diff --git a/choreo.chor b/choreo.chor index 4c01eec3..a6da3a5f 100644 --- a/choreo.chor +++ b/choreo.chor @@ -2101,11 +2101,10 @@ { "x": 2.1199185848236084, "y": 5.957952976226807, - "heading": 9.721358924197938e-33, - "angularVelocity": 0, - "velocityX": 7.529723953218568e-33, - "velocityY": 4.103114367587547e-33, - "timestamp": 0, + "heading": -1.5178284843215764e-20, + "angularVelocity": -2.7117318720620675e-19, + "velocityX": -9.796115109371808e-19, + "velocityY": 3.980511574488688e-18, "moduleForcesX": [ 0, 0, @@ -2117,2530 +2116,2576 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 2.12408359184855, - "y": 5.959490957092025, - "heading": 0.0006587462568403469, - "angularVelocity": 0.020752025490549227, - "velocityX": 0.13120732156333928, - "velocityY": 0.04844994227681366, - "timestamp": 0.031743708928096186, + "x": 2.1240905424532652, + "y": 5.959489503565915, + "heading": 0.0006594208409320807, + "angularVelocity": 0.01920785114076541, + "velocityX": 0.12152230585064276, + "velocityY": 0.044756529626173124, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.20743364262925, + 65.03025590810928, + 66.22989088519049, + 66.78504846630928 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.697955490952328, + 25.723347795310406, + 22.42759771725216, + 20.738449547838435 + ], + "timestamp": 0.034330797135998826 }, { - "x": 2.132419910947834, - "y": 5.962549984290152, - "heading": 0.0019689340924026384, - "angularVelocity": 0.04127393678319714, - "velocityX": 0.26261326671585045, - "velocityY": 0.0963664077520038, - "timestamp": 0.06348741785619237, + "x": 2.1324405283773884, + "y": 5.962545453819303, + "heading": 0.00197092779877055, + "angularVelocity": 0.03820205376073952, + "velocityX": 0.2432214402434645, + "velocityY": 0.08901483531776912, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.33645627762745, + 65.13067571771013, + 66.31633449281948, + 66.85076931107669 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.38610907258916, + 25.457062843473647, + 22.1571358903912, + 20.511844774368296 + ], + "timestamp": 0.06866159427199765 }, { - "x": 2.144934423626495, - "y": 5.967111326975421, - "heading": 0.003922497731913535, - "angularVelocity": 0.06154175757899709, - "velocityX": 0.3942359951387039, - "velocityY": 0.1436928084112908, - "timestamp": 0.09523112678428855, + "x": 2.1449751643647583, + "y": 5.967101909476203, + "heading": 0.003926422727990329, + "angularVelocity": 0.05696037063961074, + "velocityX": 0.36511345593616634, + "velocityY": 0.13272210484512442, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.47745668748246, + 65.2398780190929, + 66.41092272094684, + 66.92222810961387 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.04037081830145, + 25.163635290415616, + 21.856862967226835, + 20.262113486413284 + ], + "timestamp": 0.10299239140799649 }, { - "x": 2.161634668441711, - "y": 5.9731541575830684, - "heading": 0.006510477776343394, - "angularVelocity": 0.0815273366540852, - "velocityX": 0.5260962054889244, - "velocityY": 0.19036309277324892, - "timestamp": 0.12697483571238474, + "x": 2.161701699519593, + "y": 5.973137837062834, + "heading": 0.006516911132900143, + "angularVelocity": 0.07545669256230182, + "velocityX": 0.48721662618477074, + "velocityY": 0.17581670366456492, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.63201884681433, + 65.3593084299052, + 66.51455530679625, + 67.00028750472005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.655203730462077, + 24.83798716533927, + 21.52241562538904, + 19.985194877162865 + ], + "timestamp": 0.1373231885439953 }, { - "x": 2.182528936666272, - "y": 5.980655180863507, - "heading": 0.00972285754365477, - "angularVelocity": 0.10119736715669446, - "velocityX": 0.6582176100432996, - "velocityY": 0.2362995230780409, - "timestamp": 0.15871854464048094, + "x": 2.18262810052247, + "y": 5.9806297132178345, + "heading": 0.00973233803752894, + "angularVelocity": 0.0936601294718305, + "velocityX": 0.6095518528153934, + "velocityY": 0.21822610542143736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.80201408708052, + 65.49068753942412, + 66.62829031488457, + 67.08597012747774 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.223772873681284, + 24.47383311589942, + 21.148422498380796, + 19.67607540118368 + ], + "timestamp": 0.17165398567999413 }, { - "x": 2.2076263864352867, - "y": 5.98958817047729, - "heading": 0.013548358655846408, - "angularVelocity": 0.12051210275577494, - "velocityX": 0.7906275169629459, - "velocityY": 0.2814097632390032, - "timestamp": 0.19046225356857713, + "x": 2.2077631589588185, + "y": 5.98955105772412, + "heading": 0.01356138301057283, + "angularVelocity": 0.11153382072299174, + "velocityX": 0.7321431639579529, + "velocityY": 0.25986418174164866, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.98966187496976, + 65.63607487564173, + 66.75337651863275, + 67.18049496615569 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.737546831877253, + 24.06330093523448, + 20.728197036288822, + 19.328491234701964 + ], + "timestamp": 0.20598478281599295 }, { - "x": 2.2369371796137325, - "y": 5.999923382651596, - "heading": 0.017974182463991455, - "angularVelocity": 0.139423651412969, - "velocityX": 0.9233575460523492, - "velocityY": 0.32558300599701506, - "timestamp": 0.22220596249667332, + "x": 2.237116619497471, + "y": 5.999871842849606, + "heading": 0.0179912009102765, + "angularVelocity": 0.12903335399278043, + "velocityX": 0.8550183213739508, + "velocityY": 0.3006275993127318, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.19760321976479, + 65.79794899696836, + 66.89129155023659, + 67.28532222803032 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.18574333334941, + 23.596400087689826, + 20.25331199636359, + 18.93451310998173 + ], + "timestamp": 0.24031557995199176 }, { - "x": 2.270472646569135, - "y": 6.0116268035707865, - "heading": 0.022985678275806047, - "angularVelocity": 0.15787366949359927, - "velocityX": 1.0564445078350972, - "velocityY": 0.36868473516117956, - "timestamp": 0.2539496714247695, + "x": 2.2706993334227707, + "y": 6.011557735483579, + "heading": 0.023007089276588077, + "angularVelocity": 0.14610462863537718, + "velocityX": 0.9782095589643559, + "velocityY": 0.3403909494929491, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.42898697522055, + 65.97930665286111, + 67.04378510633943, + 67.40220776596189 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.554543859317832, + 23.060262717881237, + 19.712999126732903, + 18.483955731362663 + ], + "timestamp": 0.2746463770879906 }, { - "x": 2.3082454850008034, - "y": 6.024659167637654, - "heading": 0.02856591078801465, - "angularVelocity": 0.17579018648543426, - "velocityX": 1.1899314764141191, - "velocityY": 0.41054950750668673, - "timestamp": 0.2856933803528657, + "x": 2.3085234426752606, + "y": 6.02456910897665, + "heading": 0.028592054721350235, + "angularVelocity": 0.16268091366005127, + "velocityX": 1.1017544714342642, + "velocityY": 0.37900004015424, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.68756567934437, + 66.18378238431038, + 67.21292387559689, + 67.53326675814299 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.8259581135559, + 22.43803591196146, + 19.093284904828803, + 17.963519293256997 + ], + "timestamp": 0.30897717422398946 }, { - "x": 2.350269999641707, - "y": 6.03897465321323, - "heading": 0.034695085760854436, - "angularVelocity": 0.1930831392993197, - "velocityX": 1.323869077053848, - "velocityY": 0.4509707926064986, - "timestamp": 0.31743708928096187, + "x": 2.350602599723297, + "y": 6.038859731023892, + "heading": 0.03472623728144673, + "angularVelocity": 0.17867871042424094, + "velocityX": 1.2256970579898063, + "velocityY": 0.4162624593489693, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.97778841539856, + 66.41578447634723, + 67.40112868630143, + 67.68104231611154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 22.97614463453766, + 21.70722497684217, + 18.37571774881763, + 17.35551080489583 + ], + "timestamp": 0.3433079713599883 }, { - "x": 2.3965623891443495, - "y": 6.054519113336024, - "heading": 0.0413497715036912, - "angularVelocity": 0.20963793984853818, - "velocityX": 1.458316972585085, - "velocityY": 0.48968632361146647, - "timestamp": 0.34918079820905806, + "x": 2.396952227277539, + "y": 6.054374984810341, + "heading": 0.041386130200759666, + "angularVelocity": 0.19399179380922285, + "velocityX": 1.3500888828951425, + "velocityY": 0.4519339800059657, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.30485597807213, + 66.68062771547972, + 67.61118008520802, + 67.84856417359302 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 21.97286334642089, + 20.83714634837422, + 17.535445138663125, + 16.63588619487533 + ], + "timestamp": 0.37763876849598715 }, { - "x": 2.4471410825572004, - "y": 6.071227617313664, - "heading": 0.04850181812451799, - "angularVelocity": 0.2253059539144659, - "velocityX": 1.5933454256218078, - "velocityY": 0.5263563881424058, - "timestamp": 0.38092450713715426, + "x": 2.447589816608065, + "y": 6.071049399108999, + "heading": 0.0485434969460075, + "angularVelocity": 0.2084823931379885, + "velocityX": 1.4749901999050463, + "velocityY": 0.4856984308462963, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.67465015497625, + 66.98460218466148, + 67.84613521509056, + 68.03935577377268 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 20.77150005596315, + 19.784887016527513, + 16.538223449549154, + 15.771156254967684 + ], + "timestamp": 0.411969565631986 }, { - "x": 2.5020271147547666, - "y": 6.089020938374403, - "heading": 0.05611681521560166, - "angularVelocity": 0.23988996082133435, - "velocityX": 1.7290365256905385, - "velocityY": 0.5605306267468754, - "timestamp": 0.41266821606525045, + "x": 2.50253524784926, + "y": 6.088803122663224, + "heading": 0.05616382591906999, + "angularVelocity": 0.22196772602963857, + "velocityX": 1.6004705927314447, + "velocityY": 0.5171369451136703, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.09331812869632, + 67.33480822071097, + 68.10901917588943, + 68.25727912011503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.30866165081074, + 18.488661702072754, + 15.335612705867268, + 14.713316180181062 + ], + "timestamp": 0.44630036276798485 }, { - "x": 2.561244492876039, - "y": 6.107800369655392, - "heading": 0.06415181877617589, - "angularVelocity": 0.2531211327187972, - "velocityX": 1.8654839059735924, - "velocityY": 0.5915953716537398, - "timestamp": 0.44441192499334664, + "x": 2.5618110741834017, + "y": 6.107536726372186, + "heading": 0.06420405338304129, + "angularVelocity": 0.23419868266153474, + "velocityX": 1.7266079228899, + "velocityY": 0.5456792522103749, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.56596297749746, + 67.73829243273512, + 68.40195642845269, + 68.50592407504001 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.49148414755277, + 16.856436842101136, + 13.856958992617065, + 13.391178606722999 + ], + "timestamp": 0.4806311599039837 }, { - "x": 2.6248204026171256, - "y": 6.127439774433694, - "heading": 0.07255187184184077, - "angularVelocity": 0.26462103356269817, - "velocityX": 2.0027876983466375, - "velocityY": 0.6186865190448766, - "timestamp": 0.47615563392144283, + "x": 2.625442600780978, + "y": 6.1271232436368805, + "heading": 0.07260907875106769, + "angularVelocity": 0.24482464927133912, + "velocityX": 1.8534823512982852, + "velocityY": 0.5705232298308672, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.09302114437389, + 68.19918557322396, + 68.72389254013876, + 68.7867401276707 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.179071821072112, + 14.745521126614777, + 11.995430241008034, + 11.694812357383569 + ], + "timestamp": 0.5149619570399825 }, { - "x": 2.6927848123865834, - "y": 6.14777283178745, - "heading": 0.08124443551167423, - "angularVelocity": 0.2738357918264941, - "velocityX": 2.141035564665967, - "velocityY": 0.6405381740302919, - "timestamp": 0.507899342849539, + "x": 2.693457283500248, + "y": 6.147395423899793, + "heading": 0.08130618884791904, + "angularVelocity": 0.2533325999509542, + "velocityX": 1.9811565239757667, + "velocityY": 0.5904954721151802, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.6604826409098, + 68.71003684438185, + 69.0646253843257, + 69.09359195948814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.148914870609879, + 11.92398818556269, + 9.582479506138572, + 9.445947744661394 + ], + "timestamp": 0.5492927541759813 }, { - "x": 2.7651681706057807, - "y": 6.1685714629691, - "heading": 0.09012999755945103, - "angularVelocity": 0.27991568559003044, - "velocityX": 2.280242626441548, - "velocityY": 0.655204822749479, - "timestamp": 0.5396430517776352, + "x": 2.765882080335776, + "y": 6.168124227133716, + "heading": 0.09019565983991693, + "angularVelocity": 0.2589357583741191, + "velocityX": 2.1096159389664138, + "velocityY": 0.6037961528189344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21289716514161, + 69.22539395541027, + 69.38856916211596, + 69.39647787507012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 8.033719938362479, + 7.993604033373698, + 6.338557531651389, + 6.337807554619031 + ], + "timestamp": 0.5836235513119802 }, { - "x": 2.8419931281714104, - "y": 6.189507110191248, - "heading": 0.09906528191141717, - "angularVelocity": 0.28148205278115124, - "velocityX": 2.420163243672891, - "velocityY": 0.65952114384502, - "timestamp": 0.5713867607057314, + "x": 2.842734572762996, + "y": 6.18898036656024, + "heading": 0.0991339695263516, + "angularVelocity": 0.260358349706424, + "velocityX": 2.238587473596208, + "velocityY": 0.6075052479528107, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.5751655066476, + 69.57666717920691, + 69.58754264011381, + 69.58914858955033 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.2001106034362548, + 2.2283062594531042, + 1.7726560083554228, + 1.8033831247027776 + ], + "timestamp": 0.617954348447979 }, { - "x": 2.923246509702383, - "y": 6.21007727563667, - "heading": 0.10783160033295475, - "angularVelocity": 0.27615923650876134, - "velocityX": 2.559668806030865, - "velocityY": 0.6480076254481864, - "timestamp": 0.6031304696338275, + "x": 2.9239939219493367, + "y": 6.209461767209831, + "heading": 0.1079022087222234, + "angularVelocity": 0.2554044743306453, + "velocityX": 2.366952007098431, + "velocityY": 0.5965897199665499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21283527814761, + 69.17471396563033, + 69.3305046871984, + 69.30052412449801 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.471430667899699, + -6.762359522411538, + -5.029873168991403, + -5.292719069542716 + ], + "timestamp": 0.6522851455839779 }, { - "x": 3.0087812329232086, - "y": 6.229466168623038, - "heading": 0.11607630855981195, - "angularVelocity": 0.2597273130727852, - "velocityX": 2.694540937688452, - "velocityY": 0.6107948201729568, - "timestamp": 0.6348741785619237, + "x": 3.00950166718468, + "y": 6.228757364222435, + "heading": 0.11614785910525105, + "angularVelocity": 0.240182316488695, + "velocityX": 2.4907008391506746, + "velocityY": 0.5620491984548348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.48791647903086, + 65.91504118497275, + 67.53713079444167, + 67.1175212709934 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -19.82646048179456, + -21.533827649507987, + -15.82367260713622, + -17.356614398727814 + ], + "timestamp": 0.6866159427199767 }, { - "x": 3.0979818735027176, - "y": 6.246361893248638, - "heading": 0.12324903142117805, - "angularVelocity": 0.22595730314988358, - "velocityX": 2.810025784370449, - "velocityY": 0.5322542700937218, - "timestamp": 0.6666178874900199, + "x": 3.0986312119022137, + "y": 6.245573129269948, + "heading": 0.1233217976756876, + "angularVelocity": 0.20896510331576448, + "velocityX": 2.5961979375093764, + "velocityY": 0.4898157470942687, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.858871717522625, + 53.01788966332176, + 60.52118849594493, + 57.2712931684477 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.47512135804582, + -44.38236754593689, + -33.451856205947344, + -38.574896728542356 + ], + "timestamp": 0.7209467398559756 }, { - "x": 3.1891159324545155, - "y": 6.259285555621032, - "heading": 0.12873166157260418, - "angularVelocity": 0.1727154871488241, - "velocityX": 2.8709329195972866, - "velocityY": 0.40712515357501006, - "timestamp": 0.6983615964181161, + "x": 3.189664879324751, + "y": 6.25846120684219, + "heading": 0.12880930102232513, + "angularVelocity": 0.15984200206302293, + "velocityX": 2.651661919235826, + "velocityY": 0.3754086315323676, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.750552382924674, + 22.042924384307877, + 38.74366324858003, + 25.15755237279677 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.32625068839681, + -65.46419116757232, + -57.02192372103007, + -64.08524397055733 + ], + "timestamp": 0.7552775369919744 }, { - "x": 3.2799147655356333, - "y": 6.267810501767619, - "heading": 0.13233373871668666, - "angularVelocity": 0.1134737327714805, - "velocityX": 2.860372531980369, - "velocityY": 0.26855545348842214, - "timestamp": 0.7301053053462123, + "x": 3.280369797053239, + "y": 6.266994731755817, + "heading": 0.1324204673237153, + "angularVelocity": 0.10518737118409427, + "velocityX": 2.642085978055375, + "velocityY": 0.2485676309764849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.638611020582371, + -10.67286361619108, + 2.083456482695454, + -15.714675392154005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.11687929447591, + -68.41523453228433, + -68.95914043408075, + -67.23944575775617 + ], + "timestamp": 0.7896083341279733 }, { - "x": 3.368930673043237, - "y": 6.2722939827484225, - "heading": 0.13423316054281098, - "angularVelocity": 0.05983616566124247, - "velocityX": 2.8042062667984893, - "velocityY": 0.14123998525071657, - "timestamp": 0.7618490142743085, + "x": 3.369310233708164, + "y": 6.2715126653214925, + "heading": 0.13432942745872825, + "angularVelocity": 0.05560488815481697, + "velocityX": 2.5906895287806986, + "velocityY": 0.1316000192997998, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -18.500935019032195, + -29.834192417264337, + -25.22168757098834, + -37.3598915526662 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -66.86252845012577, + -62.695053907961785, + -64.4679013116996, + -58.397834369685086 + ], + "timestamp": 0.8239391312639721 }, { - "x": 3.455418033445333, - "y": 6.273149165824332, - "heading": 0.13460089895534874, - "angularVelocity": 0.011584607626349263, - "velocityX": 2.7245512047125473, - "velocityY": 0.026940238075252306, - "timestamp": 0.7935927232024047, + "x": 3.4557394322415638, + "y": 6.27241599737361, + "heading": 0.13470596757598882, + "angularVelocity": 0.010967998085478445, + "velocityX": 2.517541267422858, + "velocityY": 0.026312586000806198, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -31.47635480411271, + -39.907639493456955, + -39.29540262490187, + -47.179061295883066 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.975002419306286, + -56.97802935875674, + -57.22696827675744, + -51.03677286394395 + ], + "timestamp": 0.858269928399971 }, { - "x": 3.53897038421859, - "y": 6.270691577134489, - "heading": 0.1335628529939654, - "angularVelocity": -0.03270084046371159, - "velocityX": 2.6320916362516953, - "velocityY": -0.07741970843436734, - "timestamp": 0.8253364321305009, + "x": 3.539247415691431, + "y": 6.270013676781026, + "heading": 0.1336754911276736, + "angularVelocity": -0.03001609441904524, + "velocityX": 2.4324510473513503, + "velocityY": -0.06997567178729008, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.10385159893205, + -45.624069903582665, + -46.66688446671502, + -52.23513547583587 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.58450666694686, + -52.629300140832484, + -51.566691422584576, + -46.01549906070549 + ], + "timestamp": 0.8926007255359698 }, { - "x": 3.619343411211179, - "y": 6.2651515676417615, - "heading": 0.13121159908477192, - "angularVelocity": -0.07406991774402583, - "velocityX": 2.531935608867881, - "velocityY": -0.17452306865816167, - "timestamp": 0.8570801410585971, + "x": 3.6195865664722082, + "y": 6.2645323793939465, + "heading": 0.1313302657325232, + "angularVelocity": -0.06831258201957759, + "velocityX": 2.340148131793142, + "velocityY": -0.1596612326059745, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -43.88358387792639, + -49.18246595525607, + -50.93271740300171, + -55.19661579277835 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.11892878690326, + -49.40635033209185, + -47.484620004209376, + -42.53707099583864 + ], + "timestamp": 0.9269315226719687 }, { - "x": 3.696377587829814, - "y": 6.256700197632999, - "heading": 0.12761684069301102, - "angularVelocity": -0.11324317520377067, - "velocityX": 2.42675412608914, - "velocityY": -0.26623763555482466, - "timestamp": 0.8888238499866933, + "x": 3.6965946477149063, + "y": 6.256140969068639, + "heading": 0.12773977617540969, + "angularVelocity": -0.10458509142360081, + "velocityX": 2.243119521449984, + "velocityY": -0.244428065333415, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.080455993219424, + -51.572573618965784, + -53.63373111051735, + -57.10696303117783 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -51.429858960765856, + -46.97149199102845, + -44.50606262348179, + -40.02463804173147 + ], + "timestamp": 0.9612623198079675 }, { - "x": 3.7699618707808793, - "y": 6.245468037234803, - "heading": 0.1228324760673318, - "angularVelocity": -0.15071851359642613, - "velocityX": 2.318074523608403, - "velocityY": -0.35383894250147446, - "timestamp": 0.9205675589147895, + "x": 3.7701584426756636, + "y": 6.24496861884857, + "heading": 0.12295775748724648, + "angularVelocity": -0.13929238721779807, + "velocityX": 2.14279309243359, + "velocityY": -0.32543229846403215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.33823974888955, + -53.27578449390745, + -55.46697398416175, + -58.42962156214053 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.32139265056159, + -45.08175035493465, + -42.27256901544603, + -38.136417670075964 + ], + "timestamp": 0.9955931169439663 }, { - "x": 3.8400150685867502, - "y": 6.2315574365397515, - "heading": 0.11690123481863413, - "angularVelocity": -0.18684777075463518, - "velocityX": 2.2068372024374066, - "velocityY": -0.438215985616424, - "timestamp": 0.9523112678428857, + "x": 3.8401950083753045, + "y": 6.231116742846834, + "heading": 0.11702681298174897, + "angularVelocity": -0.17275871812712484, + "velocityX": 2.0400506700207837, + "velocityY": -0.4034825042617307, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.00386455946747, + -54.54690428043461, + -56.7784289761054, + -59.39528468894767 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.63986400837724, + -43.57632953848604, + -40.552122696833955, + -36.66884032214732 + ], + "timestamp": 1.0299239140799652 }, { - "x": 3.906475492488988, - "y": 6.215050519883858, - "heading": 0.10985775018096655, - "angularVelocity": -0.22188600121123825, - "velocityX": 2.0936565431839025, - "velocityY": -0.5200059228516231, - "timestamp": 0.9840549767709819, + "x": 3.906641226892983, + "y": 6.214666811137069, + "heading": 0.1099814752334787, + "angularVelocity": -0.20521917158989028, + "velocityX": 1.9354697257525264, + "velocityY": -0.47915961999367995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.27623291017308, + -55.53109686215956, + -57.75504162693947, + -60.129754630147566 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.27531799168469, + -42.34876910772125, + -39.1958269556462, + -35.49596782785945 + ], + "timestamp": 1.064254711215964 }, { - "x": 3.9692948172312557, - "y": 6.196014512598508, - "heading": 0.10173064016138685, - "angularVelocity": -0.2560226984814519, - "velocityX": 1.9789535269668237, - "velocityY": -0.5996781071948685, - "timestamp": 1.015798685699078, + "x": 3.9694475904635653, + "y": 6.195685575453716, + "heading": 0.10185027997838428, + "angularVelocity": -0.2368484257118565, + "velocityX": 1.829446701216422, + "velocityY": -0.5528923668203768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.275936354759445, + -56.31627560654493, + -58.5052374724595, + -60.706774730098815 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.15016125318441, + -41.327082864385225, + -38.10594705484294, + -34.53662272619875 + ], + "timestamp": 1.0985855083519627 }, { - "x": 4.028434236538794, - "y": 6.174505389403469, - "heading": 0.09254395303933619, - "angularVelocity": -0.2894018195183511, - "velocityX": 1.8630280236469257, - "velocityY": -0.6775869588445468, - "timestamp": 1.047542394627174, + "x": 4.028574301177489, + "y": 6.174228657566913, + "heading": 0.09265720676792004, + "angularVelocity": -0.26777919469934186, + "velocityX": 1.7222644286323032, + "velocityY": -0.6250049424079317, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.07969746069281, + -56.95844245124601, + -59.095666058104136, + -61.17214695886769 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.20913664099934, + -40.46133220435036, + -37.21643876710898, + -33.73647685484354 + ], + "timestamp": 1.1329163054879614 }, { - "x": 4.083861945125214, - "y": 6.150570441683336, - "heading": 0.08231819631194325, - "angularVelocity": -0.3221349071262287, - "velocityX": 1.7461005804951526, - "velocityY": -0.7540060228735362, - "timestamp": 1.07928610355527, + "x": 4.083988711914462, + "y": 6.150343079254084, + "heading": 0.08242270455962232, + "angularVelocity": -0.29811431898171525, + "velocityX": 1.6141311988024838, + "velocityY": -0.6957478504855763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.73837734990431, + -57.494804008162475, + -59.569307733660494, + -61.555688207951505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.41223899656707, + -39.71598709098088, + -36.48137430480536, + -33.05795713699173 + ], + "timestamp": 1.1672471026239601 }, { - "x": 4.135551426431915, - "y": 6.124250129459578, - "heading": 0.07107108601922003, - "angularVelocity": -0.35430989863852635, - "velocityX": 1.6283378046271129, - "velocityY": -0.8291505029665418, - "timestamp": 1.1110298124833662, + "x": 4.13566358355021, + "y": 6.124069090163556, + "heading": 0.07116443864272094, + "angularVelocity": -0.327934882266282, + "velocityX": 1.5052045378101826, + "velocityY": -0.7653183521036747, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.28689926110773, + -57.95096913439125, + -59.95500629579599, + -61.87757597875207 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.72996657264737, + -39.06517064196295, + -35.867963324196104, + -32.47433156207773 + ], + "timestamp": 1.2015778997599589 }, { - "x": 4.183480250707313, - "y": 6.0955794475298, - "heading": 0.05881810384556654, - "angularVelocity": -0.38599718140717787, - "velocityX": 1.50986843988397, - "velocityY": -0.9031925662724984, - "timestamp": 1.1427735214114623, + "x": 4.183575860038958, + "y": 6.095441517842054, + "heading": 0.05889784597076922, + "angularVelocity": -0.35730579232863585, + "velocityX": 1.3956062918943792, + "velocityY": -0.8338743842182675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.74997950779216, + -58.345101168137255, + -60.272778347579354, + -62.15191332033851 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.14016156901713, + -38.489633599544064, + -35.35223697758305, + -31.966112215561353 + ], + "timestamp": 1.2359086968959576 }, { - "x": 4.227629208104442, - "y": 6.064588953496888, - "heading": 0.04557291906848408, - "angularVelocity": -0.4172538504270615, - "velocityX": 1.3907939206829834, - "velocityY": -0.9762719946527232, - "timestamp": 1.1745172303395583, + "x": 4.227705783945927, + "y": 6.064490784678283, + "heading": 0.04563655576919846, + "angularVelocity": -0.3862797053338778, + "velocityX": 1.285432544200825, + "velocityY": -0.9015442618812103, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.14557633180338, + -58.69041842812603, + -60.53691602694078, + -62.38882987790957 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.625889953509926, + -37.974782671311466, + -34.91630425629124, + -31.51879153502562 + ], + "timestamp": 1.2702394940319564 }, { - "x": 4.267981668593037, - "y": 6.031305555215571, - "heading": 0.031347713474676034, - "angularVelocity": -0.44812676508695654, - "velocityX": 1.2711955171966314, - "velocityY": -1.0485037635868417, - "timestamp": 1.2062609392676544, + "x": 4.268036242757101, + "y": 6.031243687525352, + "heading": 0.03139271340686883, + "angularVelocity": -0.41489984359826365, + "velocityX": 1.1747603369478106, + "velocityY": -0.9684335910181919, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.487041762358004, + -58.996756948597486, + -60.75787662850635, + -62.595771788874416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.173997866050605, + -37.509364997001356, + -34.54656040170151, + -31.121373304951614 + ], + "timestamp": 1.304570291167955 }, { - "x": 4.3045230996015675, - "y": 5.99575312358408, - "heading": 0.016153435256918744, - "angularVelocity": -0.47865478643897924, - "velocityX": 1.1511393042098552, - "velocityY": -1.1199835442045625, - "timestamp": 1.2380046481957505, + "x": 4.304552275849609, + "y": 5.995724004844339, + "heading": 0.016177233457616628, + "angularVelocity": -0.44320205816885766, + "velocityX": 1.06365235120676, + "velocityY": -1.0346302924545403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.78450756551545, + -59.27157918537438, + -60.94347529855445, + -62.77832192549877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.774112313649084, + -37.08457069981131, + -34.23248730148395, + -30.76539297044608 + ], + "timestamp": 1.3389010883039538 }, { "x": 4.337240695953369, "y": 5.957952976226807, - "heading": 0, - "angularVelocity": -0.5088704440149149, - "velocityX": 1.030679698642281, - "velocityY": -1.1907917705171907, - "timestamp": 1.2697483571238466, + "heading": -3.748903775736303e-19, + "angularVelocity": -0.4712163656885612, + "velocityX": 0.952160241845464, + "velocityY": -1.100208319308874, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.04580327156505, + -59.52064378970076, + -61.09966170200846, + -62.94073766862328 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.417937718287426, + -36.6934079772902, + -33.96583153475084, + -30.444248160560935 + ], + "timestamp": 1.3732318854399526 }, { - "x": 4.3631357670929365, - "y": 5.922844781507193, - "heading": -0.015001401099503393, - "angularVelocity": -0.5352972829698707, - "velocityX": 0.924017772165235, - "velocityY": -1.252771065764447, - "timestamp": 1.2977727868692683, + "x": 4.363104361732285, + "y": 5.922872680704654, + "heading": -0.015022415029525421, + "angularVelocity": -0.495716055309433, + "velocityX": 0.8534602692421129, + "velocityY": -1.1575945466260031, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.26791598336375, + -59.73292648961242, + -61.22565539935248, + -63.073877443826795 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.09005684153832, + -36.333966587385966, + -33.72210673134822, + -30.15095224369312 + ], + "timestamp": 1.4035363608924336 }, { - "x": 4.386013063556468, - "y": 5.886050856639685, - "heading": -0.030770580548153122, - "angularVelocity": -0.5626940348795785, - "velocityX": 0.8163340582253283, - "velocityY": -1.3129232316856283, - "timestamp": 1.32579721661469, + "x": 4.385948525307591, + "y": 5.8861045884428, + "heading": -0.030814295296223627, + "angularVelocity": -0.5211071972343064, + "velocityX": 0.7538214482915965, + "velocityY": -1.2132891829626955, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.81383778815615, + -60.3100636372535, + -61.81743453658069, + -63.65432325911988 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.291028830775076, + -35.360641520618536, + -32.614062392640484, + -28.895770614725272 + ], + "timestamp": 1.4338408363449147 }, { - "x": 4.40584258476598, - "y": 5.847627176742848, - "heading": -0.04733672158353509, - "angularVelocity": -0.5911321367061623, - "velocityX": 0.707579829086438, - "velocityY": -1.3710780289155786, - "timestamp": 1.3538216463601118, + "x": 4.405743381265775, + "y": 5.847704735957725, + "heading": -0.047404649636477454, + "angularVelocity": -0.5474555851088192, + "velocityX": 0.6531990955997038, + "velocityY": -1.2671347024397894, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.39371246513965, + -60.91584405408609, + -62.43734153909295, + -64.25328643336266 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.415504201475386, + -34.298739192283854, + -31.39913911182419, + -27.52742464166201 + ], + "timestamp": 1.4641453117973957 }, { - "x": 4.422592955723098, - "y": 5.807635111111906, - "heading": -0.06473120794982032, - "angularVelocity": -0.6206901094616508, - "velocityX": 0.5977060410962763, - "velocityY": -1.427042976225914, - "timestamp": 1.3818460761055336, + "x": 4.42245776233494, + "y": 5.807734556740447, + "heading": -0.06482467897363368, + "angularVelocity": -0.5748335543531102, + "velocityX": 0.5515482719829186, + "velocityY": -1.3189530133909995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.009798468639964, + -61.55075696892052, + -63.08540732234857, + -64.86861371823856 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.452918939980485, + -33.1372205284305, + -30.062478174750023, + -26.032097164466748 + ], + "timestamp": 1.4944497872498768 }, { - "x": 4.436231449424729, - "y": 5.766142144918943, - "heading": -0.08298784256354313, - "angularVelocity": -0.6514542768423776, - "velocityX": 0.48666445046428625, - "velocityY": -1.480599839850087, - "timestamp": 1.4098705058509553, + "x": 4.436059162988412, + "y": 5.76626160283, + "heading": -0.08310799473610317, + "angularVelocity": -0.6033206478408999, + "velocityX": 0.4488248171396337, + "velocityY": -1.3685422133595488, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.664281305808544, + -62.214805841958906, + -63.76086309564527, + -65.49698073700391 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.39086879623743, + -31.86339456023416, + -28.586691972862113, + -24.394058707869736 + ], + "timestamp": 1.5247542627023578 }, { - "x": 4.446724054726656, - "y": 5.723222715334596, - "heading": -0.10214308677500623, - "angularVelocity": -0.683519500145881, - "velocityX": 0.37440923498684786, - "velocityY": -1.5315005505636412, - "timestamp": 1.437894935596377, + "x": 4.446513808578709, + "y": 5.723360380748847, + "heading": -0.10229085791511323, + "angularVelocity": -0.6330042969755345, + "velocityX": 0.34498685208034635, + "velocityY": -1.415672815338117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.35913717840848, + -62.90728803297598, + -64.46175570107262, + -66.13348976465464 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.21474227070206, + -30.462664547799665, + -26.951411211699874, + -22.59544846487109 + ], + "timestamp": 1.5550587381548389 }, { - "x": 4.454035609213429, - "y": 5.678959179772936, - "heading": -0.12223631960196876, - "angularVelocity": -0.7169898909449176, - "velocityX": 0.2608993136770921, - "velocityY": -1.579462489112408, - "timestamp": 1.4659193653417988, + "x": 4.453786789549847, + "y": 5.67911331948614, + "heading": -0.12241243814646971, + "angularVelocity": -0.6639804824507911, + "velocityX": 0.2399969266104433, + "velocityY": -1.4600833903919712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.09592575370184, + -63.62649437747121, + -65.18440459312416, + -66.7711433853174 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.907280233850635, + -28.91824949026929, + -25.132775891636832, + -20.61607536778386 + ], + "timestamp": 1.58536321360732 }, { - "x": 4.458130023896409, - "y": 5.633442934952869, - "heading": -0.1433101145106275, - "angularVelocity": -0.7519794372302038, - "velocityX": 0.14610162348255104, - "velocityY": -1.624163104603462, - "timestamp": 1.4939437950872205, + "x": 4.457842287529481, + "y": 5.633611889204529, + "heading": -0.1435150903920659, + "angularVelocity": -0.6963543150148322, + "velocityX": 0.1338250512203607, + "velocityY": -1.5014755940242648, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.87547977436543, + -64.36930207135494, + -65.92263938528598, + -67.4001622637148 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.44805304153677, + -27.210890523556728, + -23.102888284700203, + -18.433274979405503 + ], + "timestamp": 1.615667689059801 }, { - "x": 4.458970636242968, - "y": 5.586775705010787, - "heading": -0.1654105284090244, - "angularVelocity": -0.7886124391882843, - "velocityX": 0.029995698545707234, - "velocityY": -1.6652338822239472, - "timestamp": 1.5219682248326423, + "x": 4.458643929769201, + "y": 5.586957888884517, + "heading": -0.16564464387269923, + "angularVelocity": -0.730240439744078, + "velocityX": 0.02645293237217455, + "velocityY": -1.5395085915004407, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.69744533366038, + -65.13062709790954, + -66.66673727277285, + -68.00711297277151 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.812850546923396, + -25.318561877535362, + -20.829271792851436, + -16.02188024885303 + ], + "timestamp": 1.645972164512282 }, { - "x": 4.4565207406871075, - "y": 5.539071013689049, - "heading": -0.18858739291328477, - "angularVelocity": -0.8270235903032963, - "velocityX": -0.08741999669990082, - "velocityY": -1.7022537748348157, - "timestamp": 1.549992654578064, + "x": 4.456155321028103, + "y": 5.539264917908058, + "heading": -0.18885069327347853, + "angularVelocity": -0.7657631110351215, + "velocityX": -0.08212017215081417, + "velocityY": -1.573792988142953, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.559607597390375, + -65.90269496186892, + -67.40195857263407, + -68.57381528909082 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.97299121242391, + -23.216222608279796, + -18.274424762591465, + -13.354396610823242 + ], + "timestamp": 1.676276639964763 }, { - "x": 4.450744361777594, - "y": 5.490455847567595, - "heading": -0.2128945907543178, - "angularVelocity": -0.8673574471218202, - "velocityX": -0.2061194094576707, - "velocityY": -1.7347423859497373, - "timestamp": 1.5780170843234858, + "x": 4.450340817972535, + "y": 5.490660038523048, + "heading": -0.21318687500928324, + "angularVelocity": -0.8030556996099505, + "velocityX": -0.1918694505926968, + "velocityY": -1.6038845305612601, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.45691169683313, + -66.6740825632039, + -68.10656254778002, + -69.07601390744352 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.894578756189855, + -20.8756712989269, + -15.395634422841082, + -10.401516685970867 + ], + "timestamp": 1.706581115417244 }, { - "x": 4.441607354345094, - "y": 5.441072501173689, - "heading": -0.2383902890539677, - "angularVelocity": -0.9097668902189089, - "velocityX": -0.3260372294994741, - "velocityY": -1.7621534797499967, - "timestamp": 1.6060415140689075, + "x": 4.441166630352014, + "y": 5.441285619994825, + "heading": -0.23871110014032842, + "angularVelocity": -0.8422592620376664, + "velocityX": -0.3027337541250857, + "velocityY": -1.6292781112691481, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.38005796156037, + -67.42848358684213, + -68.74919007886871, + -69.48183754299764 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.53777702078174, + -18.265605142334053, + -12.145337937076542, + -7.1331669947431 + ], + "timestamp": 1.7368855908697252 }, { - "x": 4.429078936103224, - "y": 5.39108056591739, - "heading": -0.26513708408252107, - "angularVelocity": -0.9544099655738234, - "velocityX": -0.44705345856029166, - "velocityY": -1.7838698489293998, - "timestamp": 1.6340659438143292, + "x": 4.428602354194388, + "y": 5.3913013263571505, + "heading": -0.2654856983400201, + "angularVelocity": -0.8835196056000261, + "velocityX": -0.41460134089194794, + "velocityY": -1.6494030301252949, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.31351892920739, + -68.14316236986195, + -69.28555696474102, + -69.75014436365909 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.8562495758431, + -15.352041107263801, + -8.472499656177916, + -3.5203426003455593 + ], + "timestamp": 1.7671900663222062 }, { - "x": 4.413133776945269, - "y": 5.340658976983783, - "heading": -0.29320198612106874, - "angularVelocity": -1.0014441790071809, - "velocityX": -0.5689735456815054, - "velocityY": -1.7992012466138827, - "timestamp": 1.662090373559751, + "x": 4.412623061045016, + "y": 5.340886161846482, + "heading": -0.2935774012714263, + "angularVelocity": -0.9269819890285007, + "velocityX": -0.5272915274322398, + "velocityY": -1.6636210908753837, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.23280585483087, + -68.78710007469651, + -69.65457155383382, + -69.82898608798288 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.79703949175229, + -12.099331905194738, + -4.325717312047185, + 0.4619636069144381 + ], + "timestamp": 1.7974945417746873 }, { - "x": 4.3937547772479375, - "y": 5.290007958751612, - "heading": -0.3226561346138084, - "angularVelocity": -1.0510168720757636, - "velocityX": -0.691503801268173, - "velocityY": -1.8073880072598505, - "timestamp": 1.6901148033051727, + "x": 4.3932120752419, + "y": 5.290240414516373, + "heading": -0.3230570553098914, + "angularVelocity": -0.972782191352918, + "velocityX": -0.6405319845761376, + "velocityY": -1.6712299610508299, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.10083625498451, + -69.31892297535352, + -69.77436806886332, + -69.65463049739164 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.301370269861964, + -8.47209764787623, + 0.3409691839448121, + 4.830434511895782 + ], + "timestamp": 1.8277990172271683 }, { - "x": 4.370936649023499, - "y": 5.23935060545745, - "heading": -0.3535740801853513, - "angularVelocity": -1.10324976645044, - "velocityX": -0.8142227489273355, - "velocityY": -1.8076140622428558, - "timestamp": 1.7181392330505945, + "x": 4.370364552645313, + "y": 5.239587234630158, + "heading": -0.3539989001569719, + "angularVelocity": -1.0210321869982177, + "velocityX": -0.7539322907078025, + "velocityY": -1.6714752237052024, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.86338616137459, + -69.68486370619684, + -69.53944605248209, + -69.15185854775216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.307147202790317, + -4.43847286845076, + 5.558467597685853, + 9.5875376105506 + ], + "timestamp": 1.8581034926796494 }, { - "x": 4.344690344443845, - "y": 5.188933704037928, - "heading": -0.3860324046425531, - "angularVelocity": -1.1582153411169682, - "velocityX": -0.9365508885668746, - "velocityY": -1.7990339813340146, - "timestamp": 1.7461636627960162, + "x": 4.3440919047915045, + "y": 5.189173454569071, + "heading": -0.38647918502127104, + "angularVelocity": -1.0717982865346063, + "velocityX": -0.8669560341014817, + "velocityY": -1.663575406218277, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.44396592891219, + -69.81726926502458, + -68.82116900719657, + -68.23653471218579 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.754304190650378, + 0.024916850219476157, + 11.328483153200837, + 14.714272511908566 + ], + "timestamp": 1.8884079681321304 }, { - "x": 4.315048226527169, - "y": 5.139027274908771, - "heading": -0.42010739431834127, - "angularVelocity": -1.2159030526341073, - "velocityX": -1.0577242136931926, - "velocityY": -1.7808187207559585, - "timestamp": 1.774188092541438, + "x": 4.314426962538789, + "y": 5.139269125737534, + "heading": -0.4205738393591102, + "angularVelocity": -1.1250699386399656, + "velocityX": -0.9788964108364497, + "velocityY": -1.6467643173626294, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73919848647414, + -69.63453451154618, + -67.4750374277156, + -66.82156814396812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.5944315567117942, + 4.92598745560294, + 17.605508751624225, + 20.162460945536377 + ], + "timestamp": 1.9187124435846115 }, { - "x": 4.2820696265426665, - "y": 5.089922231340629, - "heading": -0.45587149477143696, - "angularVelocity": -1.2761758500701854, - "velocityX": -1.1767804120934704, - "velocityY": -1.7522227575803986, - "timestamp": 1.8022125222868597, + "x": 4.281429522836343, + "y": 5.090165172855874, + "heading": -0.45635492923152976, + "angularVelocity": -1.1807196573498258, + "velocityX": -1.0888635823506692, + "velocityY": -1.6203531705624303, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.61703089920785, + -69.04372711201606, + -65.35847370206588, + -64.8270410762154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.194048979596526, + 10.24844827876243, + 24.278642981479297, + 25.848478852455102 + ], + "timestamp": 1.9490169190370925 }, { - "x": 4.245846101927616, - "y": 5.041925630666271, - "heading": -0.4933884602431478, - "angularVelocity": -1.3387235998206146, - "velocityX": -1.292569552498, - "velocityY": -1.7126700207770804, - "timestamp": 1.8302369520322814, + "x": 4.245191591327067, + "y": 5.0421686389155855, + "heading": -0.4938858166581078, + "angularVelocity": -1.2384602229934154, + "velocityX": -1.1957947124377506, + "velocityY": -1.5838100882343618, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.92169795397096, + -67.94734606326305, + -62.360600403862385, + -62.19415482033618 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.585247507814431, + 15.942408911472732, + 31.161098834629765, + 31.651284549424254 + ], + "timestamp": 1.9793213944895736 }, { - "x": 4.20650539300032, - "y": 4.995353304015392, - "heading": -0.5327075685418524, - "angularVelocity": -1.4030297371216962, - "velocityX": -1.4038005156455622, - "velocityY": -1.6618474336123745, - "timestamp": 1.8582613817777032, + "x": 4.205841318155371, + "y": 4.9955953084469344, + "heading": -0.5332153956059982, + "angularVelocity": -1.2978142126090002, + "velocityX": -1.298497089428239, + "velocityY": -1.5368466133551768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.49029418388638, + -66.25520256699261, + -58.4392111978375, + -58.900692178585466 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.483157501375835, + 21.916805528664433, + 37.99793758600645, + 37.41777577770135 + ], + "timestamp": 2.0096258699420546 }, { - "x": 4.164212950532524, - "y": 4.950520223954836, - "heading": -0.5738579425633289, - "angularVelocity": -1.4683750711537225, - "velocityX": -1.50912767367571, - "velocityY": -1.5997856323152906, - "timestamp": 1.886285811523125, + "x": 4.163544499193305, + "y": 4.950760070997066, + "heading": -0.5743724446020404, + "angularVelocity": -1.3581178483217295, + "velocityX": -1.3957284635528378, + "velocityY": -1.4794922789595681, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.18394202348796, + -63.9008833052263, + -53.65154738388261, + -54.97359264938544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.705699321967696, + 28.037338789203258, + 44.499014215187216, + 42.97705868886386 + ], + "timestamp": 2.0399303453945357 }, { - "x": 4.119170145989121, - "y": 4.907729664930321, - "heading": -0.6168445330043962, - "angularVelocity": -1.5338970616552692, - "velocityX": -1.6072692630172125, - "velocityY": -1.5269020427259838, - "timestamp": 1.9143102412685467, + "x": 4.118502757100692, + "y": 4.907966083689794, + "heading": -0.6173616429518156, + "angularVelocity": -1.4185758937548556, + "velocityX": -1.4863066071953779, + "velocityY": -1.4121342365544984, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.929609305353566, + -60.85966473539266, + -48.1615221305643, + -50.49344013279837 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 31.988356289119768, + 34.133673883317655, + 50.39204117227895, + 48.16197145646412 + ], + "timestamp": 2.0702348208470167 }, { - "x": 4.071608923365433, - "y": 4.867262744975817, - "heading": -0.6616471382328869, - "angularVelocity": -1.598698194235669, - "velocityX": -1.6971343594050328, - "velocityY": -1.4439872754632914, - "timestamp": 1.9423346710139684, + "x": 4.070948167085431, + "y": 4.867494324967954, + "heading": -0.6621626147993365, + "angularVelocity": -1.4783615680057265, + "velocityX": -1.5692266341923364, + "velocityY": -1.3355043477094137, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.75794158895834, + -57.16217368780631, + -42.21413044519476, + -45.58752924753544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.01735843400395, + 40.017419804054924, + 55.47644638105998, + 52.8325045738354 + ], + "timestamp": 2.1005392962994978 }, { - "x": 4.021783518702593, - "y": 4.829370015961046, - "heading": -0.708222820088443, - "angularVelocity": -1.6619671578924535, - "velocityX": -1.7779275123691076, - "velocityY": -1.3521320276271316, - "timestamp": 1.9703591007593901, + "x": 4.021134961350593, + "y": 4.829595207071862, + "heading": -0.7087323509031371, + "angularVelocity": -1.5367280049715561, + "velocityX": -1.6437573985713323, + "velocityY": -1.2506112490056172, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.81627800853847, + -52.8975977304853, + -36.08548897808752, + -40.41245300573412 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.48838281477228, + 45.50796619939891, + 59.65513903619869, + 56.89402628629821 + ], + "timestamp": 2.130843771751979 }, { - "x": 3.969960602751049, - "y": 4.79426629105861, - "heading": -0.7565108155122148, - "angularVelocity": -1.7230679040546606, - "velocityX": -1.8492050122807404, - "velocityY": -1.2526115685965424, - "timestamp": 1.9983835305048119, + "x": 3.9693296736756256, + "y": 4.794483431185774, + "heading": -0.7570101082391528, + "angularVelocity": -1.5930900177341047, + "velocityX": -1.7094929676707535, + "velocityY": -1.1586333490954897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.344364290054116, + -48.20335127892987, + -30.030237564272067, + -35.131488591278405 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.168823950630504, + 50.45884772418691, + 62.9336328994707, + 60.305037165223 + ], + "timestamp": 2.16114824720446 }, { - "x": 3.9164094697061533, - "y": 4.762129052357968, - "heading": -0.8064383857566846, - "angularVelocity": -1.7815731023973904, - "velocityX": -1.9108732463554607, - "velocityY": -1.1467579891038302, - "timestamp": 2.0264079602502334, + "x": 3.9158013473423825, + "y": 4.762336420314302, + "heading": -0.8069232375978245, + "angularVelocity": -1.6470547209087352, + "velocityX": -1.766350531860491, + "velocityY": -1.0608007692421602, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -41.621196258223755, + -43.24374077066979, + -24.245979143518756, + -29.893697675679906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.9361925246211, + 54.77617054468866, + 65.39384257304336, + 63.07357945876916 + ], + "timestamp": 2.191452722656941 }, { - "x": 3.8613936225255663, - "y": 4.733099950552934, - "heading": -0.8579262476213516, - "angularVelocity": -1.8372492262069025, - "velocityX": -1.9631388642109393, - "velocityY": -1.0358498663037214, - "timestamp": 2.054432389995655, + "x": 3.8608131512700585, + "y": 4.73329583514425, + "heading": -0.8583925932626195, + "angularVelocity": -1.698407739988823, + "velocityX": -1.8145239358638072, + "velocityY": -0.9582936096548171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.90770147734899, + -38.184814186203475, + -18.8613253333801, + -24.81985396620306 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.779466879149396, + 58.42404744842871, + 67.15902253906324, + 65.24559835972163 + ], + "timestamp": 2.221757198109422 }, { - "x": 3.805164500168681, - "y": 4.7072884154222505, - "heading": -0.910892878375897, - "angularVelocity": -1.8900163619991934, - "velocityX": -2.006432347336878, - "velocityY": -0.9210369440220643, - "timestamp": 2.082456819741077, + "x": 3.8046161414913247, + "y": 4.70747118918373, + "heading": -0.9113368216152766, + "angularVelocity": -1.7470762176918868, + "velocityX": -1.854412885874036, + "velocityY": -0.8521726766401756, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -30.407823709993494, + -33.17321274565878, + -13.94219336183619, + -19.99674262583503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.77152169568986, + 61.41769098217021, + 68.3635416145066, + 66.89028596298766 + ], + "timestamp": 2.252061673561903 }, { - "x": 3.747957470865572, - "y": 4.684776320796834, - "heading": -0.9652575650457059, - "angularVelocity": -1.9399034044105279, - "velocityX": -2.041327150018244, - "velocityY": -0.8033025053469364, - "timestamp": 2.1104812494864986, + "x": 3.7474452852035127, + "y": 4.6849445085653505, + "heading": -0.9656753997008748, + "angularVelocity": -1.793087564600941, + "velocityX": -1.8865482881384597, + "velocityY": -0.7433450103337247, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -25.25534237697502, + -28.323661426303413, + -9.506844609286137, + -15.47835401638123 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.03146062366021, + 63.80907423816297, + 69.13326000282754, + 68.08663080598738 + ], + "timestamp": 2.282366149014384 }, { - "x": 3.689989792880342, - "y": 4.665622858433567, - "heading": -1.0209423751702893, - "angularVelocity": -1.987009570950461, - "velocityX": -2.0684694929322522, - "velocityY": -0.683455918184957, - "timestamp": 2.1385056792319204, + "x": 3.689517445191862, + "y": 4.665775194643614, + "heading": -1.0213305990608283, + "angularVelocity": -1.8365339946973787, + "velocityX": -1.9115275597653718, + "velocityY": -0.6325571928077397, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -20.52027432488392, + -23.71547092383873, + -5.542064341249565, + -11.291180195070945 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.69221502409354, + 65.67095740963241, + 69.576003330713, + 68.91340143850817 + ], + "timestamp": 2.312670624466865 }, { - "x": 3.631460063326017, - "y": 4.6498690821793875, - "heading": -1.077873311902558, - "angularVelocity": -2.0314752967120566, - "velocityX": -2.088525264778511, - "velocityY": -0.562144400342476, - "timestamp": 2.166530108977342, + "x": 3.6310308444594965, + "y": 4.650004554459755, + "heading": -1.0782286359675521, + "angularVelocity": -1.877545677896419, + "velocityX": -1.9299657842312918, + "velocityY": -0.5204063079261506, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -16.22437756930785, + -19.395581790065012, + -2.01656775939531, + -7.440997894029679 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.87961890293475, + 67.08336985048967, + 69.77902896562671, + 69.44296835710057 + ], + "timestamp": 2.342975099919346 }, { - "x": 3.572548670883797, - "y": 4.637541856462143, - "heading": -1.1359808949883092, - "angularVelocity": -2.073461747968023, - "velocityX": -2.1021441998063306, - "velocityY": -0.4398742750245512, - "timestamp": 2.194554538722764, + "x": 3.572165527955165, + "y": 4.6376597357571, + "heading": -1.1363002486527993, + "angularVelocity": -1.9162718317400524, + "velocityX": -1.9424628087239388, + "velocityY": -0.4073595902364167, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -12.35766741885866, + -15.384937499120923, + 1.1094323046796777, + -3.9193860234638658 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.70223699522583, + 68.12422379904672, + 69.81033231727669, + 69.73831305404357 + ], + "timestamp": 2.373279575371827 }, { - "x": 3.5134188516985927, - "y": 4.628657132170972, - "heading": -1.1952003568393965, - "angularVelocity": -2.1131370874998674, - "velocityX": -2.1099383545837274, - "velocityY": -0.3170349716972457, - "timestamp": 2.2225789684681856, + "x": 3.5130844223598245, + "y": 4.628756991075184, + "heading": -1.1954808904059036, + "angularVelocity": -1.9528680457083845, + "velocityX": -1.9495835091414855, + "velocityY": -0.29377656431884014, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -8.891950852657674, + -11.68561824769648, + 3.878096464136991, + -0.7091206789300771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.2485262194632, + 68.86394449445618, + 69.72155930422437, + 69.8522353428386 + ], + "timestamp": 2.4035840508243083 }, { - "x": 3.45421805464654, - "y": 4.623222581268303, - "heading": -1.2554715918974453, - "angularVelocity": -2.1506676712268407, - "velocityX": -2.112471068629758, - "velocityY": -0.19392190856467523, - "timestamp": 2.2506033982136073, + "x": 3.453934701789817, + "y": 4.623304302825694, + "heading": -1.255710676665069, + "angularVelocity": -1.9874881633773434, + "velocityX": -1.9518476953266353, + "velocityY": -0.17993013137739372, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -5.790394363231538, + -8.287234339567451, + 6.33039890878487, + 2.2117776368195634 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.58797765413004, + 69.3631638193374, + 69.55124354514618, + 69.82785431768211 + ], + "timestamp": 2.4338885262767893 }, { - "x": 3.3950794189302482, - "y": 4.621239671353537, - "heading": -1.3167389565753878, - "angularVelocity": -2.186212716351497, - "velocityX": -2.1102529562069527, - "velocityY": -0.07075647685889055, - "timestamp": 2.278627827959029, + "x": 3.3948492637171523, + "y": 4.621303450579673, + "heading": -1.3169341833604236, + "angularVelocity": -2.020279373960996, + "velocityX": -1.9497264740752158, + "velocityY": -0.06602497539234502, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.013610996313895, + -5.171975621412837, + 8.504290959389824, + 4.867229054216356 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.77391746428104, + 69.67238796966257, + 69.32776114441377, + 69.69973807094894 + ], + "timestamp": 2.4641930017292704 }, { - "x": 3.3361232418560975, - "y": 4.622705275847479, - "heading": -1.3789509864906324, - "angularVelocity": -2.219921350064421, - "velocityX": -2.103742256656607, - "velocityY": 0.052297388644645955, - "timestamp": 2.306652257704451, + "x": 3.3359481939323627, + "y": 4.62275161597086, + "heading": -1.379100163161671, + "angularVelocity": -2.051379503292404, + "velocityX": -1.9436426107143645, + "velocityY": 0.04778717894192236, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.5231846416291386, + -2.3182661215447586, + 10.43393394205146, + 7.281264742464254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.84665771675773, + 69.8327496150092, + 69.07178821257445, + 69.49523991076322 + ], + "timestamp": 2.4944974771817514 }, { - "x": 3.2774583674363726, - "y": 4.627612911455795, - "heading": -1.442060075578285, - "angularVelocity": -2.251931249304374, - "velocityX": -2.0933476596185394, - "velocityY": 0.1751199097679249, - "timestamp": 2.3346766874498726, + "x": 3.277340151838969, + "y": 4.627642616513755, + "heading": -1.4421612241229065, + "angularVelocity": -2.0809157729893286, + "velocityX": -1.9339731580338415, + "velocityY": 0.1613953209837451, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.7165067279962736, + 0.29676930692387493, + 12.149550830487673, + 9.476921954875154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.83638420083122, + 69.87723716277021, + 68.79824202871414, + 69.2358055339082 + ], + "timestamp": 2.5248019526342325 }, { - "x": 3.219183461263326, - "y": 4.635953682667193, - "heading": -1.5060221459927505, - "angularVelocity": -2.2823683120585914, - "velocityX": -2.0794323632067755, - "velocityY": 0.2976250110052724, - "timestamp": 2.3627011171952943, + "x": 3.219123641927064, + "y": 4.635967847732618, + "heading": -1.5060734995230403, + "angularVelocity": -2.109004509923015, + "velocityX": -1.921053212196053, + "velocityY": 0.27471952886691403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.7375157002122097, + 2.695746454542657, + 13.677608238283165, + 11.475640702071427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.76556519212383, + 69.83203783416857, + 68.51776822401943, + 68.93813923552855 + ], + "timestamp": 2.5551064280867135 }, { "x": 3.1613881587982178, "y": 4.647716999053955, "heading": -1.5707963267948966, - "angularVelocity": -2.3113469708594327, - "velocityX": -2.0623185909625006, - "velocityY": 0.41975221239546007, - "timestamp": 2.390725546940716, + "angularVelocity": -2.135751446130294, + "velocityX": -1.9051800853434553, + "velocityY": 0.38770350405035975, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 5.568154204795038, + 4.9001096559571735, + 15.041154000832051, + 13.29699075177293 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.65086022000047, + 69.71780400675597, + 68.23785940414461, + 68.61519049296885 + ], + "timestamp": 2.5854109035391946 }, { - "x": 3.10814561374089, - "y": 4.661599970136062, - "heading": -1.6316805279181992, - "angularVelocity": -2.337024785845805, - "velocityX": -2.0437017348473057, - "velocityY": 0.532894362108114, - "timestamp": 2.4167775603776476, + "x": 3.108185221527127, + "y": 4.661593272885322, + "heading": -1.6316515247604821, + "angularVelocity": -2.1594633414292974, + "velocityX": -1.8879207780780738, + "velocityY": 0.4924033715479536, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.2538904655756165, + 6.910932898821231, + 16.274290554004168, + 14.936159324507924 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.49236508875862, + 69.54372106966952, + 67.9502598998558, + 68.27296899712108 + ], + "timestamp": 2.6135916078827592 }, { - "x": 3.055428663680876, - "y": 4.678424323710771, - "heading": -1.6931889627653025, - "angularVelocity": -2.3609858407297932, - "velocityX": -2.0235269027336233, - "velocityY": 0.6457985911698438, - "timestamp": 2.442829573814579, + "x": 3.0555092479169175, + "y": 4.67841350425895, + "heading": -1.6931302518214228, + "angularVelocity": -2.1815894418898742, + "velocityX": -1.8692213284668544, + "velocityY": 0.5968705099973275, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.295627172110974, + 8.322194061749228, + 16.7007063366619, + 15.842926163080705 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.3682965804274, + 69.38128745936949, + 67.83813253770288, + 68.05974633388993 + ], + "timestamp": 2.641772312226324 }, { - "x": 3.0032829116143174, - "y": 4.698182352912261, - "heading": -1.7552708867676743, - "angularVelocity": -2.3829990780811756, - "velocityX": -2.001601611053657, - "velocityY": 0.7584069941204404, - "timestamp": 2.4688815872515106, + "x": 3.0034058243619723, + "y": 4.698169583105865, + "heading": -1.7551818150553982, + "angularVelocity": -2.201916690139263, + "velocityX": -1.8489042331847503, + "velocityY": 0.7010498604314854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.537082555093805, + 9.863564199601926, + 17.22139240410499, + 16.79225700920491 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.20020626888221, + 69.17017244797493, + 67.69837160037534, + 67.82210865718163 + ], + "timestamp": 2.6699530165698886 }, { - "x": 2.951759926605772, - "y": 4.720864384158654, - "heading": -1.817868495309071, - "angularVelocity": -2.4027934997397216, - "velocityX": -1.9776968537679434, - "velocityY": 0.8706440790575167, - "timestamp": 2.494933600688442, + "x": 2.9519264854749574, + "y": 4.720851382327109, + "heading": -1.817748480216974, + "angularVelocity": -2.2201952229012933, + "velocityX": -1.826758418079426, + "velocityY": 0.8048698479895433, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 11.009188452793946, + 11.556522352812538, + 17.861499115534304, + 17.79484940835413 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.97188813115714, + 68.89736654807294, + 67.5218480239717, + 67.5549797256842 + ], + "timestamp": 2.6981337209134533 }, { - "x": 2.900918437449139, - "y": 4.746458145818845, - "heading": -1.8809155732314475, - "angularVelocity": -2.4200462691683855, - "velocityX": -1.951537806461976, - "velocityY": 0.9824101205132756, - "timestamp": 2.5209856141253737, + "x": 2.901129900040144, + "y": 4.7464461177808515, + "heading": -1.8807641258873575, + "angularVelocity": -2.2361274190356895, + "velocityX": -1.8025307251205933, + "velocityY": 0.9082361867789278, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 12.749856576175906, + 13.429010261309632, + 18.651524927902805, + 18.864991319735932 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.6606684832061, + 68.5451357378985, + 67.29626315310382, + 67.25135786871068 + ], + "timestamp": 2.726314425257018 }, { - "x": 2.850825842782793, - "y": 4.774947883106229, - "heading": -1.944335714599795, - "angularVelocity": -2.4343662159500172, - "velocityX": -1.9227916793305875, - "velocityY": 1.0935714184376848, - "timestamp": 2.5470376275623052, + "x": 2.8510833700745755, + "y": 4.774937452909107, + "heading": -1.9441524699460973, + "angularVelocity": -2.2493527232655888, + "velocityX": -1.7759148016822406, + "velocityY": 1.0110228183406351, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 14.805969879633219, + 15.517837709199926, + 19.628494636963328, + 20.021815510087507 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.2344487041549, + 68.0886681035604, + 67.00479309380141, + 66.90144641718224 + ], + "timestamp": 2.7544951296005826 }, { - "x": 2.801560136398716, - "y": 4.806313093575505, - "heading": -2.0080399486258997, - "angularVelocity": -2.4452710413465035, - "velocityX": -1.8910517800605635, - "velocityY": 1.2039457351427163, - "timestamp": 2.5730896409992368, + "x": 2.80186474009233, + "y": 4.80630422235369, + "heading": -2.0078247052989973, + "angularVelocity": -2.259426683472514, + "velocityX": -1.7465365443743757, + "velocityY": 1.1130583913792398, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 17.235794533196103, + 17.872109919198298, + 20.837411970553607, + 21.291065793774326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.64716284171081, + 67.4922617815083, + 66.62405840316912, + 66.49131630788537 + ], + "timestamp": 2.7826758339441473 }, { - "x": 2.753212376704843, - "y": 4.84052668356083, - "heading": -2.0719235447338953, - "angularVelocity": -2.4521558098625915, - "velocityX": -1.855816626646186, - "velocityY": 1.313280068281472, - "timestamp": 2.5991416544361683, + "x": 2.7535648429892494, + "y": 4.8405185752793445, + "heading": -2.0716763193116954, + "angularVelocity": -2.2657919842688092, + "velocityX": -1.7139350569181273, + "velocityY": 1.2141056699126636, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 20.111627853535712, + 20.558116854188764, + 22.33299068583468, + 22.70762242709875 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.83172232939705, + 66.70296779857262, + 66.1210590988091, + 66.00079210515909 + ], + "timestamp": 2.810856538287712 }, { - "x": 2.7058898612562734, - "y": 4.877552222226872, - "heading": -2.1358616797226424, - "angularVelocity": -2.454249271117854, - "velocityX": -1.816462883497472, - "velocityY": 1.421216012945561, - "timestamp": 2.6251936678731, + "x": 2.7062906395325994, + "y": 4.877543216440918, + "heading": -2.1355827820611224, + "angularVelocity": -2.267738306690716, + "velocityX": -1.6775380373856947, + "velocityY": 1.313829516472996, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.521994787868092, + 23.66621323946093, + 24.18155903333317, + 24.319166516887993 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.689010872087, + 65.63965628026335, + 65.44852232641247, + 65.40000668166525 + ], + "timestamp": 2.8390372426312767 }, { - "x": 2.659720184999156, - "y": 4.917339761356798, - "heading": -2.1997035219581984, - "angularVelocity": -2.450553097943996, - "velocityX": -1.7722114403511053, - "velocityY": 1.5272347078372241, - "timestamp": 2.6512456813100314, + "x": 2.6601692241125128, + "y": 