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martincarapiamartincarapia
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update: values (#91)
* update: choreo vals * update: vals for robot
1 parent 3a9ad0e commit 31c49c1

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5 files changed

+64
-72
lines changed

5 files changed

+64
-72
lines changed

‎pybot/deploy/choreo/FRC2025Path.chor‎

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Original file line numberDiff line numberDiff line change
@@ -36,24 +36,24 @@
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"val":6.0
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},
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"gearing":{
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"exp":"6.5",
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"val":6.5
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"exp":"5.9",
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"val":5.9
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},
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"radius":{
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"exp":"1.5 in",
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"val":0.038099999999999995
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"exp":"2 in",
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"val":0.0508
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},
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"vmax":{
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"exp":"6000 RPM",
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"val":628.3185307179587
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"exp":"5800 RPM",
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"val":607.3745796940267
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},
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"tmax":{
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"exp":"1.2 N * m",
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"val":1.2
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"exp":"9 N * m",
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"val":9.0
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},
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"cof":{
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"exp":"1.5",
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"val":1.5
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"exp":"0.9",
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"val":0.9
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},
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"bumper":{
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"front":{

‎pybot/deploy/choreo/outwayblue.traj‎

Lines changed: 27 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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"version":1,
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"snapshot":{
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"waypoints":[
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{"x":6.816155433654785, "y":1.5941511392593384, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
6+
{"x":6.816155433654785, "y":1.5941511392593384, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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{"x":2.8592488765716553, "y":1.4704978466033936, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
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"constraints":[
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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -13,7 +13,7 @@
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},
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"params":{
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"waypoints":[
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{"x":{"exp":"6.816155433654785 m", "val":6.816155433654785}, "y":{"exp":"1.5941511392593384 m", "val":1.5941511392593384}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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{"x":{"exp":"6.816155433654785 m", "val":6.816155433654785}, "y":{"exp":"1.5941511392593384 m", "val":1.5941511392593384}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
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{"x":{"exp":"2.8592488765716553 m", "val":2.8592488765716553}, "y":{"exp":"1.4704978466033936 m", "val":1.4704978466033936}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
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"constraints":[
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{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
@@ -26,36 +26,32 @@
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},
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"trajectory":{
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"sampleType":"Swerve",
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"waypoints":[0.0,1.34323],
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"waypoints":[0.0,1.17985],
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"samples":[
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{"t":0.04975, "x":6.79899, "y":1.59361, "heading":0.0, "vx":-0.68995, "vy":-0.02156, "omega":0.0, "ax":-13.86558, "ay":-0.4333, "alpha":0.0, "fx":[-204.40296,-204.40296,-204.40296,-204.40296], "fy":[-6.38759,-6.38759,-6.38759,-6.38759]},
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{"t":0.0995, "x":6.74751, "y":1.59201, "heading":0.0, "vx":-1.37976, "vy":-0.04312, "omega":0.0, "ax":-13.86056, "ay":-0.43314, "alpha":0.0, "fx":[-204.32889,-204.32889,-204.32889,-204.32889], "fy":[-6.38528,-6.38528,-6.38528,-6.38528]},
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{"t":0.14925, "x":6.66171, "y":1.58932, "heading":0.0, "vx":-2.06931, "vy":-0.06467, "omega":0.0, "ax":-13.8505, "ay":-0.43283, "alpha":0.0, "fx":[-204.18057,-204.18057,-204.18057,-204.18057], "fy":[-6.38064,-6.38064,-6.38064,-6.38064]},
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{"t":0.199, "x":6.54163, "y":1.58557, "heading":0.0, "vx":-2.75837, "vy":-0.0862, "omega":0.0, "ax":-13.82026, "ay":-0.43188, "alpha":0.0, "fx":[-203.7348,-203.7348,-203.7348,-203.7348], "fy":[-6.36671,-6.36671,-6.36671,-6.36671]},
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{"t":0.24875, "x":6.3873, "y":1.58075, "heading":0.0, "vx":-3.44592, "vy":-0.10768, "omega":0.0, "ax":-4.66758, "ay":-0.14586, "alpha":0.0, "fx":[-68.80825,-68.80825,-68.80825,-68.80825], "fy":[-2.15026,-2.15026,-2.15026,-2.15026]},
