velocity":3.167177796467765,"acceleration":-3.0,"curvature":0.045569911771994716,"holonomicRotation":-136.72756275054093,"angularVelocity":0.14419479673757513,"holonomicAngularVelocity":75.77645891568542},{"time":1.5962042762534172,"pose":{"rotation":{"radians":0.2867555196283331},"translation":{"x":5.474869084742174,"y":5.247086207838058}},"velocity":3.1445327499702285,"acceleration":-2.9999999999999707,"curvature":0.04308676480135913,"holonomicRotation":-136.1555756053528,"angularVelocity":0.13536363953190295,"holonomicAngularVelocity":75.6744860848816},{"time":1.6037663800064614,"pose":{"rotation":{"radians":0.28777915351486305},"translation":{"x":5.497588231296606,"y":5.253810979141914}},"velocity":3.121846438711096,"acceleration":-2.9999999999999707,"curvature":0.04054085720549089,"holonomicRotation":-135.58331729012062,"angularVelocity":0.12644731763841335,"holonomicAngularVelocity":75.56180179060483},{"time":1.6113421538166313,"pose":{"rotation":{"radians":0.28873708979219437},"translation":{"x":5.520177082653698,"y":5.26052072482116}},"velocity":3.0991191172805865,"acceleration":-3.0,"curvature":0.037929098342171605,"holonomicRotation":-135.0108781710661,"angularVelocity":0.11744084665637915,"holonomicAngularVelocity":75.43849150567135},{"time":1.6189315092859262,"pose":{"rotation":{"radians":0.2896283901240846},"translation":{"x":5.5426349807569,"y":5.2672133610300484}},"velocity":3.076351050872702,"acceleration":-2.9999999999999707,"curvature":0.035248232810453195,"holonomicRotation":-134.43834864296218,"angularVelocity":0.10833902978723917,"holonomicAngularVelocity":75.30464138860357},{"time":1.6265343544432311,"pose":{"rotation":{"radians":0.2904520749920496},"translation":{"x":5.564961267549657,"y":5.273886803922831}},"velocity":3.0535425154007867,"acceleration":-3.0000000000000586,"curvature":0.032494830502956554,"holonomicRotation":-133.86581911485825,"angularVelocity":0.09913644738010693,"holonomicAngularVelocity":75.16033823690326},{"time":1.634150593705622,"pose":{"rotation":{"radians":0.29120712189491993},"translation":{"x":5.58715528497542,"y":5.280538969653757}},"velocity":3.030693797613614,"acceleration":-3.0,"curvature":0.029665276190973526,"holonomicRotation":-133.29337999580378,"angularVelocity":0.08982744589103585,"holonomicAngularVelocity":75.00566943937338},{"time":1.6417801278396351,"pose":{"rotation":{"radians":0.2918924634595168},"translation":{"x":5.609216374977635,"y":5.287167774377081}},"velocity":3.007805195211575,"acceleration":-2.999999999999942,"curvature":0.026755757989402766,"holonomicRotation":-132.72112168057157,"angularVelocity":0.08040612598746108,"holonomicAngularVelocity":74.8407229269996},{"time":1.6494228539226798,"pose":{"rotation":{"radians":0.29250698545583775},"translation":{"x":5.631143879499748,"y":5.293771134247052}},"velocity":2.9848770169624403,"acceleration":-3.000000000000087,"curvature":0.02376225527879375,"holonomicRotation":-132.14913453538347,"angularVelocity":0.07086633012679786,"holonomicAngularVelocity":74.66558712243821},{"time":1.6570786653047795,"pose":{"rotation":{"radians":0.2930495247126301},"translation":{"x":5.65293714048521,"y":5.300346965417922}},"velocity":2.9619095828161415,"acceleration":-2.999999999999971,"curvature":0.020680526242052768,"holonomicRotation":-131.57750888364035,"angularVelocity":0.06120162922263065,"holonomicAngularVelocity":74.48035088785608},{"time":1.6647474515708545,"pose":{"rotation":{"radians":0.29351886692627405},"translation":{"x":5.6745954998774675,"y":5.306893184043942}},"velocity":2.938903224017917,"acceleration":-2.999999999999971,"curvature":0.01750609313263783,"holonomicRotation":-131.00633499165912,"angularVelocity":0.05140530850200476,"holonomicAngularVelocity":74.28510347095983},{"time":1.6724290985037897,"pose":{"rotation":{"radians":0.29391374435666506},"translation":{"x":5.696118299619967,"y":5.3134077062793645}},"velocity":2.9158582832191113,"acceleration":-2.999999999999971,"curvature":0.014234228296101704,"holonomicRotation":-130.43570305441864,"angularVelocity":0.04147035255393087,"holonomicAngularVelocity":74.07993444902107},{"time":1.6801234880485618,"pose":{"rotation":{"radians":0.29423283340377404},"translation":{"x":5.717504881656158,"y":5.319888448278438}},"velocity":2.8927751145847953,"acceleration":-2.999999999999971,"curvature":0.010859937487609677,"holonomicRotation":-129.8657031813167,"angularVelocity":0.03138942943888528,"holonomicAngularVelocity":73.86493367062705},{"time":1.687830498277722,"pose":{"rotation":{"radians":0.29447475205754703},"translation":{"x":5.738754587929488,"y":5.326333326195417}},"velocity":2.869654083897315,"acceleration":-3.0,"curvature":0.007377944036040923,"holonomicRotation":-129.29642538194094,"angularVelocity":0.02115487367009395,"holonomicAngularVelocity":73.64019119510674},{"time":1.6955500033585769,"pose":{"rotation":{"radians":0.29463805721232816},"translation":{"x":5.759866760383405,"y":5.332740256184551}},"velocity":2.84649556865475,"acceleration":-3.000000000000029,"curvature":0.00378266826361098,"holonomicRotation":-128.72795955185518,"angularVelocity":0.010758668431031742,"holonomicAngularVelocity":73.40579722910581},{"time":1.7032818735224542,"pose":{"rotation":{"radians":0.2947212418397731},"translation":{"x":5.780840740961356,"y":5.339107154400092}},"velocity":2.8232999581631177,"acceleration":-3.000000000000029,"curvature":0.00006821423813464484,"holonomicRotation":-128.16039545840383,"angularVelocity":0.00019242636687486037,"holonomicAngularVelocity":73.16184206030273},{"time":1.7110259750364674,"pose":{"rotation":{"radians":0.29472273200909216},"translation":{"x":5.801675871606788,"y":5.345431936996291}},"velocity":2.800067653621078,"acceleration":-3.000000000000029,"curvature":-0.0037716703599013543,"holonomicRotation":-127.59382272653664,"angularVelocity":-0.010552630566366628,"holonomicAngularVelocity":72.90841598780585},{"time":1.718782170178264,"pose":{"rotation":{"radians":0.29464088374716013},"translation":{"x":5.822371494263151,"y":5.351712520127399}},"velocity":2.7767990681956882,"acceleration":-3.0,"curvature":-0.007743582683564042,"holonomicRotation":-127.02833082465594,"angularVelocity":-0.021485692626142652,"holonomicAngularVelocity":72.64560924905658},{"time":1.7265503172142784,"pose":{"rotation":{"radians":0.29447397972766964},"translation":{"x":5.842926950873891,"y":5.357946819947669}},"velocity":2.753494627087645,"acceleration":-3.0,"curvature":-0.011854521452313775,"holonomicRotation":-126.46400905048841,"angularVelocity":-0.032616385156325874,"holonomicAngularVelocity":72.37351194272749},{"time":1.7343302703820893,"pose":{"rotation":{"radians":0.29422022577865015},"translation":{"x":5.863341583382457,"y":5.36413275261135}},"velocity":2.7301547675842115,"acceleration":-3.0000000000000857,"curvature":-0.016111898686476285,"holonomicRotation":-125.90094651698399,"angularVelocity":-0.04395479270715342,"holonomicAngularVelocity":72.0922139473927},{"time":1.7421218798775324,"pose":{"rotation":{"radians":0.29387774719842286},"translation":{"x":5.883614733732296,"y":5.370268234272694}},"velocity":2.7067799390978826,"acceleration":-2.999999999999943,"curvature":-0.02052356839222545,"holonomicRotation":-125.33923213824397,"angularVelocity":-0.05551148493711766,"holonomicAngularVelocity":71.80180483552894},{"time":1.749924991847308,"pose":{"rotation":{"radians":0.29344458486585},"translation":{"x":5.903745743866856,"y":5.376351181085953}},"velocity":2.683370603188556,"acceleration":-2.999999999999943,"curvature":-0.02509785831400084,"holonomicRotation":-124.77895461548036,"angularVelocity":-0.0672975438324441,"holonomicAngularVelocity":71.50237378238202},{"time":1.757739448387898,"pose":{"rotation":{"radians":0.2929186911342829},"translation":{"x":5.923733955729585,"y":5.382379509205378}},"velocity":2.6599272335667865,"acceleration":-2.999999999999943,"curvature":-0.029843601715121928,"holonomicRotation":-124.22020242300891,"angularVelocity":-0.07932459276079465,"holonomicAngularVelocity":71.19400946922367},{"time":1.7655650875517046,"pose":{"rotation":{"radians":0.29229792549452105},"translation":{"x":5.94357871126393,"y":5.3883511347852195}},"velocity":2.6364503160753667,"acceleration":-3.0000000000000284,"curvature":-0.0347701729783495,"holonomicRotation":-123.66306379427814,"angularVelocity":-0.0916048272973061,"holonomicAngularVelocity":70.87679998057682},{"time":1.7734017433614246,"pose":{"rotation":{"radians":0.2915800499924832},"translation":{"x":5.963279352413339,"y":5.39426397397973}},"velocity":2.6129403486462066,"acceleration":-3.0,"curvature":-0.039887524200175196,"holonomicRotation":-123.10762670793599,"angularVelocity":-0.10415104790830491,"holonomicAngularVelocity":70.55083269466905},{"time":1.7812492458337874,"pose":{"rotation":{"radians":0.2907627243865236},"translation":{"x":5.982835221121261,"y":5.400115942943161}},"velocity":2.5893978412291183,"acceleration":-3.0,"curvature":-0.04520622644631262,"holonomicRotation":-122.55397887393733,"angularVelocity":-0.11697669465929132,"holonomicAngularVelocity":70.21619416677987},{"time":1.7891074210139115,"pose":{"rotation":{"radians":0.289843501027899},"translation":{"x":6.002245659331143,"y":5.405904957829763}},"velocity":2.565823315688746,"acceleration":-2.9999999999999716,"curvature":-0.050737512505990935,"holonomicRotation":-122.00220771969316,"angularVelocity":-0.13009588399962696,"holonomicAngularVelocity":69.8729700044814},{"time":1.7969760910216817,"pose":{"rotation":{"radians":0.2888198194473368},"translation":{"x":6.021510008986432,"y":5.411628934793787}},"velocity":2.542217305665436,"acceleration":-2.9999999999999716,"curvature":-0.05649332450052714,"holonomicRotation":-121.45240037626508,"angularVelocity":-0.14352344786771631,"holonomicAngularVelocity":69.5212447343621},{"time":1.8048550741116969,"pose":{"rotation":{"radians":0.2876890006285664},"translation":{"x":6.040627612030576,"y":5.417285789989485}},"velocity":2.51858035639539,"acceleration":-3.000000000000028,"curvature":-0.062486364003179015,"holonomicRotation":-120.90464366460623,"angularVelocity":-0.15727497505110483,"holonomicAngularVelocity":69.16110165927701},{"time":1.8127441847485268,"pose":{"rotation":{"radians":0.28644824094998356},"translation":{"x":6.059597810407025,"y":5.422873439571108}},"velocity":2.4949130244849,"acceleration":-3.0000000000000564,"curvature":-0.06873014675106848,"holonomicRotation":-120.35902408185115,"angularVelocity":-0.17136685498652224,"holonomicAngularVelocity":68.79262270532426},{"time":1.820643233699195,"pose":{"rotation":{"radians":0.285094605773923},"translation":{"x":6.078419946059224,"y":5.428389799692908}},"velocity":2.471215877632896,"acceleration":-2.9999999999999436,"curvature":-0.07523906128760027,"holonomicRotation":-119.81562778765695,"angularVelocity":-0.1858163243989592,"holonomicAngularVelocity":68.41588825757003},{"time":1.8285520281450425,"pose":{"rotation":{"radians":0.2836250226595687},"translation":{"x":6.097093360930622,"y":5.433832786509134}},"velocity":2.447489494295353,"acceleration":-3.000000000000028,"curvature":-0.08202843224045303,"holonomicRotation":-119.27454059059775,"angularVelocity":-0.20064151622092113,"holonomicAngularVelocity":68.0309769836174},{"time":1.8364703718153532,"pose":{"rotation":{"radians":0.2820362741795992},"translation":{"x":6.115617396964667,"y":5.439200316174041}},"velocity":2.4237344632844207,"acceleration":-3.000000000000028,"curvature":-0.0891145889146398,"holonomicRotation":-118.73584793461447,"angularVelocity":-0.21586151189131644,"holonomicAngularVelocity":67.63796564380792},{"time":1.8443980651453982,"pose":{"rotation":{"radians":0.280324990311565},"translation":{"x":6.133991396104805,"y":5.444490304841878}},"velocity":2.3999513832942854,"acceleration":-3.000000000000056,"curvature":-0.09651493892257838,"holonomicRotation":-118.19963488552224,"angularVelocity":-0.23149639605320904,"holonomicAngularVelocity":67.23692888691882},{"time":1.852334905461861,"pose":{"rotation":{"radians":0.27848764038225404},"translation":{"x":6.152214700294486,"y":5.449700668666896}},"velocity":2.3761408623448967,"acceleration":-3.000000000000028,"curvature":-0.104248047560638,"holonomicRotation":-117.6659861175774,"angularVelocity":-0.2475673147545597,"holonomicAngularVelocity":66.82793902998674},{"time":1.8602806871989332,"pose":{"rotation":{"radians":0.27652052453398124},"translation":{"x":6.1702866514771575,"y":5.454829323803348}},"velocity":2.3523035171336795,"acceleration":-3.000000000000056,"curvature":-0.11233372402643452,"holonomicRotation":-117.13498590010676,"angularVelocity":-0.2640965366077891,"holonomicAngularVelocity":66.41106582096437},{"time":1.8682352021487578,"pose":{"rotation":{"radians":0.2744197646853377},"translation":{"x":6.188206591596266,"y":5.459874186405484}},"velocity":2.328439972284206,"acceleration":-2.999999999999972,"curvature":-0.12079311379402781,"holonomicRotation":-116.60671808420011,"angularVelocity":-0.28110751717559596,"holonomicAngularVelocity":65.9863761824544},{"time":1.876198239750303,"pose":{"rotation":{"radians":0.2721812949559914},"translation":{"x":6.20597386259526,"y":5.4648331726275545}},"velocity":2.3045508594795705,"acceleration":-3.0,"curvature":-0.1296487987321557,"holonomicRotation":-116.08126608946952,"angularVelocity":-0.2986249667301435,"holonomicAngularVelocity":65.55393393505375},{"time":1.88416958742123,"pose":{"rotation":{"radians":0.2698008515229664},"translation":{"x":6.223587806417588,"y":5.469704198623813}},"velocity":2.280636816466789,"acceleration":-3.0,"curvature":-0.13892490497552956,"holonomicRotation":-115.55871289087622,"angularVelocity":-0.31667492143926823,"holonomicAngularVelocity":65.11379949836132},{"time":1.8921490309378304,"pose":{"rotation":{"radians":0.2672739618742179},"translation":{"x":6.241047765006697,"y":5.474485180548509}},"velocity":2.256698485916988,"acceleration":-3.000000000000028,"curvature":-0.14864721930321945,"holonomicRotation":-115.03914100562781,"angularVelocity":-0.33528481770023616,"holonomicAngularVelocity":64.66602956757555},{"time":1.9001363548687045,"pose":{"rotation":{"radians":0.26459593342614207},"translation":{"x":6.258353080306034,"y":5.4791740345558955}},"velocity":2.2327365141243654,"acceleration":-3.0000000000000555,"curvature":-0.1588433147882637,"holonomicRotation":-114.5226324801481,"angularVelocity":-0.35448357002638015,"holonomicAngularVelocity":64.21067676374489},{"time":1.9081313430685038,"pose":{"rotation":{"radians":0.2617618414667584},"translation":{"x":6.275503094259048,"y":5.483768676800222}},"velocity":2.2087515495249677,"acceleration":-2.9999999999999445,"curvature":-0.16954268620264945,"holonomicRotation":-114.00926887712083,"angularVelocity":-0.3743016519513326,"holonomicAngularVelocity":63.747789255109325},{"time":1.9161337792387898,"pose":{"rotation":{"radians":0.2587665163885853},"translation":{"x":6.292497148809187,"y":5.488267023435741}},"velocity":2.1847442410141094,"acceleration":-3.0000000000000555,"curvature":-0.18077689593403926,"holonomicRotation":-113.49913126260998,"angularVelocity":-0.3947711802609101,"holonomicAngularVelocity":63.27741034709025},{"time":1.9241434475638899,"pose":{"rotation":{"radians":0.2556045301703871},"translation":{"x":6.309334585899897,"y":5.492666990616703}},"velocity":2.160715236038809,"acceleration":-3.0,"curvature":-0.1925797313962331,"holonomicRotation":-112.99230019325853,"angularVelocity":-0.41592600176090844,"holonomicAngularVelocity":62.7995780380987},{"time":1.9321601334305574,"pose":{"rotation":{"radians":0.2522701820704909},"translation":{"x":6.326014747474628,"y":5.49696649449736}},"velocity":2.136665178438807,"acceleration":-2.9999999999999445,"curvature":-0.2049873742766421,"holonomicRotation":-112.48885570356782,"angularVelocity":-0.437801782779679,"holonomicAngularVelocity":62.31432453839695},{"time":1.9401836242412602,"pose":{"rotation":{"radians":0.24875748348944882},"translation":{"x":6.342536975476827,"y":5.501163451231964}},"velocity":2.1125947060066985,"acceleration":-3.0,"curvature":-0.21803858288521444,"holonomicRotation":-111.98887729325884,"angularVelocity":-0.4604361006054448,"holonomicAngularVelocity":61.82167574845602},{"time":1.9482137103321036,"pose":{"rotation":{"radians":0.2450601419622549},"translation":{"x":6.358900611849941,"y":5.505255776974764}},"velocity":2.0885044477341688,"acceleration":-2.9999999999999725,"curvature":-0.23177488800240423,"holonomicRotation":-111.49244391471854,"angularVelocity":-0.48386853621019243,"holonomicAngularVelocity":61.32165069364897},{"time":1.956250186007691,"pose":{"rotation":{"radians":0.24117154424081955},"translation":{"x":6.375104998537418,"y":5.509241387880014}},"velocity":2.0643950207074067,"acceleration":-2.999999999999945,"curvature":-0.24624080345482496,"holonomicRotation":-110.99963396053215,"angularVelocity":-0.50814076783947,"holonomicAngularVelocity":60.81426091146924},{"time":1.9642928507066808,"pose":{"rotation":{"radians":0.2370847384251995},"translation":{"x":6.391149477482707,"y":5.513118200101964}},"velocity":2.0402670266104375,"acceleration":-3.0,"curvature":-0.26148405142006387,"holonomicRotation":-110.51052525110433,"angularVelocity":-0.533296663791725,"holonomicAngularVelocity":60.299509787288564},{"time":1.97234151031347,"pose":{"rotation":{"radians":0.23279241510890358},"translation":{"x":6.407033390629254,"y":5.516884129794864}},"velocity":2.0161210477900697,"acceleration":-3.0,"curvature":-0.27755580422454784,"holonomicRotation":-110.02519502237018,"angularVelocity":-0.5593823736984606,"holonomicAngularVelocity":59.77739183441776},{"time":1.9803959786332794,"pose":{"rotation":{"radians":0.22828688750128956},"translation":{"x":6.422756079920509,"y":5.520537093112967}},"velocity":1.9919576428306414,"acceleration":-3.0000000000000275,"curvature":-0.29451094273406836,"holonomicRotation":-109.54371991359903,"angularVelocity":-0.5864464163469612,"holonomicAngularVelocity":59.24789191416755},{"time":1.988456079049999,"pose":{"rotation":{"radians":0.22356007049650772},"translation":{"x":6.438316887299917,"y":5.524075006210524}},"velocity":1.9677773415804827,"acceleration":-3.0,"curvature":-0.31240833131613155,"holonomicRotation":-109.0661759552919,"angularVelocity":-0.614539761955761,"holonomicAngularVelocity":58.71098439074912},{"time":1.9965216463885496,"pose":{"rotation":{"radians":0.2186034586642367},"translation":{"x":6.4537151547109275,"y":5.527495785241786}},"velocity":1.9435806395648307,"acceleration":-3.0000000000000275,"curvature":-0.331311111025913,"holonomicRotation":-108.59263855717572,"angularVelocity":-0.643715906510664,"holonomicAngularVelocity":58.16663221666968},{"time":2.004592529006129,"pose":{"rotation":{"radians":0.2134081031437205},"translation":{"x":6.4689502240969885,"y":5.530797346361006}},"velocity":1.9193679917120927,"acceleration":-3.0000000000000275,"curvature":-0.3512870102438752,"holonomicRotation":-108.12318249629507,"angularVelocity":-0.6740309352423134,"holonomicAngularVelocity":57.61478594288758},{"time":2.0126685911397675,"pose":{"rotation":{"radians":0.207964587430709},"translation":{"x":6.484021437401548,"y":5.533977605722433}},"velocity":1.8951398053111763,"acceleration":-3.000000000000055,"curvature":-0.37240867251094656,"holonomicRotation":-107.65788190520402,"angularVelocity":-0.7055435708981239,"holonomicAngularVelocity":57.05538264875575},{"time":2.020749715540992,"pose":{"rotation":{"radians":0.202263002063797},"translation":{"x":6.498928136568051,"y":5.537034479480319}},"velocity":1.8708964321075028,"acceleration":-2.999999999999945,"curvature":-0.39475400196052185,"holonomicRotation":-107.19681026025995,"angularVelocity":-0.738315203091214,"holonomicAngularVelocity":56.48834478631173},{"time":2.028835806432263,"pose":{"rotation":{"radians":0.19629291822519424},"translation":{"x":6.513669663539949,"y":5.539965883788916}},"velocity":1.84663815943369,"acceleration":-2.9999999999999725,"curvature":-0.41840652421559305,"holonomicRotation":-106.74004037002038,"angularVelocity":-0.7724098924651374,"holonomicAngularVelocity":55.91357893341032},{"time":2.036926792824192,"pose":{"rotation":{"radians":0.19004336029626767},"translation":{"x":6.528245360260688,"y":5.542769734802475}},"velocity":1.8223652002579036,"acceleration":-3.0000000000000275,"curvature":-0.44345576174771983,"holonomicRotation":-106.28764436374613,"angularVelocity":-0.8078943433075255,"holonomicAngularVelocity":55.33097445058683},{"time":2.0450226322375262,"pose":{"rotation":{"radians":0.18350277742990873},"translation":{"x":6.542654568673716,"y":5.5454439486752465}},"velocity":1.7980776820179,"acceleration":-3.000000000000055,"curvature":-0.4699976209839799,"holonomicRotation":-105.83969368001087,"angularVelocity":-0.8448378369256535,"holonomicAngularVelocity":54.74040203656353},{"time":2.053123314879468,"pose":{"rotation":{"radians":0.17665901422906938},"translation":{"x":6.55689663072248,"y":5.547986441561482}},"velocity":1.7737756340920745,"acceleration":-3.0,"curvature":-0.49813478746077056,"holonomicRotation":-105.39625905542036,"angularVelocity":-0.8833121156884973,"holonomicAngularVelocity":54.141712177946296},{"time":2.061228868330302,"pose":{"rotation":{"radians":0.16949928066158693},"translation":{"x":6.570970888350429,"y":5.550395129615434}},"velocity":1.7494589737395718,"acceleration":-3.0000000000000546,"curvature":-0.5279771242924892,"holonomicRotation":-104.95741051344234,"angularVelocity":-0.9233912069073194,"holonomicAngularVelocity":53.5347334894505},{"time":2.06933936280356,"pose":{"rotation":{"radians":0.16201012138131032},"translation":{"x":6.58487668350101,"y":5.552667928991354}},"velocity":1.7251274903197984,"acceleration":-3.0000000000000275,"curvature":-0.5596420675536459,"holonomicRotation":-104.52321735334883,"angularVelocity":-0.9651511728970738,"holonomicAngularVelocity":52.919270941802864},{"time":2.077454917051236,"pose":{"rotation":{"radians":0.15417738468045572},"translation":{"x":6.598613358117673,"y":5.5548027558434905}},"velocity":1.7007808275767695,"acceleration":-3.0,"curvature":-0.5932550097719556,"holonomicRotation":-104.09374813927315,"angularVelocity":-1.0086697711142423,"holonomicAngularVelocity":52.29510397643478},{"time":2.085575704995012,"pose":{"rotation":{"radians":0.14598619136393998},"translation":{"x":6.612180254143861,"y":5.556797526326097}},"velocity":1.676418463745442,"acceleration":-2.9999999999999725,"curvature":-0.6289496611598231,"holonomicRotation":-103.6690706893828,"angularVelocity":-1.0540260062950073,"holonomicAngularVelocity":51.66198450757569},{"time":2.093701963175264,"pose":{"rotation":{"radians":0.13742090390808714},"translation":{"x":6.625576713523026,"y":5.558650156593425}},"velocity":1.6520396892046867,"acceleration":-3.0000000000000275,"curvature":-0.6668683742338477,"holonomicRotation":-103.24925206517008,"angularVelocity":-1.1012995518694575,"holonomicAngularVelocity":51.019634815498634},{"time":2.1018339991219728,"pose":{"rotation":{"radians":0.12846509636419023},"translation":{"x":6.638802078198614,"y":5.560358562799726}},"velocity":1.6276435813645593,"acceleration":-3.0000000000000546,"curvature":-0.7071624147295162,"holonomicRotation":-102.83435856086248,"angularVelocity":-1.150570015648221,"holonomicAngularVelocity":50.367745337776306},{"time":2.1099722007658963,"pose":{"rotation":{"radians":0.11910152557139275},"translation":{"x":6.651855690114073,"y":5.561920661099249}},"velocity":1.603228976432788,"acceleration":-3.0000000000000817,"curvature":-0.749992157093018,"holonomicRotation":-102.42445569295387,"angularVelocity":-1.2019160199895882,"holonomicAngularVelocity":49.705972369971754},{"time":2.1181170470246427,"pose":{"rotation":{"radians":0.10931210437265326},"translation":{"x":6.664736891212852,"y":5.563334367646248}},"velocity":1.5787944376565484,"acceleration":-3.0000000000000817,"curvature":-0.7955271777710231,"holonomicRotation":-102.01960818985896,"angularVelocity":-1.2554140622785008,"holonomicAngularVelocity":49.03393569290982},{"time":2.126269119717131,"pose":{"rotation":{"radians":0.09907787767778675},"translation":{"x":6.6774450234383975,"y":5.564597598594974}},"velocity":1.5543382195790831,"acceleration":-3.0,"curvature":-0.8439462134254642,"holonomicRotation":-101.61987998169155,"angularVelocity":-1.3111371163851193,"holonomicAngularVelocity":48.35121615010958},{"time":2.1344291169816714,"pose":{"rotation":{"radians":0.08837900239464691},"translation":{"x":6.689979428734157,"y":5.565708270099676}},"velocity":1.5298582277854615,"acceleration":-3.0000000000000817,"curvature":-0.895436944499578,"holonomicRotation":-101.22533419016946,"angularVelocity":-1.3691529309974686,"holonomicAngularVelocity":47.65735320827951},{"time":2.1425978683980813,"pose":{"rotation":{"radians":0.07719473245027952},"translation":{"x":6.7023394490435795,"y":5.566664298314608}},"velocity":1.505351973536232,"acceleration":-2.999999999999973,"curvature":-0.9501955562400451,"holonomicRotation":-100.83603311864698,"angularVelocity":-1.4295219749187844,"holonomicAngularVelocity":46.95184254382946},{"time":2.1507763520435805,"pose":{"rotation":{"radians":0.0655034103575245},"translation":{"x":6.714524426310112,"y":5.567463599394019}},"velocity":1.480816522599735,"acceleration":-2.9999999999999187,"curvature":-1.0084260195868118,"holonomicRotation":-100.45203824227622,"angularVelocity":-1.4922949732574355,"holonomicAngularVelocity":46.23413371095394},{"time":2.158965713746426,"pose":{"rotation":{"radians":0.05328246705418094},"translation":{"x":6.726533702477201,"y":5.568104089492163}},"velocity":1.456248437491198,"acceleration":-3.0,"curvature":-1.0703390251651042,"holonomicRotation":-100.07341019829948,"angularVelocity":-1.557509974865913,"holonomicAngularVelocity":45.50362796260224},{"time":2.167167288841319,"pose":{"rotation":{"radians":0.04050843203427368},"translation":{"x":6.738366619488297,"y":5.568583684763289}},"velocity":1.4316437122065204,"acceleration":-2.9999999999999187,"curvature":-1.136150490211471,"holonomicRotation":-99.70020877647414,"angularVelocity":-1.6251888843132938,"holonomicAngularVelocity":44.75967631341658},{"time":2.175382626777819,"pose":{"rotation":{"radians":0.027156956138996602},"translation":{"x":6.750022519286846,"y":5.568900301361648}},"velocity":1.4069976983970205,"acceleration":-3.0,"curvature":-1.2060795480322994,"holonomicRotation":-99.33249290963107,"angularVelocity":-1.6953333911591562,"holonomicAngularVelocity":44.00157795473556},{"time":2.1836135189888974,"pose":{"rotation":{"radians":0.013202849734523348},"translation":{"x":6.761500743816297,"y":5.569051855441494}},"velocity":1.3823050217637842,"acceleration":-3.000000000000081,"curvature":-1.2803459149806717,"holonomicRotation":-98.97032066436827,"angularVelocity":-1.7679202259713096,"holonomicAngularVelocity":43.22857915655689},{"time":2.1918620304931786,"pose":{"rotation":{"radians":-0.001379860588052395},"translation":{"x":6.772800635020096,"y":5.569036263157076}},"velocity":1.3575594872509402,"acceleration":-3.0000000000000537,"curvature":-1.3591665180041668,"holonomicRotation":-98.61374923188168,"angularVelocity":-1.8428956752927772,"holonomicAngularVelocity":42.439872818627855},{"time":2.200130535784118,"pose":{"rotation":{"radians":-0.016617853229860202},"translation":{"x":6.783921534841692,"y":5.5688514406626455}},"velocity":1.3327539713781218,"acceleration":-3.0,"curvature":-1.4427512543989978,"holonomicRotation":-98.26283491893406,"angularVelocity":-1.9201692950004636,"holonomicAngularVelocity":41.634598863985836},{"time":2.208421759655361,"pose":{"rotation":{"radians":-0.03253840672539532},"translation":{"x":6.794862785224534,"y":5.568495304112456}},"velocity":1.3078802997643932,"acceleration":-3.0000000000000537,"curvature":-1.531297745502315,"holonomicRotation":-97.91763313896337,"angularVelocity":-1.9996067733840757,"holonomicAngularVelocity":40.81184570111157},{"time":2.216738823728302,"pose":{"rotation":{"radians":-0.04916926438031766},"translation":{"x":6.805623728112066,"y":5.567965769660756}},"velocity":1.28292910754557,"acceleration":-3.0,"curvature":-1.624984941013536,"holonomicRotation":-97.57819840333224,"angularVelocity":-2.081021916057604,"holonomicAngularVelocity":39.97065301593734},{"time":2.2250852995909507,"pose":{"rotation":{"radians":-0.06653846357233562},"translation":{"x":6.816203705447741,"y":5.567260753461799}},"velocity":1.257889679957624,"acceleration":-2.9999999999999467,"curvature":-1.7239654332966166,"holonomicRotation":-97.2445843127204,"angularVelocity":-2.1641677584793593,"holonomicAngularVelocity":39.11001618991973},{"time":2.233465269634142,"pose":{"rotation":{"radians":-0.08467412455683299},"translation":{"x":6.826602059175001,"y":5.566378171669832}},"velocity":1.232749769828051,"acceleration":-2.9999999999999205,"curvature":-1.8283563507898497,"holonomicRotation":-96.91684354866015,"angularVelocity":-2.2487268535593508,"holonomicAngularVelocity":38.228892671637595},{"time":2.241883396892158,"pose":{"rotation":{"radians":-0.10360419337861337},"translation":{"x":6.836818131237298,"y":5.565315940439113}},"velocity":1.2074953880540027,"acceleration":-3.000000000000053,"curvature":-1.9382287272223016,"holonomicRotation":-96.59502786521728,"angularVelocity":-2.334300846795252,"holonomicAngularVelocity":37.32621065615369},{"time":2.250345005473532,"pose":{"rotation":{"radians":-0.12335613345536522},"translation":{"x":6.846851263578079,"y":5.5640719759238895}},"velocity":1.1821105623098802,"acceleration":-2.999999999999974,"curvature":-2.053595283434097,"holonomicRotation":-96.27918808081898,"angularVelocity":-2.4203995253738713,"holonomicAngularVelocity":36.40088044057947},{"time":2.2588561735233355,"pose":{"rotation":{"radians":-0.1439565605634865},"translation":{"x":6.856700798140791,"y":5.562644194278413}},"velocity":1.1565770581604702,"acceleration":-3.0,"curvature":-2.1743966298786965,"holonomicRotation":-95.96937407022841,"angularVelocity":-2.506429632403183,"holonomicAngularVelocity":35.45180882101053},{"time":2.267423841116617,"pose":{"rotation":{"radians":-0.16543081649986835},"translation":{"x":6.866366076868882,"y":5.561030511656934}},"velocity":1.1308740553806247,"acceleration":-3.0000000000000258,"curvature":-2.3004859891264435,"holonomicRotation":-95.66563475666942,"angularVelocity":-2.591683851848069,"holonomicAngularVelocity":34.477916867994914},{"time":2.2760559360807155,"pose":{"rotation":{"radians":-0.18780247762594104},"translation":{"x":6.8758464417058,"y":5.559228844213706}},"velocity":1.1049777704883297,"acceleration":-3.0,"curvature":-2.4316126695107827,"holonomicRotation":-95.3680181041006,"angularVelocity":-2.675330510342263,"holonomicAngularVelocity":33.478161351474476},{"time":2.284761521533848,"pose":{"rotation":{"radians":-0.21109279599909847},"translation":{"x":6.885141234594991,"y":5.557237108102978}},"velocity":1.0788610141289319,"acceleration":-3.0,"curvature":-2.5674046854923307,"holonomicRotation":-95.07657110964158,"angularVelocity":-2.7564046908418445,"holonomicAngularVelocity":32.45155997410044},{"time":2.293550969983107,"pose":{"rotation":{"radians":-0.23532007293454793},"translation":{"x":6.894249797479907,"y":5.555053219479003}},"velocity":1.0524926687811553,"acceleration":-3.0000000000000253,"curvature":-2.7073511238925922,"holonomicRotation":-94.79133979615119,"angularVelocity":-2.8338016063708324,"holonomicAngularVelocity":31.39722039629571},{"time":2.3024361702546456,"pose":{"rotation":{"radians":-0.2604989677369609},"translation":{"x":6.903171472303992,"y":5.552675094496033}},"velocity":1.0258370679665396,"acceleration":-2.99999999999995,"curvature":-2.8507850904961836,"holonomicRotation":-94.51236920496046,"angularVelocity":-2.9086690740177716,"holonomicAngularVelocity":30.339363158443472},{"time":2.3114233666824973,"pose":{"rotation":{"radians":-0.2866397480487759},"translation":{"x":6.9119056010106945,"y":5.550100649308316}},"velocity":1.0005223537464476,"acceleration":-2.816753191422509,"curvature":-2.996868331493047,"holonomicRotation":-94.23970338875961,"angularVelocity":-2.9828624574550244,"holonomicAngularVelocity":29.304906143125308},{"time":2.320511195963268,"pose":{"rotation":{"radians":-0.3137474928301476},"translation":{"x":6.920451525543464,"y":5.547327800070107}},"velocity":0.9767409147891515,"acceleration":-2.6168448176745556,"curvature":-3.144578886391768,"holonomicRotation":-93.97338540464187,"angularVelocity":-3.0561580653052607,"holonomicAngularVelocity":28.29621060544375},{"time":2.329697164394237,"pose":{"rotation":{"radians":-0.34182126433809223},"translation":{"x":6.928808587845746,"y":5.5443544629356545}},"velocity":0.9545184420182098,"acceleration":-2.41917582647278,"curvature":-3.292703363524412,"holonomicRotation":-93.71345730730422,"angularVelocity":-3.1280535721292964,"holonomicAngularVelocity":27.31305174293931},{"time":2.338978337632719,"pose":{"rotation":{"radians":-0.3708532714402777},"translation":{"x":6.93697612986099,"y":5.541178554059211}},"velocity":0.9338815247554685,"acceleration":-2.2235246269485542,"curvature":-3.439835603558206,"holonomicRotation":-93.45996014240637,"angularVelocity":-3.19799947040307,"holonomicAngularVelocity":26.355143389128248},{"time":2.3483513165108763,"pose":{"rotation":{"radians":-0.40082805292872337},"translation":{"x":6.944953493532642,"y":5.537797989595029}},"velocity":0.9148573672518386,"acceleration":-2.0296810385398283,"curvature":-3.584383547373408,"holonomicRotation":-93.21293394008927,"angularVelocity":-3.2654037910993585,"holonomicAngularVelocity":25.422126880918324},{"time":2.3578122177392387,"pose":{"rotation":{"radians":-0.43172171566703454},"translation":{"x":6.9527400208041525,"y":5.534210685697358}},"velocity":0.8974734779514442,"acceleration":-1.8374453850421881,"curvature":-3.7245860153585015,"holonomicRotation":-92.972417708654,"angularVelocity":-3.329639225818843,"holonomicAngularVelocity":24.513560122472683},{"time":2.367356660859029,"pose":{"rotation":{"radians":-0.46350126786728474},"translation":{"x":6.960335053618966,"y":5.53041455852045}},"velocity":0.8817573339918088,"acceleration":-1.6466276515439975,"curvature":-3.858540770946259,"holonomicRotation":-92.73844942840151,"angularVelocity":-3.390052821781674,"holonomicAngularVelocity":23.628907207162438},{"time":2.376979762798206,"pose":{"rotation":{"radians":-0.49612409175048455},"translation":{"x":6.967737933920533,"y":5.526407524218556}},"velocity":0.8677360249376679,"acceleration":-1.4570467134987029,"curvature":-3.9842446552591073,"holonomicRotation":-92.51106604563563,"angularVelocity":-3.4459782839578557,"holonomicAngularVelocity":22.767529013316977},{"time":2.3866761412975226,"pose":{"rotation":{"radians":-0.5295376014921658},"translation":{"x":6.974948003652299,"y":5.522187498945928}},"velocity":0.8554358816095368,"acceleration":-1.268529619486069,"curvature":-4.099645729203341,"holonomicRotation":-92.29030346682833,"angularVelocity":-3.4967507375856846,"holonomicAngularVelocity":21.928675223605733},{"time":2.396439928288537,"pose":{"rotation":{"radians":-0.5636791308546254},"translation":{"x":6.9819646047577155,"y":5.517752398856816}},"velocity":0.844882097357405,"acceleration":-1.0809109479594539,"curvature":-4.202706283080951,"holonomicRotation":-92.07619655294991,"angularVelocity":-3.54172359477222,"holonomicAngularVelocity":21.111478233841282},{"time":2.406264794017417,"pose":{"rotation":{"radians":-0.5984760896220678},"translation":{"x":6.988787079180225,"y":5.513100140105474}},"velocity":0.83609835107936,"acceleration":-0.8940321954961263,"curvature":-4.291474347474588,"holonomicRotation":-91.86877911396425,"angularVelocity":-3.580286937259875,"holonomicAngularVelocity":20.314949398000028},{"time":2.416143982320723,"pose":{"rotation":{"radians":-0.6338464184551249},"translation":{"x":6.99541476886328,"y":5.50822863884615}},"velocity":0.8291064421668685,"acceleration":-0.7077412331691015,"curvature":-4.364160110823032,"holonomicRotation":-91.66808390348928,"angularVelocity":-3.6118866103271885,"holonomicAngularVelocity":19.537978001676045},{"time":2.4260703569868873,"pose":{"rotation":{"radians":-0.6696993582009352},"translation":{"x":7.001847015750326,"y":5.503135811233097}},"velocity":0.8239259486416673,"acceleration":-0.5218917983077574,"curvature":-4.419212581321244,"holonomicRotation":-91.47414261362536,"angularVelocity":-3.636043037469949,"holonomicAngularVelocity":18.779333267371257},{"time":2.4360364586056447,"pose":{"rotation":{"radians":-0.7059365326025357},"translation":{"x":7.0080831617848105,"y":5.497819573420566}},"velocity":0.8205739197958585,"acceleration":-0.33634303301704027,"curvature":-4.4553911236118005,"holonomicRotation":-91.28698586995023,"angularVelocity":-3.6523686510662006,"holonomicAngularVelocity":18.03766956750766},{"time":2.446034570755982,"pose":{"rotation":{"radians":-0.7424533239902722},"translation":{"x":7.014122548910183,"y":5.492277841562808}},"velocity":0.8190646141533067,"acceleration":-0.15095906305680623,"curvature":-4.4718263170517245,"holonomicRotation":-91.10664322668356,"angularVelocity":-3.660582812480319,"holonomicAngularVelocity":17.311534869377464},{"time":2.4560567938559883,"pose":{"rotation":{"radians":-0.7791405016129982},"translation":{"x":7.019964519069889,"y":5.486508531814076}},"velocity":0.8194092923394294,"acceleration":0.034391390281713195,"curvature":-4.468065029935658,"holonomicRotation":-90.93314316201912,"angularVelocity":-3.6605231835462346,"holonomicAngularVelocity":16.599382265053663},{"time":2.466095124543843,"pose":{"rotation":{"radians":-0.8158860438199937},"translation":{"x":7.025608414207378,"y":5.4805095603286205}},"velocity":0.8216160723952726,"acceleration":0.2198353615221265,"curvature":-4.444095695396065,"holonomicRotation":-90.7665130736284,"angularVelocity":-3.6521527132979927,"holonomicAngularVelocity":15.899584269424523},{"time":2.47614153812218,"pose":{"rotation":{"radians":-0.8525770804290307},"translation":{"x":7.031053576266098,"y":5.474278843260691}},"velocity":0.8256898525888323,"acceleration":0.4054959674708242,"curvature":-4.4003514065776494,"holonomicRotation":-90.60677927433414,"angularVelocity":-3.6355617009966266,"holonomicAngularVelocity":15.21044941213959},{"time":2.486188071412467,"pose":{"rotation":{"radians":-0.8891018720869859},"translation":{"x":7.0362993471894955,"y":5.46781429676454}},"velocity":0.8316323037612886,"acceleration":0.5914927070615922,"curvature":-4.337690421631325,"holonomicRotation":-90.45396698795486,"angularVelocity":-3.6109647606246926,"holonomicAngularVelocity":14.530240522289603},{"time":2.496226903351217,"pose":{"rotation":{"radians":-0.9253517404556462},"translation":{"x":7.041345068921018,"y":5.46111383699442}},"velocity":0.8394419301761367,"acceleration":0.7779417428737636,"curvature":-4.257355710066627,"holonomicRotation":-90.30810034532198,"angularVelocity":-3.578692897753847,"holonomicAngularVelocity":13.857194020215001},{"time":2.506250430816441,"pose":{"rotation":{"radians":-0.9612228670058833},"translation":{"x":7.046190083404115,"y":5.45417538010458}},"velocity":0.8491141947884988,"acceleration":0.9649561639771648,"curvature":-4.160916997184898,"holonomicRotation":-90.16920238046941,"angularVelocity":-3.5391812715320703,"holonomicAngularVelocity":13.189539495007557},{"time":2.5162513374836877,"pose":{"rotation":{"radians":-0.9966178885809436},"translation":{"x":7.050833732582234,"y":5.4469968422492725}},"velocity":0.8606417022282141,"acceleration":1.1526462373124742,"curvature":-4.050200126547492,"holonomicRotation":-90.03729502699588,"angularVelocity":-3.4929535087931836,"holonomicAngularVelocity":12.525518862005582},{"time":2.5262226539433246,"pose":{"rotation":{"radians":-1.0314472333959195},"translation":{"x":7.05527535839882,"y":5.439576139582751}},"velocity":0.8740144306385702,"acceleration":1.3411196469882227,"curvature":-3.927209306595309,"holonomicRotation":-89.91239911460167,"angularVelocity":-3.4406036330996215,"holonomicAngularVelocity":11.863404457295793},{"time":2.5361578078215152,"pose":{"rotation":{"radians":-1.065630159924626},"translation":{"x":7.059514302797326,"y":5.431911188259263}},"velocity":0.8892200020570171,"acceleration":1.5304817222635787,"curvature":-3.7940478903073744,"holonomicRotation":-89.79453436579922,"angularVelocity":-3.382776754192116,"holonomicAngularVelocity":11.201515526999582},{"time":2.546050663188588,"pose":{"rotation":{"radians":-1.0990954810929452},"translation":{"x":7.063549907721195,"y":5.423999904433062}},"velocity":0.9062439803936999,"acceleration":1.7208356642253975,"curvature":-3.652842819080216,"holonomicRotation":-89.6837193927986,"angularVelocity":-3.3201496329516664,"holonomicAngularVelocity":10.538232694705016},{"time":2.555895549066091,"pose":{"rotation":{"radians":-1.1317819753255867},"translation":{"x":7.067381515113876,"y":5.415840204258399}},"velocity":0.9250701858801574,"acceleration":1.9122827547934118,"curvature":-3.505676893553763,"holonomicRotation":-89.57997169456866,"angularVelocity":-3.2534121150527615,"holonomicAngularVelocity":9.872010129456658},{"time":2.5656872773187245,"pose":{"rotation":{"radians":-1.1636385026500093},"translation":{"x":7.071008466918818,"y":5.407430003889525}},"velocity":0.9456810156297015,"acceleration":2.104922565023237,"curvature":-3.354531800117163,"holonomicRotation":-89.48330765407377,"angularVelocity":-3.183250233892576,"holonomicAngularVelocity":9.201385274681407},{"time":2.5754211506121236,"pose":{"rotation":{"radians":-1.1946238570879029},"translation":{"x":7.074430105079468,"y":5.398767219480692}},"velocity":0.9680577609736201,"acceleration":2.2988531563373584,"curvature":-3.2012435214879544,"holonomicRotation":-89.39374253568627,"angularVelocity":-3.110331556718419,"holonomicAngularVelocity":8.524986124143403},{"time":2.5850929614172906,"pose":{"rotation":{"radians":-1.224706395445824},"translation":{"x":7.077645771539275,"y":5.38984976718615}},"velocity":0.9921809135807931,"acceleration":2.494171266696579,"curvature":-3.047470554656291,"holonomicRotation":-89.31129048277688,"angularVelocity":-3.0352931143185176,"holonomicAngularVelocity":7.841536139511692},{"time":2.5946989832421434,"pose":{"rotation":{"radians":-1.253863487346793},"translation":{"x":7.080654808241684,"y":5.3806755631601515}},"velocity":1.0180304541088674,"acceleration":2.6909724961477877,"curvature":-2.894674362736707,"holonomicRotation":-89.23596451548036,"angularVelocity":-2.9587320375101545,"holonomicAngularVelocity":7.149856986755453},{"time":2.604235955375496,"pose":{"rotation":{"radians":-1.2820808323385853},"translation":{"x":7.0834565571301455,"y":5.371242523556948}},"velocity":1.0455861186417619,"acceleration":2.8893514783928986,"curvature":-2.744110761799509,"holonomicRotation":-89.16777652864022,"angularVelocity":-2.880064234323056,"holonomicAngularVelocity":6.446329780186155},{"time":2.6137047912544475,"pose":{"rotation":{"radians":-1.3093516878942282},"translation":{"x":7.086050360148106,"y":5.361548564530788}},"velocity":1.073992626278616,"acceleration":2.9999999999999765,"curvature":-2.596830495782105,"holonomicRotation":-89.10673728993004,"angularVelocity":-2.797603002451822,"holonomicAngularVelocity":5.726149950991018},{"time":2.6231144036882634,"pose":{"rotation":{"radians":-1.3356760478909795},"translation":{"x":7.088435559239013,"y":5.351591602235928}},"velocity":1.102221463580064,"acceleration":3.000000000000047,"curvature":-2.4536870577376217,"holonomicRotation":-89.0528564381533,"angularVelocity":-2.7112046877044915,"holonomicAngularVelocity":4.989454253121955},{"time":2.6324769419664897,"pose":{"rotation":{"radians":-1.3610598055597194},"translation":{"x":7.090611496346315,"y":5.341369552826615}},"velocity":1.1303090784147425,"acceleration":2.9999999999999525,"curvature":-2.315349823299373,"holonomicRotation":-89.00614248172099,"angularVelocity":-2.622107610733583,"holonomicAngularVelocity":4.239665720790003},{"time":2.6418030745006584,"pose":{"rotation":{"radians":-1.3855139286562732},"translation":{"x":7.0925775134134605,"y":5.330880332457101}},"velocity":1.1582874760172486,"acceleration":3.0,"curvature":-2.182320714656358,"holonomicRotation":-88.96660279730833,"angularVelocity":-2.5313976647816445,"holonomicAngularVelocity":3.4798143501604075},{"time":2.6511021822582133,"pose":{"rotation":{"radians":-1.4090536683183004},"translation":{"x":7.094332952383895,"y":5.320121857281638}},"velocity":1.1861847992899128,"acceleration":2.999999999999976,"curvature":-2.054952856265416,"holonomicRotation":-88.9342436286899,"angularVelocity":-2.4400128112445763,"holonomicAngularVelocity":2.7125668391823337},{"time":2.6603825224041975,"pose":{"rotation":{"radians":-1.4316978171672092},"translation":{"x":7.095877155201069,"y":5.309092043454478}},"velocity":1.2140258197278655,"acceleration":3.0,"curvature":-1.9334699664813235,"holonomicRotation":-88.90907008575357,"angularVelocity":-2.348750992638466,"holonomicAngularVelocity":1.9402569909964296},{"time":2.6696513677909066,"pose":{"rotation":{"radians":-1.4534680269698548},"translation":{"x":7.0972094638084275,"y":5.297788807129872}},"velocity":1.2418323558879936,"acceleration":3.000000000000072,"curvature":-1.7806896559771366,"holonomicRotation":-88.89108614369354,"angularVelocity":-1.6774451520542966,"holonomicAngularVelocity":0.7766357877426433},{"time":2.6881785307109745,"pose":{"rotation":{"radians":-1.4845463265914427},"translation":{"x":7.099235766167495,"y":5.274353731605326}},"velocity":1.2974138446481964,"acceleration":2.999999999999964,"curvature":-1.208580948885616,"holonomicRotation":-88.87669728592448,"angularVelocity":-3.092600537882847,"holonomicAngularVelocity":-0.5828153553478698},{"time":2.694350908335119,"pose":{"rotation":{"radians":-1.5036350249518886},"translation":{"x":7.0997770334487225,"y":5.266306638995928}},"velocity":1.3159309775206298,"acceleration":2.999999999999892,"curvature":0.14459310982641221,"holonomicRotation":-88.88029464238284,"angularVelocity":0.19251309395921423,"holonomicAngularVelocity":-1.7900720921812228},{"time":2.7003794372183325,"pose":{"rotation":{"radians":-1.5024744542045587},"translation":{"x":7.100322339683616,"y":5.258337631769992}},"velocity":1.3340165641702695,"acceleration":2.9999999999999263,"curvature":0.14065708889469034,"holonomicRotation":-88.89108614369358,"angularVelocity":0.18980416414660387,"holonomicAngularVelocity":-3.052922823502746},{"time":2.7062701665618865,"pose":{"rotation":{"radians":-1.5013563692452916},"translation":{"x":7.100871194906712,"y":5.250446314115026}},"velocity":1.3516887522009309,"acceleration":2.9999999999999245,"curvature":0.1364574741827575,"holonomicRotation":-88.9090700857536,"angularVelocity":0.18653775751635776,"holonomicAngularVelocity":-4.371517078938621},{"time":2.7120287035827326,"pose":{"rotation":{"radians":-1.500282184662848},"translation":{"x":7.10142310915255,"y":5.242632290218542}},"velocity":1.3689643632634696,"acceleration":3.0000000000000386,"curvature":0.13198152647919678,"holonomicRotation":-88.93424362868993,"angularVelocity":0.1826895907071027,"holonomicAngularVelocity":-5.746045483877847},{"time":2.717660258137805,"pose":{"rotation":{"radians":-1.4992533582661371},"translation":{"x":7.101977592455665,"y":5.23489516426805}},"velocity":1.3858590269286857,"acceleration":2.999999999999882,"curvature":0.12721587449782085,"holonomicRotation":-88.96660279730831,"angularVelocity":0.17823382630873016,"holonomicAngularVelocity":-7.1767370929745375},{"time":2.7231696816962283,"pose":{"rotation":{"radians":-1.4982713926245639},"translation":{"x":7.102534154850598,"y":5.227234540451059}},"velocity":1.4023872976039562,"acceleration":3.0000000000000404,"curvature":0.1221464806318184,"holonomicRotation":-89.00614248172096,"angularVelocity":0.17314301667829582,"holonomicAngularVelocity":-8.663857105516596},{"time":2.7285615015131315,"pose":{"rotation":{"radians":-1.4973378366760794},"translation":{"x":7.103092306371885,"y":5.219650022955081}},"velocity":1.4185627570546657,"acceleration":3.0,"curvature":0.11675860619006878,"holonomicRotation":-89.0528564381533,"angularVelocity":0.16738804256511858,"holonomicAngularVelocity":-10.20770490805136},{"time":2.7338399507102946,"pose":{"rotation":{"radians":-1.4964542873971869},"translation":{"x":7.103651557054067,"y":5.212141215967624}},"velocity":1.4343981046461554,"acceleration":3.000000000000042,"curvature":0.1110367717060267,"holonomicRotation":-89.10673728993008,"angularVelocity":0.16093804384743068,"holonomicAngularVelocity":-11.808612398475834},{"time":2.7390089948494714,"pose":{"rotation":{"radians":-1.4956223915448668},"translation":{"x":7.104211416931679,"y":5.204707723676201}},"velocity":1.4499052370636862,"acceleration":3.000000000000129,"curvature":0.10496471852366615,"holonomicRotation":-89.16777652864023,"angularVelocity":0.15376034473580255,"holonomicAngularVelocity":-13.466942553305493},{"time":2.744072355487584,"pose":{"rotation":{"radians":-1.4948438474676289},"translation":{"x":7.104771396039261,"y":5.19734915026832}},"velocity":1.4650953189780234,"acceleration":2.9999999999999125,"curvature":0.09852536509141833,"holonomicRotation":-89.23596451548036,"angularVelocity":0.14582037115561655,"holonomicAngularVelocity":-15.183088205846849},{"time":2.7490335311242693,"pose":{"rotation":{"radians":-1.4941204069949192},"translation":{"x":7.105331004411349,"y":5.190065099931492}},"velocity":1.4799788458880794,"acceleration":2.999999999999955,"curvature":0.0917007630596501,"holonomicRotation":-89.31129048277685,"angularVelocity":0.13708156315835068,"holonomicAngularVelocity":-16.95747100757901},{"time":2.7538958158878764,"pose":{"rotation":{"radians":-1.493453877399003},"translation":{"x":7.105889752082483,"y":5.182855176853228}},"velocity":1.4945657001789008,"acceleration":3.0000000000000457,"curvature":0.08447204899827891,"holonomicRotation":-89.39374253568631,"angularVelocity":0.12750527825844302,"holonomicAngularVelocity":-18.79054054913621},{"time":2.758662316252952,"pose":{"rotation":{"radians":-1.492846123443635},"translation":{"x":7.1064471490872,"y":5.175718985221037}},"velocity":1.508865201274127,"acceleration":2.99999999999986,"curvature":0.07681939435448952,"holonomicRotation":-89.48330765407374,"angularVelocity":0.11705068989991596,"holonomicAngularVelocity":-20.682773620584314},{"time":2.763335966038431,"pose":{"rotation":{"radians":-1.492299069511894},"translation":{"x":7.1070027054600375,"y":5.16865612922243}},"velocity":1.5228861506305642,"acceleration":2.9999999999999525,"curvature":0.06872195334709626,"holonomicRotation":-89.5799716945687,"angularVelocity":0.10567467714230236,"holonomicAngularVelocity":-22.63467359294171},{"time":2.7679195398992995,"pose":{"rotation":{"radians":-1.491814701823989},"translation":{"x":7.1075559312355345,"y":5.161666213044915}},"velocity":1.536636872213169,"acceleration":2.999999999999903,"curvature":0.06015780614497832,"holonomicRotation":-89.6837193927986,"angularVelocity":0.09333170760781152,"holonomicAngularVelocity":-24.646769905531666},{"time":2.772415665494068,"pose":{"rotation":{"radians":-1.49139507074461},"translation":{"x":7.1081063364482295,"y":5.154748840876007}},"velocity":1.5501252489974735,"acceleration":2.9999999999998517,"curvature":0.051103899371290375,"holonomicRotation":-89.79453436579922,"angularVelocity":0.07997371215390654,"holonomicAngularVelocity":-26.719617644881016},{"time":2.7768268344849187,"pose":{"rotation":{"radians":-1.4910422931854734},"translation":{"x":7.108653431132658,"y":5.147903616903211}},"velocity":1.5633587559700262,"acceleration":3.00000000000005,"curvature":0.04153598660524408,"holonomicRotation":-89.91239911460171,"angularVelocity":0.06508534612349416,"holonomicAngularVelocity":-28.649286660258042},{"time":2.7811863116989697,"pose":{"rotation":{"radians":-1.4907585551020794},"translation":{"x":7.109196725323361,"y":5.141130145314041}},"velocity":1.554090836200163,"acceleration":-2.1259245810465135,"curvature":0.0314285568096054,"holonomicRotation":-90.03729502699592,"angularVelocity":0.04889651197167101,"holonomicAngularVelocity":-30.360473419401885},{"time":2.7855310184382667,"pose":{"rotation":{"radians":-1.490546114096988},"translation":{"x":7.109735729054876,"y":5.134428030296005}},"velocity":1.5410567159822726,"acceleration":-2.999999999999898,"curvature":0.020754770372810438,"holonomicRotation":-90.16920238046944,"angularVelocity":0.032019543874008974,"holonomicAngularVelocity":-32.03937876980359},{"time":2.7898662449684233,"pose":{"rotation":{"radians":-1.490407302120902},"translation":{"x":7.110269952361739,"y":5.127796876036615}},"velocity":1.5280510363918027,"acceleration":-3.0,"curvature":0.009486383132400812,"holonomicRotation":-90.30810034532203,"angularVelocity":0.01451170968889977,"holonomicAngularVelocity":-33.72064778465317},{"time":2.7941919816376704,"pose":{"rotation":{"radians":-1.4903445282861671},"translation":{"x":7.11079890527849,"y":5.121236286723379}},"velocity":1.515073826384062,"acceleration":-2.9999999999998974,"curvature":-0.0024063350514594,"holonomicRotation":-90.45396698795487,"angularVelocity":-0.0036498231556492218,"holonomicAngularVelocity":-35.404051220657436},{"time":2.7985082189356816,"pose":{"rotation":{"radians":-1.4903602817890027},"translation":{"x":7.111322097839667,"y":5.114745866543808}},"velocity":1.5021251144900278,"acceleration":-3.000000000000103,"curvature":-0.014954672909333796,"holonomicRotation":-90.60677927433417,"angularVelocity":-0.02248879991200212,"holonomicAngularVelocity":-37.08935769171081},{"time":2.802814947583344,"pose":{"rotation":{"radians":-1.4904571349478353},"translation":{"x":7.111839040079806,"y":5.1083252196854145}},"velocity":1.489204928547041,"acceleration":-2.9999999999999485,"curvature":-0.028191565634678353,"holonomicRotation":-90.76651307362846,"angularVelocity":-0.04202991339632661,"holonomicAngularVelocity":-38.776333420479844},{"time":2.8071121586317367,"pose":{"rotation":{"radians":-1.490637746356045},"translation":{"x":7.1123492420334475,"y":5.101973950335706}},"velocity":1.4763132954018623,"acceleration":-3.0000000000001035,"curvature":-0.04215169670226056,"holonomicRotation":-90.9331431620191,"angularVelocity":-0.062298841537488416,"holonomicAngularVelocity":-40.46474195721171},{"time":2.8113998435710825,"pose":{"rotation":{"radians":-1.490904864160644},"translation":{"x":7.112852213735129,"y":5.095691662682194}},"velocity":1.4634502405838243,"acceleration":-3.0000000000001035,"curvature":-0.0568715812152505,"holonomicRotation":-91.10664322668356,"angularVelocity":-0.08332228312621175,"holonomicAngularVelocity":-42.154343862519816},{"time":2.8156779944505,"pose":{"rotation":{"radians":-1.4912613294594754},"translation":{"x":7.113347465219387,"y":5.089477960912388}},"velocity":1.4506157879455717,"acceleration":-2.999999999999948,"curvature":-0.07238966924611193,"holonomicRotation":-91.28698586995027,"angularVelocity":-0.10512799542436417,"holonomicAngularVelocity":-43.84489635105447},{"time":2.8199466040094454,"pose":{"rotation":{"radians":-1.4917100798256566},"translation":{"x":7.113834506520761,"y":5.083332449213799}},"velocity":1.4378099592687357,"acceleration":-3.000000000000052,"curvature":-0.08874645338558447,"holonomicRotation":-91.47414261362535,"angularVelocity":-0.12774483280539348,"holonomicAngularVelocity":-45.53615289200797},{"time":2.8242056658218018,"pose":{"rotation":{"radians":-1.492254152964784},"translation":{"x":7.114312847673787,"y":5.077254731773936}},"velocity":1.4250327738316668,"acceleration":-2.999999999999948,"curvature":-0.10598457661389703,"holonomicRotation":-91.66808390348932,"angularVelocity":-0.1512027826230369,"holonomicAngularVelocity":-47.22786276285943},{"time":2.8284551744536595,"pose":{"rotation":{"radians":-1.4928966904947014},"translation":{"x":7.114781998713006,"y":5.0712444127803105}},"velocity":1.4122842479360933,"acceleration":-3.0000000000001044,"curvature":-0.12414894944888692,"holonomicRotation":-91.86877911396428,"angularVelocity":-0.17553300482977616,"holonomicAngularVelocity":-48.919770551532594},{"time":2.8326951256359165,"pose":{"rotation":{"radians":-1.4936409418660546},"translation":{"x":7.115241469672955,"y":5.0653010964204315}},"velocity":1.3995643943893226,"acceleration":-2.999999999999895,"curvature":-0.143286870650618,"holonomicRotation":-92.07619655295,"angularVelocity":-0.2007678671898619,"holonomicAngularVelocity":-50.611615602755975},{"time":2.8369255164528955,"pose":{"rotation":{"radians":-1.494490268407759},"translation":{"x":7.115690770588171,"y":5.059424386881811}},"velocity":1.3868732219383852,"acceleration":-3.000000000000105,"curvature":-0.16344815425038367,"holonomicRotation":-92.29030346682836,"angularVelocity":-0.22694098267723478,"holonomicAngularVelocity":-52.303131402966855},{"time":2.8411463455483172,"pose":{"rotation":{"radians":-1.4954481475103867},"translation":{"x":7.116129411493193,"y":5.053613888351959}},"velocity":1.3742107346521204,"acceleration":-2.9999999999998948,"curvature":-0.18468526209927735,"holonomicRotation":-92.51106604563567,"angularVelocity":-0.2540872442599975,"holonomicAngularVelocity":-53.994044898682105},{"time":2.8453576133500276,"pose":{"rotation":{"radians":-1.4965181769409641},"translation":{"x":7.116556902422557,"y":5.047869205018383}},"velocity":1.3615769312469896,"acceleration":-2.999999999999947,"curvature":-0.2070534399223828,"holonomicRotation":-92.7384494284016,"angularVelocity":-0.2822428575238393,"holonomicAngularVelocity":-55.684075741915386},{"time":2.849559322315026,"pose":{"rotation":{"radians":-1.4977040792857288},"translation":{"x":7.1169727534108045,"y":5.042189941068596}},"velocity":1.348971804351995,"acceleration":-2.9999999999998943,"curvature":-0.23061086332832068,"holonomicRotation":-92.97241770865405,"angularVelocity":-0.31144537327302685,"holonomicAngularVelocity":-57.37293545632476},{"time":2.853751477196458,"pose":{"rotation":{"radians":-1.4990097065275947},"translation":{"x":7.11737647449247,"y":5.036575700690106}},"velocity":1.3363953397076993,"acceleration":-3.0,"curvature":-0.25541878241526117,"holonomicRotation":-93.21293394008936,"angularVelocity":-0.3417337137553124,"holonomicAngularVelocity":-59.060326516993634},{"time":2.8579340853343584,"pose":{"rotation":{"radians":-1.5004390447397427},"translation":{"x":7.1177675757020955,"y":5.031026088070427}},"velocity":1.3238475152939977,"acceleration":-2.9999999999999467,"curvature":-0.28154167957006926,"holonomicRotation":-93.4599601424064,"angularVelocity":-0.37314819929602594,"holonomicAngularVelocity":-60.74594133596595},{"time":2.8621071569721135,"pose":{"rotation":{"radians":-1.5019962189069043},"translation":{"x":7.118145567074214,"y":5.025540707397065}},"velocity":1.3113283003807323,"acceleration":-3.0000000000000533,"curvature":-0.3090474239762263,"holonomicRotation":-93.71345730730425,"angularVelocity":-0.4057305661853868,"holonomicAngularVelocity":-62.42946114587229},{"time":2.866270705600706,"pose":{"rotation":{"radians":-1.5036854978493235},"translation":{"x":7.118509958643369,"y":5.020119162857533}},"velocity":1.2988376544949547,"acceleration":-3.0000000000000533,"curvature":-0.3380074364106205,"holonomicRotation":-93.97338540464192,"angularVelocity":-0.43952398367198603,"holonomicAngularVelocity":-64.11055477181245},{"time":2.870424748333071,"pose":{"rotation":{"radians":-1.5055112992593962},"translation":{"x":7.1188602604440945,"y":5.014761058639339}},"velocity":1.2863755262978604,"acceleration":-2.9999999999998397,"curvature":-0.36849685433449425,"holonomicRotation":-94.23970338875965,"angularVelocity":-0.4745730598357221,"holonomicAngularVelocity":-65.78887728302493},{"time":2.874569306310977,"pose":{"rotation":{"radians":-1.5074781948206377},"translation":{"x":7.11919598251093,"y":5.009465998929996}},"velocity":1.2739418523641421,"acceleration":-2.999999999999893,"curvature":-0.4005947016919715,"holonomicRotation":-94.5123692049605,"angularVelocity":-0.5109238431430019,"holonomicAngularVelocity":-67.46406851278078},{"time":2.878704405147151,"pose":{"rotation":{"radians":-1.5095909154097917},"translation":{"x":7.119516634878413,"y":5.004233587917011}},"velocity":1.2615365558556206,"acceleration":-3.0000000000001075,"curvature":-0.4343840595939736,"holonomicRotation":-94.79133979615125,"angularVelocity":-0.5486238125585734,"holonomicAngularVelocity":-69.13575143682667},{"time":2.882830075405483,"pose":{"rotation":{"radians":-1.5118543563562774},"translation":{"x":7.1198217275810824,"y":4.999063429787897}},"velocity":1.2491595450806243,"acceleration":-3.0,"curvature":-0.469952238578237,"holonomicRotation":-95.0765711096416,"angularVelocity":-0.5877218577872624,"holonomicAngularVelocity":-70.80353039709453},{"time":2.8869463531224913,"pose":{"rotation":{"radians":-1.5142735827432858},"translation":{"x":7.120110770653475,"y":4.993955128730163}},"velocity":1.2368107119295997,"acceleration":-2.9999999999999463,"curvature":-0.5073909494829304,"holonomicRotation":-95.36801810410068,"angularVelocity":-0.6282682452951994,"holonomicAngularVelocity":-72.4669891592007},{"time":2.891053280373394,"pose":{"rotation":{"radians":-1.5168538347207656},"translation":{"x":7.12038327413013,"y":4.98890828893132}},"velocity":1.2244899301768912,"acceleration":-2.999999999999946,"curvature":-0.5467964742133753,"holonomicRotation":-95.66563475666949,"angularVelocity":-0.6703145711954595,"holonomicAngularVelocity":-74.12568878937086},{"time":2.895150905886488,"pose":{"rotation":{"radians":-1.5196005328094948},"translation":{"x":7.120638748045583,"y":4.983922514578877}},"velocity":1.212197053637609,"acceleration":-3.000000000000054,"curvature":-0.5882698278022643,"holonomicRotation":-95.96937407022848,"angularVelocity":-0.7139136939571615,"holonomicAngularVelocity":-75.77916533700777},{"time":2.899239285709791,"pose":{"rotation":{"radians":-1.522519283151449},"translation":{"x":7.120876702434377,"y":4.978997409860344}},"velocity":1.1999319141677007,"acceleration":-2.999999999999891,"curvature":-0.6319169190165773,"holonomicRotation":-96.27918808081904,"angularVelocity":-0.7591196501498377,"holonomicAngularVelocity":-77.42692730730838},{"time":2.9033184839342634,"pose":{"rotation":{"radians":-1.5256158826805022},"translation":{"x":7.121096647331045,"y":4.974132578963233}},"velocity":1.1876943194942835,"acceleration":-3.0000000000000546,"curvature":-0.6778486961027023,"holonomicRotation":-96.59502786521736,"angularVelocity":-0.8059875424292435,"holonomicAngularVelocity":-79.06845290779549},{"time":2.9073885734782956,"pose":{"rotation":{"radians":-1.5288963241495637},"translation":{"x":7.121298092770128,"y":4.969327626075052}},"velocity":1.175484050862187,"acceleration":-2.9999999999999454,"curvature":-0.7261812827192289,"holonomicRotation":-96.91684354866018,"angularVelocity":-0.8545734057100913,"holonomicAngularVelocity":-80.70318705260928},{"time":2.9114496369384866,"pose":{"rotation":{"radians":-1.5323668009815439},"translation":{"x":7.121480548786162,"y":4.964582155383314}},"velocity":1.1633008604816146,"acceleration":-2.9999999999998908,"curvature":-0.7770360953547963,"holonomicRotation":-97.24458431272049,"angularVelocity":-0.9049340379627109,"holonomicAngularVelocity":-82.33053810554719},{"time":2.915501767512249,"pose":{"rotation":{"radians":-1.536033711864011},"translation":{"x":7.121643525413687,"y":4.9598957710755265}},"velocity":1.1511444687603263,"acceleration":-3.0000000000001097,"curvature":-0.8305399377060244,"holonomicRotation":-97.57819840333231,"angularVelocity":-0.9571267990652554,"holonomicAngularVelocity":-83.9498743451729},{"time":2.9195450699981524,"pose":{"rotation":{"radians":-1.5399036650299962},"translation":{"x":7.121786532687239,"y":4.955268077339202}},"velocity":1.1390145613026172,"acceleration":-2.9999999999998352,"curvature":-0.8868250684946536,"holonomicRotation":-97.91763313896341,"angularVelocity":-1.011209367467712,"holonomicAngularVelocity":-85.56052013126822},{"time":2.9235796618804963,"pose":{"rotation":{"radians":-1.5439834821353315},"translation":{"x":7.121909080641359,"y":4.950698678361849}},"velocity":1.126910785655586,"acceleration":-2.99999999999989,"curvature":-0.9460292358110766,"holonomicRotation":-98.26283491893415,"angularVelocity":-1.0672394540459482,"holonomicAngularVelocity":-87.16175175484068},{"time":2.927605674505101,"pose":{"rotation":{"radians":-1.5482802016507966},"translation":{"x":7.122010679310581,"y":4.9461871783309785}},"velocity":1.1148327477817728,"acceleration":-2.99999999999989,"curvature":-1.008295667443047,"holonomicRotation":-98.61374923188178,"angularVelocity":-1.1252744610449772,"holonomicAngularVelocity":-88.75279295087377},{"time":2.9316232543539282,"pose":{"rotation":{"radians":-1.552801081649891},"translation":{"x":7.122090838729446,"y":4.941733181434101}},"velocity":1.1027800082352908,"acceleration":-3.0,"curvature":-1.0737730152743001,"holonomicRotation":-98.97032066436836,"angularVelocity":-1.1853710882179236,"holonomicAngularVelocity":-90.33281005459976},{"time":2.935632564426801,"pose":{"rotation":{"radians":-1.557553601893975},"translation":{"x":7.122149068932491,"y":4.937336291858726}},"velocity":1.0907520780166728,"acceleration":-3.0,"curvature":-1.142615235719563,"holonomicRotation":-99.33249290963116,"angularVelocity":-1.247584868984401,"holonomicAngularVelocity":-91.90090678201628},{"time":2.939633785739179,"pose":{"rotation":{"radians":-1.5625454650607562},"translation":{"x":7.122184879954254,"y":4.932996113792363}},"velocity":1.078748414079538,"acceleration":-2.9999999999999445,"curvature":-1.2149814038518159,"holonomicRotation":-99.70020877647426,"angularVelocity":-1.3119696381545518,"holonomicAngularVelocity":-93.45611861564156},{"time":2.9436271189457526,"pose":{"rotation":{"radians":-1.5677845969828148},"translation":{"x":7.122197781829273,"y":4.928712251422525}},"velocity":1.0667684144598175,"acceleration":-3.000000000000111,"curvature":-1.2910354416602698,"holonomicRotation":-100.07341019829956,"angularVelocity":-1.378576916572378,"holonomicAngularVelocity":-94.99740677800132},{"time":2.947612786100452,"pose":{"rotation":{"radians":-1.5732791457194244},"translation":{"x":7.122187284592088,"y":4.924484308936719}},"velocity":1.0548114129957185,"acceleration":-3.0000000000000555,"curvature":-1.3709457518100314,"holonomicRotation":-100.45203824227627,"angularVelocity":-1.4474552073978213,"holonomicAngularVelocity":-96.52365177725093},{"time":2.9515910325644064,"pose":{"rotation":{"radians":-1.5790374792799868},"translation":{"x":7.122152898277234,"y":4.9203118905224565}},"velocity":1.0428766736038557,"acceleration":-3.000000000000056,"curvature":-1.4548847368238422,"holonomicRotation":-100.83603311864707,"angularVelocity":-1.5186491911578994,"holonomicAngularVelocity":-98.03364651130572},{"time":2.9555621290743948,"pose":{"rotation":{"radians":-1.5850681817828907},"translation":{"x":7.12209413291925,"y":4.916194600367249}},"velocity":1.0309633840738905,"acceleration":-3.0,"curvature":-1.5430281913635133,"holonomicRotation":-101.22533419016955,"angularVelocity":-1.5921988148855721,"holonomicAngularVelocity":-99.5260889198337},{"time":2.959526373985494,"pose":{"rotation":{"radians":-1.591380047832259},"translation":{"x":7.122010498552674,"y":4.912132042658605}},"velocity":1.0190706493405934,"acceleration":-2.999999999999832,"curvature":-1.6355545428279545,"holonomicRotation":-101.61987998169161,"angularVelocity":-1.6681382579184678,"holonomicAngularVelocity":-100.99957417930436},{"time":2.9634840957027935,"pose":{"rotation":{"radians":-1.597982074843081},"translation":{"x":7.121901505212046,"y":4.908123821584036}},"velocity":1.0071974841886955,"acceleration":-2.9999999999998876,"curvature":-1.7326439258058208,"holonomicRotation":-102.01960818985904,"angularVelocity":-1.7464947716722916,"holonomicAngularVelocity":-102.45258643881706},{"time":2.9674356553184866,"pose":{"rotation":{"radians":-1.6048834530518405},"translation":{"x":7.1217666629319,"y":4.9041695413310515}},"velocity":0.9953428053416161,"acceleration":-2.999999999999972,"curvature":-1.8344770592567463,"holonomicRotation":-102.42445569295398,"angularVelocity":-1.8272873739871478,"holonomicAngularVelocity":-103.88349010395874},{"time":2.9713814494720943,"pose":{"rotation":{"radians":-1.61209355288908},"translation":{"x":7.121605481746777,"y":4.900268806087161}},"velocity":0.9835054228807938,"acceleration":-2.9999999999998592,"curvature":-1.941233912818407,"holonomicRotation":-102.83435856086254,"angularVelocity":-1.9105253981932082,"holonomicAngularVelocity":-105.29052068207896},{"time":2.9753219134532762,"pose":{"rotation":{"radians":-1.6196219094057938},"translation":{"x":7.121417471691215,"y":4.896421220039876}},"velocity":0.9716840309372479,"acceleration":-3.0,"curvature":-2.0530921234801474,"holonomicRotation":-103.24925206517017,"angularVelocity":-1.996206875231615,"holonomicAngularVelocity":-106.67177521265295},{"time":2.979257524568548,"pose":{"rotation":{"radians":-1.6274782033723376},"translation":{"x":7.121202142799752,"y":4.892626387376707}},"velocity":0.9598771975914321,"acceleration":-2.9999999999999716,"curvature":-2.1702251472436047,"holonomicRotation":-103.66907068938288,"angularVelocity":-2.084316751331201,"holonomicAngularVelocity":-108.02520231911423},{"time":2.983188805795274,"pose":{"rotation":{"radians":-1.6356722386873956},"translation":{"x":7.120959005106924,"y":4.888883912285163}},"velocity":0.9480833539112555,"acceleration":-2.9999999999999436,"curvature":-2.2928001075588647,"holonomicRotation":-104.09374813927325,"angularVelocity":-2.1748249249275,"holonomicAngularVelocity":-109.348591930409},{"time":2.9871163297486594,"pose":{"rotation":{"radians":-1.6442139156744684},"translation":{"x":7.120687568647272,"y":4.885193398952754}},"velocity":0.9363007820510989,"acceleration":-2.9999999999999716,"curvature":-2.4209753202389335,"holonomicRotation":-