4.917327216758852, + "heading": -2.1993936617514307, + "angularVelocity": -2.264346515699484, + "velocityX": -1.6366310386638336, + "velocityY": 1.4117461307179084, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.571466866010503, + 27.32003045986246, + 26.46275515475543, + 26.191561265608005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 64.07087598772038, + 64.1736181133508, + 64.53783758175037, + 64.64359266439178 + ], + "timestamp": 2.8672179469748413 }, { - "x": 2.6148563151123536, - "y": 4.959819338743969, - "heading": -2.263264109416659, - "angularVelocity": -2.4397572038847217, - "velocityX": -1.7220883904196647, - "velocityY": 1.6305679209787758, - "timestamp": 2.677297694746963, + "x": 2.615352820989959, + "y": 4.9597995200202645, + "heading": -2.262924550289382, + "angularVelocity": -2.2544109530909897, + "velocityX": -1.5903223204138341, + "velocityY": 1.507141295817621, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.37332655834013, + 31.68700454712973, + 29.269985430400947, + 28.416791376004312 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.754805181959455, + 62.09319582630642, + 63.28843199085655, + 63.66052054571002 + ], + "timestamp": 2.895398651318406 }, { - "x": 2.57148256826981, - "y": 5.004890715522668, - "heading": -2.326313161086277, - "angularVelocity": -2.4201220309611453, - "velocityX": -1.664890391199128, - "velocityY": 1.7300534904071132, - "timestamp": 2.7033497081838944, + "x": 2.5720246462173453, + "y": 5.004858715971104, + "heading": -2.3259459521622383, + "angularVelocity": -2.2363316794545516, + "velocityX": -1.5375121304414001, + "velocityY": 1.598937890320315, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 38.02433969549961, + 36.98361675189609, + 32.707210392358036, + 31.12451908527445 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.40992978870107, + 59.038392442219845, + 61.55226752078608, + 62.335606092199306 + ], + "timestamp": 2.9235793556619707 }, { - "x": 2.5298205674140557, - "y": 5.052407085126601, - "heading": -2.3885596943982783, - "angularVelocity": -2.3893175651351455, - "velocityX": -1.5991854509290115, - "velocityY": 1.8239039266181656, - "timestamp": 2.729401721620826, + "x": 2.5304047063947626, + "y": 5.052356860521208, + "heading": -2.3881680453282987, + "angularVelocity": -2.2079679914128647, + "velocityX": -1.4768949461012062, + "velocityY": 1.685484648326409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 44.54075705762021, + 43.44908931822235, + 36.87679664506169, + 34.49788189076758 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 53.56383095971628, + 54.38302129883973, + 59.1128565398128, + 60.474498248939376 + ], + "timestamp": 2.9517600600055354 }, { - "x": 2.490132038202787, - "y": 5.102149807083195, - "heading": -2.4496314755140496, - "angularVelocity": -2.3442249967978706, - "velocityX": -1.5234342369484943, - "velocityY": 1.9093619031408002, - "timestamp": 2.7554537350577575, + "x": 2.490752422014333, + "y": 5.102074479046572, + "heading": -2.449220434793151, + "angularVelocity": -2.1664607357053005, + "velocityX": -1.4070721546562297, + "velocityY": 1.764243289281663, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.72659874963324, + 51.20097116851405, + 41.84830397766024, + 38.790487817518716 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.609873515707804, + 47.05209251223105, + 55.66189899396466, + 57.73513211136444 + ], + "timestamp": 2.9799407643491 }, { - "x": 2.452710284842023, - "y": 5.153792814807895, - "heading": -2.5090526704829195, - "angularVelocity": -2.2808676616384806, - "velocityX": -1.4364246146023367, - "velocityY": 1.9823038956169858, - "timestamp": 2.781505748494689, + "x": 2.4533580640078463, + "y": 5.153685506769632, + "heading": -2.5086303887940833, + "angularVelocity": -2.1081784641233994, + "velocityX": -1.3269490198184202, + "velocityY": 1.83143143243845, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.974550078066045, + 59.75470602296251, + 47.59257395468554, + 44.32446532812842 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.95470539980517, + 35.404780398835946, + 50.78805454197, + 53.492246386976475 + ], + "timestamp": 3.0081214686926647 }, { - "x": 2.417845697613634, - "y": 5.206866100215564, - "heading": -2.5662496521434983, - "angularVelocity": -2.195491791797435, - "velocityX": -1.3382684341380409, - "velocityY": 2.037204745658009, - "timestamp": 2.8075577619316205, + "x": 2.418508728890223, + "y": 5.206721463548811, + "heading": -2.565828862173778, + "angularVelocity": -2.0297034695215745, + "velocityX": -1.2366381866385763, + "velocityY": 1.8819954296596613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.14399837468471, + 67.03403181914928, + 53.86951906944724, + 51.382532333890374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.429310784692767, + 17.89948116098355, + 44.01725077746314, + 46.58833030167728 + ], + "timestamp": 3.0363021730362294 }, { - "x": 2.3857600871145697, - "y": 5.260751237983873, - "heading": -2.6206772315252245, - "angularVelocity": -2.08918898009516, - "velocityX": -1.231598109556386, - "velocityY": 2.0683674948483968, - "timestamp": 2.833609775368552, + "x": 2.3864237470638274, + "y": 5.2605671024352745, + "heading": -2.6202731855088235, + "angularVelocity": -1.9319717020301566, + "velocityX": -1.1385443541520843, + "velocityY": 1.9107272206544537, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.87046162554932, + 69.2198742680153, + 60.100146347974146, + 59.70135455578984 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.831500691570918, + -4.305411202173186, + 34.97228693710161, + 35.038425085913005 + ], + "timestamp": 3.064482877379794 }, { - "x": 2.356544218134567, - "y": 5.314735552674231, - "heading": -2.6720662793567067, - "angularVelocity": -1.9725557088280796, - "velocityX": -1.1214438012912034, - "velocityY": 2.0721743761203633, - "timestamp": 2.8596617888054836, + "x": 2.3571929374847502, + "y": 5.314514017031777, + "heading": -2.671687682481483, + "angularVelocity": -1.8244574850166917, + "velocityX": -1.0372632714467167, + "velocityY": 1.9143210169202782, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.39824574980199, + 64.4391178393077, + 65.35574586567506, + 67.07811055597607 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.067887956676885, + -25.737498280666653, + 23.68454844486218, + 16.569043623327147 + ], + "timestamp": 3.0926635817233588 }, { - "x": 2.330129430188581, - "y": 5.368102945953001, - "heading": -2.7204400842018184, - "angularVelocity": -1.8568163632426362, - "velocityX": -1.0139250085193388, - "velocityY": 2.04849400250616, - "timestamp": 2.885713802242415, + "x": 2.3307490507149717, + "y": 5.367850936178513, + "heading": -2.7200847175276457, + "angularVelocity": -1.717382023392003, + "velocityX": -0.9383685534395148, + "velocityY": 1.892675161574316, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.12480288777331, + 55.610858089518615, + 68.65406955464766, + 68.60766002717858 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.44333630535355, + -41.62457545812811, + 10.889827283559294, + -7.729564581380426 + ], + "timestamp": 3.1208442860669234 }, { - "x": 2.306309859520889, - "y": 5.420242360939423, - "heading": -2.7658578652974755, - "angularVelocity": -1.7433501332096546, - "velocityX": -0.9143082443649937, - "velocityY": 2.0013583638224843, - "timestamp": 2.9117658156793467, + "x": 2.306890270566454, + "y": 5.419969954627309, + "heading": -2.765520834943455, + "angularVelocity": -1.6123130515786614, + "velocityX": -0.8466353380541353, + "velocityY": 1.8494576222577463, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.16791391283515, + 46.474413003611815, + 69.4970202961764, + 62.030222895856205 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.339310042053, + -51.7333325665575, + -2.08108191483473, + -30.466574670653106 + ], + "timestamp": 3.149024990410488 }, { - "x": 2.2848243549194245, - "y": 5.470705057059815, - "heading": -2.808343758268873, - "angularVelocity": -1.6308103430948317, - "velocityX": -0.8247157039696784, - "velocityY": 1.9369979307953407, - "timestamp": 2.937817829116278, + "x": 2.2853597733484414, + "y": 5.470422594202238, + "heading": -2.8080233202365656, + "angularVelocity": -1.5082123134660639, + "velocityX": -0.7640155815668817, + "velocityY": 1.790325712226186, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.594067950252395, + 38.66541006347669, + 68.15306624996389, + 51.79744963862425 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.72114684659206, + -57.88542583205651, + -13.90970247067551, + -45.94341589163301 + ], + "timestamp": 3.177205694754053 }, { - "x": 2.2654228000679097, - "y": 5.519181079523684, - "heading": -2.8479456215051604, - "angularVelocity": -1.5201075852411496, - "velocityX": -0.7447238156269963, - "velocityY": 1.8607399608947834, - "timestamp": 2.9638698425532097, + "x": 2.2659105609853487, + "y": 5.518897618264718, + "heading": -2.8476426689182115, + "angularVelocity": -1.405903422378187, + "velocityX": -0.6901606193364819, + "velocityY": 1.7201494849631138, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.07175677894405, + 32.39135727315273, + 65.38123639795018, + 42.322717788600436 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.01319288342034, + -61.67830423942064, + -23.84893134181381, + -54.95512736830392 + ], + "timestamp": 3.2053863990976175 }, { - "x": 2.247888448425393, - "y": 5.565455623210483, - "heading": -2.8847464453032123, - "angularVelocity": -1.412590389112856, - "velocityX": -0.6730516888826009, - "velocityY": 1.7762367503310765, - "timestamp": 2.9899218559901413, + "x": 2.248327893009022, + "y": 5.5651785685370765, + "heading": -2.884462867797081, + "angularVelocity": -1.3065748261639112, + "velocityX": -0.623925781341993, + "velocityY": 1.6422921765234857, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.91347891198986, + 27.4094503812168, + 61.95675993348544, + 34.85382760500512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.721146785626026, + -64.09546382358559, + -31.78339541593253, + -60.089358969916326 + ], + "timestamp": 3.233567103441182 }, { - "x": 2.232039117701984, - "y": 5.609376329385158, - "heading": -2.9188471410259273, - "angularVelocity": -1.308946650333392, - "velocityX": -0.6083725836308177, - "velocityY": 1.6858852879451771, - "timestamp": 3.015973869427073, + "x": 2.232430872400275, + "y": 5.609111506058861, + "heading": -2.918584848083935, + "angularVelocity": -1.2108278015643743, + "velocityX": -0.5641101235419373, + "velocityY": 1.55897230197574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 46.21911007131184, + 23.426590005778245, + 58.41818446145035, + 29.193401350672563 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -52.27335132688548, + -65.69295170278593, + -37.96298521796956, + -63.12133852647417 + ], + "timestamp": 3.261747807784747 }, { - "x": 2.2177225834921717, - "y": 5.650832312921057, - "heading": -2.9503511401259157, - "angularVelocity": -1.209273101914099, - "velocityX": -0.5495365739954405, - "velocityY": 1.591277527791001, - "timestamp": 3.0420258828640043, + "x": 2.2180681177387984, + "y": 5.650584152122666, + "heading": -2.950111648710374, + "angularVelocity": -1.1187371416299583, + "velocityX": -0.5096662768386963, + "velocityY": 1.471668186791612, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 42.9863092819125, + 20.201251650989143, + 55.05655078723537, + 24.890510230172367 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.99057572018311, + -66.78478942206799, + -42.74560011109294, + -65.00435814454416 + ], + "timestamp": 3.2899285121283115 }, { - "x": 2.2048112517628295, - "y": 5.689740878391115, - "heading": -2.9793561711588477, - "angularVelocity": -1.1133508395866407, - "velocityX": -0.4955982293115555, - "velocityY": 1.4934955244149806, - "timestamp": 3.068077896300936, + "x": 2.205112602186797, + "y": 5.689512611939707, + "heading": -2.9791404772237278, + "angularVelocity": -1.0300959180952132, + "velocityX": -0.4597300122117168, + "velocityY": 1.3813870420854406, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 40.172279719523914, + 17.552562030739384, + 51.99473710283351, + 21.56446501604868 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.10166953554667, + -67.55315142279363, + -46.464360767677796, + -66.23284792014884 + ], + "timestamp": 3.318109216471876 }, { - "x": 2.1931974509149272, - "y": 5.726038957702259, - "heading": -3.0059510066505495, - "angularVelocity": -1.0208360883923002, - "velocityX": -0.4457928319444466, - "velocityY": 1.3932926681086102, - "timestamp": 3.0941299097378674, + "x": 2.193457044307204, + "y": 5.725832790798517, + "heading": -3.0057595771158634, + "angularVelocity": -0.94458603900063, + "velocityX": -0.4136006587164834, + "velocityY": 1.2888314790153153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 37.723281863991836, + 15.348433071250627, + 49.26292618756846, + 18.94091108682691 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -58.767484044576854, + -68.10746039755159, + -49.38629182480442, + -67.0703123220427 + ], + "timestamp": 3.346289920815441 }, { - "x": 2.1827895833104405, - "y": 5.7596774671860915, - "heading": -3.0302147916610416, - "angularVelocity": -0.931359300471352, - "velocityX": -0.399503386933393, - "velocityY": 1.2912057475045753, - "timestamp": 3.120181923174799, + "x": 2.1830101197834697, + "y": 5.759494724590329, + "heading": -3.030047601212392, + "angularVelocity": -0.8618671769314669, + "velocityX": -0.3707119735678196, + "velocityY": 1.1945029258823405, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 35.58713624102764, + 13.492422731933559, + 46.84724143667396, + 16.82893061284596 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.10123040364695, + -68.51579291842802, + -51.712311373508115, + -67.66346172459087 + ], + "timestamp": 3.3744706251590055 }, { - "x": 2.1735090671525814, - "y": 5.7906175048600845, - "heading": -3.0522175233133915, - "angularVelocity": -0.8445693345589079, - "velocityX": -0.3562302844779268, - "velocityY": 1.1876255840606498, - "timestamp": 3.1462339366117305, + "x": 2.1736934411421127, + "y": 5.790458752510241, + "heading": -3.052074103924761, + "angularVelocity": -0.7816164721730671, + "velocityX": -0.3306048893517168, + "velocityY": 1.09876699824154, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.71769182056099, + 11.91343550850929, + 44.71625749111484, + 15.095427993762556 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.18333649852329, + -68.82191868740836, + -53.589813873431474, + -68.09776015272955 + ], + "timestamp": 3.40265132950257 }, { - "x": 2.165287928866771, - "y": 5.818827731905624, - "heading": -3.0720209570909076, - "angularVelocity": -0.7601498373804071, - "velocityX": -0.31556633062986994, - "velocityY": 1.082842487926418, - "timestamp": 3.172285950048662, + "x": 2.1654391745998707, + "y": 5.818692877697493, + "heading": -3.071900447493023, + "angularVelocity": -0.7035432232831756, + "velocityX": -0.29290490548461096, + "velocityY": 1.0018956532468513, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.07578511965468, + 10.558357642544498, + 42.83404796011619, + 13.646277947836888 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.07169018968533, + -69.05483078093086, + -55.126231261293604, + -68.42512567798003 + ], + "timestamp": 3.430832033846135 }, { - "x": 2.15806690849839, - "y": 5.844282532149564, - "heading": -3.0896796043938592, - "angularVelocity": -0.6778227466257346, - "velocityX": -0.27717705527303127, - "velocityY": 0.9770761214123779, - "timestamp": 3.1983379634855935, + "x": 2.15818816166946, + "y": 5.844170909601824, + "heading": -3.0895807949250123, + "angularVelocity": -0.6273919635378775, + "velocityX": -0.25730417671648464, + "velocityY": 0.9040949294139726, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 30.62880563161759, + 9.386935405470256, + 41.166024528876676, + 12.41369401198484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.808564676677285, + -69.23425260988475, + -56.400129260647965, + -68.67829818387514 + ], + "timestamp": 3.4590127381896996 }, { - "x": 2.151793962845926, - "y": 5.866960693109083, - "heading": -3.1052416789306485, - "angularVelocity": -0.5973463269724832, - "velocityX": -0.2407854451499951, - "velocityY": 0.8704955190668501, - "timestamp": 3.224389976922525, + "x": 2.151888433260581, + "y": 5.866871131139792, + "heading": -3.1051630505899435, + "angularVelocity": -0.5529406034341869, + "velocityX": -0.22354758532913763, + "velocityY": 0.8055235689362858, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.349807334417473, + 8.368227513091785, + 39.681184866987934, + 11.347943447861788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.425289328266246, + -69.37392279998289, + -57.46945049573408, + -68.87861060242322 + ], + "timestamp": 3.4871934425332642 }, { - "x": 2.1464230753720366, - "y": 5.8868444435667495, - "heading": -3.1187499404873535, - "angularVelocity": -0.5185112309805378, - "velocityX": -0.2061601682684892, - "velocityY": 0.7632327729986262, - "timestamp": 3.2504419903594566, + "x": 2.1464940271533135, + "y": 5.8867753250317225, + "heading": -3.1186896983318513, + "angularVelocity": -0.4799967941538346, + "velocityX": -0.19142197588470167, + "velocityY": 0.7063057633077613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.216560242576453, + 7.478132509099609, + 38.352672537528875, + 10.411893951176781 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.94541915460509, + -69.48361388883292, + -58.377401044734846, + -69.0403642063486 + ], + "timestamp": 3.515374146876829 }, { - "x": 2.1419133029864885, - "y": 5.90391873943064, - "heading": -3.1302424255201187, - "angularVelocity": -0.4411361548153143, - "velocityX": -0.17310648163399853, - "velocityY": 0.6553925632360712, - "timestamp": 3.276494003796388, + "x": 2.141964040082967, + "y": 5.903868050552187, + "heading": -3.130198527000848, + "angularVelocity": -0.4083939325535254, + "velocityX": -0.16074782997329776, + "velocityY": 0.6065400393148409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.210690879211114, + 6.697646659432581, + 37.15760037283036, + 9.577377073395729 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.38690789889434, + -69.57040744268548, + -59.15659339980533, + -69.17338453459683 + ], + "timestamp": 3.5435548512203936 }, { - "x": 2.1382280065351003, - "y": 5.918170725554471, - "heading": -3.139753071131935, - "angularVelocity": -0.36506374583446893, - "velocityX": -0.1414591797409874, - "velocityY": 0.5470589119083662, - "timestamp": 3.3025460172333196, + "x": 2.138261862002224, + "y": 5.918136097934882, + "heading": -3.139723250061058, + "angularVelocity": -0.33798740244707204, + "velocityX": -0.13137280160238285, + "velocityY": 0.5063055631522426, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 26.31695439065903, + 6.0116207757680575, + 36.07659553611826, + 8.822722535208243 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.76361658395057, + -69.63951995235462, + -59.831955987589986, + -69.28456526447967 + ], + "timestamp": 3.5717355555639583 }, { - "x": 2.135334224654641, - "y": 5.9295893243238895, - "heading": -3.1473122451070203, - "angularVelocity": -0.2901569966323474, - "velocityX": -0.11107709150637847, - "velocityY": 0.43830004913290593, - "timestamp": 3.328598030670251, + "x": 2.1353545526578306, + "y": 5.929568070890122, + "heading": -3.1472940319086296, + "angularVelocity": -0.2686512641867228, + "velocityX": -0.10316666712614439, + "velocityY": 0.4056666865336309, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.52263775319678, + 5.407861093607301, + 35.093277843299205, + 8.13105694871171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.08637470272, + -69.69485011745009, + -60.42278541586264, + -69.37882934226079 + ], + "timestamp": 3.599916259907523 }, { - "x": 2.133202160318781, - "y": 5.9381649169747, - "heading": -3.1529471958838693, - "angularVelocity": -0.2162961719058987, - "velocityX": -0.08183875465217869, - "velocityY": 0.32917197250689534, - "timestamp": 3.3546500441071827, + "x": 2.1332123301241612, + "y": 5.938154062926258, + "heading": -3.1529379346967326, + "angularVelocity": -0.200275433832152, + "velocityX": -0.07601735242501921, + "velocityY": 0.304676275350026, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.81707808029761, + 4.876470188059885, + 34.19376252487267, + 7.489109707274255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.36373679874626, + -69.73934909563606, + -60.94420545213015, + -69.4597438959309 + ], + "timestamp": 3.6280969642510876 }, { - "x": 2.131804756638863, - "y": 5.943889093714475, - "heading": -3.156682435526014, - "angularVelocity": -0.14337623658866083, - "velocityX": -0.053638989681216866, - "velocityY": 0.2197210881082821, - "timestamp": 3.3807020575441142, + "x": 2.1318081480719493, + "y": 5.943885403331479, + "heading": -3.156679298636291, + "angularVelocity": -0.13276332251832323, + "velocityX": -0.04982778411400237, + "velocityY": 0.20337818158650567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.191276467507578, + 4.40935744551698, + 33.36622128195192, + 6.886361214804645 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.60252905303796, + -69.77527572342512, + -61.40821429307362, + -69.52992355957504 + ], + "timestamp": 3.6562776685946523 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -0.07130472670475889, - "velocityX": -0.026386165427844832, - "velocityY": 0.10998619584120908, - "timestamp": 3.4067540709810458, + "angularVelocity": -0.06602988219409292, + "velocityX": -0.024513374858901666, + "velocityY": 0.10180910313487344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.637588935488733, + 3.999870801396503, + 32.60050919882265, + 6.314426202245476 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.80824926694498, + -69.80437544536804, + -61.82444420571596, + -69.59130116130751 + ], + "timestamp": 3.684458372938217 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -1.1257235159322888e-32, - "velocityX": -4.497825258620012e-34, - "velocityY": 8.02311483706782e-33, - "timestamp": 3.4328060844179773, + "angularVelocity": -4.96572927581281e-19, + "velocityX": 1.5959442979672463e-18, + "velocityY": 8.845539849416068e-19, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.149478697989796, + 3.6425162589989872, + 31.88785383771478, + 5.766601183017061 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.98536321352, + -69.82800767416529, + -62.200718440966405, + -69.6453133535377 + ], + "timestamp": 3.7126390772817817 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 2.1199185848236084, + "y": 5.957952976226807, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 1.3732318854399526, + "isStopPoint": false, + "x": 4.337240695953369, + "y": 5.957952976226807, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 2.5854109035391946, + "isStopPoint": false, + "x": 3.1613881587982178, + "y": 4.647716999053955, + "heading": -1.5707963267948966, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 3.7126390772817817, + "isStopPoint": true, + "x": 2.131117343902588, + "y": 5.946754455566406, + "heading": -3.158540067224243, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 } ], - "trajectoryWaypoints": [], "constraints": [ { "scope": [ @@ -4660,7 +4705,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "amp 5": { "waypoints": [ @@ -4671,7 +4716,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 18 + "controlIntervalCount": 19 }, { "x": 2.460571050643921, @@ -4680,7 +4725,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 13 + "controlIntervalCount": 14 }, { "x": 3.6838948726654053, @@ -4689,7 +4734,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 22 + "controlIntervalCount": 25 }, { "x": 8.369697570800781, @@ -4698,7 +4743,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 23 + "controlIntervalCount": 25 }, { "x": 3.5236947536468506, @@ -4707,7 +4752,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 14 + "controlIntervalCount": 16 }, { "x": 2.0189318656921387, @@ -4716,7 +4761,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 10 + "controlIntervalCount": 11 }, { "x": 2.6490187644958496, @@ -4725,7 +4770,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 11 + "controlIntervalCount": 12 }, { "x": 1.86711847782135, @@ -4734,7 +4779,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": false, - "controlIntervalCount": 10 + "controlIntervalCount": 12 }, { "x": 2.5558557510375977, @@ -4751,10 +4796,9 @@ "x": 0.7257580161094666, "y": 6.734513759613037, "heading": 1.0489622146743895, - "angularVelocity": -6.192528274226541e-39, - "velocityX": 4.367616489063668e-40, - "velocityY": -2.754805507678283e-40, - "timestamp": 0, + "angularVelocity": 3.560702415747362e-20, + "velocityX": 4.6566650472109595e-20, + "velocityY": -7.67851253430759e-20, "moduleForcesX": [ 0, 0, @@ -4766,2572 +4810,2946 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 0.7359588281336483, - "y": 6.73715165638492, - "heading": 1.040205662932865, - "angularVelocity": -0.18891919323128226, - "velocityX": 0.22007854630422122, - "velocityY": 0.056911595418114136, - "timestamp": 0.04635077882639643, + "x": 0.7349458263056264, + "y": 6.736901005461545, + "heading": 1.0410313626853176, + "angularVelocity": -0.1560265308045545, + "velocityX": 0.1807551260032127, + "velocityY": 0.04696515436594876, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.77863741281475, + 69.7513107771417, + 58.31129286497225, + 67.62014116586165 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.365581723918066, + -5.3491955198116745, + 38.6469404285886, + 17.791188373677336 + ], + "timestamp": 0.05083015015572263 }, { - "x": 0.7563770147164974, - "y": 6.742392850017265, - "heading": 1.0227991340994598, - "angularVelocity": -0.3755390799062996, - "velocityX": 0.44051442283902165, - "velocityY": 0.1130767112237008, - "timestamp": 0.09270155765279287, + "x": 0.7533353282744589, + "y": 6.741645801074208, + "heading": 1.0252632621160425, + "angularVelocity": -0.3102115677598463, + "velocityX": 0.3617833493015562, + "velocityY": 0.09334608688210272, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.88931883004255, + 69.744142742904, + 58.65730553318063, + 67.56867071865554 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.915322509522433, + -5.391641331723364, + 38.11335989119491, + 17.965935729450656 + ], + "timestamp": 0.10166030031144525 }, { - "x": 0.7870307911483414, - "y": 6.750198139973647, - "heading": 0.9968575893669767, - "angularVelocity": -0.5596787236228601, - "velocityX": 0.661343287167955, - "velocityY": 0.16839609072406708, - "timestamp": 0.1390523364791893, + "x": 0.7809416903717791, + "y": 6.748714774696191, + "heading": 1.0017587966777615, + "angularVelocity": -0.4624118828347558, + "velocityX": 0.5431099851708912, + "velocityY": 0.1390704847481553, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.0329904118336, + 69.73329960566443, + 59.063467603884355, + 67.46463433257982 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.313180905742954, + -5.472059002398743, + 37.473728412643496, + 18.331188053012433 + ], + "timestamp": 0.1524904504671679 }, { - "x": 0.8279404209012724, - "y": 6.760521979407147, - "heading": 0.9625044803517897, - "angularVelocity": -0.7411549467993643, - "velocityX": 0.8826093280148551, - "velocityY": 0.2227328147422812, - "timestamp": 0.18540311530558573, + "x": 0.8177816600322735, + "y": 6.758069546838051, + "heading": 0.9706262907054911, + "angularVelocity": -0.612481093935258, + "velocityX": 0.7247660994040371, + "velocityY": 0.18403982898339327, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.20490844544075, + 69.71970691689772, + 59.534131096356596, + 67.31587987124801 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.560935496648787, + -5.575405126367415, + 36.71326865136854, + 18.8467036246637 + ], + "timestamp": 0.2033206006228905 }, { - "x": 0.8791287844684664, - "y": 6.7733101956563, - "heading": 0.9198734496254627, - "angularVelocity": -0.9197478835468662, - "velocityX": 1.1043690065903007, - "velocityY": 0.2759007846890953, - "timestamp": 0.23175389413198216, + "x": 0.8638739713004835, + "y": 6.76966501688917, + "heading": 0.9319827137656648, + "angularVelocity": -0.7602491202846798, + "velocityX": 0.9067907752982476, + "velocityY": 0.228121892530428, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.39934278900921, + 69.70462099333616, + 60.07461323199193, + 67.13324992952326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.660553806044058, + -5.682696465093023, + 35.812569508315455, + 19.461811247926164 + ], + "timestamp": 0.25415075077861315 }, { - "x": 0.9406222307858362, - "y": 6.788496998498477, - "heading": 0.8691137148744773, - "angularVelocity": -1.0951215068273683, - "velocityX": 1.3266971531954002, - "velocityY": 0.3276493562073011, - "timestamp": 0.2781046729583786, + "x": 0.9192399416661748, + "y": 6.783447148737343, + "heading": 0.8859573541419334, + "angularVelocity": -0.9054736112863842, + "velocityX": 1.0892348379078312, + "velocityY": 0.2711408840214287, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.60960804762239, + 69.689700498591, + 60.690950974422464, + 66.93284858664386 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.614388714702265, + -5.770692032769962, + 34.74656641160418, + 20.112484046049627 + ], + "timestamp": 0.3049809009343358 }, { - "x": 1.0124518256432806, - "y": 6.806001018337905, - "heading": 0.8104018251055961, - "angularVelocity": -1.2666861540511007, - "velocityX": 1.5496955321177492, - "velocityY": 0.3776424103894355, - "timestamp": 0.32445545178477503, + "x": 0.983904335689352, + "y": 6.799350088787072, + "heading": 0.8326997886428025, + "angularVelocity": -1.047755423424321, + "velocityX": 1.2721661026977942, + "velocityY": 0.31286431381795593, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.82809666723472, + 69.67700457197292, + 61.38970807052022, + 66.73842504792154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.425447395390638, + -5.811649731489452, + 33.48272964945166, + 20.717861347413503 + ], + "timestamp": 0.3558110510900584 }, { - "x": 1.0946550980428575, - "y": 6.825719945182635, - "heading": 0.7439630462752712, - "angularVelocity": -1.4333907760032805, - "velocityX": 1.7735035846423053, - "velocityY": 0.4254281663440037, - "timestamp": 0.37080623061117146, + "x": 1.0578965645735279, + "y": 6.817292354030373, + "heading": 0.7723943696459228, + "angularVelocity": -1.1864104042999828, + "velocityX": 1.455675984775156, + "velocityY": 0.3529846988122497, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.04632112438263, + 69.66883997055368, + 62.17787914764026, + 66.58356333887164 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.097735094979605, + -5.773410206096803, + 31.977820693120183, + 21.175709622164334 + ], + "timestamp": 0.406641201245781 }, { - "x": 1.187278340782525, - "y": 6.847522953921924, - "heading": 0.6701061767445722, - "angularVelocity": -1.5934331935893635, - "velocityX": 1.998310386252222, - "velocityY": 0.47039142148940066, - "timestamp": 0.4171570094375679, + "x": 1.1412522629439987, + "y": 6.837171621279716, + "heading": 0.7052838154932164, + "angularVelocity": -1.320290299106089, + "velocityX": 1.6398869197726833, + "velocityY": 0.3910920425859111, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.25497535877996, + 69.66734661071521, + 63.06292746531208, + 66.51318061121054 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.636630643387315, + -5.620327973735599, + 30.1719392739009, + 21.35548555877683 + ], + "timestamp": 0.45747135140150363 }, { - "x": 1.2903794187577957, - "y": 6.871239235401886, - "heading": 0.5892765061515742, - "angularVelocity": -1.743868660669969, - "velocityX": 2.2243656004450014, - "velocityY": 0.5116695356681982, - "timestamp": 0.4635077882639643, + "x": 1.2340152225584982, + "y": 6.858857202651076, + "heading": 0.6317049758954995, + "angularVelocity": -1.4475432272440991, + "velocityX": 1.824959385921857, + "velocityY": 0.42662831616502395, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.444018645729, + 69.67369247131353, + 64.05292850950586, + 66.58352348252478 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 8.049134648562669, + -5.316043074696186, + 27.977102676235553, + 21.086045022043404 + ], + "timestamp": 0.5083015015572263 }, { - "x": 1.40403077681679, - "y": 6.8966389846255005, - "heading": 0.5021344290236092, - "angularVelocity": -1.8800563730406699, - "velocityX": 2.4519837840194127, - "velocityY": 0.5479896965431291, - "timestamp": 0.5098585670903608, + "x": 1.336239525446417, + "y": 6.882178327439258, + "heading": 0.5521410726482914, + "angularVelocity": -1.5652895575452175, + "velocityX": 2.0110958274716717, + "velocityY": 0.4588049556559801, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.60274338725351, + 69.68680091789643, + 65.15644802145972, + 66.85897841873941 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.343547834057763, + -4.829874363738353, + 25.25390648361354, + 20.131792157686757 + ], + "timestamp": 0.559131651712949 }, { - "x": 1.5283214649187693, - "y": 6.923398515312292, - "heading": 0.40967657292107107, - "angularVelocity": -1.9947422339726464, - "velocityX": 2.681523185780791, - "velocityY": 0.5773264519894711, - "timestamp": 0.5562093459167572, + "x": 1.4479913432769729, + "y": 6.906904206622588, + "heading": 0.46729855991002156, + "angularVelocity": -1.6691375586801804, + "velocityX": 2.1985340882956748, + "velocityY": 0.48644119892593296, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.71964032829244, + 69.70176512572654, + 66.38013506405288, + 67.40090950193512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.5273936612622405, + -4.149849209526449, + 21.75973717517193, + 18.14419205678952 + ], + "timestamp": 0.6099618018686717 }, { - "x": 1.6633533034799075, - "y": 6.951028990111667, - "heading": 0.31344699825620226, - "angularVelocity": -2.076115592907077, - "velocityX": 2.9132593233630564, - "velocityY": 0.5961167319941462, - "timestamp": 0.6025601247431536, + "x": 1.5693485685544746, + "y": 6.932706789834332, + "heading": 0.3782286281659802, + "angularVelocity": -1.752305107719883, + "velocityX": 2.3875047566400416, + "velocityY": 0.5076235882186242, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.78137648646972, + 69.70863030950251, + 67.71384580705609, + 68.23217282016584 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.6001234895423515, + -3.3072145051316206, + 17.02105149641646, + 14.560635914807682 + ], + "timestamp": 0.6607919520243943 }, { - "x": 1.8092073692389947, - "y": 6.978712169320396, - "heading": 0.215995436674554, - "angularVelocity": -2.1024794846845225, - "velocityX": 3.1467446600061115, - "velocityY": 0.5972538090981104, - "timestamp": 0.64891090356955, + "x": 1.7003910118077161, + "y": 6.959083901483894, + "heading": 0.2865508313656539, + "angularVelocity": -1.803610583865349, + "velocityX": 2.578045566494773, + "velocityY": 0.5189264947822261, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.76826577227244, + 69.6928342321807, + 69.04667853650925, + 69.21682182751653 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.528452765417669, + -2.4199848787536267, + 9.972415679659024, + 8.393777220370682 + ], + "timestamp": 0.711622102180117 }, { - "x": 1.9657314404497876, - "y": 7.004870027709754, - "heading": 0.12223564840481631, - "angularVelocity": -2.0228309133900075, - "velocityX": 3.376945871762865, - "velocityY": 0.5643456065178637, - "timestamp": 0.6952616823959463, + "x": 1.84114642080487, + "y": 6.985181493560528, + "heading": 0.1949723701363114, + "angularVelocity": -1.8016563191095023, + "velocityX": 2.769132268268646, + "velocityY": 0.5134274047327988, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.63335245704607, + 69.6374894894225, + 69.6223806720665, + 69.62704779671014 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.852656254437238, + -1.767437912661004, + -2.241176440831389, + -2.1539812823707956 + ], + "timestamp": 0.7624522523358397 }, { - "x": 2.1311616087002494, - "y": 7.026380908952331, - "heading": 0.04292195201676955, - "angularVelocity": -1.7111621076554204, - "velocityX": 3.5690914465551646, - "velocityY": 0.4640888845286682, - "timestamp": 0.7416124612223427, + "x": 1.9912773872627136, + "y": 7.009348952729066, + "heading": 0.10890055756168962, + "angularVelocity": -1.6933220207088358, + "velocityX": 2.9535810143766064, + "velocityY": 0.47545519921733215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.1558577068949, + 69.51726830085234, + 63.4802043496292, + 66.69172357283001 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.449071998499246, + -1.9100006415356654, + -28.162729429046532, + -19.824953357920638 + ], + "timestamp": 0.8132824024915624 }, { - "x": 2.2968963054159266, - "y": 7.042047366895359, - "heading": 0.004346790551392091, - "angularVelocity": -0.8322440839636805, - "velocityX": 3.575661529581302, - "velocityY": 0.33799772818715607, - "timestamp": 0.7879632400487391, + "x": 2.148503261513255, + "y": 7.028632606627301, + "heading": 0.03810348776957061, + "angularVelocity": -1.3928164598220931, + "velocityX": 3.0931617114816445, + "velocityY": 0.37937432486752937, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.33433984737214, + 69.22493314014443, + 18.47942017317723, + 53.40850196881618 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.913568038547456, + -3.8848383845555645, + -66.76509661276566, + -44.48010469413392 + ], + "timestamp": 0.864112552647285 + }, + { + "x": 2.3056499972911815, + "y": 7.042846888400874, + "heading": 0.004373222221168522, + "angularVelocity": -0.6635877613004575, + "velocityX": 3.091604791575267, + "velocityY": 0.2796427264138993, + "moduleForcesX": [ + -68.30025985333138, + 68.1190249450903, + -29.985030040340245, + 27.896961280069764 + ], + "moduleForcesY": [ + -9.268114697353543, + -9.678704097035373, + -62.7360059984554, + -63.68193116553009 + ], + "timestamp": 0.9149427028030077 }, { "x": 2.460571050643921, "y": 7.051084518432617, - "heading": 1.2991450543069827e-38, - "angularVelocity": -0.09378031311345789, - "velocityX": 3.5312188785656926, - "velocityY": 0.19497302453334203, - "timestamp": 0.8343140188751355, + "heading": -2.5476855649038215e-19, + "angularVelocity": -0.08603598863609044, + "velocityX": 3.0478181330986445, + "velocityY": 0.1620618866263923, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.408603959649, + 47.22818658385306, + -45.65746662582352, + 4.016216422047481 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.392025131847485, + -44.823034450385144, + -52.672960264834764, + -69.49307046042028 + ], + "timestamp": 0.9657728529587304 }, { - "x": 2.6474913754466702, - "y": 7.054201221280446, - "heading": 0.02263910050933059, - "angularVelocity": 0.40318272199585425, - "velocityX": 3.3288886773244903, - "velocityY": 0.055505771411816535, - "timestamp": 0.8904649878384419, + "x": 2.6339413968023475, + "y": 7.054256789624725, + "heading": 0.019203300499829927, + "angularVelocity": 0.3196930791555915, + "velocityX": 2.886238217130867, + "velocityY": 0.052811397984757445, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.66803284504324, + -66.90230204431042, + -51.3271112404498, + -11.395749457319827 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.669851433002323, + -14.937084837112758, + -47.342567439179255, + -68.80040546374998 + ], + "timestamp": 1.0258407798295648 }, { - "x": 2.820309176989229, - "y": 7.051878745268308, - "heading": 0.06322632791316712, - "angularVelocity": 0.7228232771968643, - "velocityX": 3.077734983620529, - "velocityY": -0.041361281114425025, - "timestamp": 0.9466159568017483, + "x": 2.7954059823990316, + "y": 7.052640165014191, + "heading": 0.05483010099103128, + "angularVelocity": 0.5931085413986503, + "velocityX": 2.688033265138227, + "velocityY": -0.026913274599785732, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.67163579849694, + -69.4291811112016, + -60.04175276669746, + -45.324064850652 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.497652317821833, + -5.157912474702854, + -35.67144532737477, + -53.0056611861017 + ], + "timestamp": 1.0859087067003992 }, { - "x": 2.9777656678643236, - "y": 7.046257900198069, - "heading": 0.11239647407414549, - "angularVelocity": 0.8756776075068299, - "velocityX": 2.80416337922841, - "velocityY": -0.10010236998603794, - "timestamp": 1.0027669257650547, + "x": 2.943837465947747, + "y": 7.0479371514642235, + "heading": 0.09905123347729747, + "angularVelocity": 0.7361854285625014, + "velocityX": 2.471060535647882, + "velocityY": -0.07829492035061607, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.69231623650948, + -69.68164005594598, + -65.47427288406016, + -62.76664335513325 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.695747707667005, + -3.796274322744726, + -24.3499460738395, + -30.53232142224293 + ], + "timestamp": 1.1459766335712336 }, { - "x": 3.1194596165451562, - "y": 7.038825412623418, - "heading": 0.16470690639468305, - "angularVelocity": 0.9316033772225991, - "velocityX": 2.5234461897429954, - "velocityY": -0.1323661498968442, - "timestamp": 1.058917894728361, + "x": 3.078822485301576, + "y": 7.041413339390925, + "heading": 0.14702705067066513, + "angularVelocity": 0.7986927415779024, + "velocityX": 2.2472062277778373, + "velocityY": -0.10860724538282249, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.72818603065281, + -69.7596079015204, + -68.38859769957736, + -68.22624212789155 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.504269469792757, + -3.5778058967556476, + -14.32746694542038, + -14.977778291346095 + ], + "timestamp": 1.206044560442068 }, { - "x": 3.2452843149183654, - "y": 7.03057315594096, - "heading": 0.2167574463663451, - "angularVelocity": 0.9269749201599022, - "velocityX": 2.240828621415836, - "velocityY": -0.146965525881678, - "timestamp": 1.1150688636916675, + "x": 3.2002272413081156, + "y": 7.033942900091201, + "heading": 0.19568354071036723, + "angularVelocity": 0.8100244602136751, + "velocityX": 2.0211244557781205, + "velocityY": -0.12436652451445952, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.77434380275785, + -69.78583366938213, + -69.6376533540184, + -69.65216445919802 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.025507414245834, + -3.7596029666501343, + -5.933180956814421, + -5.719254965505536 + ], + "timestamp": 1.2661124873129024 }, { - "x": 3.355235740479973, - "y": 7.022192571859501, - "heading": 0.26620122860501905, - "angularVelocity": 0.8805508284458017, - "velocityX": 1.958139415785662, - "velocityY": -0.14925092542811763, - "timestamp": 1.1712198326549739, + "x": 3.3080238664731816, + "y": 7.0261472273408945, + "heading": 0.24287978929626794, + "angularVelocity": 0.7857146241685362, + "velocityX": 1.7945787507678763, + "velocityY": -0.12978095227254638, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.8239122086594, + -69.7886520228163, + -69.89916016537913, + -69.91048737749132 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.3282449419012328, + -4.106012047192674, + 0.878821020380172, + -0.12273689529457388 + ], + "timestamp": 1.3261804141837368 }, { - "x": 3.449347146223145, - "y": 7.014187327613359, - "heading": 0.3113273059481728, - "angularVelocity": 0.8036562534235666, - "velocityX": 1.676042417089403, - "velocityY": -0.14256644887772138, - "timestamp": 1.2273708016182803, + "x": 3.4022269153277565, + "y": 7.018484956229672, + "heading": 0.28703597691860205, + "angularVelocity": 0.7351042381949414, + "velocityX": 1.5682753469608157, + "velocityY": -0.1275601058728031, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.86945425825346, + -69.77873168375358, + -69.63079148515935, + -69.84437925254852 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.476081074443016, + -4.5139716223726305, + 6.323043583788949, + 3.4062083090534006 + ], + "timestamp": 1.3862483410545712 }, { - "x": 3.5276639223656012, - "y": 7.006937973124809, - "heading": 0.35084892367317316, - "angularVelocity": 0.7038456941112984, - "velocityX": 1.394753778757316, - "velocityY": -0.12910470865226828, - "timestamp": 1.2835217705815867, + "x": 3.4828675798920314, + "y": 7.011305779541126, + "heading": 0.3269486683719763, + "angularVelocity": 0.6644592802278575, + "velocityX": 1.3424912222735663, + "velocityY": -0.11951763715744827, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.90481971910265, + -69.76168758297744, + -69.11151930555599, + -69.70484951130506 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.530159222254555, + -4.93017836808145, + 10.654158846675301, + 5.725785899615416 + ], + "timestamp": 1.4463162679254056 }, { - "x": 3.5902334259275532, - "y": 7.000741009960109, - "heading": 0.38377467023325373, - "angularVelocity": 0.5863789560176054, - "velocityX": 1.1143085278339506, - "velocityY": -0.11036253299120015, - "timestamp": 1.339672739544893, + "x": 3.5499824318742017, + "y": 7.004883816268423, + "heading": 0.3616813159505086, + "angularVelocity": 0.5782228451669209, + "velocityX": 1.1173159367806609, + "velocityY": -0.10691168494151992, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.92630545679408, + -69.74116847936006, + -68.49902504941353, + -69.56543288443771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.5490408840169897, + -5.324820377603457, + 14.108140021647282, + 7.3139438361029105 + ], + "timestamp": 1.50638419479624 }, { - "x": 3.6371010005522986, - "y": 6.995833525911573, - "heading": 0.4093219860754754, - "angularVelocity": 0.4549755118013431, - "velocityX": 0.8346708078247481, - "velocityY": -0.08739802961802687, - "timestamp": 1.3958237085081995, + "x": 3.603608456549921, + "y": 6.999439143018714, + "heading": 0.39049082373098204, + "angularVelocity": 0.479615483358086, + "velocityX": 0.8927563754785365, + "velocityY": -0.09064193710928861, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.93313236611834, + -69.71979888800568, + -67.87606438356872, + -69.44350000630614 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.41222223331554775, + -5.68083514756751, + 16.88297042084433, + 8.452802557587079 + ], + "timestamp": 1.5664521216670744 }, { - "x": 3.66830865544687, - "y": 6.992409233249185, - "heading": 0.42685683011593634, - "angularVelocity": 0.3122803464339083, - "velocityX": 0.5557812353151875, - "velocityY": -0.06098367892146618, - "timestamp": 1.4519746774715059, + "x": 3.6437809828914665, + "y": 6.9951521091089965, + "heading": 0.41277534215156864, + "angularVelocity": 0.370988638720721, + "velocityX": 0.6687849645276798, + "velocityY": -0.07136976641343479, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.92731442009801, + -69.69954529689043, + -67.28177950622583, + -69.33842985840653 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.3031874978566107, + -5.988417121750673, + 19.137047887565245, + 9.318539957354051 + ], + "timestamp": 1.6265200485379088 }, { - "x": 3.6838948726654057, - "y": 6.990629196166992, + "x": 3.6705329637424313, + "y": 6.992173078054131, + "heading": 0.4280363632647725, + "angularVelocity": 0.2540627237896862, + "velocityX": 0.44536214656613415, + "velocityY": -0.04959437107378946, + "moduleForcesX": [ + -69.9130518494196, + -69.68191935114989, + -66.73116533462952, + -69.24429616335611 + ], + "moduleForcesY": [ + 2.078832643850339, + -6.241695964940187, + 20.993959211074248, + 10.026747774671946 + ], + "timestamp": 1.6865879754087432 + }, + { + "x": 3.683894872665399, + "y": 6.990629196166991, "heading": 0.4358509294181536, - "angularVelocity": 0.1601770987798055, - "velocityX": 0.27757699477494313, - "velocityY": -0.03170091478485815, - "timestamp": 1.5081256464348123, + "angularVelocity": 0.1300954862348575, + "velocityX": 0.22244664697179467, + "velocityY": -0.025702266876332338, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.89582398543321, + -69.66813097066651, + -66.22664834740131, + -69.15410126557099 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.6999001640317095, + -6.436502596457702, + 22.548639741530515, + 10.656561967561206 + ], + "timestamp": 1.7466559022795776 }, { "x": 3.6838948726654057, "y": 6.990629196166992, "heading": 0.4358509294181536, - "angularVelocity": 1.0435886153944948e-33, - "velocityX": -4.398813100266421e-36, - "velocityY": 6.126892567484817e-35, - "timestamp": 1.5642766153981187, + "angularVelocity": -1.2333730839117325e-17, + "velocityX": -6.570442047017082e-17, + "velocityY": -1.2245938174983995e-17, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.88135144913926, + -69.65921540442886, + -65.76480592283446, + -69.06104743816472 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.132841893627689, + -6.568777063483323, + 23.87300716655661, + 11.2641878346189 + ], + "timestamp": 1.806723829150412 }, { - "x": 3.7215570287352393, - "y": 6.994729136514659, - "heading": 0.43005668474904696, - "angularVelocity": -0.06680027997690283, - "velocityX": 0.43419681316055564, - "velocityY": 0.04726710360937999, - "timestamp": 1.6510164415052868, + "x": 3.71273337002331, + "y": 6.993769042202617, + "heading": 0.4322417831610391, + "angularVelocity": -0.04117610957236326, + "velocityX": 0.32901330189513284, + "velocityY": 0.03582194658026348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.71453698773938, + 69.83668466139216, + 69.1781482564392, + 69.37129180692132 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.089460309970175, + 4.442994489214546, + 10.558732888487562, + 9.187548735499222 + ], + "timestamp": 1.8943752924530006 }, { - "x": 3.796881346879351, - "y": 7.002928986849061, - "heading": 0.41846747092712844, - "angularVelocity": -0.13360891233053568, - "velocityX": 0.8683936955447386, - "velocityY": 0.09453385719578568, - "timestamp": 1.737756267612455, + "x": 3.770409215130021, + "y": 7.0000485322545165, + "heading": 0.4250342548927282, + "angularVelocity": -0.082229411772068, + "velocityX": 0.6580134881043975, + "velocityY": 0.07164158833924725, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.71304944827605, + 69.83226933522268, + 69.17835779110943, + 69.36589901796629 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.0725506387521495, + 4.462841126281095, + 10.537489447174165, + 9.203907045587357 + ], + "timestamp": 1.9820267557555893 }, { - "x": 3.9098678253881354, - "y": 7.015228699436052, - "heading": 0.4010813400311802, - "angularVelocity": -0.20044000174115487, - "velocityX": 1.3025905582193407, - "velocityY": 0.14180006046811755, - "timestamp": 1.824496093719623, + "x": 3.8569210246227765, + "y": 7.009467420765238, + "heading": 0.4142408084540222, + "angularVelocity": -0.12314051622250871, + "velocityX": 0.9869978918480096, + "velocityY": 0.10745842860789051, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.71177894382569, + 69.82676570837756, + 69.17911035040915, + 69.35858035685686 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.046217868182784, + 4.489628757385104, + 10.50867498275736, + 9.229898671296848 + ], + "timestamp": 2.069678219058178 }, { - "x": 4.060516455934136, - "y": 7.031628207648926, - "heading": 0.3778952747869828, - "angularVelocity": -0.26730587649035237, - "velocityX": 1.7367873248889414, - "velocityY": 0.18906549561918942, - "timestamp": 1.9112359198267912, + "x": 3.9722671042293993, + "y": 7.022025405686271, + "heading": 0.3998763606111116, + "angularVelocity": -0.16388143793294585, + "velocityX": 1.3159629657890046, + "velocityY": 0.14327182281074755, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.71046021314075, + 69.8198974741911, + 69.18031501059886, + 69.34922401848952 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.011100927364985, + 4.524225520867054, + 10.471500531532943, + 9.264680490040897 + ], + "timestamp": 2.1573296823607664 }, { - "x": 4.2488272251585775, - "y": 7.052127424146422, - "heading": 0.3489054155525363, - "angularVelocity": -0.3342162480084887, - "velocityX": 2.170983937548847, - "velocityY": 0.23632992383646947, - "timestamp": 1.9979757459339593, + "x": 4.116445332756477, + "y": 7.037722109071731, + "heading": 0.3819594007871098, + "angularVelocity": -0.20441141709414523, + "velocityX": 1.6449038395231168, + "velocityY": 0.17908090515840447, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.70870186807899, + 69.81125494245507, + 69.18182561862704, + 69.33765890291046 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.968117835101205, + 4.56785613497144, + 10.424845294908108, + 9.307043580800269 + ], + "timestamp": 2.244981145663355 }, { - "x": 4.474800116757303, - "y": 7.076726238955359, - "heading": 0.31410737398629535, - "angularVelocity": -0.40117721152965535, - "velocityX": 2.605180362242515, - "velocityY": 0.28359308420269713, - "timestamp": 2.0847155720411275, + "x": 4.289452979479908, + "y": 7.056557046748935, + "heading": 0.3605137253969059, + "angularVelocity": -0.244669907178129, + "velocityX": 1.9738135589053831, + "velocityY": 0.2148844636088314, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.70590325334047, + 69.80020676267723, + 69.1833898066419, + 69.32360808819374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.918622597660823, + 4.6222581528834485, + 10.36710030631063, + 9.355212678388979 + ], + "timestamp": 2.3326326089659433 }, { - "x": 4.738435113924007, - "y": 7.105424517737501, - "heading": 0.27349664873677293, - "angularVelocity": -0.46819006991491213, - "velocityX": 3.0393765931808527, - "velocityY": 0.3308546958197185, - "timestamp": 2.1714553981482956, + "x": 4.491286398898758, + "y": 7.078529577887164, + "heading": 0.3355712760338317, + "angularVelocity": -0.284563981288573, + "velocityX": 2.3026816873889038, + "velocityY": 0.25068071097614525, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.7010882476608, + 69.78572381037138, + 69.18454768855949, + 69.30659318300002 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.864708408463554, + 4.689995025084493, + 10.295852357677372, + 9.406458202834528 + ], + "timestamp": 2.4202840722685317 }, { - "x": 5.0397322013332415, - "y": 7.138222100552868, - "heading": 0.22706916292795404, - "angularVelocity": -0.535249929501324, - "velocityX": 3.4735726474362245, - "velocityY": 0.378114463531955, - "timestamp": 2.2581952242554637, + "x": 4.72194047948587, + "y": 7.103638814434407, + "heading": 0.30717713963622795, + "angularVelocity": -0.3239436665155743, + "velocityX": 2.6314914993572556, + "velocityY": 0.28646682669538603, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.6925396842738, + 69.76599278747592, + 69.1844092905459, + 69.28571874852986 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.809852834739107, + 4.775141601596265, + 10.207186094205664, + 9.45626962121508 + ], + "timestamp": 2.50793553557112 }, { - "x": 5.378691360605004, - "y": 7.175118800998282, - "heading": 0.17482199373260704, - "angularVelocity": -0.6023434855725319, - "velocityX": 3.907768489793545, - "velocityY": 0.42537208225236767, - "timestamp": 2.344935050362632, + "x": 4.981407536663346, + "y": 7.131883439918011, + "heading": 0.27539929869654756, + "angularVelocity": -0.36254775154275365, + "velocityX": 2.960213639374207, + "velocityY": 0.322237922998781, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.67688532859252, + 69.73745332066291, + 69.18109511388192, + 69.25912145298439 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.7604772736185055, + 4.884973622706237, + 10.093948961885644, + 9.496355033319919 + ], + "timestamp": 2.5955869988737086 }, { - "x": 5.738476726652386, - "y": 7.214275337174484, - "heading": 0.17482198692716483, - "angularVelocity": -7.845810273487402e-8, - "velocityX": 4.147868196125519, - "velocityY": 0.45142511731373064, - "timestamp": 2.4316748764698, + "x": 5.2696747157392645, + "y": 7.16326128562478, + "heading": 0.24035065522211263, + "angularVelocity": -0.3998637575913615, + "velocityX": 3.2887891224683043, + "velocityY": 0.35798427688638956, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.64635558661865, + 69.69192233776894, + 69.17003460606135, + 69.22227995512395 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.730443281301375, + 5.034890855188263, + 9.940638314864696, + 9.508868750173416 + ], + "timestamp": 2.683238462176297 }, { - "x": 6.098262092919216, - "y": 7.253431871335105, - "heading": 0.17482198012188968, - "angularVelocity": -7.8456177092114e-8, - "velocityX": 4.147868198655502, - "velocityY": 0.4514250940766559, - "timestamp": 2.518414702576968, + "x": 5.586716138880711, + "y": 7.197768052856348, + "heading": 0.20225188541422048, + "angularVelocity": -0.43466210799589455, + "velocityX": 3.6170693698905665, + "velocityY": 0.3936815876171607, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.57781874992129, + 69.605182715032, + 69.13698178086617, + 69.16105934245041 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.758012435342232, + 5.267022460386698, + 9.703722345613507, + 9.444629908661236 + ], + "timestamp": 2.7708899254788855 }, { - "x": 6.458047460170514, - "y": 7.292588396450069, - "heading": 0.17482197331661464, - "angularVelocity": -7.8456175819358e-8, - "velocityX": 4.147868210005147, - "velocityY": 0.4514249897917174, - "timestamp": 2.605154528684136, + "x": 5.9324531112108065, + "y": 7.235390868816565, + "heading": 0.16171327180801012, + "angularVelocity": -0.4624978531895408, + "velocityX": 3.9444518014951417, + "velocityY": 0.42923203496321854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.35626504333894, + 69.3586338077277, + 69.00654865041916, + 69.00071035003579 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.010802975722171, + 5.764112803627707, + 9.186140262800697, + 9.088193864055215 + ], + "timestamp": 2.858541388781474 }, { - "x": 6.817884399372358, - "y": 7.33126802432734, - "heading": 0.17482195239203113, - "angularVelocity": -2.412338650069692e-7, - "velocityX": 4.148462769077504, - "velocityY": 0.44592697049544683, - "timestamp": 2.6918943547913043, + "x": 6.2926420964452054, + "y": 7.274075652929757, + "heading": 0.15157699660263166, + "angularVelocity": -0.11564296616882144, + "velocityX": 4.109332253703932, + "velocityY": 0.4413478412785149, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.537064957076705, + 41.00537243316871, + 29.11935463558539, + 43.70449680930129 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.828177890064387, + 15.180857782711717, + -13.666358408251787, + -7.101712130054797 + ], + "timestamp": 2.9461928520840623 }, { - "x": 7.141038473864095, - "y": 7.365735292740818, - "heading": 0.1432676116694533, - "angularVelocity": -0.3637814616274655, - "velocityX": 3.7255559411944876, - "velocityY": 0.397363817295337, - "timestamp": 2.7786341808984725, + "x": 6.624248322845389, + "y": 7.309626417621327, + "heading": 0.13319905519758488, + "angularVelocity": -0.2096706741961522, + "velocityX": 3.783236627369623, + "velocityY": 0.40559236950706384, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.21902670144136, + -68.40055716844928, + -69.48817624197339, + -69.52671710457663 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.298529207278651, + -12.732972381357325, + -1.5459528553622264, + -2.645093708981668 + ], + "timestamp": 3.033844315386651 }, { - "x": 7.426499394591649, - "y": 7.396066082547886, - "heading": 0.11179036170015318, - "angularVelocity": -0.36289270317892447, - "velocityX": 3.2910017639978224, - "velocityY": 0.3496754739811683, - "timestamp": 2.8653740070056406, + "x": 6.927080093084878, + "y": 7.342033964811542, + "heading": 0.1130003467841554, + "angularVelocity": -0.23044348208515422, + "velocityX": 3.4549539599975154, + "velocityY": 0.36973195847855655, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.23203983580204, + -69.24348674640966, + -69.50243337404267, + -69.50512811055788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -8.810697601535882, + -8.779904880684507, + -6.3340506588483585, + -6.386595610487957 + ], + "timestamp": 3.121495778689239 }, { - "x": 7.674272883646842, - "y": 7.422276642837268, - "heading": 0.08300393967254027, - "angularVelocity": -0.3318708754620616, - "velocityX": 2.8565135552504515, - "velocityY": 0.30217446201699477, - "timestamp": 2.9521138331128087, + "x": 7.2011011395793485, + "y": 7.371297846140624, + "heading": 0.09291393068206928, + "angularVelocity": -0.22916235901991489, + "velocityX": 3.1262575222811884, + "velocityY": 0.33386643218757106, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.46667416771255, + -69.46614249449486, + -69.45029242198363, + -69.44972109291177 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.502648786689982, + -7.504777541699824, + -7.652850116721613, + -7.655296015765889 + ], + "timestamp": 3.2091472419918277 }, { - "x": 7.884364684018778, - "y": 7.444373477851927, - "heading": 0.05788615954608971, - "angularVelocity": -0.28957609501565307, - "velocityX": 2.4220915558715177, - "velocityY": 0.2547484357111628, - "timestamp": 3.038853659219977, + "x": 7.446297565391449, + "y": 7.397418251797731, + "heading": 0.07387351298521018, + "angularVelocity": -0.21722874872059053, + "velocityX": 2.7974025370454743, + "velocityY": 0.29800307574099766, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.57075046529391, + -69.56534099979022, + -69.42005979690991, + -69.410692250771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.861319369881006, + -6.894984974339123, + -8.248169615507683, + -8.309264425853886 + ], + "timestamp": 3.296798705294416 }, { - "x": 8.056778579699072, - "y": 7.4623601053531186, - "heading": 0.03694858398895131, - "angularVelocity": -0.24138364689905817, - "velocityX": 1.9877131811086814, - "velocityY": 0.20736296472359136, - "timestamp": 3.125593485327145, + "x": 7.6626622891867795, + "y": 7.420395426184484, + "heading": 0.05642928300350079, + "angularVelocity": -0.1990181261593979, + "velocityX": 2.4684667618915634, + "velocityY": 0.2621425076174404, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.63002597610446, + -69.62031340853349, + -69.40240709274255, + -69.38238524619528 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.471315208043858, + -6.548228040704689, + -8.575674900339447, + -8.716163388086882 + ], + "timestamp": 3.3844501685970045 }, { - "x": 8.19151716219001, - "y": 7.476238735509121, - "heading": 0.02050566439748422, - "angularVelocity": -0.1895659736641811, - "velocityX": 1.5533646830749575, - "velocityY": 0.16000297416847314, - "timestamp": 3.212333311434313, + "x": 7.85019109185393, + "y": 7.440229588696638, + "heading": 0.040943874136283614, + "angularVelocity": -0.1766702834574549, + "velocityX": 2.139482851707337, + "velocityY": 0.22628444254436803, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.66857517919223, + -69.65472901831329, + -69.39166578908956, + -69.36084818857024 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.204896728591403, + -6.33027260691344, + -8.776739977248619, + -8.997356504502584 + ], + "timestamp": 3.472101631899593 }, { - "x": 8.288582300746091, - "y": 7.486010885320927, - "heading": 0.008770271725739378, - "angularVelocity": -0.13529416876217398, - "velocityX": 1.1190377351708798, - "velocityY": 0.11266047270756889, - "timestamp": 3.2990731375414812, + "x": 8.008881198620822, + "y": 7.456920925222343, + "heading": 0.027674247615156862, + "angularVelocity": -0.15139081563579526, + "velocityX": 1.8104672847659318, + "velocityY": 0.1904284982485763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.69573981019354, + -69.67808923245292, + -69.38484210842434, + -69.34390510673202 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.009873066579622, + -6.183290333248185, + -8.909835655533838, + -9.20447416091814 + ], + "timestamp": 3.5597530952021814 }, { - "x": 8.347975403784513, - "y": 7.491677656538196, - "heading": 0.001896207350734873, - "angularVelocity": -0.07924922937373091, - "velocityX": 0.6847270245278102, - "velocityY": 0.06533067302058666, - "timestamp": 3.3858129636486494, + "x": 8.138730656467962, + "y": 7.47046959168678, + "heading": 0.016811986078443926, + "angularVelocity": -0.12392561547032095, + "velocityX": 1.4814294359829043, + "velocityY": 0.1545743328562974, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.71589432518516, + -69.69494957561433, + -69.38025120423755, + -69.33031502620337 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.860980697776712, + -6.078102085587032, + -9.003686956057797, + -9.363199846938034 + ], + "timestamp": 3.64740455850477 }, { - "x": 8.369697570800781, - "y": 7.493239879608154, - "heading": 0, - "angularVelocity": -0.021860861795965372, - "velocityX": 0.25042898967114685, - "velocityY": 0.018010447335086683, - "timestamp": 3.4725527897558175, + "x": 8.239738021219495, + "y": 7.480875718937656, + "heading": 0.008505437312675418, + "angularVelocity": -0.09476794171751635, + "velocityX": 1.1523751110398692, + "velocityY": 0.11872166031172489, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73135827520098, + -69.70777259127858, + -69.37687634602958, + -69.31932950157875 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.744515132725714, + -5.998296381678699, + -9.074143024286755, + -9.487753208307007 + ], + "timestamp": 3.7350560218073583 }, { - "x": 8.352323867081695, - "y": 7.490521859474649, - "heading": 0.003391928947815461, - "angularVelocity": 0.038109474516673104, - "velocityX": -0.19519946594669754, - "velocityY": -0.0305378799518526, - "timestamp": 3.561557662975244, + "x": 8.311902184453807, + "y": 7.488139416952656, + "heading": 0.002872897499114873, + "angularVelocity": -0.06426064781227825, + "velocityX": 0.8233081401421045, + "velocityY": 0.08287024244503012, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.74347498658074, + -69.71800950414341, + -69.37406685483414, + -69.31047444510509 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.652412851856778, + -5.933885535828861, + -9.130710729391835, + -9.58663810517636 + ], + "timestamp": 3.8227074851099467 }, { - "x": 8.29528706136667, - "y": 7.483482778386333, - "heading": 0.012121653995426456, - "angularVelocity": 0.09808142781226502, - "velocityX": -0.6408278968547001, - "velocityY": -0.07908646834385069, - "timestamp": 3.6505625361946707, + "x": 8.355222270363383, + "y": 7.492260778096745, + "heading": 0.000010950669769954884, + "angularVelocity": -0.032651443814858405, + "velocityX": 0.49423117739604394, + "velocityY": 0.047019878379535446, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.75307447116944, + -69.72657218899666, + -69.37138630208933, + -69.30343850401141 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.57964088235884, + -5.878423935764105, + -9.179457981409767, + -9.665233690312343 + ], + "timestamp": 3.910358948412535 }, { - "x": 8.19858715975201, - "y": 7.472122598921367, - "heading": 0.026189626436909315, - "angularVelocity": 0.15805845155018225, - "velocityX": -1.0864562592686573, - "velocityY": -0.12763547718290608, - "timestamp": 3.7395674094140974, + "x": 8.369697570800781, + "y": 7.493239879608154, + "heading": -7.881566464442485e-17, + "angularVelocity": -0.00012493424911430998, + "velocityX": 0.1651461355340438, + "velocityY": 0.011170395499135654, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.76069461760781, + -69.73406157099639, + -69.36853113928332, + -69.29801306438992 