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{"t":0.34825, "x":6.0271, "y":1.56949, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.398, "x":5.84412, "y":1.56378, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.44774, "x":5.66113, "y":1.55806, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.49749, "x":5.47815, "y":1.55234, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.54724, "x":5.29516, "y":1.54662, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.59699, "x":5.11218, "y":1.5409, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.64674, "x":4.92919, "y":1.53518, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.69649, "x":4.74621, "y":1.52947, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.74624, "x":4.56322, "y":1.52375, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.79599, "x":4.38024, "y":1.51803, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.84574, "x":4.19725, "y":1.51231, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.89549, "x":4.01427, "y":1.50659, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.94524, "x":3.83128, "y":1.50087, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.99499, "x":3.6483, "y":1.49516, "heading":0.0, "vx":-3.67814, "vy":-0.11494, "omega":0.0, "ax":0.0002, "ay":0.00001, "alpha":0.0, "fx":[0.0029,0.0029,0.0029,0.0029], "fy":[0.00009,0.00009,0.00009,0.00009]},
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{"t":1.04474, "x":3.46531, "y":1.48944, "heading":0.0, "vx":-3.67813, "vy":-0.11494, "omega":0.0, "ax":4.66758, "ay":0.14586, "alpha":0.0, "fx":[68.80825,68.80825,68.80825,68.80825], "fy":[2.15026,2.15026,2.15026,2.15026]},
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{"t":1.09449, "x":3.28811, "y":1.4839, "heading":0.0, "vx":-3.44592, "vy":-0.10768, "omega":0.0, "ax":13.82026, "ay":0.43188, "alpha":0.0, "fx":[203.7348,203.7348,203.7348,203.7348], "fy":[6.36671,6.36671,6.36671,6.36671]},
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{"t":1.14424, "x":3.13378, "y":1.47908, "heading":0.0, "vx":-2.75837, "vy":-0.0862, "omega":0.0, "ax":13.8505, "ay":0.43283, "alpha":0.0, "fx":[204.18057,204.18057,204.18057,204.18057], "fy":[6.38064,6.38064,6.38064,6.38064]},
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{"t":1.19399, "x":3.01369, "y":1.47532, "heading":0.0, "vx":-2.06931, "vy":-0.06467, "omega":0.0, "ax":13.86056, "ay":0.43314, "alpha":0.0, "fx":[204.32889,204.32889,204.32889,204.32889], "fy":[6.38528,6.38528,6.38528,6.38528]},
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{"t":1.24374, "x":2.92789, "y":1.47264, "heading":0.0, "vx":-1.37976, "vy":-0.04312, "omega":0.0, "ax":13.86558, "ay":0.4333, "alpha":0.0, "fx":[204.40296,204.40296,204.40296,204.40296], "fy":[6.38759,6.38759,6.38759,6.38759]},
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{"t":1.29348, "x":2.87641, "y":1.47103, "heading":0.0, "vx":-0.68995, "vy":-0.02156, "omega":0.0, "ax":13.86859, "ay":0.43339, "alpha":0.0, "fx":[204.44737,204.44737,204.44737,204.44737], "fy":[6.38898,6.38898,6.38898,6.38898]},
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{"t":1.34323, "x":2.85925, "y":1.4705, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
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{"t":0.0, "x":6.81616, "y":1.59415, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-58.71615, "ay":-1.83488, "alpha":0.0, "fx":[-932.16193,-932.16193,-932.16193,-932.16193], "fy":[-29.13005,-29.13005,-29.13005,-29.13005]},
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{"t":0.0513, "x":6.7389, "y":1.59174, "heading":0.0, "vx":-3.01201, "vy":-0.09413, "omega":0.0, "ax":-10.59659, "ay":-0.33114, "alpha":0.0, "fx":[-168.22858,-168.22858,-168.22858,-168.22858], "fy":[-5.25714,-5.25714,-5.25714,-5.25714]},
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{"t":0.1026, "x":6.57045, "y":1.58647, "heading":0.0, "vx":-3.55559, "vy":-0.11111, "omega":0.0, "ax":-0.00002, "ay":0.0, "alpha":0.0, "fx":[-0.0003,-0.0003,-0.0003,-0.0003], "fy":[-0.00001,-0.00001,-0.00001,-0.00001]},
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{"t":0.15389, "x":6.38805, "y":1.58077, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.20519, "x":6.20566, "y":1.57507, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.25649, "x":6.02327, "y":1.56937, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.30779, "x":5.84087, "y":1.56367, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.35908, "x":5.65848, "y":1.55797, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.41038, "x":5.47608, "y":1.55227, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.46168, "x":5.29369, "y":1.54657, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.51298, "x":5.11129, "y":1.54087, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.56428, "x":4.9289, "y":1.53517, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.61557, "x":4.7465, "y":1.52947, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
44+
{"t":0.66687, "x":4.56411, "y":1.52377, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
45+
{"t":0.71817, "x":4.38172, "y":1.51807, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
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{"t":0.76947, "x":4.19932, "y":1.51238, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
47+
{"t":0.82077, "x":4.01693, "y":1.50668, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
48+
{"t":0.87206, "x":3.83453, "y":1.50098, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
49+
{"t":0.92336, "x":3.65214, "y":1.49528, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
50+
{"t":0.97466, "x":3.46974, "y":1.48958, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
51+
{"t":1.02596, "x":3.28735, "y":1.48388, "heading":0.0, "vx":-3.5556, "vy":-0.11111, "omega":0.0, "ax":0.00002, "ay":0.0, "alpha":0.0, "fx":[0.0003,0.0003,0.0003,0.0003], "fy":[0.00001,0.00001,0.00001,0.00001]},
52+
{"t":1.07725, "x":3.10496, "y":1.47818, "heading":0.0, "vx":-3.55559, "vy":-0.11111, "omega":0.0, "ax":10.59659, "ay":0.33114, "alpha":0.0, "fx":[168.22858,168.22858,168.22858,168.22858], "fy":[5.25714,5.25714,5.25714,5.25714]},
53+
{"t":1.12855, "x":2.9365, "y":1.47291, "heading":0.0, "vx":-3.01201, "vy":-0.09413, "omega":0.0, "ax":58.71615, "ay":1.83488, "alpha":0.0, "fx":[932.16193,932.16193,932.16193,932.16193], "fy":[29.13005,29.13005,29.13005,29.13005]},
54+
{"t":1.17985, "x":2.85925, "y":1.4705, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
5955
"splits":[0]
6056
},
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"events":[]

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