104.52321735334891,"angularVelocity":-2.267684105545717,"holonomicAngularVelocity":-110.63956473867313},{"time":2.991040722990074,"pose":{"rotation":{"radians":-1.6531131998519353},"translation":{"x":7.120387343455331,"y":4.881554451566991}},"velocity":0.9245276023268548,"acceleration":-3.000000000000085,"curvature":-2.5548974572895955,"holonomicRotation":-104.95741051344241,"angularVelocity":-2.362827484295429,"holonomicAngularVelocity":-111.8955614757491},{"time":2.9949626707080195,"pose":{"rotation":{"radians":-1.6623800857118667},"translation":{"x":7.120057839565641,"y":4.877966674315384}},"velocity":0.9127617591730188,"acceleration":-2.9999999999998583,"curvature":-2.6946983338839208,"holonomicRotation":-105.39625905542046,"angularVelocity":-2.4601662278208027,"holonomicAngularVelocity":-113.11383211495391},{"time":2.9988829218063984,"pose":{"rotation":{"radians":-1.6720245550686759},"translation":{"x":7.1196985670127395,"y":4.874429671385444}},"velocity":0.9010010058778821,"acceleration":-3.0,"curvature":-2.840491282434278,"holonomicRotation":-105.83969368001095,"angularVelocity":-2.5595867925619595,"holonomicAngularVelocity":-114.29142512438372},{"time":3.002802294438665,"pose":{"rotation":{"radians":-1.6820565294933543},"translation":{"x":7.119309035831165,"y":4.870943046964681}},"velocity":0.8892428879810829,"acceleration":-2.9999999999998583,"curvature":-2.9923671040979722,"holonomicRotation":-106.28764436374621,"angularVelocity":-2.6609480813320245,"holonomicAngularVelocity":-115.4251769286951},{"time":3.0067216820307996,"pose":{"rotation":{"radians":-1.6924858163866414},"translation":{"x":7.118888756055454,"y":4.867506405240603}},"velocity":0.8774847252046795,"acceleration":-2.9999999999998868,"curvature":-3.1503895753854705,"holonomicRotation":-106.74004037002048,"angularVelocity":-2.764078455775838,"holonomicAngularVelocity":-116.51170175989743},{"time":3.010642059841269,"pose":{"rotation":{"radians":-1.7033220482310618},"translation":{"x":7.118437237720147,"y":4.864119350400723}},"velocity":0.865723591773271,"acceleration":-3.0,"curvature":-3.314590512269237,"holonomicRotation":-107.19681026026002,"angularVelocity":-2.8687726418253794,"holonomicAngularVelocity":-117.54738211169557},{"time":3.0145644921120787,"pose":{"rotation":{"radians":-1.7145746146189733},"translation":{"x":7.117953990859779,"y":4.860781486632551}},"velocity":0.8539562949608419,"acceleration":-3.000000000000085,"curvature":-3.48496438755419,"holonomicRotation":-107.65788190520412,"angularVelocity":-2.974788559863446,"holonomicAngularVelocity":-118.52836004142276},{"time":3.0184901398720614,"pose":{"rotation":{"radians":-1.7262525866654235},"translation":{"x":7.1174385255088914,"y":4.857492418123595}},"velocity":0.8421793516808936,"acceleration":-3.0000000000000284,"curvature":-3.6614625331486685,"holonomicRotation":-108.12318249629516,"angularVelocity":-3.081844143580542,"holonomicAngularVelocity":-119.4505295971767},{"time":3.022420269461807,"pose":{"rotation":{"radians":-1.7383646335250935},"translation":{"x":7.116890351702019,"y":4.854251749061368}},"velocity":0.8303889629116566,"acceleration":-3.0000000000000564,"curvature":-3.843986949549447,"holonomicRotation":-108.5926385571758,"angularVelocity":-3.1896142008810697,"holonomicAngularVelocity":-120.30953067659108},{"time":3.026356261859526,"pose":{"rotation":{"radians":-1.7509189307714177},"translation":{"x":7.116308979473702,"y":4.851059083633379}},"velocity":0.8185809857185,"acceleration":-2.9999999999999716,"curvature":-4.032383795234341,"holonomicRotation":-109.066175955292,"angularVelocity":-3.2977274124563207,"holonomicAngularVelocity":-121.10074465706334},{"time":3.0302996228987946,"pose":{"rotation":{"radians":-1.7639230605678264},"translation":{"x":7.115693918858478,"y":4.847914026027137}},"velocity":0.8067509026006933,"acceleration":-3.0000000000001408,"curvature":-4.226436623963159,"holonomicRotation":-109.54371991359909,"angularVelocity":-3.405763552973181,"holonomicAngularVelocity":-121.81929215746419},{"time":3.0342519944833284,"pose":{"rotation":{"radians":-1.7773839036582384},"translation":{"x":7.115044679890883,"y":4.844816180430154}},"velocity":0.7948937878470913,"acceleration":-3.0000000000001688,"curvature":-4.425859490607226,"holonomicRotation":-110.02519502237027,"angularVelocity":-3.5132510590870143,"holonomicAngularVelocity":-122.4600333129114},{"time":3.038215166920935,"pose":{"rotation":{"radians":-1.7913075234220042},"translation":{"x":7.114360772605458,"y":4.84176515102994}},"velocity":0.7830042705342709,"acceleration":-3.000000000000168,"curvature":-4.630290061560628,"holonomicRotation":-110.51052525110438,"angularVelocity":-3.6196650702937987,"holonomicAngularVelocity":-123.01757095124762},{"time":3.042191092519577,"pose":{"rotation":{"radians":-1.8056990424334964},"translation":{"x":7.113641707036741,"y":4.838760542014004}},"velocity":0.7710764937383447,"acceleration":-2.9999999999998606,"curvature":-4.839282907445877,"holonomicRotation":-110.99963396053224,"angularVelocity":-3.7244260910915656,"holonomicAngularVelocity":-123.48625705596012},{"time":3.0461819006138176,"pose":{"rotation":{"radians":-1.8205625122242246},"translation":{"x":7.112886993219266,"y":4.835801957569858}},"velocity":0.7591040694556243,"acceleration":-2.999999999999861,"curvature":-5.052303188470111,"holonomicRotation":-111.4924439147186,"angularVelocity":-3.8268994337112248,"holonomicAngularVelocity":-123.86020287753885},{"time":3.0501899142211517,"pose":{"rotation":{"radians":-1.8359007772284386},"translation":{"x":7.1120961411875765,"y":4.83288900188501}},"velocity":0.7470800286336213,"acceleration":-3.000000000000111,"curvature":-5.268720986620879,"holonomicRotation":-111.98887729325895,"angularVelocity":-3.9263956157149664,"holonomicAngularVelocity":-124.13329301464455},{"time":3.054217668566233,"pose":{"rotation":{"radians":-1.8517153342301427},"translation":{"x":7.111268660976206,"y":4.830021279146972}},"velocity":0.7349967655983769,"acceleration":-3.0000000000001377,"curvature":-5.487806555300713,"holonomicRotation":-112.48885570356794,"angularVelocity":-4.022171878036097,"holonomicAngularVelocity":-124.2992037150127},{"time":3.058267931758948,"pose":{"rotation":{"radians":-1.868006188942526},"translation":{"x":7.110404062619695,"y":4.827198393543254}},"velocity":0.7228459760202319,"acceleration":-2.9999999999999454,"curvature":-5.7087268171011365,"holonomicRotation":-112.99230019325864,"angularVelocity":-4.113435007748364,"holonomicAngularVelocity":-124.3514255480771},{"time":3.06234372797212,"pose":{"rotation":{"radians":-1.8847717117702363},"translation":{"x":7.109501856152582,"y":4.824419949261365}},"velocity":0.710618587380715,"acceleration":-3.0000000000001363,"curvature":-5.930543431836906,"holonomicRotation":-113.49913126261005,"angularVelocity":-4.199345615141449,"holonomicAngularVelocity":-124.28329046656016},{"time":3.066448363539748,"pose":{"rotation":{"radians":-1.9020084951429075},"translation":{"x":7.1085615516094025,"y":4.821685550488818}},"velocity":0.6983046806778319,"acceleration":-2.999999999999973,"curvature":-6.152212794270056,"holonomicRotation":-114.0092688771209,"angularVelocity":-4.27973728196508,"holonomicAngularVelocity":-124.10868740224252},{"time":3.0705847669920177,"pose":{"rotation":{"radians":-1.9197112152108353},"translation":{"x":7.107582659024696,"y":4.81899480141312}},"velocity":0.6861241346481126,"acceleration":-2.944719046454613,"curvature":-6.372588311085925,"holonomicRotation":-114.5226324801482,"angularVelocity":-4.356511310054599,"holonomicAngularVelocity":-123.8995549461085},{"time":3.074753535198686,"pose":{"rotation":{"radians":-1.9378725010521825},"translation":{"x":7.106564688433001,"y":4.8163473062217825}},"velocity":0.6746894308734643,"acceleration":-2.7429454476161776,"curvature":-6.59042528587243,"holonomicRotation":-115.03914100562791,"angularVelocity":-4.431182858438844,"holonomicAngularVelocity":-123.71194042132464},{"time":3.0789533875611896,"pose":{"rotation":{"radians":-1.956482814848882},"translation":{"x":7.1055071498688545,"y":4.813742669102316}},"velocity":0.6639969275935691,"acceleration":-2.5459236080197445,"curvature":-6.804388705956521,"holonomicRotation":-115.55871289087631,"angularVelocity":-4.5034165995757345,"holonomicAngularVelocity":-123.54748956762045},{"time":3.0831829611480113,"pose":{"rotation":{"radians":-1.9755303467489016},"translation":{"x":7.104409553366795,"y":4.8111804942422305}},"velocity":0.654043631517808,"acceleration":-2.353262302084842,"curvature":-7.013064161499891,"holonomicRotation":-116.08126608946964,"angularVelocity":-4.572867935653669,"holonomicAngularVelocity":-123.4078484885605},{"time":3.0874408102327013,"pose":{"rotation":{"radians":-1.9950009283031331},"translation":{"x":7.10327140896136,"y":4.808660385829037}},"velocity":0.6448271299210417,"acceleration":-2.164590950371157,"curvature":-7.214972034085063,"holonomicRotation":-116.60671808420022,"angularVelocity":-4.6391861749461105,"holonomicAngularVelocity":-123.29465229267602},{"time":3.0917254065723108,"pose":{"rotation":{"radians":-2.014877968407074},"translation":{"x":7.102092226687089,"y":4.806181948050243}},"velocity":0.6363455242930901,"acceleration":-1.9795576889105038,"curvature":-7.408584983005312,"holonomicRotation":-117.13498590010684,"angularVelocity":-4.702018170280656,"holonomicAngularVelocity":-123.20951305556446},{"time":3.0960351404905935,"pose":{"rotation":{"radians":-2.035142415599914},"translation":{"x":7.100871516578519,"y":4.803744785093363}},"velocity":0.6285973658489843,"acceleration":-1.7978275668566575,"curvature":-7.592348614605304,"holonomicRotation":-117.6659861175775,"angularVelocity":-4.761012379650554,"holonomicAngularVelocity":-123.1540072154084},{"time":3.1003683228206773,"pose":{"rotation":{"radians":-2.0557727503167262},"translation":{"x":7.099608788670189,"y":4.801348501145903}},"velocity":0.6215815928293627,"acceleration":-1.619080962948055,"curvature":-7.764705074847066,"holonomicRotation":-118.19963488552233,"angularVelocity":-4.81582329780618,"holonomicAngularVelocity":-123.12966258396811},{"time":3.104723187747937,"pose":{"rotation":{"radians":-2.076745010292223},"translation":{"x":7.098303552996635,"y":4.7989927003953765}},"velocity":0.6152974704123049,"acceleration":-1.4430120157623227,"curvature":-7.924119119302251,"holonomicRotation":-118.73584793461458,"angularVelocity":-4.866116173062456,"holonomicAngularVelocity":-123.13794515918137},{"time":3.1090978965778344,"pose":{"rotation":{"radians":-2.0980328516818254},"translation":{"x":7.096955319592396,"y":4.796676987029292}},"velocity":0.6097445331032482,"acceleration":-1.2693272912490123,"curvature":-8.069106069759775,"holonomicRotation":-119.27454059059787,"angularVelocity":-4.911571918815584,"holonomicAngularVelocity":-123.18024594767297},{"time":3.1134905424351014,"pose":{"rotation":{"radians":-2.1196076477236794},"translation":{"x":7.095563598492009,"y":4.79440096523516}},"velocity":0.6049225304736524,"acceleration":-1.0977444543175499,"curvature":-8.19826088495853,"holonomicRotation":-119.81562778765704,"angularVelocity":-4.951892097247986,"holonomicAngularVelocity":-123.25786804577827},{"time":3.1178991558794973,"pose":{"rotation":{"radians":-2.1414386257988047},"translation":{"x":7.094127899730015,"y":4.79216423920049}},"velocity":0.6008313764301247,"acceleration":-0.9279911008592074,"curvature":-8.31028745416368,"holonomicRotation":-120.35902408185123,"angularVelocity":-4.986803848301729,"holonomicAngularVelocity":-123.3720142319195},{"time":3.12232171140112,"pose":{"rotation":{"radians":-2.1634930426933616},"translation":{"x":7.09264773334095,"y":4.789966413112794}},"velocity":0.5974711028307208,"acceleration":-0.7598035983889451,"curvature":-8.404027105497317,"holonomicRotation":-120.90464366460634,"angularVelocity":-5.016064616909617,"holonomicAngularVelocity":-123.52377532150501},{"time":3.126756134735682,"pose":{"rotation":{"radians":-2.185736396678256},"translation":{"x":7.091122609359352,"y":4.787807091159582}},"velocity":0.5948418175717697,"acceleration":-0.592926083186165,"curvature":-8.478485285639104,"holonomicRotation":-121.4524003762652,"angularVelocity":-5.039466538407935,"holonomicAngularVelocity":-123.71411953357716},{"time":3.1312003109178423,"pose":{"rotation":{"radians":-2.2081326738390423},"translation":{"x":7.089552037819758,"y":4.785685877528361}},"velocity":0.592943667955426,"acceleration":-0.42710944358219066,"curvature":-8.532855350999537,"holonomicRotation":-122.00220771969326,"angularVelocity":-5.0568403337822865,"holonomicAngularVelocity":-123.94388313633604},{"time":3.1356520929685727,"pose":{"rotation":{"radians":-2.2306446248703837},"translation":{"x":7.087935528756709,"y":4.783602376406646}},"velocity":0.5917768096811863,"acceleration":-0.2621103775842394,"curvature":-8.5665384858896,"holonomicRotation":-122.55397887393742,"angularVelocity":-5.068058581139843,"holonomicAngularVelocity":-124.21376255976703},{"time":3.1401093110947227,"pose":{"rotation":{"radians":-2.25323406744263},"translation":{"x":7.086272592204741,"y":4.781556191981944}},"velocity":0.591341381638382,"acceleration":-0.09769053936348134,"curvature":-8.579158892702079,"holonomicRotation":-123.1076267079361,"angularVelocity":-5.073038250439545,"holonomicAngularVelocity":-124.52430818237505},{"time":3.144569782262558,"pose":{"rotation":{"radians":-2.2758622082920414},"translation":{"x":7.084562738198392,"y":4.779546928441767}},"velocity":0.591637487125679,"acceleration":0.06638435182188886,"curvature":-8.570573566788225,"holonomicRotation":-123.66306379427823,"angularVelocity":-5.07174240182702,"holonomicAngularVelocity":-124.87591993181515},{"time":3.1490313199956534,"pose":{"rotation":{"radians":-2.2984899783903328},"translation":{"x":7.0828054767722,"y":4.777574189973623}},"velocity":0.592665181320124,"acceleration":0.2303452880879303,"curvature":-8.540876218585726,"holonomicRotation":-124.22020242300903,"angularVelocity":-5.06418098969899,"holonomicAngularVelocity":-125.26884479696285},{"time":3.153491744240621,"pose":{"rotation":{"radians":-2.3210783740576897},"translation":{"x":7.081000317960704,"y":4.775637580765024}},"velocity":0.5944244653627514,"acceleration":0.3944207873527485,"curvature":-8.49039514798531,"holonomicRotation":-124.77895461548047,"angularVelocity":-5.050410736459561,"holonomicAngularVelocity":-125.70317631247622},{"time":3.157948891141753,"pose":{"rotation":{"radians":-2.3435887966211446},"translation":{"x":7.079146771798442,"y":4.77373670500348}},"velocity":0.596915286871829,"acceleration":0.558837652051584,"curvature":-8.419685163597416,"holonomicRotation":-125.33923213824409,"angularVelocity":-5.030534081965539,"holonomicAngularVelocity":-126.17885599730982},{"time":3.1624006225693386,"pose":{"rotation":{"radians":-2.365983383291371},"translation":{"x":7.07724434831995,"y":4.771871166876501}},"velocity":0.6001375467136856,"acceleration":0.7238217071877884,"curvature":-8.329513904711325,"holonomicRotation":-125.9009465169841,"angularVelocity":-5.004697247407725,"holonomicAngularVelocity":-126.69567669753047},{"time":3.166844835254264,"pose":{"rotation":{"radians":-2.3882253222825125},"translation":{"x":7.075292557559768,"y":4.770040570571598}},"velocity":0.6040911118654724,"acceleration":0.889598548061616,"curvature":-8.220843164765451,"holonomicRotation":-126.4640090504885,"angularVelocity":-4.973087483388404,"holonomicAngularVelocity":-127.25328772945},{"time":3.17127946939407,"pose":{"rotation":{"radians":-2.4102791458165878},"translation":{"x":7.073290909552434,"y":4.768244520276279}},"velocity":0.6087758339124949,"acceleration":1.056394259217887,"curvature":-8.09480602372442,"holonomicRotation":-127.02833082465605,"angularVelocity":-4.9359296029970405,"holonomicAngularVelocity":-127.85120168135714},{"time":3.1757025166118042,"pose":{"rotation":{"radians":-2.432110995514056},"translation":{"x":7.0712389143324845,"y":4.766482620178057}},"velocity":0.614191572903413,"acceleration":1.2244361690744872,"curvature":-7.952680738947948,"holonomicRotation":-127.59382272653676,"angularVelocity":-4.89348191791445,"holonomicAngularVelocity":-128.48880266137425},{"time":3.1801120271693923,"pose":{"rotation":{"radians":-2.453688855694466},"translation":{"x":7.0691360819344595,"y":4.76475447446444}},"velocity":0.6203382256349935,"acceleration":1.3939535128231184,"curvature":-7.7958624483003165,"holonomicRotation":-128.16039545840394,"angularVelocity":-4.846031722838302,"holonomicAngularVelocity":-129.16535580895948},{"time":3.1845061163576016,"pose":{"rotation":{"radians":-2.474982751293509},"translation":{"x":7.066981922392896,"y":4.76305968732294}},"velocity":0.6272157585223878,"acceleration":1.5651782639844511,"curvature":-7.625833734922684,"holonomicRotation":-128.7279595518553,"angularVelocity":-4.793890461653929,"holonomicAngularVelocity":-129.8800178210666},{"time":3.188882970007783,"pose":{"rotation":{"radians":-2.4959649082591686},"translation":{"x":7.064775945742331,"y":4.761397862941066}},"velocity":0.6348242436057807,"acceleration":1.7383457824955328,"curvature":-7.444135110835671,"holonomicRotation":-129.29642538194105,"angularVelocity":-4.737388735549192,"holonomicAngularVelocity":-130.63184823827746},{"time":3.1932408490935735,"pose":{"rotation":{"radians":-2.516609875551078},"translation":{"x":7.062517662017304,"y":4.759768605506329}},"velocity":0.6431638978509233,"acceleration":1.9136956489534473,"curvature":-7.252336348939206,"holonomicRotation":-129.8657031813168,"angularVelocity":-4.6768712827297465,"holonomicAngularVelocity":-131.41982126989154},{"time":3.1975780934117752,"pose":{"rotation":{"radians":-2.5368946089490585},"translation":{"x":7.060206581252352,"y":4.758171519206237}},"velocity":0.6522351246367046,"acceleration":2.0914724005085334,"curvature":-7.0520094993503575,"holonomicRotation":-130.43570305441872,"angularVelocity":-4.6126920675180045,"holonomicAngularVelocity":-132.24283790686383},{"time":3.2018931243523725,"pose":{"rotation":{"radians":-2.5567985179398462},"translation":{"x":7.057842213482014,"y":4.756606208228303}},"velocity":0.6620385572460218,"acceleration":2.2719263764908746,"curvature":-6.844704249423034,"holonomicRotation":-131.00633499165923,"angularVelocity":-4.5452095865542965,"holonomicAngularVelocity":-133.099738103659},{"time":3.206184446785602,"pose":{"rotation":{"radians":-2.5763034778023575},"translation":{"x":7.0554240687408285,"y":4.755072276760036}},"velocity":0.6725751035330978,"acceleration":2.45531452157652,"curvature":-6.631926133767128,"holonomicRotation":-131.57750888364046,"angularVelocity":-4.4747824916505925,"holonomicAngularVelocity":-133.98931282359123},{"time":3.210450650109562,"pose":{"rotation":{"radians":-2.595393809742234},"translation":{"x":7.052951657063332,"y":4.753569328988948}},"velocity":0.6838459915712496,"acceleration":2.6419012837134233,"curvature":-6.415117915627122,"holonomicRotation":-132.14913453538355,"angularVelocity":-4.401765599789069,"holonomicAngularVelocity":-134.91031577852817},{"time":3.2146904085141537,"pose":{"rotation":{"radians":-2.6140562324389824},"translation":{"x":7.0504244884840634,"y":4.7520969691025465}},"velocity":0.6958528157214938,"acceleration":2.831959513834749,"curvature":-6.195644306924257,"holonomicRotation":-132.72112168057168,"angularVelocity":-4.32617492787423,"holonomicAngularVelocity":-135.85106750202183},{"time":3.2189028032030924,"pose":{"rotation":{"radians":-2.63227978872858},"translation":{"x":7.04784207303756,"y":4.750654801288343}},"velocity":0.7084899997883094,"acceleration":2.999999999999842,"curvature":-5.974780040234323,"holonomicRotation":-133.29337999580386,"angularVelocity":-4.24595380733741,"holonomicAngularVelocity":-136.73240168494553},{"time":3.2230893684356223,"pose":{"rotation":{"radians":-2.6500557513173066},"translation":{"x":7.045203920758362,"y":4.749242429733848}},"velocity":0.7210496954858989,"acceleration":2.999999999999947,"curvature":-5.753701188051855,"holonomicRotation":-133.86581911485837,"angularVelocity":-4.159722404182293,"holonomicAngularVelocity":-137.48971726791143},{"time":3.227253530959779,"pose":{"rotation":{"radians":-2.6673775114636973},"translation":{"x":7.042509541681004,"y":4.747859458626571}},"velocity":0.7335421830583695,"acceleration":3.00000000000016,"curvature":-5.533479516119751,"holonomicRotation":-134.4383486429623,"angularVelocity":-4.068361253764495,"holonomicAngularVelocity":-138.128732951402},{"time":3.231398429098426,"pose":{"rotation":{"radians":-2.68424045445177},"translation":{"x":7.039758445840026,"y":4.746505492154023}},"velocity":0.7459768774743111,"acceleration":3.0000000000000266,"curvature":-5.315079594126894,"holonomicRotation":-135.01087817106625,"angularVelocity":-3.9727094542597454,"holonomicAngularVelocity":-138.6551340750666},{"time":3.2355269391811796,"pose":{"rotation":{"radians":-2.7006418254895315},"translation":{"x":7.036950143269967,"y":4.745180134503714}},"velocity":0.7583624077225709,"acceleration":2.999999999999839,"curvature":-5.099358328199641,"holonomicRotation":-135.5833172901207,"angularVelocity":-3.8735587512748118,"holonomicAngularVelocity":-139.07453686223786},{"time":3.2396416989937475,"pose":{"rotation":{"radians":-2.716580589370898},"translation":{"x":7.034084144005362,"y":4.743882989863153}},"velocity":0.770706687160274,"acceleration":2.999999999999838,"curvature":-4.887066564671262,"holonomicRotation":-136.15557560535294,"angularVelocity":-3.771649258368884,"holonomicAngularVelocity":-139.39245668220937},{"time":3.24374512868286,"pose":{"rotation":{"radians":-2.732057286914608},"translation":{"x":7.031159958080752,"y":4.742613662419852}},"velocity":0.7830169762276115,"acceleration":3.0,"curvature":-4.6788523980942625,"holonomicRotation":-136.72756275054104,"angularVelocity":-3.6676666676689864,"holonomicAngularVelocity":-139.61428053499088},{"time":3.2478394494754945,"pose":{"rotation":{"radians":-2.7470738908124974},"translation":{"x":7.0281770955306735,"y":4.74137175636132}},"velocity":0.7952999386055146,"acceleration":2.9999999999999187,"curvature":-4.47526583542567,"holonomicRotation":-137.29918840228416,"angularVelocity":-3.5622407873822084,"holonomicAngularVelocity":-139.74524379640548},{"time":3.2519267005079042,"pose":{"rotation":{"radians":-2.7616336631484173},"translation":{"x":7.025135066389665,"y":4.740156875875068}},"velocity":0.8075616917027431,"acceleration":2.999999999999837,"curvature":-4.276764483283184,"holonomicRotation":-137.87036229426536,"angularVelocity":-3.455945227201514,"holonomicAngularVelocity":-139.79041112760186},{"time":3.256008754009554,"pose":{"rotation":{"radians":-2.775741016464625},"translation":{"x":7.022033380692265,"y":4.738968625148606}},"velocity":0.8198078522076917,"acceleration":2.999999999999891,"curvature":-4.083719957865949,"holonomicRotation":-138.44099423150584,"angularVelocity":-3.349298051290204,"holonomicAngularVelocity":-139.75466135428888},{"time":3.2600873290465393,"pose":{"rotation":{"radians":-2.789401379888041},"translation":{"x":7.01887154847301,"y":4.737806608369445}},"velocity":0.8320435773186484,"acceleration":3.000000000000136,"curvature":-3.896424750831382,"holonomicRotation":-139.0109941046078,"angularVelocity":-3.242763223489327,"holonomicAngularVelocity":-139.64267604748773},{"time":3.2641640039964104,"pose":{"rotation":{"radians":-2.802621071489603},"translation":{"x":7.0156490797664395,"y":4.736670429725093}},"velocity":0.8442736021682617,"acceleration":3.000000000000027,"curvature":-3.7150993271796215,"holonomicRotation":-139.58027190398354,"angularVelocity":-3.1367526830022623,"holonomicAngularVelocity":-139.458931490555},{"time":3.26824022789982,"pose":{"rotation":{"radians":-2.815407177755141},"translation":{"x":7.01236548460709,"y":4.7355596934030615}},"velocity":0.8565022738784902,"acceleration":2.9999999999999454,"curvature":-3.5398992559620543,"holonomicRotation":-140.1487377340693,"angularVelocity":-3.0316288931877264,"holonomicAngularVelocity":-139.207693688729},{"time":3.2723173308128275,"pose":{"rotation":{"radians":-2.8277674407467144},"translation":{"x":7.009020273029503,"y":4.7344740035908615}},"velocity":0.8687335826175125,"acceleration":2.9999999999999183,"curvature":-3.3709222278356092,"holonomicRotation":-140.71630182752068,"angularVelocity":-2.927707735513571,"holonomicAngularVelocity":-138.89301606590783},{"time":3.2763965332660185,"pose":{"rotation":{"radians":-2.8397101533236477},"translation":{"x":7.005612955068211,"y":4.733412964476003}},"velocity":0.8809711899770859,"acceleration":3.0000000000000546,"curvature":-3.2082148325571627,"holonomicRotation":-141.28287455938784,"angularVelocity":-2.825261627004065,"holonomicAngularVelocity":-138.51873949744837},{"time":3.280478954921979,"pose":{"rotation":{"radians":-2.8512440625734827},"translation":{"x":7.002143040757757,"y":4.732376180245994}},"velocity":0.8932184549449673,"acceleration":3.000000000000136,"curvature":-3.051779008760806,"holonomicRotation":-141.84836646126854,"angularVelocity":-2.7245227635865388,"holonomicAngularVelocity":-138.08849433470394},{"time":3.284565622510661,"pose":{"rotation":{"radians":-2.8623782814460585},"translation":{"x":6.998610040132677,"y":4.731363255088348}},"velocity":0.9054784577110133,"acceleration":2.999999999999891,"curvature":-2.9015780970081897,"holonomicRotation":-142.4126882354361,"angularVelocity":-2.625686402145839,"holonomicAngularVelocity":-137.60570410145277},{"time":3.2886574771120465,"pose":{"rotation":{"radians":-2.8731222084324743},"translation":{"x":6.995013463227508,"y":4.730373793190573}},"velocity":0.91775402151517,"acceleration":3.000000000000054,"curvature":-2.757542462124404,"holonomicRotation":-142.97575076894051,"angularVelocity":-2.528914121030544,"holonomicAngularVelocity":-137.0735905610417},{"time":3.2927553808471197,"pose":{"rotation":{"radians":-2.883485455054725},"translation":{"x":6.9913528200767905,"y":4.729407398740181}},"velocity":0.9300477327203903,"acceleration":3.0000000000001354,"curvature":-2.6195746519218273,"holonomicRotation":-143.5374651476805,"angularVelocity":-2.434336996141524,"holonomicAngularVelocity":-136.49517988211986},{"time":3.296860123031038,"pose":{"rotation":{"radians":-2.8934777808126597},"translation":{"x":6.9876276207150605,"y":4.72846367592468}},"velocity":0.9423619592721455,"acceleration":3.0000000000001354,"curvature":-2.4875540926647624,"holonomicRotation":-144.09774267044415,"angularVelocity":-2.342058659830136,"holonomicAngularVelocity":-135.87330965878323},{"time":3.30097242583631,"pose":{"rotation":{"radians":-2.903109035209591},"translation":{"x":6.983837375176856,"y":4.727542228931582}},"velocity":0.9546988676879617,"acceleration":3.0,"curvature":-2.3613413210632466,"holonomicRotation":-144.65649486291557,"angularVelocity":-2.252158208100747,"holonomicAngularVelocity":-135.21063656741825},{"time":3.305092949508669,"pose":{"rotation":{"radians":-2.912389106419968},"translation":{"x":6.979981593496716,"y":4.726642661948396}},"velocity":0.9670604387050392,"acceleration":3.0,"curvature":-2.240781768070566,"holonomicRotation":-145.21363349164636,"angularVelocity":-2.164692937012868,"holonomicAngularVelocity":-134.50964447120055},{"time":3.309222297173855,"pose":{"rotation":{"radians":-2.9213278761452663},"translation":{"x":6.976059785709179,"y":4.725764579162633}},"velocity":0.979448481700597,"acceleration":3.000000000000081,"curvature":-2.12570911417083,"holonomicRotation":-145.7690705779885,"angularVelocity":-2.0797008952350136,"holonomicAngularVelocity":-133.7726528094515},{"time":3.313361019269673,"pose":{"rotation":{"radians":-2.929935180193068},"translation":{"x":6.972071461848781,"y":4.7249075847618025}},"velocity":0.9918646479880511,"acceleration":3.0000000000000266,"curvature":-2.0159482425645074,"holonomicRotation":-146.32271841198715,"angularVelocity":-1.997203247752751,"holonomicAngularVelocity":-133.0018251327375},{"time":3.3175096176343457,"pose":{"rotation":{"radians":-2.938220774320614},"translation":{"x":6.968016131950062,"y":4.724071282933417}},"velocity":1.0043104430820693,"acceleration":3.0,"curvature":-1.9113178152109365,"holonomicRotation":-146.87448956623132,"angularVelocity":-1.9172064452898847,"holonomicAngularVelocity":-132.19917766657224},{"time":3.3216685492792517,"pose":{"rotation":{"radians":-2.946194304875748},"translation":{"x":6.96389330604756,"y":4.7232552778649834}},"velocity":1.016787238016787,"acceleration":2.9999999999999467,"curvature":-1.811632507144427,"holonomicRotation":-147.42429690965938,"angularVelocity":-1.839704208992906,"holonomicAngularVelocity":-131.36658780842225},{"time":3.325838229871532,"pose":{"rotation":{"radians":-2.9538652838115222},"translation":{"x":6.959702494175811,"y":4.722459173744014}},"velocity":1.0292962797936283,"acceleration":3.0,"curvature":-1.7167049222032857,"holonomicRotation":-147.97205362131825,"angularVelocity":-1.764679328205562,"holonomicAngularVelocity":-130.50580247928295},{"time":3.3300190369497593,"pose":{"rotation":{"radians":-2.9612430676376853},"translation":{"x":6.955443206369355,"y":4.721682574758019}},"velocity":1.0418387010283097,"acceleration":2.9999999999999467,"curvature":-1.6263472260240879,"holonomicRotation":-148.51767320407336,"angularVelocity":-1.69210528530329,"holonomicAngularVelocity":-129.61844626677942},{"time":3.3342113128938466,"pose":{"rotation":{"radians":-2.9683368399201253},"translation":{"x":6.95111495266273,"y":4.720925085094507}},"velocity":1.0544155288605717,"acceleration":3.0,"curvature":-1.540372524205677,"holonomicRotation":-149.06106949826756,"angularVelocity":-1.6219477158530229,"holonomicAngularVelocity":-128.7060293125597},{"time":3.338415367668508,"pose":{"rotation":{"radians":-2.9751555969592083},"translation":{"x":6.946717243090472,"y":4.72018630894099}},"velocity":1.0670276931845553,"acceleration":2.9999999999998943,"curvature":-1.4585960084757532,"holonomicRotation":-149.60215669532673,"angularVelocity":-1.5541657096485926,"holonomicAngularVelocity":-127.76995490647529},{"time":3.342631481357971,"pose":{"rotation":{"radians":-2.981708136283352},"translation":{"x":6.9422495876871215,"y":4.719465850484978}},"velocity":1.0796760342529452,"acceleration":3.0000000000001052,"curvature":-1.3808359059947228,"holonomicRotation":-150.14084935131,"angularVelocity":-1.48871297286386,"holonomicAngularVelocity":-126.81152676126966},{"time":3.3468599065081683,"pose":{"rotation":{"radians":-2.9880030476592343},"translation":{"x":6.937711496487214,"y":4.71876331391398}},"velocity":1.0923613097035365,"acceleration":2.9999999999999476,"curvature":-1.3069142467987176,"holonomicRotation":-150.67706240040226,"angularVelocity":-1.4255388530237416,"holonomicAngularVelocity":-125.8319559513058},{"time":3.351100870291258,"pose":{"rotation":{"radians":-2.994048706306295},"translation":{"x":6.9331024795252905,"y":4.718078303415508}},"velocity":1.1050842010528046,"acceleration":2.999999999999843,"curvature":-1.2366574774912686,"holonomicRotation":-151.21071116834707,"angularVelocity":-1.3645892439860041,"holonomicAngularVelocity":-124.83236750281004},{"time":3.3553545765061843,"pose":{"rotation":{"radians":-2.99985326805426},"translation":{"x":6.9284220468358875,"y":4.71741042317707}},"velocity":1.1178453196975837,"acceleration":3.0,"curvature":-1.1698969395971688,"holonomicRotation":-151.74171138581775,"angularVelocity":-1.305807380058793,"holonomicAngularVelocity":-123.81380663344049},{"time":3.3596212074278116,"pose":{"rotation":{"radians":-3.005424666199708},"translation":{"x":6.923669708453542,"y":4.716759277386179}},"velocity":1.1306452124624657,"acceleration":3.000000000000052,"curvature":-1.1064692301181647,"holonomicRotation":-152.26997920172437,"angularVelocity":-1.2491345280677764,"holonomicAngularVelocity":-122.77724464020928},{"time":3.3639009255162113,"pose":{"rotation":{"radians":-3.0107706098343243},"translation":{"x":6.918844974412793,"y":4.716124470230342}},"velocity":1.1434843667276646,"acceleration":2.999999999999896,"curvature":-1.04621646288412,"holonomicRotation":-152.79543119645496,"angularVelocity":-1.1945105902355608,"holonomicAngularVelocity":-121.7235844405186},{"time":3.368193874996751,"pose":{"rotation":{"radians":-3.015898583452175},"translation":{"x":6.91394735474818,"y":4.715505605897072}},"velocity":1.1563632151692826,"acceleration":2.9999999999998965,"curvature":-0.9889864426966428,"holonomicRotation":-153.31798439504828,"angularVelocity":-1.1418746240911257,"holonomicAngularVelocity":-120.65366577371385},{"time":3.3725001833208,"pose":{"rotation":{"radians":-3.020815847650919},"translation":{"x":6.908976359494238,"y":4.714902288573878}},"velocity":1.16928214014143,"acceleration":3.0,"curvature":-0.9346327684536208,"holonomicRotation":-153.83755628029667,"angularVelocity":-1.0911652901933693,"holonomicAngularVelocity":-119.56827007348622},{"time":3.3768199625160853,"pose":{"rotation":{"radians":-3.025529440770114},"translation":{"x":6.903931498685507,"y":4.714314122448271}},"velocity":1.1822414777272867,"acceleration":3.000000000000154,"curvature":-0.8830148734200834,"holonomicRotation":-154.35406480577637,"angularVelocity":-1.0423212340265304,"holonomicAngularVelocity":-118.46812502182816},{"time":3.3811533104350526,"pose":{"rotation":{"radians":-3.030046181320478},"translation":{"x":6.898812282356524,"y":4.71374071170776}},"velocity":1.195241521484189,"acceleration":3.000000000000051,"curvature":-0.8339980162342525,"holonomicRotation":-154.86742840880368,"angularVelocity":-0.9952814111050059,"holonomicAngularVelocity":-117.35390879857654},{"time":3.3855003119089147,"pose":{"rotation":{"radians":-3.034372671081459},"translation":{"x":6.893618220541828,"y":4.713181660539855}},"velocity":1.2082825259057746,"acceleration":2.999999999999898,"curvature":-0.7874532281402653,"holonomicRotation":-155.37756602331456,"angularVelocity":-0.9499853596584157,"holonomicAngularVelocity":-116.2262540393958},{"time":3.3898610398145013,"pose":{"rotation":{"radians":-3.0385152987492203},"translation":{"x":6.888348823275958,"y":4.712636573132068}},"velocity":1.2213647096225342,"acceleration":2.999999999999949,"curvature":-0.7432572270004932,"holonomicRotation":-155.88439709266595,"angularVelocity":-0.906373429132916,"holonomicAngularVelocity":-115.08575151718529},{"time":3.3942355560604636,"pose":{"rotation":{"radians":-3.042480244039871},"translation":{"x":6.88300360059345,"y":4.712105053671908}},"velocity":1.2344882583604215,"acceleration":3.0000000000001017,"curvature":-0.7012923033120456,"holonomicRotation":-156.38784158235666,"angularVelocity":-0.8643869685620088,"holonomicAngularVelocity":-113.93295356141485},{"time":3.3986239124988793,"pose":{"rotation":{"radians":-3.0462734821586426},"translation":{"x":6.877582062528842,"y":4.711586706346886}},"velocity":1.247653327675669,"acceleration":3.0000000000000506,"curvature":-0.6614461837327618,"holonomicRotation":-156.8878199926656