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.522924451656715, + -5.827567505462022, + -9.224441463987754, + -9.727078241229938 + ], + "timestamp": 3.9980104117151236 }, { - "x": 8.062224171571483, - "y": 7.456441269170657, - "heading": 0.045596472555156704, - "angularVelocity": 0.21804251178924827, - "velocityX": -1.5320845168145878, - "velocityY": -0.17618506923829327, - "timestamp": 3.828572282633524, + "x": 8.352737612293208, + "y": 7.490760179168994, + "heading": 0.0032539733490376203, + "angularVelocity": 0.03509913671143355, + "velocityX": -0.18293939084003222, + "velocityY": -0.0267474055210394, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.76831890123296, + -69.74271198362243, + -69.36683877294385, + -69.29588021869304 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.480804503119292, + -5.777706832814998, + -9.269405867329548, + -9.774224361555754 + ], + "timestamp": 4.090718485300652 }, { - "x": 7.886198108433151, - "y": 7.436438722452111, - "heading": 0.07034280314534609, - "angularVelocity": 0.2780334345197194, - "velocityX": -1.977712643939939, - "velocityY": -0.2247354104896387, - "timestamp": 3.9175771558529506, + "x": 8.303508401476916, + "y": 7.4847653412385196, + "heading": 0.009752884539327149, + "angularVelocity": 0.07010081149293783, + "velocityX": -0.5310131999498825, + "velocityY": -0.06466360154385425, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.76378141141987, + -69.74010218368568, + -69.36383220105702, + -69.29667018816859 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.504731849742543, + -5.775491056855282, + -9.271953606494217, + -9.74868241254796 + ], + "timestamp": 4.183426558886181 }, { - "x": 7.67050898299837, - "y": 7.412114877207367, - "heading": 0.10042896288120143, - "angularVelocity": 0.33802822977662045, - "velocityX": -2.4233406288106867, - "velocityY": -0.2732866680768997, - "timestamp": 4.006582029072377, + "x": 8.222011244776846, + "y": 7.475255542704079, + "heading": 0.0194720993735911, + "angularVelocity": 0.10483676834579356, + "velocityX": -0.8790729172591132, + "velocityY": -0.10257788957049574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.75807275571462, + -69.73727839814946, + -69.35973518217662, + -69.29803813719629 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.536636985453941, + -5.769147993023383, + -9.278627503541149, + -9.714921661894554 + ], + "timestamp": 4.2761346324717096 }, { - "x": 7.415156807690052, - "y": 7.383469637350721, - "heading": 0.13585471703065086, - "angularVelocity": 0.3980203877389177, - "velocityX": -2.868968474105785, - "velocityY": -0.32183900521969433, - "timestamp": 4.095586902291804, + "x": 8.108247742368361, + "y": 7.462230999314842, + "heading": 0.032381560232856814, + "angularVelocity": 0.1392485072765639, + "velocityX": -1.2271153741866627, + "velocityY": -0.1404898504033454, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.75094421559831, + -69.73395048932412, + -69.35452327043679, + -69.29991280428946 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.57726728703641, + -5.759935479776583, + -9.288253182801638, + -9.67201840934626 + ], + "timestamp": 4.368842706057238 }, { - "x": 7.120141594133794, - "y": 7.3505028936813765, - "heading": 0.17661886572392485, - "angularVelocity": 0.4579990647565643, - "velocityX": -3.3145961887833577, - "velocityY": -0.3703925692705661, - "timestamp": 4.1845917755112305, + "x": 7.962219899052561, + "y": 7.4456919818850205, + "heading": 0.04844368551809424, + "angularVelocity": 0.1732548705201495, + "velocityX": -1.5751362062430538, + "velocityY": -0.17839889008868087, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.74202488701923, + -69.72968924442755, + -69.34815365654948, + -69.30218140121082 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.6277140530370815, + -5.749677246750622, + -9.299118047114092, + -9.618630566943962 + ], + "timestamp": 4.461550779642767 }, { - "x": 6.785463358951232, - "y": 7.313214529440678, - "heading": 0.22271869503122552, - "angularVelocity": 0.5179472498505698, - "velocityX": -3.760223716711196, - "velocityY": -0.41894744514460663, - "timestamp": 4.273596648730657, + "x": 7.7839302993633055, + "y": 7.425638841830219, + "heading": 0.06761009166196225, + "angularVelocity": 0.20673934213683384, + "velocityX": -1.9231291601069993, + "velocityY": -0.21630413921029784, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73073814110488, + -69.72383241493522, + -69.34054661418894, + -69.30465306525284 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.689616338239206, + -5.741110029297365, + -9.308630843305963, + -9.552753460922114 + ], + "timestamp": 4.554258853228296 }, { - "x": 6.416287568987691, - "y": 7.272992388341639, - "heading": 0.22271870098656174, - "angularVelocity": 6.691022668474205e-8, - "velocityX": -4.147815469085613, - "velocityY": -0.4519094252275243, - "timestamp": 4.362601521950084, + "x": 7.57338240126491, + "y": 7.402072053868818, + "heading": 0.08981617319609705, + "angularVelocity": 0.23952694382755024, + "velocityX": -2.2710848144667333, + "velocityY": -0.25420426775947824, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.7161334514111, + -69.7152962109817, + -69.3315460856372, + -69.30698645989594 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.765575561709489, + -5.738569359389348, + -9.312646952242726, + -9.471226675287129 + ], + "timestamp": 4.646966926813825 }, { - "x": 6.047111765662118, - "y": 7.23277036988053, - "heading": 0.22271870694119197, - "angularVelocity": 6.690229418173721e-8, - "velocityX": -4.147815619212581, - "velocityY": -0.45190804734868706, - "timestamp": 4.45160639516951, + "x": 7.3305810690877395, + "y": 7.374992293157573, + "heading": 0.11497142901750439, + "angularVelocity": 0.27133835111025567, + "velocityX": -2.618987999501906, + "velocityY": -0.2920971137042797, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.69651360763362, + -69.70215909981302, + -69.32082749834133, + -69.30853096031237 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.8600791942289785, + -5.749479323650169, + -9.303996598740806, + -9.368643513584303 + ], + "timestamp": 4.7396750003993535 }, { - "x": 5.677935962336312, - "y": 7.192548351421557, - "heading": 0.2227187128958224, - "angularVelocity": 6.690229646932938e-8, - "velocityX": -4.147815619215196, - "velocityY": -0.4519080473246947, - "timestamp": 4.540611268388937, + "x": 7.05553365094518, + "y": 7.344400590269381, + "heading": 0.14294029115207701, + "angularVelocity": 0.30168744805805586, + "velocityX": -2.9668119237537858, + "velocityY": -0.32997884331991917, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.66849412798004, + -69.68061678535894, + -69.30765134115775, + -69.3079273830713 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.98182820698545, + -5.788023723316763, + -9.26883650136894, + -9.234626545714724 + ], + "timestamp": 4.832383073984882 }, { - "x": 5.308760159179192, - "y": 7.1523263314145815, - "heading": 0.22271871885051556, - "angularVelocity": 6.690300149677752e-8, - "velocityX": -4.14781561731994, - "velocityY": -0.45190806471704004, - "timestamp": 4.629616141608364, + "x": 6.7482525321206115, + "y": 7.3102986954013085, + "heading": 0.17349789390140605, + "angularVelocity": 0.3296110205638581, + "velocityX": -3.314502253586811, + "velocityY": -0.3678416943548862, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.62414712861997, + -69.64182964225391, + -69.29006030546606, + -69.30189012029254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.150737999465796, + -5.885949634313379, + -9.1758152948886, + -9.04572516581162 + ], + "timestamp": 4.925091147570411 }, { - "x": 4.95172334462196, - "y": 7.113363837104222, - "heading": 0.26186098038710365, - "angularVelocity": 0.43977661133328494, - "velocityX": -4.011429954818511, - "velocityY": -0.4377568654505472, - "timestamp": 4.71862101482779, + "x": 6.408762991716715, + "y": 7.272690185494389, + "heading": 0.20619974425581294, + "angularVelocity": 0.3527400482951426, + "velocityX": -3.661919909170612, + "velocityY": -0.4056659625459786, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.53936907246666, + -69.55921436358686, + -69.26126663758615, + -69.28016855556831 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.425805382237093, + -6.13443660499566, + -8.93341347136292, + -8.73373902302664 + ], + "timestamp": 5.01779922115594 }, { - "x": 4.634371149324796, - "y": 7.078745922791863, - "heading": 0.298994825826337, - "angularVelocity": 0.41721137389506785, - "velocityX": -3.5655597701351214, - "velocityY": -0.38894403261509003, - "timestamp": 4.807625888047217, + "x": 6.037144614251277, + "y": 7.231586177478529, + "heading": 0.23975823447290523, + "angularVelocity": 0.36198023449565475, + "velocityX": -4.008479122615366, + "velocityY": -0.44337031745083166, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.28957901537899, + -69.29845538274668, + -69.178367902233, + -69.18758933035315 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.095234826490689, + -6.956362149501358, + -8.102215146218617, + -7.977753242825863 + ], + "timestamp": 5.110507294741469 }, { - "x": 4.356695054740775, - "y": 7.04846133521227, - "heading": 0.33239873644737333, - "angularVelocity": 0.37530428854928616, - "velocityX": -3.1197852942215483, - "velocityY": -0.3402576340391089, - "timestamp": 4.8966307612666435, + "x": 5.652801425047927, + "y": 7.1896270689501725, + "heading": 0.23980206516261332, + "angularVelocity": 0.000472781798136049, + "velocityX": -4.145735903449521, + "velocityY": -0.45259389938238875, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -16.571396748725768, + -33.65400086227037, + -21.82722022871811, + -37.63661232853404 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.2103276149095, + -14.701826582253906, + 13.465889416453868, + 6.075207443387718 + ], + "timestamp": 5.2032153683269975 }, { - "x": 4.118690995174019, - "y": 7.022506310788581, - "heading": 0.36150883332597666, - "angularVelocity": 0.3270618318486594, - "velocityX": -2.6740564977829604, - "velocityY": -0.2916135205282652, - "timestamp": 4.98563563448607, + "x": 5.298111964845378, + "y": 7.150977964279005, + "heading": 0.26897173187598356, + "angularVelocity": 0.31463998317852343, + "velocityX": -3.825874559628447, + "velocityY": -0.41689038695793895, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.8204038627184, + 63.37106474962372, + 64.28853563219975, + 67.13829272395807 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.859380514651757, + 21.97947279345271, + -14.189558816473651, + -3.1167093010455487 + ], + "timestamp": 5.295923441912526 }, { - "x": 3.920356719586493, - "y": 7.000878984613713, - "heading": 0.3860461850811985, - "angularVelocity": 0.2756854862848816, - "velocityX": -2.228352992521715, - "velocityY": -0.2429903598823012, - "timestamp": 5.074640507705497, + "x": 4.9755685784673, + "y": 7.115832057465299, + "heading": 0.2975659540753646, + "angularVelocity": 0.3084329238406523, + "velocityX": -3.479129421019347, + "velocityY": -0.37910297835334106, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.30756460724842, + 69.31797890856141, + 69.23303694756935, + 69.2439939042012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 7.276561678193144, + 7.146587079200416, + 7.949222841045259, + 7.825566417400626 + ], + "timestamp": 5.388631515498055 }, { - "x": 3.761690809946037, - "y": 6.983578248672895, - "heading": 0.4058447798824323, - "angularVelocity": 0.22244394138311574, - "velocityX": -1.782665419333746, - "velocityY": -0.19437964815888437, - "timestamp": 5.163645380924923, + "x": 4.685238750010305, + "y": 7.084196382565833, + "heading": 0.3242030496936877, + "angularVelocity": 0.28732228584195735, + "velocityX": -3.13165636205216, + "velocityY": -0.34123969656671055, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.52487310529399, + 69.56809611024163, + 69.26983747218283, + 69.32148774652345 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.682555986999185, + 6.155137992655826, + 8.938146178952955, + 8.482732172540391 + ], + "timestamp": 5.481339589083584 }, { - "x": 3.6426922923609206, - "y": 6.970603368729404, - "heading": 0.4207944348114755, - "angularVelocity": 0.16796445394835097, - "velocityX": -1.3369887881503466, - "velocityY": -0.14577718583457613, - "timestamp": 5.25265025414435, + "x": 4.427145252121188, + "y": 7.0560733444849175, + "heading": 0.34838785850576026, + "angularVelocity": 0.26087057876398645, + "velocityX": -2.7839376648338057, + "velocityY": -0.30335047416252775, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.59603645663093, + 69.65664896463282, + 69.27554470013678, + 69.35236696908984 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.510142506359774, + 5.770907357067241, + 9.313250899736028, + 8.685002102039867 + ], + "timestamp": 5.574047662669113 }, { - "x": 3.5633604552871434, - "y": 6.96195381979076, - "heading": 0.4308163573718641, - "angularVelocity": 0.11259970603723311, - "velocityX": -0.8913201514056183, - "velocityY": -0.09718062197920681, - "timestamp": 5.341655127363777, + "x": 4.201299500038494, + "y": 7.03146416428453, + "heading": 0.3698661359324378, + "angularVelocity": 0.23167645056422312, + "velocityX": -2.436095836616221, + "velocityY": -0.26544808071826126, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.62984255451502, + 69.7025044618602, + 69.27553392954373, + 69.37111670765537 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.446020871882368, + 5.55867205969008, + 9.519921232853722, + 8.765214382925269 + ], + "timestamp": 5.6667557362546415 }, { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 0.05656512800009954, - "velocityX": -0.44565763879583925, - "velocityY": -0.04858853046969259, - "timestamp": 5.430660000583203, + "x": 4.00770834868209, + "y": 7.010369584114943, + "heading": 0.38848341137492554, + "angularVelocity": 0.20081611797868393, + "velocityX": -2.088180067485029, + "velocityY": -0.2275376820356199, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.64886003965472, + 69.73074352071386, + 69.2739746368505, + 69.38450959267684 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.4224408751172914, + 5.4211819338511305, + 9.654178883544468, + 8.798424268716403 + ], + "timestamp": 5.75946380984017 }, { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 2.3187600409607448e-34, - "velocityX": 8.587821702972382e-38, - "velocityY": -6.37949321426987e-35, - "timestamp": 5.51966487380263, + "x": 3.8463763695233144, + "y": 6.992790104001513, + "heading": 0.40413599413422824, + "angularVelocity": 0.16883732078707747, + "velocityX": -1.7402149879674755, + "velocityY": -0.18962188980299566, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.66075134621069, + 69.74992510794067, + 69.27208132097891, + 69.39473658018888 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.415810123437662, + 5.3242042891371835, + 9.749253366722565, + 8.811268456013565 + ], + "timestamp": 5.852171883425699 }, { - "x": 3.4981907852535445, - "y": 6.959171009128305, - "heading": 0.43414511974191367, - "angularVelocity": -0.023955485407123896, - "velocityX": -0.3581641909877709, - "velocityY": 0.02165229547226729, - "timestamp": 5.590872350806317, + "x": 3.7173068280878687, + "y": 6.978726083763452, + "heading": 0.41674945237537175, + "angularVelocity": 0.13605566110356315, + "velocityX": -1.3922146846949535, + "velocityY": -0.15170221636944542, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.66884824073247, + 69.76377491927055, + 69.27031544596593, + 69.40270493473685 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.41565406484041, + 5.252481685984143, + 9.819790231198308, + 8.815711928411224 + ], + "timestamp": 5.944879957011228 }, { - "x": 3.447163439841886, - "y": 6.9618763780967905, - "heading": 0.43061513435289134, - "angularVelocity": -0.04957324058595087, - "velocityX": -0.7166009464008484, - "velocityY": 0.03799276539941486, - "timestamp": 5.662079827810005, + "x": 3.6205021730072082, + "y": 6.968177794137939, + "heading": 0.4262676670426803, + "angularVelocity": 0.10266867058413436, + "velocityX": -1.0441879691424423, + "velocityY": -0.11377962260780805, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.6748392764092, + 69.7741790279807, + 69.26888115012761, + 69.40885155094644 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.416562283191862, + 5.198128904882913, + 9.873294373330431, + 8.817986139295842 + ], + "timestamp": 6.037588030596757 }, { - "x": 3.3705950956832815, - "y": 6.965217875700377, - "heading": 0.4250963546953294, - "angularVelocity": -0.0775028113589279, - "velocityX": -1.075285172014165, - "velocityY": 0.046926218203375725, - "timestamp": 5.733287304813692, + "x": 3.5559643077496252, + "y": 6.961145445264002, + "heading": 0.43264667313122535, + "angularVelocity": 0.06880744946934213, + "velocityX": -0.6961407217537647, + "velocityY": -0.07585476218206108, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.67967442597626, + 69.78219559937338, + 69.26787920284706, + 69.41340986496246 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.415437367083261, + 5.156644658660003, + 9.914021033667535, + 8.821680053737321 + ], + "timestamp": 6.130296104182285 }, { - "x": 3.268479850300144, - "y": 6.968410265853386, - "heading": 0.41734484505981134, - "angularVelocity": -0.10885808571923827, - "velocityX": -1.4340522888888443, - "velocityY": 0.04483223233487215, - "timestamp": 5.80449478181738, + "x": 3.523694753646369, + "y": 6.957629203796369, + "heading": 0.4358509294181538, + "angularVelocity": 0.03456286128110513, + "velocityX": -0.3480770644262573, + "velocityY": -0.03792810411766521, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.68392939080098, + 69.78846317841513, + 69.26736573865308, + 69.41651484459959 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.41037366914171, + 5.125284648993253, + 9.944551046532684, + 8.829010337612573 + ], + "timestamp": 6.223004177767814 }, { - "x": 3.1408606742750864, - "y": 6.970165746109482, - "heading": 0.4069638180486535, - "angularVelocity": -0.14578563162152638, - "velocityX": -1.7922159497161996, - "velocityY": 0.0246530326584347, - "timestamp": 5.875702258821067, + "x": 3.5236947536468506, + "y": 6.957629203796387, + "heading": 0.4358509294181537, + "angularVelocity": -6.3652969228526e-17, + "velocityX": 2.5325975992130535e-16, + "velocityY": 2.4211587421225694e-17, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.6879720295878, + 69.79338739453065, + 69.26737815226697, + 69.41824990526848 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.400139814039668, + 5.102312426020163, + 9.966512050352243, + 8.841411030331118 + ], + "timestamp": 6.315712251353343 }, { - "x": 2.9880041325771574, - "y": 6.968017435452493, - "heading": 0.39320539938068505, - "angularVelocity": -0.1932159268507158, - "velocityX": -2.1466361136487726, - "velocityY": -0.030169734238404296, - "timestamp": 5.946909735824755, + "x": 3.504008680182134, + "y": 6.958828592220609, + "heading": 0.4345383963239423, + "angularVelocity": -0.01816376334151166, + "velocityX": -0.2724298389989007, + "velocityY": 0.016597987196062425, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.87228927066603, + -69.92664912892137, + -69.71028587731463, + -69.80817031057008 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.696859879202063, + 2.5017951424939016, + 6.032231558328799, + 4.786729977826209 + ], + "timestamp": 6.387973327955881 }, { - "x": 2.8117081103383113, - "y": 6.955790976171788, - "heading": 0.3742865295560884, - "angularVelocity": -0.2656865629941792, - "velocityX": -2.475807733360894, - "velocityY": -0.17170190259756937, - "timestamp": 6.018117212828442, + "x": 3.4646249566959115, + "y": 6.960977577869598, + "heading": 0.4318354969292099, + "angularVelocity": -0.037404637763692565, + "velocityX": -0.5450198825966469, + "velocityY": 0.02973918671056234, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.91004996454419, + -69.94913431938565, + -69.76806738626483, + -69.85439779961642 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.7475386769102728, + 1.5218682085139474, + 5.244817609123958, + 3.9592100735318545 + ], + "timestamp": 6.460234404558419 }, { - "x": 2.6309720516129818, - "y": 6.918497841369321, - "heading": 0.3475031077815749, - "angularVelocity": -0.3761321549579212, - "velocityX": -2.5381612483752334, - "velocityY": -0.5237249846745118, - "timestamp": 6.08932468983213, + "x": 3.405533150457087, + "y": 6.963744716072119, + "heading": 0.4276391427503084, + "angularVelocity": -0.05807212369645374, + "velocityX": -0.8177543017225102, + "velocityY": 0.03829361992128722, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.94035671639205, + -69.95779624844059, + -69.831131231136, + -69.90039089579349 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.481852031033926, + 0.2253702688124266, + 4.19709047131765, + 2.866393130115254 + ], + "timestamp": 6.532495481160956 }, { - "x": 2.469422974905377, - "y": 6.864353486730698, - "heading": 0.31728480719726343, - "angularVelocity": -0.4243697692413224, - "velocityX": -2.2687094600927837, - "velocityY": -0.7603745690332492, - "timestamp": 6.160532166835817, + "x": 3.3267280803300237, + "y": 6.966669549535244, + "heading": 0.42180657078185513, + "angularVelocity": -0.08071526529468337, + "velocityX": -1.0905604210759248, + "velocityY": 0.04047591871918787, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.944393384643, + -69.93017480627066, + -69.89279637048092, + -69.935823478966 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.2855686674079939, + -1.5687776317224258, + 2.7360551933868202, + 1.3557626568809862 + ], + "timestamp": 6.604756557763494 }, { - "x": 2.330788464314718, - "y": 6.798904008310198, - "heading": 0.28558203833077617, - "angularVelocity": -0.4452168536296505, - "velocityX": -1.9469094598518244, - "velocityY": -0.9191377250609546, - "timestamp": 6.2317396438395045, + "x": 3.2282219406045525, + "y": 6.969070582511565, + "heading": 0.4141275813189536, + "angularVelocity": -0.106267299408487, + "velocityX": -1.363197787202792, + "velocityY": 0.03322719628891129, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.86768232546632, + -69.80577667993118, + -69.928043827401, + -69.92866557160472 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.9174583427517518, + -4.208806798563373, + 0.5614022126112732, + -0.8671212869487849 + ], + "timestamp": 6.677017634366032 }, { - "x": 2.216081577717413, - "y": 6.724482923135783, - "heading": 0.253182249347822, - "angularVelocity": -0.4550054340680616, - "velocityX": -1.610882612669526, - "velocityY": -1.045130206910173, - "timestamp": 6.302947120843192, + "x": 3.1100851320087015, + "y": 6.969841680096625, + "heading": 0.4042640076485218, + "angularVelocity": -0.1364991242060381, + "velocityX": -1.6348608981519306, + "velocityY": 0.010670994971479508, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.52771087749251, + -69.39542788596013, + -69.83967722325332, + -69.76846617635722 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.223343535058923, + -8.451926525830187, + -3.0027344194169414, + -4.448461427126985 + ], + "timestamp": 6.74927871096857 }, { - "x": 2.1257318640380363, - "y": 6.642329996697514, - "heading": 0.22049812899291346, - "angularVelocity": -0.4589984328923238, - "velocityX": -1.2688234084560823, - "velocityY": -1.1537120804605343, - "timestamp": 6.374154597846879, + "x": 2.9726210080406896, + "y": 6.966909534106027, + "heading": 0.39159295049887616, + "angularVelocity": -0.1753510706647928, + "velocityX": -1.9023259883618235, + "velocityY": -0.04057711465779841, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.13824090007081, + -67.94815744062642, + -69.16126861726049, + -68.97946034593463 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.378652863046907, + -16.24922017669266, + -9.819591974713527, + -11.096296387691988 + ], + "timestamp": 6.8215397875711075 }, { - "x": 2.0599685603073308, - "y": 6.553207990036717, - "heading": 0.18778194474716126, - "angularVelocity": -0.45944872115126584, - "velocityX": -0.923544921094458, - "velocityY": -1.2515821429283673, - "timestamp": 6.445362074850567, + "x": 2.8175053112512938, + "y": 6.955390242706097, + "heading": 0.3747240648762452, + "angularVelocity": -0.23344359668782608, + "velocityX": -2.1466009653106655, + "velocityY": -0.15941211979569803, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.5243490932261, + -61.08904468511663, + -64.3753689319186, + -64.46196021712132 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.64482754819854, + -33.700258242728985, + -26.81185071903246, + -26.68244842261669 + ], + "timestamp": 6.893800864173645 }, { - "x": 2.0189318656921387, - "y": 6.457632064819336, - "heading": 0.15520351501857022, - "angularVelocity": -0.45751416985191246, - "velocityX": -0.5762975510713191, - "velocityY": -1.3422175484806422, - "timestamp": 6.516569551854254, + "x": 2.6580075023446637, + "y": 6.924835444144418, + "heading": 0.3517771226345669, + "angularVelocity": -0.31755605258823977, + "velocityX": -2.2072437390315343, + "velocityY": -0.42283896114283714, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.500492720496396, + -17.077730761329356, + -13.696710725278216, + -23.901006646199814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.16614118399755, + -67.47875312690866, + -68.1302785572017, + -65.31161079653731 + ], + "timestamp": 6.966061940776183 }, { - "x": 2.0058509114162586, - "y": 6.33174303037426, - "heading": 0.11577738147774351, - "angularVelocity": -0.4530545711235095, - "velocityX": -0.15031618870787897, - "velocityY": -1.4466192189656613, - "timestamp": 6.603592475920677, + "x": 2.512094219927897, + "y": 6.880097554781259, + "heading": 0.32573277062951456, + "angularVelocity": -0.3604202044802863, + "velocityX": -2.019251432127737, + "velocityY": -0.6191146252806835, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.23323127220877, + 45.222550849805664, + 51.20604942518577, + 47.08328609414976 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.40668398485789, + -53.0900647376754, + -47.32703000139266, + -51.414115514708236 + ], + "timestamp": 7.038323017378721 }, { - "x": 2.030140622426681, - "y": 6.1980996029655575, - "heading": 0.07717591617756428, - "angularVelocity": -0.44357812282561004, - "velocityX": 0.27911853423682637, - "velocityY": -1.5357266931951787, - "timestamp": 6.6906153999871, + "x": 2.38337424306588, + "y": 6.825767194324153, + "heading": 0.29824613675169936, + "angularVelocity": -0.3803795233912951, + "velocityX": -1.7813182824554856, + "velocityY": -0.7518620398633497, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.014317060916646, + 59.97930704642065, + 61.9703116329183, + 60.9846261965019 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.017279735413425, + -35.80222114610556, + -32.232808064989165, + -34.051218169708044 + ], + "timestamp": 7.110584093981259 }, { - "x": 2.0922105845511805, - "y": 6.059051963304603, - "heading": 0.04016159510277028, - "angularVelocity": -0.42533989143529494, - "velocityX": 0.7132599000824538, - "velocityY": -1.5978277120959903, - "timestamp": 6.777638324053522, + "x": 2.2728561169196504, + "y": 6.763886893527126, + "heading": 0.270013159659039, + "angularVelocity": -0.3907079498407138, + "velocityX": -1.5294281699416044, + "velocityY": -0.8563434660320723, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.51682644746371, + 64.15947514330024, + 64.96118778717998, + 64.62089453574477 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.910160275774995, + -27.746887463442874, + -25.815176840710752, + -26.65069502194605 + ], + "timestamp": 7.182845170583796 }, { - "x": 2.192436442718846, - "y": 5.919742066192084, - "heading": 0.006361238112608133, - "angularVelocity": -0.3884075070192219, - "velocityX": 1.1517178863257393, - "velocityY": -1.6008413714780172, - "timestamp": 6.864661248119945, + "x": 2.1809664769418573, + "y": 6.695555322443913, + "heading": 0.24140156675644972, + "angularVelocity": -0.39594750379880767, + "velocityX": -1.2716339736151412, + "velocityY": -0.9456207172093772, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.0413858325682, + 65.90601352826312, + 66.24757393601978, + 66.11676113826505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -22.993822030513314, + -23.376806141336413, + -22.39133033986236, + -22.772395017295977 + ], + "timestamp": 7.255106247186334 }, { - "x": 2.3271366168791916, - "y": 5.796658714059874, - "heading": -0.01950608067342607, - "angularVelocity": -0.29724718013715956, - "velocityX": 1.547870007878992, - "velocityY": -1.4143784922495064, - "timestamp": 6.951684172186368, + "x": 2.10793174121269, + "y": 6.621451079278133, + "heading": 0.21263652855987272, + "angularVelocity": -0.3980709885460903, + "velocityX": -1.0107064433994604, + "velocityY": -1.0255070454233672, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.8636361844648, + 66.82004357580999, + 66.9417289345033, + 66.89887639750914 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -20.534601787987587, + -20.675168374302586, + -20.278085325526686, + -20.418154301299452 + ], + "timestamp": 7.327367323788872 }, { - "x": 2.4520784823628263, - "y": 5.71035975208952, - "heading": -0.03518699005277558, - "angularVelocity": -0.18019285777366748, - "velocityX": 1.4357350873233088, - "velocityY": -0.9916807886676425, - "timestamp": 7.03870709625279, + "x": 2.053889644996445, + "y": 6.542033142609429, + "heading": 0.18386962520410707, + "angularVelocity": -0.3980967999410536, + "velocityX": -0.7478728349633684, + "velocityY": -1.0990417027071344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.3694057005157, + 67.36896934569019, + 67.37030693780851, + 67.36987068909862 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.849277311799415, + -18.850827151291227, + -18.846051034707006, + -18.847600780373277 + ], + "timestamp": 7.39962840039141 }, { - "x": 2.5494726928325897, - "y": 5.650429640070164, - "heading": -0.045206108063395034, - "angularVelocity": -0.11513193929190572, - "velocityX": 1.1191787855281121, - "velocityY": -0.6886704010728555, - "timestamp": 7.125730020319213, + "x": 2.0189318656921387, + "y": 6.457632064819336, + "heading": 0.1552097358119083, + "angularVelocity": -0.3966158648567963, + "velocityX": -0.4837705296945251, + "velocityY": -1.168001941824504, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.7090423612836, + 67.73009792197675, + 67.65939642414298, + 67.68078791913334 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.62135282604726, + -17.540771618443966, + -17.81125344841753, + -17.730310040741127 + ], + "timestamp": 7.4718894769939475 }, { - "x": 2.6155934972996713, - "y": 5.612350184030726, - "heading": -0.05121840972856573, - "angularVelocity": -0.06908871116054036, - "velocityX": 0.7598090408524236, - "velocityY": -0.4375795969619799, - "timestamp": 7.2127529443856355, + "x": 2.0052865513434206, + "y": 6.343797195792587, + "heading": 0.11940626574695491, + "angularVelocity": -0.39332077782798075, + "velocityX": -0.1499012705642367, + "velocityY": -1.2505385413291163, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.96060745654087, + 67.99161289296391, + 67.87550138401026, + 67.90750272578354 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.68587051432994, + -16.559769774995235, + -17.029024447855548, + -16.901634904532678 + ], + "timestamp": 7.562918154051563 }, { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": -0.031986325807191796, - "velocityX": 0.38409726580396053, - "velocityY": -0.21154164293807923, - "timestamp": 7.299775868452058, + "x": 2.022247148811026, + "y": 6.223394735532684, + "heading": 0.08421303002934574, + "angularVelocity": -0.3866170184516034, + "velocityX": 0.18632147599893392, + "velocityY": -1.3226871371940876, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.46729328449145, + 68.51169045285276, + 68.31184039254397, + 68.35989694476902 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.427249497757915, + -14.21701040549349, + -15.14684477924876, + -14.930428838920712 + ], + "timestamp": 7.653946831109179 }, { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": 6.234499929812248e-37, - "velocityX": -5.954404820163517e-39, - "velocityY": 9.289786212484402e-40, - "timestamp": 7.386798792518481, + "x": 2.070100166264576, + "y": 6.0979843334608175, + "heading": 0.050137413227322986, + "angularVelocity": -0.37433936099560144, + "velocityX": 0.5256916721228605, + "velocityY": -1.3777021277864965, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.14142659590892, + 69.183669722046, + 68.91777971152585, + 68.96954514028045 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -10.653795733607852, + -10.382977927188257, + -12.017178426384481, + -11.722589653131394 + ], + "timestamp": 7.744975508166795 }, { - "x": 2.62198431803652, - "y": 5.580043064925952, - "heading": -0.056108015333715296, - "angularVelocity": -0.02711578558662552, - "velocityX": -0.3480715441935303, - "velocityY": -0.1789402056558487, - "timestamp": 7.464468015729379, + "x": 2.149170669807766, + "y": 5.970583772712009, + "heading": 0.018143952496880358, + "angularVelocity": -0.3514657332676905, + "velocityX": 0.8686328978849589, + "velocityY": -1.399565113619872, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.85708540622566, + 69.86722121118044, + 69.68541026299444, + 69.70915498448376 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.2345749313842362, + -3.0737072796649643, + -5.869737828976878, + -5.616200902203141 + ], + "timestamp": 7.836004185224411 }, { - "x": 2.568262058390104, - "y": 5.551594493751894, - "heading": -0.06050672729633236, - "angularVelocity": -0.05663391213110331, - "velocityX": -0.6916801459510109, - "velocityY": -0.36627855922814373, - "timestamp": 7.542137238940277, + "x": 2.2589421028859875, + "y": 5.84893569297478, + "heading": -0.009410414960995034, + "angularVelocity": -0.30269985622701284, + "velocityX": 1.2058994662609797, + "velocityY": -1.3363709511040576, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.98084084636709, + 68.2675831535751, + 69.05891885988348, + 69.19294176958722 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.13895221715203, + 14.927441807742866, + 10.601664217236635, + 9.765487872549716 + ], + "timestamp": 7.927032862282027 }, { - "x": 2.4884227375874857, - "y": 5.507597880034233, - "heading": -0.06748444289191319, - "angularVelocity": -0.08983887448743955, - "velocityX": -1.0279402510029907, - "velocityY": -0.5664613588086967, - "timestamp": 7.619806462151175, + "x": 2.3816513002770323, + "y": 5.755553059874296, + "heading": -0.027384399572384054, + "angularVelocity": -0.19745409020953478, + "velocityX": 1.3480279111754776, + "velocityY": -1.0258594996539299, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 21.966329313241527, + 31.581568327780396, + 25.74217152067996, + 36.3878611200454 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.21615338730194, + 62.22247266268533, + 64.79108701149657, + 59.49465927749819 + ], + "timestamp": 8.018061539339643 }, { - "x": 2.383562784136071, - "y": 5.446350561790552, - "heading": -0.07753336707806786, - "angularVelocity": -0.129381031130805, - "velocityX": -1.3500837154851462, - "velocityY": -0.7885661232554546, - "timestamp": 7.697475685362073, + "x": 2.4864376569970665, + "y": 5.687717688117273, + "heading": -0.03917673719935255, + "angularVelocity": -0.1295453038332599, + "velocityX": 1.1511356652333973, + "velocityY": -0.7452088061665051, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -40.646924554508985, + -35.55926258048956, + -44.540441651147525, + -39.503400775538864 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 56.83907183027018, + 60.14311904713099, + 53.826944953458195, + 57.61165195931745 + ], + "timestamp": 8.109090216397258 }, { - "x": 2.256467478514415, - "y": 5.364400156526684, - "heading": -0.0916700546188319, - "angularVelocity": -0.1820114448985554, - "velocityX": -1.636366379982311, - "velocityY": -1.0551207013020436, - "timestamp": 7.775144908572971, + "x": 2.5670376254789677, + "y": 5.639694297374605, + "heading": -0.046992417914178235, + "angularVelocity": -0.0858595441289215, + "velocityX": 0.8854349100436367, + "velocityY": -0.5275633162533232, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.764584122595764, + -51.796025428861604, + -56.23218009700383, + -54.46028659633161 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.72376090629561, + 46.98309037575621, + 41.57325635814428, + 43.860927171376815 + ], + "timestamp": 8.200118893454873 }, { - "x": 2.119544018906857, - "y": 5.253743230346513, - "heading": -0.11255845223354533, - "angularVelocity": -0.26894047283045835, - "velocityX": -1.7629049699102062, - "velocityY": -1.4247203925253684, - "timestamp": 7.852814131783869, + "x": 2.6215256643831455, + "y": 5.608902177535465, + "heading": -0.05176785407305588, + "angularVelocity": -0.052460788327782594, + "velocityX": 0.5985810259517479, + "velocityY": -0.3382683439379309, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.013654151683696, + -56.89649326724905, + -59.773057608039814, + -58.78634165660711 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.09776755772533, + 40.70212530474273, + 36.34830149368659, + 37.9184361720148 + ], + "timestamp": 8.291147570512488 }, { - "x": 2.008778386029055, - "y": 5.127667150124761, - "heading": -0.13895169616586953, - "angularVelocity": -0.3398159894126605, - "velocityX": -1.426120003505583, - "velocityY": -1.6232437381202094, - "timestamp": 7.930483354994767, + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -0.024542807053857217, + "velocityX": 0.3020268007993012, + "velocityY": -0.16435442454640978, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.00824864493395, + -59.23254288719752, + -61.40348619502263, + -60.720348492315956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 35.98651589745473, + 37.24645407124533, + 33.548693110700135, + 34.766372955894965 + ], + "timestamp": 8.382176247570102 }, { - "x": 1.9284008413219034, - "y": 5.000788184781257, - "heading": -0.1672683067582648, - "angularVelocity": -0.36457955187096464, - "velocityX": -1.0348699444167093, - "velocityY": -1.6335809745255814, - "timestamp": 8.008152578205666, + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -2.516475827417988e-25, + "velocityX": 7.632931644423266e-25, + "velocityY": 4.2087418463139514e-24, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.14846543581324, + -60.54551335620342, + -62.32828598200511, + -61.796474937784545 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 34.02931368740686, + 35.088553675699565, + 31.815663944493068, + 32.83405951923116 + ], + "timestamp": 8.473204924627717 }, { - "x": 1.8781980407977803, - "y": 4.877626055058778, - "heading": -0.19630541946212163, - "angularVelocity": -0.37385609773656636, - "velocityX": -0.6463667132064052, - "velocityY": -1.5857262971209511, - "timestamp": 8.085821801416564, + "x": 2.625979185275369, + "y": 5.582239168042045, + "heading": -0.05575363056713169, + "angularVelocity": -0.021178185260196356, + "velocityX": -0.2785538721575841, + "velocityY": -0.14148042991624163, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.53863897627298, + -62.166928992230204, + -62.61985338113243, + -63.18666812097547 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.30975265130726, + -32.124426211771144, + -31.228092651527213, + -30.06753272100449 + ], + "timestamp": 8.555916319167036 }, { - "x": 1.8578509725471128, - "y": 4.760208836139962, - "heading": -0.2255136021690484, - "angularVelocity": -0.3760586433009199, - "velocityX": -0.26197079627561504, - "velocityY": -1.5117599232322432, - "timestamp": 8.163491024627463, + "x": 2.580156759644853, + "y": 5.558350091305469, + "heading": -0.059396028960474336, + "angularVelocity": -0.04403744385679758, + "velocityX": -0.5540037849166433, + "velocityY": -0.2888244947341631, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.73237553392687, + -61.46900521182332, + -61.93243395044323, + -62.597931463592055 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.74344619336721, + -33.42597146211571, + -32.553980913931255, + -31.258703129802008 + ], + "timestamp": 8.638627713706354 }, { - "x": 1.86711847782135, - "y": 4.649672508239746, - "heading": -0.2545830639623134, - "angularVelocity": -0.3742725959075389, - "velocityX": 0.11932017459570718, - "velocityY": -1.4231676760828684, - "timestamp": 8.241160247838362, + "x": 2.5119523808979367, + "y": 5.521562926032323, + "heading": -0.06513366080174465, + "angularVelocity": -0.06936930362772273, + "velocityX": -0.8246068045013343, + "velocityY": -0.4447653854470885, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.47199058841197, + -60.38775068114945, + -60.8500722034585, + -61.68037234868746 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.83895663075063, + -35.32168509134177, + -34.51215439268144, + -33.00983394279163 + ], + "timestamp": 8.721339108245672 }, { - "x": 1.9024658837216946, - "y": 4.551560652342133, - "heading": -0.28188511691074963, - "angularVelocity": -0.37015914188109383, - "velocityX": 0.4792374207355572, - "velocityY": -1.3301930245323257, - "timestamp": 8.314917856011137, + "x": 2.4220716473990893, + "y": 5.470740218496298, + "heading": -0.07329565797813033, + "angularVelocity": -0.09868044447619313, + "velocityX": -1.0866789757259105, + "velocityY": -0.6144583563013899, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.25337994625179, + -58.50613454292772, + -58.92176665835011, + -60.06747509072916 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.170140034566, + -38.327817129689315, + -37.67584903649057, + -35.82712417002034 + ], + "timestamp": 8.80405050278499 }, { - "x": 1.9640237722001979, - "y": 4.461494718826653, - "heading": -0.3085593600606435, - "angularVelocity": -0.3616473447377832, - "velocityX": 0.8345971351769702, - "velocityY": -1.2211070253864846, - "timestamp": 8.388675464183912, + "x": 2.3120330410722323, + "y": 5.403804623394754, + "heading": -0.0844908659212872, + "angularVelocity": -0.13535266822076233, + "velocityX": -1.3303923472665944, + "velocityY": -0.8092669150890133, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.4970997286662, + -54.53520253007027, + -54.68159428956403, + -56.590132378075765 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.16367614831186, + -43.74464862582026, + -43.54567869822569, + -41.04398563604756 + ], + "timestamp": 8.886761897324309 }, { - "x": 2.051077126619584, - "y": 4.381509766483172, - "heading": -0.3340463436929941, - "angularVelocity": -0.3455505711715616, - "velocityX": 1.1802627088376656, - "velocityY": -1.0844298551021145, - "timestamp": 8.462433072356687, + "x": 2.186637116851186, + "y": 5.316186882095392, + "heading": -0.1001206928527023, + "angularVelocity": -0.1889682433535231, + "velocityX": -1.5160658929700233, + "velocityY": -1.0593188736252193, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.84812600751691, + -42.48043340727384, + -40.63706416897053, + -45.34976090197617 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -58.68513607330116, + -55.43434166030699, + -56.76878104529127, + -53.093501615698166 + ], + "timestamp": 8.969473291863627 }, { - "x": 2.1615708290526574, - "y": 4.315732779500964, - "heading": -0.3571925535628894, - "angularVelocity": -0.3138145398597539, - "velocityX": 1.498065151112891, - "velocityY": -0.8917993494058019, - "timestamp": 8.536190680529462, + "x": 2.069822500671029, + "y": 5.204382721788452, + "heading": -0.12240803875328186, + "angularVelocity": -0.26945919633823856, + "velocityX": -1.412315882603427, + "velocityY": -1.3517383055824614, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.202348234910946, + 16.95147057761103, + 29.842566999836002, + 20.936739362517404 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.9859363567085, + -67.59023718567776, + -62.94453518621747, + -66.41132942373025 + ], + "timestamp": 9.052184686402946 }, { - "x": 2.285578310541265, - "y": 4.273764739768483, - "heading": -0.3750653368614216, - "angularVelocity": -0.2423178264765015, - "velocityX": 1.681283932067371, - "velocityY": -0.5689994669319045, - "timestamp": 8.609948288702236, + "x": 1.978162289732587, + "y": 5.086947684868809, + "heading": -0.14761389079428558, + "angularVelocity": -0.3047446144681042, + "velocityX": -1.1081932719060839, + "velocityY": -1.4198169136638004, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.68490838035501, + 67.56249894147786, + 68.60619427842576, + 68.56145212917936 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.17609026683669, + -17.605956443045816, + -13.013279466286473, + -13.18546586615485 + ], + "timestamp": 9.134896080942264 }, { - "x": 2.3925342430815864, - "y": 4.253189783587575, - "heading": -0.3864443630006571, - "angularVelocity": -0.1542759644887136, - "velocityX": 1.4501003379852107, - "velocityY": -0.2789536793643197, - "timestamp": 8.683705896875011, + "x": 1.9122925979368877, + "y": 4.9707044147930874, + "heading": -0.1739682538797872, + "angularVelocity": -0.31863038015848894, + "velocityX": -0.7963798961748549, + "velocityY": -1.4054081752963692, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.87223440954051, + 69.85768951539075, + 69.79968480932632, + 69.77437760404688 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.2014490421001476, + 2.5539028923202314, + 3.8804044095447408, + 4.270739583900649 + ], + "timestamp": 9.217607475481582 }, { - "x": 2.473959082909401, - "y": 4.2425466442092885, - "heading": -0.39377914827365895, - "angularVelocity": -0.09944445671042275, - "velocityX": 1.1039517392847038, - "velocityY": -0.14429886817039247, - "timestamp": 8.757463505047786, + "x": 1.8719723679437992, + "y": 4.8582723674266255, + "heading": -0.20076752508140072, + "angularVelocity": -0.32400942277516737, + "velocityX": -0.4874809597596813, + "velocityY": -1.359329606188858, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.2365116830962, + 69.20383607933752, + 69.1442434422726, + 69.1088127074709 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.893150934674008, + 10.114696359535678, + 10.5202564608269, + 10.746354103969098 + ], + "timestamp": 9.3003188700209 }, { - "x": 2.528516353801377, - "y": 4.237309273601869, - "heading": -0.3981937238226007, - "angularVelocity": -0.059852477029905565, - "velocityX": 0.7396832983544896, - "velocityY": -0.07100786938686426, - "timestamp": 8.831221113220561, + "x": 1.8569722868703582, + "y": 4.750992338069457, + "heading": -0.22764746637810754, + "angularVelocity": -0.32498474299002544, + "velocityX": -0.18135446944145373, + "velocityY": -1.2970405100130564, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.56864884555179, + 68.55864335178183, + 68.54641491623597, + 68.53630350295705 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.869385456649603, + 13.918326387580239, + 13.97905842821346, + 14.028119303773838 + ], + "timestamp": 9.383030264560219 }, { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": -0.027749812663341342, - "velocityX": 0.3706654528734074, - "velocityY": -0.027066155765340248, - "timestamp": 8.904978721393336, + "x": 1.86711847782135, + "y": 4.649672508239746, + "heading": -0.25438752055343183, + "angularVelocity": -0.32329347515248463, + "velocityX": 0.12266980876702048, + "velocityY": -1.224980311286467, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.04853737119781, + 68.07141251551009, + 68.09224407296453, + 68.11477934004309 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.276510075414343, + 16.181079461768007, + 16.092408994460172, + 15.997267003288515 + ], + "timestamp": 9.465741659099537 }, { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": 4.4259744873179585e-39, - "velocityX": 1.5602548377328346e-41, - "velocityY": -1.5730056958393183e-40, - "timestamp": 8.978736329566111, + "x": 1.893981174454082, + "y": 4.567960592211496, + "heading": -0.2769920214000605, + "angularVelocity": -0.32033134739266317, + "velocityX": 0.3806747985875902, + "velocityY": -1.1579502833069275, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.64503155321364, + 67.7008004063933, + 67.74100235706341, + 67.79529885711308 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - } - ], - "trajectoryWaypoints": [], - "constraints": [ - { - "scope": [ - "first" + 17.883134704933525, + 17.671739615525684, + 17.515534914842895, + 17.305117138910887 ], - "type": "StopPoint" + "timestamp": 9.536307655935682 }, { - "scope": [ - "last" + "x": 1.9388710931342503, + "y": 4.491611739523084, + "heading": -0.2992146718264406, + "angularVelocity": -0.3149200949854273, + "velocityX": 0.6361409275405473, + "velocityY": -1.0819496090403846, + "moduleForcesX": [ + 66.89497321476524, + 67.02261578244135, + 67.08816014248102, + 67.21080749571729 ], - "type": "StopPoint" - }, - { - "scope": [ - 2 + "moduleForcesY": [ + 20.479529884065915, + 20.059556741468292, + 19.836322433834518, + 19.418492532551788 ], - "type": "StopPoint" + "timestamp": 9.606873652771826 }, { - "scope": [ + "x": 2.001467948892821, + "y": 4.421590727961635, + "heading": -0.32079068497766927, + "angularVelocity": -0.30575651331516684, + "velocityX": 0.8870682561733165, + "velocityY": -0.9922769421657726, + "moduleForcesX": [ + 65.53922289248395, + 65.82467044567649, + 65.90795915660198, + 66.1793702855204 + ], + "moduleForcesY": [ + 24.43276781519512, + 23.6558866785065, + 23.41741977489106, + 22.64219513995646 + ], + "timestamp": 9.67743964960797 + }, + { + "x": 2.081094062364392, + "y": 4.359524172405404, + "heading": -0.3412692624127303, + "angularVelocity": -0.2902046077888271, + "velocityX": 1.1283921016019085, + "velocityY": -0.8795533024262525, + "moduleForcesX": [ + 62.64316082126668, + 63.34020929025356, + 63.36139711783674, + 64.02365824512484 + ], + "moduleForcesY": [ + 31.061388733940635, + 29.618897152165395, + 29.563491732614338, + 28.105948923350745 + ], + "timestamp": 9.748005646444115 + }, + { + "x": 2.1758603536691266, + "y": 4.3085633486402415, + "heading": -0.3597562406717856, + "angularVelocity": -0.26198139455157654, + "velocityX": 1.3429455481906323, + "velocityY": -0.7221725200523089, + "moduleForcesX": [ + 54.585879292422305, + 56.673637255593206, + 55.97374519969251, + 58.02864241995829 + ], + "moduleForcesY": [ + 43.62180660033044, + 40.879896618536996, + 41.813608075268824, + 38.920415656963144 + ], + "timestamp": 9.81857164328026 + }, + { + "x": 2.27801271257031, + "y": 4.27480914095921, + "heading": -0.3742958708643891, + "angularVelocity": -0.2060430071775894, + "velocityX": 1.4476144812122793, + "velocityY": -0.4783353058755663, + "moduleForcesX": [ + 23.761748115499397, + 30.966425197958873, + 23.522820731074834, + 31.642011798670588 + ], + "moduleForcesY": [ + 65.61870599326856, + 62.542931754781115, + 65.6739208799796, + 62.171678942392184 + ], + "timestamp": 9.889137640116404 + }, + { + "x": 2.369292836574492, + "y": 4.256289167846281, + "heading": -0.3842856655425764, + "angularVelocity": -0.14156669112722634, + "velocityX": 1.2935426139608872, + "velocityY": -0.2624489689550226, + "moduleForcesX": [ + -39.395901739962994, + -34.91737000537315, + -45.57603307920421, + -41.872357584198234 + ], + "moduleForcesY": [ + 57.617656747659694, + 60.40950447199274, + 52.84534331139303, + 55.788815115450184 + ], + "timestamp": 9.959703636952549 + }, + { + "x": 2.4435658123428112, + "y": 4.245702404777808, + "heading": -0.39122795243288855, + "angularVelocity": -0.09838005840734046, + "velocityX": 1.0525320848337525, + "velocityY": -0.15002640851308846, + "moduleForcesX": [ + -62.059015510900586, + -61.79060844179407, + -64.60055543174373, + -64.589292033163 + ], + "moduleForcesY": [ + 32.12670273071491, + 32.614292917779764, + 26.648569819117977, + 26.644054775734322 + ], + "timestamp": 10.030269633788693 + }, + { + "x": 2.4996157079976045, + "y": 4.239688102315035, + "heading": -0.3959449037616861, + "angularVelocity": -0.06684453618292123, + "velocityX": 0.7942904255280592, + "velocityY": -0.0852294693255483, + "moduleForcesX": [ + -67.15525230693295, + -67.29602335930974, + -68.25589199909099, + -68.42344727243434 + ], + "moduleForcesY": [ + 19.483980629357102, + 18.970532635195774, + 15.188806152023922, + 14.38766371463949 + ], + "timestamp": 10.100835630624838 + }, + { + "x": 2.537089872555244, + "y": 4.236555630867047, + "heading": -0.39886430283701785, + "angularVelocity": -0.041371187345523225, + "velocityX": 0.5310513028626985, + "velocityY": -0.044390663895267427, + "moduleForcesX": [ + -68.74553744303479, + -68.88550658051672, + -69.31271764555699, + -69.43374223877584 + ], + "moduleForcesY": [ + 12.910083849972219, + 12.121292110958931, + 9.406272290419192, + 8.439440051930237 + ], + "timestamp": 10.171401627460982 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -0.019502038610309587, + "velocityX": 0.26593372620992684, + "velocityY": -0.017610353889658304, + "moduleForcesX": [ + -69.38048696240153, + -69.48460284359975, + -69.70453769706126, + -69.78008486300917 + ], + "moduleForcesY": [ + 8.992556017647724, + 8.129391390949667, + 5.990707642370114, + 5.004272092261957 + ], + "timestamp": 10.241967624297127 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -8.909310736046408e-26, + "velocityX": -5.474032174370015e-26, + "velocityY": 1.2979510185453306e-24, + "moduleForcesX": [ + -69.67508744104906, + -69.7483426665789, + -69.869796921471, + -69.91336928012747 + ], + "moduleForcesY": [ + 6.415152694532496, + 5.541413760327354, + 3.7496882206129016, + 2.783039779233016 + ], + "timestamp": 10.312533621133271 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.7257580161094666, + "y": 6.734513759613037, + "heading": 1.0489622146743895, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 19 + }, + { + "timestamp": 0.9657728529587304, + "isStopPoint": false, + "x": 2.460571050643921, + "y": 7.051084518432617, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "timestamp": 1.806723829150412, + "isStopPoint": true, + "x": 3.6838948726654053, + "y": 6.990629196166992, + "heading": 0.43585092941815357, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 25 + }, + { + "timestamp": 3.9980104117151236, + "isStopPoint": false, + "x": 8.369697570800781, + "y": 7.493239879608154, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 25 + }, + { + "timestamp": 6.315712251353343, + "isStopPoint": true, + "x": 3.5236947536468506, + "y": 6.957629203796387, + "heading": 0.43585092941815357, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "timestamp": 7.4718894769939475, + "isStopPoint": false, + "x": 2.0189318656921387, + "y": 6.457632064819336, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 11 + }, + { + "timestamp": 8.473204924627717, + "isStopPoint": true, + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 12 + }, + { + "timestamp": 9.465741659099537, + "isStopPoint": false, + "x": 1.86711847782135, + "y": 4.649672508239746, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 12 + }, + { + "timestamp": 10.312533621133271, + "isStopPoint": true, + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + }, + { + "scope": [ + 2 + ], + "type": "StopPoint" + }, + { + "scope": [ 4 ], "type": "StopPoint" @@ -7348,7 +7766,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "source 4": { "waypoints": [ @@ -7457,10 +7875,9 @@ "x": 0.7040935158729553, "y": 4.236670017242432, "heading": -1.0390724511122948, - "angularVelocity": 8.929054960744042e-19, - "velocityX": 8.609354111590197e-18, - "velocityY": 5.261372443897991e-18, - "timestamp": 0, + "angularVelocity": 7.29755488304114e-23, + "velocityX": 6.956890646208746e-21, + "velocityY": 6.752920700606897e-21, "moduleForcesX": [ 0, 0, @@ -7472,8410 +7889,8533 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 0.7161405463855183, - "y": 4.229331722141036, - "heading": -1.0300663664419025, - "angularVelocity": 0.1579868549191116, - "velocityX": 0.21133184191032803, - "velocityY": -0.1287300981467684, - "timestamp": 0.05700527854044238, + "x": 0.715433807582365, + "y": 4.229595142004885, + "heading": -1.032270890195898, + "angularVelocity": 0.11376381797078292, + "velocityX": 0.18967923651977003, + "velocityY": -0.11833530987716402, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.54772190692509, + 61.26838468482335, + 56.33796486576706, + 51.8974658730056 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.455711399147777, + -33.79574008552189, + -41.46478634469826, + -46.925519157100595 + ], + "timestamp": 0.059786679435667754 }, { - "x": 0.74024355642588, - "y": 4.2146519650283585, - "heading": -1.01223394384172, - "angularVelocity": 0.3128205502501218, - "velocityX": 0.42282066955013653, - "velocityY": -0.2575157509714357, - "timestamp": 0.11401055708088476, + "x": 0.738118051226565, + "y": 4.2154438577652265, + "heading": -1.018777355432788, + "angularVelocity": 0.22569466795073123, + "velocityX": 0.37941969445900675, + "velocityY": -0.2366962737057032, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.44680562579664, + 61.3117606334281, + 56.28226247099849, + 52.08657451491899 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.71555488320743, + -33.711587460428035, + -41.534893455512545, + -46.711511702824325 + ], + "timestamp": 0.11957335887133551 }, { - "x": 0.7764122120765719, - "y": 4.192627448984981, - "heading": -0.9857704276701906, - "angularVelocity": 0.4642292231368554, - "velocityX": 0.6344790618825241, - "velocityY": -0.3863592391317233, - "timestamp": 0.17101583562132713, + "x": 0.7721501664105168, + "y": 4.194214566047879, + "heading": -0.9987104548413567, + "angularVelocity": 0.3356416643447112, + "velocityX": 0.569225712235318, + "velocityY": -0.3550839738505436, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.32874096768309, + 61.383275986110924, + 56.18208017428399, + 52.31454822228494 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.015809842064858, + -33.57502583171514, + -41.66427696154145, + -46.45156665463389 + ], + "timestamp": 0.17936003830700326 }, { - "x": 0.8246572790922619, - "y": 4.163254705395263, - "heading": -0.9508964602956907, - "angularVelocity": 0.6117673357171477, - "velocityX": 0.8463263096146952, - "velocityY": -0.5152635745631515, - "timestamp": 0.2280211141617695, + "x": 0.8175344403053058, + "y": 4.165905584453313, + "heading": -0.9722018476017761, + "angularVelocity": 0.44338651167447146, + "velocityX": 0.7591034378088153, + "velocityY": -0.4734998140351508, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.18866556438779, + 61.47819785655304, + 56.04739384964031, + 52.58324877047411 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.367064064013647, + -33.39378225189223, + -41.83859990529744, + -46.142104358457196 + ], + "timestamp": 0.23914671774267102 }, { - "x": 0.8849910486472321, - "y": 4.126529972865192, - "heading": -0.9078713795305998, - "angularVelocity": 0.754756083413703, - "velocityX": 1.0583891720161793, - "velocityY": -0.6442338932528269, - "timestamp": 0.28502639270221186, + "x": 0.8742756510494156, + "y": 4.1305151118577195, + "heading": -0.9394014826163761, + "angularVelocity": 0.5486232935999428, + "velocityX": 0.9490610831659384, + "velocityY": -0.5919457800574721, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.020403958279, + 61.59062585961838, + 55.890482716510874, + 52.895030535417675 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.782161069196288, + -33.17766320071793, + -42.04051589284145, + -45.77854251818276 + ], + "timestamp": 0.2989333971783388 }, { - "x": 0.957427781713813, - "y": 4.082448951896472, - "heading": -0.8570110099599281, - "angularVelocity": 0.892204561979106, - "velocityX": 1.2707022037475195, - "velocityY": -0.7732796347525094, - "timestamp": 0.3420316712426542, + "x": 0.9423792036142611, + "y": 4.0880411675121096, + "heading": -0.9004844684798459, + "angularVelocity": 0.6509311857402303, + "velocityX": 1.139109132798163, + "velocityY": -0.7104248763524927, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.81632247355392, + 61.71317278886842, + 55.726505846609875, + 53.25257142819196 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.276007269178876, + -32.93935748727244, + -42.2492161613132, + -45.35535697655966 + ], + "timestamp": 0.3587200766140065 }, { - "x": 1.0419841250424062, - "y": 4.031006408833659, - "heading": -0.7987109894705948, - "angularVelocity": 1.0227126677045002, - "velocityX": 1.48330725668861, - "velocityY": -0.9024171862666567, - "timestamp": 0.39903694978309656, + "x": 1.0218512713966623, + "y": 4.038481494472945, + "heading": -0.8556600736346998, + "angularVelocity": 0.7497388259098504, + "velocityX": 1.3292604394916392, + "velocityY": -0.8289417225870636, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.5671642558988, + 61.83647882993179, + 55.574165864564975, + 53.658720296444 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.86524352336682, + -32.695579450559244, + -42.43979933572092, + -44.86609551424779 + ], + "timestamp": 0.41850675604967424 }, { - "x": 1.1386794300833858, - "y": 3.9721956488924164, - "heading": -0.7334767516521583, - "angularVelocity": 1.1443543385575554, - "velocityX": 1.696251777322337, - "velocityY": -1.0316721792617503, - "timestamp": 0.4560422283235389, + "x": 1.1126989315207665, + "y": 3.981833422121306, + "heading": -0.8051834735323969, + "angularVelocity": 0.8442783673346016, + "velocityX": 1.519530119110542, + "velocityY": -0.9475032379511233, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.26188004838505, + 61.9484456320135, + 55.456492177760616, + 54.11639975905939 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -27.56771823657009, + -32.46874002113115, + -42.58232674754677, + -44.303287045868665 + ], + "timestamp": 0.478293435485342 }, { - "x": 1.2475358906249325, - "y": 3.9060079639237233, - "heading": -0.6619621142635164, - "angularVelocity": 1.2545265845496538, - "velocityX": 1.9095856266068247, - "velocityY": -1.1610799326545718, - "timestamp": 0.5130475068639813, + "x": 1.2149302753185753, + "y": 3.9180936926219325, + "heading": -0.7493711118546663, + "angularVelocity": 0.9335250293969989, + "velocityX": 1.7099351354311807, + "velocityY": -1.0661192443035492, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.887475633512466, + 62.03296933013225, + 55.40184701466258, + 54.62863561278071 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.401712831303943, + -32.28948380126497, + -42.64027055454573, + -43.658130391946486 + ], + "timestamp": 0.5380801149210097 }, { - "x": 1.3685783902865754, - "y": 3.8324322959302655, - "heading": -0.5850214646080069, - "angularVelocity": 1.3497109675716208, - "velocityX": 2.1233559901960604, - "velocityY": -1.2906816680363788, - "timestamp": 0.5700527854044236, + "x": 1.3285544663332673, + "y": 3.8472582753725564, + "heading": -0.6886211329064718, + "angularVelocity": 1.0161122765408537, + "velocityX": 1.900493422401139, + "velocityY": -1.1848026670489025, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.42888913505149, + 62.067721094553924, + 55.44540149688528, + 55.198849683454945 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.38492659731237, + -32.20073803571778, + -42.567755661759435, + -42.91972004356158 + ], + "timestamp": 0.5978667943566774 }, { - "x": 1.5018338127510122, - "y": 3.751455569328003, - "heading": -0.5037890624780151, - "angularVelocity": 1.4249978986132357, - "velocityX": 2.3375979536684452, - "velocityY": -1.4205127783879297, - "timestamp": 0.627058063944866, + "x": 1.453581699073713, + "y": 3.769322227601833, + "heading": -0.6234417288531531, + "angularVelocity": 1.0901994335285599, + "velocityX": 2.0912222240905414, + "velocityY": -1.3035687632490642, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.86885947349876, + 62.01999544057191, + 55.63161174105422, + 55.83169751878265 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.533371291562247, + -32.2645855847761, + -42.30435993060173, + -42.07327292442682 + ], + "timestamp": 0.6576534737923452 }, { - "x": 1.6473288718602725, - "y": 3.6630646003799376, - "heading": -0.41982091767256663, - "angularVelocity": 1.472988939890508, - "velocityX": 2.5523085376390124, - "velocityY": -1.5505751609538212, - "timestamp": 0.6840633424853083, + "x": 1.5900229546038354, + "y": 3.6842797232824167, + "heading": -0.5544934479072021, + "angularVelocity": 1.1532381727294532, + "velocityX": 2.2821346965244524, + "velocityY": -1.4224323063622528, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.1875724135222, + 61.83833379276979, + 56.01878101689776, + 56.53508273220183 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.860643822951015, + -32.57481447567777, + -41.76480863993979, + -41.09607953526188 + ], + "timestamp": 0.7174401532280129 }, { - "x": 1.8050824146397977, - "y": 3.567252175256741, - "heading": -0.3353932348700992, - "angularVelocity": 1.481050263486933, - "velocityX": 2.767349740561443, - "velocityY": -1.6807640902100165, - "timestamp": 0.7410686210257507, + "x": 1.7378892550547027, + "y": 3.5921245178283687, + "heading": -0.48265898883673286, + "angularVelocity": 1.2015127742253222, + "velocityX": 2.473231526597427, + "velocityY": -1.5414002972553322, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.361367872462075, + 61.434015184200874, + 56.68790855051713, + 57.32493533314934 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.37873739561856, + -33.28185355224547, + -40.8173810709515, + -39.94780670961778 + ], + "timestamp": 0.7772268326636806 }, { - "x": 1.9750736570569472, - "y": 3.4640393984752493, - "heading": -0.25423487558835517, - "angularVelocity": 1.4236990215593248, - "velocityX": 2.9820263450962745, - "velocityY": -1.8105827990694903, - "timestamp": 0.798073899566193, + "x": 1.8971894226275083, + "y": 3.4928515473842303, + "heading": -0.4091725613216626, + "angularVelocity": 1.2291438194714246, + "velocityX": 2.6644759179880113, + "velocityY": -1.6604529868724265, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.35836913352838, + 60.63513349367374, + 57.760246893909404, + 58.237336203294035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.1031828607357, + -34.647456227604984, + -39.23520372459329, + -38.544895033085695 + ], + "timestamp": 0.8370135120993484 }, { - "x": 2.1570870248495084, - "y": 3.353614368878204, - "heading": -0.18375879433725764, - "angularVelocity": 1.236307988585624, - "velocityX": 3.1929212952346644, - "velocityY": -1.9371018338012853, - "timestamp": 0.8550791781066354, + "x": 2.067922596548823, + "y": 3.386462043001343, + "heading": -0.33589299190944444, + "angularVelocity": 1.2256838831644614, + "velocityX": 2.8557059119670423, + "velocityY": -1.7794850857600122, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.12452238741171, + 59.05338377748442, + 59.43158657433183, + 59.36375163479457 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.06983571694618, + -37.17955017577845, + -36.57470562189395, + -36.68113018786039 + ], + "timestamp": 0.8968001915350161 }, { - "x": 2.349619563126936, - "y": 3.2382914399772114, - "heading": -0.1461730910128464, - "angularVelocity": 0.6593372453701131, - "velocityX": 3.3774510572882535, - "velocityY": -2.023021935050713, - "timestamp": 0.9120844566470777, + "x": 2.2500487614425344, + "y": 3.272983577125707, + "heading": -0.2659841778203613, + "angularVelocity": 1.1693041786056557, + "velocityX": 3.0462666034109573, + "velocityY": -1.8980560042265389, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.53761001377698, + 55.601477549970554, + 62.02674796964957, + 60.97800551370017 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.3860706683815, + -42.012027837027354, + -31.829260299987943, + -33.70636562123062 + ], + "timestamp": 0.9565868709706838 }, { - "x": 2.5526739746417553, - "y": 3.1179621396591326, - "heading": -0.14106347914371162, - "angularVelocity": 0.08963401284864882, - "velocityX": 3.5620282316621505, - "velocityY": -2.110844879614242, - "timestamp": 0.9690897351875201, + "x": 2.4433389004049477, + "y": 3.1526004381169717, + "heading": -0.20613271065820918, + "angularVelocity": 1.0010836481821022, + "velocityX": 3.2329967274800615, + "velocityY": -2.0135444909308355, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.2320119981847, + 46.08348130369955, + 65.92635531860081, + 64.15513258671815 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.405324596705626, + -52.012838522679054, + -22.296704522496253, + -26.399090648387688 + ], + "timestamp": 1.0163735504063516 }, { - "x": 2.755976846870316, - "y": 2.9945160563864084, - "heading": -0.14106343687633885, - "angularVelocity": 7.414641917811559e-7, - "velocityX": 3.5663867879240057, - "velocityY": -2.1655202190643497, - "timestamp": 1.0260950137279625, + "x": 2.64640527789121, + "y": 3.0272578079737107, + "heading": -0.17589176396054093, + "angularVelocity": 0.5058141208562758, + "velocityX": 3.39651540113995, + "velocityY": -2.0964976032518132, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.43642800904045, + 15.961479301081786, + 69.21234911422556, + 66.02296970632854 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.647203964182566, + -67.15407592237315, + -4.195869077646205, + 15.201202844053483 + ], + "timestamp": 1.0761602298420194 }, { - "x": 2.9592713283538066, - "y": 2.871056155480985, - "heading": -0.14106339461736297, - "angularVelocity": 7.413168914557164e-7, - "velocityX": 3.5662395955010413, - "velocityY": -2.1657626112261363, - "timestamp": 1.083100292268405, + "x": 2.858759471121971, + "y": 2.896949290346968, + "heading": -0.1753865369061489, + "angularVelocity": 0.008450495313687719, + "velocityX": 3.5518646500389677, + "velocityY": -2.1795577017612344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.877682755228676, + 13.479400255307931, + 67.80475151953434, + 61.34779618562412 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.623113391603226, + -65.70740130826005, + -4.554556286293708, + 13.956547001777377 + ], + "timestamp": 1.1359469092776873 }, { - "x": 3.1625658082183112, - "y": 2.7475962519096617, - "heading": -0.14106335235838743, - "angularVelocity": 7.413168852358239e-7, - "velocityX": 3.566239567100414, - "velocityY": -2.1657626579919755, - "timestamp": 1.1401055708088474, + "x": 3.070577911300113, + "y": 2.765527166034974, + "heading": -0.17525943928538615, + "angularVelocity": 0.002125851811179994, + "velocityX": 3.5429035727944265, + "velocityY": -2.198184036185012, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.551941748310873, + -3.095020466787963, + -2.456887187650738, + -3.0007660581388347 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.094065921638279, + -5.995375018481519, + -5.545518916946394, + -5.446894654115088 + ], + "timestamp": 1.1957335887133551 }, { - "x": 3.3658602901525385, - "y": 2.6241363517464347, - "heading": -0.141063310099412, - "angularVelocity": 7.413168835719256e-7, - "velocityX": 3.5662396034079684, - "velocityY": -2.165762598206346, - "timestamp": 1.19711084934929, + "x": 3.2822297601147885, + "y": 2.6338368148019735, + "heading": -0.1751324935852271, + "angularVelocity": 0.0021233107668347066, + "velocityX": 3.54011714335832, + "velocityY": -2.2026704355558717, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.863150676578567, + -0.8633676894084603, + -0.8631115358110056, + -0.8633285486733171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.3900226870877253, + -1.3899842033985372, + -1.389800997519401, + -1.3897625138369318 + ], + "timestamp": 1.255520268149023 }, { - "x": 3.569154771290978, - "y": 2.500676450272834, - "heading": -0.14106326784043682, - "angularVelocity": 7.413168793171977e-7, - "velocityX": 3.5662395894480823, - "velocityY": -2.1657626211932337, - "timestamp": 1.2541161278897324, + "x": 3.4938391602812775, + "y": 2.502078264150958, + "heading": -0.17500555381086283, + "angularVelocity": 0.002123211651198114, + "velocityX": 3.5394071415889115, + "velocityY": -2.2038111481469853, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.21995604309338784, + -0.21996450538675114, + -0.219954513871351, + -0.21996297616472688 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.35339937867368737, + -0.3533978822055434, + -0.353390728696392, + -0.35338923222825075 + ], + "timestamp": 1.3153069475846908 }, { - "x": 3.7724492481116925, - "y": 2.377216541689487, - "heading": -0.14106322558146206, - "angularVelocity": 7.413168714887869e-7, - "velocityX": 3.5662395137055287, - "velocityY": -2.165762745914082, - "timestamp": 1.3111214064301748, + "x": 3.7054381506632414, + "y": 2.370302996259321, + "heading": -0.17487861636238372, + "angularVelocity": 0.002123172748132153, + "velocityX": 3.539233026140049, + "velocityY": -2.204090762950474, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.05393984104598162, + -0.053943162517911016, + -0.05393924116247466, + -0.05394256263440453 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.08662703583199362, + -0.08662644897786774, + -0.0866236405582286, + -0.08662305370410282 + ], + "timestamp": 1.3750936270203586 }, { - "x": 3.9757437153478112, - "y": 2.253756617323748, - "heading": -0.141063183322488, - "angularVelocity": 7.413168595985773e-7, - "velocityX": 3.5662393455702883, - "velocityY": -2.1657630227725164, - "timestamp": 1.3681266849706173, + "x": 3.9170361141832633, + "y": 2.23852607941541, + "heading": -0.1747516802251719, + "angularVelocity": 0.0021231508156993647, + "velocityX": 3.5392158507098253, + "velocityY": -2.2041183435468636, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.005320204225578223, + -0.005322076815743466, + -0.005319866268152617, + -0.005321738858317875 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.008545628517439988, + -0.008545297906851504, + -0.008543714314207394, + -0.008543383703618915 + ], + "timestamp": 1.4348803064560265 }, { - "x": 4.179038165990622, - "y": 2.1302966656347895, - "heading": -0.14106314106351509, - "angularVelocity": 7.413168390267369e-7, - "velocityX": 3.5662390544865947, - "velocityY": -2.165763502082876, - "timestamp": 1.4251319635110598, + "x": 4.128640197873898, + "y": 2.1067589904201007, + "heading": -0.17462474462871136, + "angularVelocity": 0.0021231417710216183, + "velocityX": 3.539318217502375, + "velocityY": -2.2039539616361186, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.031713687445732365, + 0.03171291519389732, + 0.03171382671474273, + 0.03171305446290771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.0509252757232426, + 0.050925411965595295, + 0.05092606513553456, + 0.05092620137788729 + ], + "timestamp": 1.4946669858916943 }, { - "x": 4.382332608455097, - "y": 2.006836700478998, - "heading": -0.14106309880454287, - "angularVelocity": 7.413168272703568e-7, - "velocityX": 3.5662389110202497, - "velocityY": -2.1657637383212465, - "timestamp": 1.4821372420515022, + "x": 4.340270871800093, + "y": 1.975034612444512, + "heading": -0.17449780733111298, + "angularVelocity": 0.002123170224480436, + "velocityX": 3.5397629693403023, + "velocityY": -2.2032395714053457, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.13778372581008266, + 0.13778615529467875, + 0.13778328802854692, + 0.1377857175131436 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.2213205167784022, + 0.22132008845864243, + 0.2213180333465503, + 0.22131760502679068 + ], + "timestamp": 1.5544536653273622 }, { - "x": 4.585627106271784, - "y": 1.8833768264681643, - "heading": -0.14106305654556767, - "angularVelocity": 7.413168792259443e-7, - "velocityX": 3.566239882021746, - "velocityY": -2.1657621394350306, - "timestamp": 1.5391425205919447, + "x": 4.552006410372516, + "y": 1.8434788635952937, + "heading": -0.174370859246241, + "angularVelocity": 0.002123350653862275, + "velocityX": 3.5415169494445053, + "velocityY": -2.2004190580742207, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.5433790931423936, + 0.5433945012799418, + 0.5433763216746417, + 0.5433917298122928 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.8738080810129659, + 0.8738053643437571, + 0.8737923345560961, + 0.8737896178869093 + ], + "timestamp": 1.61424034476303 }, { - "x": 4.788921775371466, - "y": 1.759917234499251, - "heading": -0.141063014286583, - "angularVelocity": 7.413170455012489e-7, - "velocityX": 3.5662428867082965, - "velocityY": -2.1657571917893876, - "timestamp": 1.5961477991323871, + "x": 4.764150877802991, + "y": 1.712583587714677, + "heading": -0.1742438576507746, + "angularVelocity": 0.002124245679224473, + "velocityX": 3.5483567482410368, + "velocityY": -2.189371898826826, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 2.1189474099970877, + 2.119023990511858, + 2.118933868378057, + 2.1190104489027095 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.4224707099041685, + 3.4224570500226936, + 3.4223927392271776, + 3.4223790793476985 + ], + "timestamp": 1.6740270241986979 }, { - "x": 4.992213145824937, - "y": 1.6364522109807111, - "heading": -0.14106297202778553, - "angularVelocity": 7.413137615262351e-7, - "velocityX": 3.5661850210808623, - "velocityY": -2.165852473310018, - "timestamp": 1.6531530776728296, + "x": 4.9778090324806294, + "y": 1.5841741090079462, + "heading": -0.17411657485486168, + "angularVelocity": 0.0021289490755190005, + "velocityX": 3.5736748836760577, + "velocityY": -2.1477941226841577, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.843414380489208, + 7.843827776043005, + 7.843357509344098, + 7.843770905905391 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.881093794607638, + 12.881008034632004, + 12.880694670449412, + 12.880608910580017 + ], + "timestamp": 1.7338137036343657 }, { - "x": 5.195527020317167, - "y": 1.5130242489270982, - "heading": -0.14106292976770962, - "angularVelocity": 7.413361885013363e-7, - "velocityX": 3.5665797922193354, - "velocityY": -2.1652023323793768, - "timestamp": 1.710158356213272, + "x": 5.195373986991736, + "y": 1.4625022489151542, + "heading": -0.173988188752645, + "angularVelocity": 0.0021474031243842464, + "velocityX": 3.639020540440172, + "velocityY": -2.0350998122201154, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 20.243141987202804, + 20.245068496376028, + 20.24327739317644, + 20.24520394305148 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 34.91382994128647, + 34.91314041643893, + 34.91255957167897, + 34.911870028730796 + ], + "timestamp": 1.7936003830700336 }, { - "x": 5.398934826518299, - "y": 1.3897511467960901, - "heading": -0.1410628874999793, - "angularVelocity": 7.414704637749377e-7, - "velocityX": 3.5682275643443737, - "velocityY": -2.162485743202633, - "timestamp": 1.7671636347537145, + "x": 5.418218497456287, + "y": 1.3507991828949582, + "heading": -0.17385302732875219, + "angularVelocity": 0.0022607280613107334, + "velocityX": 3.727327099748674, + "velocityY": -1.8683604286870024, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.348514036152682, + 27.363141872471164, + 27.35184014579624, + 27.366470570676757 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.66197417486234, + 51.65527835345624, + 51.65689637264107, + 51.650198350230426 + ], + "timestamp": 1.8533870625057014 }, { - "x": 5.608231721454858, - "y": 1.276765293609188, - "heading": -0.14106284462697327, - "angularVelocity": 7.520883524725524e-7, - "velocityX": 3.67153534366255, - "velocityY": -1.982024403349554, - "timestamp": 1.824168913294157, + "x": 5.6460424658453325, + "y": 1.250564968244399, + "heading": -0.1725147447977409, + "angularVelocity": 0.022384292682642293, + "velocityX": 3.8106141792703365, + "velocityY": -1.6765308860883457, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.039815506108365, + 26.94185766408972, + 24.604667262673804, + 27.623459651364477 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 60.29214549563695, + 59.1132938283946, + 59.786637936660526, + 58.52413101034513 + ], + "timestamp": 1.9131737419413692 }, { - "x": 5.823946089773796, - "y": 1.176573960997718, - "heading": -0.14106279214343445, - "angularVelocity": 9.206785786091621e-7, - "velocityX": 3.7841121706984704, - "velocityY": -1.7575799149963773, - "timestamp": 1.8811741918345994, + "x": 5.869126369156722, + "y": 1.1607805254370478, + "heading": -0.1481104946013902, + "angularVelocity": 0.40818875419583034, + "velocityX": 3.7313312165368653, + "velocityY": -1.5017466040066891, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.7927128446837, + 6.816626369174684, + -63.47701349417779, + -5.794776901530241 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.98539887002796, + 68.35565002906118, + 25.6725325852162, + 63.580047625029124 + ], + "timestamp": 1.972960421377037 }, { - "x": 6.04280309102535, - "y": 1.09019011735396, - "heading": -0.13328849744739357, - "angularVelocity": 0.13637850555389583, - "velocityX": 3.8392409765403803, - "velocityY": -1.515365696923281, - "timestamp": 1.938179470375042, + "x": 6.082381320378522, + "y": 1.080013610345603, + "heading": -0.1195257126254579, + "angularVelocity": 0.4781128881173335, + "velocityX": 3.5669308487230578, + "velocityY": -1.3509182288397712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.26698255144312, + -44.923006005486656, + -56.35778491399044, + -52.17805283116371 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.927782965039306, + 52.87136753605047, + 40.50203248416087, + 45.60615651341666 + ], + "timestamp": 2.032747100812705 }, { - "x": 6.253367473131126, - "y": 1.014173776084073, - "heading": -0.10681705256968371, - "angularVelocity": 0.4643683103649658, - "velocityX": 3.6937699016135386, - "velocityY": -1.3334965325350956, - "timestamp": 1.9951847489154844, + "x": 6.285071545390591, + "y": 1.007546366293734, + "heading": -0.09230135976084126, + "angularVelocity": 0.45535816876919627, + "velocityX": 3.3902238245254965, + "velocityY": -1.212096820494046, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.1466717380985, + -56.39687205758126, + -53.02404074942157, + -54.40871700917589 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.51144819658585, + 40.86904226746777, + 45.15003536594513, + 43.49771534572805 + ], + "timestamp": 2.0925337802483726 }, { - "x": 6.452846899676241, - "y": 0.9472350045455541, - "heading": -0.07930503725983559, - "angularVelocity": 0.482622241558399, - "velocityX": 3.499315004725375, - "velocityY": -1.174255669867861, - "timestamp": 2.052190027455927, + "x": 6.4769473741081, + "y": 0.9430279969520655, + "heading": -0.06875601529710462, + "angularVelocity": 0.3938225819862123, + "velocityX": 3.209340785081957, + "velocityY": -1.0791428784917227, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.296919569530765, + -60.163242669698086, + -51.4150422151276, + -55.27603781295309 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.7285253661544, + 35.31134050693661, + 47.13177275409373, + 42.58560647350289 + ], + "timestamp": 2.15232045968404 }, { - "x": 6.640810423890953, - "y": 0.8887412003042477, - "heading": -0.05603896061571522, - "angularVelocity": 0.40813898712231356, - "velocityX": 3.2973003382724326, - "velocityY": -1.026112067846525, - "timestamp": 2.1091953059963693, + "x": 6.657887212115584, + "y": 0.8862550288071935, + "heading": -0.05014390101060943, + "angularVelocity": 0.31130871395061127, + "velocityX": 3.026423941175402, + "velocityY": -0.9495922617004271, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.44809457824092, + -61.958349119855626, + -50.48416125180224, + -55.780938824485276 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.11844917242925, + 32.187030759517405, + 48.2137308405799, + 42.02061529186922 + ], + "timestamp": 2.212107139119708 }, { - "x": 6.817113337200576, - "y": 0.8383680431867968, - "heading": -0.039365467978320294, - "angularVelocity": 0.29249032833980043, - "velocityX": 3.0927471599765517, - "velocityY": -0.8836577665647045, - "timestamp": 2.1662005845368117, + "x": 6.827819787550746, + "y": 0.8370951717881533, + "heading": -0.037247534183898354, + "angularVelocity": 0.21570635714244593, + "velocityX": 2.8423149945635444, + "velocityY": -0.8222543463370615, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.15909372601742, + -62.99431456467617, + -49.88328359247133, + -56.112112020889846 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.077260305216, + 30.19466541434311, + 48.889154482664, + 41.636754267145434 + ], + "timestamp": 2.2718938185553754 }, { - "x": 6.981686546836259, - "y": 0.795920332604909, - "heading": -0.03060270556570072, - "angularVelocity": 0.15371843866008422, - "velocityX": 2.8869819400834746, - "velocityY": -0.7446277199008795, - "timestamp": 2.223205863077254, + "x": 6.986698469234805, + "y": 0.7954556067043951, + "heading": -0.030602705565700657, + "angularVelocity": 0.11114229257953236, + "velocityX": 2.657426088615901, + "velocityY": -0.6964689371746117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.66152451837595, + -63.65972937776729, + -49.46522350250985, + -56.32885633911261 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.316079804723124, + 28.826227285985233, + 49.34889930306191, + 41.382753981965564 + ], + "timestamp": 2.331680497991043 }, { "x": 7.134490489959717, - "y": 0.7612675428390502, - "heading": -0.03060270556570072, - "angularVelocity": -2.670760217287104e-19, - "velocityX": 2.6805226995786424, - "velocityY": -0.6078873861000724, - "timestamp": 2.2802111416176967, + "y": 0.7612675428390503, + "heading": -0.030602705565700657, + "angularVelocity": 6.952767776164286e-23, + "velocityX": 2.471989113962082, + "velocityY": -0.5718341307470027, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.06849692819989, + -64.1138454479408, + -49.1573239255958, + -56.45483714544508 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 35.67948764603912, + 27.847404869484926, + 49.6821541062048, + 41.23908061252403 + ], + "timestamp": 2.3914671774267107 }, { - "x": 7.175090349758447, - "y": 0.7524391325487545, - "heading": -0.03060270556570072, - "angularVelocity": 1.7923567672159468e-20, - "velocityX": 2.623449081025543, - "velocityY": -0.5704671143657107, - "timestamp": 2.2956868983580763, + "x": 7.175154057016087, + "y": 0.7522460645019807, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106227504416056e-23, + "velocityX": 2.4194193703465614, + "velocityY": -0.5367640130442598, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.93343567440759, + -57.93343567440759, + -57.93343567440759, + -57.93343567440759 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.648322557652996, + 38.648322557653, + 38.648322557652996, + 38.648322557652996 + ], + "timestamp": 2.4082743368446944 }, { - "x": 7.214794495760281, - "y": 0.7441703699663706, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356766226229e-20, - "velocityX": 2.5655705674301967, - "velocityY": -0.5343042489690984, - "timestamp": 2.311162655098456, + "x": 7.2149221710298415, + "y": 0.7437960323086669, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102393573996173e-23, + "velocityX": 2.3661412987608386, + "velocityY": -0.5027638509970567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.71403436247123, + -58.71403436247124, + -58.71403436247124, + -58.71403436247124 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.46919930382793, + 37.46919930382793, + 37.46919930382793, + 37.46919930382793 + ], + "timestamp": 2.425081496262678 }, { - "x": 7.253591649597395, - "y": 0.7364427858105503, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356750446904e-20, - "velocityX": 2.5069632773354296, - "velocityY": -0.4993348167375442, - "timestamp": 2.3266384118388355, + "x": 7.253783855819226, + "y": 0.7359001350300469, + "heading": -0.030602705565700657, + "angularVelocity": -2.6108155558853765e-23, + "velocityX": 2.312210161331774, + "velocityY": -0.46979368031664626, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.43373252769463, + -59.43373252769463, + -59.43373252769463, + -59.43373252769463 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.334117895980555, + 36.334117895980555, + 36.334117895980555, + 36.33411789598055 + ], + "timestamp": 2.441888655680662 }, { - "x": 7.291471580180998, - "y": 0.7292388527666792, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567648646397e-20, - "velocityX": 2.447694882975314, - "velocityY": -0.4654979504223766, - "timestamp": 2.342114168579215, + "x": 7.291728983802097, + "y": 0.728541718285939, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103800557615184e-23, + "velocityX": 2.2576764484231755, + "velocityY": -0.4378144195009311, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.097788796218225, + -60.097788796218225, + -60.097788796218225, + -60.097788796218225 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 35.242105476720646, + 35.24210547672064, + 35.24210547672065, + 35.24210547672064 + ], + "timestamp": 2.4586958150986455 }, { - "x": 7.328424988624815, - "y": 0.7225419363008968, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567541669316e-20, - "velocityX": 2.387825620662093, - "velocityY": -0.4327359610349994, - "timestamp": 2.3575899253195947, + "x": 7.328748202616984, + "y": 0.7217047668190897, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503298681258e-23, + "velocityX": 2.20258628446577, + "velocityY": -0.40678804174310895, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.71101455736677, + -60.71101455736677, + -60.71101455736677, + -60.71101455736677 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 34.19199974016953, + 34.19199974016952, + 34.19199974016953, + 34.19199974016953 + ], + "timestamp": 2.4755029745166293 }, { - "x": 7.364443406985551, - "y": 0.7163362455749804, - "heading": -0.03060270556570071, - "angularVelocity": 1.792356751598598e-20, - "velocityX": 2.3274091836007695, - "velocityY": -0.40099433132940576, - "timestamp": 2.3730656820599743, + "x": 7.364832868142423, + "y": 0.7153738846987937, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105004786612072e-23, + "velocityX": 2.146981808647478, + "velocityY": -0.37667769804564344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.2778016683558, + -61.2778016683558, + -61.2778016683558, + -61.2778016683558 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 33.182502705156985, + 33.182502705156985, + 33.182502705156985, + 33.182502705156985 + ], + "timestamp": 2.492310133934613 }, { - "x": 7.399519109158386, - "y": 0.7106067853228705, - "heading": -0.03060270556570071, - "angularVelocity": 1.7923567587901195e-20, - "velocityX": 2.2664935073133927, - "velocityY": -0.37022165366350684, - "timestamp": 2.388541438800354, + "x": 7.3999749834664375, + "y": 0.7095342741241564, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103293610627807e-23, + "velocityX": 2.0909015289283817, + "velocityY": -0.3474478006319229, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.802151851275966, + -61.802151851275966, + -61.802151851275966, + -61.802151851275966 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 32.21222446836054, + 32.21222446836054, + 32.21222446836054, + 32.21222446836054 + ], + "timestamp": 2.5091172933525967 }, { - "x": 7.433645032432678, - "y": 0.7053393092767213, - "heading": -0.030602705565700706, - "angularVelocity": 1.79235676291146e-20, - "velocityX": 2.2051214584710253, - "velocityY": -0.34036952987325714, - "timestamp": 2.4040171955407335, + "x": 7.434167143351112, + "y": 0.7041717133615514, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107866836484678e-23, + "velocityX": 2.0343806490042833, + "velocityY": -0.31906407437829004, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.28770650456309, + -62.28770650456308, + -62.28770650456309, + -62.28770650456309 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 31.27971844681688, + 31.27971844681688, + 31.279718446816876, + 31.27971844681688 + ], + "timestamp": 2.5259244527705804 }, { - "x": 7.466814708378046, - "y": 0.7005202755254769, - "heading": -0.030602705565700706, - "angularVelocity": 1.7923567616980402e-20, - "velocityX": 2.1433314377976247, - "velocityY": -0.3113924463981841, - "timestamp": 2.419492952281113, + "x": 7.46740248374545, + "y": 0.6992725342467925, + "heading": -0.030602705565700657, + "angularVelocity": -2.610416473895468e-23, + "velocityX": 1.9774513686580328, + "velocityY": -0.29149358275713594, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.73777603047089, + -62.73777603047089, + -62.73777603047089, + -62.73777603047089 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.383509467494363, + 30.38350946749436, + 30.383509467494367, + 30.383509467494367 + ], + "timestamp": 2.542731612188564 }, { - "x": 7.499022201887237, - "y": 0.6961368040368999, - "heading": -0.030602705565700702, - "angularVelocity": 1.792356757628162e-20, - "velocityX": 2.0811579071381505, - "velocityY": -0.2832476344852548, - "timestamp": 2.4349687090214926, + "x": 7.499674635915529, + "y": 0.6948235995888864, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104813945997216e-23, + "velocityX": 1.9201431584890207, + "velocityY": -0.26470473369720016, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.15536807110638, + -63.15536807110638, + -63.15536807110638, + -63.15536807110638 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 29.522115899134906, + 29.522115899134903, + 29.522115899134906, + 29.522115899134906 + ], + "timestamp": 2.559538771606548 }, { - "x": 7.5302620573459125, - "y": 0.6921766364624907, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567747459206e-20, - "velocityX": 2.0186318499800056, - "velocityY": -0.2558949226747777, - "timestamp": 2.4504444657618722, + "x": 7.530977684783995, + "y": 0.6908122807369957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610518776998646e-23, + "velocityX": 1.8624830103633245, + "velocityY": -0.23866726982809133, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.54321426499422, + -63.54321426499422, + -63.54321426499422, + -63.54321426499422 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 28.69406686131105, + 28.69406686131105, + 28.69406686131105, + 28.69406686131105 + ], + "timestamp": 2.5763459310245316 }, { - "x": 7.560529251029311, - "y": 0.6886280982642193, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567399671936e-20, - "velocityX": 1.9557811738163342, - "velocityY": -0.22929658677145445, - "timestamp": 2.465920222502252, + "x": 7.561306131096924, + "y": 0.6872264355133129, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104881848473154e-23, + "velocityX": 1.8044956651317128, + "velocityY": -0.21335224677336537, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.9037952985834, + -63.9037952985834, + -63.9037952985834, + -63.9037952985834 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.897915395275348, + 27.897915395275348, + 27.897915395275348, + 27.897915395275348 + ], + "timestamp": 2.5931530904425153 }, { - "x": 7.589819148941405, - "y": 0.6854800631449017, - "heading": -0.0306027055657007, - "angularVelocity": 1.792356758527676e-20, - "velocityX": 1.8926310618251385, - "velocityY": -0.20341720098934202, - "timestamp": 2.4813959792426314, + "x": 7.590654857063528, + "y": 0.6840543866604047, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104104274275742e-23, + "velocityX": 1.7462038192603886, + "velocityY": -0.1887320024776123, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.23936414504035, + -64.23936414504035, + -64.23936414504035, + -64.23936414504035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.132248344751325, + 27.132248344751325, + 27.132248344751325, + 27.132248344751325 + ], + "timestamp": 2.609960249860499 }, { - "x": 7.618127469414256, - "y": 0.6827219197245772, - "heading": -0.0306027055657007, - "angularVelocity": 1.7923567585280224e-20, - "velocityX": 1.8292042804592215, - "velocityY": -0.17822349282147837, - "timestamp": 2.496871735983011, + "x": 7.619019095142299, + "y": 0.6812849009149007, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105965339706085e-23, + "velocityX": 1.6876283120411266, + "velocityY": -0.16478011998378084, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.55196746633982, + -64.55196746633982, + -64.55196746633982, + -64.55196746633983 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.395693573968227, + 26.39569357396823, + 26.395693573968224, + 26.395693573968227 + ], + "timestamp": 2.6267674092784827 }, { - "x": 7.645450249874661, - "y": 0.6803435403789087, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567585275012e-20, - "velocityX": 1.765521448725803, - "velocityY": -0.15368420333615584, - "timestamp": 2.5123474927233906, + "x": 7.6463943996748, + "y": 0.6789071687839809, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503480741823e-23, + "velocityX": 1.6287882950169017, + "velocityY": -0.14147138560315756, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.84346521232759, + -64.84346521232759, + -64.84346521232759, + -64.84346521232759 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.6869250450941, + 25.6869250450941, + 25.6869250450941, + 25.6869250450941 + ], + "timestamp": 2.6435745686964665 }, { - "x": 7.671783817263209, - "y": 0.6783352521389968, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567589112204e-20, - "velocityX": 1.7016012741939854, - "velocityY": -0.12976995397401495, - "timestamp": 2.5278232494637702, + "x": 7.672776621094379, + "y": 0.6769107850761876, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104834611189408e-23, + "velocityX": 1.569701385193888, + "velocityY": -0.11878174402849069, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.11554848862656, + -65.11554848862656, + -65.11554848862656, + -65.11554848862656 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.004666186982114, + 25.004666186982114, + 25.004666186982114, + 25.004666186982114 + ], + "timestamp": 2.66038172811445 }, { - "x": 7.697124761658539, - "y": 0.6766878095424995, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758144195e-20, - "velocityX": 1.6374607601067594, - "velocityY": -0.10645312046023236, - "timestamp": 2.54329900620415, + "x": 7.69816188246255, + "y": 0.6752857302174082, + "heading": -0.030602705565700657, + "angularVelocity": -2.610521964462056e-23, + "velocityX": 1.5103838035238641, + "velocityY": -0.0966882516183401, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.36975578909144, + -65.36975578909143, + -65.36975578909143, + -65.36975578909143 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.34769191053426, + 24.34769191053426, + 24.347691910534262, + 24.347691910534262 + ], + "timestamp": 2.677188887532434 }, { - "x": 7.721469912718339, - "y": 0.67539236932159, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758527721e-20, - "velocityX": 1.5731153873901929, - "velocityY": -0.08370771411315475, - "timestamp": 2.5587747629445294, + "x": 7.722546558108417, + "y": 0.6740223523667375, + "heading": -0.030602705565700657, + "angularVelocity": -2.610485191447829e-23, + "velocityX": 1.4508505000420613, + "velocityY": -0.07516902881683414, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.60748770191346, + -65.60748770191346, + -65.60748770191346, + -65.60748770191346 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.714829561508882, + 23.714829561508882, + 23.714829561508882, + 23.714829561508882 + ], + "timestamp": 2.6939960469504176 }, { - "x": 7.744816318599359, - "y": 0.6744404668126073, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567764407182e-20, - "velocityX": 1.5085792748409654, - "velocityY": -0.06150927059336406, - "timestamp": 2.574250519684909, + "x": 7.745927254168686, + "y": 0.6731113503339988, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104138196847447e-23, + "velocityX": 1.3911152669410813, + "velocityY": -0.05420321245800671, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.8300202044289, + -65.8300202044289, + -65.8300202044289, + -65.8300202044289 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.10495904771672, + 23.10495904771672, + 23.10495904771672, + 23.10495904771672 + ], + "timestamp": 2.7108032063684013 }, { - "x": 7.76716122706263, - "y": 0.6738239939741378, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567519461745e-20, - "velocityX": 1.4438653203282448, - "velocityY": -0.03983474597134639, - "timestamp": 2.5897262764252886, + "x": 7.7683007908450445, + "y": 0.6725437572906171, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106824135894263e-23, + "velocityX": 1.3311908407564366, + "velocityY": -0.033770908529498926, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.038516662443, + -66.038516662443, + -66.038516662443, + -66.038516662443 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 22.517012332787438, + 22.51701233278744, + 22.51701233278744, + 22.51701233278744 + ], + "timestamp": 2.727610365786385 }, { - "x": 7.788502068508005, - "y": 0.6735351789038949, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567471963432e-20, - "velocityX": 1.3789853254600457, - "velocityY": -0.018662419879390112, - "timestamp": 2.6052020331656682, + "x": 7.789664186214021, + "y": 0.6723109252602374, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105152980818502e-23, + "velocityX": 1.2710889947366621, + "velocityY": -0.013853145829595697, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.23403864712321, + -66.23403864712321, + -66.23403864712321, + -66.23403864712321 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 21.94997245168763, + 21.94997245168763, + 21.94997245168763, + 21.94997245168763 + ], + "timestamp": 2.7444175252043688 }, { - "x": 7.808836440714841, - "y": 0.6735665667495215, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567705237493e-20, - "velocityX": 1.3139501058308753, - "velocityY": 0.0020281945598015784, - "timestamp": 2.620677789906048, + "x": 7.810014641440835, + "y": 0.6724045103670285, + "heading": -0.030602705565700657, + "angularVelocity": -2.610422355624129e-23, + "velocityX": 1.210820622372946, + "velocityY": 0.005568169161610403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.41755567747809, + -66.41755567747809, + -66.41755567747809, + -66.41755567747809 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 21.402872172716116, + 21.402872172716116, + 21.40287217271612, + 21.402872172716116 + ], + "timestamp": 2.7612246846223525 }, { - "x": 7.828162095094039, - "y": 0.6739110019138839, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567977064163e-20, - "velocityX": 1.2487695886800632, - "velocityY": 0.022256434379527068, - "timestamp": 2.6361535466464274, + "x": 7.829349527263214, + "y": 0.6728164588187181, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105088065183055e-23, + "velocityX": 1.150395812971026, + "velocityY": 0.024510295966654817, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.58995399001628, + -66.58995399001628, + -66.58995399001628, + -66.58995399001628 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 20.87479240573133, + 20.87479240573133, + 20.87479240573133, + 20.87479240573133 + ], + "timestamp": 2.778031844040336 }, { - "x": 7.846476924281061, - "y": 0.6745616114612287, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567040839747e-20, - "velocityX": 1.1834528995427378, - "velocityY": 0.0420405643654978, - "timestamp": 2.651629303386807, + "x": 7.8476663716252375, + "y": 0.6735389935968507, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104949696722127e-23, + "velocityX": 1.0898239200624162, + "velocityY": 0.04298970219246499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.75204443002121, + -66.75204443002121, + -66.7520444300212, + -66.7520444300212 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 20.364860435958946, + 20.364860435958946, + 20.364860435958953, + 20.364860435958953 + ], + "timestamp": 2.79483900345832 }, { - "x": 7.863778950920781, - "y": 0.6755117896365047, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567617966664e-20, - "velocityX": 1.1180084392625638, - "velocityY": 0.061397848985369465, - "timestamp": 2.6671050601271866, + "x": 7.864962848352485, + "y": 0.6745646018252035, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105034811402497e-23, + "velocityX": 1.029113623373087, + "velocityY": 0.06102210390810046, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.90456955143009, + -66.90456955143009, + -66.90456955143009, + -66.90456955143009 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.872248046106407, + 19.872248046106407, + 19.872248046106407, + 19.872248046106407 + ], + "timestamp": 2.8116461628763036 }, { - "x": 7.880066317513365, - "y": 0.6767551834160388, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567585276968e-20, - "velocityX": 1.0524439525522904, - "velocityY": 0.08034461903205982, - "timestamp": 2.682580816867566, + "x": 7.8812367667714325, + "y": 0.6758860227881692, + "heading": -0.030602705565700657, + "angularVelocity": -2.610709601255135e-23, + "velocityX": 0.9682729849955253, + "velocityY": 0.07862250426178659, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.04821000488467, + -67.04821000488467, + -67.04821000488467, + -67.04821000488467 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.396169576011697, + 19.396169576011697, + 19.396169576011697, + 19.396169576011697 + ], + "timestamp": 2.8284533222942874 }, { - "x": 7.895337277206289, - "y": 0.6782856790135012, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567407933884e-20, - "velocityX": 0.9867665891307364, - "velocityY": 0.09889633335175817, - "timestamp": 2.698056573607946, + "x": 7.896486062185169, + "y": 0.6774962365671245, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102973667152836e-23, + "velocityX": 0.9073095003444197, + "velocityY": 0.09580523031531188, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.18359028633023, + -67.18359028633023, + -67.18359028633022, + -67.18359028633023 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.935879958124406, + 18.935879958124403, + 18.93587995812441, + 18.935879958124406 + ], + "timestamp": 2.845260481712271 }, { - "x": 7.909590185431431, - "y": 0.6800973892706034, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567766451006e-20, - "velocityX": 0.9209829583294081, - "velocityY": 0.11706763601292104, - "timestamp": 2.7135323303483254, + "x": 7.910708787126688, + "y": 0.6793884532669677, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503486874706e-23, + "velocityX": 0.8462301444167443, + "velocityY": 0.11258396810060553, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.31128391171234, + -67.31128391171234, + -67.31128391171234, + -67.31128391171234 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.490672758295048, + 18.490672758295048, + 18.490672758295048, + 18.490672758295048 + ], + "timestamp": 2.862067641130255 }, { - "x": 7.922823492298213, - "y": 0.6821846418672157, - "heading": -0.030602705565700675, - "angularVelocity": 1.792356747092008e-20, - "velocityX": 0.8550991779453485, - "velocityY": 0.13487240925489652, - "timestamp": 2.729008087088705, + "x": 7.923903103318538, + "y": 0.6815561028014752, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105533911754057e-23, + "velocityX": 0.7850414138233215, + "velocityY": 0.12897179592361852, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.43181807693149, + -67.43181807693149, + -67.43181807693149, + -67.43181807693149 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 18.05987824425093, + 18.05987824425093, + 18.05987824425093, + 18.05987824425093 + ], + "timestamp": 2.8788748005482385 }, { - "x": 7.935035735664182, - "y": 0.6845419682905334, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567840335288e-20, - "velocityX": 0.7891209180163922, - "velocityY": 0.15232382253544213, - "timestamp": 2.7444838438290846, + "x": 7.936067274274929, + "y": 0.6839928252106487, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105318115576945e-23, + "velocityX": 0.7237493650106344, + "velocityY": 0.14498121595577446, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.54567785630422, + -67.54567785630422, + -67.54567785630422, + -67.54567785630422 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.64286149844661, + 17.64286149844661, + 17.642861498446614, + 17.642861498446614 + ], + "timestamp": 2.8956819599662222 }, { - "x": 7.946225534813595, - "y": 0.6871640935075455, - "heading": -0.03060270556570067, - "angularVelocity": 1.792356744457655e-20, - "velocityX": 0.7230534401083837, - "velocityY": 0.16943437797625108, - "timestamp": 2.759959600569464, + "x": 7.947199658488528, + "y": 0.6866924614802244, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104481655421482e-23, + "velocityX": 0.662359649048256, + "velocityY": 0.16062418416427637, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.65330998735523, + -67.65330998735523, + -67.65330998735523, + -67.65330998735523 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.239020587433266, + 17.239020587433266, + 17.239020587433263, + 17.239020587433263 + ], + "timestamp": 2.912489119384206 }, { - "x": 7.956391584682524, - "y": 0.6900459262893809, - "heading": -0.03060270556570067, - "angularVelocity": 1.7923567585279932e-20, - "velocityX": 0.6569016326291687, - "velocityY": 0.18621595248535178, - "timestamp": 2.775435357309844, + "x": 7.957298703149762, + "y": 0.6896490448379501, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102003630226072e-23, + "velocityX": 0.6008775433183554, + "velocityY": 0.17591213864029795, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.7551262848221, + -67.7551262848221, + -67.7551262848221, + -67.7551262848221 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.847784796279296, + 16.847784796279296, + 16.8477847962793, + 16.8477847962793 + ], + "timestamp": 2.9292962788021897 }, { - "x": 7.965532650575936, - "y": 0.6931825501401092, - "heading": -0.030602705565700668, - "angularVelocity": 1.792356796267937e-20, - "velocityX": 0.5906700426195519, - "velocityY": 0.20267983681536816, - "timestamp": 2.7909111140502234, + "x": 7.966362938351887, + "y": 0.6928567924993456, + "heading": -0.030602705565700657, + "angularVelocity": -2.6110553944474674e-23, + "velocityX": 0.5393079804088939, + "velocityY": 0.19085602638923885, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.85150672227324, + -67.85150672227324, + -67.85150672227324, + -67.85150672227324 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.468612933718617, + 16.46861293371862, + 16.468612933718614, + 16.468612933718614 + ], + "timestamp": 2.9461034382201734 }, { - "x": 7.973647563328351, - "y": 0.69656921478629, - "heading": -0.030602705565700668, - "angularVelocity": 1.7923567293620474e-20, - "velocityX": 0.5243629044155164, - "velocityY": 0.21883677179743705, - "timestamp": 2.806386870790603, + "x": 7.9743909717390755, + "y": 0.6963100978400371, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102300305060826e-23, + "velocityX": 0.4776555744809489, + "velocityY": 0.2054663286503377, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.94280221569424, + -67.94280221569424, + -67.94280221569424, + -67.94280221569424 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.10099171145902, + 16.100991711459017, + 16.100991711459024, + 16.100991711459024 + ], + "timestamp": 2.962910597638157 }, { - "x": 7.980735214865002, - "y": 0.7002013281869879, - "heading": -0.030602705565700664, - "angularVelocity": 1.7923567761188273e-20, - "velocityX": 0.45798416552756027, - "velocityY": 0.2346969819722822, - "timestamp": 2.8218626275309826, + "x": 7.9813814835593915, + "y": 0.7000035229690781, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503682698448e-23, + "velocityX": 0.41592464535273316, + "velocityY": 0.21975308481446476, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.02933713975817, + -68.02933713975817, + -68.02933713975817, + -68.02933713975817 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.74443419933357, + 15.744434199333568, + 15.74443419933357, + 15.744434199333568 + ], + "timestamp": 2.979717757056141 }, { - "x": 7.986794554125132, - "y": 0.7040744490271335, - "heading": -0.030602705565700664, - "angularVelocity": 1.792356699059153e-20, - "velocityX": 0.3915375100409843, - "velocityY": 0.25027020682266105, - "timestamp": 2.837338384271362, + "x": 7.987333222087751, + "y": 0.7039317916827953, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104419680741246e-23, + "velocityX": 0.3541192405179691, + "velocityY": 0.2337259150092153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.11141160422919, + -68.11141160422919, + -68.11141160422919, + -68.11141160422919 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.398478356626523, + 15.398478356626523, + 15.398478356626523, + 15.398478356626523 + ], + "timestamp": 2.9965249164741246 }, { - "x": 7.9918245833131945, - "y": 0.7081842796600186, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567910993222e-20, - "velocityX": 0.3250263798044515, - "velocityY": 0.2655657297951926, - "timestamp": 2.852814141011742, + "x": 7.992244999387589, + "y": 0.7080897827759957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610530978329382e-23, + "velocityX": 0.29224315529402184, + "velocityY": 0.24739404141979207, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.18930351502362, + -68.18930351502362, + -68.18930351502362, + -68.18930351502362 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.062685638874601, + 15.062685638874601, + 15.062685638874603, + 15.062685638874603 + ], + "timestamp": 3.0133320758921083 }, { - "x": 7.995824354447386, - "y": 0.7125266594673922, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567594457527e-20, - "velocityX": 0.25845399364237626, - "velocityY": 0.2805924052844643, - "timestamp": 2.8682898977521214, + "x": 7.996115687382627, + "y": 0.7124725236922808, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105940510641316e-23, + "velocityX": 0.23029995127531677, + "velocityY": 0.26076630841282683, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.26327044183775, + -68.26327044183775, + -68.26327044183775, + -68.26327044183775 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.73663967866983, + 14.73663967866983, + 14.736639678669833, + 14.736639678669833 + ], + "timestamp": 3.030139235310092 }, { - "x": 7.998792966178139, - "y": 0.7170975586080781, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567588685966e-20, - "velocityX": 0.19182336479902082, - "velocityY": 0.29535868373828633, - "timestamp": 2.883765654492501, + "x": 7.998944214212964, + "y": 0.7170751844931835, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107299893613786e-23, + "velocityX": 0.1682929732498038, + "velocityY": 0.2738512015284369, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.33355131191627, + -68.33355131191627, + -68.33355131191627, + -68.33355131191627 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.41994503842108, + 14.41994503842108, + 14.419945038421076, + 14.419945038421076 + ], + "timestamp": 3.0469463947280757 }, { "x": 8.00072956085205, "y": 0.7218930721282959, "heading": -0.030602705565700657, - "angularVelocity": 4.247054487876987e-19, - "velocityX": 0.1251373167980271, - "velocityY": 0.3098726350299896, - "timestamp": 2.8992414112328806, + "angularVelocity": -7.615561258735062e-20, + "velocityX": 0.10622536472036007, + "velocityY": 0.2866568654035918, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.4003679474523, + -68.4003679474523, + -68.40036794745228, + -68.40036794745228 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.11222603262499, + 14.112226032624994, + 14.112226032624992, + 14.112226032624994 + ], + "timestamp": 3.0637535541460594 }, { - "x": 8.000836792297617, - "y": 0.7313604194249149, - "heading": -0.031401844473511506, - "angularVelocity": -0.028345670785064538, - "velocityX": 0.0038035280527493978, - "velocityY": 0.3358093405975338, - "timestamp": 2.927434037679088, + "x": 8.000574380202075, + "y": 0.7312115392499664, + "heading": -0.03128457300923975, + "angularVelocity": -0.02261976651780906, + "velocityX": -0.005147848168841318, + "velocityY": 0.30912393984053255, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.12203989443066, + -69.25621961896836, + -67.46142310275, + -67.88669327730796 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.479671842235648, + 9.628129269363173, + 18.355441830280547, + 16.754979672120477 + ], + "timestamp": 3.0938983146148398 }, { - "x": 7.99752315338653, - "y": 0.7415587459291768, - "heading": -0.03299463021217043, - "angularVelocity": -0.05649653613143545, - "velocityX": -0.11753565838955778, - "velocityY": 0.36173736858874744, - "timestamp": 2.9556266641252957, + "x": 7.997061977462841, + "y": 0.7412074347255824, + "heading": -0.03264392524361486, + "angularVelocity": -0.04509414615461716, + "velocityX": -0.11651785201179243, + "velocityY": 0.3315964472824551, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.11614201349055, + -69.24900795331958, + -67.46697003546936, + -67.88636889054806 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.49999420038065, + 9.661350959227432, + 18.324532051738284, + 16.74569831512937 + ], + "timestamp": 3.12404307508362 }, { - "x": 7.990788483408073, - "y": 0.7524877916801813, - "heading": -0.03537524415686278, - "angularVelocity": -0.0844410132994739, - "velocityX": -0.23888054528391775, - "velocityY": 0.3876561756972951, - "timestamp": 2.9838192905715033, + "x": 7.990192455682806, + "y": 0.751880932010523, + "heading": -0.03467613990569071, + "angularVelocity": -0.06741518693374675, + "velocityX": -0.22788443740118064, + "velocityY": 0.35407470880324193, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.11029114226862, + -69.24111041911144, + -67.47324406843092, + -67.88544159370429 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.518933835764273, + 9.698295617502417, + 18.290264483107524, + 16.738223618631356 + ], + "timestamp": 3.1541878355524005 }, { - "x": 7.980632612288473, - "y": 0.7641472797958517, - "heading": -0.03853750569824085, - "angularVelocity": -0.11216626260098167, - "velocityX": -0.3602314647404652, - "velocityY": 0.41356516172453955, - "timestamp": 3.012011917017711, + "x": 7.979965924806406, + "y": 0.7632322150803192, + "heading": -0.03737633158353689, + "angularVelocity": -0.08957416266892047, + "velocityX": -0.3392473755765638, + "velocityY": 0.376559073394397, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.10443760173371, + -69.23249360159326, + -67.48025213333065, + -67.88393998390649 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.536732736161232, + 9.739060699900426, + 18.252539336709578, + 16.73238454106662 + ], + "timestamp": 3.184332596021181 }, { - "x": 7.967055359662201, - "y": 0.776536914651206, - "heading": -0.0424748319675395, - "angularVelocity": -0.13965801578684073, - "velocityX": -0.48158878181062026, - "velocityY": 0.439463661854599, - "timestamp": 3.0402045434639184, + "x": 7.966382502335012, + "y": 0.7752614793764745, + "heading": -0.04073932558476386, + "angularVelocity": -0.1115614769840309, + "velocityX": -0.4506064158469822, + "velocityY": 0.39904992141544376, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.09852514808313, + -69.22311921955266, + -67.48800304144862, + -67.8818958753837 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.553662638011145, + 9.783759788007238, + 18.211240443578745, + 16.72798902780506 + ], + "timestamp": 3.214477356489961 }, { - "x": 7.950056533827013, - "y": 0.7896563797995924, - "heading": -0.04718019193654591, - "angularVelocity": -0.1669003765215836, - "velocityX": -0.602952898610576, - "velocityY": 0.4653509375372892, - "timestamp": 3.068397169910126, + "x": 7.949442314079394, + "y": 0.787968932872205, + "heading": -0.044759628383748286, + "angularVelocity": -0.1333665531410697, + "velocityX": -0.5619612825629627, + "velocityY": 0.42154766858722614, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.09249018337064, + -69.21294350593362, + -67.4965073888384, + -67.87934469555397 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.570028430624657, + 9.83252419126897, + 18.166234181903416, + 16.724821410825644 + ], + "timestamp": 3.2446221169587415 }, { - "x": 7.929635930564739, - "y": 0.803505335589102, - "heading": -0.05264605393411769, - "angularVelocity": -0.19387558686660494, - "velocityX": -0.7243242590836724, - "velocityY": 0.49122616567594546, - "timestamp": 3.0965897963563336, + "x": 7.929145495019882, + "y": 0.80135479727848, + "heading": -0.04943139423604341, + "angularVelocity": -0.1549777068931584, + "velocityX": -0.6733116715430445, + "velocityY": 0.4440527706354719, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.08626080014787, + -69.20191645854325, + -67.5057774536366, + -67.87632595172016 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.586172225945964, + 9.885504901825648, + 18.117368162482542, + 16.722639296839404 + ], + "timestamp": 3.274766877427522 }, { - "x": 7.905793331806294, - "y": 0.818083416415575, - "heading": -0.05886432540493543, - "angularVelocity": -0.22056375211014007, - "velocityX": -0.8457033545255729, - "velocityY": 0.5170884257372611, - "timestamp": 3.124782422802541, + "x": 7.905492190294086, + "y": 0.81541930941368, + "heading": -0.05474838734472739, + "angularVelocity": -0.17638199892782516, + "velocityX": -0.7846572458358432, + "velocityY": 0.466565728717729, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.07975561904044, + -69.1899809286292, + -67.51582708612807, + -67.87288378178002 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.602478242171442, + 9.942874995451355, + 18.064469608827935, + 16.72116982795607 + ], + "timestamp": 3.304911637896302 }, { - "x": 7.8785285041151285, - "y": 0.8333902275398567, - "heading": -0.06582628346140383, - "angularVelocity": -0.24694251419778537, - "velocityX": -0.9670907300242603, - "velocityY": 0.5429366842951929, - "timestamp": 3.1529750492487487, + "x": 7.878482556336993, + "y": 0.8301627227648708, + "heading": -0.06070393883472223, + "angularVelocity": -0.19756506263046061, + "velocityX": -0.8959976306673977, + "velocityY": 0.489087095799731, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.07288236630032, + -69.17707150564772, + -67.5266715924171, + -67.86906760586902 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.619378690905886, + 10.004832598678524, + 18.007343351791643, + 16.720105166224865 + ], + "timestamp": 3.3350563983650825 }, { - "x": 7.847841196958048, - "y": 0.8494253413792734, - "heading": -0.0735224944267603, - "angularVelocity": -0.2729866612476805, - "velocityX": -1.0884869920023605, - "velocityY": 0.5687697763813397, - "timestamp": 3.1811676756949563, + "x": 7.848116762204032, + "y": 0.8455853092774811, + "heading": -0.06729089762988012, + "angularVelocity": -0.2185109018192302, + "velocityX": -1.0073324073826122, + "velocityY": 0.5116174841897279, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.06553612249192, + -69.16311314385187, + -67.53832761284622, + -67.86493290041689 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.637360912285077, + 10.071604577996107, + 17.945769335018188, + 16.71909700984046 + ], + "timestamp": 3.365201158833863 }, { - "x": 7.813731140725758, - "y": 0.8661882931603111, - "heading": -0.0819427201097795, - "angularVelocity": -0.29866765691666797, - "velocityX": -1.2098928170942707, - "velocityY": 0.5945863828266345, - "timestamp": 3.209360302141164, + "x": 7.81439499111385, + "y": 0.8616873614131683, + "heading": -0.07450157412405574, + "angularVelocity": -0.23920165169809163, + "velocityX": -1.1186611061355556, + "velocityY": 0.5341575744945605, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.0575971520419, + -69.14801945914438, + -67.55081299668441, + -67.86054212207266 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.656976075530913, + 10.143451155274636, + 17.879499495958843, + 16.717749890422564 + ], + "timestamp": 3.395345919302643 }, { - "x": 7.776198044457343, - "y": 0.8836785757893147, - "heading": -0.09107580795155264, - "angularVelocity": -0.32395306833847515, - "velocityX": -1.3313089626476837, - "velocityY": 0.620385002524377, - "timestamp": 3.2375529285873714, + "x": 7.777317442259305, + "y": 0.8784691945324811, + "heading": -0.08232767527817983, + "angularVelocity": -0.2596172944293003, + "velocityX": -1.229983197011282, + "velocityY": 0.5567081263337244, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.04892819418495, + -69.13169060112651, + -67.56414667508916, + -67.85596581683656 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.678849860731578, + 10.220671719260663, + 17.808253844577948, + 16.715612921716243 + ], + "timestamp": 3.4254906797714235 }, { - "x": 7.73524159321267, - "y": 0.9018956337579842, - "heading": -0.10090956138959419, - "angularVelocity": -0.3488058644270217, - "velocityX": -1.452736279211764, - "velocityY": 0.6461639181941399, - "timestamp": 3.265745555033579, + "x": 7.736884332945643, + "y": 0.895931149665311, + "heading": -0.09076022944238173, + "angularVelocity": -0.2797353182797759, + "velocityX": -1.3412980791646558, + "velocityY": 0.5792699912436499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.03937105562531, + -69.11401057274503, + -67.57834853494117, + -67.85128396022695 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.70369567130861, + 10.303612193341971, + 17.73171550383382, + 16.71216956186201 + ], + "timestamp": 3.455635440240204 }, { - "x": 7.690861445023903, - "y": 0.920838855846614, - "heading": -0.11143058571764346, - "angularVelocity": -0.37318354670216597, - "velocityX": -1.5741757254665243, - "velocityY": 0.6719211537374832, - "timestamp": 3.2939381814797866, + "x": 7.693095901132275, + "y": 0.9140735967534939, + "heading": -0.099789498770429, + "angularVelocity": -0.2995303060178064, + "velocityX": -1.452605067429164, + "velocityY": 0.6018441283328443, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.02874228920794, + -69.09484382439364, + -67.59343929685735, + -67.84658758838525 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.732331110283823, + 10.392674445513046, + 17.64952439612414, + 16.70682480161854 + ], + "timestamp": 3.485780200708984 }, { - "x": 7.643057227341174, - "y": 0.9405075663147252, - "heading": -0.12262410326948683, - "angularVelocity": -0.39703706120451326, - "velocityX": -1.6956283861647499, - "velocityY": 0.6976544205853176, - "timestamp": 3.322130807925994, + "x": 7.645952408476503, + "y": 0.9328969384706367, + "heading": -0.10940487652816229, + "angularVelocity": -0.31897343379760784, + "velocityX": -1.5639033756658416, + "velocityY": 0.6244316234222428, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.01682766385254, + -69.07403088472786, + -67.60944040148684, + -67.84198079907456 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.765698708679986, + 10.48832840359184, + 17.56126914870603, + 16.698888981062296 + ], + "timestamp": 3.5159249611777645 }, { - "x": 7.591828532867268, - "y": 0.9609010141674288, - "heading": -0.13447372975632432, - "angularVelocity": -0.4203094206012444, - "velocityX": -1.8170954938040442, - "velocityY": 0.7233610494435864, - "timestamp": 3.3503234343722017, + "x": 7.595454144007461, + "y": 0.9524016147534482, + "heading": -0.11959476584865797, + "angularVelocity": -0.3380318556867914, + "velocityX": -1.675192095866705, + "velocityY": 0.647033712642867, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.00337501797965, + -69.05138269754632, + -67.62637390901693, + -67.83758322755337 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.804892253470749, + 10.591127791615781, + 17.466476634521936, + 16.687557139319505 + ], + "timestamp": 3.546069721646545 }, { - "x": 7.537174914650874, - "y": 0.9820183599436099, - "heading": -0.14696120078910727, - "angularVelocity": -0.44293393723371366, - "velocityX": -1.9385784549259353, - "velocityY": 0.7490379023916084, - "timestamp": 3.3785160608184093, + "x": 7.541601428597949, + "y": 0.9725881082174599, + "heading": -0.13034643548343197, + "angularVelocity": -0.35666794055003465, + "velocityX": -1.7864701716643163, + "velocityY": 0.6696518117924862, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.98808492465874, + -69.02667319842443, + -67.64426241750506, + -67.83353313818695 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.851190574516279, + 10.701730769668796, + 17.36459834143407, + 16.671882372696256 + ], + "timestamp": 3.576214482115325 }, { - "x": 7.479095880276698, - "y": 1.0038586592687424, - "heading": -0.1600660336330768, - "angularVelocity": -0.46483192578630295, - "velocityX": -2.0600788821500093, - "velocityY": 0.7746812581226169, - "timestamp": 3.406708687264617, + "x": 7.484394620460974, + "y": 0.9934569506846619, + "heading": -0.1416458467374406, + "angularVelocity": -0.3748383161216658, + "velocityX": -1.8977363643764111, + "velocityY": 0.6922875532162684, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.97059835493368, + -68.999629463383, + -67.66312900585731, + -67.8299913226013 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.906101390682505, + 10.820927298486001, + 17.254992439505784, + 16.650741048684562 + ], + "timestamp": 3.6063592425841056 }, { - "x": 7.417590884953132, - "y": 1.0264208421189347, - "heading": -0.17376510346066087, - "angularVelocity": -0.4859096705203083, - "velocityX": -2.181598633278069, - "velocityY": 0.8002866598200189, - "timestamp": 3.4349013137108244, + "x": 7.423834121972809, + "y": 1.0150087311234057, + "heading": -0.1534774439023072, + "angularVelocity": -0.3924926581227959, + "velocityX": -2.008989208948542, + "velocityY": 0.7149428326375568, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.95048016313063, + -68.96991845742099, + -67.6829972062801, + -67.82714606534914 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.97141890410599, + 10.949675857330911, + 17.13689994064538, + 16.622786788995217 + ], + "timestamp": 3.636504003052886 }, { - "x": 7.352659323255117, - "y": 1.0497036863017477, - "heading": -0.18803210480203966, - "angularVelocity": -0.5060543532045627, - "velocityX": -2.303139858994872, - "velocityY": 0.8258487100247436, - "timestamp": 3.463093940157032, + "x": 7.359920388244358, + "y": 1.0372441054012265, + "heading": -0.165823897885228, + "angularVelocity": -0.409572137609368, + "velocityX": -2.1202269560141604, + "velocityY": 0.7376198693241082, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.92719666361737, + -68.93712894129654, + -67.70389100737714, + -67.82521953753351 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.049300459649274, + 11.089153375141052, + 17.00941263431447, + 16.58638871834261 + ], + "timestamp": 3.6666487635216662 }, { - "x": 7.284300519236286, - "y": 1.0737057829863865, - "heading": -0.2028368558934496, - "angularVelocity": -0.5251284806561911, - "velocityX": -2.424705060710146, - "velocityY": 0.8513607886243854, - "timestamp": 3.4912865666032395, + "x": 7.2926539380224575, + "y": 1.0601638083985603, + "heading": -0.17866578901331856, + "angularVelocity": -0.42600740322320096, + "velocityX": -2.231447494549044, + "velocityY": 0.7603212843922263, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.90008470338896, + -68.90074635506473, + -67.72583487979779, + -67.82447612100752 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.142370067558609, + 11.240824153308658, + 16.87142940072456, + 16.539547284037408 + ], + "timestamp": 3.6967935239904466 }, { - "x": 7.212513714595073, - "y": 1.098425491060514, - "heading": -0.21814438336173808, - "angularVelocity": -0.5429620932086706, - "velocityX": -2.5462971595847224, - "velocityY": 0.8768146565305259, - "timestamp": 3.519479193049447, + "x": 7.222035367757647, + "y": 1.0837686692387452, + "heading": -0.1919812096125956, + "angularVelocity": -0.4417159198550349, + "velocityX": -2.3426482468810854, + "velocityY": 0.7830502041871262, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.86830825357389, + -68.8601173021492, + -67.74885379546649, + -67.8252333702231 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.253860447377857, + 11.406536616238109, + 16.72159582056552, + 16.479777482633693 + ], + "timestamp": 3.726938284459227 }, { - "x": 7.137298054603031, - "y": 1.123860875383102, - "heading": -0.23391369211820187, - "angularVelocity": -0.559341599000952, - "velocityX": -2.667919575905979, - "velocityY": 0.9021998844668512, - "timestamp": 3.5476718194956547, + "x": 7.148065370047914, + "y": 1.1080596306989396, + "heading": -0.20574525901022436, + "angularVelocity": -0.45659839997347396, + "velocityX": -2.453826023475313, + "velocityY": 0.805810398969394, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.83079628093364, + -68.81439827560449, + -67.77297316655974, + -67.82787661348416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.387811396252282, + 11.588661725698186, + 16.558219325422215, + 16.403943700057525 + ], + "timestamp": 3.7570830449280073 }, { - "x": 7.058652571679064, - "y": 1.1500096211373223, - "heading": -0.25009607110497895, - "angularVelocity": -0.5739933105433805, - "velocityX": -2.789576312587432, - "velocityY": 0.9275030052312088, - "timestamp": 3.5758644459418623, + "x": 7.070744758268056, + "y": 1.1330377743304505, + "heading": -0.21992939158351985, + "angularVelocity": -0.47053392870662725, + "velocityX": -2.5649768177766195, + "velocityY": 0.8286064723369595, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.78615185006745, + -68.76247987843362, + -67.79821853555629, + -67.83287861782009 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.549352320145095, + 11.790295307311037, + 16.379147772081584, + 16.308020974276808 + ], + "timestamp": 3.7872278053967876 }, { - "x": 6.976576167074778, - "y": 1.1768689114733186, - "heading": -0.26663269141122165, - "angularVelocity": -0.586558344884599, - "velocityX": -2.911272022168284, - "velocityY": 0.9527062115778089, - "timestamp": 3.60405707238807, + "x": 6.990074500149328, + "y": 1.1587043535388948, + "heading": -0.23450055980541587, + "angularVelocity": -0.4833731632064801, + "velocityX": -2.6760955092782, + "velocityY": 0.8514441252570306, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.732515782208, + -68.70287179032712, + -67.82461464681992, + -67.84082633454543 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.74511362814754, + 12.015561153892026, + 16.181592012245993, + 16.18674129981258 + ], + "timestamp": 3.817372565865568 }, { - "x": 6.891067592794993, - "y": 