,"angularVelocity":-0.8239684802280842,"holonomicAngularVelocity":-112.7683772298082},{"time":3.4030261517678606,"pose":{"rotation":{"radians":-3.0499007885587055},"translation":{"x":6.872083719116674,"y":4.711081135344511}},"velocity":1.2608600454826129,"acceleration":3.0,"curvature":-0.6236118787526479,"holonomicRotation":-157.38425337120597,"angularVelocity":-0.7850617435736894,"holonomicAngularVelocity":-111.59250724674241},{"time":3.407442308070333,"pose":{"rotation":{"radians":-3.0533677439254183},"translation":{"x":6.866508080391481,"y":4.7105879448522945}},"velocity":1.2741085143900297,"acceleration":3.0,"curvature":-0.5876875154276511,"holonomicRotation":-157.87706332539236,"angularVelocity":-0.7476119108706438,"holonomicAngularVelocity":-110.40579872341813},{"time":3.411872407893741,"pose":{"rotation":{"radians":-3.056679739319744},"translation":{"x":6.860854656387804,"y":4.710106739057745}},"velocity":1.2873988138602535,"acceleration":3.0,"curvature":-0.553576164184147,"holonomicRotation":-158.36617203482018,"angularVelocity":-0.7115655830234756,"holonomicAngularVelocity":-109.20867967196814},{"time":3.416316470675123,"pose":{"rotation":{"radians":-3.059841981443771},"translation":{"x":6.855122957140179,"y":4.709637122148376}},"velocity":1.3007310022043996,"acceleration":2.9999999999999,"curvature":-0.5211856555803385,"holonomicRotation":-158.85150226355427,"angularVelocity":-0.6768708621148006,"holonomicAngularVelocity":-108.0015533288319},{"time":3.420774509415596,"pose":{"rotation":{"radians":-3.0628594979693764},"translation":{"x":6.849312492683145,"y":4.7091786983116934}},"velocity":1.3141051184258188,"acceleration":2.9999999999999503,"curvature":-0.49042839739618627,"holonomicRotation":-159.33297737232547,"angularVelocity":-0.6434773902971057,"holonomicAngularVelocity":-106.78480029796567},{"time":3.4252465312480536,"pose":{"rotation":{"radians":-3.065737142907478},"translation":{"x":6.84342277305124,"y":4.708731071735211}},"velocity":1.327521183923191,"acceleration":3.0,"curvature":-0.4612211864758729,"holonomicRotation":-159.81052133063258,"angularVelocity":-0.6113363710949119,"holonomicAngularVelocity":-105.55878052798843},{"time":3.429732537961542,"pose":{"rotation":{"radians":-3.068479601972409},"translation":{"x":6.837453308279002,"y":4.708293846606437}},"velocity":1.3409792040636557,"acceleration":2.9999999999998517,"curvature":-0.43348502368391334,"holonomicRotation":-160.2840587287488,"angularVelocity":-0.5804005809931714,"holonomicAngularVelocity":-104.32383513344713},{"time":3.4342325264855464,"pose":{"rotation":{"radians":-3.071091397926204},"translation":{"x":6.8314036084009695,"y":4.707866627112883}},"velocity":1.3544791696356688,"acceleration":2.9999999999999507,"curvature":-0.4071449286506154,"holonomicRotation":-160.75351478962943,"angularVelocity":-0.5506243683246004,"holonomicAngularVelocity":-103.0802880719031},{"time":3.4387464893371678,"pose":{"rotation":{"radians":-3.0735768958700187},"translation":{"x":6.825273183451679,"y":4.707449017442057}},"velocity":1.368021058190532,"acceleration":2.9999999999998526,"curvature":-0.38212975891579043,"holonomicRotation":-161.21881538072043,"angularVelocity":-0.5219636451248137,"holonomicAngularVelocity":-101.8284476869146},{"time":3.443274415033941,"pose":{"rotation":{"radians":-3.075940308471561},"translation":{"x":6.81906154346567,"y":4.707040621781472}},"velocity":1.3816048352808525,"acceleration":3.000000000000049,"curvature":-0.35837203098082643,"holonomicRotation":-161.67988702566456,"angularVelocity":-0.49437587009447015,"holonomicAngularVelocity":-100.56860812634706},{"time":3.447816288474863,"pose":{"rotation":{"radians":-3.0781857011057756},"translation":{"x":6.81276819847748,"y":4.706641044318636}},"velocity":1.3952304556036188,"acceleration":3.0000000000000977,"curvature":-0.3358077477636986,"holonomicRotation":-162.1366569159041,"angularVelocity":-0.46782002674095524,"holonomicAngularVelocity":-99.30105064598189},{"time":3.4523720912919664,"pose":{"rotation":{"radians":-3.0803169969014994},"translation":{"x":6.806392658521646,"y":4.706249889241061}},"velocity":1.4088978640549281,"acceleration":2.999999999999854,"curvature":-0.314376229812279,"holonomicRotation":-162.58905292217838,"angularVelocity":-0.4422565956351264,"holonomicAngularVelocity":-98.02604480592322},{"time":3.456941802174642,"pose":{"rotation":{"radians":-3.0823379816795082},"translation":{"x":6.799934433632707,"y":4.7058667607362565}},"velocity":1.4226069967029549,"acceleration":3.0000000000000973,"curvature":-0.2940199519740445,"holonomicRotation":-163.03700360591364,"angularVelocity":-0.4176475230678261,"holonomicAngularVelocity":-96.74384956843184},{"time":3.4615253971687276,"pose":{"rotation":{"radians":-3.0842523087755342},"translation":{"x":6.793393033845201,"y":4.705491262991732}},"velocity":1.4363577816852129,"acceleration":3.000000000000145,"curvature":-0.2746843871012745,"holonomicRotation":-163.4804382305041,"angularVelocity":-0.39395618666045257,"holonomicAngularVelocity":-95.45471430461791},{"time":3.4661228499522285,"pose":{"rotation":{"radians":-3.0860635037424737},"translation":{"x":6.786767969193667,"y":4.705123000194998}},"velocity":1.450150140035715,"acceleration":2.999999999999903,"curvature":-0.2563178537200007,"holonomicRotation":-163.91928677248214,"angularVelocity":-0.37114735780182184,"holonomicAngularVelocity":-94.15887971662893},{"time":3.470734132089402,"pose":{"rotation":{"radians":-3.0877749689237644},"translation":{"x":6.7800587497126426,"y":4.704761576533566}},"velocity":1.4639839864472348,"acceleration":2.999999999999952,"curvature":-0.23887137174547907,"holonomicRotation":-164.35347993257568,"angularVelocity":-0.34918716307357484,"holonomicAngularVelocity":-92.85657868199621},{"time":3.4753592132648183,"pose":{"rotation":{"radians":-3.089389987898393},"translation":{"x":6.773264885436664,"y":4.704406596194945}},"velocity":1.4778592299734847,"acceleration":3.000000000000096,"curvature":-0.22229852307534262,"holonomicRotation":-164.78294914665136,"angularVelocity":-0.32804304402391143,"holonomicAngularVelocity":-91.54803702635661},{"time":3.479998061498867,"pose":{"rotation":{"radians":-3.0909117297938553},"translation":{"x":6.766385886400271,"y":4.704057663366645}},"velocity":1.4917757746756304,"acceleration":2.999999999999904,"curvature":-0.20655531823745413,"holonomicRotation":-165.2076265965417,"angularVelocity":-0.3076837156268899,"holonomicAngularVelocity":-90.2334742294618},{"time":3.4846506433460993,"pose":{"rotation":{"radians":-3.09234325346387},"translation":{"x":6.759421262638001,"y":4.703714382236177}},"velocity":1.5057335202173268,"acceleration":2.9999999999999045,"curvature":-0.1916000697036633,"holonomicRotation":-165.6274452207544,"angularVelocity":-0.2880791251319703,"holonomicAngularVelocity":-88.91310407044563},{"time":3.489316924077665,"pose":{"rotation":{"radians":-3.0936875115346396},"translation":{"x":6.752370524184392,"y":4.703376356991051}},"velocity":1.5197323624120238,"acceleration":2.999999999999905,"curvature":-0.17739327075714656,"holonomicRotation":-166.04233872506202,"angularVelocity":-0.2692004097883986,"holonomicAngularVelocity":-87.58713521650816},{"time":3.4939968678490345,"pose":{"rotation":{"radians":-3.094947354315679},"translation":{"x":6.745233181073983,"y":4.703043191818777}},"velocity":1.5337721937261313,"acceleration":2.9999999999998574,"curvature":-0.16389748018578945,"holonomicRotation":-166.4522415929706,"angularVelocity":-0.25101985582706166,"holonomicAngularVelocity":-86.25577175984033},{"time":3.49869043785409,"pose":{"rotation":{"radians":-3.096125533581662},"translation":{"x":6.73800874334131,"y":4.702714490906866}},"velocity":1.547852903741299,"acceleration":3.000000000000142,"curvature":-0.1510772120429914,"holonomicRotation":-166.85708909606552,"angularVelocity":-0.23351085621612191,"holonomicAngularVelocity":-84.91921370680821},{"time":3.5033975964665984,"pose":{"rotation":{"radians":-3.097224706219614},"translation":{"x":6.730696721020913,"y":4.702389858442826}},"velocity":1.5619743795788235,"acceleration":2.999999999999953,"curvature":-0.1388988322454626,"holonomicRotation":-167.25681730423295,"angularVelocity":-0.2166478707905542,"holonomicAngularVelocity":-83.57765742284424},{"time":3.508118305370007,"pose":{"rotation":{"radians":-3.0982474377521596},"translation":{"x":6.72329662414733,"y":4.70206889861417}},"velocity":1.5761365062890498,"acceleration":3.000000000000047,"curvature":-0.12733045867000584,"holonomicRotation":-167.65136309575502,"angularVelocity":-0.20040638534213945,"holonomicAngularVelocity":-82.2312960371608},{"time":3.5128525256764283,"pose":{"rotation":{"radians":-3.099196205731183},"translation":{"x":6.715807962755097,"y":4.701751215608407}},"velocity":1.5903391672083138,"acceleration":3.0000000000001408,"curvature":-0.11634186823877403,"holonomicRotation":-168.04066416727747,"angularVelocity":-0.1847628728318245,"holonomicAngularVelocity":-80.88031981009861},{"time":3.517600218035613,"pose":{"rotation":{"radians":-3.1000734030107875},"translation":{"x":6.708230246878753,"y":4.701436413613048}},"velocity":1.6045822442858675,"acceleration":2.9999999999999063,"curvature":-0.10590440664189697,"holonomicRotation":-168.4246590436483,"angularVelocity":-0.16969475461624167,"holonomicAngularVelocity":-79.52491646606093},{"time":3.5223613427346665,"pose":{"rotation":{"radians":-3.1008813408982907},"translation":{"x":6.700562986552837,"y":4.701124096815601}},"velocity":1.618865618383028,"acceleration":2.9999999999999534,"curvature":-0.09599090444737823,"holonomicRotation":-168.80328708762502,"angularVelocity":-0.15518036337337604,"holonomicAngularVelocity":-78.1652714951482},{"time":3.527135859789193,"pose":{"rotation":{"radians":-3.1016222521897445},"translation":{"x":6.692805691811887,"y":4.700813869403579}},"velocity":1.6331891695466074,"acceleration":2.9999999999999534,"curvature":-0.08657559795839981,"holonomicRotation":-169.1764885094503,"angularVelocity":-0.1411989061800575,"holonomicAngularVelocity":-76.80156842571111},{"time":3.5319237290265093,"pose":{"rotation":{"radians":-3.1022982940889867},"translation":{"x":6.68495787269044,"y":4.700505335564491}},"velocity":1.6475527772585565,"acceleration":3.000000000000093,"curvature":-0.07763405179300337,"holonomicRotation":-169.5442043762934,"angularVelocity":-0.12773042972030882,"holonomicAngularVelocity":-75.43398907023855},{"time":3.5367249101615226,"pose":{"rotation":{"radians":-3.102911551018527},"translation":{"x":6.677019039223033,"y":4.700198099485845}},"velocity":1.6619563206635968,"acceleration":3.0000000000000924,"curvature":-0.06914308985781382,"holonomicRotation":-169.90637662155623,"angularVelocity":-0.11475578605260686,"holonomicAngularVelocity":-74.06271374692979},{"time":3.5415393628658203,"pose":{"rotation":{"radians":-3.103464037323022},"translation":{"x":6.668988701444206,"y":4.699891765355154}},"velocity":1.6763996787764903,"acceleration":3.0000000000000924,"curvature":-0.061080723868460536,"holonomicRotation":-170.26294805404277,"angularVelocity":-0.10225659898262142,"holonomicAngularVelocity":-72.68792147869469},{"time":3.5463670468304866,"pose":{"rotation":{"radians":-3.1039576998662115},"translation":{"x":6.660866369388498,"y":4.699585937359929}},"velocity":1.6908827306704892,"acceleration":2.999999999999954,"curvature":-0.05342609281561563,"holonomicRotation":-170.6138623669904,"angularVelocity":-0.09021523289102426,"holonomicAngularVelocity":-71.30979017148609},{"time":3.5512079218231154,"pose":{"rotation":{"radians":-3.104394420531068},"translation":{"x":6.652651553090444,"y":4.699280219687679}},"velocity":1.7054053556483757,"acceleration":3.0000000000000457,"curvature":-0.04615940086401656,"holonomicRotation":-170.95906414696114,"angularVelocity":-0.07861476155050894,"holonomicAngularVelocity":-69.92849677387652},{"time":3.5560619477394555,"pose":{"rotation":{"radians":-3.104776018621041},"translation":{"x":6.644343762584584,"y":4.698974216525913}},"velocity":1.7199674333973964,"acceleration":3.0000000000000915,"curvature":-0.039261860655762114,"holonomicRotation":-171.29849888259224,"angularVelocity":-0.06743893848222866,"holonomicAngularVelocity":-68.54421741907987},{"time":3.5609290846501027,"pose":{"rotation":{"radians":-3.1051042531677426},"translation":{"x":6.6359425079054555,"y":4.698667532062142}},"velocity":1.7345688441293383,"acceleration":3.0000000000000457,"curvature":-0.03271563718107218,"holonomicRotation":-171.63211297320407,"angularVelocity":-0.056672168707203284,"holonomicAngularVelocity":-67.15712755116694},{"time":3.5658092928426077,"pose":{"rotation":{"radians":-3.1053808251497546},"translation":{"x":6.6274472990875966,"y":4.6983597704838775}},"velocity":1.7492094687068531,"acceleration":2.9999999999999547,"curvature":-0.026503800361712036,"holonomicRotation":-171.95985373726438,"angularVelocity":-0.04629948082876801,"holonomicAngularVelocity":-65.7674020365862},{"time":3.5707025328593534,"pose":{"rotation":{"radians":-3.1056073796221004},"translation":{"x":6.618857646165545,"y":4.698050535978628}},"velocity":1.7638891887570907,"acceleration":3.0000000000001363,"curvature":-0.020610271895564036,"holonomicRotation":-172.2816694207072,"angularVelocity":-0.03630650132139072,"holonomicAngularVelocity":-64.37521526233236},{"time":3.5756087655315274,"pose":{"rotation":{"radians":-3.1057855077650958},"translation":{"x":6.610173059173839,"y":4.697739432733905}},"velocity":1.778607886773613,"acceleration":3.0000000000000453,"curvature":-0.015019786979314376,"holonomicRotation":-172.5975092051055,"angularVelocity":-0.02667942864176147,"holonomicAngularVelocity":-62.98074122192756},{"time":3.5805279520094837,"pose":{"rotation":{"radians":-3.10591674884971},"translation":{"x":6.601393048147017,"y":4.6974260649372175}},"velocity":1.7933654462074824,"acceleration":3.00000000000009,"curvature":-0.009717839929076186,"holonomicRotation":-172.90732321569607,"angularVelocity":-0.017405009514533453,"holonomicAngularVelocity":-61.58415358989674},{"time":3.5854600537897836,"pose":{"rotation":{"radians":-3.1060025921281227},"translation":{"x":6.592517123119616,"y":4.697110036776077}},"velocity":1.8081617515483819,"acceleration":2.999999999999955,"curvature":-0.0046906582010188685,"holonomicRotation":-173.21106252925506,"angularVelocity":-0.008470515199991186,"holonomicAngularVelocity":-60.185625786406725},{"time":3.59040503273916,"pose":{"rotation":{"radians":-3.106044478647477},"translation":{"x":6.583544794126174,"y":4.696790952437993}},"velocity":1.8229966883965107,"acceleration":3.0,"curvature":0.00007498889817596293,"holonomicRotation":-173.50867918182388,"angularVelocity":0.00013628049833497527,"holonomicAngularVelocity":-58.785331032003555},{"time":3.595362851115659,"pose":{"rotation":{"radians":-3.106043802993518},"translation":{"x":6.574475571201231,"y":4.696468416110476}},"velocity":1.8378701435260087,"acceleration":3.0000000000001346,"curvature":0.004591130319341002,"holonomicRotation":-173.80012617628293,"angularVelocity":0.008427122556922762,"holonomicAngularVelocity":-57.38344239416743},{"time":3.600333471587173,"pose":{"rotation":{"radians":-3.1060019149656206},"translation":{"x":6.565308964379324,"y":4.696142031981036}},"velocity":1.8527820049405501,"acceleration":2.999999999999955,"curvature":0.00886999880440609,"holonomicRotation":-174.08535748977332,"angularVelocity":0.016413295379159556,"holonomicAngularVelocity":-55.98013282568154},{"time":3.605316857247572,"pose":{"rotation":{"radians":-3.105920121184788},"translation":{"x":6.55604448369499,"y":4.695811404237182}},"velocity":1.8677321619217473,"acceleration":3.0000000000000893,"curvature":0.01292269952766269,"holonomicRotation":-174.36432808096404,"angularVelocity":0.024105642206222053,"holonomicAngularVelocity":-54.57557519611585},{"time":3.610312971630627,"pose":{"rotation":{"radians":-3.105799686639049},"translation":{"x":6.546681639182768,"y":4.695476137066427}},"velocity":1.882720505070913,"acceleration":3.0,"curvature":0.01675992073699094,"holonomicRotation":-174.63699389716487,"angularVelocity":0.03151458387893605,"holonomicAngularVelocity":-53.16994231652557},{"time":3.6153217787219027,"pose":{"rotation":{"radians":-3.1056418361678375},"translation":{"x":6.537219940877195,"y":4.695135834656279}},"velocity":1.8977469263447397,"acceleration":2.999999999999911,"curvature":0.02039182446311668,"holonomicRotation":-174.9033118812826,"angularVelocity":0.03865013665921476,"holonomicAngularVelocity":-51.763406958300365},{"time":3.6203432429687803,"pose":{"rotation":{"radians":-3.1054477558884663},"translation":{"x":6.527658898812811,"y":4.69479010119425}},"velocity":1.9128113190853726,"acceleration":3.0000000000000444,"curvature":0.02382807850931254,"holonomicRotation":-175.16323997862028,"angularVelocity":0.04552192957222722,"holonomicAngularVelocity":-50.35614186654823},{"time":3.6253773292887694,"pose":{"rotation":{"radians":-3.1052185945655473},"translation":{"x":6.517998023024151,"y":4.694438540867848}},"velocity":1.9279135780453398,"acceleration":2.999999999999956,"curvature":0.02707788017440543,"holonomicRotation":-175.4167371435181,"angularVelocity":0.05213922046703353,"holonomicAngularVelocity":-48.948319768619186},{"time":3.630424003076241,"pose":{"rotation":{"radians":-3.104955464928317},"translation":{"x":6.508236823545756,"y":4.694080757864584}},"velocity":1.9430535994077553,"acceleration":3.000000000000088,"curvature":0.03014997902836555,"holonomicRotation":-175.66376334583518,"angularVelocity":0.058510911866782984,"holonomicAngularVelocity":-47.54011337788686},{"time":3.6354832302077265,"pose":{"rotation":{"radians":-3.1046594449355127},"translation":{"x":6.498374810412162,"y":4.6937163563719695}},"velocity":1.9582312808022109,"acceleration":2.999999999999912,"curvature":0.03305270086539922,"holonomicRotation":-175.90427957727047,"angularVelocity":0.06464556606918224,"holonomicAngularVelocity":-46.13169539381866},{"time":3.6405549770458845,"pose":{"rotation":{"radians":-3.1043315789902004},"translation":{"x":6.488411493657909,"y":4.693344940577513}},"velocity":1.9734465213166843,"acceleration":2.9999999999998685,"curvature":0.03579397206664258,"holonomicRotation":-176.13824785752294,"angularVelocity":0.07055141903334929,"holonomicAngularVelocity":-44.72323849796191},{"time":3.6456392104422712,"pose":{"rotation":{"radians":-3.1039728791093886},"translation":{"x":6.478346383317533,"y":4.692966114668726}},"velocity":1.9886992215058452,"acceleration":3.000000000000131,"curvature":0.03838133650250762,"holonomicRotation":-176.36563124028885,"angularVelocity":0.0762363944280303,"holonomicAngularVelocity":-43.314915346890444},{"time":3.6507358977389988,"pose":{"rotation":{"radians":-3.103584326046359},"translation":{"x":6.4681789894255735,"y":4.6925794828331195}},"velocity":2.0039892833960278,"acceleration":3.0,"curvature":0.040821976939701264,"holonomicRotation":-176.58639381909617,"angularVelocity":0.08170811659878985,"holonomicAngularVelocity":-41.90689856193144},{"time":3.655845006769388,"pose":{"rotation":{"radians":-3.103166870369988},"translation":{"x":6.457908822016568,"y":4.692184649258202}},"velocity":2.019316610487196,"acceleration":3.000000000000087,"curvature":0.04312273419265821,"holonomicRotation":-176.80050073297454,"angularVelocity":0.08697392288728195,"holonomicAngularVelocity":-40.49936071623403},{"time":3.6609665058577074,"pose":{"rotation":{"radians":-3.102721433503213},"translation":{"x":6.447535391125055,"y":4.691781218131482}},"velocity":2.034681107752154,"acceleration":2.9999999999999134,"curvature":0.0452901215549366,"holonomicRotation":-177.00791817196026,"angularVelocity":0.09204087565012288,"holonomicAngularVelocity":-39.09247431938809},{"time":3.6661003638180722,"pose":{"rotation":{"radians":-3.102248908721078},"translation":{"x":6.437058206785571,"y":4.691368793640474}},"velocity":2.050082681633248,"acceleration":2.9999999999999134,"curvature":0.047330346027602846,"holonomicRotation":-177.2086133824352,"angularVelocity":0.09691577391672479,"holonomicAngularVelocity":-37.68641179985051},{"time":3.671246549952586,"pose":{"rotation":{"radians":-3.101750162109132},"translation":{"x":6.426476779032656,"y":4.690946979972686}},"velocity":2.06552124003679,"acceleration":3.000000000000086,"curvature":0.04924931862347567,"holonomicRotation":-177.40255467229917,"angularVelocity":0.10160516385308854,"holonomicAngularVelocity":-36.28134548526133},{"time":3.6764050340488024,"pose":{"rotation":{"radians":-3.1012260334873023},"translation":{"x":6.415790617900846,"y":4.6905153813156275}},"velocity":2.0809966923254386,"acceleration":3.0,"curvature":0.05105267293597494,"holonomicRotation":-177.58971141597422,"angularVelocity":0.10611534927629891,"holonomicAngularVelocity":-34.87744758123497},{"time":3.6815757863765546,"pose":{"rotation":{"radians":-3.1006773372980216},"translation":{"x":6.40499923342468,"y":4.6900736018568105}},"velocity":2.0965089493086952,"acceleration":3.0,"curvature":0.05274577802245623,"holonomicRotation":-177.77005405924095,"angularVelocity":0.11045240198495107,"holonomicAngularVelocity":-33.474890148361155},{"time":3.6867587776842328,"pose":{"rotation":{"radians":-3.1001048634586215},"translation":{"x":6.394102135638697,"y":4.689621245783744}},"velocity":2.1120579232317302,"acceleration":3.0000000000000857,"curvature":0.054333751308419866,"holonomicRotation":-177.9435541239054,"angularVelocity":0.11462217066466143,"holonomicAngularVelocity":-32.07384507789982},{"time":3.6919539791945586,"pose":{"rotation":{"radians":-3.0995093781844676},"translation":{"x":6.383098834577433,"y":4.689157917283939}},"velocity":2.1276435277627077,"acceleration":3.0,"curvature":0.05582147022244079,"holonomicRotation":-178.11018421229605,"angularVelocity":0.11863029045365271,"holonomicAngularVelocity":-30.674484066308906},{"time":3.6971613625998994,"pose":{"rotation":{"radians":-3.0988916247785885},"translation":{"x":6.371988840275429,"y":4.688683220544904}},"velocity":2.1432656779787305,"acceleration":3.0000000000000853,"curvature":0.057213586680764955,"holonomicRotation":-178.26991801159033,"angularVelocity":0.12248219125181202,"holonomicAngularVelocity":-29.276978588566024},{"time":3.702380900057189,"pose":{"rotation":{"radians":-3.0982523243934987},"translation":{"x":6.36077166276722,"y":4.6881967597541525}},"velocity":2.1589242903506,"acceleration":3.0000000000000853,"curvature":0.05851453534878741,"holonomicRotation":-178.42273029796962,"angularVelocity":0.12618310649740674,"holonomicAngularVelocity":-27.88149987068792},{"time":3.7076125641824835,"pose":{"rotation":{"radians":-3.097592176762018},"translation":{"x":6.349446812087344,"y":4.687698139099191}},"velocity":2.174619282726484,"acceleration":3.000000000000085,"curvature":0.05972854641418576,"holonomicRotation":-178.5685969406025,"angularVelocity":0.12973808042323481,"holonomicAngularVelocity":-26.488218861300453},{"time":3.712856328045198,"pose":{"rotation":{"radians":-3.0969118609042767},"translation":{"x":6.3380137982703415,"y":4.687186962767532}},"velocity":2.190350574314627,"acceleration":2.999999999999915,"curvature":0.06085965486229711,"holonomicRotation":-178.70749490545506,"angularVelocity":0.13315197633846085,"holonomicAngularVelocity":-25.09730620268512},{"time":3.7181121651620685,"pose":{"rotation":{"radians":-3.0962120358048524},"translation":{"x":6.326472131350749,"y":4.686662834946685}},"velocity":2.2061180856652385,"acceleration":3.0,"curvature":0.06191170921918001,"holonomicRotation":-178.8394022589286,"angularVelocity":0.13642948336875257,"holonomicAngularVelocity":-23.708932201012562},{"time":3.723380049490865,"pose":{"rotation":{"radians":-3.0954933410674284},"translation":{"x":6.314821321363105,"y":4.686125359824161}},"velocity":2.221921738651627,"acceleration":2.9999999999999156,"curvature":0.06288838243113597,"holonomicRotation":-178.9642981713228,"angularVelocity":0.13957512366900013,"holonomicAngularVelocity":-22.32326679632711},{"time":3.7286599554238933,"pose":{"rotation":{"radians":-3.0947563975438652},"translation":{"x":6.303060878341946,"y":4.685574141587469}},"velocity":2.2377614564507113,"acceleration":2.9999999999998317,"curvature":0.06379317838832801,"holonomicRotation":-179.0821629201253,"angularVelocity":0.1425932588367463,"holonomicAngularVelocity":-20.940479531954484},{"time":3.7339518577813107,"pose":{"rotation":{"radians":-3.094001807941275},"translation":{"x":6.291190312321812,"y":4.68500878442412}},"velocity":2.253637163522964,"acceleration":3.000000000000084,"curvature":0.06462944203309579,"holonomicRotation":-179.1929778931259,"angularVelocity":0.14548809655753636,"holonomicAngularVelocity":-19.560739523672932},{"time":3.739255731804292,"pose":{"rotation":{"radians":-3.0932301574052907},"translation":{"x":6.2792091333372415,"y":4.684428892521624}},"velocity":2.2695487855919065,"acceleration":2.9999999999998326,"curvature":0.06540036522226693,"holonomicRotation":-179.29672559135582,"angularVelocity":0.1482636962892519,"holonomicAngularVelocity":-18.184215428581616},{"time":3.744571553148059,"pose":{"rotation":{"radians":-3.0924420140840505},"translation":{"x":6.26711685142277,"y":4.683834070067491}},"velocity":2.2854962496232076,"acceleration":2.9999999999999165,"curvature":0.06610899510016172,"holonomicRotation":-179.39338963185074,"angularVelocity":0.15092397535757435,"holonomicAngularVelocity":-16.8110754139159},{"time":3.7498992978748062,"pose":{"rotation":{"radians":-3.0916379296701995},"translation":{"x":6.254912976612937,"y":4.683223921249233}},"velocity":2.301479483803449,"acceleration":2.9999999999999165,"curvature":0.06675824125017313,"holonomicRotation":-179.48295475023818,"angularVelocity":0.15347271445105853,"holonomicAngularVelocity":-15.44148712555563},{"time":3.7552389424465384,"pose":{"rotation":{"radians":-3.090818439923572},"translation":{"x":6.2425970189422815,"y":4.682598050254358}},"velocity":2.3174984175186455,"acceleration":3.0,"curvature":0.06735088143150379,"holonomicRotation":-179.56540680314762,"angularVelocity":0.1559135627220994,"holonomicAngularVelocity":-14.075617656679343},{"time":3.7605904637178447,"pose":{"rotation":{"radians":-3.0899840651761794},"translation":{"x":6.23016848844534,"y":4.681956061270375}},"velocity":2.3335529813325637,"acceleration":2.999999999999917,"curvature":0.06788956807312872,"holonomicRotation":-179.64073277044412,"angularVelocity":0.1582500431449947,"holonomicAngularVelocity":-12.713633516292653},{"time":3.7659538389286205,"pose":{"rotation":{"radians":-3.0891353108176713},"translation":{"x":6.21762689515665,"y":4.681297558484798}},"velocity":2.3496431069648915,"acceleration":3.0000000000000826,"curvature":0.06837683479607552,"holonomicRotation":-179.7089207572843,"angularVelocity":0.16048555733306735,"holonomicAngularVelocity":-11.35570059777462},{"time":3.77132904569676,"pose":{"rotation":{"radians":-3.088272667763706},"translation":{"x":6.204971749110751,"y":4.680622146085135}},"velocity":2.3657687272693093,"acceleration":2.9999999999999174,"curvature":0.06881510134724936,"holonomicRotation":-179.7699599959944,"angularVelocity":0.16262338996905315,"holonomicAngularVelocity":-10.001984147713387},{"time":3.7767160620108293,"pose":{"rotation":{"radians":-3.0873966129088934},"translation":{"x":6.19220256034218,"y":4.679929428258896}},"velocity":2.381929776211518,"acceleration":3.0000000000000826,"curvature":0.069206679150008,"holonomicRotation":-179.8238408477712,"angularVelocity":0.16466671352411008,"holonomicAngularVelocity":-8.652648734558058},{"time":3.7821148662227397,"pose":{"rotation":{"radians":-3.086507609562358},"translation":{"x":6.179318838885476,"y":4.679219009193594}},"velocity":2.3981261888472494,"acceleration":3.0,"curvature":0.06955377647699251,"holonomicRotation":-179.87055480420352,"angularVelocity":0.16661859249109315,"holonomicAngularVelocity":-7.3078582177290405},{"time":3.7875254370404257,"pose":{"rotation":{"radians":-3.085606107868142},"translation":{"x":6.166320094775178,"y":4.678490493076735}},"velocity":2.4143579013003076,"acceleration":3.000000000000082,"curvature":0.06985850302397997,"holonomicRotation":-179.91009448861615,"angularVelocity":0.1684819871876902,"holonomicAngularVelocity":-5.9677757167119845},{"time":3.7929477535205476,"pose":{"rotation":{"radians":-3.0846925452124103},"translation":{"x":6.153205838045821,"y":4.677743484095832}},"velocity":2.430624850740674,"acceleration":3.0000000000000817,"curvature":0.07012287492580531,"holonomicRotation":-179.94245365723455,"angularVelocity":0.17025975823395673,"holonomicAngularVelocity":-4.632563580514365},{"time":3.7983817950612218,"pose":{"rotation":{"radians":-3.083767346613462},"translation":{"x":6.139975578731944,"y":4.676977586438393}},"velocity":2.4469269753626963,"acceleration":3.0,"curvature":0.0703488186734359,"holonomicRotation":-179.96762720017088,"angularVelocity":0.17195466959756206,"holonomicAngularVelocity":-3.3023833572944685},{"time":3.8038275413947913,"pose":{"rotation":{"radians":-3.0828309251019608},"translation":{"x":6.126628826868086,"y":4.676192404291932}},"velocity":2.463264214363405,"acceleration":3.0,"curvature":0.07059013694168864,"holonomicRotation":-179.9856111422309,"angularVelocity":0.1307070391072794,"holonomicAngularVelocity":-1.3168739356314252},{"time":3.81475406775372,"pose":{"rotation":{"radians":-3.0814027511938575},"translation":{"x":6.09958388562858,"y":4.674562603281976}},"velocity":2.496043793440191,"acceleration":2.999999999999959,"curvature":0.005992049327081353,"holonomicRotation":180.0,"angularVelocity":0.01658687060774603,"holonomicAngularVelocity":0.0},{"time":3.8237053707652646,"pose":{"rotation":{"radians":-3.0812542770890343},"translation":{"x":6.077161730963774,"y":4.673208042614166}},"velocity":2.522897702474825,"acceleration":3.0000000000000497,"curvature":-0.07115373913105989,"holonomicRotation":180.0,"angularVelocity":-0.1802328229791761,"holonomicAngularVelocity":0.0},{"time":3.8325847630844,"pose":{"rotation":{"radians":-3.0828546350330517},"translation":{"x":6.0546805047557966,"y":4.671886019186994}},"velocity":2.5495358794322303,"acceleration":2.99999999999995,"curvature":-0.06975956127309019,"holonomicRotation":180.0,"angularVelocity":-0.17855513989230126,"holonomicAngularVelocity":0.0},{"time":3.8413940214123508,"pose":{"rotation":{"radians":-3.0844275733861464},"translation":{"x":6.032141457312096,"y":4.6705961674134855}},"velocity":2.575963654416083,"acceleration":3.0,"curvature":-0.06839584826062846,"holonomicRotation":180.0,"angularVelocity":-0.1768680244688998,"holonomicAngularVelocity":0.0},{"time":3.8501348320179427,"pose":{"rotation":{"radians":-3.0859735432902142},"translation":{"x":6.0095458389401255,"y":4.669338121706666}},"velocity":2.6021860862328583,"acceleration":2.9999999999999494,"curvature":-0.0670616236396667,"holonomicRotation":180.0,"angularVelocity":-0.17517250990000474,"holonomicAngularVelocity":0.0},{"time":3.8588087966442868,"pose":{"rotation":{"radians":-3.0874929834445948},"translation":{"x":5.986894899947331,"y":4.668111516479565}},"velocity":2.6282079801118905,"acceleration":3.0,"curvature":-0.06575594412532754,"holonomicRotation":180.0,"angularVelocity":-0.1734695355827643,"holonomicAngularVelocity":0.0},{"time":3.8674174379343644,"pose":{"rotation":{"radians":-3.088986320451183},"translation":{"x":5.964189890641162,"y":4.666915986145208}},"velocity":2.6540339039821235,"acceleration":3.0,"curvature":-0.06447789792096305,"holonomicRotation":180.0,"angularVelocity":-0.17175995377335568,"holonomicAngularVelocity":0.0},{"time":3.875962204422293,"pose":{"rotation":{"radians":-3.090453969148154},"translation":{"x":5.94143206132907,"y":4.66575116511662}},"velocity":2.6796682034459085,"acceleration":3.0,"curvature":-0.06322660353777552,"holonomicRotation":180.0,"angularVelocity":-0.1700445355292838,"holonomicAngularVelocity":3.3507194481097123e-12},{"time":3.884444475131778,"pose":{"rotation":{"radians":-3.091896332931182},"translation":{"x":5.918622662318501,"y":4.66461668780683}},"velocity":2.7051150155743646,"acceleration":3.0,"curvature":-0.062001208595573315,"holonomicRotation":180.00000000000003,"angularVelocity":-0.16832397615997563,"holonomicAngularVelocity":-3.375063544301265e-12},{"time":3.8928655638186545,"pose":{"rotation":{"radians":-3.0933138040625527},"translation":{"x":5.895762943916906,"y":4.663512188628862}},"velocity":2.730378281634993,"acceleration":2.999999999999947,"curvature":-0.06080088867500387,"holonomicRotation":180.0,"angularVelocity":-0.16659890040495823,"holonomicAngularVelocity":0.0},{"time":3.901226722890403,"pose":{"rotation":{"radians":-3.094706763970017},"translation":{"x":5.8728541564317345,"y":4.662437301995745}},"velocity":2.7554617588502386,"acceleration":3.0,"curvature":-0.05962484579927966,"holonomicRotation":180.0,"angularVelocity":-0.16486986696780592,"holonomicAngularVelocity":0.0},{"time":3.9095291470320213,"pose":{"rotation":{"radians":-3.096075583533756},"translation":{"x":5.849897550170435,"y":4.661391662320503}},"velocity":2.7803690312750935,"acceleration":3.0,"curvature":-0.05847230787166609,"holonomicRotation":180.0,"angularVelocity":-0.1631373729346798,"holonomicAngularVelocity":0.0},{"time":3.9177739765645,"pose":{"rotation":{"radians":-3.0974206233639787},"translation":{"x":5.826894375440457,"y":4.660374904016164}},"velocity":2.8051035198725294,"acceleration":3.0,"curvature":-0.05734252710204327,"holonomicRotation":180.0,"angularVelocity":-0.16140185765669138,"holonomicAngularVelocity":0.0},{"time":3.925962300559461,"pose":{"rotation":{"radians":-3.0987422340678603},"translation":{"x":5.80384588254925,"y":4.659386661495755}},"velocity":2.8296684918574124,"acceleration":2.999999999999946,"curvature":-0.0562347793247492,"holonomicRotation":180.0,"angularVelocity":-0.15966370639756833,"holonomicAngularVelocity":3.494676205575813e-12},{"time":3.934095159731094,"pose":{"rotation":{"radians":-3.1000407565068127},"translation":{"x":5.780753321804261,"y":4.658426569172303}},"velocity":2.8540670693723107,"acceleration":3.0,"curvature":-0.05514836303293838,"holonomicRotation":180.00000000000003,"angularVelocity":-0.15792325369686802,"holonomicAngularVelocity":-3.5182395953776072e-12},{"time":3.9421735491243988,"pose":{"rotation":{"radians":-3.1013165220444336},"translation":{"x":5.757617943512942,"y":4.657494261458832}},"velocity":2.8783022375522256,"acceleration":3.0,"curvature":-0.054082598262950116,"holonomicRotation":180.0,"angularVelocity":-0.15618078653342068,"holonomicAngularVelocity":0.0},{"time":3.950198420616875,"pose":{"rotation":{"radians":-3.102569852785958},"translation":{"x":5.734440997982743,"y":4.65658937276837}},"velocity":2.9023768520296547,"acceleration":3.0000000000000555,"curvature":-0.05303682572908901,"holonomicRotation":180.0,"angularVelocity":-0.15443654708086352,"holonomicAngularVelocity":0.0},{"time":3.958170685249106,"pose":{"rotation":