1.2044352464101018, - "heading": -0.28345108168062233, - "angularVelocity": -0.5965528008355451, - "velocityX": -3.0330119984719017, - "velocityY": 0.9777852726626759, - "timestamp": 3.6322496988342774, + "x": 6.906055764678748, + "y": 1.1850608380187753, + "heading": -0.24942006435255065, + "angularVelocity": -0.4949286149606735, + "velocityX": -2.787175421663135, + "velocityY": 0.8743305327369058, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.66735625938301, + -68.63352269146671, + -67.85218309855843, + -67.85245752682552 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.983840942136116, + 12.270078110772166, + 15.961860378151497, + 16.033054684190592 + ], + "timestamp": 3.8475173263343483 }, { - "x": 6.802125440484526, - "y": 1.2327041629723492, - "heading": -0.30045973382410457, - "angularVelocity": -0.6033014403936493, - "velocityX": -3.1548019295105467, - "velocityY": 1.0027060308192581, - "timestamp": 3.660442325280485, + "x": 6.818689989469182, + "y": 1.2121089748259173, + "heading": -0.2646419738347046, + "angularVelocity": -0.504960372729405, + "velocityX": -2.8982076437499757, + "velocityY": 0.8972748957532076, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.58713336059995, + -68.55152809727315, + -67.88093682323061, + -67.86871095232084 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.277338691875098, + 12.561703844975987, + 15.714950320983123, + 15.837280884840713 + ], + "timestamp": 3.8776620868031286 }, { - "x": 6.709748157186162, - "y": 1.2616697787893774, - "heading": -0.317539401468184, - "angularVelocity": -0.6058203791925227, - "velocityX": -3.2766469443569495, - "velocityY": 1.0274181397144868, - "timestamp": 3.6886349517266925, + "x": 6.72797898079997, + "y": 1.2398508746003705, + "heading": -0.2801108913115199, + "angularVelocity": -0.5131544333495599, + "velocityX": -3.009179945653795, + "velocityY": 0.9202892755852286, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.48674346344362, + -68.45263593634111, + -67.91086747633537, + -67.89079413978638 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.641968303148339, + 12.901765627434532, + 15.433900077836705, + 15.585722847610917 + ], + "timestamp": 3.907806847271909 }, { - "x": 6.613934148323293, - "y": 1.2913239947326909, - "heading": -0.33452807751595487, - "angularVelocity": -0.6025928829363054, - "velocityX": -3.398548519262127, - "velocityY": 1.0518429703559293, - "timestamp": 3.7168275781729, + "x": 6.633925068213073, + "y": 1.2682891372342353, + "heading": -0.2957586902916007, + "angularVelocity": -0.5190885161050309, + "velocityX": -3.120074969059103, + "velocityY": 0.9433899023099828, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.35855698169841, + -68.3303666548069, + -67.94191664254808, + -67.92027029682014 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.101120091407797, + 13.307192271711736, + 15.108720338454093, + 15.258296573744573 + ], + "timestamp": 3.9379516077406893 }, { - "x": 6.5146821677518725, - "y": 1.3216549691282402, - "heading": -0.3511925749767564, - "angularVelocity": -0.5910941817568552, - "velocityX": -3.5204942952298057, - "velocityY": 1.0758477736518657, - "timestamp": 3.7450202046191077, + "x": 6.536531355318747, + "y": 1.2974270421888014, + "heading": -0.3114995470523193, + "angularVelocity": -0.5221755461291749, + "velocityX": -3.230867035587883, + "velocityY": 0.96659931946559, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.19066049608848, + -68.17434841964861, + -67.97390871841081, + -67.95915173052063 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.689480799581691, + 13.804416624695728, + 14.724554535437715, + 14.824255885339374 + ], + "timestamp": 3.9680963682094696 }, { - "x": 6.411992770045106, - "y": 1.3526438100851401, - "heading": -0.3671672391606795, - "angularVelocity": -0.5666256109341365, - "velocityX": -3.6424204003376657, - "velocityY": 1.0991824765255644, - "timestamp": 3.7732128310653152, + "x": 6.435802152177128, + "y": 1.327268850645929, + "heading": -0.32722198839688826, + "angularVelocity": -0.5215646467269837, + "velocityX": -3.341516123373161, + "velocityY": 0.9899500939178202, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.96343090892789, + -67.96691798925671, + -68.00638798357106, + -68.00992793712221 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 14.460811619631277, + 14.437021660856235, + 14.25833876144099, + 14.233955254419095 + ], + "timestamp": 3.99824112867825 }, { - "x": 6.305874763332563, - "y": 1.38425603700076, - "heading": -0.3817915434379015, - "angularVelocity": -0.5187279838976322, - "velocityX": -3.7640340787339714, - "velocityY": 1.121294143202345, - "timestamp": 3.801405457511523, + "x": 6.3317437812579875, + "y": 1.3578203146255394, + "heading": -0.34277531084194424, + "angularVelocity": -0.5159544213716283, + "velocityX": -3.451955474216577, + "velocityY": 1.0134916816203354, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.64230271856893, + -67.6754703371486, + -68.03819770735676, + -68.07521523017216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.503088860731753, + 15.282064499373016, + 13.67233405625696, + 13.401609196018617 + ], + "timestamp": 4.028385889147031 }, { - "x": 6.1963901366896375, - "y": 1.4164152687090246, - "heading": -0.3934801142712389, - "angularVelocity": -0.41459673349836484, - "velocityX": -3.883448988047407, - "velocityY": 1.1406965494907793, - "timestamp": 3.8295980839577304, + "x": 6.224366244956237, + "y": 1.3890896041439755, + "heading": -0.35794429879192546, + "angularVelocity": -0.5032047929420784, + "velocityX": -3.5620630130041935, + "velocityY": 1.0373042954136273, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.16086787067447, + -67.23286276076914, + -68.06629175854317, + -68.15565591379305 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.970466392547678, + 16.489054739312063, + 12.900562199644087, + 12.165124885959399 + ], + "timestamp": 4.058530649615811 }, { - "x": 6.084237706006591, - "y": 1.4490690923928802, - "heading": -0.39621413544226647, - "angularVelocity": -0.09697646213418698, - "velocityX": -3.978076710839108, - "velocityY": 1.1582398591408594, - "timestamp": 3.857790710403938, + "x": 6.113687222353567, + "y": 1.4210891853250653, + "heading": -0.37239608695984594, + "angularVelocity": -0.4794129375447373, + "velocityX": -3.6715840790085346, + "velocityY": 1.061530451177152, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.37579951944889, + -66.47727613620222, + -68.08192932954661, + -68.23927582845215 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.15790170896385, + 18.3883113663449, + 11.817371336637569, + 10.178002357011051 + ], + "timestamp": 4.0886754100845915 }, { - "x": 5.970420479017151, - "y": 1.4787743825435127, - "heading": -0.39621415119854686, - "angularVelocity": -5.588794787661949e-7, - "velocityX": -4.037127481066913, - "velocityY": 1.0536545861491486, - "timestamp": 3.8859833368501455, + "x": 5.999744065876152, + "y": 1.4538402728178517, + "heading": -0.3855457450952182, + "angularVelocity": -0.43621703841338505, + "velocityX": -3.7798660432351996, + "velocityY": 1.0864603660302525, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.92325622560975, + -64.90983148768785, + -68.05605090489365, + -68.23975246333495 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 22.697912251349997, + 21.865343345227068, + 10.155160689865104, + 6.552827193446533 + ], + "timestamp": 4.118820170553372 }, { - "x": 5.855820749944305, - "y": 1.5053011183456995, - "heading": -0.39621416429109446, - "angularVelocity": -4.6439616623023326e-7, - "velocityX": -4.064883039240961, - "velocityY": 0.9409104133239552, - "timestamp": 3.914175963296353, + "x": 5.88264706731115, + "y": 1.4873864659205107, + "heading": -0.39608876793911596, + "angularVelocity": -0.3497464461466412, + "velocityX": -3.884489269247599, + "velocityY": 1.1128366117693484, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.64070652926448, + -60.14830694375659, + -67.86491977284592, + -67.48273137695078 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 29.13525554331286, + 30.135076199520967, + 7.2672708280886305, + -1.7116541355426234 + ], + "timestamp": 4.148964931022152 }, { - "x": 5.7417182380261576, - "y": 1.5338910183669168, - "heading": -0.3962141774061041, - "angularVelocity": -4.6519289906735043e-7, - "velocityX": -4.047246613786003, - "velocityY": 1.0140913999541454, - "timestamp": 3.9423685897425607, + "x": 5.762993352367877, + "y": 1.5218262821800728, + "heading": -0.3997450312645121, + "angularVelocity": -0.12129017675170528, + "velocityX": -3.9693038883893137, + "velocityY": 1.1424810057865147, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.324352759429004, + -31.17289885891116, + -66.68180109178446, + -58.273210793681734 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 41.25496151783105, + 54.21945101059288, + 2.5571211195100325, + -25.173327178222863 + ], + "timestamp": 4.1791096914909325 }, { - "x": 5.6284963397746095, - "y": 1.5657903496675747, - "heading": -0.39621419060143825, - "angularVelocity": -4.680420311339554e-7, - "velocityX": -4.016011011516715, - "velocityY": 1.1314778125240532, - "timestamp": 3.9705612161887682, + "x": 5.642850828839381, + "y": 1.5584186127178183, + "heading": -0.39982683457504137, + "angularVelocity": -0.0027136825523610387, + "velocityX": -3.9855192630523657, + "velocityY": 1.2138869232550504, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -14.367028679766902, + 8.375599408244193, + -30.10275078440756, + -3.7589913227877885 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.70697130590288, + 49.72035693036095, + 37.746373464513134, + 36.323462284735726 + ], + "timestamp": 4.209254451959713 }, { - "x": 5.516268975080697, - "y": 1.6010293074865514, - "heading": -0.3962142039246179, - "angularVelocity": -4.7257674515618076e-7, - "velocityX": -3.9807346402450565, - "velocityY": 1.249935258292678, - "timestamp": 3.998753842634976, + "x": 5.523516888247606, + "y": 1.5976051352976728, + "heading": -0.3998730211895948, + "angularVelocity": -0.0015321606088479775, + "velocityX": -3.958695930439442, + "velocityY": 1.2999447323681093, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 16.35122648652218, + 16.666370703308466, + 16.29525799204969, + 16.611916449020793 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 52.962450800745465, + 52.85630869400004, + 52.89773833729471, + 52.79120312010268 + ], + "timestamp": 4.239399212428493 }, { "x": 5.405139446258545, "y": 1.639590859413147, - "heading": -0.396214217438475, - "angularVelocity": -4.793401248617666e-7, - "velocityX": -3.94179410826376, - "velocityY": 1.3677885598988515, - "timestamp": 4.026946469081183, + "heading": -0.3999189845188175, + "angularVelocity": -0.001524753506347292, + "velocityX": -3.926965752859421, + "velocityY": 1.392803374866944, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 19.49520174299239, + 19.497322344260255, + 19.49493747448784, + 19.49705814566393 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 57.05610475298283, + 57.05535518343315, + 57.055834681964754, + 57.05508509224902 + ], + "timestamp": 4.2695439728972735 }, { - "x": 5.2831041606978335, - "y": 1.6865195370449537, - "heading": -0.3962142301776993, - "angularVelocity": -4.065288079817647e-7, - "velocityX": -3.8943390892658107, - "velocityY": 1.497568370241175, - "timestamp": 4.058283053483165, + "x": 5.27540394109048, + "y": 1.6896699116367906, + "heading": -0.39996327704440576, + "angularVelocity": -0.0013272934874623507, + "velocityX": -3.887723466096177, + "velocityY": 1.500695636385729, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 21.756630771223424, + 21.810119228779946, + 21.7519340883962, + 21.805467540140064 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.89645340161834, + 59.87670621979155, + 59.89233743760866, + 59.87257595952734 + ], + "timestamp": 4.302914531863056 }, { - "x": 5.162687264566997, - "y": 1.7374575671054318, - "heading": -0.3962142427483874, - "angularVelocity": -4.011505511078391e-7, - "velocityX": -3.8426937213752916, - "velocityY": 1.62551315124339, - "timestamp": 4.089619637885146, + "x": 5.1470396615556915, + "y": 1.7431696678709514, + "heading": -0.4000067217274352, + "angularVelocity": -0.0013018865843375115, + "velocityX": -3.846632586121535, + "velocityY": 1.603202280457238, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 22.804035459801014, + 22.810609232357493, + 22.803552506343504, + 22.810126957520787 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 56.8970315954111, + 56.8943774833183, + 56.89619319826358, + 56.8935388246979 + ], + "timestamp": 4.336285090828839 }, { - "x": 5.044010718771141, - "y": 1.7923282269070129, - "heading": -0.39621425520676196, - "angularVelocity": -3.975664483146289e-7, - "velocityX": -3.7871563879934516, - "velocityY": 1.7510095898678, - "timestamp": 4.120956222287128, + "x": 5.020045245572433, + "y": 1.799846345355898, + "heading": -0.4000497606412708, + "angularVelocity": -0.0012897270878730863, + "velocityX": -3.8055825230038587, + "velocityY": 1.6984036001079217, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 22.783065600019647, + 22.78601701572479, + 22.78283501991507, + 22.785786571103895 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 52.841468654424865, + 52.84020080612245, + 52.84087559040121, + 52.8396076830262 + ], + "timestamp": 4.3696556497946215 }, { - "x": 4.927146213788622, - "y": 1.8509592709758207, - "heading": -0.39621426760702844, - "angularVelocity": -3.9571212890119454e-7, - "velocityX": -3.7293312979934936, - "velocityY": 1.8710094028336495, - "timestamp": 4.152292806689109, + "x": 4.894351098841492, + "y": 1.8593522409837384, + "heading": -0.4000925313442969, + "angularVelocity": -0.0012816897394469986, + "velocityX": -3.766617959863925, + "velocityY": 1.783185462628379, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 21.626092939822914, + 21.627875842229006, + 21.62590452146695, + 21.627687472044382 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.05800140020116, + 47.05720133605649, + 47.05744456924907, + 47.05664448237265 + ], + "timestamp": 4.403026208760404 }, { - "x": 4.811333837210935, - "y": 1.9116420963028011, - "heading": -0.3962142799939237, - "angularVelocity": -3.952854309112773e-7, - "velocityX": -3.695756215548805, - "velocityY": 1.936484989829761, - "timestamp": 4.183629391091091, + "x": 4.769802030123894, + "y": 1.9212196191025006, + "heading": -0.40013522248105965, + "angularVelocity": -0.0012793054142890665, + "velocityX": -3.7323039402820863, + "velocityY": 1.8539509087111694, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 19.04545558197175, + 19.045926843390106, + 19.045378372145834, + 19.04584963672767 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.27787005416294, + 39.27765456719447, + 39.27764843839696, + 39.27743294990948 + ], + "timestamp": 4.436396767726187 }, { - "x": 4.695603190282652, - "y": 1.9724806467411247, - "heading": -0.3962142923808563, - "angularVelocity": -3.9528662340989123e-7, - "velocityX": -3.693148093094744, - "velocityY": 1.9414544245760534, - "timestamp": 4.214965975493072, + "x": 4.64619440965808, + "y": 1.9849284514643886, + "heading": -0.4002000950415023, + "angularVelocity": -0.001944005807908139, + "velocityX": -3.7040919989583445, + "velocityY": 1.9091329104616779, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 15.70327856716408, + 15.586173309979236, + 15.73125075935168, + 15.614318315631506 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.563575374214757, + 30.617043440221956, + 30.63942997013454, + 30.692818946182395 + ], + "timestamp": 4.4697673266919695 }, { - "x": 4.579840125232427, - "y": 2.0332574896208038, - "heading": -0.3962143047678723, - "angularVelocity": -3.952892826307121e-7, - "velocityX": -3.6941826066688908, - "velocityY": 1.9394852387251018, - "timestamp": 4.246302559895054, + "x": 4.5245719642086595, + "y": 2.049025122024317, + "heading": -0.405631649438634, + "angularVelocity": -0.16276486116702724, + "velocityX": -3.644603183727537, + "velocityY": 1.9207550771150002, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 40.14382541322239, + 19.634433687647423, + 45.008786153052014, + 27.287637081500314 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.706998833809141, + -1.8944106658558213, + 12.525927808319366, + 27.87855009725288 + ], + "timestamp": 4.503137885657752 }, { - "x": 4.464055932965466, - "y": 2.093994073993839, - "heading": -0.3962143171549412, - "angularVelocity": -3.952909731006536e-7, - "velocityX": -3.6948568095898167, - "velocityY": 1.9382005260669504, - "timestamp": 4.277639144297035, + "x": 4.406143503537595, + "y": 2.111641332223559, + "heading": -0.4184078034247618, + "angularVelocity": -0.38285705670163295, + "velocityX": -3.5488905292933453, + "velocityY": 1.876390810940954, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.63714057212275, + 31.738363917247266, + 66.63545830538258, + 63.48643492329071 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.35461340235443, + -56.37263472811973, + -9.419454920992239, + 11.650938103925284 + ], + "timestamp": 4.536508444623535 }, { - "x": 4.34826787969624, - "y": 2.154723297438567, - "heading": -0.3962143295217223, - "angularVelocity": -3.9464355515735635e-7, - "velocityX": -3.694980020282657, - "velocityY": 1.9379656271949364, - "timestamp": 4.308975728699017, + "x": 4.291334312268304, + "y": 2.172430162268381, + "heading": -0.43362216869997017, + "angularVelocity": -0.45592179893686535, + "velocityX": -3.4404335686169425, + "velocityY": 1.8216305608558392, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.675099205458764, + 53.943625967062154, + 64.93231136120757, + 65.24075891260544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.614926998647775, + -41.54469621949282, + -22.032511350239634, + -19.384377025253993 + ], + "timestamp": 4.5698790035893175 }, { - "x": 4.233986914266696, - "y": 2.2145236738983907, - "heading": -0.4022492278817095, - "angularVelocity": -0.19258315719962768, - "velocityX": -3.6468864622756754, - "velocityY": 1.908324649959019, - "timestamp": 4.340312313100998, + "x": 4.1801992597503315, + "y": 2.2313240616295036, + "heading": -0.449993328464714, + "angularVelocity": -0.490586920690493, + "velocityX": -3.330332363682305, + "velocityY": 1.7648460555126868, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.03359002922508, + 58.350037016714204, + 63.49997502241792, + 63.55867855314202 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.80289369635891, + -36.61803422218417, + -27.094390123660958, + -26.555363911587683 + ], + "timestamp": 4.6032495625551 }, { - "x": 4.122928074154352, - "y": 2.2727140288595966, - "heading": -0.4179001666600075, - "angularVelocity": -0.4994462248190942, - "velocityX": -3.544063344227204, - "velocityY": 1.8569463159975188, - "timestamp": 4.37164889750298, + "x": 4.072754556471353, + "y": 2.288296570343991, + "heading": -0.4669393810537681, + "angularVelocity": -0.50781446623145, + "velocityX": -3.2197453866242385, + "velocityY": 1.7072686367890495, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.24898628835015, + 60.06885084668952, + 62.5992322640746, + 62.603703013494794 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.20303296874243, + -34.40526422160578, + -29.682154718746844, + -29.5406245397077 + ], + "timestamp": 4.636620121520883 }, { - "x": 4.015666546955586, - "y": 2.3289253228999796, - "heading": -0.4358805513580875, - "angularVelocity": -0.5737825305855736, - "velocityX": -3.4228850797148276, - "velocityY": 1.7937913500498697, - "timestamp": 4.402985481904961, + "x": 3.9690069481662964, + "y": 2.3433338461526554, + "heading": -0.48412636046972807, + "angularVelocity": -0.5150342082547402, + "velocityX": -3.1089562632519567, + "velocityY": 1.6492764135348694, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.992029520123026, + 60.96099988674297, + 62.007812815018376, + 62.008727332366504 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.16444788250027, + -33.18256020283584, + -31.224096451084847, + -31.18090429925417 + ], + "timestamp": 4.6699906804866655 }, { - "x": 3.912235682567056, - "y": 2.3831349353266873, - "heading": -0.4548230598324097, - "angularVelocity": -0.6044854228951096, - "velocityX": -3.300642567222193, - "velocityY": 1.7299145219948986, - "timestamp": 4.434322066306943, + "x": 3.868959805187604, + "y": 2.396427451467222, + "heading": -0.5013371682567699, + "angularVelocity": -0.5157482619541758, + "velocityX": -2.9980661421215586, + "velocityY": 1.5910313450001217, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.4970606349353, + 61.49734110306997, + 61.5994067858737, + 61.59999220337635 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.427772552868916, + -32.42399390257782, + -32.23299201074593, + -32.228607323414224 + ], + "timestamp": 4.703361239452448 }, { - "x": 3.8126409215439327, - "y": 2.4353379258954524, - "heading": -0.47413685987390475, - "angularVelocity": -0.6163339243913278, - "velocityX": -3.17822643800409, - "velocityY": 1.6658800429271865, - "timestamp": 4.465658650708924, + "x": 3.772615014549368, + "y": 2.447571730660445, + "heading": -0.5184192387497278, + "angularVelocity": -0.511890451414781, + "velocityX": -2.887119473689192, + "velocityY": 1.5326167969082285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.865661229014776, + 61.84921289347603, + 61.306139275118255, + 61.298331382178525 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.87189737742408, + -31.91893670938938, + -32.934798043905886, + -32.96400537627657 + ], + "timestamp": 4.736731798418231 }, { - "x": 3.7168828760991257, - "y": 2.4855327987305764, - "heading": -0.4934889199200676, - "angularVelocity": -0.6175548616886856, - "velocityX": -3.0557907721031965, - "velocityY": 1.6017978280986271, - "timestamp": 4.496995235110906, + "x": 3.679973717720683, + "y": 2.496762638821245, + "heading": -0.5352594552522935, + "angularVelocity": -0.5046429255150667, + "velocityX": -2.7761385994059813, + "velocityY": 1.4740810368583768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.14868761889979, + 62.09348385066889, + 61.08941198638789, + 61.06370378236987 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.43316723448848, + -31.567015978608183, + -33.444023240321265, + -33.514540982571404 + ], + "timestamp": 4.770102357384014 }, { - "x": 3.6249609989418206, - "y": 2.533719082273904, - "heading": -0.5126647406955078, - "angularVelocity": -0.6119307876523589, - "velocityX": -2.933372571118294, - "velocityY": 1.5377005651030662, - "timestamp": 4.528331819512887, + "x": 3.591036644530126, + "y": 2.5439971434715534, + "heading": -0.5517705992448493, + "angularVelocity": -0.4947817628552755, + "velocityX": -2.665135854683131, + "velocityY": 1.4154544039415793, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.37433439863179, + 62.26970234744134, + 60.92588331551031, + 60.87392304992238 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.07505461225336, + -31.31435869714685, + -33.82479922222685, + -33.94628719995224 + ], + "timestamp": 4.803472916349796 }, { - "x": 3.536874468787536, - "y": 2.5798966739523617, - "heading": -0.5315144307979932, - "angularVelocity": -0.6015234417600595, - "velocityX": -2.810980578620935, - "velocityY": 1.4736000288383975, - "timestamp": 4.559668403914869, + "x": 3.5058042811853367, + "y": 2.5892728883720153, + "heading": -0.5678833794082447, + "angularVelocity": -0.4828441795031706, + "velocityX": -2.554118540003054, + "velocityY": 1.3567571627134747, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.55946732577067, + 62.40028987633621, + 60.80065892881482, + 60.715774615429446 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.775138782832904, + -31.129435933269043, + -34.115839575322084, + -34.29684718183656 + ], + "timestamp": 4.836843475315579 }, { - "x": 3.4526224464254103, - "y": 2.6240656158883477, - "heading": -0.5499272847860958, - "angularVelocity": -0.5875833100348224, - "velocityX": -2.6886153666702253, - "velocityY": 1.4095008367661377, - "timestamp": 4.59100498831685, + "x": 3.424276961819647, + "y": 2.632587990619364, + "heading": -0.583541433010462, + "angularVelocity": -0.46921760040857263, + "velocityX": -2.4430912125061814, + "velocityY": 1.2980034973876715, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.71478883875526, + 62.4989161010104, + 60.70379384757495, + 60.58092201338877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.518903471024604, + -30.992537889847096, + -34.341919415720206, + -34.58917121602012 + ], + "timestamp": 4.870214034281362 }, { - "x": 3.372204151404791, - "y": 2.6662260068510726, - "heading": -0.5678181902197778, - "angularVelocity": -0.5709271056532322, - "velocityX": -2.56627506013498, - "velocityY": 1.3454047965756646, - "timestamp": 4.622341572718832, + "x": 3.34645492156299, + "y": 2.673940911184614, + "heading": -0.5986980304895372, + "angularVelocity": -0.4541906982923604, + "velocityX": -2.3320568389817615, + "velocityY": 1.2392037126996218, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.84741956072775, + 62.57440043549832, + 60.62838878861003, + 60.46385532373951 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.29653203951866, + -30.890685234934953, + -34.51965494734024, + -34.83805212969463 + ], + "timestamp": 4.903584593247144 }, { - "x": 3.2956188808304545, - "y": 2.7063779647594086, - "heading": -0.5851196869108704, - "angularVelocity": -0.5521181399080031, - "velocityX": -2.4439571840986845, - "velocityY": 1.2813125193630295, - "timestamp": 4.6536781571208135, + "x": 3.2723383288737526, + "y": 2.7133303685518384, + "heading": -0.6133138136278495, + "angularVelocity": -0.4379843667976608, + "velocityX": -2.221017417330355, + "velocityY": 1.1803655254196237, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.9622852732665, + 62.63269779539014, + 60.56949905854744, + 60.36078963049908 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.101140074878764, + -30.81496242974686, + -34.66062864862747, + -35.053453093104224 + ], + "timestamp": 4.936955152212927 }, { - "x": 3.2228660085968706, - "y": 2.7445216100718945, - "heading": -0.6017770112444207, - "angularVelocity": -0.5315615805434397, - "velocityX": -2.3216592880806797, - "velocityY": 1.2172240861730093, - "timestamp": 4.685014741522795, + "x": 3.201927306054589, + "y": 2.750755278965317, + "heading": -0.6273551907762446, + "angularVelocity": -0.42077140999623847, + "velocityX": -2.1099743307098677, + "velocityY": 1.121494861741119, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.06290692919477, + 62.67798232548579, + 60.52348035967596, + 60.269038960751665 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.92774741233331, + -30.759027482140507, + -34.77317977223898, + -35.24233237744797 + ], + "timestamp": 4.97032571117871 }, { - "x": 3.1539449783642857, - "y": 2.780657058466311, - "heading": -0.6177448402314428, - "angularVelocity": -0.5095586928743979, - "velocityX": -2.1993791457446576, - "velocityY": 1.1531393444440179, - "timestamp": 4.7163513259247765, + "x": 3.135221942713334, + "y": 2.7862147138092115, + "heading": -0.6407931661198537, + "angularVelocity": -0.4026895491138777, + "velocityX": -1.9989285588472958, + "velocityY": 1.0625963706574053, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.15187283356435, + 62.71327325283767, + 60.48758096428788, + 60.186643191226906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.772653202568215, + -30.71823417658401, + -34.86348040964523, + -35.40970054465129 + ], + "timestamp": 5.003696270144492 }, { - "x": 3.0888552951151427, - "y": 2.8147844178545376, - "heading": -0.6329850621580034, - "angularVelocity": -0.48633960010002625, - "velocityX": -2.0771148002022657, - "velocityY": 1.0890580463539068, - "timestamp": 4.747687910326758, + "x": 3.072222304853021, + "y": 2.819707868410318, + "heading": -0.6536024650991504, + "angularVelocity": -0.38385029727644315, + "velocityX": -1.8878808090916104, + "velocityY": 1.0036737663111281, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.231132484137554, + 62.74081363203757, + 60.45967872101635, + 60.11213664371166 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.63304156226972, + -30.689091884942144, + -34.93620872701228, + -35.55926145793252 + ], + "timestamp": 5.037066829110275 }, { - "x": 3.0275965170355854, - "y": 2.846903787472418, - "heading": -0.6474651974657756, - "angularVelocity": -0.46208403321889974, - "velocityX": -1.9548645536392328, - "velocityY": 1.024979915036587, - "timestamp": 4.7790244947287395, + "x": 3.0129284411591986, + "y": 2.8512340386920547, + "heading": -0.6657608675741488, + "angularVelocity": -0.3643451848518741, + "velocityX": -1.7768316004101603, + "velocityY": 0.9447300632281633, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.30218581497032, + 62.76230876082445, + 60.43810636315337, + 60.04439959044147 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.506724678841497, + -30.668920539666114, + -34.994984877360324, + -35.69381610551596 + ], + "timestamp": 5.070437388076058 }, { - "x": 2.970168248283819, - "y": 2.8770152579622867, - "heading": -0.6611572479748201, - "angularVelocity": -0.436935000107376, - "velocityX": -1.83262693901431, - "velocityY": 0.9609046762596005, - "timestamp": 4.810361079130721, + "x": 2.9573403874370814, + "y": 2.8807926033622375, + "heading": -0.6772486902487636, + "angularVelocity": -0.3442502322599411, + "velocityX": -1.6657813187716588, + "velocityY": 0.885767742173273, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.36620873032893, + 62.7790813979113, + 60.42153240427307, + 59.98256013310029 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.391970797913185, + -30.65562310659923, + -35.042661742046086, + -35.815525429595354 + ], + "timestamp": 5.10380794704184 }, { - "x": 2.9165701327502678, - "y": 2.9051189119121528, - "heading": -0.6740368377609592, - "angularVelocity": -0.41100809267919886, - "velocityX": -1.7104006884095218, - "velocityY": 0.8968320729967146, - "timestamp": 4.8416976635327025, + "x": 2.905458169800852, + "y": 2.9083830100922707, + "heading": -0.6880483786106688, + "angularVelocity": -0.32362923177220093, + "velocityX": -1.5547302545718684, + "velocityY": 0.8267888697458748, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.42413854440674, + 62.792175801110716, + 60.408878029952845, + 59.92592770134008 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.28738625944427, + -30.64753131532271, + -35.08152393499005, + -35.92608626000167 + ], + "timestamp": 5.137178506007623 }, { - "x": 2.8668018487455478, - "y": 2.931214824580909, - "heading": -0.6860825583100362, - "angularVelocity": -0.38439800568422167, - "velocityX": -1.5881847034220211, - "velocityY": 0.832761871364192, - "timestamp": 4.873034247934684, + "x": 2.8572818070018196, + "y": 2.934004764631732, + "heading": -0.6981441807294081, + "angularVelocity": -0.30253620052008307, + "velocityX": -1.4436786284733993, + "velocityY": 0.7677951863385567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.47673345868158, + 62.80242925847597, + 60.39925789203199, + 59.87394697253745 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.191832884041784, + -30.643298474749017, + -35.11342716225157, + -36.026851992479834 + ], + "timestamp": 5.170549064973406 }, { - "x": 2.8208631044996584, - "y": 2.9553030646725276, - "heading": -0.6972754602941236, - "angularVelocity": -0.3571832156468132, - "velocityX": -1.4659780292770215, - "velocityY": 0.7686938621841268, - "timestamp": 4.9043708323366655, + "x": 2.8128113121475025, + "y": 2.9576574221187517, + "heading": -0.7075218832596375, + "angularVelocity": -0.28101724456713717, + "velocityX": -1.3326266095854744, + "velocityY": 0.708788171970145, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.52461480023366, + 62.810522385822566, + 60.39193713564785, + 59.826165315423985 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.104369033010983, + -30.641823373149993, + -35.13989781613681, + -36.11891715653109 + ], + "timestamp": 5.203919623939188 }, { - "x": 2.7787536343494574, - "y": 2.977383695091263, - "heading": -0.707598652866933, - "angularVelocity": -0.32942941197372216, - "velocityX": -1.3437798328633062, - "velocityY": 0.704627860378377, - "timestamp": 4.935707416738647, + "x": 2.772046693988172, + "y": 2.9793405800620847, + "heading": -0.7161685954209692, + "angularVelocity": -0.25911199660149375, + "velocityX": -1.221574328467927, + "velocityY": 0.649769096335725, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.56829755539599, + 62.81701520666869, + 60.386299675836156, + 59.782209390920286 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.02420685873507, + -30.642195192712514, + -35.16220545803263, + -36.203177808536466 + ], + "timestamp": 5.237290182904971 }, { - "x": 2.740473195502348, - "y": 2.9974567736461792, - "heading": -0.717036983311505, - "angularVelocity": -0.3011920611225013, - "velocityX": -1.2215893843455776, - "velocityY": 0.6405637033513777, - "timestamp": 4.9670440011406285, + "x": 2.734987957889624, + "y": 2.999053872610452, + "heading": -0.7240725704791158, + "angularVelocity": -0.2368547397198539, + "velocityX": -1.1105218865692998, + "velocityY": 0.59073905739689, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.60821279657132, + 62.82237350000312, + 60.3818244148623, + 59.741768077091116 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.95068083699544, + -30.643652936236034, + -35.181416442887645, + -36.280375390779376 + ], + "timestamp": 5.270660741870754 }, { - "x": 2.706021565279902, - "y": 3.0155223536925164, - "heading": -0.725576777759095, - "angularVelocity": -0.2725183554800622, - "velocityX": -1.0994060418488962, - "velocityY": 0.5765012489744855, - "timestamp": 4.99838058554261, + "x": 2.7016351065715485, + "y": 3.016796965826179, + "heading": -0.7312230568986043, + "angularVelocity": -0.21427529658165007, + "velocityX": -0.9994693631647813, + "velocityY": 0.5316990115178981, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.644724392715034, + 62.82698835293674, + 60.37806715970836, + 59.704579839279944 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.883224294317774, + -30.645555069689703, + -35.19843418599757, + -36.35112906419579 + ], + "timestamp": 5.304031300836536 }, { - "x": 2.6753985387610393, - "y": 3.0315804847074745, - "heading": -0.7332056290323161, - "angularVelocity": -0.24344871717221478, - "velocityX": -0.9772292387081735, - "velocityY": 0.5124403734933711, - "timestamp": 5.0297171699445915, + "x": 2.671988140676245, + "y": 3.0325695537564017, + "heading": -0.7376101732337847, + "angularVelocity": -0.1913997407633974, + "velocityX": -0.8884168205132447, + "velocityY": 0.47264979727482637, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.67814162329361, + 62.8311908831734, + 60.37464669529509, + 59.670423274335725 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.82135168773556, + -30.64735648277995, + -35.21402981072538, + -36.41595986727854 + ], + "timestamp": 5.337401859802319 }, { - "x": 2.6486039267585593, - "y": 3.0456312128031495, - "heading": -0.739912221350421, - "angularVelocity": -0.214017974392925, - "velocityX": -0.8550584728304266, - "velocityY": 0.448380969522216, - "timestamp": 5.061053754346573, + "x": 2.646047059207535, + "y": 3.046371355134701, + "heading": -0.7432248022052907, + "angularVelocity": -0.16825097168025074, + "velocityX": -0.7773643077273787, + "velocityY": 0.41359215446743564, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.70872881297905, + 62.83526347157346, + 60.37123393151569, + 59.63910995346491 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.764645080782493, + -30.648590776132195, + -35.228865763523395, + -36.47530898863427 + ], + "timestamp": 5.370772418768102 }, { - "x": 2.6256375540748116, - "y": 3.057674581181762, - "heading": -0.745686184228836, - "angularVelocity": -0.18425629303907573, - "velocityX": -0.7328932977869624, - "velocityY": 0.38432294420225194, - "timestamp": 5.0923903387485545, + "x": 2.623811859870229, + "y": 3.0582021105986237, + "heading": -0.7480585004281598, + "angularVelocity": -0.14484918361197985, + "velocityX": -0.666311863701621, + "velocityY": 0.35452673945002117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.73671277025273, + 62.83944843518747, + 60.36754335487679, + 59.61047895078101 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.712743719116784, + -30.64885648323509, + -35.243514214469236, + -36.52955174131436 + ], + "timestamp": 5.404142977733884 }, { - "x": 2.606499257992194, - "y": 3.06771063053928, - "heading": -0.750517969763229, - "angularVelocity": -0.15418992294794098, - "velocityX": -0.6107333153196863, - "velocityY": 0.320266217555073, - "timestamp": 5.123726923150536, + "x": 2.6052825393386176, + "y": 3.068061580319501, + "heading": -0.7521034210198824, + "angularVelocity": -0.12121225166980552, + "velocityX": -0.5552595193419528, + "velocityY": 0.2954541376067526, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.76228858706055, + 62.84395479699966, + 60.363326230422054, + 59.58439262195973 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.665335922115908, + -30.64780623920137, + -35.25847154038577, + -36.5790083590335 + ], + "timestamp": 5.437513536699667 }, { - "x": 2.591188886962225, - "y": 3.075739399423708, - "heading": -0.7543987488405535, - "angularVelocity": -0.12384180188696901, - "velocityX": -0.488578169004329, - "velocityY": 0.2562107210357085, - "timestamp": 5.1550635075525175, + "x": 2.590459093465324, + "y": 3.0759495419763163, + "heading": -0.7553522468934274, + "angularVelocity": -0.09735605198810814, + "velocityX": -0.44420729927265734, + "velocityY": 0.23637487358944362, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.78562420126108, + 62.84896362206827, + 60.358365149464255, + 59.56073331914644 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.622152723147323, + -30.645138185113925, + -35.274169828352676, + -36.62395241580333 + ], + "timestamp": 5.47088409566545 }, { - "x": 2.579706299463457, - "y": 3.0817609245540263, - "heading": -0.7573203228179342, - "angularVelocity": -0.09323204915708858, - "velocityX": -0.3664275388622744, - "velocityY": 0.1921563962771172, - "timestamp": 5.186400091954499, + "x": 2.5793415174464807, + "y": 3.0818657890133747, + "heading": -0.7577981329817525, + "angularVelocity": -0.07329472937007261, + "velocityX": -0.33315522314719126, + "velocityY": 0.17728941978551727, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.80686401518755, + 62.85463226076621, + 60.352469624585574, + 59.53940081308226 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.582962842926698, + -30.640589089247726, + -35.290986086092005, + -36.66461745021543 + ], + "timestamp": 5.504254654631232 }, { - "x": 2.5720513630038004, - "y": 3.0857752411053228, - "heading": -0.7592750479575843, - "angularVelocity": -0.0623783726578274, - "velocityX": -0.2442811367524958, - "velocityY": 0.12810319401122075, - "timestamp": 5.2177366763564805, + "x": 2.571929805955234, + "y": 3.0858101291286, + "heading": -0.7594346559817723, + "angularVelocity": -0.04904092261977967, + "velocityX": -0.22210330665653, + "velocityY": 0.11819820337390106, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.82613178697077, + 62.86109774933579, + 60.345472509198466, + 59.520310253323636 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.547568688110537, + -30.633928802316536, + -35.30924966751608, + -36.701202221076564 + ], + "timestamp": 5.537625213597015 }, { - "x": 2.5682239532470703, - "y": 3.087782382965088, + "x": 2.568223953247088, + "y": 3.0877823829650395, "heading": -0.7602557704725093, - "angularVelocity": -0.031296407494333975, - "velocityX": -0.12213870240714839, - "velocityY": 0.06405107314881801, - "timestamp": 5.249073260758462, + "angularVelocity": -0.02460595555438477, + "velocityX": -0.11105156230422518, + "velocityY": 0.05910161224502662, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.84353295637071, + 62.86847955362884, + 60.33722707387728, + 59.50339054027483 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.51580314467307, + -30.624955761032357, + -35.32924829381258, + -36.73387491125588 + ], + "timestamp": 5.570995772562798 }, { "x": 2.5682239532470703, "y": 3.087782382965088, "heading": -0.7602557704725093, - "angularVelocity": 5.277493860165363e-19, - "velocityX": 7.388438155863791e-18, - "velocityY": 5.876478883573141e-18, - "timestamp": 5.2804098451604435, + "angularVelocity": -2.0005751555101546e-20, + "velocityX": -2.4725272207623272e-19, + "velocityY": 2.4421055757121167e-19, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.85915652710484, + 62.876881795583046, + 60.327604611867116, + 59.488583013749455 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.487526991816065, + -30.613493324566843, + -35.351232957578254, + -36.76277651756912 + ], + "timestamp": 5.60436633152858 }, { - "x": 2.571372983748656, - "y": 3.0847101271952413, - "heading": -0.7592473817932608, - "angularVelocity": 0.031893423444808965, - "velocityX": 0.09959786865373063, - "velocityY": -0.09716962934521069, - "timestamp": 5.3120272938483675, + "x": 2.5713462305138015, + "y": 3.084676180365677, + "heading": -0.7596248198241236, + "angularVelocity": 0.018465893169765258, + "velocityX": 0.09137899866077405, + "velocityY": -0.09090854492523227, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.53373413173904, + 51.47657244684686, + 47.435743335638016, + 47.692535844932586 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.26297911356611, + -47.334916589724294, + -51.37498996465999, + -51.14560751860742 + ], + "timestamp": 5.638534765331647 }, { - "x": 2.577693309160809, - "y": 3.0785884921274382, - "heading": -0.7572349292359899, - "angularVelocity": 0.06365006162054636, - "velocityX": 0.1998999183816771, - "velocityY": -0.19361571922598592, - "timestamp": 5.343644742536291, + "x": 2.5776148652815403, + "y": 3.0784884837836146, + "heading": -0.7583593579280601, + "angularVelocity": 0.03703599361203135, + "velocityX": 0.18346274821576125, + "velocityY": -0.18109394822501076, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.923627670505425, + 51.84188069219013, + 47.83489281155974, + 48.06630754026729 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.82986481730001, + -46.930497199900984, + -50.99941737137623, + -50.79071391758251 + ], + "timestamp": 5.672703199134713 }, { - "x": 2.587208589540726, - "y": 3.0694421554601674, - "heading": -0.7542231093315008, - "angularVelocity": 0.0952581574249357, - "velocityX": 0.3009502908927446, - "velocityY": -0.2892813002576082, - "timestamp": 5.375262191224215, + "x": 2.587055422517619, + "y": 3.069245953631751, + "heading": -0.7564556185969107, + "angularVelocity": 0.05571631822874338, + "velocityX": 0.27629470201913264, + "velocityY": -0.27049908711454895, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.33593755577237, + 52.230130490283294, + 48.25827723287149, + 48.46470701351286 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.363830867188376, + -46.493656674553, + -50.59451961970578, + -50.40662599053063 + ], + "timestamp": 5.70687163293778 }, { - "x": 2.5999440085853194, - "y": 3.057297810078407, - "heading": -0.7502170348952221, - "angularVelocity": 0.12670454456398847, - "velocityX": 0.40279717602443854, - "velocityY": -0.3841026359093425, - "timestamp": 5.406879639912139, + "x": 2.59969508430954, + "y": 3.0569774334733504, + "heading": -0.7539096126665635, + "angularVelocity": 0.07451339282981055, + "velocityX": 0.3699221879694872, + "velocityY": -0.35906006781322475, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.772712714386586, + 52.64321061845116, + 48.708227880397644, + 48.88986651808356 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.86087987735177, + -46.020702448082574, + -50.15667886453669, + -49.98996987240398 + ], + "timestamp": 5.7410400667408465 }, { - "x": 2.6159264164542595, - "y": 3.042184412149164, - "heading": -0.7452222876203011, - "angularVelocity": 0.15797439332379762, - "velocityX": 0.5054932808365591, - "velocityY": -0.47800814285865806, - "timestamp": 5.438497088600063, + "x": 2.6155627967819672, + "y": 3.04171421798388, + "heading": -0.7507171090860787, + "angularVelocity": 0.09343429666355428, + "velocityX": 0.4643968337525495, + "velocityY": -0.4467051541619171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.236210550351444, + 53.083202226496525, + 49.18735049330459, + 49.34416506015187 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.316387265266094, + -45.50737260295631, + -49.68168811978987, + -49.536834291052045 + ], + "timestamp": 5.775208500543913 }, { - "x": 2.635184489302285, - "y": 3.024133470203135, - "heading": -0.739244980307614, - "angularVelocity": 0.18905090577311734, - "velocityX": 0.6090963580935834, - "velocityY": -0.5709170946776445, - "timestamp": 5.470114537287987, + "x": 2.6346894331627193, + "y": 3.0234903647541915, + "heading": -0.7468736144075268, + "angularVelocity": 0.112486709244687, + "velocityX": 0.5597750394703556, + "velocityY": -0.5333534845267905, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.728915980215184, + 53.55239734196252, + 49.698559598807726, + 49.830259277194564 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.72497839062071, + -44.94872585751261, + -49.16463196417819, + -49.04266367281856 + ], + "timestamp": 5.80937693434698 }, { - "x": 2.657748907577731, - "y": 3.003179383706628, - "heading": -0.7322918307451779, - "angularVelocity": 0.21991494731489233, - "velocityX": 0.7136697998046996, - "velocityY": -0.6627380565500872, - "timestamp": 5.501731985975911, + "x": 2.657107974686689, + "y": 3.0023430588739934, + "heading": -0.7423743506376039, + "angularVelocity": 0.1316789582997814, + "velocityX": 0.6561184997000761, + "velocityY": -0.618913527090018, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.253559302174644, + 54.053316928389904, + 50.245115943922, + 50.351117257974 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.08037724005756, + -44.33900633935362, + -48.59973826119371, + -48.502125704520466 + ], + "timestamp": 5.843545368150046 }, { - "x": 2.683652555288641, - "y": 2.979359841745378, - "heading": -0.7243702497867013, - "angularVelocity": 0.25054459759437514, - "velocityX": 0.8192833003886288, - "velocityY": -0.7533669840459989, - "timestamp": 5.533349434663835, + "x": 2.6828537110181117, + "y": 2.9783130414007175, + "heading": -0.7372142314829354, + "angularVelocity": 0.151020066778869, + "velocityX": 0.753494774733042, + "velocityY": -0.7032812101302554, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.81313081747117, + 54.588726927051184, + 50.83066625382606, + 50.91005475928908 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.375219185350794, + -43.671476543849764, + -47.98019276737953, + -47.908946283422 + ], + "timestamp": 5.877713801953113 }, { - "x": 2.7129307425037954, - "y": 2.9527162951695773, - "heading": -0.7154884468811245, - "angularVelocity": 0.28091459855738415, - "velocityX": 0.926013591550072, - "velocityY": -0.8426848996825199, - "timestamp": 5.564966883351759, + "x": 2.711964461723663, + "y": 2.951445115583653, + "heading": -0.731387837137063, + "angularVelocity": 0.1705197955356491, + "velocityX": 0.851977906664805, + "velocityY": -0.7863376463761932, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.41088882433598, + 55.161649701453676, + 51.459283659928914, + 51.5107725906929 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.60081822704514, + -42.9382099914992, + -47.29790597021043, + -47.25570260033681 + ], + "timestamp": 5.911882235756179 }, { - "x": 2.745621453269739, - "y": 2.9232945190833064, - "heading": -0.7056555572281451, - "angularVelocity": 0.31099567046138704, - "velocityX": 1.0339452461396574, - "velocityY": -0.9305550355019219, - "timestamp": 5.596584332039683, + "x": 2.7444808199432176, + "y": 2.921788748256515, + "heading": -0.7248893879440267, + "angularVelocity": 0.19018867620596364, + "velocityX": 0.951649069049111, + "velocityY": -0.8679463477332875, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.050355580161536, + 55.7753667229935, + 52.13550565805577, + 52.157392785670766 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.74687643129026, + -42.12983266512844, + -46.543218130019525, + -46.5335621914448 + ], + "timestamp": 5.946050669559246 }, { - "x": 2.781765620762856, - "y": 2.891145287164399, - "heading": -0.6948817959555957, - "angularVelocity": 0.3407536572254923, - "velocityX": 1.1431715395468387, - "velocityY": -1.0168192960865703, - "timestamp": 5.628201780727607, + "x": 2.7804464186239333, + "y": 2.889398788367351, + "heading": -0.7177127175692773, + "angularVelocity": 0.2100380256266015, + "velocityX": 1.052597227253886, + "velocityY": -0.9479497970508951, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.735292671765045, + 56.43340586636138, + 52.86436399025212, + 52.85448925951119 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.80111985741291, + -41.235199196168956, + -45.70452403793014, + -45.73195192664766 + ], + "timestamp": 5.980219103362312 }, { - "x": 2.8214074306522394, - "y": 2.8563251853240765, - "heading": -0.6831786463377802, - "angularVelocity": 0.37014844977942385, - "velocityX": 1.2537953419538501, - "velocityY": -1.1012938515061652, - "timestamp": 5.659819229415531, + "x": 2.8199082182540893, + "y": 2.8543363304840415, + "heading": -0.7098512467719768, + "angularVelocity": 0.23007992823466705, + "velocityX": 1.1549197676896172, + "velocityY": -1.0261652051538297, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.469642313027, + 57.13950282342473, + 53.65139676410954, + 53.6071054839671 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.74884107586763, + -40.24098585087374, + -44.76779313233833, + -44.838135784361164 + ], + "timestamp": 6.014387537165379 }, { - "x": 2.864594651983719, - "y": 2.818897600125482, - "heading": -0.6705590912415943, - "angularVelocity": 0.399132618850612, - "velocityX": 1.3659299887778211, - "velocityY": -1.1837636100249405, - "timestamp": 5.691436678103455, + "x": 2.862916812551413, + "y": 2.8166697586754594, + "heading": -0.7012979595937695, + "angularVelocity": 0.25032716534521415, + "velocityX": 1.2587230232795505, + "velocityY": -1.102379231827753, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.25741341454022, + 57.897520106804286, + 54.50262639813848, + 54.42074648807602 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.57232342865605, + -39.131177569485374, + -43.7159530145672, + -43.8366735603344 + ], + "timestamp": 6.0485559709684455 }, { - "x": 2.911378991842898, - "y": 2.7789339277850242, - "heading": -0.6570378998904542, - "angularVelocity": 0.4276496653667196, - "velocityX": 1.4797000327559169, - "velocityY": -1.2639752414849752, - "timestamp": 5.723054126791379, + "x": 2.9095267443793853, + "y": 2.776476015881321, + "heading": -0.692045384896891, + "angularVelocity": 0.2707930585933991, + "velocityX": 1.3641225727996096, + "velocityY": -1.1763413864913854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.10247930569402, + 58.71129766491037, + 55.42447591176224, + 55.301323909049415 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.25011682753379, + -37.88642073150134, + -42.528094840423755, + -42.708724055834644 + ], + "timestamp": 6.082724404771512 }, { - "x": 2.961816464678134, - "y": 2.736515063249988, - "heading": -0.6426319859260753, - "angularVelocity": 0.4556317654397341, - "velocityX": 1.595241707611291, - "velocityY": -1.3416283190249283, - "timestamp": 5.7546715754793025, + "x": 2.959796817248875, + "y": 2.733842156261503, + "heading": -0.6820855879126938, + "angularVelocity": 0.2914911769617992, + "velocityX": 1.4712431116751472, + "velocityY": -1.2477557462991284, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.00823538333521, + 59.584394348335685, + 56.42357787924733, + 56.255018706084925 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.756130140837094, + -36.48320747554508, + -41.178447685827656, + -41.431145662010096 + ], + "timestamp": 6.116892838574579 }, { - "x": 3.015967757907504, - "y": 2.691733246695512, - "heading": -0.6273608579426229, - "angularVelocity": 0.4829968456400199, - "velocityX": 1.7127028105228863, - "velocityY": -1.4163640145822418, - "timestamp": 5.7862890241672265, + "x": 3.0137903764593044, + "y": 2.688867253538867, + "heading": -0.6714101791264567, + "angularVelocity": 0.31243482940323736, + "velocityX": 1.580217563427883, + "velocityY": -1.3162705373577737, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.97703619791107, + 60.51965641112562, + 57.50640051445945, + 57.28800297750822 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.05850355314508, + -34.89285274841904, + -39.63505697041632, + -39.97533508269442 + ], + "timestamp": 6.151061272377645 }, { - "x": 3.0738985597184256, - "y": 2.644694367762688, - "heading": -0.6112471905367273, - "angularVelocity": 0.5096447713078827, - "velocityX": 1.8322415063505086, - "velocityY": -1.4877506214089435, - "timestamp": 5.81790647285515, + "x": 3.0715755156229743, + "y": 2.6416647572369745, + "heading": -0.6600103519159627, + "angularVelocity": 0.3336362233106194, + "velocityX": 1.6911848958814022, + "velocityY": -1.3814650262856296, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.00928756213586, + 61.51851352579118, + 58.67856664085614, + 58.40592437378586 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.118231099628794, + -33.08022523572466, + -37.85809303871182, + -38.30573325949829 + ], + "timestamp": 6.185229706180712 }, { - "x": 3.1356797885403274, - "y": 2.595520856597587, - "heading": -0.59431755281478, - "angularVelocity": 0.5354523664780527, - "velocityX": 1.954023217739865, - "velocityY": -1.555264994669952, - "timestamp": 5.849523921543074, + "x": 3.1332251348953113, + "y": 2.592365410391571, + "heading": -0.6478769665956584, + "angularVelocity": 0.35510510637497567, + "velocityX": 1.8042857810709343, + "velocityY": -1.4428330876839475, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.10200371622007, + 62.57984830589853, + 59.94366269027511, + 59.61299487944232 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.88753006966929, + -31.002205420592897, + -35.79771931366242, + -36.37792208188484 + ], + "timestamp": 6.219398139983778 }, { - "x": 3.2013876195939144, - "y": 2.54435532465843, - "heading": -0.5766033423665365, - "angularVelocity": 0.5602669153697192, - "velocityX": 2.0782142070395424, - "velocityY": -1.6182688376971983, - "timestamp": 5.881141370230998, + "x": 3.19881673043804, + "y": 2.541120864270663, + "heading": -0.6350007078837432, + "angularVelocity": 0.3768466177328717, + "velocityX": 1.9196547292970214, + "velocityY": -1.4997628049404181, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.24654589972957, + 63.69820448478167, + 61.301210780825286, + 60.910426812800196 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -27.308022270645733, + -28.605883659717094, + -33.391486365194496, + -34.13624998748405 + ], + "timestamp": 6.253566573786845 }, { - "x": 3.271103131170227, - "y": 2.491365153410621, - "heading": -0.5581419853873452, - "angularVelocity": 0.5838977446096899, - "velocityX": 2.204969549074994, - "velocityY": -1.6759787220924072, - "timestamp": 5.912758818918922, + "x": 3.268431721358979, + "y": 2.488108141074567, + "heading": -0.6213723565216426, + "angularVelocity": 0.39885794709377376, + "velocityX": 2.0374065525558422, + "velocityY": -1.5515116525867114, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.42513572759495, + 64.86098519902234, + 62.743289285951334, + 62.29380489156187 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.308943903487034, + -25.826608745132567, + -30.561334790912035, + -31.510990055016563 + ], + "timestamp": 6.287735007589911 }, { - "x": 3.3449112752300927, - "y": 2.436748253524411, - "heading": -0.5389784755311614, - "angularVelocity": 0.6061055098194305, - "velocityX": 2.3344117606825243, - "velocityY": -1.727429066946542, - "timestamp": 5.944376267606846, + "x": 3.342154008598091, + "y": 2.4335350888665777, + "heading": -0.6069832349323607, + "angularVelocity": 0.4211232411826373, + "velocityX": 2.1576138860803047, + "velocityY": -1.5971774569044388, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.60560432481131, + 66.04414965423646, + 64.2490274420948, + 63.74875697917061 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -20.805909233710622, + -22.586209640320767, + -27.210579545297183, + -28.415216174574137 + ], + "timestamp": 6.321903441392978 }, { - "x": 3.4228986910980606, - "y": 2.3807402015786545, - "heading": -0.5191673286737849, - "angularVelocity": 0.6265890411626823, - "velocityX": 2.466594209979853, - "velocityY": -1.771428570931737, - "timestamp": 5.97599371629477, + "x": 3.420067297624659, + "y": 2.3776469114863374, + "heading": -0.5918259112812426, + "angularVelocity": 0.4436060411337268, + "velocityX": 2.2802710090731573, + "velocityY": -1.6356669346437573, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.73377497905216, + 67.2057813005179, + 65.77590803801338, + 65.24399288013711 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.701332332285766, + -18.79213746299829, + -23.221886697576096, + -24.742011147904137 + ], + "timestamp": 6.3560718751960446 }, { - "x": 3.505149605180989, - "y": 2.323622840626081, - "heading": -0.4987750128606717, - "angularVelocity": 0.6449703141576387, - "velocityX": 2.601440580951875, - "velocityY": -1.8065139131352208, - "timestamp": 6.007611164982694, + "x": 3.502250500747592, + "y": 2.3207336777932146, + "heading": -0.5758952720225582, + "angularVelocity": 0.4662384980974613, + "velocityX": 2.4052376411691534, + "velocityY": -1.6656670311887374, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.72310032781829, + 68.27690243996902, + 67.24668703937274, + 66.7205139647331 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.888595120381519, + -14.33905498254572, + -18.458524951078495, + -20.363527713334292 + ], + "timestamp": 6.390240308999111 }, { - "x": 3.591738696750634, - "y": 2.2657340769573677, - "heading": -0.4778828407128138, - "angularVelocity": 0.6607798230044298, - "velocityX": 2.7386489158031626, - "velocityY": -1.8309119195573786, - "timestamp": 6.039228613670618, + "x": 3.588770300148411, + "y": 2.2631383147034487, + "heading": -0.5591900865496179, + "angularVelocity": 0.4889069709551924, + "velocityX": 2.53215584593326, + "velocityY": -1.6856307614718984, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.44216838681157, + 69.14938252668055, + 68.53137507535627, + 68.07590489794727 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.263462776035729, + -9.115675502702574, + -12.773397325428995, + -15.135149123776095 + ], + "timestamp": 6.424408742802178 }, { - "x": 3.682719459901477, - "y": 2.2074778020091377, - "heading": -0.4565901274793926, - "angularVelocity": 0.6734481786809655, - "velocityX": 2.8775491675137266, - "velocityY": -1.8425356050464758, - "timestamp": 6.070846062358542, + "x": 3.679669831986611, + "y": 2.2052638276213377, + "heading": -0.5417151585197252, + "angularVelocity": 0.5114348562363528, + "velocityX": 2.6603365071430773, + "velocityY": -1.6937998216621983, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.70328866377196, + 69.6624249788706, + 69.42648709748474, + 69.14403522225213 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.2524068885217795, + -3.021319013024658, + -6.033412219540055, + -8.910783227820744 + ], + "timestamp": 6.458577176605244 }, { - "x": 3.778106605323893, - "y": 2.149331359958236, - "heading": -0.43501703616408194, - "angularVelocity": 0.6823160062105331, - "velocityX": 3.0169146904901596, - "velocityY": -1.8390617985919466, - "timestamp": 6.102463511046466, + "x": 3.7749527682503836, + "y": 2.1475772842346603, + "heading": -0.5234840364106981, + "angularVelocity": 0.5335662212117743, + "velocityX": 2.788624635619692, + "velocityY": -1.6882993150684031, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.26036679399016, + 69.59296768807461, + 69.64081928338513, + 69.67510523910077 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 7.671603169637777, + 4.002289439883698, + 1.8313895959265214, + -1.5784432881226038 + ], + "timestamp": 6.492745610408311 }, { - "x": 3.8778522165545284, - "y": 2.0918457812032254, - "heading": -0.413305893357822, - "angularVelocity": 0.6866823133187359, - "velocityX": 3.154764706512607, - "velocityY": -1.8181599446057561, - "timestamp": 6.13408095973439, + "x": 3.8745633770469943, + "y": 2.0906066861358146, + "heading": -0.5045219905887643, + "angularVelocity": 0.554958003964229, + "velocityX": 2.915281671109856, + "velocityY": -1.6673459025719994, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.8305883988781, + 68.66187474411034, + 68.80910715787444, + 69.33096295364174 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.887025146936306, + 11.921034777253118, + 10.75038365579351, + 6.875185368807596 + ], + "timestamp": 6.526914044211377 }, { - "x": 3.981818783887099, - "y": 2.035632191350449, - "heading": -0.3916190654271325, - "angularVelocity": 0.6859132798710829, - "velocityX": 3.2882655510493417, - "velocityY": -1.7779293455213814, - "timestamp": 6.165698408422314, + "x": 3.978365891860758, + "y": 2.0349262711946334, + "heading": -0.4848685675910937, + "angularVelocity": 0.5751923869541453, + "velocityX": 3.0379652579933896, + "velocityY": -1.6295863972607165, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.15533939884588, + 66.57381889530069, + 66.56379476345103, + 67.72388622955428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.62260054435077, + 20.548772255335, + 20.427154417351495, + 16.27602920174046 + ], + "timestamp": 6.561082478014444 }, { - "x": 4.089757803671026, - "y": 1.9813293355714388, - "heading": -0.3701316156638578, - "angularVelocity": 0.6796073261749849, - "velocityX": 3.4139066959300552, - "velocityY": -1.7174964468195972, - "timestamp": 6.197315857110238, + "x": 4.086130035224754, + "y": 1.9811279297178361, + "heading": -0.4645786636735655, + "angularVelocity": 0.5938201333567447, + "velocityX": 3.153909365149887, + "velocityY": -1.5745041691658956, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.09826288224113, + 63.10302916074845, + 62.675471232916664, + 64.52675127100943 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 33.42809708173886, + 29.508928546665715, + 30.308221493835482, + 26.190454024877432 + ], + "timestamp": 6.59525091181751 }, { - "x": 4.2013064173160215, - "y": 1.929555107096061, - "heading": -0.3490191567373932, - "angularVelocity": 0.6677470764593488, - "velocityX": 3.528071311066947, - "velocityY": -1.637520755909459, - "timestamp": 6.2289333057981615, + "x": 4.197530917652326, + "y": 1.9297823597358752, + "heading": -0.4437210662503031, + "angularVelocity": 0.6104346937140096, + "velocityX": 3.2603450035094728, + "velocityY": -1.5027194479529378, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.7388417198492, + 58.205422501296546, + 57.204341093964885, + 59.63753994820108 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 41.75616002979977, + 38.26574649152543, + 39.68062573115415, + 35.94945943821575 + ], + "timestamp": 6.629419345620577 }, { - "x": 4.3160097311363765, - "y": 1.8808564047363088, - "heading": -0.32844469339357507, - "angularVelocity": 0.6507312954595367, - "velocityX": 3.627848500760458, - "velocityY": -1.5402476917232315, - "timestamp": 6.2605507544860854, + "x": 4.312167306700382, + "y": 1.8814004643996105, + "heading": -0.4223741842177217, + "angularVelocity": 0.6247544782302967, + "velocityX": 3.355037860639863, + "velocityY": -1.4159822371466773, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.392365486347515, + 52.0915381191988, + 50.54255591262576, + 53.29762006559202 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.109791930306656, + 46.24945503958258, + 47.89258810473513, + 44.821885733433 + ], + "timestamp": 6.6635877794236436 }, { - "x": 4.433362841399141, - "y": 1.8356755918349883, - "heading": -0.3085490477139514, - "angularVelocity": 0.6292615788200117, - "velocityX": 3.711656541964673, - "velocityY": -1.428983513099749, - "timestamp": 6.292168203174009, + "x": 4.429593578239291, + "y": 1.8364070200040916, + "heading": -0.40062007149836965, + "angularVelocity": 0.6366728087314188, + "velocityX": 3.4366887348629156, + "velocityY": -1.3168131923998434, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 42.523585075944766, + 45.191492037946404, + 43.28437765299203, + 46.045478769897436 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.18117244566633, + 53.024771526730866, + 54.562713205825034, + 52.261213636710586 + ], + "timestamp": 6.69775621322671 }, { - "x": 4.552856085647447, - "y": 1.794342244133677, - "heading": -0.28944673448577246, - "angularVelocity": 0.6041699764179587, - "velocityX": 3.7793449252578375, - "velocityY": -1.3072954781800117, - "timestamp": 6.323785651861933, + "x": 4.549354454673265, + "y": 1.7951323714385965, + "heading": -0.3785387282996815, + "angularVelocity": 0.6462497908436838, + "velocityX": 3.5050151003182846, + "velocityY": -1.2079760167933338, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 35.6040422363982, + 38.01882389662282, + 36.01344442303065, + 38.516871463895654 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.899916276316794, + 58.399935819381504, + 59.637829980151885, + 58.05575589943177 + ], + "timestamp": 6.731924647029777 }, { - "x": 4.674019418261911, - "y": 1.7570816464541883, - "heading": -0.2711874910830117, - "angularVelocity": 0.5775052751088929, - "velocityX": 3.8321666561521712, - "velocityY": -1.1784821111679475, - "timestamp": 6.355403100549857, + "x": 4.671012802519467, + "y": 1.7578193403447113, + "heading": -0.35620418267373377, + "angularVelocity": 0.6536602103179556, + "velocityX": 3.5605479767492914, + "velocityY": -1.0920322338724264, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.999492629906143, + 31.02140748167046, + 29.152634218283094, + 31.23931501668187 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 63.38313071022713, + 62.41944882326231, + 63.30123874354049, + 62.29899322452282 + ], + "timestamp": 6.766093080832843 }, { - "x": 4.796574894189664, - "y": 1.7240027480190696, - "heading": -0.2532745675444995, - "angularVelocity": 0.5665518339357334, - "velocityX": 3.876197511615244, - "velocityY": -1.0462228866604604, - "timestamp": 6.387020549237781, + "x": 4.794166587294435, + "y": 1.7246382291991504, + "heading": -0.33368265529607405, + "angularVelocity": 0.6591325639174692, + "velocityX": 3.6043145988129734, + "velocityY": -0.9711042460068131, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 22.930478583379813, + 24.499979097098482, + 22.930465825208792, + 24.538962969825917 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.84387419877342, + 65.2762329211252, + 65.83619480572648, + 65.25384313562176 + ], + "timestamp": 6.80026151463591 }, { - "x": 4.920241208679963, - "y": 1.6951900122845294, - "heading": -0.23542993767815854, - "angularVelocity": 0.5643918344732444, - "velocityX": 