{"radians":-3.103801061808175},"translation":{"x":5.711223735521109,"y":4.655711537513944}},"velocity":2.9262936459263478,"acceleration":3.0000000000000555,"curvature":-0.05201040610474359,"holonomicRotation":180.0,"angularVelocity":-0.15269073540972164,"holonomicAngularVelocity":0.0},{"time":3.96609121539821,"pose":{"rotation":{"radians":-3.1050104533814764},"translation":{"x":5.687967406435494,"y":4.654860390108581}},"velocity":2.95005523637366,"acceleration":3.0,"curvature":-0.051002719160933324,"holonomicRotation":180.0,"angularVelocity":-0.15094351185149157,"holonomicAngularVelocity":-3.611568058870427e-12},{"time":3.9739608468068157,"pose":{"rotation":{"radians":-3.106198323183268},"translation":{"x":5.664673261033343,"y":4.654035564965306}},"velocity":2.9736641305994778,"acceleration":3.0000000000000564,"curvature":-0.05001316283229675,"holonomicRotation":179.99999999999997,"angularVelocity":-0.14919499936825728,"holonomicAngularVelocity":3.6347064443827e-12},{"time":3.9817803804790133,"pose":{"rotation":{"radians":-3.1073649585045517},"translation":{"x":5.641342549622107,"y":4.653236696497146}},"velocity":2.99712273161607,"acceleration":2.999999999999943,"curvature":-0.049041152733205154,"holonomicRotation":180.0,"angularVelocity":-0.14744528545279745,"holonomicAngularVelocity":0.0},{"time":3.989550584453699,"pose":{"rotation":{"radians":-3.1085106384476258},"translation":{"x":5.617976522509236,"y":4.652463419117129}},"velocity":3.020433343540127,"acceleration":2.9999999999999427,"curvature":-0.048086121178845184,"holonomicRotation":180.0,"angularVelocity":-0.1456944241134356,"holonomicAngularVelocity":0.0},{"time":3.9972721954647787,"pose":{"rotation":{"radians":-3.109635634117113},"translation":{"x":5.59457643000218,"y":4.651715367238279}},"velocity":3.0435981765733655,"acceleration":2.9999999999999423,"curvature":-0.04714751657043563,"holonomicRotation":180.0,"angularVelocity":-0.14394243765007983,"holonomicAngularVelocity":0.0},{"time":4.004945920496835,"pose":{"rotation":{"radians":-3.1107402088040836},"translation":{"x":5.571143522408384,"y":4.6509921752736245}},"velocity":3.0666193516695346,"acceleration":2.999999999999884,"curvature":-0.04622480262506714,"holonomicRotation":180.0,"angularVelocity":-0.1421893181863251,"holonomicAngularVelocity":0.0},{"time":4.012572438244122,"pose":{"rotation":{"radians":-3.1118246181627063},"translation":{"x":5.547679050035302,"y":4.650293477636191}},"velocity":3.0894989049113946,"acceleration":2.9999999999998836,"curvature":-0.04531745818672703,"holonomicRotation":180.0,"angularVelocity":-0.14043502921167805,"holonomicAngularVelocity":0.0},{"time":4.0201524004800495,"pose":{"rotation":{"radians":-3.112889110380732},"translation":{"x":5.52418426319038,"y":4.649618908739004}},"velocity":3.112238791619177,"acceleration":3.0000000000001172,"curvature":-0.04442497581012896,"holonomicRotation":180.0,"angularVelocity":-0.1386795069048421,"holonomicAngularVelocity":-3.772442985680543e-12},{"time":4.02768643334371,"pose":{"rotation":{"radians":-3.1139339263432695},"translation":{"x":5.500660412181069,"y":4.648968102995094}},"velocity":3.1348408902101585,"acceleration":2.9999999999998823,"curvature":-0.043546861951136016,"holonomicRotation":179.99999999999997,"angularVelocity":-0.136922661349307,"holonomicAngularVelocity":0.0},{"time":4.035175138549443,"pose":{"rotation":{"radians":-3.114959299790099},"translation":{"x":5.4771087473148174,"y":4.6483406948174855}},"velocity":3.157307005827355,"acceleration":2.9999999999998814,"curvature":-0.042682635873757854,"holonomicRotation":179.99999999999997,"angularVelocity":-0.1351643777476897,"holonomicAngularVelocity":3.818092090285808e-12},{"time":4.04261909452492,"pose":{"rotation":{"radians":-3.1159654574675053},"translation":{"x":5.453530518899075,"y":4.647736318619202}},"velocity":3.1796388737537855,"acceleration":3.0,"curvature":-0.04183182928935732,"holonomicRotation":180.0,"angularVelocity":-0.13340451744063314,"holonomicAngularVelocity":0.0},{"time":4.0500188574828,"pose":{"rotation":{"radians":-3.1169526192740764},"translation":{"x":5.429926977241291,"y":4.647154608813275}},"velocity":3.201838162627426,"acceleration":2.99999999999994,"curvature":-0.04099398568559353,"holonomicRotation":180.0,"angularVelocity":-0.13164291871493344,"holonomicAngularVelocity":0.0},{"time":4.057374962430567,"pose":{"rotation":{"radians":-3.1179209983997738},"translation":{"x":5.406299372648912,"y":4.646595199812728}},"velocity":3.2239064774707265,"acceleration":3.0000000000000604,"curvature":-0.04016866014156886,"holonomicRotation":180.0,"angularVelocity":-0.12987939789175434,"holonomicAngularVelocity":0.0},{"time":4.064687924122797,"pose":{"rotation":{"radians":-3.118870801461166},"translation":{"x":5.382648955429391,"y":4.6460577260305875}},"velocity":3.2458453625474184,"acceleration":3.000000000000061,"curvature":-0.039355418411793006,"holonomicRotation":180.0,"angularVelocity":-0.12811374991804228,"holonomicAngularVelocity":0.0},{"time":4.071958237959783,"pose":{"rotation":{"radians":-3.1198022286299034},"translation":{"x":5.358976975890176,"y":4.645541821879881}},"velocity":3.267656304058376,"acceleration":3.0,"curvature":-0.03855383680941217,"holonomicRotation":180.0,"angularVelocity":-0.12634574913752983,"holonomicAngularVelocity":0.0},{"time":4.079186380836093,"pose":{"rotation":{"radians":-3.120715473756484},"translation":{"x":5.335284684338716,"y":4.645047121773635}},"velocity":3.289340732687308,"acceleration":3.000000000000123,"curvature":-0.03776350122565004,"holonomicRotation":180.0,"angularVelocity":-0.12457514993459119,"holonomicAngularVelocity":0.0},{"time":4.086372811942409,"pose":{"rotation":{"radians":-3.121610724489048},"translation":{"x":5.311573331082459,"y":4.644573260124877}},"velocity":3.310900026006254,"acceleration":2.999999999999815,"curvature":-0.03698400724985679,"holonomicRotation":180.0,"angularVelocity":-0.12280168720083635,"holonomicAngularVelocity":0.0},{"time":4.093517973523684,"pose":{"rotation":{"radians":-3.122488162386551},"translation":{"x":5.287844166428856,"y":4.644119871346631}},"velocity":3.3323355107500783,"acceleration":2.9999999999998757,"curvature":-0.03621495958908774,"holonomicRotation":180.0,"angularVelocity":-0.1210250769745867,"holonomicAngularVelocity":0.0},{"time":4.1006222915964745,"pose":{"rotation":{"radians":-3.1233479630281624},"translation":{"x":5.2640984406853555,"y":4.643686589851925}},"velocity":3.35364846496845,"acceleration":3.0000000000001252,"curvature":-0.03545597127426259,"holonomicRotation":180.0,"angularVelocity":-0.11924501672858245,"holonomicAngularVelocity":0.0},{"time":4.107686176628048,"pose":{"rotation":{"radians":-3.1241902961169212},"translation":{"x":5.240337404159407,"y":4.643273050053786}},"velocity":3.374840120063171,"acceleration":2.9999999999998743,"curvature":-0.03470666369404133,"holonomicRotation":180.0,"angularVelocity":-0.11746118582521523,"holonomicAngularVelocity":0.0},{"time":4.114710024179694,"pose":{"rotation":{"radians":-3.125015325579393},"translation":{"x":5.216562307158459,"y":4.642878886365241}},"velocity":3.3959116627181087,"acceleration":3.0,"curvature":-0.03396666581090445,"holonomicRotation":180.0,"angularVelocity":-0.11567324574699257,"holonomicAngularVelocity":0.0},{"time":4.121694215516484,"pose":{"rotation":{"radians":-3.1258232096602376},"translation":{"x":5.192774399989962,"y":4.642503733199314}},"velocity":3.41686423672848,"acceleration":3.000000000000127,"curvature":-0.03323561423811355,"holonomicRotation":180.0,"angularVelocity":-0.11388084054350658,"holonomicAngularVelocity":0.0},{"time":4.1286391181855615,"pose":{"rotation":{"radians":-3.126614101013685},"translation":{"x":5.168974932961364,"y":4.642147224969034}},"velocity":3.437698944735711,"acceleration":3.0,"curvature":-0.032513152531114024,"holonomicRotation":180.0,"angularVelocity":-0.11208359677019332,"holonomicAngularVelocity":0.0},{"time":4.135545086564886,"pose":{"rotation":{"radians":-3.127388146788821},"translation":{"x":5.145165156380113,"y":4.641808996087427}},"velocity":3.458416849873685,"acceleration":2.999999999999871,"curvature":-0.031798930544329695,"holonomicRotation":180.0,"angularVelocity":-0.11028112388344452,"holonomicAngularVelocity":4.138656479280291e-12},{"time":4.142412462384236,"pose":{"rotation":{"radians":-3.128145488712309},"translation":{"x":5.121346320553661,"y":4.6414886809675195}},"velocity":3.4790189773317346,"acceleration":3.0000000000001292,"curvature":-0.03109260485282721,"holonomicRotation":180.00000000000003,"angularVelocity":-0.10847301422006284,"holonomicAngularVelocity":-8.323690093692073e-12},{"time":4.149241575220127,"pose":{"rotation":{"radians":-3.1288862631660668},"translation":{"x":5.0975196757894565,"y":4.641185914022337}},"velocity":3.4995063158394064,"acceleration":3.0,"curvature":-0.030393837771728438,"holonomicRotation":179.99999999999997,"angularVelocity":-0.10665884314460121,"holonomicAngularVelocity":4.185099012882349e-12},{"time":4.1560327429661985,"pose":{"rotation":{"radians":-3.1296106012614637},"translation":{"x":5.073686472394948,"y":4.640900329664906}},"velocity":3.5198798190776217,"acceleration":2.9999999999999347,"curvature":-0.029702297027130474,"holonomicRotation":180.0,"angularVelocity":-0.10483816900658505,"holonomicAngularVelocity":0.0},{"time":4.162786272280517,"pose":{"rotation":{"radians":-3.130318628909109},"translation":{"x":5.049847960677584,"y":4.640631562308255}},"velocity":3.5401404070205773,"acceleration":3.0000000000000657,"curvature":-0.029017656042214506,"holonomicRotation":180.0,"angularVelocity":-0.1030105331410473,"holonomicAngularVelocity":0.0},{"time":4.169502459011129,"pose":{"rotation":{"radians":-3.1310104668849044},"translation":{"x":5.026005390944816,"y":4.64037924636541}},"velocity":3.5602889672124127,"acceleration":2.9999999999998015,"curvature":-0.02833959262748924,"holonomicRotation":180.0,"angularVelocity":-0.10117545981609591,"holonomicAngularVelocity":0.0},{"time":4.176181588601131,"pose":{"rotation":{"radians":-3.131686230892344},"translation":{"x":5.002160013504091,"y":4.640143016249397}},"velocity":3.580326355982418,"acceleration":2.9999999999999334,"curvature":-0.02766778943008095,"holonomicRotation":180.0,"angularVelocity":-0.0993324561441537,"holonomicAngularVelocity":0.0},{"time":4.182823936474415,"pose":{"rotation":{"radians":-3.1323460316211613},"translation":{"x":4.978313078662859,"y":4.6399225063732406}},"velocity":3.600253399602271,"acceleration":3.000000000000067,"curvature":-0.027001933337616215,"holonomicRotation":180.0,"angularVelocity":-0.09748101191450152,"holonomicAngularVelocity":0.0},{"time":4.189429768403189,"pose":{"rotation":{"radians":-3.1329899748021153},"translation":{"x":4.954465836728571,"y":4.639717351149971}},"velocity":3.6200708953885914,"acceleration":3.0,"curvature":-0.02634171536058711,"holonomicRotation":180.0,"angularVelocity":-0.09562059932864618,"holonomicAngularVelocity":0.0},{"time":4.195999340858283,"pose":{"rotation":{"radians":-3.1336181612576044},"translation":{"x":4.930619538008672,"y":4.6395271849926125}},"velocity":3.639779612753875,"acceleration":2.9999999999999325,"curvature":-0.025686829883783374,"holonomicRotation":180.0,"angularVelocity":-0.09375067298142535,"holonomicAngularVelocity":0.0},{"time":4.2025329013432104,"pose":{"rotation":{"radians":-3.134230686950031},"translation":{"x":4.9067754328106155,"y":4.639351642314192}},"velocity":3.659380294208656,"acceleration":3.0,"curvature":-0.025036974723690174,"holonomicRotation":180.0,"angularVelocity":-0.0918706693726488,"holonomicAngularVelocity":4.3740596319258744e-12},{"time":4.209030688712856,"pose":{"rotation":{"radians":-3.1348276430251216},"translation":{"x":4.882934771441849,"y":4.6391903575277365}},"velocity":3.678873656317592,"acceleration":2.9999999999999316,"curvature":-0.024391850884256897,"holonomicRotation":180.00000000000003,"angularVelocity":-0.08998000670769124,"holonomicAngularVelocity":-4.398117134971266e-12},{"time":4.2154929334776465,"pose":{"rotation":{"radians":-3.1354091158524042},"translation":{"x":4.859098804209821,"y":4.639042965046272}},"velocity":3.698260390611965,"acceleration":3.0000000000001372,"curvature":-0.023751162038067878,"holonomicRotation":180.0,"angularVelocity":-0.08807808458929796,"holonomicAngularVelocity":0.0},{"time":4.221919858093974,"pose":{"rotation":{"radians":-3.13597518706241},"translation":{"x":4.8352687814219815,"y":4.6389090992828255}},"velocity":3.717541164460949,"acceleration":3.000000000000138,"curvature":-0.023114614121709443,"holonomicRotation":180.0,"angularVelocity":-0.08616428354968342,"holonomicAngularVelocity":0.0},{"time":4.228311677241608,"pose":{"rotation":{"radians":-3.136525933579845},"translation":{"x":4.811445953385779,"y":4.638788394650423}},"velocity":3.7367166219038523,"acceleration":3.0000000000002083,"curvature":-0.02248191570814208,"holonomicRotation":180.0,"angularVelocity":-0.0842379646723674,"holonomicAngularVelocity":0.0},{"time":4.234668598088787,"pose":{"rotation":{"radians":-3.137061427653595},"translation":{"x":4.787631570408664,"y":4.638680485562092}},"velocity":3.755787384445387,"acceleration":2.9999999999999303,"curvature":-0.02185277677833238,"holonomicRotation":180.0,"angularVelocity":-0.08229846914915023,"holonomicAngularVelocity":0.0},{"time":4.240990820545629,"pose":{"rotation":{"radians":-3.1375817368834134},"translation":{"x":4.763826882798084,"y":4.6385850064308585}},"velocity":3.7747540518159144,"acceleration":3.0000000000001403,"curvature":-0.021226909134473268,"holonomicRotation":180.0,"angularVelocity":-0.08034511771247622,"holonomicAngularVelocity":0.0},{"time":4.247278537506484,"pose":{"rotation":{"radians":-3.138086924242776},"translation":{"x":4.74003314086149,"y":4.638501591669749}},"velocity":3.793617202698482,"acceleration":3.000000000000141,"curvature":-0.02060402581838837,"holonomicRotation":180.0,"angularVelocity":-0.07837721016256861,"holonomicAngularVelocity":0.0},{"time":4.253531935081775,"pose":{"rotation":{"radians":-3.1385770480987647},"translation":{"x":4.71625159490633,"y":4.63842987569179}},"velocity":3.812377395424356,"acceleration":3.000000000000213,"curvature":-0.01998384095979568,"holonomicRotation":180.0,"angularVelocity":-0.07639402477200005,"holonomicAngularVelocity":0.0},{"time":4.259751192819879,"pose":{"rotation":{"radians":-3.139052162228473},"translation":{"x":4.6924834952400545,"y":4.638369492910007}},"velocity":3.831035168638668,"acceleration":3.000000000000214,"curvature":-0.019366069301642665,"holonomicRotation":180.0,"angularVelocity":-0.07439481759815383,"holonomicAngularVelocity":0.0},{"time":4.265936483919549,"pose":{"rotation":{"radians":-3.1395123158316243},"translation":{"x":4.668730092170112,"y":4.638320077737429}},"velocity":3.8495910419376784,"acceleration":3.000000000000072,"curvature":-0.01875042620803694,"holonomicRotation":180.0,"angularVelocity":-0.07237882184850195,"holonomicAngularVelocity":0.0},{"time":4.272087975433352,"pose":{"rotation":{"radians":-3.1399575535400044},"translation":{"x":4.644992636003951,"y":4.63828126458708}},"velocity":3.8680455164790883,"acceleration":3.0000000000001443,"curvature":-0.01813662690231397,"holonomicRotation":180.0,"angularVelocity":-0.07034524725066824,"holonomicAngularVelocity":0.0},{"time":4.278205828462567,"pose":{"rotation":{"radians":-3.1403879154239878},"translation":{"x":4.621272377049021,"y":4.638252687871989}},"velocity":3.8863990755667324,"acceleration":2.999999999999855,"curvature":-0.017524386872614352,"holonomicRotation":180.0,"angularVelocity":-0.06829327909803021,"holonomicAngularVelocity":0.0},{"time":4.284290198343962,"pose":{"rotation":{"radians":-3.1408034369944335},"translation":{"x":4.597570565612772,"y":4.63823398200518}},"velocity":3.904652185210917,"acceleration":2.999999999999781,"curvature":-0.01691342055332875,"holonomicRotation":180.0,"angularVelocity":-0.06622207768677714,"holonomicAngularVelocity":4.696998522706342e-12},{"time":4.290341234828859,"pose":{"rotation":{"radians":-3.141204149202622},"translation":{"x":4.573888452002652,"y":4.638224781399682}},"velocity":3.9228052946656087,"acceleration":3.0000000000000733,"curvature":-0.01630344254646274,"holonomicRotation":180.00000000000003,"angularVelocity":-0.06413077718927343,"holonomicAngularVelocity":-4.722902961558192e-12},{"time":4.296359082254847,"pose":{"rotation":{"radians":-3.141590078435057},"translation":{"x":4.550227286526113,"y":4.63822472046852}},"velocity":3.940858836943572,"acceleration":2.9999999999999263,"curvature":-0.015694165708780215,"holonomicRotation":180.0,"angularVelocity":-0.062018485027209344,"holonomicAngularVelocity":0.0},{"time":4.302343879710503,"pose":{"rotation":{"radians":3.141224060673135},"translation":{"x":4.5265883194906,"y":4.638233433624721}},"velocity":3.95881322931054,"acceleration":3.0,"curvature":-0.015085301567229826,"holonomicRotation":180.0,"angularVelocity":-0.059884280671526485,"holonomicAngularVelocity":0.0},{"time":4.308295761193456,"pose":{"rotation":{"radians":3.1408676365318864},"translation":{"x":4.502972801203565,"y":4.63825055528131}},"velocity":3.976668873759398,"acceleration":2.999999999999851,"curvature":-0.014476560596316874,"holonomicRotation":180.0,"angularVelocity":-0.05772721482599619,"holonomicAngularVelocity":0.0},{"time":4.314214855762106,"pose":{"rotation":{"radians":3.1405259436881465},"translation":{"x":4.479381981972455,"y":4.6382757198513165}},"velocity":3.994426157465348,"acceleration":2.999999999999925,"curvature":-0.013867650478553869,"holonomicRotation":180.0,"angularVelocity":-0.05535026720203377,"holonomicAngularVelocity":0.0},{"time":4.320122136394659,"pose":{"rotation":{"radians":3.1401989741266974},"translation":{"x":4.455817112104723,"y":4.638308561747765}},"velocity":3.9838278714426356,"acceleration":-1.7941057284988355,"curvature":-0.013258277578162489,"holonomicRotation":180.0,"angularVelocity":-0.05273136957917894,"holonomicAngularVelocity":0.0},{"time":4.326043652518751,"pose":{"rotation":{"radians":3.1398867244714888},"translation":{"x":4.4322794419078155,"y":4.638348715383683}},"velocity":3.9660633230703586,"acceleration":-2.99999999999985,"curvature":-0.01264814487786621,"holonomicRotation":180.0,"angularVelocity":-0.05008090152190602,"holonomicAngularVelocity":0.0},{"time":4.331984609061165,"pose":{"rotation":{"radians":3.139589196011942},"translation":{"x":4.408770221689182,"y":4.638395815172096}},"velocity":3.948240453443118,"acceleration":-2.9999999999997757,"curvature":-0.012036952844999478,"holonomicRotation":180.0,"angularVelocity":-0.04744714344138959,"holonomicAngularVelocity":0.0},{"time":4.337944952692291,"pose":{"rotation":{"radians":3.139306394732716},"translation":{"x":4.385290701756272,"y":4.638449495526031}},"velocity":3.930359422549742,"acceleration":-3.0,"curvature":-0.011424398774534826,"holonomicRotation":180.0,"angularVelocity":-0.0448290729236816,"holonomicAngularVelocity":0.0},{"time":4.343924629896909,"pose":{"rotation":{"radians":3.1390383313472503},"translation":{"x":4.361842132416534,"y":4.638509390858515}},"velocity":3.9124203909358872,"acceleration":-2.9999999999998517,"curvature":-0.01081017555239997,"holonomicRotation":180.0,"angularVelocity":-0.04222567504529916,"holonomicAngularVelocity":0.0},{"time":4.349923586966025,"pose":{"rotation":{"radians":3.138785021335439},"translation":{"x":4.338425763977419,"y":4.638575135582576}},"velocity":3.8944235197285417,"acceleration":-2.999999999999852,"curvature":-0.010193972978782093,"holonomicRotation":180.0,"angularVelocity":-0.03963594146006996,"holonomicAngularVelocity":0.0},{"time":4.355941769988439,"pose":{"rotation":{"radians":3.1385464849854667},"translation":{"x":4.315042846746374,"y":4.638646364111236}},"velocity":3.8763689706613005,"acceleration":-2.999999999999779,"curvature":-0.009575476535480389,"holonomicRotation":180.0,"angularVelocity":-0.037058869670026515,"holonomicAngularVelocity":0.0},{"time":4.361979124842054,"pose":{"rotation":{"radians":3.138322747438795},"translation":{"x":4.29169463103085,"y":4.638722710857526}},"velocity":3.858256906100455,"acceleration":-3.0000000000000737,"curvature":-0.008954365927464581,"holonomicRotation":180.0,"angularVelocity":-0.03449346184372909,"holonomicAngularVelocity":0.0},{"time":4.368035597184906,"pose":{"rotation":{"radians":3.138113838741129},"translation":{"x":4.268382367138295,"y":4.638803810234471}},"velocity":3.8400874890718986,"acceleration":-3.0000000000000733,"curvature":-0.00833031723296493,"holonomicRotation":180.0,"angularVelocity":-0.03193872426521091,"holonomicAngularVelocity":-4.678058509978517e-12},{"time":4.374111132445908,"pose":{"rotation":{"radians":3.1379197938956644},"translation":{"x":4.245107305376159,"y":4.638889296655097}},"velocity":3.821860883288893,"acceleration":-3.0,"curvature":-0.007703000261391104,"holonomicRotation":179.99999999999997,"angularVelocity":-0.02939366620802325,"holonomicAngularVelocity":0.0},{"time":4.380205675815304,"pose":{"rotation":{"radians":3.137740652922174},"translation":{"x":4.221870696051891,"y":4.638978804532431}},"velocity":3.803577253180703,"acceleration":-3.000000000000073,"curvature":-0.007072078283767365,"holonomicRotation":179.99999999999997,"angularVelocity":-0.026857299151999674,"holonomicAngularVelocity":0.0},{"time":4.386319172234825,"pose":{"rotation":{"radians":3.1375764609199703},"translation":{"x":4.19867378947294,"y":4.6390719682795005}},"velocity":3.7852367639221423,"acceleration":-2.999999999999782,"curvature":-0.006437209461151367,"holonomicRotation":179.99999999999997,"angularVelocity":-0.024328635820349935,"holonomicAngularVelocity":4.634684060206335e-12},{"time":4.392451566387521,"pose":{"rotation":{"radians":3.1374272681359225},"translation":{"x":4.1755178359467555,"y":4.6391684223093295}},"velocity":3.7668395814640534,"acceleration":-3.0,"curvature":-0.005798044399428132,"holonomicRotation":180.0,"angularVelocity":-0.021806689435307152,"holonomicAngularVelocity":0.0},{"time":4.39860280268729,"pose":{"rotation":{"radians":3.1372931300362903},"translation":{"x":4.152404085780786,"y":4.639267801034947}},"velocity":3.7483858725647465,"acceleration":-2.9999999999999276,"curvature":-0.0051542267649724175,"holonomicRotation":180.0,"angularVelocity":-0.01929047254203116,"holonomicAngularVelocity":0.0},{"time":4.404772825268059,"pose":{"rotation":{"radians":3.1371741073851123},"translation":{"x":4.129333789282482,"y":4.6393697388693775}},"velocity":3.7298758048224423,"acceleration":-2.999999999999856,"curvature":-0.0045053921611915475,"holonomicRotation":180.0,"angularVelocity":-0.01677899640370832,"holonomicAngularVelocity":0.0},{"time":4.41096157797263,"pose":{"rotation":{"radians":3.137070266325739},"translation":{"x":4.106308196759291,"y":4.63947387022565}},"velocity":3.711309546708729,"acceleration":-2.9999999999998566,"curvature":-0.003851167853435209,"holonomicRotation":180.0,"angularVelocity":-0.01427126976831074,"holonomicAngularVelocity":0.0},{"time":4.417169004341174,"pose":{"rotation":{"radians":3.1369816784694664},"translation":{"x":4.083328558518664,"y":4.63957982951679}},"velocity":3.6926872676030973,"acceleration":-3.0,"curvature":-0.0031911731986903487,"holonomicRotation":180.0,"angularVelocity":-0.011766298215260564,"holonomicAngularVelocity":0.0},{"time":4.423395047599354,"pose":{"rotation":{"radians":3.1369084209877895},"translation":{"x":4.060396124868049,"y":4.639687251155824}},"velocity":3.6740091378285586,"acceleration":-2.999999999999786,"curvature":-0.0025250184819060393,"holonomicRotation":180.0,"angularVelocity":-0.009263082959060346,"holonomicAngularVelocity":0.0},{"time":4.429639650646071,"pose":{"rotation":{"radians":3.1368505767117214},"translation":{"x":4.037512146114896,"y":4.639795769555777}},"velocity":3.655275328688408,"acceleration":-2.999999999999858,"curvature":-0.0018523017875333152,"holonomicRotation":180.0,"angularVelocity":-0.006760620071811753,"holonomicAngularVelocity":0.0},{"time":4.4359027560408215,"pose":{"rotation":{"radians":3.136808234235678},"translation":{"x":4.014677872566653,"y":4.639905019129678}},"velocity":3.636486012504156,"acceleration":-3.0000000000001417,"curvature":-0.001172613813537774,"holonomicRotation":180.0,"angularVelocity":-0.004257899310055847,"holonomicAngularVelocity":0.0},{"time":4.442184305990648,"pose":{"rotation":{"radians":3.1367814880284803},"translation":{"x":3.991894554530772,"y":4.6400146342905515}},"velocity":3.617641362654675,"acceleration":-3.0000000000002123,"curvature":-0.0004855335332795157,"holonomicRotation":180.0,"angularVelocity":-0.0017539033184178394,"holonomicAngularVelocity":0.0},{"time":4.448484242336673,"pose":{"rotation":{"radians":3.136770438549217},"translation":{"x":3.9691634423146986,"y":4.640124249451425}},"velocity":3.5987415536166014,"acceleration":-2.9999999999997886,"curvature":0.00020937495846529773,"holonomicRotation":180.0,"angularVelocity":0.0007523935901446457,"holonomicAngularVelocity":0.0},{"time":4.454802506540193,"pose":{"rotation":{"radians":3.136775192370705},"translation":{"x":3.9464857862258844,"y":4.640233499025326}},"velocity":3.5797867610060425,"acceleration":-2.99999999999993,"curvature":0.0009125579283637154,"holonomicRotation":180.0,"angularVelocity":0.0032620264066609565,"holonomicAngularVelocity":0.0},{"time":4.461139039668332,"pose":{"rotation":{"radians":3.1367958623090955},"translation":{"x":3.9238628365717774,"y":4.640342017425279}},"velocity":3.560777161621625,"acceleration":-3.00000000000007,"curvature":0.0016244684209079261,"holonomicRotation":180.0,"angularVelocity":0.005776040421642686,"holonomicAngularVelocity":0.0},{"time":4.4674937823792265,"pose":{"rotation":{"radians":3.1368325675598627},"translation":{"x":3.901295843659828,"y":4.640449439064313}},"velocity":3.54171293348894,"acceleration":-3.0000000000002096,"curvature":0.00234558433180573,"holonomicRotation":180.0,"angularVelocity":0.008295492529418256,"holonomicAngularVelocity":0.0},{"time":4.473866674906729,"pose":{"rotation":{"radians":3.1368854338422154},"translation":{"x":3.878786057797483,"y":4.640555398355452}},"velocity":3.5225942559064327,"acceleration":-3.0,"curvature":0.003076389973551471,"holonomicRotation":180.0,"angularVelocity":0.010821452114971073,"holonomicAngularVelocity":0.0},{"time":4.480257657044608,"pose":{"rotation":{"radians":3.136954593549388},"translation":{"x":3.856334729292195,"y":4.640659529711725}},"velocity":3.5034213094927966,"acceleration":-2.9999999999997917,"curvature":0.003817387356230416,"holonomicRotation":180.0,"angularVelocity":0.013355002494576579,"holonomicAngularVelocity":0.0},{"time":4.48666666813024,"pose":{"rotation":{"radians":3.1370401859084245},"translation":{"x":3.833943108451411,"y":4.640761467546156}},"velocity":3.4841942762359026,"acceleration":-2.9999999999998614,"curvature":0.004569096097665534,"holonomicRotation":180.0,"angularVelocity":0.015897241839898137,"holonomicAngularVelocity":0.0},{"time":4.493093647027756,"pose":{"rotation":{"radians":3.137142357146258},"translation":{"x":3.811612445582581,"y":4.6408608462717735}},"velocity":3.4649133395433553,"acceleration":-2.9999999999997926,"curvature":0.005332050531849715,"holonomicRotation":180.0,"angularVelocity":0.01844928465362439,"holonomicAngularVelocity":0.0},{"time":4.499538532110638,"pose":{"rotation":{"radians":3.137261260665712},"translation":{"x":3.789343990993154,"y":4.640957300301603}},"velocity":3.445578684294709,"acceleration":-3.0000000000001377,"curvature":0.006106804227496793,"holonomicRotation":180.0,"angularVelocity":0.021012262895953468,"holonomicAngularVelocity":0.0},{"time":4.5060012612437355,"pose":{"rotation":{"radians":3.137397057229282},"translation":{"x":3.7671389949905785,"y":4.641050464048672}},"velocity":3.426190496895415,"acceleration":-3.000000000000069,"curvature":0.0068939290074367405,"holonomicRotation":180.0,"angularVelocity":0.02358732740163672,"holonomicAngularVelocity":0.0},{"time":4.512481771764684,"pose":{"rotation":{"radians":3.1375499151526696},"translation":{"x":3.744998707882305,"y":4.641139971926005}},"velocity":3.4067489653325684,"acceleration":-3.0,"curvature":0.007694017877824568,"holonomicRotation":180.0,"angularVelocity":0.026175649152443546,"holonomicAngularVelocity":0.0},{"time":4.518980000464703,"pose":{"rotation":{"radians":3.1377200105072336},"translation":{"x":3.7229243799757823,"y":4.641225458346632}},"velocity":3.3872542792325118,"acceleration":-3.000000000000137,"curvature":0.008507683086870976,"holonomicRotation":180.0,"angularVelocity":0.02877842087708786,"holonomicAngularVelocity":0.0},{"time":4.525495883568747,"pose":{"rotation":{"radians":3.1379075273335877},"translation":{"x":3.7009172615784585,"y":4.641306557723576}},"velocity":3.3677066299203786,"acceleration":-3.0,"curvature":0.009335559641026288,"holonomicRotation":180.0,"angularVelocity":0.03139685824725212,"holonomicAngularVelocity":0.0},{"time":4.532029356714991,"pose":{"rotation":{"radians":3.1381126578638225},"translation":{"x":3.678978602997785,"y":4.641382904469866}},"velocity":3.3481062104816472,"acceleration":-2.999999999999864,"curvature":0.01017830652539882,"holonomicRotation":180.0,"angularVelocity":0.03403220173637514,"holonomicAngularVelocity":0.0},{"time":4.538580354933618,"pose":{"rotation":{"radians":3.1383356027567735},"translation":{"x":3.6571096545412085,"y":4.641454132998527}},"velocity":3.3284532158257663,"acceleration":-3.0000000000001354,"curvature":0.011036606519764038,"holonomicRotation":180.0,"angularVelocity":0.036685717902137135,"holonomicAngularVelocity":0.0},{"time":4.545148812624885,"pose":{"rotation":{"radians":3.1385765713426874},"translation":{"x":3.6353116665161807,"y":4.641519877722587}},"velocity":3.308747842751965,"acceleration":-3.000000000000135,"curvature":0.011911168878124167,"holonomicRotation":180.0,"angularVelocity":0.039358701284937014,"holonomicAngularVelocity":0.0},{"time":4.551734663536442,"pose":{"rotation":{"radians":3.1388357818814225},"translation":{"x":3.6135858892301482,"y":4.641579773055071}},"velocity":3.288990290017292,"acceleration":-3.0000000000000675,"curvature":0.012802729429185858,"holonomicRotation":180.0,"angularVelocity":0.042052475972079506,"holonomicAngularVelocity":0.0},{"time":4.55833784073987,"pose":{"rotation":{"radians":3.139113461832109},"translation":{"x":3.5919335729905626,"y":4.641633453409007}},"velocity":3.269180758407011,"acceleration":-2.999999999999933,"curvature":0.013712053553577583,"holonomicRotation":180.0,"angularVelocity":0.04476839751612641,"holonomicAngularVelocity":0.0},{"time":4.564958276606404,"pose":{"rotation":{"radians":3.139409848136712},"translation":{"x":3.570355968104872,"y":4.64168055319742}},"velocity":3.249319450807407,"acceleration":-3.0,"curvature":0.01463993642273376,"holonomicRotation":180.0,"angularVelocity":0.04750785469509095,"holonomicAngularVelocity":0.0},{"time":4.571595902781831,"pose":{"rotation":{"radians":3.1397251875165746},"translation":{"x":3.5488543248805255,"y":4.641720706833338}},"velocity":3.2294065722811283,"acceleration":-2.9999999999997993,"curvature":0.015587205816740694,"holonomicRotation":180.0,"angularVelocity":0.050272271580015605,"holonomicAngularVelocity":0.0},{"time":4.578250650160491,"pose":{"rotation":{"radians":3.140059736784091},"translation":{"x":3.527429893624973,"y":4.6417535487297865}},"velocity":3.209442330145148,"acceleration":-2.9999999999998663,"curvature":0.016554722383342987,"holonomicRotation":180.0,"angularVelocity":0.053063109531098177,"holonomicAngularVelocity":0.0},{"time":4.584922448858391,"pose":{"rotation":{"radians":3.140413763169167},"translation":{"x":3.5060839246456625,"y":4.641778713299793}},"velocity":3.18942693405145,"acceleration":-2.9999999999998,"curvature":0.017543383252764836,"holonomicRotation":180.0,"angularVelocity":0.05588186936963077,"holonomicAngularVelocity":0.0},{"time":4.591611228185355,"pose":{"rotation":{"radians":3.140787544661759},"translation":{"x":3.4848176682500442,"y":4.641795834956382}},"velocity":3.1693605960705584,"acceleration":-2.9999999999998006,"curvature":0.018554122368058246,"holonomicRotation":180.0,"angularVelocity":0.05873009356374047,"holonomicAngularVelocity":0.0},{"time":4.598316916616205,"pose":{"rotation":{"radians":3.141181370370712},"translation":{"x":3.4636323747455675,"y":4.641804548112583}},"velocity":3.149243530778009,"acceleration":-3.0000000000001985,"curvature":0.019587913763152488,"holonomicRotation":180.0,"angularVelocity":0.06160936872249415,"holonomicAngularVelocity":0.0},{"time":4.60503944176091,"pose":{"rotation":{"radians":-3.141589766278488},"translation":{"x":3.4425292944396806,"y":4.641804487181421}},"velocity":3.129075955343892,"acceleration":-3.0000000000001323,"curvature":0.020645773096924294,"holonomicRotation":180.0,"angularVelocity":0.0645213278929006,"holonomicAngularVelocity":0.0},{"time":4.611778730333677,"pose":{"rotation":{"radians":-3.1411549384307196},"translation":{"x":3.4215096776398335,"y":4.641795286575922}},"velocity":3.1088580896255897,"acceleration":-3.000000000000132,"curvature":0.021728760289654155,"holonomicRotation":180.0,"angularVelocity":0.06746765329227178,"holonomicAngularVelocity":0.0},{"time":4.61853470812093,"pose":{"rotation":{"radians":-3.140699128463719},"translation":{"x":3.400574774653476,"y":4.641776580709114}},"velocity":3.0885901562638307,"acceleration":-3.0,"curvature":0.022837981534017712,"holonomicRotation":180.0,"angularVelocity":0.07045007897105894,"holonomicAngularVelocity":0.0},{"time":4.625307299948141,"pose":{"rotation":{"radians":-3.140221998834653},"translation":{"x":3.3797258357880553,"y":4.641748003994023}},"velocity":3.0682723807821985,"acceleration":-2.999999999999869,"curvature":0.02397459304670764,"holonomicRotation":180.0,"angularVelocity":0.07347039370382223,"holonomicAngularVelocity":0.0},{"time":4.632096429645459,"pose":{"rotation":{"radians":-3.139723198802885},"translation":{"x":3.3589641113510225,"y":4.641709190843674}},"velocity":3.047904991690245,"acceleration":-2.999999999999869,"curvature":0.02513980207214157,"holonomicRotation":180.0,"angularVelocity":0.07653044393970605,"holonomicAngularVelocity":0.0},{"time":4.638902020012096,"pose":{"rotation":{"radians":-3.1392023639508544},"translation":{"x":3.3382908516498264,"y":4.641659775671096}},"velocity":3.0274882205903366,"acceleration":-2.9999999999998694,"curvature":0.02633487156435383,"holonomicRotation":180.0,"angularVelocity":0.07963213712091381,"holonomicAngularVelocity":0.0},{"time":4.6457239927794065,"pose":{"rotation":{"radians":-3.1386591156800128},"translation":{"x":3.317707306991915,"y":4.641599392889313}},"velocity":3.007022302288404,"acceleration":-3.0000000000000653,"curvature":0.027561122405412166,"holonomicRotation":180.0,"angularVelocity":0.08277744481040497,"holonomicAngularVelocity":0.0},{"time":4.652562268572624,"pose":{"rotation":{"radians":-3.1380930606829414},"translation":{"x":3.297214727684739,"y":4.6415276769113545}},"velocity":2.9865074749087515,"acceleration":-2.999999999999935,"curvature":0.028819937103246235,"holonomicRotation":180.0,"angularVelocity":0.08596840646061224,"holonomicAngularVelocity":0.0},{"time":4.659416766871181,"pose":{"rotation":{"radians":-3.1375037903871275},"translation":{"x":3.276814364035747,"y":4.641444262150244}},"velocity":2.96594398001308,"acceleration":-3.0000000000001945,"curvature":0.030112762940832597,"holonomicRotation":180.0,"angularVelocity":0.08920713287095366,"holonomicAngularVelocity":0.0},{"time":4.6662874059675685,"pose":{"rotation":{"radians":-3.1368908803723476},"translation":{"x":3.256507466352389,"y":4.64134878301901}},"velocity":2.9453320627239186,"acceleration":-2.999999999999806,"curvature":0.03144111684353404,"holonomicRotation":180.0,"angularVelocity":0.09249581038741188,"holonomicAngularVelocity":0.0},{"time":4.673174102924665,"pose":{"rotation":{"radians":-3.1362538897564085},"translation":{"x":3.236295284942113,"y":4.641240873930679}},"velocity":2.9246719718526313,"acceleration":-2.9999999999998064,"curvature":0.03280658743078443,"holonomicRotation":180.0,"angularVelocity":0.09583670475984202,"holonomicAngularVelocity":0.0},{"time":4.680076773531476,"pose":{"rotation":{"radians":-3.135592360551409},"translation":{"x":3.216179070112369,"y":4.641120169298277}},"velocity":2.903963960032197,"acceleration":-3.000000000000129,"curvature":0.0342108415503002,"holonomicRotation":180.0,"angularVelocity":0.0992321657586632,"holonomicAngularVelocity":0.0},{"time":4.686995332257223,"pose":{"rotation":{"radians":-3.1349058169851247},"translation":{"x":3.196160072170606,"y":4.64098630353483}},"velocity":2.8832082838549544,"acceleration":-3.0000000000001283,"curvature":0.035655627660630525,"holonomicRotation":180.0,"angularVelocity":0.10268463163895496,"holonomicAngularVelocity":0.0},{"time":4.6939296922036995,"pose":{"rotation":{"radians":-3.134193764788369},"translation":{"x":3.176239541424273,"y":4.6408389110533665}},"velocity":2.862405204015526,"acceleration":-2.999999999999872,"curvature":0.03714278086042032,"holonomicRotation":180.0,"angularVelocity":0.10619663416310378,"holonomicAngularVelocity":0.0},{"time":4.700879765055832,"pose":{"rotation":{"radians":-3.133455690444284},"translation":{"x":3.1564187281808187,"y":4.6406776262669105}},"velocity":2.8415549854591284,"acceleration":-3.000000000000192,"curvature":0.038674228295944184,"holonomicRotation":180.0,"angularVelocity":0.10977080362536341,"holonomicAngularVelocity":0.0},{"time":4.707845461030375,"pose":{"rotation":{"radians":-3.1326910603993485},"translation":{"x":3.1366988827476936,"y":4.6405020835884905}},"velocity":2.8206578975355003,"acceleration":-2.9999999999998725,"curvature":0.04025199474597532,"holonomicRotation":180.0,"angularVelocity":0.11340987455400049,"holonomicAngularVelocity":0.0},{"time":4.714826688822649,"pose":{"rotation":{"radians":-3.1318993202311938},"translation":{"x":3.117081255432346,"y":4.640311917431132}},"velocity":2.799714214158676,"acceleration":-3.000000000000127,"curvature":0.041878208667263654,"holonomicRotation":180.0,"angularVelocity":0.11711669130663446,"holonomicAngularVelocity":0.0},{"time":4.7218233555512565,"pose":{"rotation":{"radians":-3.131079893773764},"translation":{"x":3.0975670965422255,"y":4.6401067622078624}},"velocity":2.778724213972854,"acceleration":-2.9999999999999365,"curvature":0.043555108676209646,"holonomicRotation":180.0,"angularVelocity":0.12089421446842434,"holonomicAngularVelocity":0.0},{"time":4.728835366700671,"pose":{"rotation":{"radians":-3.130232182194012},"translation":{"x":3.0781576563847817,"y":4.639886252331706}},"velocity":2.7576881805246116,"acceleration":-2.9999999999999365,"curvature":0.045285049775197525,"holonomicRotation":180.0,"angularVelocity":0.12474552713641489,"holonomicAngularVelocity":0.0},{"time":4.735862626061634,"pose":{"rotation":{"radians":-3.129355563020704},"translation":{"x":3.0588541852674633,"y":4.639650022215693}},"velocity":2.736606402441724,"acceleration":-2.9999999999998734,"curvature":0.04707051165047047,"holonomicRotation":180.0,"angularVelocity":0.1286738421864419,"holonomicAngularVelocity":0.0},{"time":4.74290503566925,"pose":{"rotation":{"radians":-3.1284493891182414},"translation":{"x":3.039657933497719,"y":4.639397706272847}},"velocity":2.715479173618875,"acceleration":-2.999999999999937,"curvature":0.0489141062026646,"holonomicRotation":180.0,"angularVelocity":0.13268250937593762,"holonomicAngularVelocity":0.0},{"time":4.749962495738697,"pose":{"rotation":{"radians":-3.1275129876064067},"translation":{"x":3.0205701513829992,"y":4.639128938916196}},"velocity":2.6943067934105347,"acceleration":-2.9999999999998743,"curvature":0.05081858527886628,"holonomicRotation":180.0,"angularVelocity":0.13677502337337674,"holonomicAngularVelocity":0.0},{"time":4.757034904598442,"pose":{"rotation":{"radians":-3.126545658719309},"translation":{"x":3.0015920892307513,"y":4.638843354558767}},"velocity":2.6730895668313,"acceleration":-2.9999999999998743,"curvature":0.05278685105001086,"holonomicRotation":180.0,"angularVelocity":0.14095503209697383,"holonomicAngularVelocity":0.0},{"time":4.764122158620869,"pose":{"rotation":{"radians":-3.1255466746010985},"translation":{"x":2.982724997348427,"y":4.6385405876135835}},"velocity":2.6518278047640194,"acceleration":-3.000000000000188,"curvature":0.05482196432669239,"holonomicRotation":180.0,"angularVelocity":0.1452263454443565,"holonomicAngularVelocity":0.0},{"time":4.77122415215021,"pose":{"rotation":{"radians":-3.124515278035463},"translation":{"x":2.963970126043474,"y":4.638220272493676}},"velocity":2.630521824175996,"acceleration":-3.0000000000000626,"curvature":0.05692715624316532,"holonomicRotation":180.0,"angularVelocity":0.14959294508359974,"holonomicAngularVelocity":0.0},{"time":4.7783407774276645,"pose":{"rotation":{"radians":-3.123450681101152},"translation":{"x":2.9453287256233414,"y":4.637882043612068}},"velocity":2.6091719483436315,"acceleration":-3.0000000000000626,"curvature":0.059105838554123165,"holonomicRotation":180.0,"angularVelocity":0.1540589941498534,"holonomicAngularVelocity":0.0},{"time":4.785471924513598,"pose":{"rotation":{"radians":-3.1223520637539584},"translation":{"x":2.926802046395479,"y":4.637525535381788}},"velocity":2.5877785070858303,"acceleration":-2.999999999999938,"curvature":0.06136161626056274,"holonomicRotation":180.0,"angularVelocity":0.15862884835596128,"holonomicAngularVelocity":0.0},{"time":4.792617481206702,"pose":{"rotation":{"radians":-3.121218572324869},"translation":{"x":2.908391338667335,"y":4.637150382215862}},"velocity":2.566341837006521,"acceleration":-2.9999999999998135,"curvature":0.0636983001777504,"holonomicRotation":180.0,"angularVelocity":0.1633070672316651,"holonomicAngularVelocity":0.0},{"time":4.799777332959984,"pose":{"rotation":{"radians":-3.120049317933227},"translation":{"x":2.89009785274636,"y":4.636756218527316}},"velocity":2.544862281746677,"acceleration":-2.999999999999814,"curvature":0.06611992128573023,"holonomicRotation":180.0,"angularVelocity":0.16809842650598034,"holonomicAngularVelocity":0.0},{"time":4.80695136279348,"pose":{"rotation":{"radians":-3.1188433748065094},"translation":{"x":2.8719228389400024,"y":4.636342678729177}},"velocity":2.5233401922461884,"acceleration":-2.9999999999998144,"curvature":0.06863074553029365,"holonomicRotation":180.0,"angularVelocity":0.17300793108829887,"holonomicAngularVelocity":0.0},{"time":4.814139451203543,"pose":{"rotation":{"radians":-3.1175997785022047},"translation":{"x":2.853867547555712,"y":4.635909397234472}},"velocity":2.5017759270160016,"acceleration":-2.9999999999998765,"curvature":0.07123529014190808,"holonomicRotation":180.0,"angularVelocity":0.17804082920800504,"holonomicAngularVelocity":0.0},{"time":4.821341476068578,"pose":{"rotation":{"radians":-3.1163175240232572},"translation":{"x":2.835933228900937,"y":4.635456008456226}},"velocity":2.4801698524208975,"acceleration":-2.9999999999999383,"curvature":0.0739383412247555,"holonomicRotation":180.0,"angularVelocity":0.18320262718308392,"holonomicAngularVelocity":0.0},{"time":4.828557312551096,"pose":{"rotation":{"radians":-3.1149955638223363},"translation":{"x":2.8181211332831277,"y":4.6349821468074675}},"velocity":2.458522342973343,"acceleration":-2.9999999999999383,"curvature":0.07674497254313958,"holonomicRotation":180.0,"angularVelocity":0.18849910557989524,"holonomicAngularVelocity":0.0},{"time":4.8357868329959395,"pose":{"rotation":{"radians":-3.113632805684712},"translation":{"x":2.800432511009733,"y":4.634487446701221}},"velocity":2.436833781638813,"acceleration":-3.0,"curvature":0.0796605660912209,"holonomicRotation":180.0,"angularVelocity":0.19393633624956294,"holonomicAngularVelocity":0.0},{"time":4.843029906824538,"pose":{"rotation":{"radians":-3.1122281104832084},"translation":{"x":2.782868612388201,"y":4.633971542550515}},"velocity":2.4151045601530194,"acceleration":-2.999999999999816,"curvature":0.0826908339092128,"holonomicRotation":180.0,"angularVelocity":0.1995207007726853,"holonomicAngularVelocity":0.0},{"time":4.850286400425048,"pose":{"rotation":{"radians":-3.110780289794882},"translation":{"x":2.7654306877259827,"y":4.633434068768375}},"velocity":2.3933350793514867,"acceleration":-3.0000000000001226,"curvature":0.085841842416596,"holonomicRotation":180.0,"angularVelocity":0.20525891008713973,"holonomicAngularVelocity":0.0},{"time":4.857556177038247,"pose":{"rotation":{"radians":-3.10928810337068},"translation":{"x":2.748119987330526,"y":4.632874659767828}},"velocity":2.37152574951189,"acceleration":-3.000000000000122,"curvature":0.08912003803060156,"holonomicRotation":180.0,"angularVelocity":0.2111580255881298,"holonomicAngularVelocity":0.0},{"time":4.8648390966390025,"pose":{"rotation":{"radians":-3.107750256447267},"translation":{"x":2.730937761509281,"y":4.6322929499619}},"velocity":2.349676990709623,"acceleration":-3.000000000000061,"curvature":0.09253227509672632,"holonomicRotation":180.0,"angularVelocity":0.21722548186622648,"holonomicAngularVelocity":0.0},{"time":4.872135015813203,"pose":{"rotation":{"radians":-3.1061653968889944},"translation":{"x":2.713885260569697,"y":4.631688573763618}},"velocity":2.327789233187019,"acceleration":-3.0000000000001825,"curvature":0.09608584664539829,"holonomicRotation":180.0,"angularVelocity":0.22346911105249892,"holonomicAngularVelocity":0.0},{"time":4.879443787629986,"pose":{"rotation":{"radians":-3.1045321121482123},"translation":{"x":2.6969637348192217,"y":4.631061165586008}},"velocity":2.3058629177366705,"acceleration":-2.999999999999939,"curvature":0.09978851700402182,"holonomicRotation":180.0,"angularVelocity":0.22989716886069317,"holonomicAngularVelocity":0.0},{"time":4.886765261509115,"pose":{"rotation":{"radians":-3.102848926031513},"translation":{"x":2.680174434565305,"y":4.630410359842098}},"velocity":2.2838984960992836,"acceleration":-3.0,"curvature":0.10364855794485399,"holonomicRotation":180.0,"angularVelocity":0.23651836300926649,"holonomicAngularVelocity":0.0},{"time":4.8940992830833805,"pose":{"rotation":{"radians":-3.1011142952544932},"translation":{"x":2.663518610115397,"y":4.6297357909449115}},"velocity":2.261896431376487,"acceleration":-3.0000000000001212,"curvature":0.10767478752213175,"holonomicRotation":180.0,"angularVelocity":0.2433418831586024,"holonomicAngularVelocity":0.0},{"time":4.901445694055876,"pose":{"rotation":{"radians":-3.099326605773989},"translation":{"x":2.646997511776947,"y":4.629037093307479}},"velocity":2.239857198459001,"acceleration":-3.0000000000000604,"curvature":0.11187661232206697,"holonomicRotation":180.0,"angularVelocity":0.2503774339817095,"holonomicAngularVelocity":0.0},{"time":4.908804332052024,"pose":{"rotation":{"radians":-3.0974841688749133},"translation":{"x":2.630612389857403,"y":4.628313901342824}},"velocity":2.2177812844705564,"acceleration":-2.9999999999999396,"curvature":0.11626407374989753,"holonomicRotation":180.0,"angularVelocity":0.25763526985888763,"holonomicAngularVelocity":0.0},{"time":4.916175030466235,"pose":{"rotation":{"radians":-3.0955852169999196},"translation":{"x":2.6143644946642146,"y":4.627565849463974}},"velocity":2.195669189227925,"acceleration":-2.9999999999998797,"curvature":0.12084789824682328,"holonomicRotation":180.0,"angularVelocity":0.26512623328046747,"holonomicAngularVelocity":0.0},{"time":4.923557618303085,"pose":{"rotation":{"radians":-3.0936278992948734},"translation":{"x":2.5982550765048313,"y":4.626792572083956}},"velocity":2.173521425717375,"acceleration":-2.99999999999994,"curvature":0.12563955218369038,"holonomicRotation":180.0,"angularVelocity":0.27286179541497907,"holonomicAngularVelocity":0.0},{"time":4.930951920012934,"pose":{"rotation":{"radians":-3.091610276854484},"translation":{"x":2.5822853856867027,"y":4.625993703615797}},"velocity":2.151338520587828,"acceleration":-3.00000000000012,"curvature":0.13065130119958132,"holonomicRotation":180.0,"angularVelocity":0.2808541005929613,"holonomicAngularVelocity":0.0},{"time":4.938357755321898,"pose":{"rotation":{"radians":-3.089530317639645},"translation":{"x":2.566456672517277,"y":4.625168878472521}},"velocity":2.129121014660933,"acceleration":-3.00000000000018,"curvature":0.13589627616818095,"holonomicRotation":180.0,"angularVelocity":0.2891160138509805,"holonomicAngularVelocity":0.0},{"time":4.945774939056139,"pose":{"rotation":{"radians":-3.087385891044401},"translation":{"x":2.5507701873040043,"y":4.624317731067158}},"velocity":2.106869463458213,"acceleration":-2.9999999999998206,"curvature":0.14138854421907016,"holonomicRotation":180.0,"angularVelocity":0.2976611729504704,"holonomicAngularVelocity":0.0},{"time":4.953203280960439,"pose":{"rotation":{"radians":-3.08517476208009},"translation":{"x":2.535227180354333,"y":4.623439895812732}},"velocity":2.084584437745312,"acceleration":-2.99999999999994,"curvature":0.14714318688343853,"holonomicRotation":180.0,"angularVelocity":0.3065040438654822,"holonomicAngularVelocity":0.0},{"time":4.960642585511101,"pose":{"rotation":{"radians":-3.0828945851517653},"translation":{"x":2.5198289019757127,"y":4.622535007122271}},"velocity":2.0622665240933262,"acceleration":-3.0000000000000595,"curvature":0.15317638582437776,"holonomicRotation":180.0,"angularVelocity":0.31565998184073263,"holonomicAngularVelocity":0.0},{"time":4.968092651723206,"pose":{"rotation":{"radians":-3.08054289738654},"translation":{"x":2.5045766024755927,"y":4.6216026994088}},"velocity":2.039916325457012,"acceleration":-3.0000000000000595,"curvature":0.15950551644882338,"holonomicRotation":180.0,"angularVelocity":0.325145296673296,"holonomicAngularVelocity":0.0},{"time":4.975553272952359,"pose":{"rotation":{"radians":-3.07811711148362},"translation":{"x":2.489471532161423,"y":4.6206426070853475}},"velocity":2.017534461769551,"acceleration":-3.0000000000000595,"curvature":0.16614925098014924,"holonomicRotation":180.0,"angularVelocity":0.334977324156489,"holonomicAngularVelocity":0.0},{"time":4.983024236691093,"pose":{"rotation":{"radians":-3.0756145080415487},"translation":{"x":2.4745149413406513,"y":4.619654364564938}},"velocity":1.9951215705533503,"acceleration":-2.9999999999999107,"curvature":0.17312767138511384,"holonomicRotation":180.0,"angularVelocity":0.3451745032597743,"holonomicAngularVelocity":0.0},{"time":4.990505324360161,"pose":{"rotation":{"radians":-3.0730322273215354},"translation":{"x":2.459708080320728,"y":4.6186376062606}},"velocity":1.9726783075461476,"acceleration":-2.9999999999998814,"curvature":0.18046239372047715,"holonomicRotation":180.0,"angularVelocity":0.3557564601799229,"holonomicAngularVelocity":0.0},{"time":4.997996311095072,"pose":{"rotation":{"radians":-3.0703672603974685},"translation":{"x":2.4450521994091012,"y":4.617591966585358}},"velocity":1.9502053473414145,"acceleration":-2.9999999999998814,"curvature":0.1881767047362707,"holonomicRotation":180.0,"angularVelocity":0.3667440995026775,"holonomicAngularVelocity":0.0},{"time":5.005496965528288,"pose":{"rotation":{"radians":-3.067616439641678},"translation":{"x":2.4305485489132206,"y":4.61651707995224}},"velocity":1.9277033840417663,"acceleration":-2.9999999999998814,"curvature":0.19629571247510147,"holonomicRotation":180.0,"angularVelocity":0.3781597035081643,"holonomicAngularVelocity":0.0},{"time":5.013007049567641,"pose":{"rotation":{"radians":-3.064776428488035},"translation":{"x":2.4161983791405364,"y":4.615412580774273}},"velocity":1.9051731319237108,"acceleration":-2.999999999999823,"curvature":0.20484651228281928,"holonomicRotation":180.0,"angularVelocity":0.3900270402625656,"holonomicAngularVelocity":0.0},{"time":5.020526318171667,"pose":{"rotation":{"radians":-3.0618437104094673},"translation":{"x":2.4020029403984964,"y":4.614278103464483}},"velocity":1.8826153261116325,"acceleration":-2.999999999999882,"curvature":0.21385836996888521,"holonomicRotation":180.0,"angularVelocity":0.4023714812281724,"holonomicAngularVelocity":0.0},{"time":5.02805451912273,"pose":{"rotation":{"radians":-3.058814577041805},"translation":{"x":2.3879634829945506,"y":4.6131132824358945}},"velocity":1.8600307232584434,"acceleration":-3.0000000000001474,"curvature":0.22336292414651004,"holonomicRotation":180.0,"angularVelocity":0.4152201295320478,"holonomicAngularVelocity":0.0},{"time":5.035591392798981,"pose":{"rotation":{"radians":-3.055685115377685},"translation":{"x":2.3740812572361483,"y":4.6119177521015375}},"velocity":1.8374201022296899,"acceleration":-2.999999999999941,"curvature":0.2333944102296909,"holonomicRotation":180.0,"angularVelocity":0.428601960083863,"holonomicAngularVelocity":0.0},{"time":5.043136671946462,"pose":{"rotation":{"radians":-3.052451193945695},"translation":{"x":2.3603575134307375,"y":4.610691146874436}},"velocity":1.814784264787248,"acceleration":-3.0,"curvature":0.24398990765020503,"holonomicRotation":180.0,"angularVelocity":0.442547971995657,"holonomicAngularVelocity":0.0},{"time":5.050690081452903,"pose":{"rotation":{"radians":-3.0491084478869666},"translation":{"x":2.346793501885769,"y":4.6094331011676175}},"velocity":1.7921240362679232,"acceleration":-2.9999999999999414,"curvature":0.25518961478316227,"holonomicRotation":180.0,"angularVelocity":0.4570913556421542,"holonomicAngularVelocity":0.0},{"time":5.058251338125117,"pose":{"rotation":{"radians":-3.0456522628243063},"translation":{"x":2.3333904729086914,"y":4.608143249394109}},"velocity":1.7694402662512827,"acceleration":-3.0000000000001177,"curvature":0.2670371532183931,"holonomicRotation":180.0,"angularVelocity":0.47226767490322075,"holonomicAngularVelocity":0.0},{"time":5.065820150472219,"pose":{"rotation":{"radians":-3.0420777574153615},"translation":{"x":2.3201496768069534,"y":4.606821225966936}},"velocity":1.7467338292099754,"acceleration":-2.9999999999999707,"curvature":0.2795799057431975,"holonomicRotation":180.0,"angularVelocity":0.4881150664222419,"holonomicAngularVelocity":0.0},{"time":5.073396218497394,"pose":{"rotation":{"radians":-3.0383797644680337},"translation":{"x":2.307072363888005,"y":4.605466665299126}},"velocity":1.7240056251344513,"acceleration":-2.9999999999998535,"curvature":0.2928693922367715,"holonomicRotation":180.0,"angularVelocity":0.5046744579246517,"holonomicAngularVelocity":0.0},{"time":5.080979233501395,"pose":{"rotation":{"radians":-3.034552810481455},"translation":{"x":2.294159784459295,"y":4.604079201803705}},"velocity":1.7012565801224475,"acceleration":-3.000000000000088,"curvature":0.30696168766767723,"holonomicRotation":180.0,"angularVelocity":0.5219898068811537,"holonomicAngularVelocity":0.0},{"time":5.088568877901601,"pose":{"rotation":{"radians":-3.030591093466695},"translation":{"x":2.2814131888282727,"y":4.6026584698937}},"velocity":1.6784876469218308,"acceleration":-3.0000000000000293,"curvature":0.321917887982002,"holonomicRotation":180.0,"angularVelocity":0.5401083622089633,"holonomicAngularVelocity":0.0},{"time":5.09616482507113,"pose":{"rotation":{"radians":-3.026488458881535},"translation":{"x":2.2688338273023874,"y":4.601204103982137}},"velocity":1.6556998054132455,"acceleration":-2.999999999999854,"curvature":0.33780462926148647,"holonomicRotation":180.0,"angularVelocity":0.5590809508491803,"holonomicAngularVelocity":0.0},{"time":5.103766739203363,"pose":{"rotation":{"radians":-3.0222383735002123},"translation":{"x":2.256422950189088,"y":4.599715738482042}},"velocity":1.6328940630165447,"acceleration":-3.000000000000146,"curvature":0.35469466758994983,"holonomicRotation":180.0,"angularVelocity":0.5789622920884534,"holonomicAngularVelocity":0.0},{"time":5.111374275208189,"pose":{"rotation":{"radians":-3.0178338970177125},"translation":{"x":2.2441818077958238,"y":4.598193007806443}},"velocity":1.6100714550020663,"acceleration":-2.999999999999883,"curvature":0.37266752679775705,"holonomicRotation":180.0,"angularVelocity":0.5998113420756356,"holonomicAngularVelocity":0.0},{"time":5.118987078647412,"pose":{"rotation":{"radians":-3.0132676511698744},"translation":{"x":2.2321116504300442,"y":4.596635546368367}},"velocity":1.5872330446843994,"acceleration":-2.9999999999998543,"curvature":0.39181022299907253,"holonomicRotation":180.0,"angularVelocity":0.6216916719824452,"holonomicAngularVelocity":0.0},{"time":5.126604785718124,"pose":{"rotation":{"radians":-3.008531786124411},"translation":{"x":2.220213728399199,"y":4.595042988580837}},"velocity":1.5643799234722637,"acceleration":-2.9999999999999707,"curvature":0.41221807574272845,"holonomicRotation":180.0,"angularVelocity":0.6446718823338844,"holonomicAngularVelocity":0.0},{"time":5.134227023294406,"pose":{"rotation":{"radians":-3.0036179438785133},"translation":{"x":2.208489292010736,"y":4.593414968856883}},"velocity":1.5415132107434182,"acceleration":-3.0000000000000293,"curvature":0.4339956175696173,"holonomicRotation":180.0,"angularVelocity":0.6688260582979942,"holonomicAngularVelocity":0.0},{"time":5.14185340903956,"pose":{"rotation":{"radians":-2.998517218361522},"translation":{"x":2.1969395915721055,"y":4.59175112160953}},"velocity":1.518634053507955,"acceleration":-3.0000000000000875,"curvature":0.4572576138610347,"holonomicRotation":180.0,"angularVelocity":0.6942342682978355,"holonomicAngularVelocity":0.0},{"time":5.149483551603278,"pose":{"rotation":{"radians":-2.993220111921791},"translation":{"x":2.1855658773907565,"y":4.590051081251806}},"velocity":1.4957436258168,"acceleration":-3.0000000000001457,"curvature":0.48213020842697724,"holonomicRotation":180.0,"angularVelocity":0.7209831114044674,"holonomicAngularVelocity":0.0},{"time":5.157117050920696,"pose":{"rotation":{"radians":-2.987716487833015},"translation":{"x":2.174369399774138,"y":4.588314482196735}},"velocity":1.472843127864545,"acceleration":-3.0000000000001745,"curvature":0.5087522107477509,"holonomicRotation":180.0,"angularVelocity":0.7491663167698966,"holonomicAngularVelocity":0.0},{"time":5.164753498633316,"pose":{"rotation":{"radians":-2.9819955184269453},"translation":{"x":2.1633514090296995,"y":4.586540958857348}},"velocity":1.4499337847266829,"acceleration":-3.000000000000087,"curvature":0.5372765443515477,"holonomicRotation":180.0,"angularVelocity":0.7788854008170123,"holonomicAngularVelocity":0.0},{"time":5.172392478655359,"pose":{"rotation":{"radians":-2.976045628410643},"translation":{"x":2.15251315546489,"y":4.584730145646667}},"velocity":1.427016844660554,"acceleration":-2.999999999999942,"curvature":0.5678718764573448,"holonomicRotation":180.0,"angularVelocity":0.8102503854875983,"holonomicAngularVelocity":0.0},{"time":5.180033567913305,"pose":{"rotation":{"radians":-2.9698544328938477},"translation":{"x":2.141855889387158,"y":4.58288167697772}},"velocity":1.4040935768867175,"acceleration":-3.0,"curvature":0.6007244546544374,"holonomicRotation":180.0,"angularVelocity":0.843380583860526,"holonomicAngularVelocity":0.0},{"time":5.187676337291396,"pose":{"rotation":{"radians":-2.9634086695934414},"translation":{"x":2.1313808611039544,"y":4.580995187263533}},"velocity":1.3811652687524427,"acceleration":-3.0,"curvature":0.6360401762114114,"holonomicRotation":180.0,"angularVelocity":0.8784054565276447,"holonomicAngularVelocity":0.0},{"time":5.1953203528217875,"pose":{"rotation":{"radians":-2.9566941246417637},"translation":{"x":2.121089320922727,"y":4.579070310917135}},"velocity":1.3582332221612685,"acceleration":-3.000000000000087,"curvature":0.6740469221977038,"holonomicRotation":180.0,"angularVelocity":0.9154655439402593,"holonomicAngularVelocity":0.0},{"time":5.202965177165009,"pose":{"rotation":{"radians":-2.949695551366069},"translation":{"x":2.1109825191509257,"y":4.577106682351549}},"velocity":1.3352987491316057,"acceleration":-2.9999999999998836,"curvature":0.7149971896134085,"holonomicRotation":180.0,"angularVelocity":0.9547134776418759,"holonomicAngularVelocity":0.0},{"time":5.210610371434775,"pose":{"rotation":{"radians":-2.9423965813575323},"translation":{"x":2.1010617060959995,"y":4.575103935979805}},"velocity":1.312363166322307,"acceleration":-2.999999999999855,"curvature":0.7591710621621545,"holonomicRotation":180.0,"angularVelocity":0.9963150744040484,"holonomicAngularVelocity":0.0},{"time":5.21825549743106,"pose":{"rotation":{"radians":-2.9347796270817157},"translation":{"x":2.0913281320653976,"y":4.5730617062149275}},"velocity":1.289427788333453,"acceleration":-3.0,"curvature":0.8068795603404952,"holonomicRotation":180.0,"angularVelocity":1.0404505123714054,"holonomicAngularVelocity":0.0},{"time":5.225900120357134,"pose":{"rotation":{"radians":-2.9268257752413955},"translation":{"x":2.081783047366569,"y":4.570979627469943}},"velocity":1.2664939195552294,"acceleration":-3.0000000000001164,"curvature":0.8584684209996475,"holonomicRotation":180.0,"angularVelocity":1.087315590043088,"holonomicAngularVelocity":0.0},{"time":5.233543812110366,"pose":{"rotation":{"radians":-2.918514670032623},"translation":{"x":2.072427702306964,"y":4.568857334157879}},"velocity":1.2435628442955338,"acceleration":-3.000000000000174,"curvature":0.9143223567818437,"holonomicRotation":180.0,"angularVelocity":1.1371230616791794,"holonomicAngularVelocity":0.0},{"time":5.241186155253368,"pose":{"rotation":{"radians":-2.909824385399449},"translation":{"x":2.06326334719403,"y":4.566694460691762}},"velocity":1.2206358148665253,"acceleration":-3.000000000000087,"curvature":0.9748698532896627,"holonomicRotation":180.0,"angularVelocity":1.190104040482138,"holonomicAngularVelocity":0.0},{"time":5.248826747792214,"pose":{"rotation":{"radians":-2.900731285347291},"translation":{"x":2.0542912323352174,"y":4.564490641484618}},"velocity":1.1977140372499873,"acceleration":-3.000000000000058,"curvature":1.0405885630424516,"holonomicRotation":180.0,"angularVelocity":1.246509452369141,"holonomicAngularVelocity":0.0},{"time":5.256465208912562,"pose":{"rotation":{"radians":-2.891209871359223},"translation":{"x":2.0455126080379755,"y":4.562245510949473}},"velocity":1.174798653888944,"acceleration":-2.999999999999855,"curvature":1.1120113603752693,"holonomicRotation":180.0,"angularVelocity":1.3066115156884248,"holonomicAngularVelocity":0.0},{"time":5.264101185853532,"pose":{"rotation":{"radians":-2.881232615954621},"translation":{"x":2.0369287246097527,"y":4.559958703499355}},"velocity":1.1518907230660356,"acceleration":-2.999999999999971,"curvature":1.1897331187034674,"holonomicRotation":180.0,"angularVelocity":1.3707052074423198,"holonomicAngularVelocity":0.0},{"time":5.271734362134049,"pose":{"rotation":{"radians":-2.8707697814775903},"translation":{"x":2.028540832357999,"y":4.557629853547289}},"velocity":1.1289911942244826,"acceleration":-3.000000000000058,"curvature":1.274418271384192,"holonomicRotation":180.0,"angularVelocity":1.4391096614931953,"holonomicAngularVelocity":0.0},{"time":5.2793644673885,"pose":{"rotation":{"radians":-2.859789223287701},"translation":{"x":2.0203501815901634,"y":4.555258595506303}},"velocity":1.1061008784611326,"acceleration":-2.9999999999998836,"curvature":1.3668092076041374,"holonomicRotation":180.0,"angularVelocity":1.5121694207090446,"holonomicAngularVelocity":0.0},{"time":5.286991289119399,"pose":{"rotation":{"radians":-2.8482561766890355},"translation":{"x":2.0123580226136952,"y":4.552844563789422}},"velocity":1.0832204132684349,"acceleration":-2.9999999999999125,"curvature":1.4677355399658139,"holonomicRotation":180.0,"angularVelocity":1.5902554344602238,"holonomicAngularVelocity":0.0},{"time":5.294614686736513,"pose":{"rotation":{"radians":-2.8361330271993688},"translation":{"x":2.004565605736043,"y":4.550387392809673}},"velocity":1.060350220417092,"acceleration":-3.0000000000000875,"curvature":1.578124254659753,"holonomicRotation":180.0,"angularVelocity":1.6737656543526374,"holonomicAngularVelocity":0.0},{"time":5.302234608326794,"pose":{"rotation":{"radians":-2.823379064152697},"translation":{"x":1.9969741812646569,"y":4.547886716980084}},"velocity":1.0374904556462508,"acceleration":-2.999999999999942,"curvature":1.699010711939006,"holonomicRotation":180.0,"angularVelocity":1.7631250268625738,"holonomicAngularVelocity":0.0},{"time":5.309851110690857,"pose":{"rotation":{"radians":-2.80995021821746},"translation":{"x":1.9895849995069854,"y":4.545342170713681}},"velocity":1.0146409485540617,"acceleration":-3.000000000000058,"curvature":1.8315504040980533,"holonomicRotation":180.0,"angularVelocity":1.8587846159809462,"holonomicAngularVelocity":0.0},{"time":5.317464383293372,"pose":{"rotation":{"radians":-2.7957987842266343},"translation":{"x":1.982399310770478,"y":4.542753388423489}},"velocity":0.9918011307465133,"acceleration":-3.0000000000001457,"curvature":1.9770312822690836,"holonomicRotation":180.0,"angularVelocity":1.9612194985854847,"holonomicAngularVelocity":0.0},{"time":5.325074776911652,"pose":{"rotation":{"radians":-2.7808731318705533},"translation":{"x":1.975418365362584,"y":4.540120004522536}},"velocity":0.9689699498916747,"acceleration":-2.9999999999998685,"curvature":2.1368863325933605,"holonomicRotation":180.0,"angularVelocity":2.070924964789292,"holonomicAngularVelocity":0.0},{"time":5.332682837935244,"pose":{"rotation":{"radians":-2.7651174083631567},"translation":{"x":1.9686434135907525,"y":4.537441653423849}},"velocity":0.9461457668208983,"acceleration":-3.0000000000001315,"curvature":2.3127058907779396,"holonomicRotation":180.0,"angularVelocity":2.188410410719471,"holonomicAngularVelocity":0.0},{"time":5.340289349477665,"pose":{"rotation":{"radians":-2.748471239314465},"translation":{"x":1.9620757057624327,"y":4.534717969540452}},"velocity":0.9233262321936353,"acceleration":-3.000000000000058,"curvature":2.506248923870739,"holonomicRotation":180.0,"angularVelocity":2.3141901338244257,"holonomicAngularVelocity":0.0},{"time":5.347895380720054,"pose":{"rotation":{"radians":-2.7308694368557678},"translation":{"x":1.955716492185074,"y":4.531948587285374}},"velocity":0.9005081384664678,"acceleration":-3.0000000000000147,"curvature":2.7194521500559623,"holonomicRotation":180.0,"angularVelocity":2.448770020519619,"holonomicAngularVelocity":0.0},{"time":5.355502346229519,"pose":{"rotation":{"radians":-2.7122417277690625},"translation":{"x":1.9495670231661253,"y":4.5291331410716404}},"velocity":0.8776872419380717,"acceleration":-3.000000000000044,"curvature":2.954435385289479,"holonomicRotation":180.0,"angularVelocity":2.5926288499177716,"holonomicAngularVelocity":0.0},{"time":5.363112077400655,"pose":{"rotation":{"radians":-2.6925125191946577},"translation":{"x":1.9436285490130363,"y":4.526271265312278}},"velocity":0.8548580484246656,"acceleration":-2.999999999999898,"curvature":3.213500874761256,"holonomicRotation":180.0,"angularVelocity":2.7461926295955137,"holonomicAngularVelocity":0.0},{"time":5.370726908682109,"pose":{"rotation":{"radians":-2.6716007256539163},"translation":{"x":1.9379023200332552,"y":4.523362594420314}},"velocity":0.8320135545803055,"acceleration":-2.999999999999883,"curvature":3.499123548327824,"holonomicRotation":180.0,"angularVelocity":2.9098000314136723,"holonomicAngularVelocity":0.0},{"time":5.378349781905163,"pose":{"rotation":{"radians":-2.6494196889100103},"translation":{"x":1.9323895865342324,"y":4.520406762808774}},"velocity":0.8091449349111425,"acceleration":-3.0,"curvature":3.8139281136766137,"holonomicRotation":180.0,"angularVelocity":3.0836566333237676,"holonomicAngularVelocity":0.0},{"time":5.3859843728755346,"pose":{"rotation":{"radians":-2.62587723182151},"translation":{"x":1.9270915988234165,"y":4.517403404890686}},"velocity":0.7862411620000287,"acceleration":-2.99999999999984,"curvature":4.1606476586209835,"holonomicRotation":180.0,"angularVelocity":3.267775338539832,"holonomicAngularVelocity":0.0},{"time":5.393635245490222,"pose":{"rotation":{"radians":-2.6008758989729257},"translation":{"x":1.922009607208257,"y":4.514352155079074}},"velocity":0.7632885441559683,"acceleration":-2.999999999999884,"curvature":4.542056992484929,"holonomicRotation":180.0,"angularVelocity":3.461900105419623,"holonomicAngularVelocity":0.0},{"time":5.401308040095714,"pose":{"rotation":{"radians":-2.57431345051931},"translation":{"x":1.9171448619962028,"y":4.511252647786968}},"velocity":0.7402701603394922,"acceleration":-3.0000000000000147,"curvature":4.960872423604097,"holonomicRotation":180.0,"angularVelocity":3.6654101170302327,"holonomicAngularVelocity":0.0},{"time":5.4090097047565235,"pose":{"rotation":{"radians":-2.546083690953603},"translation":{"x":1.9124986134947033,"y":4.508104517427391}},"velocity":0.7171651663570637,"acceleration":-2.9999999999998415,"curvature":5.419608212332635,"holonomicRotation":180.0,"angularVelocity":3.877201910363883,"holonomicAngularVelocity":0.0},{"time":5.416748780772123,"pose":{"rotation":{"radians":-2.516077730641471},"translation":{"x":1.9080721120112076,"y":4.504907398413371}},"velocity":0.693947938310267,"acceleration":-2.999999999999928,"curvature":5.920378958302912,"holonomicRotation":180.0,"angularVelocity":4.095548066875503,"holonomicAngularVelocity":0.0},{"time":5.424535757504845,"pose":{"rotation":{"radians":-2.4841857931369646},"translation":{"x":1.9038666078531652,"y":4.501660925157935}},"velocity":0.6705870081120997,"acceleration":-2.9999999999999574,"curvature":6.464637226298938,"holonomicRotation":180.0,"angularVelocity":4.317933144039132,"holonomicAngularVelocity":0.0},{"time":5.432383516898646,"pose":{"rotation":{"radians":-2.4502996927440264},"translation":{"x":1.8998833513280249,"y":4.49836473207411}},"velocity":0.6470437299306963,"acceleration":-3.000000000000014,"curvature":7.05283772321504,"holonomicRotation":180.0,"angularVelocity":4.540871028230388,"holonomicAngularVelocity":0.0},{"time":5.440307895854143,"pose":{"rotation":{"radians":-2.4143161099282944},"translation":{"x":1.896123592743236,"y":4.495018453574921}},"velocity":0.6232705930642074,"acceleration":-2.999999999999972,"curvature":7.684024492661688,"holonomicRotation":180.0,"angularVelocity":4.7597131516173725,"holonomicAngularVelocity":0.0},{"time":5.448328406340624,"pose":{"rotation":{"radians":-2.3761407806831025},"translation":{"x":1.8925885824062478,"y":4.491621724073395}},"velocity":0.5992090616047623,"acceleration":-3.0000000000000138,"curvature":8.355347364097645,"holonomicRotation":180.0,"angularVelocity":4.9710034636878015,"holonomicAngularVelocity":0.0},{"time":5.456465012867777,"pose":{"rotation":{"radians":-2.335693681453963},"translation":{"x":1.88927957062451,"y":4.488174177982559}},"velocity":0.5753867660641462,"acceleration":-2.9277924969235563,"curvature":9.061529674137507,"holonomicRotation":180.0,"angularVelocity":5.178575640717349,"holonomicAngularVelocity":0.0},{"time":5.464725673775999,"pose":{"rotation":{"radians":-2.292915224098417},"translation":{"x":1.886197807705471,"y":4.48467544971544}},"velocity":0.5534434100514857,"acceleration":-2.656368086822089,"curvature":9.794331825368996,"holonomicRotation":180.0,"angularVelocity":5.386113082830838,"holonomicAngularVelocity":0.0},{"time":5.473106830484138,"pose":{"rotation":{"radians":-2.2477733663034547},"translation":{"x":1.8833445439565804,"y":4.481125173685063}},"velocity":0.5334545196892432,"acceleration":-2.384979908898664,"curvature":10.542083618087208,"holonomicRotation":180.0,"angularVelocity":5.590652664568348,"holonomicAngularVelocity":0.0},{"time":5.481603509275998,"pose":{"rotation":{"radians":-2.2002713863757606},"translation":{"x":1.8807210296852872,"y":4.477522984304458}},"velocity":0.5154961381281759,"acceleration":-2.1135766104600306,"curvature":11.289388602391659,"holonomicRotation":180.0,"angularVelocity":5.788681219332876,"holonomicAngularVelocity":0.0},{"time":5.49020918543765,"pose":{"rotation":{"radians":-2.150455870399144},"translation":{"x":1.8783285151990412,"y":4.473868515986647}},"velocity":0.4996435514974662,"acceleration":-1.8421082007885043,"curvature":12.017127841525049,"holonomicRotation":180.0,"angularVelocity":5.976183456347481,"holonomicAngularVelocity":0.0},{"time":5.4989156848851595,"pose":{"rotation":{"radians":-2.0984242324382407},"translation":{"x":1.8761682508052908,"y":4.470161403144658}},"velocity":0.48596976997237085,"acceleration":-1.5705257443055567,"curvature":12.702896090712793,"holonomicRotation":180.0,"angularVelocity":6.148750502558892,"holonomicAngularVelocity":0.0},{"time":5.507713140514707,"pose":{"rotation":{"radians":-2.044330872714819},"translation":{"x":1.8742414868114858,"y":4.466401280191519}},"velocity":0.4745438017476639,"acceleration":-1.2987810005350628,"curvature":13.32197591799347,"holonomicRotation":180.0,"angularVelocity":6.301757343903668,"holonomicAngularVelocity":0.0},{"time":5.516590019798357,"pose":{"rotation":{"radians":-1.9883909334981356},"translation":{"x":1.8725494735250754,"y":4.462587781540257}},"velocity":0.46542879059079173,"acceleration":-1.0268260799334605,"curvature":13.848883624481473,"holonomicRotation":180.0,"angularVelocity":6.430608268439053,"holonomicAngularVelocity":0.0},{"time":5.52553323664192,"pose":{"rotation":{"radians":-1.9308806093174757},"translation":{"x":1.8710934612535086,"y":4.458720541603895}},"velocity":0.4586801215391409,"acceleration":-0.7546131520346908,"curvature":14.259405418228697,"holonomicRotation":180.0,"angularVelocity":6.5310363548654164,"holonomicAngularVelocity":0.0},{"time":5.534528353924585,"pose":{"rotation":{"radians":-1.8721331713281124},"translation":{"x":1.8698747003042342,"y":4.454799194795462}},"velocity":0.4543436269090624,"acceleration":-0.48209428446648694,"curvature":14.53290295716976,"holonomicRotation":180.0,"angularVelocity":6.599428345002149,"holonomicAngularVelocity":0.0},{"time":5.543559873875963,"pose":{"rotation":{"radians":-1.8125303025625348},"translation":{"x":1.8688944409847026,"y":4.450823375527985}},"velocity":0.45245403915506116,"acceleration":-0.2092214559868048,"curvature":14.654544212597694,"holonomicRotation":180.0,"angularVelocity":6.633133812300677,"holonomicAngularVelocity":0.0},{"time":5.552611602782978,"pose":{"rotation":{"radians":-1.7524889734896334},"translation":{"x":1.8681539336023616,"y":4.44679271821449}},"velocity":0.4530338315506168,"acceleration":0.06405322138031236,"curvature":14.617058463250817,"holonomicRotation":180.0,"angularVelocity":6.426656818239267,"holonomicAngularVelocity":0.0},{"time":5.561954589898039,"pose":{"rotation":{"radians":-1.692444801643905},"translation":{"x":1.8676544284646612,"y":4.4427068572680035}},"velocity":0.4281148711918171,"acceleration":-2.6671299073751307,"curvature":14.421660883152065,"holonomicRotation":180.0,"angularVelocity":5.93390691145663,"holonomicAngularVelocity":0.0},{"time":5.57200047308695,"pose":{"rotation":{"radians":-1.632833465957539},"translation":{"x":1.8673971758790509,"y":4.438565427101552}},"velocity":0.39797722162508253,"acceleration":-3.0000000000000995,"curvature":14.077945580294188,"holonomicRotation":180.0,"angularVelocity":5.340427170978113,"holonomicAngularVelocity":0.0},{"time":5.583003591283494,"pose":{"rotation":{"radians":-1.574072114575233},"translation":{"x":1.8673834261529796,"y":4.434368062128162}},"velocity":0.36496786703545125,"acceleration":-3.0,"curvature":13.602765102708114,"holonomicRotation":180.0,"angularVelocity":4.679781296447494,"holonomicAngularVelocity":0.0},{"time":5.595296774390677,"pose":{"rotation":{"radians":-1.5165427061964323},"translation":{"x":1.867614429593896,"y":4.430114396760859}},"velocity":0.32808831771390234,"acceleration":-2.9999999999999187,"curvature":13.01832872396523,"holonomicRotation":180.0,"angularVelocity":3.9604022241342896,"holonomicAngularVelocity":0.0},{"time":5.609427623750699,"pose":{"rotation":{"radians":-1.4605788589620943},"translation":{"x":1.8680914365092498,"y":4.425804065412672}},"velocity":0.28569576963383625,"acceleration":-2.999999999999992,"curvature":12.349892489083745,"holonomicRotation":180.0,"angularVelocity":3.1806945739243035,"holonomicAngularVelocity":0.0},{"time":5.626443310887279,"pose":{"rotation":{"radians":-1.4064571552151826},"translation":{"x":1.8688156972064902,"y":4.421436702496625}},"velocity":0.23464870822409845,"acceleration":-2.999999999999974,"curvature":11.623444812529423,"holonomicRotation":180.0,"angularVelocity":2.3076901480577665,"holonomicAngularVelocity":0.0},{"time":5.649004406956014,"pose":{"rotation":{"radians":-1.3543931360879764},"translation":{"x":1.869788461993067,"y":4.417011942425746}},"velocity":0.16696542001789189,"acceleration":-2.999999999999978,"curvature":10.863720468210689,"holonomicRotation":180.0,"angularVelocity":0.8957222973613463,"holonomicAngularVelocity":0.0},{"time":5.704659546961978,"pose":{"rotation":{"radians":-1.304541586221867},"translation":{"x":1.871010981176428,"y":4.412529419613061}},"velocity":0,"acceleration":-3.000000000000001,"curvature":10.863720468210689,"holonomicRotation":180.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/AutoManager.java b/src/main/java/team1403/robot/chargedup/AutoManager.java index f246f69..eb388c1 100644 --- a/src/main/java/team1403/robot/chargedup/AutoManager.java +++ b/src/main/java/team1403/robot/chargedup/AutoManager.java @@ -1,105 +1,49 @@ package team1403.robot.chargedup; -import java.util.List; +import java.util.ArrayList; +import java.util.HashMap; + +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.auto.PIDConstants; +import com.pathplanner.lib.auto.SwerveAutoBuilder; -import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryConfig; -import edu.wpi.first.math.trajectory.TrajectoryGenerator; -import edu.wpi.first.math.trajectory.constraint.RectangularRegionConstraint; -import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint; -import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandBase; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.WaitCommand; -import team1403.robot.chargedup.RobotConfig.Arm; -import team1403.robot.chargedup.StateManager.GamePiece; import team1403.robot.chargedup.arm.ArmStateGroup; import team1403.robot.chargedup.arm.ArmSubsystem; import team1403.robot.chargedup.arm.RunIntake; import team1403.robot.chargedup.arm.SequentialMoveArmCommand; import team1403.robot.chargedup.arm.SetpointArmCommand; -import team1403.robot.chargedup.swerve.SwerveAutoBalanceYaw; -import team1403.robot.chargedup.swerve.SwerveControllerCommand; import team1403.robot.chargedup.swerve.SwerveSubsystem; -import team1403.robot.chargedup.swerve.TimedDrive; public class AutoManager { static private AutoManager m_instance; - private final TrajectoryConfig m_straightTrajectory = new TrajectoryConfig(3, - 3.0).setKinematics(RobotConfig.Swerve.kDriveKinematics); - - private final TrajectoryConfig m_trajectoryConfig1 = new TrajectoryConfig(14.5, - 3.25).setKinematics(RobotConfig.Swerve.kDriveKinematics); - - private final TrajectoryConfig m_reverseTrajectoryConfig1 = new TrajectoryConfig(14.5, - 3).setKinematics(RobotConfig.Swerve.kDriveKinematics); - - private final TrajectoryConfig m_trajectoryConfig2 = new TrajectoryConfig(4, - 1).setKinematics(RobotConfig.Swerve.kDriveKinematics); - - private final TrajectoryConfig m_trajectoryConfig3 = new TrajectoryConfig(10, - 3).setKinematics(RobotConfig.Swerve.kDriveKinematics); + private ArrayList onePiece = (ArrayList) + PathPlanner.loadPathGroup("One Piece Auto", new PathConstraints(4, 3));; - private final TrajectoryConfig m_reverseTrajectoryConfig3 = new TrajectoryConfig(10, - 2).setKinematics(RobotConfig.Swerve.kDriveKinematics); + private ArrayList twoPiece = (ArrayList) + PathPlanner.loadPathGroup("Two Piece Auto", new PathConstraints(4, 3)); - private final TrajectoryConfig m_combinedTrajectoryConfig = new TrajectoryConfig(3, - 3.25).setKinematics(RobotConfig.Swerve.kDriveKinematics).addConstraint( - new RectangularRegionConstraint(new Translation2d(1, 1), - new Translation2d(-1, -5), - new SwerveDriveKinematicsConstraint(RobotConfig.Swerve.kDriveKinematics, 4))) - .addConstraint( - new RectangularRegionConstraint(new Translation2d(-4.5, 1), - new Translation2d(-6, -5), - new SwerveDriveKinematicsConstraint(RobotConfig.Swerve.kDriveKinematics, 4))); + private ArrayList threePiece = (ArrayList) + PathPlanner.loadPathGroup("Three Piece Auto", new PathConstraints(4, 3));; - private final PIDController xController = new PIDController( - RobotConfig.Swerve.kPTranslation, - RobotConfig.Swerve.kITranslation, - RobotConfig.Swerve.kDTranslation); - - private final PIDController yController = new PIDController( - RobotConfig.Swerve.kPTranslation, - RobotConfig.Swerve.kITranslation, - RobotConfig.Swerve.kDTranslation); + private HashMap eventMap = new HashMap<>(); private final ProfiledPIDController thetaController = new ProfiledPIDController( - 4, - RobotConfig.Swerve.kIAutoTurning, - RobotConfig.Swerve.kDAutoTurning, - RobotConfig.Swerve.kThetaControllerConstraints); - - private SwerveControllerCommand oldRedRightGridTrajectory1; - private SwerveControllerCommand oldRedRightGridTrajectory2; - - private SwerveControllerCommand oldBlueRightGridTrajectory1; - private SwerveControllerCommand oldBlueRightGridTrajectory2; - - private SwerveControllerCommand redRightGridTrajectory1; - private SwerveControllerCommand redRightGridTrajectory2; - private SwerveControllerCommand redRightGridTrajectory3; + RobotConfig.Swerve.kPAutoTurning, + RobotConfig.Swerve.kIAutoTurning, + RobotConfig.Swerve.kDAutoTurning, + RobotConfig.Swerve.kThetaControllerConstraints); - private SwerveControllerCommand redRightGridTrajectory2Copy; - private SwerveControllerCommand blueSideGridTrajectory2Copy; - - private SwerveControllerCommand blueSideGridTrajectory1; - private SwerveControllerCommand blueSideGridTrajectory2; - private SwerveControllerCommand blueSideGridTrajectory3; - - private SwerveControllerCommand straightTrajectory1; - - private SwerveControllerCommand balanceTrajectory; + private CommandBase onePieceAuto; + private CommandBase twoPieceAuto; + private CommandBase threePieceAuto; private AutoManager() { thetaController.enableContinuousInput(-Math.PI, Math.PI); @@ -112,344 +56,47 @@ public static AutoManager getInstance() { return m_instance; } - public void init(SwerveSubsystem swerve) { - - straightTrajectory1 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-1.5, 0)), - new Pose2d(-4.3, 0, Rotation2d.fromDegrees(1)), - m_straightTrajectory), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - oldRedRightGridTrajectory1 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-1, -0.3), - new Translation2d(-2, -0.3)), - new Pose2d(-3, 0.1, Rotation2d.fromDegrees(-90)), - m_trajectoryConfig1), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - oldRedRightGridTrajectory2 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(-3, 0.1, Rotation2d.fromDegrees(-90)), - List.of( - new Translation2d(-5.0, 0.7), - new Translation2d(-5.4, -0.3)), - new Pose2d(-5.75, -0.7, Rotation2d.fromDegrees(-90)), - m_trajectoryConfig2), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - oldBlueRightGridTrajectory1 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-1, 0.3), - new Translation2d(-2, 0.3)), - new Pose2d(-3, 0, Rotation2d.fromDegrees(90)), - m_reverseTrajectoryConfig1), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - oldBlueRightGridTrajectory2 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(-3, 0, Rotation2d.fromDegrees(90)), - List.of( - new Translation2d(-5, -0.7), - new Translation2d(-5.5, 0.3)), - new Pose2d(-5.5, 0.7, Rotation2d.fromDegrees(90)), - m_trajectoryConfig2), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - redRightGridTrajectory1 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-1, -0.3), - new Translation2d(-2, -0.3), - new Translation2d(-3, 0.1), - new Translation2d(-5.2, 0.7)), - new Pose2d(-5.50, -0.7, Rotation2d.fromDegrees(-90)), - m_combinedTrajectoryConfig), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - redRightGridTrajectory2 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(-5.65, -0.7, Rotation2d.fromDegrees(-90)), - List.of( - new Translation2d(-5.7, -0.55), - new Translation2d(-4.5, -0.55), - new Translation2d(-2.5, -0.55), - new Translation2d(-0.5, -0.7)), - new Pose2d(0.05, -1.02, Rotation2d.fromDegrees(1)), - m_trajectoryConfig3.setStartVelocity(5)), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - redRightGridTrajectory3 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0.05, -1.02, Rotation2d.fromDegrees(1)), - List.of( - new Translation2d(-0.5, -0.55), - new Translation2d(-2.5, -0.55), - new Translation2d(-4.5, -0.55), - new Translation2d(-5.8, -0.55)), - new Pose2d(-5.8, -0.65, Rotation2d.fromDegrees(-180)), - m_trajectoryConfig3.setStartVelocity(5)), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - blueSideGridTrajectory1 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-1, 0.3), - new Translation2d(-2, 0.3), - new Translation2d(-3, 0.1), - new Translation2d(-5.2, -0.7)), - new Pose2d(-5.65, 0.7, Rotation2d.fromDegrees(90)), - m_combinedTrajectoryConfig), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - blueSideGridTrajectory2 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(-5.65, 0.7, Rotation2d.fromDegrees(90)), - List.of( - new Translation2d(-5.7, 0.65), - new Translation2d(-4.5, 0.65), - new Translation2d(-2.5, 0.65), - new Translation2d(-0.5, 0.8)), - new Pose2d(0.04, 1.02, Rotation2d.fromDegrees(0)), - m_trajectoryConfig3.setStartVelocity(5)), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - blueSideGridTrajectory3 = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - new Pose2d(0.04, 1.02, Rotation2d.fromDegrees(0)), - List.of( - new Translation2d(-0.5, 0.5), - new Translation2d(-2.5, 0.55), - new Translation2d(-4.5, 0.55), - new Translation2d(-5.7, 0.55), - new Translation2d(-5.96, 0.55)), - new Pose2d(-5.96, 0.65, Rotation2d.fromDegrees(180)), - m_trajectoryConfig3.setStartVelocity(5)), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - balanceTrajectory = new SwerveControllerCommand( - TrajectoryGenerator.generateTrajectory( - List.of( - new Pose2d(0, 0, Rotation2d.fromDegrees(0)), - new Pose2d(-2.5, 0, Rotation2d.fromDegrees(1))), - new TrajectoryConfig(6, - 3.25) - .setKinematics(RobotConfig.Swerve.kDriveKinematics)), - swerve::getPose, - xController, - yController, - thetaController, - swerve); - - redRightGridTrajectory2Copy = redRightGridTrajectory2.copyOf(); - blueSideGridTrajectory2Copy = blueSideGridTrajectory2.copyOf(); - } - - // Red alliance path involving a swing - public Command getRedRightGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new ParallelCommandGroup( - new SequentialCommandGroup( - new WaitCommand(0.1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.65), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CUBE)), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getFloorIntakeState(), - true), - new RunIntake(arm, 1, 1.2), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), true), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), - false), - new RunIntake(arm, -1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.05), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CONE_TOWARDS))), - new SequentialCommandGroup( - redRightGridTrajectory1, - redRightGridTrajectory2, - new WaitCommand(0.5), - redRightGridTrajectory3))); - } - - public Command getOldRedRightGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new ParallelCommandGroup( - new SequentialCommandGroup( - new WaitCommand(0.1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.45), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CUBE)), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getFloorIntakeState(), - true), - new RunIntake(arm, 1, 3.85), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), true), - new SetpointArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), - false)), - new SequentialCommandGroup( - oldRedRightGridTrajectory1, - oldRedRightGridTrajectory2, - redRightGridTrajectory2Copy))); - } - - public Command getOldBlueRightGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new ParallelCommandGroup( - new SequentialCommandGroup( - new WaitCommand(0.1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.45), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CUBE)), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getFloorIntakeState(), - true), - new RunIntake(arm, 1, 3.85), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), true), - new WaitCommand(0.01), - new SetpointArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), - false)), - new SequentialCommandGroup( - oldBlueRightGridTrajectory1, - oldBlueRightGridTrajectory2, - blueSideGridTrajectory2Copy))); - } - - - // Blue alliance path involving a swing - public Command getBlueRightGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new ParallelCommandGroup( - new SequentialCommandGroup( - new WaitCommand(0.1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.65), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CUBE)), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getFloorIntakeState(), - true), - new RunIntake(arm, 1, 1.3), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), true), - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), - false), - new RunIntake(arm, -1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new WaitCommand(0.04), - new InstantCommand(() -> StateManager.getInstance().updateArmState(GamePiece.CONE_TOWARDS))), - new SequentialCommandGroup( - blueSideGridTrajectory1, - blueSideGridTrajectory2, - new WaitCommand(0.5), - blueSideGridTrajectory3))); + public void init(SwerveSubsystem swerve, ArmSubsystem arm) { + eventMap.put("lowCubeIntake", new SequentialMoveArmCommand(arm, () -> RobotConfig.ArmStates.cubeFloorIntake, false)); + //max speed is 1.0 + eventMap.put("tuck", new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false)); + + eventMap.put("highNodeCone", new SequentialMoveArmCommand(arm, () -> RobotConfig.ArmStates.coneHighNodeAuton, false) + .andThen(new WaitCommand(0.1))); + eventMap.put("highNodeCube", new SequentialMoveArmCommand(arm, () -> RobotConfig.ArmStates.cubeHighNode, false) + .andThen(new WaitCommand(0.1))); + eventMap.put("runOutake", new RunIntake(arm, 1.0, 1.0)); + eventMap.put("runIntake", new RunIntake(arm, -1.0, 2.0)); + eventMap.put("stop", new InstantCommand(() -> swerve.stop(), swerve)); + + SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder( + () -> swerve.getPose(), // Pose2d supplier + pose -> swerve.resetOdometry(pose), // Pose2d consumer, used to reset odometry at the beginning of auto + RobotConfig.Swerve.kDriveKinematics, // SwerveDriveKinematics + new PIDConstants( RobotConfig.Swerve.kPTranslation, RobotConfig.Swerve.kITranslation, RobotConfig.Swerve.kDTranslation ), // PID constants to correct for translation error (used to create the X and Y PID controllers) + new PIDConstants( RobotConfig.Swerve.kPAutoTurning, RobotConfig.Swerve.kIAutoTurning, RobotConfig.Swerve.kDAutoTurning ), // PID constants to correct for rotation error (used to create the rotation controller) + moduleStates -> swerve.setModuleStates(moduleStates), // Module states consumer used to output to the drive subsystem + eventMap, + true, // Should th>e path be automatically mirrored depending on alliance color. Optional, defaults to true + swerve // The drive subsystem. Used to properly set the requirements of path following commands + ); + onePieceAuto = autoBuilder.fullAuto(onePiece).andThen(() -> swerve.stop(), swerve); + twoPieceAuto = autoBuilder.fullAuto(twoPiece).andThen(() -> swerve.stop(), swerve); + threePieceAuto = autoBuilder.fullAuto(threePiece).andThen(() -> swerve.stop(), swerve); } - public Command getTimedSideGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new TimedDrive(swerve, 0.8, new ChassisSpeeds(-3, 0, 0)), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - new TimedDrive(swerve, 6.5, new ChassisSpeeds(-4, 0, 0))); + public CommandBase getThreePieceAuto(SwerveSubsystem swerve) + { + return new InstantCommand(() -> swerve.autoInit(), swerve).andThen(threePieceAuto); } - public Command getStraightTrajectory(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> RobotConfig.ArmStates.coneHighNodeAuton, false), - new RunIntake(arm, 1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false), - straightTrajectory1); + public CommandBase getPathPlannerAuto(SwerveSubsystem swerve) + { + return new InstantCommand(() -> swerve.autoInit(), swerve).andThen(onePieceAuto); } - public Command getMiddleGridCommand(SwerveSubsystem swerve, ArmSubsystem arm) { - swerve.setSpeedLimiter(1); - return new SequentialCommandGroup( - new SequentialMoveArmCommand(arm, - () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), false), - new RunIntake(arm, 1), - new ParallelCommandGroup( - new SequentialCommandGroup( - new WaitCommand(0.1), - new SetpointArmCommand(arm, () -> ArmStateGroup.getTuck(), false) - ), - balanceTrajectory - ), - new SwerveAutoBalanceYaw(swerve)); + public CommandBase getTwoPieceAuto(SwerveSubsystem swerve) + { + return new InstantCommand(() -> swerve.autoInit(), swerve).andThen(twoPieceAuto); } } \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/CougarRobotImpl.java b/src/main/java/team1403/robot/chargedup/CougarRobotImpl.java index 3bf11cd..b93913b 100644 --- a/src/main/java/team1403/robot/chargedup/CougarRobotImpl.java +++ b/src/main/java/team1403/robot/chargedup/CougarRobotImpl.java @@ -1,46 +1,27 @@ package team1403.robot.chargedup; -import java.util.List; - -import com.revrobotics.CANSparkMax.IdleMode; - import edu.wpi.first.cameraserver.CameraServer; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.PS4Controller; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.RepeatCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.WaitCommand; import edu.wpi.first.wpilibj2.command.button.Trigger; import team1403.lib.core.CougarLibInjectedParameters; import team1403.lib.core.CougarRobot; import team1403.lib.util.CougarLogger; -import team1403.robot.chargedup.cse.CougarScriptObject; -import team1403.robot.chargedup.cse.CougarScriptReader; -import team1403.robot.chargedup.photonvision.PhotonVisionSubsystem; import team1403.robot.chargedup.swerve.SwerveAutoBalanceYaw; import team1403.robot.chargedup.swerve.SwerveCommand; -import team1403.robot.chargedup.swerve.SwerveDrivePath; import team1403.robot.chargedup.swerve.SwerveSubsystem; import team1403.robot.chargedup.RobotConfig.Operator; import team1403.robot.chargedup.StateManager.GamePiece; -import team1403.robot.chargedup.StateManager.LED; -import team1403.robot.chargedup.arm.ArmState; import team1403.robot.chargedup.arm.ArmStateGroup; import team1403.robot.chargedup.arm.ArmSubsystem; import team1403.robot.chargedup.arm.ManualArmCommand; -import team1403.robot.chargedup.arm.RunIntake; import team1403.robot.chargedup.arm.SequentialMoveArmCommand; import team1403.robot.chargedup.arm.SetpointArmCommand; -import team1403.robot.chargedup.arm.UpdateArmState; /** * The heart of the robot. @@ -65,28 +46,25 @@ public class CougarRobotImpl extends CougarRobot { */ public CougarRobotImpl(CougarLibInjectedParameters parameters) { super(parameters); - var logger = CougarLogger.getChildLogger( + CougarLogger.getChildLogger( parameters.getRobotLogger(), "BuiltinDevices"); // m_builtins = new BuiltinSubsystem(parameters, logger); m_arm = new ArmSubsystem(parameters); - m_swerveSubsystem = new SwerveSubsystem( parameters); + m_swerveSubsystem = new SwerveSubsystem(parameters); CameraServer.startAutomaticCapture(); // m_visionSubsystem = new PhotonVisionSubsystem(parameters); // m_lightSubsystem = new LightSubsystem(parameters); m_autonChooser = new SendableChooser(); - registerAutoCommands(); } @Override public void robotInit() { - AutoManager.getInstance().init(m_swerveSubsystem); - m_autonChooser.setDefaultOption("Red Right Grid", AutoManager.getInstance().getRedRightGridCommand(m_swerveSubsystem, m_arm)); - m_autonChooser.addOption("Blue Right Grid", AutoManager.getInstance().getBlueRightGridCommand(m_swerveSubsystem, m_arm)); - m_autonChooser.addOption("Middle Grid Auto", AutoManager.getInstance().getMiddleGridCommand(m_swerveSubsystem, m_arm)); - m_autonChooser.addOption("1 Piece Bump Auto", AutoManager.getInstance().getStraightTrajectory(m_swerveSubsystem, m_arm)); - m_autonChooser.addOption("Old Red Right Grid", AutoManager.getInstance().getOldRedRightGridCommand(m_swerveSubsystem, m_arm)); - m_autonChooser.addOption("Old Blue Right Grid", AutoManager.getInstance().getOldBlueRightGridCommand(m_swerveSubsystem, m_arm)); + AutoManager.getInstance().init(m_swerveSubsystem, m_arm); + + m_autonChooser.setDefaultOption("One Piece Auto", AutoManager.getInstance().getPathPlannerAuto(m_swerveSubsystem)); + m_autonChooser.addOption("Two Piece Auto", AutoManager.getInstance().getTwoPieceAuto(m_swerveSubsystem)); + m_autonChooser.addOption("Three Piece Auto", AutoManager.getInstance().getThreePieceAuto(m_swerveSubsystem)); SmartDashboard.putData(m_autonChooser); super.robotInit(); } @@ -95,10 +73,15 @@ public void robotInit() { public Command getAutonomousCommand() { CommandScheduler.getInstance().removeDefaultCommand(m_swerveSubsystem); CommandScheduler.getInstance().removeDefaultCommand(m_arm); + //force the swerve subsystem to stop running the default command, setting the speed limiter should now work + //new InstantCommand(() -> m_swerveSubsystem.stop(), m_swerveSubsystem); return m_autonChooser.getSelected(); - - // return AutoManager.getInstance().getImprovedStraightCommand(m_swerveSubsystem, m_arm); - // return AutoManager.getInstance().getRedRightGridCommand(m_swerveSubsystem, m_arm); + + // return + // AutoManager.getInstance().getImprovedStraightCommand(m_swerveSubsystem, + // m_arm); + // return AutoManager.getInstance().getRedRightGridCommand(m_swerveSubsystem, + // m_arm); } @Override @@ -126,7 +109,8 @@ public void configureDriverInterface() { () -> -deadband(driveController.getLeftY(), 0), () -> -deadband(driveController.getRightX(), 0), () -> driveController.getYButton(), - () -> driveController.getRightTriggerAxis())); + () -> driveController.getRightTriggerAxis() + )); new Trigger(() -> driveController.getBButton()).onFalse( new InstantCommand(() -> m_swerveSubsystem.zeroGyroscope())); @@ -137,6 +121,8 @@ public void configureDriverInterface() { .onTrue(new InstantCommand(() -> m_swerveSubsystem.setXModeEnabled(true))); new Trigger(() -> driveController.getXButton()) .onFalse(new InstantCommand(() -> m_swerveSubsystem.setXModeEnabled(false))); + new Trigger(() -> driveController.getPOV() == 180) + .toggleOnTrue(new InstantCommand(() -> m_swerveSubsystem.resetOdometry())); } /** @@ -201,10 +187,9 @@ public void configureOperatorInterface() { true)); new Trigger(() -> xboxOperator.getPOV() == 270).onFalse( new SetpointArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getLowNodeState(), false)); - // Auto High Cone Node - // new Trigger(() -> xboxOperator.getStartButton()).onFalse( - // new SequentialMoveArmCommand(m_arm, () -> RobotConfig.ArmStates.coneHighNodeAuton, false)); + //new Trigger(() -> xboxOperator.getPOV() == 360).onFalse( + //new SequentialMoveArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), false)); // lights // new Trigger(() -> xboxOperator.getStartButton()).onTrue( @@ -215,66 +200,6 @@ public void configureOperatorInterface() { // StateManager.getInstance().updateLEDState(LED.PURPLE))); } - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - private void registerAutoCommands() { - m_reader = new CougarScriptReader((Pose2d startPose) -> { - double feetToMeters = 0.30478512648; - - Translation2d flippedXandY = new Translation2d( - startPose.getY() * feetToMeters, startPose.getX() * feetToMeters); - - Rotation2d theta = new Rotation2d( - startPose.getRotation().getDegrees()); - - Pose2d transformedStartPose = new Pose2d(flippedXandY, theta); - m_swerveSubsystem.setPose(transformedStartPose); - }); - - m_reader.registerCommand("SwerveDrivePath", (CougarScriptObject p) -> { - List wayPoints = p.getPointList("Waypoints"); - return new SwerveDrivePath(m_swerveSubsystem, - p.getDouble("StartAngle"), - p.getDouble("EndAngle"), - wayPoints); - }); - - m_reader.registerCommand("Delay", (CougarScriptObject p) -> { - return new WaitCommand(p.getDouble("seconds")); - }); - - m_reader.registerCommand("Tuck", (CougarScriptObject p) -> { - return new SequentialMoveArmCommand(m_arm, () -> ArmStateGroup.getTuck(), false); - }); - - m_reader.registerCommand("High Node", (CougarScriptObject p) -> { - return new SequentialMoveArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getHighNodeState(), - false); - }); - - m_reader.registerCommand("Middle Node", (CougarScriptObject p) -> { - return new SequentialMoveArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getMiddleNodeState(), - false); - }); - - m_reader.registerCommand("Low Node", (CougarScriptObject p) -> { - return new SequentialMoveArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getLowNodeState(), - false); - }); - - m_reader.registerCommand("Floor Pickup", (CougarScriptObject p) -> { - return new SequentialMoveArmCommand(m_arm, () -> StateManager.getInstance().getCurrentArmGroup().getFloorIntakeState(), - true); - }); - - m_reader.registerCommand("Run Intake", (CougarScriptObject p) -> { - return new RunIntake(m_arm, p.getDouble("Intake Speed")); - }); - } - /** * Applies a deadband to the given value. * @@ -312,26 +237,8 @@ private XboxController getXboxJoystick(String role, int port) { return new XboxController(port); } - /** - * Get controller and silence warnings if not found. - * - * @param role The role for the port for logging purposes. - * @param port The expected port for the controller. - * - * @return controller for port, though might not be temporarily disconnected. - */ - private PS4Controller getPS4Controller(String role, int port) { - if (!DriverStation.isJoystickConnected(port)) { - DriverStation.silenceJoystickConnectionWarning(true); - CougarLogger.getAlwaysOn().warningf("No controller found on port %d for '%s'", - port, role); - } - return new PS4Controller(port); - } - // private final BuiltinSubsystem m_builtins; // private final PhotonVisionSubsystem m_visionSubsystem; - private CougarScriptReader m_reader; private final ArmSubsystem m_arm; private final SwerveSubsystem m_swerveSubsystem; private final SendableChooser m_autonChooser; diff --git a/src/main/java/team1403/robot/chargedup/LightSubsystem.java b/src/main/java/team1403/robot/chargedup/LightSubsystem.java index 1cd34e4..714c423 100644 --- a/src/main/java/team1403/robot/chargedup/LightSubsystem.java +++ b/src/main/java/team1403/robot/chargedup/LightSubsystem.java @@ -2,9 +2,6 @@ import edu.wpi.first.wpilibj.AddressableLED; import edu.wpi.first.wpilibj.AddressableLEDBuffer; -import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.WaitCommand; - import team1403.lib.core.CougarLibInjectedParameters; import team1403.lib.core.CougarSubsystem; import team1403.robot.chargedup.StateManager.LED; diff --git a/src/main/java/team1403/robot/chargedup/RobotConfig.java b/src/main/java/team1403/robot/chargedup/RobotConfig.java index de39104..9ba8c42 100644 --- a/src/main/java/team1403/robot/chargedup/RobotConfig.java +++ b/src/main/java/team1403/robot/chargedup/RobotConfig.java @@ -50,7 +50,7 @@ public static class Swerve { public static final int kStatusFrameGeneralPeriodMs = 250; public static final int kCanTimeoutMs = 250; - public static final double kPTurning = 1.125; + public static final double kPTurning = 0.3; public static final double kITurning = 0.0; public static final double kDTurning = 0.0; @@ -98,7 +98,9 @@ public static class Swerve { // (kMaxSpeed / Math.hypot(kTrackWidth / 2.0, kWheelBase / 2.0)); // 39.795095397 public static final double kVoltageSaturation = 12.0; - public static final double kCurrentLimit = 40.0; + //max neo amperage, 50 amps seems the safest based on https://www.revrobotics.com/neo-brushless-motor-locked-rotor-testing/ + //40 A fuses + public static final int kCurrentLimit = 40; public static final double kMaxAccelerationMetersPerSecondSquared = 3; public static final double kMaxAngularAccelerationRadiansPerSecondSquared = Math.PI / 2; @@ -145,7 +147,7 @@ public static class Vision { Units.inchesToMeters(610.77), Units.inchesToMeters(108.19), Units.inchesToMeters(18.22), - new Rotation3d(0.0, 0.0, Math.PI))), + new Rotation3d(0.0, 0.0, Math.PI))), new AprilTag(8, new Pose3d( Units.inchesToMeters(40.45), Units.inchesToMeters(42.19), @@ -190,7 +192,6 @@ public static class CanBus { */ public static class RioPorts { - public static final int kWristAbsoluteEncoder = 1; //DIO public static final int kArmAbsoluteEncoder = 3; ///Analog diff --git a/src/main/java/team1403/robot/chargedup/StateManager.java b/src/main/java/team1403/robot/chargedup/StateManager.java index 6adc994..3374479 100644 --- a/src/main/java/team1403/robot/chargedup/StateManager.java +++ b/src/main/java/team1403/robot/chargedup/StateManager.java @@ -139,4 +139,14 @@ public