3.9113312307685693, - "velocityY": -0.9112922430564439, - "timestamp": 6.418637997925705, + "x": 4.918456120801094, + "y": 1.6957035604333717, + "heading": -0.3110322832436323, + "angularVelocity": 0.662903432536285, + "velocityX": 3.6375543059133113, + "velocityY": -0.8468245554521687, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 17.490611097493122, + 18.60483454362221, + 17.42262001188406, + 18.556137965262714 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.51343581836238, + 67.21469298581312, + 67.52623119541767, + 67.2233371296637 + ], + "timestamp": 6.834429948438976 }, { - "x": 5.044741463909335, - "y": 1.6707061113111519, - "heading": -0.21753299540013793, - "angularVelocity": 0.5660463769442688, - "velocityX": 3.937707196372383, - "velocityY": -0.774379400913809, - "timestamp": 6.450255446613629, + "x": 5.043564748685862, + "y": 1.671088965540357, + "heading": -0.2883037018548584, + "angularVelocity": 0.6651923678964162, + "velocityX": 3.6615265600362172, + "velocityY": -0.7203899082668976, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 12.68710446013482, + 13.374644511721932, + 12.611491253266191, + 13.306192675039183 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.59757981027002, + 68.46659082989441, + 68.60888092796368, + 68.47727346712918 + ], + "timestamp": 6.868598382242043 }, { - "x": 5.169864900055923, - "y": 1.6505857266155057, - "heading": -0.19936833732506817, - "angularVelocity": 0.5745137203941351, - "velocityX": 3.9574172281135827, - "velocityY": -0.6363696481092369, - "timestamp": 6.481872895301553, + "x": 5.169215962021964, + "y": 1.6508389978996472, + "heading": -0.2655409583813488, + "angularVelocity": 0.6661921820796661, + "velocityX": 3.6774062885148684, + "velocityY": -0.5926513271700529, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.47893974500229, + 8.78161800791056, + 8.433845042784862, + 8.73787364759863 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.2611212186712, + 69.22324893067494, + 69.2655706651322, + 69.22772556779559 + ], + "timestamp": 6.902766816045109 }, { - "x": 5.295416224127893, - "y": 1.6348513537049933, - "heading": -0.180785409839133, - "angularVelocity": 0.5877427894121283, - "velocityX": 3.9709505125226503, - "velocityY": -0.49764840502523344, - "timestamp": 6.513490343989477, + "x": 5.295168996031128, + "y": 1.6349779307764578, + "heading": -0.24278246290167624, + "angularVelocity": 0.6660678569829528, + "velocityX": 3.686239607443185, + "velocityY": -0.46420234578519154, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 4.803827737586382, + 4.766096380891718, + 4.810608762843148, + 4.772897837629256 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.62837588707588, + 69.6309896321228, + 69.62802874719466, + 69.63064474474946 + ], + "timestamp": 6.936935249848176 }, { "x": 5.4212141036987305, "y": 1.623516082763672, - "heading": -0.1616883163601714, - "angularVelocity": 0.6040048856394814, - "velocityX": 3.9787485958310715, - "velocityY": -0.3585131442199735, - "timestamp": 6.545107792677401, + "heading": -0.22006184902110862, + "angularVelocity": 0.66495918459477, + "velocityX": 3.6889343068539855, + "velocityY": -0.33545137242307327, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.5942522219554287, + 1.2580049742054955, + 1.6626838710692602, + 1.3280199864810305 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.78990251224585, + 69.7969719350377, + 69.78930629514267, + 69.79667244003888 + ], + "timestamp": 6.9711036836512426 }, { - "x": 5.536219270874131, - "y": 1.616836870888589, - "heading": -0.14383006422562247, - "angularVelocity": 0.6180837254644039, - "velocityX": 3.9803907818005526, - "velocityY": -0.2311711206569211, - "timestamp": 6.574000726431854, + "x": 5.536357785458245, + "y": 1.6167143979603533, + "heading": -0.19934896427865403, + "angularVelocity": 0.6631539859968727, + "velocityX": 3.686497195857454, + "velocityY": -0.21776611248987246, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -1.2146561524736412, + -1.8117141925487679, + -1.0811855550234346, + -1.6733625308609834 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.79241376304972, + 69.7798691512506, + 69.79642505414063, + 69.78512998236425 + ], + "timestamp": 7.0023375828357866 }, { - "x": 5.651075756473543, - "y": 1.613834585343175, - "heading": -0.12560463618498777, - "angularVelocity": 0.6307918813479918, - "velocityX": 3.9752448323703953, - "velocityY": -0.10391071986420597, - "timestamp": 6.602893660186307, + "x": 5.651239422339737, + "y": 1.6135792207379007, + "heading": -0.1787216476227477, + "angularVelocity": 0.6604143957189293, + "velocityX": 3.6781074371380926, + "velocityY": -0.1003773881681756, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -4.64242159716927, + -5.54093969812048, + -4.414821973225449, + -5.302638187971505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.63531698740574, + 69.57032535393479, + 69.6530252963811, + 69.59177675226383 + ], + "timestamp": 7.033571482020331 }, { - "x": 5.76556273957954, - "y": 1.6144939873393616, - "heading": -0.10705811521023599, - "angularVelocity": 0.6419050807498203, - "velocityX": 3.962456152046145, - "velocityY": 0.02282225826530591, - "timestamp": 6.6317865939407605, + "x": 5.765650955748667, + "y": 1.614088941937518, + "heading": -0.1582127955026744, + "angularVelocity": 0.6566215764127933, + "velocityX": 3.663056371314279, + "velocityY": 0.016319486613104308, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -8.495381910885518, + -9.720991746346044, + -8.139380629166084, + -9.345936752502817 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.2566673401028, + 69.09654835377745, + 69.30366180089668, + 69.15247391039875 + ], + "timestamp": 7.064805381204875 }, { - "x": 5.879432701797089, - "y": 1.618781934930576, - "heading": -0.08824387909090471, - "angularVelocity": 0.6511708461045846, - "velocityX": 3.941100726747672, - "velocityY": 0.1484081757725181, - "timestamp": 6.660679527695214, + "x": 5.879360442462263, + "y": 1.6182052122659747, + "heading": -0.13785937150128283, + "angularVelocity": 0.6516453127140659, + "velocityX": 3.6405792962880157, + "velocityY": 0.13178855141127085, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -12.815759963796953, + -14.38582840970941, + -12.287082896204227, + -13.82779132765308 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.57337287263584, + 68.26329235357656, + 68.67597146618569, + 68.38430351315112 + ], + "timestamp": 7.096039280389419 }, { - "x": 5.992410419759247, - "y": 1.6266410646994975, - "heading": -0.06922350413690066, - "angularVelocity": 0.6583054222062932, - "velocityX": 3.9102196724741902, - "velocityY": 0.27200871450826675, - "timestamp": 6.689572461449667, + "x": 5.992111138965502, + "y": 1.6258674711672139, + "heading": -0.1177026425185552, + "angularVelocity": 0.6453478274881025, + "velocityX": 3.6098821936082115, + "velocityY": 0.24531867942478447, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -17.633417522588225, + -19.54929006553443, + -16.877905000394545, + -18.754063029323415 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.47888705157717, + 66.9521732214197, + 67.67970174145589, + 67.18694762231418 + ], + "timestamp": 7.127273179573963 }, { - "x": 6.104193842039215, - "y": 1.637982300868101, - "heading": -0.050067488562884864, - "angularVelocity": 0.6630000171257457, - "velocityX": 3.8688844556236117, - "velocityY": 0.39252629258720284, - "timestamp": 6.71846539520412, + "x": 6.103622094303421, + "y": 1.6369864826656304, + "heading": -0.09778817877787521, + "angularVelocity": 0.6375913433995722, + "velocityX": 3.570190025877452, + "velocityY": 0.35599178420602007, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -22.95270651706555, + -25.189384558789264, + -21.909323670365872, + -24.099891584902497 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.8425483604852, + 65.02468494055434, + 66.2073102650262, + 65.44620011202704 + ], + "timestamp": 7.158507078758507 }, { - "x": 6.214457911870185, - "y": 1.65267677677448, - "heading": -0.030855523758157588, - "angularVelocity": 0.664936450136909, - "velocityX": 3.8162988489866705, - "velocityY": 0.5085837260854176, - "timestamp": 6.7473583289585735, + "x": 6.213591094688311, + "y": 1.6514373028633496, + "heading": -0.07816546619344794, + "angularVelocity": 0.6282504937500009, + "velocityX": 3.5208220317016474, + "velocityY": 0.46266462321394247, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -28.73432913364853, + -31.229222799354233, + -27.343129834412316, + -29.79604676401847 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 63.515063622119015, + 62.33379580320614, + 64.1392749362458, + 63.0438292936246 + ], + "timestamp": 7.189740977943051 }, { - "x": 6.322862327305413, - "y": 1.670548437267453, - "heading": -0.01167596014104182, - "angularVelocity": 0.6638150275812467, - "velocityX": 3.751935208674285, - "velocityY": 0.618547795971673, - "timestamp": 6.776251262713027, + "x": 6.321700797472736, + "y": 1.6690526185831787, + "heading": -0.05888697487856026, + "angularVelocity": 0.6172297349422137, + "velocityX": 3.4612938380080243, + "velocityY": 0.563980680598025, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -34.87458167203667, + -37.5196633003651, + -33.091371158814944, + -35.71748564453722 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 60.34477532824868, + 58.74798811422034, + 61.3568453809975, + 59.87586847814465 + ], + "timestamp": 7.220974877127595 }, { - "x": 6.4290636229050175, - "y": 1.6913693092481683, - "heading": 0.007375887923614184, - "angularVelocity": 0.6593947235184903, - "velocityX": 3.6756840444848926, - "velocityY": 0.7206215941122979, - "timestamp": 6.80514419646748, + "x": 6.427628513667544, + "y": 1.6896179792262178, + "heading": -0.04000658924248226, + "angularVelocity": 0.6044837861748985, + "velocityX": 3.391434273669794, + "velocityY": 0.6584307812972656, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -41.18913369217403, + -43.83350941131175, + -39.00628386706853, + -41.6805723640044 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 56.208414687533576, + 54.187993451166136, + 57.763966849524245, + 55.8787962724648 + ], + "timestamp": 7.252208776312139 }, { - "x": 6.532730680746564, - "y": 1.7148597135811356, - "heading": 0.02620075345255325, - "angularVelocity": 0.6515387356964868, - "velocityX": 3.587972710648236, - "velocityY": 0.813015546728492, - "timestamp": 6.834037130221933, + "x": 6.531059208850954, + "y": 1.7128707904510865, + "heading": -0.021577456321905813, + "angularVelocity": 0.5900362555340599, + "velocityX": 3.3114884111105116, + "velocityY": 0.7444735313859107, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.41368101992876, + -49.88314982436999, + -44.88166931460831, + -47.45607578015907 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.05430582696234, + 48.667941232155606, + 53.316479334237805, + 51.05789478690704 + ], + "timestamp": 7.283442675496683 }, { - "x": 6.633561183589668, - "y": 1.74069497477234, - "heading": 0.044699461573759244, - "angularVelocity": 0.6402502521349035, - "velocityX": 3.489798014283024, - "velocityY": 0.894172305615109, - "timestamp": 6.862930063976386, + "x": 6.631700041051098, + "y": 1.7385046149678465, + "heading": -0.0036495170367904796, + "angularVelocity": 0.5739897916423812, + "velocityX": 3.222166774808133, + "velocityY": 0.8207052332884839, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.233856471220975, + -55.366920133259136, + -50.47268633446656, + -52.80079896953701 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.94484889182346, + 42.3225552386226, + 48.05054044297984, + 45.50650337956311 + ], + "timestamp": 7.314676574681227 }, { - "x": 6.731295526198675, - "y": 1.7685183492103391, - "heading": 0.0627772528573156, - "angularVelocity": 0.6256820936631189, - "velocityX": 3.3826382408792974, - "velocityY": 0.9629819759549457, - "timestamp": 6.89182299773084, + "x": 6.72929372228774, + "y": 1.7661790988703765, + "heading": 0.013732849804307366, + "angularVelocity": 0.5565224738158746, + "velocityX": 3.1246076789841535, + "velocityY": 0.8860399958076671, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.345154148617716, + -60.032892839175005, + -55.534549150010925, + -57.50122783414151 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.07509978285241, + 35.40036370079169, + 42.096980565679324, + 39.40405614438595 + ], + "timestamp": 7.345910473865771 }, { - "x": 6.8257251800468195, - "y": 1.7979577429769262, - "heading": 0.08034747565895894, - "angularVelocity": 0.6081148751097328, - "velocityX": 3.268261182843319, - "velocityY": 1.018913275362667, - "timestamp": 6.920715931485293, + "x": 6.823627923724794, + "y": 1.7955340878015844, + "heading": 0.03053262068354859, + "angularVelocity": 0.5378697926884116, + "velocityX": 3.020250557885375, + "velocityY": 0.9398438778893922, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.52280949699515, + -63.733209112944245, + -59.86948697257805, + -61.41348858511489 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.74833028275093, + 28.217735233831334, + 35.67005856779505, + 32.988696460620076 + ], + "timestamp": 7.377144373050315 }, { - "x": 6.916694376371671, - "y": 1.8286426249814156, - "heading": 0.09733402013627411, - "angularVelocity": 0.5879134539148977, - "velocityX": 3.148492884037099, - "velocityY": 1.062020294140586, - "timestamp": 6.949608865239746, + "x": 6.914539095039677, + "y": 1.826205151562114, + "heading": 0.04672105244914021, + "angularVelocity": 0.5182968565641849, + "velocityX": 2.910657128581352, + "velocityY": 0.9819799820480816, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.66886185868087, + -66.44387693060419, + -63.36345877637226, + -64.48351550098701 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.312424890902264, + 21.092079231055997, + 29.03045680610677, + 26.513454012510213 + ], + "timestamp": 7.408378272234859 }, { - "x": 7.004096101368918, - "y": 1.860218005009012, - "heading": 0.11367234010506241, - "angularVelocity": 0.5654780545180834, - "velocityX": 3.025020779822156, - "velocityY": 1.0928409103741226, - "timestamp": 6.978501798994199, + "x": 7.00191083120258, + "y": 1.857837576619506, + "heading": 0.06227767543874758, + "angularVelocity": 0.49806855358314345, + "velocityX": 2.79733681813701, + "velocityY": 1.0127594019079642, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.81507590740986, + -68.24558015233966, + -65.99778416604235, + -66.74157428979274 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.085982437977822, + 14.284102786197604, + 22.4364892472493, + 20.20336057619677 + ], + "timestamp": 7.439612171419403 }, { - "x": 7.087864629051777, - "y": 1.8923538970139027, - "heading": 0.12930927832335287, - "angularVelocity": 0.541202854344279, - "velocityX": 2.8992738638022804, - "velocityY": 1.112240531819904, - "timestamp": 7.0073947327486525, + "x": 7.08566831037846, + "y": 1.8900968604507642, + "heading": 0.07718952403877516, + "angularVelocity": 0.4774251370897311, + "velocityX": 2.6816209747302024, + "velocityY": 1.0328292231673046, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.08767711971997, + -69.28207477377534, + -67.83442411791442, + -68.27813228327408 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.306535141937632, + 7.968982188459777, + 16.102873795798732, + 14.227975505543432 + ], + "timestamp": 7.470846070603947 }, { - "x": 7.167966866206853, - "y": 1.9247502674825525, - "heading": 0.14420207863824444, - "angularVelocity": 0.5154478406885892, - "velocityX": 2.772381573841675, - "velocityY": 1.1212558317535446, - "timestamp": 7.036287666503106, + "x": 7.1657707948107, + "y": 1.9226751165288511, + "heading": 0.09144990908697578, + "angularVelocity": 0.4565675570617681, + "velocityX": 2.564600851112415, + "velocityY": 1.043041596747184, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.65804252062547, + -69.7179283552588, + -68.98608228045565, + -69.21405657842858 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.114399524195191, + 2.2368519856293423, + 10.179374408258008, + 8.693506152738143 + ], + "timestamp": 7.502079969788491 }, { - "x": 7.244394118542315, - "y": 1.9571384104588545, - "heading": 0.1583169762871775, - "angularVelocity": 0.4885242104138131, - "velocityX": 2.6451883697577867, - "velocityY": 1.1209710738117566, - "timestamp": 7.065180600257559, + "x": 7.242203870360159, + "y": 1.9552938604539736, + "heading": 0.10505704283738766, + "angularVelocity": 0.4356527396728449, + "velocityX": 2.447119237270337, + "velocityY": 1.044337875729075, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.70124713709963, + -69.70873063061384, + -69.58522857590717, + -69.67557546274664 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.4353583188896692, + -2.8892583286760494, + 4.749677317665599, + 3.6497615553449627 + ], + "timestamp": 7.533313868973035 }, { - "x": 7.317155096829953, - "y": 1.9892799489523474, - "heading": 0.17162767550280295, - "angularVelocity": 0.46069046946725084, - "velocityX": 2.5182966501773545, - "velocityY": 1.1124359598318216, - "timestamp": 7.094073534012012, + "x": 7.3149724616768, + "y": 1.987704135802272, + "heading": 0.11801274372818554, + "angularVelocity": 0.41479614230198736, + "velocityX": 2.32979529346279, + "velocityY": 1.0376634424285054, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.37141122156042, + -69.38604200660654, + -69.7610306536193, + -69.77829870586658 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.348497686293659, + -7.430752962744582, + -0.15686993449782277, + -0.8958848269824288 + ], + "timestamp": 7.564547768157579 }, { - "x": 7.386270392158917, - "y": 2.02096450763866, - "heading": 0.18411391239423633, - "angularVelocity": 0.43215538434233075, - "velocityX": 2.392117599283615, - "velocityY": 1.0966196425597954, - "timestamp": 7.1229664677664655, + "x": 7.3840950705541335, + "y": 2.01968496914902, + "heading": 0.13032134082026842, + "angularVelocity": 0.3940781462909334, + "velocityX": 2.2130637122482435, + "velocityY": 1.0239142144178408, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.79219077575826, + -68.85332870657157, + -69.62642212152763, + -69.6197347590349 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.667068533835018, + -11.433757323364393, + -4.549064061804949, + -4.963793138808663 + ], + "timestamp": 7.595781667342123 }, { - "x": 7.451768320522363, - "y": 2.052006806165229, - "heading": 0.1957602021911398, - "angularVelocity": 0.4030843629753674, - "velocityX": 2.266918580164973, - "velocityY": 1.0743906724869623, - "timestamp": 7.151859401520919, + "x": 7.449599293707183, + "y": 2.0510409472448057, + "heading": 0.14198881228607477, + "angularVelocity": 0.3735515504122556, + "velocityX": 2.0972156811425053, + "velocityY": 1.003908538941006, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.05680084331767, + -68.18801561271576, + -69.27335776520708, + -69.27768823908052 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.450503678991277, + -14.954992971304073, + -8.458810783576647, + -8.589903002733429 + ], + "timestamp": 7.627015566526667 }, { - "x": 7.513681903854896, - "y": 2.0822436421675694, - "heading": 0.20655480093979395, - "angularVelocity": 0.3736068770444695, - "velocityX": 2.1428624679897674, - "velocityY": 1.04651318067275, - "timestamp": 7.180752335275372, + "x": 7.511518476753402, + "y": 2.0815994613089015, + "heading": 0.15302214212648052, + "angularVelocity": 0.35324855776782776, + "velocityX": 1.9824352598557686, + "velocityY": 0.978376535172337, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.23245647252043, + -67.44599597043188, + -68.77312382535915, + -68.81187577309025 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.763253771827205, + -18.052948010263595, + -11.929621279344378, + -11.817044766226097 + ], + "timestamp": 7.658249465711211 }, { - "x": 7.572046733374875, - "y": 2.1115310235359535, - "heading": 0.21648887239414402, - "angularVelocity": 0.3438235638780995, - "velocityX": 2.0200381870526463, - "velocityY": 1.0136520443816062, - "timestamp": 7.209645269029825, + "x": 7.569889291685235, + "y": 2.1112079507084967, + "heading": 0.1634288580592393, + "angularVelocity": 0.3331865762667458, + "velocityX": 1.8688289472586428, + "velocityY": 0.9479600745540926, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.36599817672449, + -66.66650495076355, + -68.1790661942923, + -68.26685299659269 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.667717031661414, + -20.783010411658314, + -15.00888168089956, + -14.689373027682677 + ], + "timestamp": 7.689483364895755 }, { - "x": 7.626899490187302, - "y": 2.139741572344654, - "heading": 0.22555583311677932, - "angularVelocity": 0.31381239439687214, - "velocityX": 1.8984834589174147, - "velocityY": 0.9763822894707564, - "timestamp": 7.238538202784278, + "x": 7.624750025615848, + "y": 2.1397313253202217, + "heading": 0.17321670979706713, + "angularVelocity": 0.31337271340977585, + "velocityX": 1.7564484538568614, + "velocityY": 0.9132185015772918, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.48911817943964, + -65.8764163847384, + -67.53005004444259, + -67.67514873316857 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.220769448656526, + -23.19519477875434, + -17.743193755479325, + -17.249152441259174 + ], + "timestamp": 7.720717264080299 }, { - "x": 7.678276942576416, - "y": 2.166762241379356, - "heading": 0.23375084402376597, - "angularVelocity": 0.2836337416141918, - "velocityX": 1.7782013009044082, - "velocityY": 0.9351999095812524, - "timestamp": 7.267431136538732, + "x": 7.676139398666215, + "y": 2.167049647381559, + "heading": 0.18239345143214958, + "angularVelocity": 0.29380710941218785, + "velocityX": 1.6453076430430722, + "velocityY": 0.8746369417384802, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.62262418422353, + -65.09367960500755, + -66.85377291643147, + -67.06008317369616 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.472478084929353, + -25.333408368209028, + -20.175883511456462, + -19.53513291046512 + ], + "timestamp": 7.751951163264843 }, { - "x": 7.7262152828340716, - "y": 2.1924923399421448, - "heading": 0.24107041834248952, - "angularVelocity": 0.25333440975322497, - "velocityX": 1.659171777606876, - "velocityY": 0.8905325704013267, - "timestamp": 7.296324070293185, + "x": 7.724095766413283, + "y": 2.1930560955088714, + "heading": 0.19096669877689867, + "angularVelocity": 0.2744853370402009, + "velocityX": 1.5353948433950122, + "velocityY": 0.8326353355261491, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.779684683796546, + -64.32992215357561, + -66.16957438762687, + -66.43809024204428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.46601496062642, + -27.235550523161542, + -22.345900161553452, + -21.581915136293887 + ], + "timestamp": 7.783185062449387 }, { - "x": 7.770749702805597, - "y": 2.2168418441757844, - "heading": 0.24751212028340128, - "angularVelocity": 0.2229507739039764, - "velocityX": 1.5413602630318362, - "velocityY": 0.8427494570324149, - "timestamp": 7.325217004047638, + "x": 7.768656597241674, + "y": 2.217655202136618, + "heading": 0.19894383955374845, + "angularVelocity": 0.25540009365200633, + "velocityX": 1.426681650123334, + "velocityY": 0.7875771924089373, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.96820003508607, + -63.59235678392136, + -65.4906660749518, + -65.82053738343055 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.238160149893314, + -28.934012760113923, + -24.28753872025629, + -23.41988900320413 + ], + "timestamp": 7.814418961633931 }, { - "x": 7.811914135528815, - "y": 2.2397299587889994, - "heading": 0.25307433359041953, - "angularVelocity": 0.19251119856116655, - "velocityX": 1.4247231891732903, - "velocityY": 0.7921699751132822, - "timestamp": 7.354109937802091, + "x": 7.809858143739942, + "y": 2.240761340593307, + "heading": 0.2063319802459021, + "angularVelocity": 0.2365423749529722, + "velocityX": 1.319129137698469, + "velocityY": 0.7397775833291825, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.192491370699265, + -62.885150110640076, + -64.8258325077587, + -65.2151079105758 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.820042199476994, + -30.456331807941545, + -26.030611192563033, + -25.075475226545603 + ], + "timestamp": 7.845652860818475 }, { - "x": 7.849741111313135, - "y": 2.2610838957168293, - "heading": 0.2577560835990588, - "angularVelocity": 0.16203788955552695, - "velocityX": 1.3092120068454196, - "velocityY": 0.7390712590596011, - "timestamp": 7.3830028715565446, + "x": 7.847735249580043, + "y": 2.2622974324312044, + "heading": 0.21313791801578313, + "angularVelocity": 0.217902277575673, + "velocityX": 1.2126921975481308, + "velocityY": 0.6895101924563837, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.454484090542756, + -62.21039188972919, + -64.18069629035503, + -64.62683047184072 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.237927405482246, + -31.825863211028654, + -27.600834442333337, + -26.571506074994993 + ], + "timestamp": 7.876886760003019 }, { - "x": 7.884261691820809, - "y": 2.280837837348004, - "heading": 0.2615569001729947, - "angularVelocity": 0.13154830887846627, - "velocityX": 1.1947758853790162, - "velocityY": 0.6836945600281833, - "timestamp": 7.411895805310998, + "x": 7.882321249962839, + "y": 2.2821938451244197, + "heading": 0.21936812950882995, + "angularVelocity": 0.1994695396894249, + "velocityX": 1.1073225337139871, + "velocityY": 0.637013412115413, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.754528061162546, + -61.56877537888105, + -63.55864401483371, + -64.05883594980067 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.513965623161624, + -33.0624108948651, + -29.020299370428145, + -27.927650442306465 + ], + "timestamp": 7.908120659187563 }, { - "x": 7.915505456587897, - "y": 2.298932055495642, - "heading": 0.26447671187634125, - "angularVelocity": 0.10105625576691307, - "velocityX": 1.0813635275881868, - "velocityY": 0.6262506362770877, - "timestamp": 7.440788739065451, + "x": 7.913647935863992, + "y": 2.300387452263222, + "heading": 0.22502877082562428, + "angularVelocity": 0.18123389857119004, + "velocityX": 1.002970705516502, + "velocityY": 0.5824955453466213, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.091961418068394, + -60.960071840288485, + -62.961496654810844, + -63.512909294644885 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.666853845865, + -34.18278602027018, + -30.30794709351955, + -29.160831965852342 + ], + "timestamp": 7.939354558372107 }, { - "x": 7.943500524127807, - "y": 2.3153121612137157, - "heading": 0.2665157640568601, - "angularVelocity": 0.07057269427354385, - "velocityX": 0.968924366692081, - "velocityY": 0.5669242818081367, - "timestamp": 7.469681672819904, + "x": 7.941745561065733, + "y": 2.316820831436958, + "heading": 0.2301256846984274, + "angularVelocity": 0.1631853212654717, + "velocityX": 0.8995874974087535, + "velocityY": 0.5261392142121014, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.46549542470903, + -60.38345971520857, + -62.3899914052322, + -62.98988958374127 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.71240702530568, + -35.20128858003332, + -31.48001463468641, + -30.285614918939583 + ], + "timestamp": 7.970588457556651 }, { - "x": 7.968273595191997, - "y": 2.3299284643409512, - "heading": 0.26767455528517325, - "angularVelocity": 0.04010638857795132, - "velocityX": 0.8574093331858625, - "velocityY": 0.5058781240926391, - "timestamp": 7.4985746065743575, + "x": 7.9666428772096785, + "y": 2.331441578323094, + "heading": 0.2346644121423072, + "angularVelocity": 0.14531414784503832, + "velocityX": 0.7971248161122004, + "velocityY": 0.4681050803087552, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.87347529996987, + -59.8377517665426, + -61.844126151672015, + -62.48995888715656 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.66403944016118, + -36.13011512199216, + -32.55043391976653, + -31.314547593962313 + ], + "timestamp": 8.001822356741194 }, { - "x": 7.98985000958088, - "y": 2.342735425053857, - "heading": 0.2679537879340485, - "angularVelocity": 0.009664392382175604, - "velocityX": 0.7467713238208664, - "velocityY": 0.44325580855670654, - "timestamp": 7.527467540328811, + "x": 7.988367186546548, + "y": 2.344201718687528, + "heading": 0.23865020671437684, + "angularVelocity": 0.12761117491350757, + "velocityX": 0.6955362572092908, + "velocityY": 0.40853497954390167, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.31405544897825, + -59.32155082219064, + -61.323404651518366, + -62.01285017304729 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.53316588525538, + -36.979700281918525, + -33.53117961919153, + -32.258461129657604 + ], + "timestamp": 8.033056255925738 }, { - "x": 8.008253810578585, - "y": 2.353691182656637, - "heading": 0.26735432969017925, - "angularVelocity": -0.020747572709776455, - "velocityX": 0.6369654654702158, - "velocityY": 0.3791846717916401, - "timestamp": 7.556360474083264, + "x": 8.006944405204333, + "y": 2.3550572028737315, + "heading": 0.24208805011618234, + "angularVelocity": 0.11006769860827156, + "velocityX": 0.5947774419076537, + "velocityY": 0.3475545631387403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.78531580177261, + -58.83335565875275, + -60.82701030078735, + -61.55799648007071 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.32953380525751, + -37.75900112867809, + -34.43256746210096, + -33.12672596412863 + ], + "timestamp": 8.064290155110282 }, { - "x": 8.023507812965436, - "y": 2.3627571493321846, - "heading": 0.2658771835489915, - "angularVelocity": -0.05112482358978361, - "velocityX": 0.5279492389553335, - "velocityY": 0.31377798989173, - "timestamp": 7.585253407837717, + "x": 8.022399132020638, + "y": 2.363967469857361, + "heading": 0.2449826682921487, + "angularVelocity": 0.09267553048255991, + "velocityX": 0.49480619518526986, + "velocityY": 0.2852755248707073, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.285337740479896, + -58.37163212315705, + -60.353928685994944, + -61.12463756696233 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.06149732856369, + -38.4757331585573, + -35.263507483650535, + -33.927470016147225 + ], + "timestamp": 8.095524054294826 }, { - "x": 8.03563367187979, - "y": 2.3698976586651876, - "heading": 0.26352346441317476, - "angularVelocity": -0.08146348708718121, - "velocityX": 0.419682508443294, - "velocityY": 0.24713687414668828, - "timestamp": 7.61414634159217, + "x": 8.034754719555226, + "y": 2.3708950700715006, + "heading": 0.24733854746652198, + "angularVelocity": 0.07542699553628232, + "velocityX": 0.39558261559293284, + "velocityY": 0.22179748270327265, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.81225237983397, + -57.93486006066267, + -59.903033473759216, + -60.711895807367256 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.73624310045663, + -39.13656594554345, + -36.031717696214486, + -34.667763336428486 + ], + "timestamp": 8.12675795347937 }, { - "x": 8.044651950723434, - "y": 2.375079660478679, - "heading": 0.26029438084514434, - "angularVelocity": -0.11176032158841295, - "velocityX": 0.3121274883432041, - "velocityY": 0.1793518739748044, - "timestamp": 7.643039275346624, + "x": 8.044033345005866, + "y": 2.3758053379970425, + "heading": 0.24915994976122946, + "angularVelocity": 0.05831491879850911, + "velocityX": 0.2970690721584117, + "velocityY": 0.15720957209121228, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.36427001125167, + -57.5215634457959, + -59.473146089415536, + -60.31882985370642 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.359976459056796, + -39.74728539389969, + -36.74390375174633, + -35.35377393330024 + ], + "timestamp": 8.157991852663914 }, { - "x": 8.050582186949077, - "y": 2.3782724549533256, - "heading": 0.25619122084800267, - "angularVelocity": -0.14201257760850033, - "velocityX": 0.20524867000492122, - "velocityY": 0.11050433651980293, - "timestamp": 7.671932209101077, + "x": 8.050256079529502, + "y": 2.3786661070048227, + "heading": 0.2504509281746412, + "angularVelocity": 0.04133260486576112, + "velocityX": 0.1992301533301652, + "velocityY": 0.09159179873372657, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.939696789825724, + -57.1303288947117, + -59.06307667969438, + -59.944472239120515 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.9380751333949, + -40.312928466883, + -37.40590977404323, + -35.99089911235205 + ], + "timestamp": 8.189225751848458 }, { "x": 8.05344295501709, "y": 2.3794474601745605, "heading": 0.2512153407952589, - "angularVelocity": -0.17221788881085034, - "velocityX": 0.09901272374503113, - "velocityY": 0.04066756360640621, - "timestamp": 7.70082514285553, + "angularVelocity": 0.02447381340706803, + "velocityX": 0.10203258545331097, + "velocityY": 0.02501619042570311, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.536942858301344, + -56.75981618632852, + -58.671651732638004, + -59.58785538307145 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.475216399919304, + -40.83789528114259, + -38.02284495821976, + -36.583876172772996 + ], + "timestamp": 8.220459651033002 }, { - "x": 8.053201486914846, - "y": 2.378532849164182, - "heading": 0.24526494310021624, - "angularVelocity": -0.20283641617714182, - "velocityX": -0.008231134621651358, - "velocityY": -0.031177146310045013, - "timestamp": 7.730161086603649, + "x": 8.053554456589268, + "y": 2.3780515330467744, + "heading": 0.2514509916470031, + "angularVelocity": 0.007395922560774328, + "velocityX": 0.003499486579928764, + "velocityY": -0.04381129480829212, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.155942723339066, + -56.410130778556855, + -58.299270340258424, + -59.249495938873906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.97659794260327, + -41.327019683328054, + -38.600234192193255, + -37.1377832489104 + ], + "timestamp": 8.25232191700561 }, { - "x": 8.049794234093804, - "y": 2.37554000161886, - "heading": 0.23842485469133798, - "angularVelocity": -0.23316408251965104, - "velocityX": -0.1161460101742684, - "velocityY": -0.10201981470304258, - "timestamp": 7.759497030351769, + "x": 8.050503676116843, + "y": 2.374495944778674, + "heading": 0.25113884834054667, + "angularVelocity": -0.009796644931806814, + "velocityX": -0.09574901154386109, + "velocityY": -0.11159244829469711, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.59846208009159, + -56.81482043080866, + -58.727470358931996, + -59.63757447538233 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.39779477546787, + -40.76437641615547, + -37.940204764892066, + -36.50626823285514 + ], + "timestamp": 8.284184182978217 }, { - "x": 8.043200547405869, - "y": 2.370500405039261, - "heading": 0.23070428043187602, - "angularVelocity": -0.2631779746290589, - "velocityX": -0.22476477131771752, - "velocityY": -0.17178914109153176, - "timestamp": 7.788832974099888, + "x": 8.044266726896662, + "y": 2.368816459252477, + "heading": 0.2502751014217515, + "angularVelocity": -0.02710877247518084, + "velocityX": -0.1957471959321019, + "velocityY": -0.17825114921456037, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.06323763398831, + -57.24062461714162, + -59.174271034811625, + -60.04340776441032 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.776147814794186, + -40.15942738553945, + -37.23368956145045, + -35.82938803499372 + ], + "timestamp": 8.316046448950825 }, { - "x": 8.03339875534113, - "y": 2.363447857471025, - "heading": 0.22211316414509835, - "angularVelocity": -0.29285290292829047, - "velocityX": -0.3341222681942042, - "velocityY": -0.24040636390600464, - "timestamp": 7.818168917848007, + "x": 8.034818569991312, + "y": 2.361051521762493, + "heading": 0.24885577752335578, + "angularVelocity": -0.04454560449705487, + "velocityX": -0.29653122955764694, + "velocityY": -0.24370324121516418, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.55168152063322, + -57.688723661216756, + -59.640647271005136, + -60.46779053111777 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.106989124664864, + -39.50779873218757, + -36.475681088423705, + -35.10250725779455 + ], + "timestamp": 8.347908714923433 }, { - "x": 8.020366103869247, - "y": 2.354418716183534, - "heading": 0.21266226519054782, - "angularVelocity": -0.32216106751829054, - "velocityX": -0.44425540162550775, - "velocityY": -0.3077842446459585, - "timestamp": 7.847504861596127, + "x": 8.02213295415441, + "y": 2.351242549668039, + "heading": 0.24687673127300086, + "angularVelocity": -0.06211253939240583, + "velocityX": -0.39813916084336615, + "velocityY": -0.3078554457767266, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.06526215403646, + -58.160330207335605, + -60.127545301084076, + -60.911479640655365 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.38499332803157, + -38.80452163499535, + -35.66049995910362, + -34.32038809756697 + ], + "timestamp": 8.37977098089604 }, { - "x": 8.004078695016561, - "y": 2.343452181045789, - "heading": 0.20236324653250398, - "angularVelocity": -0.35107166643323756, - "velocityX": -0.5552031662089848, - "velocityY": -0.37382588512933795, - "timestamp": 7.876840805344246, + "x": 8.00618235687956, + "y": 2.3394342631876905, + "heading": 0.2443336377254407, + "angularVelocity": -0.07981521307199141, + "velocityX": -0.500610888395779, + "velocityY": -0.37060410237302155, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.60548590811172, + -58.65667055972254, + -60.63584750323129, + -61.37516219034661 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.60406793333535, + -38.043936016754444, + -34.781689948525035, + -33.47709850836389 + ], + "timestamp": 8.411633246868648 }, { - "x": 7.984511425341185, - "y": 2.330590618405318, - "heading": 0.19122877633701627, - "angularVelocity": -0.3795504344802838, - "velocityX": -0.6670066537958826, - "velocityY": -0.4384233468301387, - "timestamp": 7.906176749092365, + "x": 7.986937928616644, + "y": 2.325675062806478, + "heading": 0.24122198573830955, + "angularVelocity": -0.09765946934867298, + "velocityX": -0.6039880615979971, + "velocityY": -0.4318337055199071, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.173868533617096, + -59.17895682769587, + -61.166323423685455, + -61.859411780502434 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.75722338336922, + -37.219577007130056, + -33.8318958041082, + -32.565905591557595 + ], + "timestamp": 8.443495512841256 }, { - "x": 7.961637926033051, - "y": 2.3158799323612453, - "heading": 0.17927264554794067, - "angularVelocity": -0.4075590985492754, - "velocityX": -0.7797089980989933, - "velocityY": -0.5014560353121725, - "timestamp": 7.935512692840485, + "x": 7.964369443043094, + "y": 2.3100174608729738, + "heading": 0.237537072874333, + "angularVelocity": -0.11565131202986337, + "velocityX": -0.7083138905736533, + "velocityY": -0.4914152040211259, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.771892135272395, + -59.72834634110857, + -61.71956218457966, + -62.36462897822015 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.83641912694608, + -36.32404111721714, + -32.80272145388071, + -31.579152188787862 + ], + "timestamp": 8.475357778813864 }, { - "x": 7.9354305071535265, - "y": 2.2993699916123123, - "heading": 0.16650990439381655, - "angularVelocity": -0.43505473230062586, - "velocityX": -0.8933552335845568, - "velocityY": -0.5627888057970439, - "timestamp": 7.964848636588604, + "x": 7.938445257428918, + "y": 2.292518576229884, + "heading": 0.23327400263538245, + "angularVelocity": -0.13379683173241844, + "velocityX": -0.8136328293933358, + "velocityY": -0.549204022655952, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.400941916783964, + -60.305883487526756, + -62.29587980716988, + -62.89096066811758 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.8323815695949, + -35.3488287266875, + -31.684566356440335, + -30.50811469994054 + ], + "timestamp": 8.507220044786472 }, { - "x": 7.905860109625242, - "y": 2.281115121583125, - "heading": 0.15295702138182785, - "angularVelocity": -0.46198898962838814, - "velocityX": -1.0079920312835096, - "velocityY": -0.6222697379680402, - "timestamp": 7.994184580336723, + "x": 7.909132288701435, + "y": 2.2732407021467766, + "heading": 0.22842768513620898, + "angularVelocity": -0.15210209792799723, + "velocityX": -0.9199900833381958, + "velocityY": -0.6050377615854724, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.062214669067124, + -60.9124173278346, + -62.89519280456947, + -63.438191243373915 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.7343894615374, + -34.28415924509893, + -30.46643819561915, + -29.34284045199572 + ], + "timestamp": 8.53908231075908 }, { - "x": 7.872896270106578, - "y": 2.2611746733102267, - "heading": 0.1386320690582762, - "angularVelocity": -0.488307192246718, - "velocityX": -1.1236672595807649, - "velocityY": -0.679727519390858, - "timestamp": 8.023520524084843, + "x": 7.876396012944544, + "y": 2.2522519593808092, + "heading": 0.222992842736002, + "angularVelocity": -0.17057300334129924, + "velocityX": -1.0274308734047577, + "velocityY": -0.6587335246027822, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.75658790899585, + -61.54848590334146, + -63.51684654752578, + -64.00559631735058 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.53002232366402, + -33.118755329123275, + -29.135741201635682, + -28.071963701150157 + ], + "timestamp": 8.570944576731687 }, { - "x": 7.836507106001029, - "y": 2.2396136826122013, - "heading": 0.12355494167017039, - "angularVelocity": -0.5139472422486004, - "velocityX": -1.2404292978602893, - "velocityY": -0.7349683679226364, - "timestamp": 8.052856467832962, + "x": 7.840200498951033, + "y": 2.229627047813913, + "heading": 0.2169640227009756, + "angularVelocity": -0.18921504328064614, + "velocityX": -1.135999367547437, + "velocityY": -0.7100848253023461, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.48443439213766, + -62.21415484311441, + -64.15938323723294, + -64.59174671002124 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.20486823491243, + -31.83959306917933, + -27.678041498772867, + -26.682500864449135 + ], + "timestamp": 8.602806842704295 }, { - "x": 7.796659330785332, - "y": 2.2165036353523067, - "heading": 0.10774761085514142, - "angularVelocity": -0.538838325801008, - "velocityX": -1.3583260030028035, - "velocityY": -0.7877724152432086, - "timestamp": 8.082192411581081, + "x": 7.8005084903360755, + "y": 2.205448111665637, + "heading": 0.21033561971861534, + "angularVelocity": -0.20803300644275413, + "velocityX": -1.2457371565814348, + "velocityY": -0.758858022497941, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.24536108740322, + -62.90879346089582, + -64.82022971982403, + -65.19424677998418 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.74218928632124, + -30.43161652659153, + -26.076814692163644, + -25.159628323461547 + ], + "timestamp": 8.634669108676903 }, { - "x": 7.753318313899226, - "y": 2.19192335704536, - "heading": 0.09123442660497559, - "angularVelocity": -0.5628993698634518, - "velocityX": -1.4774031903740834, - "velocityY": -0.837889468223523, - "timestamp": 8.1115283553292, + "x": 7.757281555934284, + "y": 2.1798057345060355, + "heading": 0.20310191208344186, + "angularVelocity": -0.22703054583099605, + "velocityX": -1.3566811110972, + "velocityY": -0.8047882464368966, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.037844258778556, + -63.630765722593274, + -65.49527985664463, + -65.80938669738626 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.122547211728936, + -28.877418105303608, + -24.313187412643863, + -23.48645084722208 + ], + "timestamp": 8.66653137464951 }, { - "x": 7.706448205035719, - "y": 2.165960047470827, - "heading": 0.07404247194524972, - "angularVelocity": -0.5860372111201712, - "velocityX": -1.597702438549027, - "velocityY": -0.8850340659723267, - "timestamp": 8.14086429907732, + "x": 7.710480335128053, + "y": 2.152800080750204, + "heading": 0.19525711669504744, + "angularVelocity": -0.24620958833055565, + "velocityX": -1.4688604020337492, + "velocityY": -0.8475748014610333, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.858722777905655, + -64.37700604141725, + -66.17834002138444, + -66.43168313046118 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.323399698743053, + -27.15689210810165, + -22.365695219623007, + -21.643776425856053 + ], + "timestamp": 8.698393640622118 }, { - "x": 7.656012150340925, - "y": 2.13871048294784, - "heading": 0.05620198093999, - "angularVelocity": -0.6081444373646121, - "velocityX": -1.7192579563092565, - "velocityY": -0.9288797645971092, - "timestamp": 8.17020024282544, + "x": 7.660064913825694, + "y": 2.1245421992659654, + "heading": 0.18679546972514044, + "angularVelocity": -0.2655695290843895, + "velocityX": -1.582292400223543, + "velocityY": -0.8868760780709051, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.70250024975486, + -65.14244079804038, + -66.86040043910882, + -67.05327758071519 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.31869214055846, + -25.246879229454986, + -20.210096219032405, + -19.60992564426652 + ], + "timestamp": 8.730255906594726 }, { - "x": 7.601972638448196, - "y": 2.110282409797265, - "heading": 0.03774683054458116, - "angularVelocity": -0.6290968701694555, - "velocityX": -1.8420921568679616, - "velocityY": -0.9690526200438835, - "timestamp": 8.199536186573559, + "x": 7.605995378440203, + "y": 2.0951555009769316, + "heading": 0.17771134197961377, + "angularVelocity": -0.28510614258685696, + "velocityX": -1.6969770898270695, + "velocityY": -0.9223040920660796, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.56039388146615, + -65.91920630968728, + -67.52869160054091, + -67.66315754143089 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.07849387211095, + -23.120837372643603, + -17.81930577270531, + -17.36062277518201 + ], + "timestamp": 8.762118172567334 }, { - "x": 7.544292028206603, - "y": 2.0807961510189434, - "heading": 0.018715117083510376, - "angularVelocity": -0.6487506802057834, - "velocityX": -1.9662094642955352, - "velocityY": -1.0051239200447475, - "timestamp": 8.228872130321678, + "x": 7.548232609655312, + "y": 2.0647774140415374, + "heading": 0.16799940060618798, + "angularVelocity": -0.30481012812381947, + "velocityX": -1.8128895425877953, + "velocityY": -0.9534189113075265, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.41905704332382, + -66.69560440794528, + -68.16548807657564, + -68.2461654521247 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.568767643175345, + -20.748602955852512, + -15.163556020718632, + -14.869044170074863 + ], + "timestamp": 8.793980438539942 }, { - "x": 7.482933328173649, - "y": 2.0503864422590894, - "heading": -0.0008501729877124486, - "angularVelocity": -0.6669391732958091, - "velocityX": -2.0915877314118396, - "velocityY": -1.0366023681035916, - "timestamp": 8.258208074069797, + "x": 7.486739394752166, + "y": 2.0335612045764715, + "heading": 0.1576548317430363, + "angularVelocity": -0.3246651971345981, + "velocityX": -1.9299699197794449, + "velocityY": -0.9797234600923485, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.25889966899966, + -67.45473195905362, + -68.7466394205906, + -68.7817691234393 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.75142323536141, + -18.096352020337484, + -12.210937453724249, + -12.106140007644772 + ], + "timestamp": 8.82584270451255 }, { - "x": 7.41786132084397, - "y": 2.0192044993602596, - "heading": -0.02090039203042629, - "angularVelocity": -0.6834693717327389, - "velocityX": -2.2181664884686616, - "velocityY": -1.0629261893382604, - "timestamp": 8.287544017817916, + "x": 7.421481955464313, + "y": 2.00167792410089, + "heading": 0.146673641554283, + "angularVelocity": -0.34464561303310726, + "velocityX": -2.0481104308135385, + "velocityY": -1.0006595420109778, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.05194930848488, + -68.17272913340136, + -69.23985238410089, + -69.242593650103 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.584898132580264, + -15.126937981287806, + -8.928548506686878, + -9.041399564404534 + ], + "timestamp": 8.857704970485157 }, { - "x": 7.3490441515677425, - "y": 1.9874202929960394, - "heading": -0.04138036186599847, - "angularVelocity": -0.6981186632826621, - "velocityX": -2.345831102864731, - "velocityY": -1.0834560714024546, - "timestamp": 8.316879961566036, + "x": 7.352432004290334, + "y": 1.9693184019592849, + "heading": 0.13505305493463604, + "angularVelocity": -0.36471312585355, + "velocityX": -2.167138747549916, + "velocityY": -1.0156064282880854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.75926013725697, + -68.81662900385922, + -69.60283971893979, + -69.59277259758998 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.025633528562048, + -11.800877294533851, + -5.284555242845572, + -5.644295267059884 + ], + "timestamp": 8.889567236457765 }, { - "x": 7.276455530186579, - "y": 1.9552249586913195, - "heading": -0.06222742301165628, - "angularVelocity": -0.7106320261810062, - "velocityX": -2.4743918929084145, - "velocityY": -1.0974705494785508, - "timestamp": 8.346215905314155, + "x": 7.2795694488826355, + "y": 1.9366951366174912, + "heading": 0.12279203026765104, + "angularVelocity": -0.384813329897061, + "velocityX": -2.286797664370093, + "velocityY": -1.0238840316580133, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.32802707356645, + -69.34188503849983, + -69.78161252555464, + -69.78628447519435 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -8.030961796508763, + -8.078372707664565, + -1.2515216495305865, + -1.8867042250580757 + ], + "timestamp": 8.921429502430373 }, { - "x": 7.200077714880021, - "y": 1.9228331935090521, - "heading": -0.0833704445528194, - "angularVelocity": -0.7207206873144767, - "velocityX": -2.603557463920192, - "velocityY": -1.1041664607890576, - "timestamp": 8.375551849062274, + "x": 7.2028858490976635, + "y": 1.9040438503848256, + "heading": 0.10989190221914645, + "angularVelocity": -0.40487164533730713, + "velocityX": -2.4067214758327977, + "velocityY": -1.0247634697650227, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.68885065138771, + -69.68984244468864, + -69.70944468694478, + -69.76561961798723 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.5640453862085724, + -3.922882942163212, + 3.1886436635102147, + 2.25336449804837 + ], + "timestamp": 8.95329176840298 }, { - "x": 7.119905446690237, - "y": 1.8904853745024954, - "heading": -0.1047288756073305, - "angularVelocity": -0.7280635400005023, - "velocityX": -2.7329023016321106, - "velocityY": -1.1026684290199806, - "timestamp": 8.404887792810394, + "x": 7.122388675485475, + "y": 1.8716243607382543, + "heading": 0.09635714894183342, + "angularVelocity": -0.42478941356364897, + "velocityX": -2.5264108234296327, + "velocityY": -1.0174885136682612, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.75407213911326, + -69.78574765293385, + -69.30736777430482, + -69.46138094201778 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.3985082704886809, + 0.6931980154340661, + 8.037964379859298, + 6.786476492701418 + ], + "timestamp": 8.985154034375588 }, { - "x": 7.035950951819603, - "y": 1.858448975489641, - "heading": -0.12621197438167323, - "angularVelocity": -0.7323131977208069, - "velocityX": -2.861830374078803, - "velocityY": -1.0920527830269176, - "timestamp": 8.434223736558513, + "x": 7.038106297573928, + "y": 1.839720305418933, + "heading": 0.0821962517664176, + "angularVelocity": -0.4444409944851408, + "velocityX": -2.6452097909170735, + "velocityY": -1.001311562295961, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.41873489476157, + -69.53837348398156, + -68.48737136681783, + -68.79372562148293 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.856101124136169, + 5.780335403290546, + 13.274225415126049, + 11.704917636171876 + ], + "timestamp": 9.017016300348196 }, { - "x": 6.948249986460849, - "y": 1.827018673538932, - "heading": -0.14771842049448264, - "angularVelocity": -0.7331090588891795, - "velocityX": -2.9895395938771663, - "velocityY": -1.0713922217935838, - "timestamp": 8.463559680306632, + "x": 6.950093425676927, + "y": 1.8086371795514506, + "heading": 0.06742257400265232, + "angularVelocity": -0.4636731667630397, + "velocityX": -2.762291670425017, + "velocityY": -0.9755466197603421, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.56630992900028, + -68.84288908373507, + -67.1595557017082, + -67.67677873006109 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.77142847001483, + 11.321268739371908, + 18.842571431102375, + 16.974860529419566 + ], + "timestamp": 9.048878566320804 }, { - "x": 6.856868622354137, - "y": 1.796514379361426, - "heading": -0.1691365903833373, - "angularVelocity": -0.7300999099518662, - "velocityX": -3.1149965684186123, - "velocityY": -1.0398265840505705, - "timestamp": 8.492895624054752, + "x": 6.858436446358618, + "y": 1.778698171875461, + "heading": 0.05205513775127689, + "angularVelocity": -0.482308328748086, + "velocityX": -2.876662300073326, + "velocityY": -0.9396383704074417, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.08129334308633, + -67.5889167156388, + -65.24393294119024, + -66.02703602664178 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.058188665083183, + 17.259397166138246, + 24.64928439705406, + 22.529060493227927 + ], + "timestamp": 9.080740832293412 }, { - "x": 6.761910047279678, - "y": 1.7672764079562453, - "heading": -0.190345826853445, - "angularVelocity": -0.7229778135727319, - "velocityX": -3.236936090748653, - "velocityY": -0.9966603309653319, - "timestamp": 8.522231567802871, + "x": 6.763257788803866, + "y": 1.750237508019536, + "heading": 0.036119140815217256, + "angularVelocity": -0.5001526554878413, + "velocityX": -2.98719047906314, + "velocityY": -0.8932404205147519, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.8692825372033, + -65.67518981311005, + -62.68604977079485, + -63.77596920097708 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.574083741943742, + 23.48930797221283, + 30.561131557544318, + 28.26266364700371 + ], + "timestamp": 9.11260309826602 }, { - "x": 6.663520159769647, - "y": 1.7396572829238472, - "heading": -0.21121900488152695, - "angularVelocity": -0.7115222952191661, - "velocityX": -3.3539022420691365, - "velocityY": -0.9414772972548079, - "timestamp": 8.55156751155099, + "x": 6.664718269641598, + "y": 1.723591468587136, + "heading": 0.019646053669972845, + "angularVelocity": -0.5170092786058117, + "velocityX": -3.092671414110467, + "velocityY": -0.8362882745159307, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.88161057544811, + -63.0301647992314, + -59.47323037560655, + -60.88534309337532 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 32.12523200020213, + 29.85438048831274, + 36.41348006292414, + 34.03531937208608 + ], + "timestamp": 9.144465364238627 }, { - "x": 6.561890392232876, - "y": 1.7140103541420042, - "heading": -0.23162649788257045, - "angularVelocity": -0.6956480819660698, - "velocityX": -3.46434286925873, - "velocityY": -0.8742493168806783, - "timestamp": 8.58090345529911, + "x": 6.563016459695792, + "y": 1.699087881602493, + "heading": 0.0026731863520187828, + "angularVelocity": -0.5326949229708206, + "velocityX": -3.191920186506502, + "velocityY": -0.7690472173482268, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.137045034275594, + -59.63430359480836, + -55.646092317191496, + -57.361524152568215 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.48613916191405, + 36.15651587891575, + 42.0281047879362, + 39.682021275606665 + ], + "timestamp": 9.176327630211235 }, { - "x": 6.457256326311364, - "y": 1.690676415605696, - "heading": -0.251441221462823, - "angularVelocity": -0.6754418317127812, - "velocityX": -3.566753018750983, - "velocityY": -0.795404393213168, - "timestamp": 8.610239399047229, + "x": 6.458384601642263, + "y": 1.677035470124936, + "heading": -0.014757286946715591, + "angularVelocity": -0.5470569266391636, + "velocityX": -3.2838800022409687, + "velocityY": -0.6921168600034845, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.730662127693826, + -55.53615199985499, + -51.299894713738475, + -53.263554178959374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.433145058743726, + 42.17981406324676, + 47.23754469037861, + 45.032396440140325 + ], + "timestamp": 9.208189896183843 }, { - "x": 6.349891479461714, - "y": 1.6699704349328945, - "heading": -0.2705438916622724, - "angularVelocity": -0.6511694446739671, - "velocityX": -3.659839539218306, - "velocityY": -0.70582289257795, - "timestamp": 8.639575342795348, + "x": 6.351081388535306, + "y": 1.6577146683011743, + "heading": -0.032599740394290776, + "angularVelocity": -0.5599869595876987, + "velocityX": -3.3677207138753307, + "velocityY": -0.6063850524746727, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.82332886065438, + -50.85394452342238, + -46.5733908438592, + -48.700590049761075 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.78150026950302, + 47.72364342786967, + 51.90910448383027, + 49.93429125063565 + ], + "timestamp": 9.24005216215645 }, { - "x": 6.240096949262869, - "y": 1.652170787455905, - "heading": -0.2888273442062909, - "angularVelocity": -0.6232440551768809, - "velocityX": -3.7426622828824416, - "velocityY": -0.6067521682554001, - "timestamp": 8.668911286543468, + "x": 6.2413826826973215, + "y": 1.6413712268764853, + "heading": -0.050806745243930196, + "angularVelocity": -0.5714284371768209, + "velocityX": -3.442903462430879, + "velocityY": -0.5129403363445508, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -43.613902206817116, + -45.759403362312135, + -41.62800075333897, + -43.81795326193903 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 54.41276674158155, + 52.634604612735096, + 55.96093888579725, + 54.27472875217863 + ], + "timestamp": 9.271914428129058 }, { - "x": 6.128188785135105, - "y": 1.637512745555746, - "heading": -0.3061990457526471, - "angularVelocity": -0.592164400624407, - "velocityX": -3.8147115732364534, - "velocityY": -0.4996615082853321, - "timestamp": 8.698247230291587, + "x": 6.129571667351389, + "y": 1.62821321651678, + "heading": -0.06933071522458183, + "angularVelocity": -0.5813764154933881, + "velocityX": -3.509198480800383, + "velocityY": -0.41296530419454264, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -38.30456932688041, + -40.44857465703879, + -36.62410362739982, + -38.7757495610089 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.28365138227556, + 56.826224029341006, + 59.36598701453037, + 57.99184370564566 + ], + "timestamp": 9.303776694101666 }, { - "x": 6.01448540165434, - "y": 1.62618671242758, - "heading": -0.3225816489838405, - "angularVelocity": -0.5584481403378723, - "velocityX": -3.875906787149342, - "velocityY": -0.38608040789184983, - "timestamp": 8.727583174039706, + "x": 6.015929832274464, + "y": 1.618411233506336, + "heading": -0.08812533991101343, + "angularVelocity": -0.5898709370698717, + "velocityX": -3.566658917938336, + "velocityY": -0.30763609276473625, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -33.071613201919334, + -35.11032280570003, + -31.70154782669377, + -33.72683593780012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.41659551746967, + 60.28104668659328, + 62.14468942164123, + 61.07522071894561 + ], + "timestamp": 9.335638960074274 }, { - "x": 5.899296924996467, - "y": 1.618340474674124, - "heading": -0.3379120799301292, - "angularVelocity": -0.5225818224195251, - "velocityX": -3.9265304585695633, - "velocityY": -0.2674615761751068, - "timestamp": 8.756919117787826, + "x": 5.90072972722706, + "y": 1.6121010418767716, + "heading": -0.10714667898184034, + "angularVelocity": -0.5969863878225026, + "velocityX": -3.6155653570415596, + "velocityY": -0.19804591534668362, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -28.048905593814567, + -29.90254338149525, + -26.968434607851435, + -28.800187007480794 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 63.879659102920506, + 63.03790759516178, + 64.35113863792533, + 63.556690676118386 + ], + "timestamp": 9.367501226046882 }, { - "x": 5.782917455846742, - "y": 1.6140840838512494, - "heading": -0.3521398508200335, - "angularVelocity": -0.4849944836295429, - "velocityX": -3.9671288624279253, - "velocityY": -0.145091320716326, - "timestamp": 8.786255061535945, + "x": 5.784229841749146, + "y": 1.6093876812886168, + "heading": -0.12635388390817304, + "angularVelocity": -0.6028198039287378, + "velocityX": -3.6563590793595777, + "velocityY": -0.08515905901003872, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -23.32443314220732, + -24.940691709753096, + -22.49833666783056, + -24.09245248099522 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.76464705413574, + 65.17204461261959, + 66.05798366239593, + 65.49634848600743 + ], + "timestamp": 9.39936349201949 }, { - "x": 5.665620346429971, - "y": 1.6134959319977653, - "heading": -0.36522514583336435, - "angularVelocity": -0.44604990811553147, - "velocityX": -3.998409269662326, - "velocityY": -0.02004884719352881, - "timestamp": 8.815591005284064, + "x": 5.6666715090374655, + "y": 1.6103501646337832, + "heading": -0.14570958534477702, + "angularVelocity": -0.6074803798714206, + "velocityX": -3.689578538222811, + "velocityY": 0.03020762383924362, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -18.945730486511177, + -20.297419949634005, + -18.33356708742474, + -19.667082601325525 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.16942965387467, + 66.77554428954697, + 67.34378685006313, + 66.96849853668374 + ], + "timestamp": 9.431225757992097 }, { - "x": 5.547656023202967, - "y": 1.6166289232762017, - "heading": -0.3771369873639767, - "angularVelocity": -0.40604937181801554, - "velocityX": -4.0211531709992325, - "velocityY": 0.1067970168383347, - "timestamp": 8.844926949032184, + "x": 5.548277472212234, + "y": 1.6150461315311258, + "heading": -0.16518002122604175, + "angularVelocity": -0.6110813304365624, + "velocityX": -3.7158071848065024, + "velocityY": 0.14738333115980162, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -14.929271128360394, + -16.009118767543267, + -14.49148104463666, + -15.558489604355715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.1864773332497, + 67.94245344747473, + 68.28431543980496, + 68.05046106099095 + ], + "timestamp": 9.463088023964705 }, { "x": 5.429251670837402, "y": 1.623516082763672, - "heading": -0.3878516165667576, - "angularVelocity": -0.3652389469647756, - "velocityX": -4.036152829518446, - "velocityY": 0.23476863558930072, - "timestamp": 8.874262892780303, + "heading": -0.18473498772682212, + "angularVelocity": -0.6137343313119025, + "velocityX": -3.7356351703660797, + "velocityY": 0.2658301590925125, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -11.270190208871119, + -12.085091549684629, + -10.971415071134748, + -11.778477843651748 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.89698257046604, + 68.75960296279779, + 68.94761698227846, + 68.81518766569093 + ], + "timestamp": 9.494950289937313 }, { - "x": 5.28166942454766, - "y": 1.6379106281633093, - "heading": -0.3992952694439263, - "angularVelocity": -0.3137397217228285, - "velocityX": -4.046121756677184, - "velocityY": 0.39464152893163784, - "timestamp": 8.910737881711665, + "x": 5.282004916153968, + "y": 1.6397127699591316, + "heading": -0.20890280222534363, + "angularVelocity": -0.6159657654294863, + "velocityX": -3.7528821632232336, + "velocityY": 0.4128054204646195, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.9562699415162434, + -8.521676520710562, + -7.763894343312731, + -8.325351331688259 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.4040147095233, + 69.33728987507355, + 69.42707879106572, + 69.36240800164377 + ], + "timestamp": 9.534185935576922 }, { - "x": 5.133990461136637, - "y": 1.6581404469064542, - "heading": -0.4086216953491614, - "angularVelocity": -0.25569372818139613, - "velocityX": -4.048773357791124, - "velocityY": 0.5546216554366408, - "timestamp": 8.947212870643027, + "x": 5.134274022827432, + "y": 1.661694557200844, + "heading": -0.23311910712289566, + "angularVelocity": -0.6172016415885259, + "velocityX": -3.765221418388025, + "velocityY": 0.5602504274715377, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -5.720209319157245, + -6.03490445450174, + -5.615719636680334, + -5.9291642826123905 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.61283706461302, + 69.58650687264662, + 69.62210542945645, + 69.59635440000946 + ], + "timestamp": 9.57342158121653 }, { - "x": 4.986461258734076, - "y": 1.6842044771610802, - "heading": -0.4158331072145773, - "angularVelocity": -0.19770840449016422, - "velocityX": -4.044667502988965, - "velocityY": 0.7145726707052081, - "timestamp": 8.983687859574388, + "x": 4.986282225836536, + "y": 1.6894747322410733, + "heading": -0.25734085246164684, + "angularVelocity": -0.6173403022658371, + "velocityX": -3.7718710773933957, + "velocityY": 0.7080340997927944, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.127013349871348, + -3.1625137035552573, + -3.115711331500387, + -3.1511953231743526 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.76481035554984, + 69.76323825833272, + 69.76540826223969, + 69.76384262493916 + ], + "timestamp": 9.61265722685614 }, { - "x": 4.839354609871338, - "y": 1.7160914260220312, - "heading": -0.42100270171868664, - "angularVelocity": -0.141729844355469, - "velocityX": -4.033082755407079, - "velocityY": 0.8742140791586156, - "timestamp": 9.02016284850575, + "x": 4.838289991579301, + "y": 1.7230579102362122, + "heading": -0.28152121054847273, + "angularVelocity": -0.616285464216136, + "velocityX": -3.7718822220128496, + "velocityY": 0.8559353987343824, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.10080750277873628, + 0.17072692716911367, + -0.18174401949255473, + 0.09078040693159432 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.82041443295189, + 69.82006331575957, + 69.81948711797912, + 69.8194469049861 + ], + "timestamp": 9.651892872495749 }, { - "x": 4.69297397680971, - "y": 1.7537757566746883, - "heading": -0.4242945116209559, - "angularVelocity": -0.09024841401497721, - "velocityX": -4.013178272297363, - "velocityY": 1.033155369109805, - "timestamp": 9.056637837437112, + "x": 4.690602926619398, + "y": 1.7624345930750287, + "heading": -0.30561052035609654, + "angularVelocity": -0.6139649141724732, + "velocityX": -3.764104363579332, + "velocityY": 1.003594619048795, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.451355615397646, + 4.051364010493661, + 3.2895197761904598, + 3.8945533691842145 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.71868600011885, + 69.68593196145633, + 69.72466597613085, + 69.69301503588242 + ], + "timestamp": 9.691128518135358 }, { - "x": 4.547657487500722, - "y": 1.7972119023572823, - "heading": -0.42599043766028544, - "angularVelocity": -0.04649558749753, - "velocityX": -3.984003657477275, - "velocityY": 1.1908473985922738, - "timestamp": 9.093112826368474, + "x": 4.543580980383167, + "y": 1.807572841508932, + "heading": -0.32955856309289416, + "angularVelocity": -0.6103644363793018, + "velocityX": -3.7471524640290994, + "velocityY": 1.1504398028392895, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.640996749455507, + 8.573559011361908, + 7.425094452945457, + 8.370322441523202 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.36568328827549, + 69.25593606152904, + 69.38595746863503, + 69.27759135787154 + ], + "timestamp": 9.730364163774967 }, { - "x": 4.40378061167311, - "y": 1.8463261031158624, - "heading": -0.426524692586918, - "angularVelocity": -0.014647158019372136, - "velocityX": -3.944535147038911, - "velocityY": 1.3465172217324786, - "timestamp": 9.129587815299836, + "x": 4.3976484856872196, + "y": 1.8584056861180858, + "heading": -0.35331878240151826, + "angularVelocity": -0.6055773754016716, + "velocityX": -3.7193855820898922, + "velocityY": 1.2955781351495828, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 12.596434796205346, + 13.831571863740269, + 12.372684189217882, + 13.631022125703714 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.6171822426943, + 68.37816061418692, + 68.65316289156726, + 68.41364491021022 + ], + "timestamp": 9.769599809414576 }, { - "x": 4.261756050665852, - "y": 1.901005232985828, - "heading": -0.4265250578642489, - "angularVelocity": -0.000010014460362764898, - "velocityX": -3.893751997417132, - "velocityY": 1.4990855781439762, - "timestamp": 9.166062804231197, + "x": 4.2533040307330126, + "y": 1.9148124127162343, + "heading": -0.37685369830254906, + "angularVelocity": -0.5998350611381872, + "velocityX": -3.6789111686871667, + "velocityY": 1.437639821611747, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 18.45253857678641, + 19.913211641736343, + 18.28347404620761, + 19.77789603649953 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.2540564403096, + 66.83551987504791, + 67.29380436124504, + 66.86919394151975 + ], + "timestamp": 9.808835455054185 }, { - "x": 4.121944543093645, - "y": 1.9611180728132611, - "heading": -0.42652509664371824, - "angularVelocity": -0.000001063179742675399, - "velocityX": -3.8330788210876046, - "velocityY": 1.6480564241034594, - "timestamp": 9.20253779316256, + "x": 4.1111285385438014, + "y": 1.976591138110253, + "heading": -0.4001357692707538, + "angularVelocity": -0.5933907952492427, + "velocityX": -3.6236307539102786, + "velocityY": 1.5745561054729562, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.318154078477736, + 26.904262300677498, + 25.267809375046117, + 26.89480555969558 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 64.95286144875357, + 64.31195261944565, + 64.96421851734725, + 64.30756913709315 + ], + "timestamp": 9.848071100693794 }, { - "x": 3.984554163318766, - "y": 2.026575156264786, - "heading": -0.4265259393741178, - "angularVelocity": -0.00002310433599211775, - "velocityX": -3.7667010683243385, - "velocityY": 1.7945744568888309, - "timestamp": 9.239012782093921, + "x": 3.9717870049636006, + "y": 2.0434199231356556, + "heading": -0.4231339348218591, + "angularVelocity": -0.5861548899271496, + "velocityX": -3.551401571420431, + "velocityY": 1.7032671168265077, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.18996384014008, + 34.85670349431968, + 33.31533220864405, + 35.0270906330446 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.27361866433201, + 60.34193256478347, + 61.194814408840315, + 60.23236486270143 + ], + "timestamp": 9.887306746333403 }, { - "x": 3.8500595820713692, - "y": 2.0971253635059206, - "heading": -0.42761822880267025, - "angularVelocity": -0.02994625798537889, - "velocityX": -3.687309720655095, - "velocityY": 1.9342077765642451, - "timestamp": 9.275487771025283, + "x": 3.8360093396065436, + "y": 2.1148100108492702, + "heading": -0.44579213538275786, + "angularVelocity": -0.5774901926941988, + "velocityX": -3.460569162139369, + "velocityY": 1.819521166271989, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 41.798461635648394, + 43.564390721084465, + 42.171134771793916, + 43.98324777985427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.72575382876732, + 54.35949549135577, + 55.42920019196059, + 54.00601973025938 + ], + "timestamp": 9.926542391973012 }, { - "x": 3.7190431189754127, - "y": 2.172337984854449, - "heading": -0.4314101127647658, - "angularVelocity": -0.10395846779367438, - "velocityX": -3.5919534709798544, - "velocityY": 2.0620327394769875, - "timestamp": 9.311962759956645, + "x": 3.7045318112727834, + "y": 2.1900719989769737, + "heading": -0.4680231365839806, + "angularVelocity": -0.566602150641825, + "velocityX": -3.3509714493147835, + "velocityY": 1.9182044006363004, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.48322513754993, + 52.286207287927716, + 51.17427642172647, + 53.00771746352633 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.97134042740949, + 46.00762411199697, + 47.210917612098406, + 45.151927164693085 + ], + "timestamp": 9.96577803761262 }, { - "x": 3.5922483948362354, - "y": 2.25148003661394, - "heading": -0.43900310615015503, - "angularVelocity": -0.20816986126240192, - "velocityX": -3.4762100785768117, - "velocityY": 2.169762187136501, - "timestamp": 9.348437748888006, + "x": 3.578004390003908, + "y": 2.2683279656739623, + "heading": -0.489721889190992, + "angularVelocity": -0.553036715804837, + "velocityX": -3.224807931824784, + "velocityY": 1.9945120163382564, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.26795647580332, + 59.88981216151858, + 59.23821952460391, + 60.83635464912876 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.124427202913225, + 35.54091142317926, + 36.56417307116691, + 33.86081191347489 + ], + "timestamp": 10.00501368325223 }, { - "x": 3.470567911392992, - "y": 2.3333432050922864, - "heading": -0.4498620663017611, - "angularVelocity": -0.29770975865243954, - "velocityX": -3.3359978168114206, - "velocityY": 2.2443644501824505, - "timestamp": 9.384912737819368, + "x": 3.456904167212323, + "y": 2.3485863569708254, + "heading": -0.5107859181293829, + "angularVelocity": -0.536859495874505, + "velocityX": -3.086484772136231, + "velocityY": 2.045547868233416, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.22175367303383, + 65.41246326791402, + 65.23779317379322, + 66.32117039597011 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.922119439195097, + 23.924630755505696, + 24.302487904066567, + 21.22086005821814 + ], + "timestamp": 10.044249328891839 }, { - "x": 3.3545346151593747, - "y": 2.416606687866783, - "heading": -0.4633914527531019, - "angularVelocity": -0.37092229080042205, - "velocityX": -3.181174268536939, - "velocityY": 2.2827555323232898, - "timestamp": 9.42138772675073, + "x": 3.341501156228977, + "y": 2.429852159265464, + "heading": -0.5311309038951663, + "angularVelocity": -0.5185332223829922, + "velocityX": -2.9412797751146593, + "velocityY": 2.071223780566531, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.90607774929535, + 68.55322032956057, + 68.62642283945783, + 69.10231153776672 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.498644700226322, + 12.42359147128196, + 11.806220918241268, + 8.754914891489593 + ], + "timestamp": 10.083484974531448 }, { - "x": 3.244336606053026, - "y": 2.500076559897779, - "heading": -0.47896193127691433, - "angularVelocity": -0.42688096638254736, - "velocityX": -3.0211937641356994, - "velocityY": 2.2884139098182863, - "timestamp": 9.457862715682092, + "x": 3.231884403891318, + "y": 2.5112193292469573, + "heading": -0.550696423578611, + "angularVelocity": -0.49866694849780363, + "velocityX": -2.7938052388514896, + "velocityY": 2.073807341642243, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.50457450947509, + 69.66606772980774, + 69.65997404544898, + 69.64294705526974 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.880819924137277, + 2.0193581070127946, + 0.3390395514668374, + -2.3607248130164185 + ], + "timestamp": 10.122720620171057 }, { - "x": 3.1399427519677694, - "y": 2.5827917275598824, - "heading": -0.4959810103022867, - "angularVelocity": -0.466595865385969, - "velocityX": -2.8620667790113443, - "velocityY": 2.2677228995944536, - "timestamp": 9.494337704613454, + "x": 3.1280178116049857, + "y": 2.591916055277671, + "heading": -0.5694439277085109, + "angularVelocity": -0.4778181631596325, + "velocityX": -2.6472507484744763, + "velocityY": 2.056719717879459, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.5664529884934, + 69.38596965788871, + 69.04962017687987, + 68.73421411221496 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.351553954786704, + -6.842745490901919, + -9.430845709494417, + -11.641113134615345 + ], + "timestamp": 10.161956265810666 }, { - "x": 3.041217966291494, - "y": 2.664019047357684, - "heading": -0.5139498705420977, - "angularVelocity": -0.49263511151777506, - "velocityX": -2.7066433347534335, - "velocityY": 2.2269319930611804, - "timestamp": 9.530812693544815, + "x": 3.0297938291017803, + "y": 2.6713093646314494, + "heading": -0.587351477757221, + "angularVelocity": -0.4564102299525365, + "velocityX": -2.5034373947971407, + "velocityY": 2.0234995005060017, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.67844481390058, + 68.30003898352149, + 67.51348767467297, + 67.06824542485609 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.059309957564174, + -14.142309008297968, + -17.402608329334218, + -19.124922708081787 + ], + "timestamp": 10.201191911450275 }, { - "x": 2.947992283956892, - "y": 2.7432070212506883, - "heading": -0.5324691102108114, - "angularVelocity": -0.5077243396444386, - "velocityX": -2.5558796607185563, - "velocityY": 2.171021190493549, - "timestamp": 9.567287682476177, + "x": 2.937071738470876, + "y": 2.74888871924267, + "heading": -0.6044084254504786, + "angularVelocity": -0.4347309038809006, + "velocityX": -2.3632105224566873, + "velocityY": 1.9772671851461499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.2930620056548, + 66.82411992389879, + 65.56788024867049, + 65.1028653253109 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.365399907633943, + -20.069478774771078, + -23.78209141872774, + -25.082694816897252 + ], + "timestamp": 10.240427557089884 }, { - "x": 2.860094021718404, - "y": 2.8199379353731744, - "heading": -0.5512221364570433, - "angularVelocity": -0.5141338433719892, - "velocityX": -2.409822862561904, - "velocityY": 2.1036583250752305, - "timestamp": 9.603762671407539, + "x": 2.8497007610312877, + "y": 2.824243594666069, + "heading": -0.6206112771454525, + "angularVelocity": -0.4129625352365075, + "velocityX": -2.2268265505840747, + "velocityY": 1.9205718217448704, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.70337318898908, + 65.21204905116011, + 63.520444297620365, + 63.09557985413157 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -23.49160747089517, + -24.871801577389842, + -28.866583152264337, + -29.826861621567442 + ], + "timestamp": 10.279663202729493 }, { - "x": 2.7773632497167173, - "y": 2.8938903865748173, - "heading": -0.5699562298231092, - "angularVelocity": -0.5136147786451595, - "velocityX": -2.2681507088972284, - "velocityY": 2.0274838558774007, - "timestamp": 9.6402376603389, + "x": 2.7675324959856002, + "y": 2.897042340985707, + "heading": -0.6359608530628466, + "angularVelocity": -0.39121507158018054, + "velocityX": -2.094224873994124, + "velocityY": 1.8554236876415218, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.07907619800967, + 63.60398482485612, + 61.53194031437886, + 61.17440364428484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -27.666633539104943, + -28.781121737991672, + -32.937989811532645, + -33.63232642669451 + ], + "timestamp": 10.318898848369102 }, { - "x": 2.699656002010812, - "y": 2.964812467635368, - "heading": -0.5884670531619616, - "angularVelocity": -0.5074935971518967, - "velocityX": -2.1304255321950656, - "velocityY": 1.9444030865646396, - "timestamp": 9.676712649270263, + "x": 2.69042690684893, + "y": 2.967014703794722, + "heading": -0.6504604577736467, + "angularVelocity": -0.369551831617185, + "velocityX": -1.9651923112189673, + "velocityY": 1.7833875718965568, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.509783681444084, + 62.07042707463779, + 59.67567360423862, + 59.39402601314928 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.089187104720065, + -31.98983874511308, + -36.22814447448392, + -36.71735532583091 + ], + "timestamp": 10.358134494008711 }, { - "x": 2.6268445155885694, - "y": 3.032503077472955, - "heading": -0.6065870402981504, - "angularVelocity": -0.49677841356680774, - "velocityX": -1.9962031121999513, - "velocityY": 1.855808920599437, - "timestamp": 9.713187638201624, + "x": 2.618254718426181, + "y": 3.0339381645438475, + "heading": -0.6641147424098486, + "angularVelocity": -0.34800713518571263, + "velocityX": -1.8394545889641494, + "velocityY": 1.7056801196503342, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.03771978344021, + 60.64226174478103, + 57.977551598481135, + 57.770788058662305 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.919649115722756, + -34.64939142537486, + -38.916588143969165, + -39.24798155977403 + ], + "timestamp": 10.39737013964832 }, { - "x": 2.558815940395181, - "y": 3.096798896376675, - "heading": -0.6241768823786928, - "angularVelocity": -0.4822439319623353, - "velocityX": -1.8650745945777731, - "velocityY": 1.762737173812756, - "timestamp": 9.749662627132986, + "x": 2.5508979331700266, + "y": 3.097627513998535, + "heading": -0.6769290115879192, + "angularVelocity": -0.3265976376627928, + "velocityX": -1.716724273504942, + "velocityY": 1.62325223445267, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.67866653680671, + 59.32897631920496, + 56.439546391966516, + 56.302298777389 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.28323619089457, + -36.87633394355796, + -41.138998099805335, + -41.348552219217844 + ], + "timestamp": 10.436605785287929 }, { - "x": 2.4954705931851175, - "y": 3.1575652085854595, - "heading": -0.6411192815459567, - "angularVelocity": -0.4644936068149557, - "velocityX": -1.7366789974704604, - "velocityY": 1.6659720534291127, - "timestamp": 9.786137616064348, + "x": 2.488249423527035, + "y": 3.1579269499893177, + "heading": -0.6889088079469348, + "angularVelocity": -0.30532940553734683, + "velocityX": -1.5967243210023245, + "velocityY": 1.536853414995417, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.434370162851714, + 58.12907413569491, + 55.05250259787777, + 54.977844959290884 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.27642505927525, + -38.75974244655446, + -42.99718903447841, + -43.112008973477096 + ], + "timestamp": 10.475841430927538 }, { - "x": 2.436720202627274, - "y": 3.214689334448749, - "heading": -0.6573143259438626, - "angularVelocity": -0.4440040935552224, - "velocityX": -1.6107034512991794, - "velocityY": 1.56611770248334, - "timestamp": 9.82261260499571, + "x": 2.4302121156109835, + "y": 3.2147040792930905, + "heading": -0.7000596677035822, + "angularVelocity": -0.2842022751217482, + "velocityX": -1.4791984933583653, + "velocityY": 1.4470802857505853, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.29957934881899, + 57.03583072349723, + 53.802827725312426, + 53.78370776518406 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.97335396351011, + -40.36777060820265, + -44.56772292269054, + -44.6081676218809 + ], + "timestamp": 10.515077076567147 }, { - "x": 2.382486314530016, - "y": 3.2680758496640516, - "heading": -0.672676022724654, - "angularVelocity": -0.4211569963653407, - "velocityX": -1.4868788089097045, - "velocityY": 1.4636471944039517, - "timestamp": 9.859087593927072, + "x": 2.3766980331656016, + "y": 3.2678453371041845, + "heading": -0.7103869809633866, + "angularVelocity": -0.2632125224767273, + "velocityX": -1.3639149190235145, + "velocityY": 1.3544127271209676, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.26592417989728, + 56.0403948368725, + 52.67585049934157, + 52.705768707399926 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.43117548735834, + -41.752852888132324, + -45.908564958490956, + -45.88992169192114 + ], + "timestamp": 10.554312722206756 }, { - "x": 2.332698904953966, - "y": 3.3176430458830053, - "heading": -0.6871296643520235, - "angularVelocity": -0.3962617138710635, - "velocityX": -1.3649739461124906, - "velocityY": 1.3589365664299138, - "timestamp": 9.895562582858433, + "x": 2.327627336743151, + "y": 3.317252459517004, + "heading": -0.7198959160037642, + "angularVelocity": -0.24235449386305924, + "velocityX": -1.2506662149306924, + "velocityY": 1.2592407135755719, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.323996057065756, + 55.13341096546665, + 51.65741605852093, + 51.73070558762422 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.69422687811337, + -42.95564666268285, + -47.06400466515368, + -46.99775482427474 + ], + "timestamp": 10.593548367846365 }, { - "x": 2.2872951987213446, - "y": 3.3633202674966705, - "heading": -0.7006098012006035, - "angularVelocity": -0.3695720613910734, - "velocityX": -1.244790130520998, - "velocityY": 1.2522888409814164, - "timestamp": 9.932037571789795, + "x": 2.2829274213521695, + "y": 3.362839741023064, + "heading": -0.7285913824694656, + "angularVelocity": -0.22162159750274052, + "velocityX": -1.1392679962900025, + "velocityY": 1.161884321333549, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.46442208625441, + 54.30583012889813, + 50.734568002205684, + 50.846469440155815 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.79717786313908, + -44.007959736236224, + -48.06822977012528, + -47.96298939098342 + ], + "timestamp": 10.632784013485974 }, { - "x": 2.246218672153212, - "y": 3.4050458769764704, - "heading": -0.7130586607872357, - "angularVelocity": -0.34129851581472304, - "velocityX": -1.1261559707510682, - "velocityY": 1.143951258170871, - "timestamp": 9.968512560721157, + "x": 2.242532098167923, + "y": 3.4045318811902456, + "heading": -0.7364780180532563, + "angularVelocity": -0.20100690214790462, + "velocityX": -1.029556734080285, + "velocityY": 1.0626087448677908, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.678385073729196, + 53.54928061113336, + 49.89576908543828, + 50.04240483979626 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.76737534187731, + -44.93490962676545, + -48.947909301931084, + -48.81012417869793 + ], + "timestamp": 10.672019659125583 }, { - "x": 2.2094182139699368, - "y": 3.4427656783231586, - "heading": -0.7244249002306428, - "angularVelocity": -0.31161735140744984, - "velocityX": -1.0089230802105635, - "velocityY": 1.0341278353139134, - "timestamp": 10.004987549652519, + "x": 2.206380866620649, + "y": 3.442262277265571, + "heading": -0.7435601891364074, + "angularVelocity": -0.1805034928748971, + "velocityX": -0.9213874515876248, + "velocityY": 0.9616356621703374, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.95784248144665, + 52.85620421475691, + 49.13089798809376, + 49.309201847879855 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.62658357381347, + -45.756516691584324, + -49.724064642561366, + -49.55852459118997 + ], + "timestamp": 10.711255304765192 }, { - "x": 2.1768474191047806, - "y": 3.476431679464217, - "heading": -0.7346626104834151, - "angularVelocity": -0.2806775424123502, - "velocityX": -0.8929624331469239, - "velocityY": 0.9229886595554746, - "timestamp": 10.04146253858388, + "x": 2.1744182737600815, + "y": 3.4759716573759465, + "heading": -0.7498419994947588, + "angularVelocity": -0.16010467665173053, + "velocityX": -0.8146314999924769, + "velocityY": 0.8591519155822318, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.295585677575474, + 52.219871224622835, + 48.43114555042892, + 48.63877629643647 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.392278005310985, + -46.48888455357906, + -50.41343290999502, + -50.2236539860267 + ], + "timestamp": 10.750490950404801 }, { - "x": 2.1484639930748917, - "y": 3.5060011090106364, - "heading": -0.7437305131405969, - "angularVelocity": -0.24860604273919715, - "velocityX": -0.7781613336004206, - "velocityY": 0.8106768613984435, - "timestamp": 10.077937527515243, + "x": 2.146593353615838, + "y": 3.505606976334104, + "heading": -0.7553273034234013, + "angularVelocity": -0.13980409495555912, + "velocityX": -0.7091745195127888, + "velocityY": 0.7553162048196497, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.685217879860026, + 51.63433604703579, + 47.788873521114894, + 48.02412707550416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.078611888281834, + -47.14508041844737, + -51.02946838813396, + -50.81797884340958 + ], + "timestamp": 10.78972659604441 }, { - "x": 2.1242292479352325, - "y": 3.531435626433545, - "heading": -0.7515913063052757, - "angularVelocity": -0.2155118725182116, - "velocityX": -0.664420904561861, - "velocityY": 0.6973139175112839, - "timestamp": 10.114412516446604, + "x": 2.1228591378262855, + "y": 3.5311205158162435, + "heading": -0.7600197210323122, + "angularVelocity": -0.11959577910383509, + "velocityX": -0.6049146229823469, + "velocityY": 0.6502642958010434, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.12109391768532, + 51.0943670962465, + 47.1974670478797, + 47.45919397342084 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.69714319658899, + -47.73579663926801, + -51.58308476290898, + -51.35164063583827 + ], + "timestamp": 10.82896224168402 }, { - "x": 2.104107674051709, - "y": 3.552700681139875, - "heading": -0.7582111271556379, - "angularVelocity": -0.1814893175929183, - "velocityX": -0.551654009309999, - "velocityY": 0.5830037329509881, - "timestamp": 10.150887505377966, + "x": 2.103172228738649, + "y": 3.5524691450465413, + "heading": -0.7639226543411958, + "angularVelocity": -0.09947417062365312, + "velocityX": -0.5017608036443868, + "velocityY": 0.5441131114902891, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.598245185167, + 50.59536875864486, + 46.65119546985961, + 46.93872658546109 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.25738539490232, + -48.2698520116438, + -52.08321047759322, + -51.832959478243616 + ], + "timestamp": 10.868197887323628 }, { - "x": 2.0880665747371085, - "y": 3.5697649874893598, - "heading": -0.7635591068989225, - "angularVelocity": -0.14662046240365967, - "velocityX": -0.4397835279617555, - "velocityY": 0.46783581981605, - "timestamp": 10.187362494309328, + "x": 2.08749242676235, + "y": 3.569613708649635, + "heading": -0.7670393033521364, + "angularVelocity": -0.07943412068627369, + "velocityX": -0.3996315523981209, + "velocityY": 0.4369639730303379, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.112302109939414, + 50.13330455474297, + 46.14508734512011, + 46.458168149302516 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.76722807122546, + -48.75457485942355, + -52.53720824087119, + -52.26881539310968 + ], + "timestamp": 10.907433532963237 }, { - "x": 2.0760757531517053, - "y": 3.582600091051076, - "heading": -0.7676069996535306, - "angularVelocity": -0.1109772168053408, - "velocityX": -0.3287409245816974, - "velocityY": 0.3518877986740305, - "timestamp": 10.22383748324069, + "x": 2.0757824045995883, + "y": 3.58251851610603, + "heading": -0.7693726816249532, + "angularVelocity": -0.059470877432464715, + "velocityX": -0.29845366303697823, + "velocityY": 0.328905189299791, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.65942030969909, + 49.704625829148746, + 45.67482129401601, + 46.01355487371417 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.233260788048526, + -49.19609827287923, + -52.95119490901263, + -52.664939700461204 + ], + "timestamp": 10.946669178602846 }, { - "x": 2.0681072428102594, - "y": 3.5911800073696245, - "heading": -0.7703288711104815, - "angularVelocity": -0.07462295498081772, - "velocityX": -0.218465051667085, - "velocityY": 0.23522738648925653, - "timestamp": 10.260312472172052, + "x": 2.068007421882397, + "y": 3.591150913035611, + "heading": -0.7709256310975927, + "angularVelocity": -0.03958006673074539, + "velocityX": -0.19816120240779567, + "velocityY": 0.2200141424681118, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.2362132148721, + 49.306207700378565, + 45.2366321472445, + 45.601429800702924 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.661024429931615, + -49.599589541130314, + -53.33028763865073, + -53.026139781951954 + ], + "timestamp": 10.985904824242455 }, { "x": 2.0641350746154785, "y": 3.5954809188842773, "heading": -0.771700836029523, - "angularVelocity": -0.037613854294055886, - "velocityX": -0.10890114873662438, - "velocityY": 0.11791399094722152, - "timestamp": 10.296787461103413, + "angularVelocity": -0.019757669825311273, + "velocityX": -0.09869462331490479, + "velocityY": 0.11035898041384858, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 48.839692098741054, + 48.93529262948927, + 44.827230980151526, + 45.218769629782855 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -50.05520781841816, + -49.96942988931665, + -53.678794976745614, + -53.3564739924534 + ], + "timestamp": 11.025140469882064 }, { "x": 2.0641350746154785, "y": 3.5954809188842773, "heading": -0.771700836029523, - "angularVelocity": 1.522374269118897e-24, - "velocityX": 6.728193443953296e-24, - "velocityY": 1.735769868556535e-24, - "timestamp": 10.333262450034775, + "angularVelocity": -6.053538185867415e-24, + "velocityX": -2.9084748636196847e-24, + "velocityY": -8.183602971756971e-24, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 48.46721349618117, + 48.58944127653395, + 44.44373731536623, + 44.86292278246395 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -50.41980268814413, + -50.30935638313135, + -54.00036645895573, + -53.65938893004021 + ], + "timestamp": 11.064376115521673 }, { - "x": 2.063291226236175, - "y": 3.596620834264452, - "heading": -0.7716026464774829, - "angularVelocity": 0.005474717737889853, - "velocityX": -0.04705013511395001, - "velocityY": 0.0635578309695214, - "timestamp": 10.351197539429524, + "x": 2.063291063879915, + "y": 3.596624507232765, + "heading": -0.7716023938040096, + "angularVelocity": 0.005070854530597703, + "velocityX": -0.043475811725988835, + "velocityY": 0.05890734517457243, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -40.602823395342234, + -40.20918869084971, + -42.706333277003736, + -42.40028894465274 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 56.859351367273085, + 57.13174076486137, + 55.295767030026134, + 55.52380851822029 + ], + "timestamp": 11.083789455998966 }, { - "x": 2.0616105588960303, - "y": 3.598905821761016, - "heading": -0.7714042835444569, - "angularVelocity": 0.011060047076439332, - "velocityX": -0.0937083335997902, - "velocityY": 0.1274031841309373, - "timestamp": 10.369132628824273, + "x": 2.0616102104692997, + "y": 3.5989167438477243, + "heading": -0.771403529062637, + "angularVelocity": 0.01024371573790692, + "velocityX": -0.08658238970163287, + "velocityY": 0.11807533163293742, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -40.23738527715029, + -39.81936340738055, + -42.38967071313312, + -42.06309206312429 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 57.10996898738801, + 57.39513474967195, + 55.529953067439116, + 55.770307562022204 + ], + "timestamp": 11.103202796476259 }, { - "x": 2.0591008669796556, - "y": 3.6023415218566175, - "heading": -0.7711035632808647, - "angularVelocity": 0.01676714606620457, - "velocityX": -0.13993194352904548, - "velocityY": 0.1915630315513047, - "timestamp": 10.387067718219022, + "x": 2.059100460355995, + "y": 3.602363160729981, + "heading": -0.7711020616823895, + "angularVelocity": 0.01552887719659019, + "velocityX": -0.1292796629328244, + "velocityY": 0.17752827682013697, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.83286938785652, + -39.38692725346365, + -42.03892392455064, + -41.68874336735662 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 57.383446119679846, + 57.682891181529506, + 55.78614874017144, + 56.0403787361809 + ], + "timestamp": 11.122616136953551 }, { - "x": 2.055770840275505, - "y": 3.6069341284276217, - "heading": -0.7706980701166114, - "angularVelocity": 0.022608929084683708, - "velocityX": -0.18567104020822742, - "velocityY": 0.25606822859490513, - "timestamp": 10.405002807613771, + "x": 2.055770669666509, + "y": 3.6069698294308403, + "heading": -0.7706955802677001, + "angularVelocity": 0.020938251980112843, + "velocityX": -0.17152074849666904, + "velocityY": 0.23729397350484902, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.382713355301085, + -38.90461877021222, + -41.64831571274666, + -41.27084722631647 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 57.68298097517582, + 57.9984198757853, + 56.067559666957266, + 56.33747142457774 + ], + "timestamp": 11.142029477430844 }, { - "x": 2.051630225446013, - "y": 3.612690471939128, - "heading": -0.7701851184944544, - "angularVelocity": 0.028600449703206465, - "velocityX": -0.23086669591426456, - "velocityY": 0.3209542692991594, - "timestamp": 10.42293789700852, + "x": 2.0516307682828856, + "y": 3.6127434415080173, + "heading": -0.7701814038614015, + "angularVelocity": 0.026485725468008856, + "velocityX": -0.21325033620388828, + "velocityY": 0.29740435881861815, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -38.878821621842945, + -38.36345199919345, + -41.21070215455073, + -40.80146773541368 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.01236951674466, + 58.34576553334942, + 56.37802617083991, + 56.66572095294688 + ], + "timestamp": 11.161442817908137 }, { - "x": 2.0466900282030593, - "y": 3.6196181194601995, - "heading": -0.7695617056966235, - "angularVelocity": 0.03475939172142534, - "velocityX": -0.27544871030305, - "velocityY": 0.38626222421282774, - "timestamp": 10.440872986403269, + "x": 2.0466919645432444, + "y": 3.6196914050570004, + "heading": -0.769556534873447, + "angularVelocity": 0.032187607727035265, + "velocityX": -0.2544025715418649, + "velocityY": 0.35789634231726236, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -38.31109710510367, + -37.75218128490594, + -40.71714824827335, + -40.27064187369805 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.376141683349154, + 58.72974945865532, + 56.722181637410195, + 57.03011917167929 + ], + "timestamp": 11.18085615838543 }, { - "x": 2.040962769658941, - "y": 3.627725495671383, - "heading": -0.7688244532456674, - "angularVelocity": 0.041106706229852664, - "velocityX": -0.31933258976649015, - "velocityY": 0.4520399108552946, - "timestamp": 10.458808075798018, + "x": 2.040967004590246, + "y": 3.6278219612284515, + "heading": -0.7688176006186518, + "angularVelocity": 0.03806322027162254, + "velocityX": -0.29489824070690884, + "velocityY": 0.41881283548088916, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.66679312064409, + -37.056557584724324, + -40.15633724605906, + -39.66569847157228 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.779731370199116, + 59.15614390788848, + 57.10565734803557, + 57.436734053150964 + ], + "timestamp": 11.200269498862722 }, { - "x": 2.0344628159471405, - "y": 3.6370220301724463, - "heading": -0.7679695332976048, - "angularVelocity": 0.04766744838823975, - "velocityX": -0.3624154621556472, - "velocityY": 0.5183433601276373, - "timestamp": 10.476743165192767, + "x": 2.0344705055492645, + "y": 3.6371443256641944, + "heading": -0.7679607798970632, + "angularVelocity": 0.04413566653254177, + "velocityX": -0.3346409675645684, + "velocityY": 0.4802040352945231, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -36.92960128907233, + -36.258277199430665, + -39.51373356088872, + -38.970287844105776 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.2296866765058, + 59.63188294539416, + 57.5353482790216, + 57.89299244730674 + ], + "timestamp": 11.219682839340015 }, { - "x": 2.027206808713074, - "y": 3.6475183377820812, - "heading": -0.7669925750622906, - "angularVelocity": 0.054471891040598686, - "velocityX": -0.40457045261181673, - "velocityY": 0.5852386558334284, - "timestamp": 10.494678254587516, + "x": 2.027219390223364, + "y": 3.647668860994583, + "heading": -0.7669817096758487, + "angularVelocity": 0.05043285684706021, + "velocityX": -0.3735119844202865, + "velocityY": 0.5421290242500124, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -36.078343901109285, + -35.33346767280096, + -38.770372633788455, + -38.16297082945934 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.73392476277649, + 60.16530841856197, + 58.01975781046607, + 58.40804211293954 + ], + "timestamp": 11.239096179817308 }, { - "x": 2.019214237235835, - "y": 3.659226440075313, - "heading": -0.7658885442748775, - "angularVelocity": 0.06155702729512871, - "velocityX": -0.445638786700417, - "velocityY": 0.6528042339537887, - "timestamp": 10.512613343982265, + "x": 2.019233464127259, + "y": 3.6594072878240635, + "heading": -0.7658753649344333, + "angularVelocity": 0.05698889084592769, + "velocityX": -0.4113628000006165, + "velocityY": 0.6046577529101955, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.08506089064344, + -34.25046226319691, + -37.901072627457744, + -37.2151206836631 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 60.30202757311062, + 60.76643496296282, + 58.56944128573651, + 58.99320741979744 + ], + "timestamp": 11.2585095202946 }, { - "x": 2.0105082138160526, - "y": 3.6721600377959946, - "heading": -0.7646515857894011, - "angularVelocity": 0.06896862670997553, - "velocityX": -0.4854184569791821, - "velocityY": 0.721133719270397, - "timestamp": 10.530548433377014, + "x": 2.0105361964691277, + "y": 3.672372942594943, + "heading": -0.7646359018050912, + "angularVelocity": 0.0638459481402387, + "velocityX": -0.44800469390130027, + "velocityY": 0.6678734546506742, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -33.912148677480715, + -32.9664558091714, + -36.87172651535803, + -36.087724990405334 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 60.94555192240552, + 61.44718081627147, + 59.19756409317997, + 59.66253970397261 + ], + "timestamp": 11.277922860771893 }, { - "x": 2.0011165480677486, - "y": 3.6863348439982775, - "heading": -0.7632748150087604, - "angularVelocity": 0.07676408800302885, - "velocityX": -0.5236475571208352, - "velocityY": 0.7903393114078343, - "timestamp": 10.548483522771763, + "x": 2.001155800459354, + "y": 3.6865810902424863, + "heading": -0.76325644982448, + "angularVelocity": 0.0710569096660428, + "velocityX": -0.4831932979666945, + "velocityY": 0.731875468014455, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -32.507977360184356, + -31.422359712793405, + -35.63508948003746, + -34.72637612860624 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.67826878847402, + 62.221420518172394, + 59.92056588129605, + 60.43341665145688 + ], + "timestamp": 11.297336201249186 }, { - "x": 1.9910732727241378, - "y": 3.701768984006825, - "heading": -0.7617500374764165, - "angularVelocity": 0.08501644451186409, - "velocityX": -0.5599791070208943, - "velocityY": 0.8605555104212048, - "timestamp": 10.566418612166512, + "x": 1.9911267647234503, + "y": 3.7020492946499766, + "heading": -0.7617288327927848, + "angularVelocity": 0.07868903517568326, + "velocityX": -0.5166053594760848, + "velocityY": 0.7967822140441202, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -30.800003176803294, + -29.53468826107361, + -34.124027454539174, + -33.05318703788708 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.51609946515333, + 63.10449486939348, + 60.7588411511737, + 61.32700704105159 + ], + "timestamp": 11.316749541726479 }, { - "x": 1.9804208717917025, - "y": 3.718483452963548, - "heading": -0.7600673668746977, - "angularVelocity": 0.0938200286981305, - "velocityX": -0.5939418922302394, - "velocityY": 0.9319423276260479, - "timestamp": 10.58435370156126, + "x": 1.9804920844336347, + "y": 3.718797832701683, + "heading": -0.7600431887809308, + "angularVelocity": 0.08682915821858032, + "velocityX": -0.547802697956812, + "velocityY": 0.8627334420521742, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -28.683654372064414, + -27.18244520906737, + -32.24033977557545, + -30.953322595195168 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 63.47614641042527, + 64.11126953469874, + 61.73710239934388, + 62.3680262591476 + ], + "timestamp": 11.336162882203771 }, { - "x": 1.969213635718414, - "y": 3.7365025742560802, - "heading": -0.7582146999833204, - "angularVelocity": 0.10329844756278656, - "velocityX": -0.6248776254536054, - "velocityY": 1.0046853347610583, - "timestamp": 10.60228879095601, + "x": 1.9693066112337394, + "y": 3.736850087182896, + "heading": -0.7581874483541441, + "angularVelocity": 0.09559098955469619, + "velocityX": -0.5761745750546187, + "velocityY": 0.929889140013156, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -26.00393306094652, + -24.185470258216412, + -29.83560776287756, + -28.251819503372385 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 64.57327117456323, + 65.25046261735072, + 62.88338052932985, + 63.58210143630377 + ], + "timestamp": 11.355576222681064 }, { - "x": 1.9575228810266878, - "y": 3.755854265275658, - "heading": -0.7561769967865833, - "angularVelocity": 0.11361544689784184, - "velocityX": -0.6518369902939769, - "velocityY": 1.0789849213266094, - "timestamp": 10.620223880350759, + "x": 1.9576422454728677, + "y": 3.7562327123292563, + "heading": -0.7561466200856488, + "angularVelocity": 0.10512504382655279, + "velocityX": -0.6008427954228075, + "velocityY": 0.9984178235080415, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -22.524345405851697, + -20.268285098450278, + -26.677252950047443, + -24.672520604509963 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.81019247964247, + 66.5094191328966, + 64.22352353966645, + 64.98586511231055 + ], + "timestamp": 11.374989563158357 }, { - "x": 1.9454453277251464, - "y": 3.7765695274547184, - "heading": -0.7539353239742204, - "angularVelocity": 0.12498810365669889, - "velocityX": -0.6734035741733236, - "velocityY": 1.1550130430420986, - "timestamp": 10.638158969745508, + "x": 1.9455962290968358, + "y": 3.7769749716683765, + "heading": -0.7539018430429526, + "angularVelocity": 0.11563064302724045, + "velocityX": -0.6205019888319242, + "velocityY": 1.0684538996975426, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -17.87430204727145, + -15.000837635366615, + -22.38678974406999, + -19.764306830651165 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.15041594147246, + 67.8142174770323, + 65.76172198042546, + 66.55537327540978 + ], + "timestamp": 11.39440290363565 }, { - "x": 1.933116814568198, - "y": 3.798679464769351, - "heading": -0.7514657228056935, - "angularVelocity": 0.13769661885544046, - "velocityX": -0.6873962479695469, - "velocityY": 1.2327754173952807, - "timestamp": 10.656094059140257, + "x": 1.9333046316742337, + "y": 3.7991055422792397, + "heading": -0.7514292692633723, + "angularVelocity": 0.12736467391957912, + "velocityX": -0.6331521067679473, + "velocityY": 1.1399671600437673, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -11.46441533203664, + -7.7116120379852795, + -16.32777624201954, + -12.773392567909713 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.4453419158152, + 68.92621107979555, + 67.41790857052277, + 68.12970935884171 + ], + "timestamp": 11.413816244112942 }, { - "x": 1.9207342732225798, - "y": 3.8222050262738194, - "heading": -0.7487383954424982, - "angularVelocity": 0.15206656087222495, - "velocityX": -0.6904086772628084, - "velocityY": 1.311705840248422, - "timestamp": 10.674029148535006, + "x": 1.9209637452674597, + "y": 3.822642051446584, + "heading": -0.7486992733536658, + "angularVelocity": 0.14062473755609267, + "velocityX": -0.6356910301556985, + "velocityY": 1.2123884189263257, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.380032918411333, + 2.583336096355642, + -7.423091783866675, + -2.469615326612163 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.24190677224236, + 69.18473741226738, + 68.8324229172443, + 69.12533819426791 + ], + "timestamp": 11.433229584590235 }, { - "x": 1.9085854129383217, - "y": 3.847127275683962, - "heading": -0.7457191299442537, - "angularVelocity": 0.168344045116864, - "velocityX": -0.6773794106549377, - "velocityY": 1.389580439863345, - "timestamp": 10.691964237929755, + "x": 1.9088585047936426, + "y": 3.8475616073152192, + "heading": -0.7456779206273736, + "angularVelocity": 0.15563280981066036, + "velocityX": -0.623552679559492, + "velocityY": 1.2836304961416556, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 10.591859256794436, + 16.95653829081823, + 5.985092984817861, + 12.790625653501785 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.32331611036247, + 66.97532486057348, + 68.7951854838602, + 67.79041647368874 + ], + "timestamp": 11.452642925067527 }, { - "x": 1.8970613203450215, - "y": 3.8733197613175734, - "heading": -0.7423786854693779, - "angularVelocity": 0.18625189991268803, - "velocityX": -0.6425444746695689, - "velocityY": 1.4604045208317213, - "timestamp": 10.709899327324504, + "x": 1.897373536975051, + "y": 3.873735345554567, + "heading": -0.7423364027497029, + "angularVelocity": 0.17212482733608056, + "velocityX": -0.5916018333900218, + "velocityY": 1.3482346466833663, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.098109068504147, + 35.17491264960864, + 25.30147397389004, + 33.36091047891173 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 63.00944503236396, + 59.312295207853445, + 64.04389740473846, + 60.18599653860359 + ], + "timestamp": 11.47205626554482 }, { - "x": 1.886576399186915, - "y": 3.900473473695822, - "heading": -0.7387173605508901, - "angularVelocity": 0.2041431095157979, - "velocityX": -0.5846037857595875, - "velocityY": 1.5139992770930824, - "timestamp": 10.727834416719253, + "x": 1.8869151397673376, + "y": 3.9008576828288146, + "heading": -0.7386752337145183, + "angularVelocity": 0.1885903685389393, + "velocityX": -0.538722185393388, + "velocityY": 1.3970979031646167, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 47.45366432564693, + 53.06778096330309, + 47.494210782541465, + 53.791248272895835 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.96035054678647, + 43.96760977093699, + 49.70963633861263, + 42.84137777433118 + ], + "timestamp": 11.491469606022113 }, { - "x": 1.8774051581109974, - "y": 3.9281564813640126, - "heading": -0.7347769294773565, - "angularVelocity": 0.21970512590182578, - "velocityX": -0.5113574219821415, - "velocityY": 1.5435109945031722, - "timestamp": 10.745769506114002, + "x": 1.8777548530008725, + "y": 3.9285046657236244, + "heading": -0.7347358213073358, + "angularVelocity": 0.20292295454200832, + "velocityX": -0.4718552573257226, + "velocityY": 1.4241229080150726, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.88542946636817, + 64.55301339413991, + 63.091468013813895, + 65.65725975914002 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 30.401639377276158, + 24.35558392893809, + 27.516854316179977, + 20.8626257291439 + ], + "timestamp": 11.510882946499406 }, { - "x": 1.8696441264401253, - "y": 3.9559793941023407, - "heading": -0.7306141997371357, - "angularVelocity": 0.23209974863241142, - "velocityX": -0.4327289092378232, - "velocityY": 1.5513116286153077, - "timestamp": 10.76370459550875, + "x": 1.8699917304445708, + "y": 3.956292718574739, + "heading": -0.7305746148685935, + "angularVelocity": 0.214347780260146, + "velocityX": -0.39988597353359845, + "velocityY": 1.43138955830999, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.17350507810156, + 68.80060614741706, + 68.65481730732454, + 69.03058453531935 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 11.198823397609834, + 6.80702985490626, + 7.096162995608971, + 2.6300178430217747 + ], + "timestamp": 11.530296286976698 }, { - "x": 1.863293845098013, - "y": 3.983662037901905, - "heading": -0.726279902543493, - "angularVelocity": 0.24166577028112832, - "velocityX": -0.3540702364144211, - "velocityY": 1.5434907064176955, - "timestamp": 10.7816396849035, + "x": 1.8636300192842972, + "y": 3.983943937963699, + "heading": -0.7262421188661539, + "angularVelocity": 0.22317107184655025, + "velocityX": -0.32769791307757956, + "velocityY": 1.4243411339383634, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.15153313305028, + 68.99751168763625, + 68.81743753609643, + 68.52795762477763 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.4376816859740824, + -6.205142071474585, + -7.29952742442652, + -9.956857811234014 + ], + "timestamp": 11.549709627453991 }, { - "x": 1.8583226144288878, - "y": 4.011014415056099, - "heading": -0.7218135836126378, - "angularVelocity": 0.2490268563792626, - "velocityX": -0.2771790293156227, - "velocityY": 1.5250761539111266, - "timestamp": 10.799574774298248, + "x": 1.8586410304513583, + "y": 4.011268693479653, + "heading": -0.7217777485271456, + "angularVelocity": 0.22996404684860525, + "velocityX": -0.2569876543799337, + "velocityY": 1.4075246631517708, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.00755364977871, + 67.67631302264084, + 67.27547593706154, + 66.89529814136311 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.644063041227575, + -15.328928741205358, + -16.81858806255964, + -18.38585022519496 + ], + "timestamp": 11.569122967931284 }, { - "x": 1.854692677615889, - "y": 4.037905984525095, - "heading": -0.7172450217748045, - "angularVelocity": 0.2547275754962751, - "velocityX": -0.20239301478262423, - "velocityY": 1.4993830739906615, - "timestamp": 10.817509863692997, + "x": 1.8549891682362407, + "y": 4.038136077943053, + "heading": -0.717211213233882, + "angularVelocity": 0.23522666274795387, + "velocityX": -0.18811096520915757, + "velocityY": 1.3839650365595153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.2940367415492, + 65.98313558985876, + 65.45062558085554, + 65.12931157397512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -20.734221686880456, + -21.76543802698407, + -23.233694776367557, + -24.17827484579287 + ], + "timestamp": 11.588536308408576 }, { - "x": 1.8523686052071113, - "y": 4.064243968759062, - "heading": -0.7125967603276678, - "angularVelocity": 0.25917135648612044, - "velocityX": -0.12958242680731455, - "velocityY": 1.4685170312939513, - "timestamp": 10.835444953087746, + "x": 1.8526405320723487, + "y": 4.0644527252644, + "heading": -0.7125650203703617, + "angularVelocity": 0.23932990146413785, + "velocityX": -0.12098052710913958, + "velocityY": 1.355596032126881, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.57741101382622, + 64.33280379597771, + 63.76194658183983, + 63.520654058064906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.789311043043956, + -26.42923541985152, + -27.732378939756952, + -28.31494210551599 + ], + "timestamp": 11.607949648885869 }, { - "x": 1.8513193424864507, - "y": 4.089960025153014, - "heading": -0.7078861837229194, - "angularVelocity": 0.26264583917422296, - "velocityX": -0.0585033448993053, - "velocityY": 1.4338404358041936, - "timestamp": 10.853380042482495, + "x": 1.8515651676700786, + "y": 4.090149676474314, + "heading": -0.7078565360194697, + "angularVelocity": 0.24253859640483524, + "velocityX": -0.05539306352391964, + "velocityY": 1.3236748842874495, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.0284786479002, + 62.84952282438234, + 62.29925518934182, + 62.12703792778096 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.512028474211878, + -29.91332103604826, + -31.015870368857055, + -31.380847261066457 + ], + "timestamp": 11.627362989363162 }, { - "x": 1.851518231242687, - "y": 4.115002158627203, - "heading": -0.7031269857553186, - "angularVelocity": 0.2653568021241317, - "velocityX": 0.011089365202416091, - "velocityY": 1.3962647703067042, - "timestamp": 10.871315131877244, + "x": 1.851737229293389, + "y": 4.115174360071379, + "heading": -0.7030994448048052, + "angularVelocity": 0.2450423831091049, + "velocityX": 0.008863061126008018, + "velocityY": 1.2890457274127403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.67853400536588, + 61.5531320400509, + 61.05540121569605, + 60.93638054993286 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.3393804496482, + -32.59168324981953, + -33.4978666542829, + -33.72782964181684 + ], + "timestamp": 11.646776329840455 }, { - "x": 1.8529424712372697, - "y": 4.139329698709649, - "heading": -0.6983301740429444, - "angularVelocity": 0.26745401747363784, - "velocityX": 0.07941081102165848, - "velocityY": 1.3564214566764423, - "timestamp": 10.889250221271993, + "x": 1.8531345323504183, + "y": 4.139485588244426, + "heading": -0.698304750084788, + "angularVelocity": 0.24697937614730656, + "velocityX": 0.07197643592888199, + "velocityY": 1.2522949464304298, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.51396658342827, + 60.42924324277002, + 59.99946227192702, + 59.91964968786428 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.54584513519722, + -34.7032296487274, + -35.43024227080809, + -35.57428945094621 + ], + "timestamp": 11.666189670317747 }, { - "x": 1.8555724993026026, - "y": 4.162910076280178, - "heading": -0.6935047598011007, - "angularVelocity": 0.26904879789763936, - "velocityX": 0.14664148070000266, - "velocityY": 1.3147621989235003, - "timestamp": 10.907185310666742, + "x": 1.8557379914904524, + "y": 4.1630503346393555, + "heading": -0.6934814614875531, + "angularVelocity": 0.24845227450043436, + "velocityX": 0.13410670580259407, + "velocityY": 1.2138429459109081, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.509612253624326, + 59.45468179724434, + 59.09887040802473, + 59.0472911571001 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.308420210702714, + -36.40451858116458, + -36.9723238219478, + -37.06078212512554 + ], + "timestamp": 11.68560301079504 }, { - "x": 1.8593914295004998, - "y": 4.1857166851235394, - "heading": -0.6886582392631672, - "angularVelocity": 0.2702256136706393, - "velocityX": 0.21293064750574775, - "velocityY": 1.2716194684839366, - "timestamp": 10.925120400061491, + "x": 1.8595310996278773, + "y": 4.185841590699631, + "heading": -0.688637075129362, + "angularVelocity": 0.2495390406332783, + "velocityX": 0.19538667968355838, + "velocityY": 1.173999708444483, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.64002448823177, + 58.60632939296109, + 58.325360877184394, + 58.29371921746113 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.7447322740269, + -37.80109079564338, + -38.22870315840949, + -38.280956680380875 + ], + "timestamp": 11.705016351272333 }, { - "x": 1.8643845856758514, - "y": 4.2077274184649704, - "heading": -0.6837969364863069, - "angularVelocity": 0.27104982137885447, - "velocityX": 0.2784015214785556, - "velocityY": 1.2272441389600999, - "timestamp": 10.94305548945624, + "x": 1.8644994866965217, + "y": 4.207836895374668, + "heading": -0.6837779157555899, + "angularVelocity": 0.2503000129965071, + "velocityX": 0.2559264375162739, + "velocityY": 1.1329994804738897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.882851709415604, + 57.86384127416289, + 57.65586616544789, + 57.63795607446646 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.93528208773494, + -38.96607799171289, + -39.270391227190174, + -39.29920486701738 + ], + "timestamp": 11.724429691749625 }, { - "x": 1.8705391220179286, - "y": 4.228923639012959, - "heading": -0.6789262524896215, - "angularVelocity": 0.2715728865065857, - "velocityX": 0.34315615643818564, - "velocityY": 1.1818296570183644, - "timestamp": 10.96099057885099, + "x": 1.870630558303109, + "y": 4.229017298464473, + "heading": -0.6789093855015307, + "angularVelocity": 0.2507827161303632, + "velocityX": 0.3158174459340805, + "velocityY": 1.0910231093190053, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.21943999253799, + 57.21014195866552, + 57.071953082729515, + 57.06312953476081 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.93667613126504, + -39.95145912877808, + -40.147060171738694, + -40.16105850163185 + ], + "timestamp": 11.743843032226918 }, { - "x": 1.8778437178266378, - "y": 4.2492894358076985, - "heading": -0.6740508498749014, - "angularVelocity": 0.27183598070872844, - "velocityX": 0.40727958740189696, - "velocityY": 1.1355280337048719, - "timestamp": 10.978925668245738, + "x": 1.8779132032779835, + "y": 4.24936661148856, + "heading": -0.6740361482940231, + "angularVelocity": 0.25102517586849293, + "velocityX": 0.37513610722443425, + "velocityY": 1.0482128538304925, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.6345259775404, + 56.63116801147316, + 56.55896436214915, + 56.55573294080623 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.78970462715683, + -40.79503859962258, + -40.894380251711155, + -40.89951956540919 + ], + "timestamp": 11.76325637270421 }, { - "x": 1.8862883320518224, - "y": 4.268811076024548, - "heading": -0.669174792123114, - "angularVelocity": 0.27187250893855136, - "velocityX": 0.47084316332748555, - "velocityY": 1.088460714478838, - "timestamp": 10.996860757640487, + "x": 1.8863375574439454, + "y": 4.268870854358429, + "heading": -0.6691622690183583, + "angularVelocity": 0.25105824942211524, + "velocityX": 0.4339466551784482, + "velocityY": 1.0046824704218733, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.11569712600201, + 56.115408410893174, + 56.10521847232125, + 56.10493222138901 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.52441115473471, + -41.52488566429384, + -41.53856541491321, + -41.53903636373698 + ], + "timestamp": 11.782669713181503 }, { - "x": 1.895864005137384, - "y": 4.287476592574389, - "heading": -0.6643016504371507, - "angularVelocity": 0.2717099189586604, - "velocityX": 0.5339071846703922, - "velocityY": 1.0407261507883774, - "timestamp": 11.014795847035236, + "x": 1.8958948122554808, + "y": 4.287517838651164, + "heading": -0.6642913202833717, + "angularVelocity": 0.25090729442899234, + "velocityX": 0.49230346640826617, + "velocityY": 0.9605242495254703, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.652855282704536, + 55.65344120512149, + 55.701352637553356, + 55.701991877696884 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.16336061152959, + -42.16223081931641, + -42.09927671848439, + -42.098074004633915 + ], + "timestamp": 11.802083053658796 }, { - "x": 1.9065626981106043, - "y": 4.305275468394773, - "heading": -0.6594345869267304, - "angularVelocity": 0.27137102042243033, - "velocityX": 0.5965229800501064, - "velocityY": 0.9924051912222442, - "timestamp": 11.032730936429985, + "x": 1.9065770589809687, + "y": 4.3052968482771306, + "heading": -0.6594264655594324, + "angularVelocity": 0.250593386008424, + "velocityX": 0.5502528912003736, + "velocityY": 0.9158140324567956, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 55.23775487372007, + 55.23752967802466, + 55.33980847988511, + 55.33982136147598 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.72379936659345, + -42.72340075525379, + -42.59152885556614, + -42.590820216431425 + ], + "timestamp": 11.821496394136089 }, { "x": 1.918377161026001, "y": 4.322198390960693, - "heading": -0.6545764202589854, - "angularVelocity": 0.2708749625283474, - "velocityX": 0.6587345429600263, - "velocityY": 0.943564996719548, - "timestamp": 11.050666025824734, + "heading": -0.6545705248006215, + "angularVelocity": 0.25013421901761407, + "velocityX": 0.6078347030916116, + "velocityY": 0.870614859062085, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.86362710083431, + 54.8612901358657, + 55.01443670059011, + 55.012623327220155 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.21911660315328, + -43.22113970024562, + -43.02697370998198, + -43.02834450883221 + ], + "timestamp": 11.840909734613382 }, { - "x": 1.9295004708011239, - "y": 4.336257831190096, - "heading": -0.6503566415245581, - "angularVelocity": 0.2703205383982234, - "velocityX": 0.7125632115849363, - "velocityY": 0.9006527810054531, - "timestamp": 11.066276303754156, + "x": 1.92949101022194, + "y": 4.336240054669241, + "heading": -0.6503521079983314, + "angularVelocity": 0.24962112703624756, + "velocityX": 0.6576523117618639, + "velocityY": 0.8309031763975517, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.50609958933593, + 54.50068318190435, + 54.701347529318234, + 54.696813473214824 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.6449408780058, + -43.650398789827186, + -43.39995061629887, + -43.40435140919503 + ], + "timestamp": 11.857809012540596 }, { - "x": 1.941457359006927, - "y": 4.349639081038832, - "heading": -0.6461480716252801, - "angularVelocity": 0.2696024964004939, - "velocityX": 0.7659625446685151, - "velocityY": 0.8572076621079832, - "timestamp": 11.081886581683579, + "x": 1.9414398764858016, + "y": 4.349602350166723, + "heading": -0.6461449178799247, + "angularVelocity": 0.2489567978304854, + "velocityX": 0.7070637168833745, + "velocityY": 0.7907021563307972, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.03327194566706, + 54.02240218111822, + 54.28889337860404, + 54.27954283234234 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.21306763661465, + -44.224589512989375, + -43.89874793713713, + -43.90853644476067 + ], + "timestamp": 11.87470829046781 }, { - "x": 1.9542402449484766, - "y": 4.362332932032077, - "heading": -0.6419535605526983, - "angularVelocity": 0.2687018829226605, - "velocityX": 0.8188762557171557, - "velocityY": 0.8131726450122045, - "timestamp": 11.097496859613, + "x": 1.9542159992135733, + "y": 4.362276127300997, + "heading": -0.6419518063271455, + "angularVelocity": 0.24812371101528058, + "velocityX": 0.7560158950458375, + "velocityY": 0.7499596840089624, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.49939750736049, + 53.48039303468656, + 53.82378826237624, + 53.807238626495455 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.84017303633507, + -44.860539594007484, + -44.450147047889075, + -44.46785796343512 + ], + "timestamp": 11.891607568395024 }, { - "x": 1.9678404903848246, - "y": 4.374329140613766, - "heading": -0.6377763073272026, - "angularVelocity": 0.2675963390518734, - "velocityX": 0.8712365979540867, - "velocityY": 0.7684814220430845, - "timestamp": 11.113107137542423, + "x": 1.9678105400995975, + "y": 4.374251212145572, + "heading": -0.637775974473225, + "angularVelocity": 0.24710119993918378, + "velocityX": 0.8044450741964254, + "velocityY": 0.7086151784799669, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.8922636364938, + 52.861546092175665, + 53.29552428980751, + 53.268608004904166 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.535563283720116, + -45.568275987265146, + -45.0627061046215, + -45.09154079998919 + ], + "timestamp": 11.908506846322238 }, { - "x": 1.98224817022165, - "y": 4.385616251012893, - "heading": -0.6336199262881519, - "angularVelocity": 0.2662592593061164, - "velocityX": 0.9229611350909738, - "velocityY": 0.7230563382764723, - "timestamp": 11.128717415471845, + "x": 1.9822133505382364, + "y": 4.38551623292512, + "heading": -0.6336210389994424, + "angularVelocity": 0.2458646749096575, + "velocityX": 0.8522737184790887, + "velocityY": 0.6665977580856509, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 52.19629238447616, + 52.14902987293808, + 52.690683542979166, + 52.64913654503848 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.31048058142593, + -46.35997590012653, + -45.7468582943555, + -45.790891593085306 + ], + "timestamp": 11.925406124249452 }, { - "x": 1.9974517743481024, - "y": 4.396181377943262, - "heading": -0.6294885306647823, - "angularVelocity": 0.2646586846210294, - "velocityX": 0.9739483304007286, - "velocityY": 0.6768058184573429, - "timestamp": 11.144327693401268, + "x": 1.9974126695150844, + "y": 4.396058406840472, + "heading": -0.6294911157005773, + "angularVelocity": 0.24438460132159248, + "velocityX": 0.8994064150143928, + "velocityY": 0.6238239267238552, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.39134319986762, + 51.32092386232151, + 51.9918883228816, + 51.92988850965913 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.17857637406724, + -47.25050992705384, + -46.51541707778997, + -46.57987771688901 + ], + "timestamp": 11.942305402176666 }, { - "x": 2.0134378137647806, - "y": 4.406009938375307, - "heading": -0.6253868391581952, - "angularVelocity": 0.26275582825185867, - "velocityX": 1.0240714155734, - "velocityY": 0.6296211045365373, - "timestamp": 11.15993797133069, + "x": 2.013394725020626, + "y": 4.40586327749225, + "heading": -0.6253909260378425, + "angularVelocity": 0.2426251393931875, + "velocityX": 0.9457241649244735, + "velocityY": 0.5801946505647506, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.45098913661692, + 50.34822916450028, + 51.17627794671154, + 51.08574725339689 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.156495641748066, + -48.258117220223525, + -47.38423191793656, + -47.47588439250302 + ], + "timestamp": 11.95920468010388 }, { - "x": 2.0301902911265537, - "y": 4.415085318840891, - "heading": -0.6213203135283274, - "angularVelocity": 0.2605030895832479, - "velocityX": 1.0731697050824138, - "velocityY": 0.581372125891353, - "timestamp": 11.175548249260112, + "x": 2.030143199019127, + "y": 4.414914390062327, + "heading": -0.621325934651704, + "angularVelocity": 0.24054231214176175, + "velocityX": 0.9910763093332637, + "velocityY": 0.5355916749260439, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.339990472108006, + 49.1919186958684, + 50.21325327356883, + 50.08277840131826 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.26457409098901, + -49.40521501241419, + -48.37303189591521, + -48.50069557119244 + ], + "timestamp": 11.976103958031095 }, { - "x": 2.047689975224621, - "y": 4.423388461920246, - "heading": -0.6172953384165001, - "angularVelocity": 0.25784134850290147, - "velocityX": 1.1210360364618268, - "velocityY": 0.5319023221043848, - "timestamp": 11.191158527189534, + "x": 2.047638495498651, + "y": 4.4231928889788845, + "heading": -0.6173025290254516, + "angularVelocity": 0.2380815111498428, + "velocityX": 1.0352688768642184, + "velocityY": 0.48987293730617476, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 48.010523473980065, + 47.79847710386321, + 49.06106340776075, + 48.87418597837039 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -50.52760909752887, + -50.719292141228394, + -49.5064856264647, + -49.68173207772905 + ], + "timestamp": 11.993003235958309 }, { - "x": 2.0659133856763727, - "y": 4.430897354022375, - "heading": -0.613319459199103, - "angularVelocity": 0.25469624790620676, - "velocityX": 1.1673982061141626, - "velocityY": 0.4810223197868642, - "timestamp": 11.206768805118957, + "x": 2.0658567181308984, + "y": 4.430677021860469, + "heading": -0.6133282570210099, + "angularVelocity": 0.23517407202597101, + "velocityX": 1.0780474000553897, + "velocityY": 0.4428670215271044, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 46.396447575676866, + 46.09302595299126, + 47.661519942870946, + 47.393957032515864 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -51.97555652008002, + -52.23369267538677, + -50.815459167372566, + -51.053517123984044 + ], + "timestamp": 12.009902513885523 }, { - "x": 2.084831339415711, - "y": 4.437586400045198, - "heading": -0.6094016998370902, - "angularVelocity": 0.250973069135979, - "velocityX": 1.2118908980910377, - "velocityY": 0.4285026860550951, - "timestamp": 11.222379083048379, + "x": 2.0847682100441074, + "y": 4.437341537983441, + "heading": -0.6094121441125747, + "angularVelocity": 0.23173255835556264, + "velocityX": 1.1190710037825848, + "velocityY": 0.3943669162479081, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 44.40444505484776, + 43.96854171822575, + 45.93161606484857, + 45.54662054658651 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -53.643732861588404, + -53.9877263196962, + -52.33830120690189, + -52.65912825716858 + ], + "timestamp": 12.026801791812737 }, { - "x": 2.1044068196032866, - "y": 4.443425689074363, - "heading": -0.6055529900818638, - "angularVelocity": 0.24654972657291577, - "velocityX": 1.2540122780696283, - "velocityY": 0.37406694842755106, - "timestamp": 11.237989360977801, + "x": 2.1043354188112007, + "y": 4.443156989608688, + "heading": -0.6055651194174421, + "angularVelocity": 0.22764432372211033, + "velocityX": 1.157872475461341, + "velocityY": 0.34412426674646285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 41.90016272268252, + 41.268746860765695, + 43.74993390713509, + 43.190350156817765 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -55.57143381654411, + -56.02461262649197, + -54.12154482728592, + -54.550770305231 + ], + "timestamp": 12.043701069739951 }, { - "x": 2.124591776739188, - "y": 4.448380215564208, - "heading": -0.6017867370608403, - "angularVelocity": 0.24126751862148324, - "velocityX": 1.2930555898596048, - "velocityY": 0.31738874299640374, - "timestamp": 11.253599638907223, + "x": 2.124509702662004, + "y": 4.448089006938382, + "heading": -0.6018005850656859, + "angularVelocity": 0.22276302975606474, + "velocityX": 1.1937956129069005, + "velocityY": 0.29184781450047914, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 38.68651900699023, + 37.761016139639786, + 40.93419544484739, + 40.10858304254363 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.79625936892281, + -58.38345388529488, + -56.21819740484658, + -56.78682779455254 + ], + "timestamp": 12.060600347667165 }, { - "x": 2.1453222321318695, - "y": 4.452409291701021, - "heading": -0.5981195687389935, - "angularVelocity": 0.23492011727317683, - "velocityX": 1.3280004037345323, - "velocityY": 0.25810406163362676, - "timestamp": 11.269209916836646, + "x": 2.145226463104995, + "y": 4.452097790817057, + "heading": -0.5981351555699459, + "angularVelocity": 0.216898586527011, + "velocityX": 1.2258961910809663, + "velocityY": 0.23721628201755715, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 34.47060640024352, + 33.09498145302169, + 37.20398474259022, + 35.9622922678011 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.33756994854637, + -61.075800672167986, + -58.678472416185144, + -59.417782147749314 + ], + "timestamp": 12.07749962559438 }, { - "x": 2.166510730463348, - "y": 4.455466843158549, - "heading": -0.5945722198659328, - "angularVelocity": 0.22724444043207317, - "velocityX": 1.3573427985892672, - "velocityY": 0.19586784241453092, - "timestamp": 11.284820194766068, + "x": 2.166397685702493, + "y": 4.455138521510558, + "heading": -0.5945895365770223, + "angularVelocity": 0.20980890474697245, + "velocityX": 1.2527885918370314, + "velocityY": 0.17993258094204928, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.817790907872606, + 26.74710430554785, + 32.12058915868509, + 30.213255287338697 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.15372163985154, + -64.02452910015843, + -61.51893737804095, + -62.439786267085964 + ], + "timestamp": 12.094398903521594 }, { - "x": 2.188035017984716, - "y": 4.457504414106686, - "heading": -0.5911703297085827, - "angularVelocity": 0.21792630296082013, - "velocityX": 1.378853574464475, - "velocityY": 0.1305275253489674, - "timestamp": 11.30043047269549, + "x": 2.1879008405021447, + "y": 4.457164490991264, + "heading": -0.5911893111208631, + "angularVelocity": 0.20120536929470692, + "velocityX": 1.2724303897637337, + "velocityY": 