GamePiece getGamePiece() { return gamePiece; } + public ArmStateGroup getCubeGroup() + { + return m_cubeGroup; + } + + public ArmStateGroup getUprightConeGroup() + { + return m_coneUprightGroup; + } + } \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/arm/ArmState.java b/src/main/java/team1403/robot/chargedup/arm/ArmState.java index eed6495..f630758 100644 --- a/src/main/java/team1403/robot/chargedup/arm/ArmState.java +++ b/src/main/java/team1403/robot/chargedup/arm/ArmState.java @@ -19,12 +19,11 @@ public ArmState(double armLength, double wristAngle, double armPivot, this.wristAngle = wristAngle; this.armPivot = armPivot; this.intakeSpeed = intakeSpeed; - } @Override public String toString() { - return "ArmState [armLength=" + armLength; + return "ArmState [armLength=" + armLength + "]"; } @Override diff --git a/src/main/java/team1403/robot/chargedup/arm/ArmSubsystem.java b/src/main/java/team1403/robot/chargedup/arm/ArmSubsystem.java index 44fc014..233be44 100644 --- a/src/main/java/team1403/robot/chargedup/arm/ArmSubsystem.java +++ b/src/main/java/team1403/robot/chargedup/arm/ArmSubsystem.java @@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DutyCycleEncoder; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.WaitCommand; import team1403.lib.core.CougarLibInjectedParameters; import team1403.lib.core.CougarSubsystem; import team1403.lib.device.wpi.CougarSparkMax; @@ -401,7 +402,7 @@ public double limitExtensionLength(double length) { * @return true if the given angle is in the bounds of the wrist. */ private boolean isInExtensionBounds(double length) { - return (length > Arm.kMinArmExtension && length < Arm.kMaxArmExtension); + return (length >= Arm.kMinArmExtension && length <= Arm.kMaxArmExtension); } /** @@ -463,6 +464,16 @@ public void moveArm(double wristAngle, double intakeSpeed, this.m_extensionLengthSetpoint = limitExtensionLength(extensionLength); } + public void moveWrist(double wristAngle) { + this.m_wristAngleSetpoint = limitWristAngle(wristAngle); + } + + public void moveArm(double intakeSpeed, + double pivotAngle, double extensionLength) { + this.m_intakeSpeedSetpoint = intakeSpeed; + this.m_pivotAngleSetpoint = limitPivotAngle(pivotAngle); + this.m_extensionLengthSetpoint = limitExtensionLength(extensionLength); + } /** * Sets the setpoints for the pivot, extension, wrist, and intake to go to. * @@ -482,7 +493,7 @@ public void moveArm(ArmState state) { */ public boolean isAtSetpoint() { double currentPivotAngle = getAbsolutePivotAngle(); - double currentWristAngle = getAbsoluteWristAngle(); + double currentWristAngle = m_wristMotor.getEncoder().getPosition(); double currentExtensionLength = getExtensionLength(); if (Math.abs(currentPivotAngle - this.m_pivotAngleSetpoint) > 7) { diff --git a/src/main/java/team1403/robot/chargedup/arm/ManualArmCommand.java b/src/main/java/team1403/robot/chargedup/arm/ManualArmCommand.java index e617780..9554cce 100644 --- a/src/main/java/team1403/robot/chargedup/arm/ManualArmCommand.java +++ b/src/main/java/team1403/robot/chargedup/arm/ManualArmCommand.java @@ -45,6 +45,16 @@ public ManualArmCommand(ArmSubsystem arm, DoubleSupplier armAngle, DoubleSupplie addRequirements(arm); } + // for the driver to remove the cube, for testing purposes may be used if the driver wants it + public void driverOutManualOuttake() { + double wristAngle = m_arm.getWristAngleSetpoint(); + wristAngle += m_wristAngleSupplier.getAsDouble() * 4; + wristAngle = m_arm.limitWristAngle(wristAngle); + double pivotAngle = m_arm.getPivotAngleSetpoint(); + pivotAngle += (-1 * m_armAngleSupplier.getAsDouble()); + pivotAngle = m_arm.limitPivotAngle(pivotAngle); + m_arm.moveArm(wristAngle, 1, pivotAngle, m_arm.getExtensionLengthSetpoint()); + } @Override public void execute() { diff --git a/src/main/java/team1403/robot/chargedup/arm/SequentialMoveArmCommand.java b/src/main/java/team1403/robot/chargedup/arm/SequentialMoveArmCommand.java index 5ecd5bf..7b4c31e 100644 --- a/src/main/java/team1403/robot/chargedup/arm/SequentialMoveArmCommand.java +++ b/src/main/java/team1403/robot/chargedup/arm/SequentialMoveArmCommand.java @@ -61,7 +61,9 @@ public void execute() { if(!m_pivotProfile.isFinished(deltaT)) { double pivotPosition = m_pivotProfile.calculate(deltaT).position; m_arm.ignoreExtensionLimit(m_ignoreLimit); - m_arm.moveArm(this.m_firstState.wristAngle, this.m_firstState.intakeSpeed, pivotPosition, this.m_firstState.armLength); + m_arm.moveArm(this.m_firstState.intakeSpeed, pivotPosition, this.m_firstState.armLength); + m_arm.moveWrist(this.m_firstState.wristAngle); + } else { m_arm.ignoreExtensionLimit(m_ignoreLimit); m_arm.moveArm(this.m_endState.get()); diff --git a/src/main/java/team1403/robot/chargedup/arm/SetpointArmCommand.java b/src/main/java/team1403/robot/chargedup/arm/SetpointArmCommand.java index 1b5afad..b01a111 100644 --- a/src/main/java/team1403/robot/chargedup/arm/SetpointArmCommand.java +++ b/src/main/java/team1403/robot/chargedup/arm/SetpointArmCommand.java @@ -4,7 +4,6 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -48,7 +47,9 @@ public void execute() { double deltaT = Timer.getFPGATimestamp() - m_startTime; double pivotPosition = m_pivotProfile.calculate(deltaT).position; m_arm.ignoreExtensionLimit(m_ignoreLimit); - m_arm.moveArm(m_state.wristAngle, m_state.intakeSpeed, pivotPosition, m_state.armLength); + m_arm.moveArm(m_state.intakeSpeed, pivotPosition, m_state.armLength); + m_arm.moveWrist(m_state.wristAngle); + super.execute(); } diff --git a/src/main/java/team1403/robot/chargedup/cse/CougarScriptObject.java b/src/main/java/team1403/robot/chargedup/cse/CougarScriptObject.java deleted file mode 100644 index e149344..0000000 --- a/src/main/java/team1403/robot/chargedup/cse/CougarScriptObject.java +++ /dev/null @@ -1,91 +0,0 @@ -package team1403.robot.chargedup.cse; - -import java.util.ArrayList; -import java.util.List; - -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; - -import org.json.JSONArray; -import org.json.JSONObject; - -/** - * A utility class used to interface with the parameters for commands from - * cougar scripts. - * Enables access of the parameters from JSON format. - * - * @author Brandon C. - */ -public class CougarScriptObject { - - private JSONObject m_parameters; - - public CougarScriptObject(JSONObject parameters) { - this.m_parameters = parameters; - } - - /** - * Gets a double with the given key. - * - * @param key The key/name of the value in the parameters. - * @return The double stored in the parameters. - */ - public double getDouble(String key) { - return m_parameters.getDouble(key); - } - - /** - * Gets an angle with the given key. - * - * @param key The key/name of the value in the parameters. - * @return The angle as a Rotation2d. The angle should be stored in degrees in - * the JSON file. - */ - public Rotation2d getAngle(String key) { - return new Rotation2d(Math.toRadians(getDouble(key))); - } - - /** - * Gets a JSONArray with the given key. - * - * @param key The key/name of the value in the parameters. - * @return The JSONArray stored in the parameters. - */ - public JSONArray getJsonArray(String key) { - return m_parameters.getJSONArray(key); - } - - /** - * Gets a list of points with the given key. - * Points are stored in the form of a JSONArray of JSONObjects, each one with an - * x and y double property. - * Example: Points:[{"x":10.5, "y":20.4}, {"x":13.25, "y":19.5}, {"x":3.33, - * "y":1.125} - * getPointList("Points") -> List.of(new Translation2d(10.5, 20.4), ...) - * - * @param key The key/name of the value in the parameters. - * @return The list of points stored in the parameters as a list of Translation2d - */ - public List getPointList(String key) { - JSONArray pointsJson = m_parameters.getJSONArray(key); - List points = new ArrayList<>(); - for (int i = 0; i < pointsJson.length(); i++) { - JSONObject json = pointsJson.getJSONObject(i); - points.add( - new Translation2d( - json.getDouble("x"), - json.getDouble("y"))); - } - return points; - } - - /** - * Gets a boolean with the given key. - * - * @param key The key/name of the value in the parameters. - * @return The boolean stored in the parameters. - */ - public boolean getBoolean(String key) { - return m_parameters.getBoolean(key); - } -} \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/cse/CougarScriptReader.java b/src/main/java/team1403/robot/chargedup/cse/CougarScriptReader.java deleted file mode 100644 index 9771e57..0000000 --- a/src/main/java/team1403/robot/chargedup/cse/CougarScriptReader.java +++ /dev/null @@ -1,189 +0,0 @@ -package team1403.robot.chargedup.cse; - -import java.io.File; -import java.io.IOException; -import java.util.ArrayList; -import java.util.HashMap; -import java.util.Map; -import java.util.Scanner; -import java.util.function.Consumer; -import java.util.function.Function; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj2.command.Command; - -import org.json.JSONArray; -import org.json.JSONObject; -import org.json.JSONTokener; - -/** - * A utility class that helps with reading Cougar Scripts from JSON format. - * Commands must be registered by calling the registerCommand method. - * Scripts can be loaded using the importScript method. - * Scripts mmust be placed directly in the deploy directory to be imported. - * - * @author Brandon C. - */ -public class CougarScriptReader { - - private static CougarScriptReader _instance; - - private Map> m_commandMap; - Consumer onStartPose; - - /** - * Constructor for CougarScriptReader. - * - * @param toRun sets the start position of your robot. Called when a - * SequentialCommandGroup (created by the CougarScriptReader) is - * scheduled. The start position is read from the setStartPosition - * Command in a Cougar Script. - * When initilizing your CougarScriptReader, make sure to define - * this so that your robot can set its starting position for the - * drivepath - * reader = new CougarScriptReader((Pose2d startPose) -> { - * methodToSetDriveTrainStartPose(startPose); - * }); - */ - public CougarScriptReader(Consumer toRun) { - if (_instance != null) { - return; - } - _instance = this; - onStartPose = toRun; - - // register parallelcommand automatically - m_commandMap = new HashMap>(); - registerCommand("ParallelCommand", (CougarScriptObject p) -> { - ArrayList commandsToRun = new ArrayList<>(); - ArrayList endCommands = new ArrayList(); - JSONArray commandListJson = p.getJsonArray("Commands"); - for (int i = 0; i < commandListJson.length(); i++) { - JSONObject parallelFieldJson = commandListJson.getJSONObject(i); - boolean endCondition = parallelFieldJson.getBoolean("EndCondition"); - Command currentCommand = parseCommandFromJson(parallelFieldJson.getJSONObject("Command")); - if (currentCommand != null) { - commandsToRun.add(currentCommand); - if (endCondition) { - endCommands.add(currentCommand); - } - } - } - return new ParallelCommand(commandsToRun, endCommands); - }); - } - - /** - * Creates a sequential command group from the cougar script JSON file. - * - * @param autoName The filename of the script, located in the deploy directory - * NOTE: do not create directories in the deploy directory. - * @return Sequential command group containing all the commands from the script. - */ - public SequentialCommandGroup importScript(String autoName) { - String filepath = Filesystem.getDeployDirectory() + "/" + autoName; - ArrayList commands = new ArrayList(); - Pose2d startPose = new Pose2d(); - File fileToOpen = new File(filepath); - try (Scanner sc = new Scanner(fileToOpen);) { - String data = ""; - while (sc.hasNextLine()) { - data += sc.nextLine(); - } - sc.close(); - JSONTokener tokener = new JSONTokener(data); - JSONArray commandList = new JSONArray(tokener); - for (int i = 0; i < commandList.length(); i++) { - JSONObject commandJson = commandList.getJSONObject(i); - if (((String) commandJson.get("CommandName")).equals("SetStartPosition")) { - JSONObject parameters = (JSONObject) commandJson.get("Parameters"); - startPose = new Pose2d( - parameters.getDouble("x"), - parameters.getDouble("y"), - new Rotation2d(parameters.getDouble("angle"))); - } - Command command = parseCommandFromJson(commandJson); - if (command != null) { - commands.add(command); - } - } - } catch (IOException e) { - e.printStackTrace(); - } - return new SequentialCommandGroup(startPose, onStartPose, - commands.toArray(new Command[commands.size()])); - } - - private Command parseCommandFromJson(JSONObject commandJson) { - String commandName = (String) commandJson.get("CommandName"); - if (commandName.equals("SetStartPosition")) { - return null; - } - JSONObject parameters = (JSONObject) commandJson.get("Parameters"); - Function f = m_commandMap.get(commandName); - if (f != null) { - return f.apply(new CougarScriptObject(parameters)); - } else { - return null; - } - } - - /** - * Registers a command to be able to create it from the Cougar Script. - * - * @param commandName The name of the command, matching on the Script Editor - * exactly (case sensitive) - * @param f The function that determines how to create the command - * based on the info in the Cougar Script. - * The function takes a CougarScriptObject and returns a - * Command. The Cougar script object enables - * access of the different parameters stored in JSON for that - * command, and the Function will return - * a command. The parameters for the command can be accessed - * through the CougarScriptObject and - * these values can be used to specify how to create the - * command in the function. These parameters - * should match with the ones specified in the Script Editor - * (case sensitive). - * - *

Example: - * - *

In the script editor, there is a robotCommand called - * "myDrive" which has a double parameter - * "Distance" and a boolean parameter "Direction" (forwards - * or backwards). - * - *

In the robot code, there is a command called - * "ExampleDriveCommand" with the following constructor: - * public ExampleDriveCommand(Subsystem driveSubsystem, - * double distance, boolean direction) - * - *

Here's an example of how this command could be registered: - * - *

registerCommand("myDrive", (CougarScriptObject parameters) - * -> { - * - *

Subsystem driveSubsystem = - * robotContainer.getDriveSubsystem(); - - *

double distance = parameters.getDouble("Distance"); - * - *

boolean direction = parameters.getBoolean("Direction"); - * - *

Command output = new ExampleDriveCommand(driveSubsystem, - * distance, direction); - * - *

return output; - * - *

}); - * - * Note that the lambda expression takes a CougarScriptObject - * and returns a Command. - * - */ - public void registerCommand(String commandName, Function f) { - m_commandMap.put(commandName, f); - } -} \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/cse/ParallelCommand.java b/src/main/java/team1403/robot/chargedup/cse/ParallelCommand.java deleted file mode 100644 index 956da23..0000000 --- a/src/main/java/team1403/robot/chargedup/cse/ParallelCommand.java +++ /dev/null @@ -1,59 +0,0 @@ -package team1403.robot.chargedup.cse; - -import java.util.ArrayList; - -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandBase; - -/** - * Runs multiple commands simulataneously. - */ -public class ParallelCommand extends CommandBase { - - private final ArrayList m_commandsToRun; - private final ArrayList m_endCommands; - - public ParallelCommand(ArrayList commandsToRun, ArrayList endCommands) { - this.m_commandsToRun = commandsToRun; - this.m_endCommands = endCommands; - } - - @Override - public void initialize() { - for (Command i : m_commandsToRun) { - i.initialize(); - } - } - - @Override - public void execute() { - for (Command i : m_commandsToRun) { - System.out.println(i.getClass()); - i.execute(); - } - } - - @Override - public void schedule() { - for (Command c : m_commandsToRun) { - c.schedule(); - } - } - - @Override - public void end(boolean interrupted) { - for (Command c : m_commandsToRun) { - c.cancel(); - } - } - - @Override - public boolean isFinished() { - for (Command i : m_endCommands) { - if (!i.isFinished()) { - return false; - } - } - return true; - } -} \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/cse/SequentialCommandGroup.java b/src/main/java/team1403/robot/chargedup/cse/SequentialCommandGroup.java deleted file mode 100644 index 69812f5..0000000 --- a/src/main/java/team1403/robot/chargedup/cse/SequentialCommandGroup.java +++ /dev/null @@ -1,93 +0,0 @@ -package team1403.robot.chargedup.cse; - -import java.util.ArrayList; -import java.util.function.Consumer; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandBase; - -/** - * Runs commands sequentially. - */ -public class SequentialCommandGroup extends CommandBase { - public ArrayList commandsToRun; - private int m_currIndex = 0; - private int m_maxIndex = 0; - private Command m_toRun; - private boolean m_isFinished = false; - private Pose2d m_startPose; - private Consumer m_onStart; - - /** - * Constructor. - */ - public SequentialCommandGroup(Pose2d startPose, Consumer onStart, - Command... commandIter) { - this.commandsToRun = new ArrayList<>(); - for (Command i : commandIter) { - this.commandsToRun.add(i); - } - this.m_maxIndex = this.commandsToRun.size(); - this.m_toRun = this.commandsToRun.get(this.m_currIndex); - this.m_startPose = startPose; - this.m_onStart = onStart; - } - - public SequentialCommandGroup(Command... commandIter) { - this(null, null, commandIter); - } - - public void setM_startPose(Pose2d pose) { - this.m_startPose = pose; - } - - public void add(Command command) { - this.commandsToRun.add(command); - this.m_maxIndex++; - } - - /** - * Resets the index of the list of commands to run. - */ - public void reset() { - this.m_currIndex = 0; - this.m_toRun = this.commandsToRun.get(this.m_currIndex); - m_isFinished = false; - } - - // Only called like this so you know to put it in the main teleop loop - @Override - public void schedule() { - super.schedule(); - this.m_toRun.schedule(); - if (m_startPose != null) { - m_onStart.accept(m_startPose); - } - reset(); - } - - @Override - public void execute() { - if (m_toRun.isFinished()) { - m_toRun.end(false); - m_currIndex++; - if (m_currIndex == m_maxIndex) { - m_isFinished = true; - return; - } - m_toRun = commandsToRun.get(m_currIndex); - m_toRun.schedule(); - } - } - - @Override - public void end(boolean interrupted) { - reset(); - } - - @Override - public boolean isFinished() { - return m_isFinished; - } -} \ No newline at end of file diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveAutoBalanceYaw.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveAutoBalanceYaw.java index 21fff77..f075ac8 100644 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveAutoBalanceYaw.java +++ b/src/main/java/team1403/robot/chargedup/swerve/SwerveAutoBalanceYaw.java @@ -35,7 +35,7 @@ public SwerveAutoBalanceYaw(SwerveSubsystem drivetrainSubsystem) { @Override public void execute() { - m_drivetrainSubsystem.setSpeedLimiter(0.2); + m_drivetrainSubsystem.setSpeedLimiter(0.2); rollValue = m_drivetrainSubsystem.getGyroRoll(); rollVelocity = (rollValue - previousRollValue) / 0.2; diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveCommand.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveCommand.java index c90e72d..3805d26 100644 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveCommand.java +++ b/src/main/java/team1403/robot/chargedup/swerve/SwerveCommand.java @@ -2,7 +2,6 @@ import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; - import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -21,7 +20,7 @@ public class SwerveCommand extends CommandBase { private final DoubleSupplier m_horizontalTranslationSupplier; private final DoubleSupplier m_rotationSupplier; private final BooleanSupplier m_fieldRelativeSupplier; - private final DoubleSupplier m_speedSupplier; + private final DoubleSupplier m_speedDoubleSupplier; private boolean m_isFieldRelative; private Translation2d frontRight; @@ -55,13 +54,13 @@ public SwerveCommand(SwerveSubsystem drivetrain, DoubleSupplier verticalTranslationSupplier, DoubleSupplier rotationSupplier, BooleanSupplier fieldRelativeSupplier, - DoubleSupplier speedSupplier) { + DoubleSupplier speedDoubleSupplier) { this.m_drivetrainSubsystem = drivetrain; this.m_verticalTranslationSupplier = verticalTranslationSupplier; this.m_horizontalTranslationSupplier = horizontalTranslationSupplier; this.m_rotationSupplier = rotationSupplier; this.m_fieldRelativeSupplier = fieldRelativeSupplier; - this.m_speedSupplier = speedSupplier; + this.m_speedDoubleSupplier = speedDoubleSupplier; m_isFieldRelative = true; frontRight = new Translation2d( @@ -88,7 +87,7 @@ public SwerveCommand(SwerveSubsystem drivetrain, @Override public void execute() { - m_drivetrainSubsystem.setSpeedLimiter(0.2 + (m_speedSupplier.getAsDouble() * 0.8)); + m_drivetrainSubsystem.setSpeedLimiter(0.2 + (m_speedDoubleSupplier.getAsDouble() * 0.8)); if (m_fieldRelativeSupplier.getAsBoolean()) { m_isFieldRelative = !m_isFieldRelative; } @@ -99,8 +98,6 @@ public void execute() { * Swerve.kMaxSpeed; double angular = squareNum(m_rotationSupplier.getAsDouble()) * Swerve.kMaxAngularSpeed; Translation2d offset = new Translation2d(); - double robotAngleinDegrees = m_drivetrainSubsystem.getGyroscopeRotation().getDegrees(); - if (m_isFieldRelative) { chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(vertical, horizontal, angular, m_drivetrainSubsystem.getGyroscopeRotation()); diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveControllerCommand.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveControllerCommand.java index 365719e..2d4e54f 100644 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveControllerCommand.java +++ b/src/main/java/team1403/robot/chargedup/swerve/SwerveControllerCommand.java @@ -17,7 +17,6 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandBase; /** @@ -205,7 +204,7 @@ public void execute() { var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get()); - + m_subsystem.drive(targetChassisSpeeds, new Translation2d()); } diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveDrivePath.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveDrivePath.java deleted file mode 100644 index b9492af..0000000 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveDrivePath.java +++ /dev/null @@ -1,118 +0,0 @@ -package team1403.robot.chargedup.swerve; - -import java.util.List; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrajectoryConfig; -import edu.wpi.first.math.trajectory.TrajectoryGenerator; -import edu.wpi.first.wpilibj2.command.CommandBase; - -import team1403.robot.chargedup.RobotConfig.Swerve; - -/** - * Autonomous command to be used with the CSE. - */ -public class SwerveDrivePath extends CommandBase { - - private SwerveSubsystem m_drivetrain; - - private List m_wayPoints; - private final Pose2d m_startPose; - private final Pose2d m_endPose; - - private TrajectoryConfig m_trajectoryConfig; - private Trajectory m_trajectory; - private PIDController m_verticalTranslationController; - private PIDController m_horizontalTranslationController; - private ProfiledPIDController m_angleController; - private SwerveControllerCommand m_swerveControllerCommand; - - /** - * Constructs the path to drive. - * - * @param drivetrain the instance of the drivetrain subsystem - * @param startAngle the starting angle of the robot - * @param endAngle the ending angle of the robot - * @param wayPoints list of wapoints for the robot to move through - */ - public SwerveDrivePath(SwerveSubsystem drivetrain, double startAngle, double endAngle, - List wayPoints) { - this.m_drivetrain = drivetrain; - this.m_wayPoints = wayPoints; - - for (int i = 0; i < wayPoints.size(); i++) { - double x = wayPoints.get(i).getX(); - double y = wayPoints.get(i).getY(); - wayPoints.set(i, wayPoints.get(i).plus( - new Translation2d(-x + y, -y + x))); - wayPoints.set(i, wayPoints.get(i).times(0.30478512648)); - } - - m_startPose = new Pose2d(wayPoints.get(0).getX(), wayPoints.get(0).getY(), - Rotation2d.fromDegrees(startAngle)); - m_endPose = new Pose2d(wayPoints.get(wayPoints.size() - 1).getX(), - wayPoints.get(wayPoints.size() - 1).getY(), - Rotation2d.fromDegrees(endAngle)); - - wayPoints.remove(0); - wayPoints.remove(wayPoints.size() - 1); - - m_trajectoryConfig = new TrajectoryConfig( - Swerve.kMaxSpeed / 10, - 0.5) - .setKinematics(Swerve.kDriveKinematics); - - m_verticalTranslationController = new PIDController(Swerve.kPTranslation, - Swerve.kITranslation, Swerve.kDTranslation); - m_horizontalTranslationController = new PIDController(Swerve.kPTranslation, - Swerve.kITranslation, Swerve.kDTranslation); - - m_angleController = new ProfiledPIDController( - Swerve.kPAutoTurning, Swerve.kIAutoTurning, - Swerve.kDAutoTurning, Swerve.kThetaControllerConstraints); - } - - @Override - public void initialize() { - m_drivetrain.zeroGyroscope(); - - m_drivetrain.increaseSpeed(1); - - m_trajectory = TrajectoryGenerator.generateTrajectory( - m_startPose, - m_wayPoints, - m_endPose, - m_trajectoryConfig); - - m_swerveControllerCommand = new SwerveControllerCommand( - m_trajectory, - m_drivetrain::getPose, - m_horizontalTranslationController, - m_verticalTranslationController, - m_angleController, - m_drivetrain); - - m_swerveControllerCommand.schedule(); - } - - @Override - public void execute() { - - } - - @Override - public boolean isFinished() { - return m_swerveControllerCommand.isFinished(); - } - - @Override - public void end(boolean interrupted) { - m_drivetrain.setSpeedLimiter(0.6); - m_drivetrain.stop(); - } -} diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveModule.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveModule.java index 9b4bd08..823c40f 100644 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveModule.java +++ b/src/main/java/team1403/robot/chargedup/swerve/SwerveModule.java @@ -16,7 +16,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import team1403.lib.device.Device; import team1403.lib.device.Encoder; import team1403.lib.device.wpi.CougarSparkMax; @@ -46,11 +45,11 @@ public class SwerveModule implements Device { /** * Swerve Module represents a singular swerve module for a * swerve drive train. - * + * *

Each swerve module consists of a drive motor, * changing the velocity of the wheel, and a steer motor, changing * the angle of the actual wheel inside of the module. - * + * *

The swerve module also features * an absolute encoder to ensure the angle of * the module is always known, regardless if the bot is turned off @@ -117,10 +116,10 @@ private void initSteerMotor() { m_steerMotor.setPeriodicFramePeriod(CANSparkMaxLowLevel.PeriodicFrame.kStatus2, 20); m_steerMotor.setIdleMode(CANSparkMax.IdleMode.kBrake); m_steerMotor.setInverted(false); - m_steerMotor.enableVoltageCompensation(12); - m_steerMotor.setSmartCurrentLimit(40); + m_steerMotor.enableVoltageCompensation(RobotConfig.Swerve.kVoltageSaturation); + m_steerMotor.setSmartCurrentLimit(RobotConfig.Swerve.kCurrentLimit); - m_steerPidController.setP(0.3); + m_steerPidController.setP(Swerve.kPTurning); m_steerPidController.setI(Swerve.kITurning); m_steerPidController.setD(Swerve.kDTurning); m_steerPidController.setFeedbackDevice((MotorFeedbackSensor) m_steerRelativeEncoder); @@ -132,7 +131,7 @@ private void initSteerMotor() { public void initDriveMotor() { m_driveMotor.setInverted(true); m_driveMotor.setVoltageCompensation(RobotConfig.Swerve.kVoltageSaturation); - m_driveMotor.setAmpLimit(RobotConfig.Swerve.kCurrentLimit); + m_driveMotor.setSmartCurrentLimit(RobotConfig.Swerve.kCurrentLimit); m_driveMotor.getCanSparkMaxApi().setPeriodicFramePeriod( CANSparkMaxLowLevel.PeriodicFrame.kStatus0, 100); m_driveMotor.getCanSparkMaxApi().setPeriodicFramePeriod( @@ -212,7 +211,7 @@ public double normalizeAngleError(double targetAngle) { */ private double convertSteerAngle(double steerAngle) { steerAngle = normalizeAngle(steerAngle); - double difference = normalizeAngleError(steerAngle); + double difference = normalizeAngleError(steerAngle); // If the difference is greater than 90 deg or less than -90 deg the drive can // be inverted so the total @@ -236,13 +235,13 @@ private double convertSteerAngle(double steerAngle) { // fully set up, and we don't // end up getting a good reading. If we reset periodically this won't matter // anymore. - if (m_steerMotor.getEncoder().getVelocity() + if (m_steerMotor.getEncoder().getVelocity() < Swerve.kEncoderResetMaxAngularVelocity) { if (++m_absoluteEncoderResetIterations >= Swerve.kEncoderResetIterations) { - m_logger.tracef("Resetting steer relative encoder. Reset iteration %f", + m_logger.tracef("Resetting steer relative encoder. Reset iteration %f", m_absoluteEncoderResetIterations); m_absoluteEncoderResetIterations = 0; - double absoluteAngle = getAbsoluteAngle(); + double absoluteAngle = getAbsoluteAngle(); m_steerMotor.getEncoder().setPosition(getAbsoluteAngle()); currentAngleRadians = absoluteAngle; } @@ -254,7 +253,7 @@ private double convertSteerAngle(double steerAngle) { // The reference angle has the range [0, 2pi) // but the Falcon's encoder can go above that - double adjustedReferenceAngleRadians = referenceAngleRadians + double adjustedReferenceAngleRadians = referenceAngleRadians + currentAngleRadians - currentAngleRadiansMod; if (referenceAngleRadians - currentAngleRadiansMod > Math.PI) { adjustedReferenceAngleRadians -= 2.0 * Math.PI; diff --git a/src/main/java/team1403/robot/chargedup/swerve/SwerveSubsystem.java b/src/main/java/team1403/robot/chargedup/swerve/SwerveSubsystem.java index c229ad2..0e91185 100644 --- a/src/main/java/team1403/robot/chargedup/swerve/SwerveSubsystem.java +++ b/src/main/java/team1403/robot/chargedup/swerve/SwerveSubsystem.java @@ -13,7 +13,6 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import team1403.lib.core.CougarLibInjectedParameters; @@ -35,7 +34,6 @@ public class SwerveSubsystem extends CougarSubsystem { private final SwerveModule[] m_modules; private ChassisSpeeds m_chassisSpeeds = new ChassisSpeeds(); - private SwerveModuleState[] m_states = new SwerveModuleState[4]; private final SwerveDrivePoseEstimator m_odometer; private Translation2d frontRight = new Translation2d( @@ -63,8 +61,6 @@ public class SwerveSubsystem extends CougarSubsystem { private double m_yawOffset; private double m_rollOffset; - private double m_calc = 0; - private boolean m_isXModeEnabled = false; /** @@ -100,16 +96,16 @@ public SwerveSubsystem(CougarLibInjectedParameters parameters) { getModulePositions(), new Pose2d(0, 0, new Rotation2d(0))); addDevice(m_navx2.getName(), m_navx2); - new Thread(() -> { - while (m_navx2.isCalibrating()) { - try { - Thread.sleep(10); - } catch (InterruptedException e) { - e.printStackTrace(); - } + + //navx2 only takes 1 second to calibrate, there's no point in using fancy threads + while(m_navx2.isCalibrating()) + { + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); } - zeroGyroscope(); - }).start(); + } m_desiredHeading = getGyroscopeRotation().getDegrees(); @@ -119,7 +115,15 @@ public SwerveSubsystem(CougarLibInjectedParameters parameters) { m_offset = new Translation2d(); m_rollOffset = -m_navx2.getRoll(); m_yawOffset = 0; + } + public void autoInit() + { + m_speedLimiter = 1.0; + for(SwerveModule module : m_modules) + { + module.set(0.0, 0.0); + } } /** @@ -230,8 +234,12 @@ public SwerveDrivePoseEstimator getOdometer() { * Reset the position of the drivetrain odometry. */ public void resetOdometry() { - tracef("resetOdometry"); - m_odometer.resetPosition(getGyroscopeRotation(), getModulePositions(), getPose()); + resetOdometry(getPose()); + } + + public void resetOdometry(Pose2d pose) { + tracef("resetOdometry %s", pose.toString()); + m_odometer.resetPosition(getGyroscopeRotation(), getModulePositions(), pose); } /** @@ -303,7 +311,7 @@ public ChassisSpeeds getChassisSpeed() { /** * Sets which wheel to pivot for the robot. - * + * * @param isRight whether right or left wheels should be pivoted */ public void setPivotAroundOneWheel(boolean isRight) { @@ -397,7 +405,7 @@ public void setMiddlePivot() { /** * Puts the drivetrain into xMode where all the wheel put towards the center of the robot, - * making it harder for the robot to be pushed around. + * making it harder for the robot to be pushed around. */ private void xMode() { SwerveModuleState[] states = { @@ -415,7 +423,7 @@ private void xMode() { /** * Sets the drivetain in xMode. - * + * * @param enabled whether the drivetrain is in xMode. */ public void setXModeEnabled(boolean enabled) { @@ -425,7 +433,7 @@ public void setXModeEnabled(boolean enabled) { /** * Adds rotational velocity to the chassis speed to compensate for * unwanted changes in gyroscope heading. - * + * * @param chassisSpeeds the given chassisspeeds * @return the corrected chassisspeeds */ @@ -435,13 +443,13 @@ private ChassisSpeeds translationalDriftCorrection(ChassisSpeeds chassisSpeeds) if (Math.abs(m_navx2.getAngularVelocity()) > 0.1) { m_desiredHeading = getGyroscopeRotation().getDegrees(); } else if (translationalVelocity > 1) { - m_calc = m_driftCorrectionPid.calculate(getGyroscopeRotation().getDegrees(), + double calc = m_driftCorrectionPid.calculate(getGyroscopeRotation().getDegrees(), m_desiredHeading); - if (Math.abs(m_calc) >= 0.55) { - m_chassisSpeeds.omegaRadiansPerSecond += m_calc; + if (Math.abs(calc) >= 0.55) { + chassisSpeeds.omegaRadiansPerSecond += calc; } tracef("driftCorrection %f, corrected omegaRadiansPerSecond %f", - m_calc, m_chassisSpeeds.omegaRadiansPerSecond); + calc, chassisSpeeds.omegaRadiansPerSecond); } return chassisSpeeds; } @@ -449,11 +457,11 @@ private ChassisSpeeds translationalDriftCorrection(ChassisSpeeds chassisSpeeds) /** * Accounts for the drift caused by the first order kinematics * while doing both translational and rotational movement. - * + * *

* Looks forward one control loop to figure out where the robot * should be given the chassisspeed and backs out a twist command from that. - * + * * @param chassisSpeeds the given chassisspeeds * @return the corrected chassisspeeds */ @@ -488,8 +496,7 @@ public void periodic() { m_chassisSpeeds = translationalDriftCorrection(m_chassisSpeeds); m_chassisSpeeds = rotationalDriftCorrection(m_chassisSpeeds); - m_states = Swerve.kDriveKinematics.toSwerveModuleStates(m_chassisSpeeds, m_offset); - setModuleStates(m_states); + setModuleStates(Swerve.kDriveKinematics.toSwerveModuleStates(m_chassisSpeeds, m_offset)); } SmartDashboard.putNumber("Front Left Absolute Encoder", m_modules[0].getAbsoluteAngle()); diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..8e61586 --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,35 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2023.4.4", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2023.4.4" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2023.4.4", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena" + ] + } + ] +} \ No newline at end of file