0.11988497315871872, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 21.107180389630262, + 17.979436226523696, + 25.001831123087328, + 22.02298727949427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -66.04065481441144, + -66.91917458919546, + -64.63368990175655, + -65.66067437694193 + ], + "timestamp": 12.111298181448808 }, { - "x": 2.209723010848071, - "y": 4.4584810825037255, - "heading": -0.5879444018293817, - "angularVelocity": 0.20665409634512977, - "velocityX": 1.389340597355868, - "velocityY": 0.06256572762225363, - "timestamp": 11.316040750624913, + "x": 2.2095643291934977, + "y": 4.458137038510174, + "heading": -0.5879648827426647, + "angularVelocity": 0.1908027308673283, + "velocityX": 1.2819180076603152, + "velocityY": 0.05754964934590115, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 10.563349599114456, + 5.9431020803346035, + 14.859638801717251, + 10.228492409506318 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -68.42238117043242, + -68.93142377706826, + -67.56626958656321, + -68.36367504478591 + ], + "timestamp": 12.128197459376022 }, { - "x": 2.231340396523973, - "y": 4.458387104834711, - "heading": -0.5849272732995832, - "angularVelocity": 0.19327833517376095, - "velocityX": 1.3848174756169542, - "velocityY": -0.006020243165398874, - "timestamp": 11.331651028554335, + "x": 2.2311558382345025, + "y": 4.458048724355527, + "heading": -0.5849489168243499, + "angularVelocity": 0.1784671470168458, + "velocityX": 1.2776586747670418, + "velocityY": -0.005225912907505727, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.4065036622505853, + -9.727399450140839, + 0.6146384591459884, + -6.154039543802912 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.04961017690735, + -68.4014909821104, + -69.04682092261058, + -68.71587300583637 + ], + "timestamp": 12.145096737303236 }, { - "x": 2.2526018421157583, - "y": 4.457281422415155, - "heading": -0.5821467343507716, - "angularVelocity": 0.17812232180509294, - "velocityX": 1.3620158262340167, - "velocityY": -0.07083041215246684, - "timestamp": 11.347261306483757, + "x": 2.2523938607564395, + "y": 4.456959391400087, + "heading": -0.5821689475868451, + "angularVelocity": 0.16450224971020536, + "velocityX": 1.2567414189771662, + "velocityY": -0.06446032547261737, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -20.25465057286389, + -27.616685387992277, + -17.74816658427065, + -26.083656169862635 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -66.02381038495457, + -63.27102243502757, + -66.61739157563655, + -63.776847221358366 + ], + "timestamp": 12.16199601523045 }, { - "x": 2.273226708534977, - "y": 4.4553128610755115, - "heading": -0.5796139836111671, - "angularVelocity": 0.16224892029825883, - "velocityX": 1.321236336243861, - "velocityY": -0.1261067450909332, - "timestamp": 11.36287158441318, + "x": 2.2730018436094053, + "y": 4.4550159241436935, + "heading": -0.5796360271578783, + "angularVelocity": 0.14988335240571307, + "velocityX": 1.2194593722716707, + "velocityY": -0.11500297614865834, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.32051055092115, + -44.098138175122536, + -37.175571556110235, + -44.85367558899315 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -58.09290209858474, + -53.139433564825524, + -58.02374052905129, + -52.32751791669901 + ], + "timestamp": 12.178895293157664 }, { - "x": 2.2930046199345107, - "y": 4.452686403577795, - "heading": -0.577320064081297, - "angularVelocity": 0.14694930738845954, - "velocityX": 1.2669800940735099, - "velocityY": -0.1682518088140708, - "timestamp": 11.378481862342602, + "x": 2.2927713717115594, + "y": 4.4524194842892, + "heading": -0.5773413251596294, + "angularVelocity": 0.1357869849902553, + "velocityX": 1.1698445452700192, + "velocityY": -0.15364205889011393, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.095437825197784, + -56.01661565437589, + -52.60551102714432, + -57.79836592194909 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.52248001757658, + -40.51747760103842, + -44.620650849814645, + -37.73665725494407 + ], + "timestamp": 12.195794571084878 }, { - "x": 2.3118111806915933, - "y": 4.44960454179237, - "heading": -0.5752453059077974, - "angularVelocity": 0.13290975233625504, - "velocityX": 1.2047550237165083, - "velocityY": -0.19742517073424024, - "timestamp": 11.394092140272024, + "x": 2.31157767337301, + "y": 4.449369106042973, + "heading": -0.5752653653006934, + "angularVelocity": 0.12284311009483324, + "velocityX": 1.1128464625796242, + "velocityY": -0.18050346644186008, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.10429149510086, + -63.10967738037021, + -61.926565254948855, + -64.744263183066 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -34.28573488259858, + -28.481385134369937, + -30.66968594313058, + -24.326056662544207 + ], + "timestamp": 12.212693849012092 }, { - "x": 2.3295837089238307, - "y": 4.446235561009604, - "heading": -0.5733682364875802, - "angularVelocity": 0.12024573993517862, - "velocityX": 1.138514529503654, - "velocityY": -0.21581811662787959, - "timestamp": 11.409702418201446, + "x": 2.3293566103225256, + "y": 4.446030878136759, + "heading": -0.5733868247426258, + "angularVelocity": 0.11116099552646169, + "velocityX": 1.0520530537511565, + "velocityY": -0.19753671846759996, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.18774386603658, + -66.83185271970557, + -66.59076765483135, + -67.91348930051325 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -23.507264138622386, + -18.481364136294967, + -18.948283356975356, + -13.738420048321832 + ], + "timestamp": 12.229593126939307 }, { - "x": 2.3462942819537207, - "y": 4.442710003094703, - "heading": -0.5716693379675314, - "angularVelocity": 0.1088320482011814, - "velocityX": 1.0704852985604882, - "velocityY": -0.22584850384094388, - "timestamp": 11.425312696130868, + "x": 2.3460786436924534, + "y": 4.4425341883089216, + "heading": -0.5716862955514761, + "angularVelocity": 0.10062732848550442, + "velocityX": 0.9895117082487012, + "velocityY": -0.20691356417105713, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.79266688215901, + -68.61034511878412, + -68.63234219919543, + -69.15161327179342 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.794144578801722, + -10.61925261923264, + -9.918509838563343, + -5.777040448105858 + ], + "timestamp": 12.24649240486652 }, { - "x": 2.361932710234688, - "y": 4.439127599519703, - "heading": -0.570131998444952, - "angularVelocity": 0.09848252090898803, - "velocityX": 1.0018033216110414, - "velocityY": -0.22949005720437765, - "timestamp": 11.44092297406029, + "x": 2.3617321548318846, + "y": 4.438978248522893, + "heading": -0.5701472466641888, + "angularVelocity": 0.09107187265135988, + "velocityX": 0.926282839234376, + "velocityY": -0.21041962865777147, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.0082298040482, + -69.3523695322926, + -69.36609311406146, + -69.47444085487885 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.954943328652353, + -4.513695246461878, + -3.101470690231107, + 0.19920252117402037 + ], + "timestamp": 12.263391682793735 }, { - "x": 2.376497511969503, - "y": 4.435565143031837, - "heading": -0.5687423978042991, - "angularVelocity": 0.0890183151725747, - "velocityX": 0.9330264201999029, - "velocityY": -0.22821223965218895, - "timestamp": 11.456533251989713, + "x": 2.3763144862051493, + "y": 4.435439678045831, + "heading": -0.568755917083735, + "angularVelocity": 0.08233071178817626, + "velocityX": 0.8628967128696934, + "velocityY": -0.20939181498184378, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.48020396671491, + -69.55718579769201, + -69.47600764658827, + -69.37716647274252 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.596397637250716, + 0.2599107981516438, + 2.085800031498784, + 4.756715781948582 + ], + "timestamp": 12.280290960720949 }, { - "x": 2.3899913669695643, - "y": 4.43208272841001, - "heading": -0.56748908417522, - "angularVelocity": 0.08028772035614773, - "velocityX": 0.8644211884676433, - "velocityY": -0.22308472902089735, - "timestamp": 11.472143529919135, + "x": 2.3898273698821835, + "y": 4.431978577963891, + "heading": -0.5675008982352386, + "angularVelocity": 0.07426464337125495, + "velocityX": 0.7996130802294479, + "velocityY": -0.20480757206592765, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.56136958741054, + -69.48797712472773, + -69.29674115165308, + -69.09513417636217 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.644410532056864, + 4.0449689163109195, + 6.103355596273612, + 8.305004349538747 + ], + "timestamp": 12.297190238648163 }, { - "x": 2.4024188411865652, - "y": 4.428728245556412, - "heading": -0.5663625252914164, - "angularVelocity": 0.07216776593581338, - "velocityX": 0.796108453237543, - "velocityY": -0.21488937408830755, - "timestamp": 11.487753807848557, + "x": 2.4022746080155293, + "y": 4.428642934303255, + "heading": -0.566372689897359, + "angularVelocity": 0.0667607422482067, + "velocityX": 0.7365544366425708, + "velocityY": -0.1973837979943286, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.44050658018318, + -69.28288294375687, + -68.99083415529013, + -68.74062581390056 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.048984540721862, + 7.094726611074952, + 9.277350069749245, + 11.12544195223972 + ], + "timestamp": 12.314089516575377 }, { - "x": 2.4137852414509506, - "y": 4.425540536252587, - "heading": -0.5653547221703813, - "angularVelocity": 0.0645602292023053, - "velocityX": 0.7281356754681111, - "velocityY": -0.20420580070625552, - "timestamp": 11.50336408577798, + "x": 2.413660886989307, + "y": 4.425471726889298, + "heading": -0.5653633171976891, + "angularVelocity": 0.059728747229160085, + "velocityX": 0.6737731057397033, + "velocityY": -0.18765342682777003, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.21888915632945, + -69.01498093983149, + -68.63774414819501, + -68.36747112890812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 7.823946444890907, + 9.591105511292442, + 11.833250031562018, + 13.410533397084546 + ], + "timestamp": 12.330988794502591 }, { - "x": 2.4240960382867756, - "y": 4.422551616527037, - "heading": -0.564458899406459, - "angularVelocity": 0.057386727383877435, - "velocityX": 0.6605133414307027, - "velocityY": -0.19147126906156764, - "timestamp": 11.518974363707402, + "x": 2.423991167797027, + "y": 4.422497126306251, + "heading": -0.5644660232207238, + "angularVelocity": 0.053096586779028135, + "velocityX": 0.6112853372914824, + "velocityY": -0.17601938945906928, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.95130590451717, + -68.72321284424079, + -68.2763622243668, + -68.0011998025162 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.11888468036067, + 11.664670863093715, + 13.92747860675396, + 15.29364763192488 + ], + "timestamp": 12.347888072429805 }, { - "x": 2.4333565793001064, - "y": 4.419788260781509, - "heading": -0.5636692633247001, - "angularVelocity": 0.050584370459576755, - "velocityX": 0.593233576954846, - "velocityY": -0.17702155964302693, - "timestamp": 11.534584641636824, + "x": 2.433270374692251, + "y": 4.419746064626124, + "heading": -0.5636750287564173, + "angularVelocity": 0.046806406031862674, + "velocityX": 0.5490889572436001, + "velocityY": -0.16279167026991967, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.6675538198197, + -68.42830601532881, + -67.92538197418004, + -67.65336562122417 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.042456853083085, + 13.41003178565977, + 15.670134446187609, + 16.868905269713295 + ], + "timestamp": 12.36478735035702 }, { - "x": 2.44157195361988, - "y": 4.417273149474497, - "heading": -0.5629808144555088, - "angularVelocity": 0.04410228134975417, - "velocityX": 0.5262798239030234, - "velocityY": -0.16111893192318538, - "timestamp": 11.550194919566247, + "x": 2.441503241016658, + "y": 4.41724137616694, + "heading": -0.5629853458745747, + "angularVelocity": 0.040811381694116466, + "velocityX": 0.48717266855226443, + "velocityY": -0.14821275027084765, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.3837677091056, + -68.14109785421863, + -67.59326490170413, + -67.32853089161736 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 13.674429888313005, + 14.89669491036882, + 17.140127101241422, + 18.20406414335748 + ], + "timestamp": 12.381686628284234 }, { - "x": 2.44874693563304, - "y": 4.4150257150163865, - "heading": -0.5623892018465247, - "angularVelocity": 0.03789891580783127, - "velocityX": 0.4596319197902289, - "velocityY": -0.14397145702789166, - "timestamp": 11.565805197495669, + "x": 2.448694238924008, + "y": 4.415002639984029, + "heading": -0.5623926330018707, + "angularVelocity": 0.035073266163017404, + "velocityX": 0.4255210156505601, + "velocityY": -0.1324752567863117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.10849378834256, + -67.86698005078715, + -67.28323982523308, + -67.02776023452024 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.074156858680315, + 16.176503129018716, + 18.395084629541017, + 19.348863341183208 + ], + "timestamp": 12.398585906211448 }, { - "x": 2.454885970298794, - "y": 4.413062775808062, - "heading": -0.5618906091651886, - "angularVelocity": 0.031940025897701944, - "velocityX": 0.3932687613577477, - "velocityY": -0.12574658934324356, - "timestamp": 11.581415475425091, + "x": 2.4548475540752275, + "y": 4.413046812430891, + "heading": -0.5618930815635623, + "angularVelocity": 0.02956051971332602, + "velocityX": 0.36411704557568414, + "velocityY": -0.11573438590463961, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.84601198356005, + -67.60832225626525, + -66.99587003822965, + -66.7504054994641 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 16.28643802352499, + 17.288713890440796, + 19.477864129041183, + 20.34049001299271 + ], + "timestamp": 12.415485184138662 + }, + { + "x": 2.4599670842255215, + "y": 4.411388709591404, + "heading": -0.5614833265837947, + "angularVelocity": 0.024246892768575896, + "velocityX": 0.30294372175805695, + "velocityY": -0.09811678620993573, + "moduleForcesX": [ + -67.59818948619956, + -67.36581934897681, + -66.73039615380225, + -66.49503054331515 + ], + "moduleForcesY": [ + 17.345571000413525, + 18.26348895969543, + 20.420884380353108, + 21.20722085988748 + ], + "timestamp": 12.432384462065876 + }, + { + "x": 2.4640564501207205, + "y": 4.4100413806177245, + "heading": -0.5611603755409807, + "angularVelocity": 0.01911034567304776, + "velocityX": 0.24198465241012473, + "velocityY": -0.07972701434239542, + "moduleForcesX": [ + -67.3655330868273, + -67.13925210288296, + -66.48544672391564, + -66.25989246632558 + ], + "moduleForcesY": [ + 18.278170485082168, + 19.12431986388855, + 21.24905601044498, + 21.97089213071172 + ], + "timestamp": 12.44928373999309 + }, + { + "x": 2.4671190122847557, + "y": 4.40901640055844, + "heading": -0.5609215512268385, + "angularVelocity": 0.014132220037500282, + "velocityX": 0.18122443912845296, + "velocityY": -0.06065229909224309, + "moduleForcesX": [ + -67.14779507444372, + -66.92792139056203, + -66.25941512106093, + -66.043189647769 + ], + "moduleForcesY": [ + 19.105153308133264, + 19.88973623588373, + 21.981797505846483, + 22.64860575143298 + ], + "timestamp": 12.466183017920304 + }, + { + "x": 2.4691578901413758, + "y": 4.4083241028977636, + "heading": -0.5607644454359351, + "angularVelocity": 0.009296597853473296, + "velocityX": 0.1206488150204778, + "velocityY": -0.04096610894609547, + "moduleForcesX": [ + -66.9443254941844, + -66.7308973018787, + -66.05065714903044, + -65.8431855019118 + ], + "moduleForcesY": [ + 19.843153738551198, + 20.57452597344013, + 22.63444617148174, + 23.253928677443323 + ], + "timestamp": 12.483082295847518 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": 0.004589801470616027, + "velocityX": 0.06024466753050299, + "velocityY": -0.020730860357953493, + "moduleForcesX": [ + -66.75427781459665, + -66.54716169925689, + -65.85759120185365, + -65.65826558555733 + ], + "moduleForcesY": [ + 20.505545912235668, + 21.1906188817808, + 23.219261991520145, + 23.797750103270644 + ], + "timestamp": 12.499981573774733 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": -3.239932620489562e-27, + "velocityX": -4.217146509044396e-28, + "velocityY": 4.052244323363519e-26, + "moduleForcesX": [ + -66.57672865678684, + -66.37568868221064, + -65.67874517756027, + -65.486959085013 + ], + "moduleForcesY": [ + 21.10319211877351, + 21.747735247073603, + 23.74615304005815, + 24.28890372131809 + ], + "timestamp": 12.516880851701947 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.7040935158729553, + "y": 4.236670017242432, + "heading": -1.0390724511122948, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 2.3914671774267107, + "isStopPoint": false, + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.061776917324722916, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 + }, + { + "timestamp": 3.0637535541460594, + "isStopPoint": false, + "x": 8.00072956085205, + "y": 0.7218930721282959, + "heading": -0.030602705565700654, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 4.2695439728972735, + "isStopPoint": false, + "x": 5.405139446258545, + "y": 1.639590859413147, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 + }, + { + "timestamp": 5.60436633152858, + "isStopPoint": true, + "x": 2.5682239532470703, + "y": 3.087782382965088, + "heading": -0.7602557704725093, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 }, { - "x": 2.4599931798618555, - "y": 4.411399019100761, - "heading": -0.5614816649136146, - "angularVelocity": 0.02619711535073342, - "velocityX": 0.3271696753992591, - "velocityY": -0.1065808510792109, - "timestamp": 11.597025753354513, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 6.9711036836512426, + "isStopPoint": false, + "x": 5.4212141036987305, + "y": 1.6235160827636719, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 }, { - "x": 2.4640723810342107, - "y": 4.410047374199178, - "heading": -0.5611593710042633, - "angularVelocity": 0.020646263366255697, - "velocityX": 0.2613150893788369, - "velocityY": -0.08658685692172037, - "timestamp": 11.612636031283936, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 8.220459651033002, + "isStopPoint": false, + "x": 8.05344295501709, + "y": 2.3794474601745605, + "heading": 0.2512153407952589, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 }, { - "x": 2.46712710669782, - "y": 4.409019304866325, - "heading": -0.5609210454129525, - "angularVelocity": 0.015267222812314366, - "velocityX": 0.19568682104315818, - "velocityY": -0.06585848999620345, - "timestamp": 11.628246309213358, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 9.494950289937313, + "isStopPoint": false, + "x": 5.429251670837402, + "y": 1.6235160827636719, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 }, { - "x": 2.4691606289115664, - "y": 4.408325041305459, - "heading": -0.5607642757144292, - "angularVelocity": 0.010042723084892041, - "velocityX": 0.1302681619725483, - "velocityY": -0.044474772582873814, - "timestamp": 11.64385658714278, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 11.064376115521673, + "isStopPoint": true, + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 }, { - "x": 2.4701759815216064, - "y": 4.407973766326904, - "heading": -0.5606868811052523, - "angularVelocity": 0.004957926407641578, - "velocityX": 0.06504385217425471, - "velocityY": -0.022502801048308187, - "timestamp": 11.659466865072202, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 11.840909734613382, + "isStopPoint": false, + "x": 1.918377161026001, + "y": 4.322198390960693, + "heading": 0.12764436585624866, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 }, { + "timestamp": 12.516880851701947, + "isStopPoint": true, "x": 2.4701759815216064, "y": 4.407973766326904, "heading": -0.5606868811052523, - "angularVelocity": -1.1447905727402234e-25, - "velocityX": 1.8614769693128743e-24, - "velocityY": 1.7294508609659608e-24, - "timestamp": 11.675077143001625, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 } ], - "trajectoryWaypoints": [], "constraints": [ { "scope": [ @@ -15915,7 +16455,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "source 3": { "waypoints": [ @@ -20299,11 +20839,10 @@ { "x": 1.452175259590149, "y": 5.548182010650635, - "heading": 0, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 3.4945685682605637e-29, - "timestamp": 0, + "heading": 1.0294010822531346e-17, + "angularVelocity": -2.312824974359611e-17, + "velocityX": 4.049033420126817e-16, + "velocityY": -1.8062381342062934e-17, "moduleForcesX": [ 0, 0, @@ -20315,850 +20854,885 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 1.466318199772255, - "y": 5.548197511661567, - "heading": -0.015794096368164284, - "angularVelocity": -0.27289353383712045, - "velocityX": 0.24436452932970548, - "velocityY": 0.0002678295453188977, - "timestamp": 0.05787640383462572, + "x": 1.4661787439500271, + "y": 5.548202389830067, + "heading": -0.015689802867767496, + "angularVelocity": -0.2521141013750506, + "velocityX": 0.22501722330541685, + "velocityY": 0.000327466097049848, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.36743612310936, + 65.67120973275374, + 68.43796411251796, + 65.4051528330653 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.916545938031529, + -24.09350864850128, + 14.590544267758787, + 24.809356900454638 + ], + "timestamp": 0.062232944457305456 }, { - "x": 1.4946023825949046, - "y": 5.548215805203245, - "heading": -0.047399238826634923, - "angularVelocity": -0.5460799283396711, - "velocityX": 0.4886997281991622, - "velocityY": 0.00031607944598028616, - "timestamp": 0.11575280766925145, + "x": 1.4941829092064594, + "y": 5.54823108453382, + "heading": -0.04708641884354897, + "angularVelocity": -0.5045015345102256, + "velocityX": 0.4499893987284657, + "velocityY": 0.0004610854270737568, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.24242028044128, + 65.80814397665154, + 68.54130246968722, + 65.23626681938696 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.459062362083179, + -23.693955439338687, + 14.078029007569464, + 25.234061868946913 + ], + "timestamp": 0.12446588891461091 }, { - "x": 1.537028040945496, - "y": 5.548218122819324, - "heading": -0.09479472244738407, - "angularVelocity": -0.8189085789835888, - "velocityX": 0.733038950943337, - "velocityY": 0.00004004423038595117, - "timestamp": 0.17362921150387717, + "x": 1.5361865608972907, + "y": 5.548250164742622, + "heading": -0.09417002579982231, + "angularVelocity": -0.7565704526258189, + "velocityX": 0.6749423806852723, + "velocityY": 0.0003065933753257053, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.05135706456979, + 66.04443401100497, + 68.69389388528236, + 65.01559886961645 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.255891153735035, + -22.995751292823424, + 13.288724122654443, + 25.77899638866557 + ], + "timestamp": 0.18669883337191637 }, { - "x": 1.5935995805953969, - "y": 5.548180996795719, - "heading": -0.15788218478551821, - "angularVelocity": -1.090037703769253, - "velocityX": 0.9774542974802214, - "velocityY": -0.0006414708100250865, - "timestamp": 0.2315056153385029, + "x": 1.592192187169078, + "y": 5.548237228118494, + "heading": -0.15684482205857422, + "angularVelocity": -1.0070999661888969, + "velocityX": 0.8999353439006594, + "velocityY": -0.00020787421276645849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.78853725655748, + 66.40340058350813, + 68.88772566571352, + 64.7732177923879 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.289829766053117, + -21.893111053169036, + 12.210012377221087, + 26.360457616915966 + ], + "timestamp": 0.24893177782922182 }, { - "x": 1.664328160311928, - "y": 5.548079541936028, - "heading": -0.23644069409709345, - "angularVelocity": -1.3573495260047375, - "velocityX": 1.2220624474150692, - "velocityY": -0.0017529572162204646, - "timestamp": 0.2893820191731286, + "x": 1.6622082786383208, + "y": 5.548168715354815, + "heading": -0.23489507719505093, + "angularVelocity": -1.2541629809925792, + "velocityX": 1.1250647399188554, + "velocityY": -0.0011009082713559807, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.44898603912773, + 66.90663131914464, + 69.11019328504294, + 64.5494931539374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.5327130359385, + -20.236352256279453, + 10.829233055871725, + 26.876680116881865 + ], + "timestamp": 0.31116472228652725 }, { - "x": 1.7492336470969705, - "y": 5.547893435172729, - "heading": -0.3300943236975879, - "angularVelocity": -1.6181660123239159, - "velocityX": 1.4670138633541152, - "velocityY": -0.0032155896193883414, - "timestamp": 0.34725842300775434, + "x": 1.7462508678780084, + "y": 5.5480259553335705, + "heading": -0.32795338443621086, + "angularVelocity": -1.495322261427799, + "velocityX": 1.3504517578945718, + "velocityY": -0.0022939621824202643, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.03070665430681, + 67.55768718675783, + 69.34294277064075, + 64.39066470434966 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -19.942274619650558, + -17.834062739977952, + 9.137125138501382, + 27.21888812265869 + ], + "timestamp": 0.3733976667438327 }, { - "x": 1.8483442655588582, - "y": 5.547615499316589, - "heading": -0.4383212527905159, - "angularVelocity": -1.869966375284976, - "velocityX": 1.7124529496815084, - "velocityY": -0.004802230923623355, - "timestamp": 0.40513482684238006, + "x": 1.8443424215888629, + "y": 5.547803977108122, + "heading": -0.43550968072961793, + "angularVelocity": -1.7282855123020584, + "velocityX": 1.5761997855746834, + "velocityY": -0.0035668925491956203, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.53717023050702, + 68.31328347527213, + 69.56086232907249, + 64.34046534237268 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.45901140636986, + -14.471864682344837, + 7.131369005953755, + 27.284090504472072 + ], + "timestamp": 0.4356306112011381 }, { - "x": 1.9616918443348377, - "y": 5.5472607603153925, - "heading": -0.5605387748450251, - "angularVelocity": -2.1116986190773885, - "velocityX": 1.9584419775245834, - "velocityY": -0.006129250918006309, - "timestamp": 0.4630112306770058, + "x": 1.9565053274747046, + "y": 5.547521370980101, + "heading": -0.5569957251060687, + "angularVelocity": -1.9521178924749518, + "velocityX": 1.8023075537834055, + "velocityY": -0.004541101654116381, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.97845109447337, + 69.04318518170581, + 69.73055044912445, + 64.42786376649663 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -23.00299883474482, + -9.963721508540116, + 4.819601707864198, + 26.98732807113168 + ], + "timestamp": 0.49786355565844354 }, { - "x": 2.089301537907997, - "y": 5.546870943882143, - "heading": -0.6962804015937716, - "angularVelocity": -2.345370785939591, - "velocityX": 2.2048656295222804, - "velocityY": -0.006735325756529281, - "timestamp": 0.5208876345116316, + "x": 2.082745961192638, + "y": 5.547227617976748, + "heading": -0.6919657140494007, + "angularVelocity": -2.168786807700917, + "velocityX": 2.0285177700681523, + "velocityY": -0.004720217038150667, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.36387024702701, + 69.48897061504135, + 69.80313086258776, + 64.6460426364106 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.467608867784115, + -4.2427991311191215, + 2.223447593631636, + 26.273724528663145 + ], + "timestamp": 0.560096500115749 }, { - "x": 2.2311784431428587, - "y": 5.546508222522918, - "heading": -0.8454226137788738, - "angularVelocity": -2.5769087625314175, - "velocityX": 2.451377346157542, - "velocityY": -0.006267171688453446, - "timestamp": 0.5787640383462573, + "x": 2.2230105159626565, + "y": 5.547011251147142, + "heading": -0.840362540302743, + "angularVelocity": -2.3845380858557443, + "velocityX": 2.253863383650871, + "velocityY": -0.003476724919496624, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.62144840932022, + 69.14799520919838, + 69.65300288636165, + 64.85026310991704 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.68406787701617, + 2.593300358750234, + -0.5916618817893329, + 25.16279990587563 + ], + "timestamp": 0.6223294445730544 }, { - "x": 2.3587177894945413, - "y": 5.547218535842002, - "heading": -0.982790955158246, - "angularVelocity": -2.373477484371751, - "velocityX": 2.203650156176975, - "velocityY": 0.012272934605100748, - "timestamp": 0.6366404421808831, + "x": 2.350634812561981, + "y": 5.547576294555637, + "heading": -0.9773350292155086, + "angularVelocity": -2.20096429804296, + "velocityX": 2.0507513780011637, + "velocityY": 0.009079490164974249, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.778646701876895, + -59.00426522471736, + -63.82596835256742, + -61.19484177581821 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.440944352062132, + 0.33147530586501744, + 5.826619416609448, + -14.650934293702942 + ], + "timestamp": 0.6845623890303598 }, { - "x": 2.4720356622517756, - "y": 5.547832011680835, - "heading": -1.106019942043312, - "angularVelocity": -2.1291749092646794, - "velocityX": 1.9579287109521937, - "velocityY": 0.010599757386506177, - "timestamp": 0.6945168460155089, + "x": 2.4642470741298954, + "y": 5.548095499375778, + "heading": -1.1004365987890865, + "angularVelocity": -1.9780772169286014, + "velocityX": 1.8255967568004277, + "velocityY": 0.008342925524492215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.13376888015945, + -68.22676612200455, + -69.4343176509021, + -66.25048158467057 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.899021062721772, + -12.28250273213839, + 5.959056572500632, + -21.452451043955914 + ], + "timestamp": 0.7467953334876652 }, { - "x": 2.5711620359111182, - "y": 5.548341349904571, - "heading": -1.214609623516904, - "angularVelocity": -1.8762340829201694, - "velocityX": 1.7127251710318223, - "velocityY": 0.008800446989432407, - "timestamp": 0.7523932498501347, + "x": 2.5638359943055784, + "y": 5.548536330883737, + "heading": -1.2091212509039668, + "angularVelocity": -1.7464166778932393, + "velocityX": 1.6002604575436765, + "velocityY": 0.007083571445061832, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.30407111448545, + -67.72989321449542, + -69.38847237345551, + -66.83918425861827 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.04838490872202, + -16.322307297612472, + 7.973956891766362, + -20.199288586078318 + ], + "timestamp": 0.8090282779449707 }, { - "x": 2.656120422240657, - "y": 5.548755583572793, - "heading": -1.3081618200834486, - "angularVelocity": -1.6164134321717587, - "velocityX": 1.4679278721099536, - "velocityY": 0.0071572115902751934, - "timestamp": 0.8102696536847604, + "x": 2.64941127722025, + "y": 5.548898336746436, + "heading": -1.3029681083406854, + "angularVelocity": -1.5079932060876673, + "velocityX": 1.3750800908347844, + "velocityY": 0.005816948977397364, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.46785963487848, + -67.10068503303509, + -69.22032555827928, + -67.28711389699549 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - }, - { - "x": 2.726926079229215, - "y": 5.549091194186358, - "heading": -1.3864135118598573, - "angularVelocity": -1.3520482716470443, - "velocityX": 1.2233942037492063, - "velocityY": 0.005798746836437776, - "timestamp": 0.8681460575193862, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + 26.851194749692368, + -19.18344485285335, + 9.715575687112043, + -18.89123264317697 + ], + "timestamp": 0.8712612224022761 + }, + { + "x": 2.72098160233461, + "y": 5.549193052067176, + "heading": -1.3816963689946384, + "angularVelocity": -1.2650576208500885, + "velocityX": 1.1500391912718237, + "velocityY": 0.004735680153697735, + "moduleForcesX": [ + -64.67707379137855, + -66.55858882390321, + -69.0307826777712, + -67.64350396236398 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.44544821918082, + -21.187051294359822, + 11.15350748308186, + -17.69914897664885 + ], + "timestamp": 0.9334941668595815 }, { - "x": 2.783587051454044, - "y": 5.54936580399135, - "heading": -1.4492215585526071, - "angularVelocity": -1.0852099047030253, - "velocityX": 0.9789995311918915, - "velocityY": 0.004744762750412747, - "timestamp": 0.926022461354012, + "x": 2.778551285124397, + "y": 5.549435248938275, + "heading": -1.445148415425005, + "angularVelocity": -1.0195893346099913, + "velocityX": 0.9250676356557979, + "velocityY": 0.0038917790821066944, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.90601405011923, + -66.14737625956599, + -68.85440707126513, + -67.91959828827395 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.943074751080765, + -22.54904087061858, + 12.289279085739823, + -16.687972535734747 + ], + "timestamp": 0.995727111316887 }, { - "x": 2.8261063522777903, - "y": 5.549594405957992, - "heading": -1.4965273141780742, - "angularVelocity": -0.8173582408069484, - "velocityX": 0.7346569241128174, - "velocityY": 0.0039498301816464874, - "timestamp": 0.9838988651886378, + "x": 2.822120933461105, + "y": 5.549638235305081, + "heading": -1.4932545313488537, + "angularVelocity": -0.773000801151365, + "velocityX": 0.7001058477059969, + "velocityY": 0.003261718832441912, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.11998377198796, + -65.86340862601119, + -68.70989741781385, + -68.12247750067468 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.446972732311313, + -23.434946629935343, + 13.132442814780301, + -15.894552168041413 + ], + "timestamp": 1.0579600557741924 }, { - "x": 2.854484149597495, - "y": 5.549787551270912, - "heading": -1.5283205384099117, - "angularVelocity": -0.5493296425187139, - "velocityX": 0.49031721799214734, - "velocityY": 0.0033372030764393466, - "timestamp": 1.0417752690232636, + "x": 2.8516889881925245, + "y": 5.549811577390205, + "heading": -1.5259966380029482, + "angularVelocity": -0.5261217662004515, + "velocityX": 0.4751190063003369, + "velocityY": 0.0027853749681004416, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.28930355863467, + -65.68973610854191, + -68.60834394961354, + -68.25820970062102 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.04423462908666, + -23.96428862271737, + 13.694287481052196, + -15.341318229708934 + ], + "timestamp": 1.120193000231498 }, { - "x": 2.8687193895062917, - "y": 5.54995070270213, - "heading": -1.5446123805496204, - "angularVelocity": -0.2814936840762383, - "velocityX": 0.24595930225930615, - "velocityY": 0.0028189628311447905, - "timestamp": 1.0996516728578893, + "x": 2.8672530575750774, + "y": 5.549960197790441, + "heading": -1.543380633501073, + "angularVelocity": -0.2793375060321907, + "velocityX": 0.25009373283076736, + "velocityY": 0.0023881306099092455, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.39357403027284, + -65.6101093223986, + -68.556065221474, + -68.33159790330103 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.798625891364853, + -24.214734736612353, + 13.984463188212427, + -15.041271559617318 + ], + "timestamp": 1.1824259446888035 }, { "x": 2.868810653686523, "y": 5.550084114074707, "heading": -1.5454210598741147, - "angularVelocity": -0.013972521918793338, - "velocityX": 0.0015768805523035806, - "velocityY": 0.00230510819110946, - "timestamp": 1.1575280766925151, + "angularVelocity": -0.032786916808060076, + "velocityX": 0.02502848168697494, + "velocityY": 0.0019911685931672846, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.42245256841296, + -65.61481136744267, + -68.55604210076865, + -68.34563364143742 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.74545735648303, + -24.22655073353629, + 14.00900484193397, + -15.00049255558983 + ], + "timestamp": 1.244658889146109 }, { - "x": 2.854727051459898, - "y": 5.550182947564483, - "heading": -1.530739895204114, - "angularVelocity": 0.25340219049451096, - "velocityX": -0.24308804744790793, - "velocityY": 0.0017059016353199324, - "timestamp": 1.2154642951537273, + "x": 2.8560580548726877, + "y": 5.550179036527251, + "heading": -1.5318136793543256, + "angularVelocity": 0.21620724291774876, + "velocityX": -0.20262564316804035, + "velocityY": 0.001508219875877104, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.37447953791477, + -65.7052120397811, + -68.61016225748908, + -68.3003808870975 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.893387518949716, + -24.000892863879745, + 13.763877443898723, + -15.22489041675177 + ], + "timestamp": 1.3075956360181824 }, { - "x": 2.826469390730147, - "y": 5.550236990005126, - "heading": -1.5005635985743295, - "angularVelocity": 0.5208537496702079, - "velocityX": -0.4877374028908444, - "velocityY": 0.0009327919932704577, - "timestamp": 1.2734005136149396, + "x": 2.828980183177157, + "y": 5.550233981900514, + "heading": -1.5025237665909776, + "angularVelocity": 0.46538650659134856, + "velocityX": -0.43023945533078567, + "velocityY": 0.0008730253125815452, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.21226267062308, + -65.84831813583705, + -68.70273293284437, + -68.17946562571872 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.29948286012646, + -23.582552543858412, + 13.274401354915979, + -15.73907098938741 + ], + "timestamp": 1.3705323828902558 }, { - "x": 2.7840363173025917, - "y": 5.550231531336438, - "heading": -1.4549278185227903, - "angularVelocity": 0.7876900022392844, - "velocityX": -0.7324101322216507, - "velocityY": -0.00009421858648957693, - "timestamp": 1.3313367320761518, + "x": 2.7875777614954127, + "y": 5.550234623197386, + "heading": -1.4575775018441677, + "angularVelocity": 0.7141497929322483, + "velocityX": -0.6578417814578725, + "velocityY": 0.00001018956244456657, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.99635460278539, + -66.0989076251482, + -68.84264625200836, + -67.99134973587267 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.831090822374836, + -22.839475132301708, + 12.502904847328153, + -16.510234859933455 + ], + "timestamp": 1.4334691297623292 }, { - "x": 2.7274221860317014, - "y": 5.550148761102887, - "heading": -1.3939422780597905, - "angularVelocity": 1.0526323961280135, - "velocityX": -0.9771802987977017, - "velocityY": -0.0014286440443203173, - "timestamp": 1.389272950537364, + "x": 2.7318477952498763, + "y": 5.550163391111192, + "heading": -1.3970728918522342, + "angularVelocity": 0.9613558532771274, + "velocityX": -0.8854916883070214, + "velocityY": -0.0011318044263684292, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.75567753641344, + -66.4777432693289, + -69.02158842662257, + -67.7302601315089 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.407346934911697, + -21.6675742621197, + 11.438365069617793, + -17.522471992014214 + ], + "timestamp": 1.4964058766344026 }, { - "x": 2.6566148405660037, - "y": 5.549971116782003, - "heading": -1.3178266829234198, - "angularVelocity": 1.3137825898375852, - "velocityX": -1.2221602883789593, - "velocityY": -0.0030662049661788395, - "timestamp": 1.4472091689985762, + "x": 2.661781530319156, + "y": 5.5500028342906, + "heading": -1.3212163187248507, + "angularVelocity": 1.2052827147449419, + "velocityX": -1.113280689172428, + "velocityY": -0.002551082272751422, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.52936413322816, + -67.00221396579178, + -69.22667923999464, + -67.39075093394216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.929132035464175, + -19.91969936190412, + 10.069711861017682, + -18.749892224405997 + ], + "timestamp": 1.559342623506476 }, { - "x": 2.5715941967619655, - "y": 5.549687031457954, - "heading": -1.226931382981112, - "angularVelocity": 1.5688856186358704, - "velocityX": -1.4674869375120783, - "velocityY": -0.004903415021825008, - "timestamp": 1.5051453874597884, + "x": 2.5773633649542718, + "y": 5.549741521399564, + "heading": -1.230344103171569, + "angularVelocity": 1.4438657869916498, + "velocityX": -1.341317585634253, + "velocityY": -0.004151992344170057, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.36241714956134, + -67.66937886189378, + -69.43947692219834, + -66.96955346089686 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.290314184429594, + -17.409293348365264, + 8.388775355718925, + -20.15435798513431 + ], + "timestamp": 1.6222793703785494 }, { - "x": 2.4723332576046424, - "y": 5.549298738005835, - "heading": -1.121715620167328, - "angularVelocity": 1.8160619662218163, - "velocityX": -1.7132795648476955, - "velocityY": -0.006702084848955864, - "timestamp": 1.5630816059210006, + "x": 2.4785726509492148, + "y": 5.549382320102514, + "heading": -1.1249003745230932, + "angularVelocity": 1.6753921022121, + "velocityX": -1.569682560931959, + "velocityY": -0.005707338176077271, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.29741448888443, + -68.42726170583565, + -69.63508541869187, + -66.46727313239425 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.391044834031142, + -13.93090390666345, + 6.393009384152986, + -21.684074722941702 + ], + "timestamp": 1.6852161172506228 }, { - "x": 2.35880343917765, - "y": 5.548829799595477, - "heading": -1.002653528016106, - "angularVelocity": 2.05505459822325, - "velocityX": -1.9595655608762472, - "velocityY": -0.008094045876840723, - "timestamp": 1.6210178243822129, + "x": 2.3653912124588783, + "y": 5.548951054594649, + "heading": -1.0053368531706355, + "angularVelocity": 1.8997410462836546, + "velocityX": -1.7983363315305039, + "velocityY": -0.006852364146410688, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.361890009489, + -69.136881435311, + -69.78062918639013, + -65.88759861349882 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.151847007916277, + -9.311825028879877, + 4.08694064831974, + -23.274866069633724 + ], + "timestamp": 1.7481528641226962 }, { - "x": 2.2309849265830795, - "y": 5.548327388172679, - "heading": -0.8700585611941914, - "angularVelocity": 2.288636889771009, - "velocityX": -2.206193569179898, - "velocityY": -0.008671802127711101, - "timestamp": 1.678954042843425, + "x": 2.237820961474841, + "y": 5.548501554978895, + "heading": -0.8719106153272527, + "angularVelocity": 2.1200053144573325, + "velocityX": -2.0269597226398592, + "velocityY": -0.007142085319468688, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.54460005629463, + -69.53557534409713, + -69.82800005514223, + -65.2230616150622 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.534156398187733, + -3.4957836602984522, + 1.481573631951752, + -24.86100078824297 + ], + "timestamp": 1.8110896109947696 }, { - "x": 2.0888792640733476, - "y": 5.547853208451157, - "heading": -0.7238741429089274, - "angularVelocity": 2.523195717157545, - "velocityX": -2.4527949231291983, - "velocityY": -0.008184512791055682, - "timestamp": 1.7368902613046373, + "x": 2.095934565490872, + "y": 5.5481183529252664, + "heading": -0.7243375961227965, + "angularVelocity": 2.344783080457575, + "velocityX": -2.2544285021908332, + "velocityY": -0.006088685357057522, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.67215484224079, + -69.11998592679583, + -69.65401084782593, + -64.32589803391569 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.64865976101465, + 3.4614680134652653, + -1.4064003555861124, + -26.463684422006175 + ], + "timestamp": 1.874026357866843 }, { - "x": 1.9614332833366477, - "y": 5.548125746738703, - "heading": -0.5810528234524482, - "angularVelocity": 2.4651474197456285, - "velocityX": -2.19976353521857, - "velocityY": 0.004704109005015754, - "timestamp": 1.7948264797658495, + "x": 1.9671341741737232, + "y": 5.5482903285396015, + "heading": -0.581945105897832, + "angularVelocity": 2.2624698177357256, + "velocityX": -2.0465053838645235, + "velocityY": 0.0027325150550230742, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.54842778772192, + 60.33651967726527, + 62.41051256201755, + 60.46779790887323 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.654151714257232, + 0.9052787770944943, + 3.9736029040300114, + 11.159424373321091 + ], + "timestamp": 1.9369631047389164 }, { - "x": 1.8482134080283263, - "y": 5.5483011716472355, - "heading": -0.45292058282424763, - "angularVelocity": 2.2116086280188663, - "velocityX": -1.9542158310940076, - "velocityY": 0.0030278971056558047, - "timestamp": 1.8527626982270617, + "x": 1.8526704687838236, + "y": 5.548407377905108, + "heading": -0.45388509301955116, + "angularVelocity": 2.034741534040793, + "velocityX": -1.8187102302001648, + "velocityY": 0.0018597938031193369, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.36814528403231, + 68.10148667456188, + 69.37166829635237, + 64.31495097956763 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.098496982862496, + -13.090928600142043, + 6.676948754570997, + 26.485125475899284 + ], + "timestamp": 1.9998998516109898 }, { - "x": 1.74918485679449, - "y": 5.548383856133978, - "heading": -0.34009176355754206, - "angularVelocity": 1.9474660628554865, - "velocityX": -1.7092684656678476, - "velocityY": 0.00142716402119401, - "timestamp": 1.910698916688274, + "x": 1.7525389201263797, + "y": 5.548452358602103, + "heading": -0.34097309248428354, + "angularVelocity": 1.7940552403287962, + "velocityX": -1.5909870407093032, + "velocityY": 0.0007146968174985772, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.91376160409132, + 67.52782878620512, + 69.2860574339187, + 64.34388851318542 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -19.96150028366774, + -17.190255443859797, + 8.836964561850435, + 26.96680412559349 + ], + "timestamp": 2.062836598483063 }, { - "x": 1.6643218193773226, - "y": 5.548394075122146, - "heading": -0.24302592792019384, - "angularVelocity": 1.6753912874017696, - "velocityX": -1.4647665945893205, - "velocityY": 0.00017638341397612615, - "timestamp": 1.9686351351494862, + "x": 1.666723438941702, + "y": 5.548437277029116, + "heading": -0.2437477324997491, + "angularVelocity": 1.5448106998926139, + "velocityX": -1.363519492980257, + "velocityY": -0.00023963060024477235, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.35513974793022, + 66.87090830528443, + 69.0834563648647, + 64.46109515480865 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.65587696179638, + -19.99992325966331, + 10.655663584120108, + 26.876720012100044 + ], + "timestamp": 2.125773345355136 }, { - "x": 1.5936086785085652, - "y": 5.548358224540171, - "heading": -0.16200635138643993, - "angularVelocity": 1.398427075219485, - "velocityX": -1.2205342831867738, - "velocityY": -0.0006187939607027076, - "timestamp": 2.0265713536106986, + "x": 1.5952128189106207, + "y": 5.548384193629019, + "heading": -0.16253908370744105, + "angularVelocity": 1.2903216773706274, + "velocityX": -1.1362300021159608, + "velocityY": -0.0008434404860780658, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.71134490467824, + 66.33009784800674, + 68.86573657738248, + 64.65381498740837 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.445142325704392, + -21.912951647780986, + 12.137859674457161, + 26.509440443987298 + ], + "timestamp": 2.1887100922272094 }, { - "x": 1.537038141911803, - "y": 5.548301796110423, - "heading": -0.09717158064029811, - "angularVelocity": 1.1190714973622422, - "velocityX": -0.9764278391021166, - "velocityY": -0.0009739750250737027, - "timestamp": 2.084507572071911, + "x": 1.5380021409243265, + "y": 5.548316086523075, + "heading": -0.09751754598609085, + "angularVelocity": 1.0331251765118854, + "velocityX": -0.9090186707750106, + "velocityY": -0.0010821517125678584, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.98728047149343, + 65.93523459116835, + 68.66828272586083, + 64.87818858014563 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.416458996033853, + -23.1780085941375, + 13.294947884723614, + 26.018513254754996 + ], + "timestamp": 2.2516468390992825 }, { - "x": 1.494608340977685, - "y": 5.54824541753566, - "heading": -0.04856510536917417, - "angularVelocity": 0.8389652718330209, - "velocityX": -0.7323536478881102, - "velocityY": -0.0009731145096314944, - "timestamp": 2.1424437905331235, + "x": 1.4950909876344731, + "y": 5.5482520614605075, + "heading": -0.04874946317801182, + "angularVelocity": 0.7748745404202622, + "velocityX": -0.6818139707219196, + "velocityY": -0.001017292132037145, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.18834152304179, + 65.67233987704924, + 68.51001840724298, + 65.09048033163083 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.615250917452268, + -23.97795738437613, + 14.142077463878332, + 25.527482339271003 + ], + "timestamp": 2.3145835859713557 }, { - "x": 1.466320145844647, - "y": 5.548203147038483, - "heading": -0.016181616805544394, - "angularVelocity": 0.558950677542195, - "velocityX": -0.48826443777135237, - "velocityY": -0.0007296040082267754, - "timestamp": 2.200380008994336, + "x": 1.4664812166751366, + "y": 5.548205229161406, + "heading": -0.016246393265528333, + "angularVelocity": 0.5164402599093739, + "velocityX": -0.4545797548068217, + "velocityY": -0.0007441170269136336, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.32022707353642, + 65.51795160520804, + 68.40182352069117, + 65.255923467784 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.067788193756657, + -24.44065464018659, + 14.694333100896438, + 25.13568642572427 + ], + "timestamp": 2.377520332843429 }, { - "x": 1.452175259590149, + "x": 1.4521752595901487, "y": 5.548182010650635, - "heading": -2.869110193225328e-35, - "angularVelocity": 0.27930053488301665, - "velocityX": -0.24414583192426295, - "velocityY": -0.00036482166811733157, - "timestamp": 2.2583162274555484, + "heading": -1.272467497388997e-17, + "angularVelocity": 0.2581384337919935, + "velocityX": -0.22730690407773096, + "velocityY": -0.0003689181440546911, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.38765858797099, + 65.45254130892798, + 68.34963446656292, + 65.35157149350827 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.78879046721604, + -24.646519101335457, + 14.96365777331691, + 24.913328996344212 + ], + "timestamp": 2.440457079715502 }, { "x": 1.452175259590149, "y": 5.548182010650635, - "heading": -1.1719973638462166e-31, - "angularVelocity": -2.0224094515653083e-30, - "velocityX": -2.9733771204512377e-31, - "velocityY": -1.5033381732661464e-32, - "timestamp": 2.316252445916761, + "heading": -6.774111808455795e-18, + "angularVelocity": -1.2736553930478867e-17, + "velocityX": 3.5588044169619737e-16, + "velocityY": 3.4220333719525545e-18, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.39344426513723, + 65.46559625670558, + 68.35606913524865, + 65.3663831736629 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.784944739844013, + -24.634793889576954, + 14.956891653850455, + 24.897130606858017 + ], + "timestamp": 2.5033938265875753 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 1.452175259590149, + "y": 5.548182010650635, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 1.244658889146109, + "isStopPoint": false, + "x": 2.8688106536865234, + "y": 5.550084114074707, + "heading": -1.5454210598741147, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "timestamp": 2.5033938265875753, + "isStopPoint": true, + "x": 1.452175259590149, + "y": 5.548182010650635, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 } ], - "trajectoryWaypoints": [], "constraints": [ { "scope": [ @@ -21178,7 +21752,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "source 4 center": { "waypoints": [ @@ -21266,13 +21840,12 @@ ], "trajectory": [ { - "x": 0.7778744697570803, + "x": 0.7778744697570801, "y": 4.333664894104004, "heading": -1.051650156247713, - "angularVelocity": -1.7793953070033792e-17, - "velocityX": -2.3662346560779174e-16, - "velocityY": 1.513985749824813e-16, - "timestamp": 0, + "angularVelocity": -5.636129343676144e-20, + "velocityX": -1.5582516804955846e-19, + "velocityY": -1.233474018766279e-19, "moduleForcesX": [ 0, 0, @@ -21284,6730 +21857,6831 @@ 0, 0, 0 - ] - }, - { - "x": 0.790260400822094, - "y": 4.32606669230055, - "heading": -1.043226880114087, - "angularVelocity": 0.1457853167710587, - "velocityX": 0.2143687153516353, - "velocityY": -0.1315053951971085, - "timestamp": 0.05777863175928728, - "moduleForcesX": [ - 0, - 0, - 0, - 0 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 0 }, { - "x": 0.8150389153431291, - "y": 4.310868474494396, - "heading": -1.026520641212676, - "angularVelocity": 0.28914216887328015, - "velocityX": 0.4288525665381815, - "velocityY": -0.2630421895324896, - "timestamp": 0.11555726351857457, + "x": 0.7895452521522209, + "y": 4.326271706184473, + "heading": -1.0450525918907192, + "angularVelocity": 0.10860764414662394, + "velocityX": 0.19212183658965779, + "velocityY": -0.12170502313059048, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.06383099029837, + 60.906607266744466, + 56.3319330950316, + 52.01323971713489 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.71732033864186, + -34.44361073075982, + -41.475415745609055, + -46.7975187530415 + ], + "timestamp": 0.06074677716134803 }, { - "x": 0.8522172862387298, - "y": 4.288068391059585, - "heading": -1.0016844781071523, - "angularVelocity": 0.42985031575330845, - "velocityX": 0.6434622933005771, - "velocityY": -0.3946109961516389, - "timestamp": 0.17333589527786186, + "x": 0.812891040884265, + "y": 4.311485642995027, + "heading": -1.0319614680992248, + "angularVelocity": 0.21550318227950277, + "velocityX": 0.38431320677368613, + "velocityY": -0.2434048994924028, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.97080534520987, + 60.951662581783964, + 56.28614472291954, + 52.19180297323933 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -25.942901335843057, + -34.358458408204996, + -41.53202089319371, + -46.59420782929671 + ], + "timestamp": 0.12149355432269605 }, { - "x": 0.9018037069270466, - "y": 4.257664548050408, - "heading": -0.9688918459931005, - "angularVelocity": 0.5675563978508485, - "velocityX": 0.8582138271272934, - "velocityY": -0.5262125821158792, - "timestamp": 0.23111452703714913, + "x": 0.8479163410713284, + "y": 4.289307010011541, + "heading": -1.0124901254227336, + "angularVelocity": 0.3205329333731382, + "velocityX": 0.5765787392149813, + "velocityY": -0.3650997471780042, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.86126439569931, + 61.02328105292509, + 56.19999670140154, + 52.406323236350914 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.205865141072746, + -34.224961707159885, + -41.642410823466925, + -46.348217721367696 + ], + "timestamp": 0.1822403314840441 }, { - "x": 0.9638076509071686, - "y": 4.21965495404394, - "heading": -0.9283472235119572, - "angularVelocity": 0.7017234788469388, - "velocityX": 1.0731293229378922, - "velocityY": -0.6578486345059211, - "timestamp": 0.2888931587964364, + "x": 0.89462603889228, + "y": 4.259736097975707, + "heading": -0.9867650702973968, + "angularVelocity": 0.42348016351565526, + "velocityX": 0.7689247068513118, + "velocityY": -0.4867898087381881, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.73067218370694, + 61.11706368178447, + 56.082381085599536, + 52.65884879811182 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.515734115300113, + -34.05011315200466, + -41.79386284871882, + -46.055908023341814 + ], + "timestamp": 0.2429871086453921 }, { - "x": 1.0382402900358625, - "y": 4.174037389516853, - "heading": -0.8803008243396758, - "angularVelocity": 0.8315600025360311, - "velocityX": 1.2882381749500231, - "velocityY": -0.7895231011550332, - "timestamp": 0.34667179055572367, + "x": 0.953025517326669, + "y": 4.2227731651890155, + "heading": -0.9549309751434943, + "angularVelocity": 0.5240458282971734, + "velocityX": 0.9613592879055225, + "velocityY": -0.6084756181964223, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.57325982367182, + 61.227498456031874, + 55.944316274286756, + 52.95196588119314 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.88414387827563, + -33.84283883946265, + -41.9708347598879, + -45.71261471367435 + ], + "timestamp": 0.30373388580674016 }, { - "x": 1.1251149598280679, - "y": 4.120809170553125, - "heading": -0.8250688523182798, - "angularVelocity": 0.9559238483095122, - "velocityX": 1.5035778305401113, - "velocityY": -0.9212440195102288, - "timestamp": 0.40445042231501094, + "x": 1.023120786856791, + "y": 4.178418402152836, + "heading": -0.9171572799850713, + "angularVelocity": 0.6218222089065436, + "velocityX": 1.1538928121889291, + "velocityY": -0.7301582916632786, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.38187670480939, + 61.34764033918663, + 55.799516599457185, + 53.28867992093736 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -27.324742826425798, + -33.614752605263604, + -42.15445916906758, + -45.31265287311907 + ], + "timestamp": 0.3644806629680882 }, { - "x": 1.2244476483198248, - "y": 4.059966801166272, - "heading": -0.7630612249532699, - "angularVelocity": 1.0731930728879349, - "velocityX": 1.719194198048661, - "velocityY": -1.0530254444295157, - "timestamp": 0.4622290540742982, + "x": 1.1049186274470617, + "y": 4.126671872057348, + "heading": -0.873646939244105, + "angularVelocity": 0.7162575987430515, + "velocityX": 1.346537946745875, + "velocityY": -0.8518399249073805, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.1478028196942, + 61.468621723586494, + 55.665083076725416, + 53.67232805267827 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -27.853017238524256, + -33.3812445308963, + -42.3218302773256, + -44.84924675078015 + ], + "timestamp": 0.4252274401294362 }, { - "x": 1.3362574752268745, - "y": 3.9915055634581638, - "heading": -0.6948199700911081, - "angularVelocity": 1.1810811849346494, - "velocityX": 1.935141478823221, - "velocityY": -1.1848885240710811, - "timestamp": 0.5200076858335855, + "x": 1.1984267341731174, + "y": 4.067533424655495, + "heading": -0.824648035993807, + "angularVelocity": 0.8066090999388039, + "velocityX": 1.539309755934722, + "velocityY": -0.9735240314852686, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.8605162741697, + 61.57887433379153, + 55.56236960606459, + 54.1065703578737 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.48601435609894, + -33.16309981350497, + -42.44492962580768, + -44.31431152916742 + ], + "timestamp": 0.4859742172907842 }, { - "x": 1.4605671120938635, - "y": 3.915419208926679, - "heading": -0.6210750436535144, - "angularVelocity": 1.276335631221314, - "velocityX": 2.1514811459170184, - "velocityY": -1.3168597492662952, - "timestamp": 0.5777863175928728, + "x": 1.3036538534859086, + "y": 4.001002590651008, + "heading": -0.7704693310933457, + "angularVelocity": 0.8918778482117411, + "velocityX": 1.7322255472631922, + "velocityY": -1.095215863514464, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.50739782955684, + 61.66282895640172, + 55.518158163313615, + 54.59554910231365 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.24196295284344, + -32.9890092589466, + -42.488870027426124, + -43.69793519935049 + ], + "timestamp": 0.5467209944521323 }, { - "x": 1.5974029985127856, - "y": 3.8317001576981107, - "heading": -0.5428340183077932, - "angularVelocity": 1.3541515775534916, - "velocityX": 2.3682784145702263, - "velocityY": -1.4489621626443523, - "timestamp": 0.6355649493521601, + "x": 1.420609888323638, + "y": 3.9270784831952756, + "heading": -0.7115015548767949, + "angularVelocity": 0.9707144802090146, + "velocityX": 1.925304358568446, + "velocityY": -1.216922294649221, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.073315620909774, + 61.698608578825045, + 55.56643922813387, + 55.144393028054715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.139867136621483, + -32.89967785549446, + -42.40879677377493, + -42.98724103203216 + ], + "timestamp": 0.6074677716134803 }, { - "x": 1.7467946407653947, - "y": 3.740341260921631, - "heading": -0.4615494492257075, - "angularVelocity": 1.4068275174934395, - "velocityX": 2.5855863613211305, - "velocityY": -1.5811883043041164, - "timestamp": 0.6933435811114474, + "x": 1.549305929784203, + "y": 3.845759771334139, + "heading": -0.6482479021390049, + "angularVelocity": 1.0412676308700886, + "velocityX": 2.1185657490723906, + "velocityY": -1.338650635656737, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.539923460384564, + 61.65364147525013, + 55.75142545651446, + 55.76044328396493 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -31.19933132427257, + -32.955006820356004, + -42.14405313430009, + -42.16391323535469 + ], + "timestamp": 0.6682145487748283 }, { - "x": 1.908769072887807, - "y": 3.6413426760214245, - "heading": -0.3794943251085089, - "angularVelocity": 1.420163849830334, - "velocityX": 2.803362197935337, - "velocityY": -1.7134117213548117, - "timestamp": 0.7511222128707348, + "x": 1.6897541099219289, + "y": 3.7570448709667494, + "heading": -0.5813709766950805, + "angularVelocity": 1.1009131441869606, + "velocityX": 2.312026854769351, + "velocityY": -1.4604050537817976, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.88420903341154, + 61.475608657814256, + 56.133115918467446, + 56.45607668593568 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.44129101146052, + -33.24767092959366, + -41.606512702494356, + -41.1986340416764 + ], + "timestamp": 0.7289613259361764 }, { - "x": 2.083315645349881, - "y": 3.5347427761060226, - "heading": -0.30082734030617125, - "angularVelocity": 1.3615238437987522, - "velocityX": 3.020953718482913, - "velocityY": -1.844970998266447, - "timestamp": 0.8089008446300221, + "x": 1.8419669511597132, + "y": 3.6609326997604614, + "heading": -0.5117725030101681, + "angularVelocity": 1.145714668945378, + "velocityX": 2.5056941018203385, + "velocityY": -1.582177289027317, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 61.07501738915023, + 61.071790321814795, + 56.798209973922155, + 57.255406703969186 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.891307938815935, + -33.931276678048704, + -40.65560929631092, + -40.03764488634434 + ], + "timestamp": 0.7897081030975244 }, { - "x": 2.270090753487244, - "y": 3.4209144724017664, - "heading": -0.23622157160887522, - "angularVelocity": 1.1181602390041263, - "velocityX": 3.2325983231221276, - "velocityY": -1.9700761378095335, - "timestamp": 0.8666794763893094, + "x": 2.0059550611467434, + "y": 3.557424966823023, + "heading": -0.4407458962436112, + "angularVelocity": 1.1692242796338779, + "velocityX": 2.6995359696443733, + "velocityY": -1.7039213893193699, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.06391562765075, + 60.2553534688524, + 57.88240967857871, + 58.211716579845955 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.589653551995454, + -35.28568480691761, + -39.04000192025351, + -38.566184571815135 + ], + "timestamp": 0.8504548802588724 }, { - "x": 2.4675703698241453, - "y": 3.301925100586404, - "heading": -0.20598558214025112, - "angularVelocity": 0.5233074676221288, - "velocityX": 3.4178659190066183, - "velocityY": -2.0594009963940656, - "timestamp": 0.9244581081485967, + "x": 2.181718451496118, + "y": 3.446533493890028, + "heading": -0.37031453022930083, + "angularVelocity": 1.159425558120382, + "velocityX": 2.8933780286406527, + "velocityY": -1.8254708828166932, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.75896628533793, + 58.57779198874031, + 59.61638310709172, + 59.460487131227445 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.62021543413481, + -37.8914092227543, + -36.24409731253385, + -36.48845656614379 + ], + "timestamp": 0.9112016574202204 }, { - "x": 2.67309990510019, - "y": 3.1759332785826966, - "heading": -0.2059855458578113, - "angularVelocity": 6.279560238040065e-7, - "velocityX": 3.5571893798438423, - "velocityY": -2.180595458345295, - "timestamp": 0.9822367399078841, + "x": 2.3692072132515976, + "y": 3.3283109625607157, + "heading": -0.3041558144467885, + "angularVelocity": 1.0890901357085954, + "velocityX": 3.0863984974461345, + "velocityY": -1.9461531434878288, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.93835584644663, + 54.64324099612931, + 62.40530836687403, + 61.42469557396897 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.19943588591799, + -43.18365028431357, + -31.01488653473848, + -32.78851143617189 + ], + "timestamp": 0.9719484345815684 }, { - "x": 2.878638160545615, - "y": 3.0499556827875893, - "heading": -0.20598550964073065, - "angularVelocity": 6.268248243037761e-7, - "velocityX": 3.557340303621619, - "velocityY": -2.1803492391433776, - "timestamp": 1.0400153716671714, + "x": 2.56806447073906, + "y": 3.2031059904962547, + "heading": -0.2513338119549388, + "angularVelocity": 0.8695441134523151, + "velocityX": 3.273544157894707, + "velocityY": -2.0610965373834955, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 53.88336419615082, + 41.809191119167274, + 66.69854625720048, + 65.85546615427828 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.010821811647745, + -55.34450268010527, + -19.634216069923124, + -21.19770757793386 + ], + "timestamp": 1.0326952117429165 }, { - "x": 3.0841652677026152, - "y": 2.923959899852403, - "heading": -0.2059854734241155, - "angularVelocity": 6.268167671168799e-7, - "velocityX": 3.5571473553276682, - "velocityY": -2.180664011915343, - "timestamp": 1.0977940034264586, + "x": 2.776792495396947, + "y": 3.0728016301437586, + "heading": -0.23024910209459595, + "angularVelocity": 0.34709182685264595, + "velocityX": 3.4360345422686316, + "velocityY": -2.145041538687696, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 50.13974894181501, + 14.462070724025372, + 68.87486756491161, + 64.69981567644771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.70818593784217, + -67.04398929850127, + -5.497361173032204, + 17.868544087245013 + ], + "timestamp": 1.0934419889042646 }, { - "x": 3.2896912914469922, - "y": 2.7979623496482073, - "heading": -0.20598543720757262, - "angularVelocity": 6.26815516623068e-7, - "velocityX": 3.557128604232485, - "velocityY": -2.1806945988114834, - "timestamp": 1.1555726351857458, + "x": 2.991386265300539, + "y": 2.93826565209188, + "heading": -0.23011827872356835, + "angularVelocity": 0.0021535853775438334, + "velocityX": 3.532595142185318, + "velocityY": -2.214701492632949, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 35.48252383687913, + 9.774963698526314, + 47.16159141172256, + 25.3481482265981 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.0500079299969, + -40.12544174173949, + -7.927697970329668, + -0.8555169505330844 + ], + "timestamp": 1.1541887660656127 }, { - "x": 3.4952174217611773, - "y": 2.671964973280129, - "heading": -0.20598540099105317, - "angularVelocity": 6.268151111067458e-7, - "velocityX": 3.557130448682686, - "velocityY": -2.1806915901539288, - "timestamp": 1.213351266945033, + "x": 3.205905990741616, + "y": 2.803602144884387, + "heading": -0.2300007247531307, + "angularVelocity": 0.0019351474420683024, + "velocityX": 3.5313762386323164, + "velocityY": -2.2168008493655034, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.3647413828336435, + -0.3828932952888559, + -0.360410692437786, + -0.3785536331016633 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.6515095237983872, + -0.6472507026375742, + -0.6329625479827293, + -0.6286944294381447 + ], + "timestamp": 1.2149355432269608 }, { - "x": 3.700743952525155, - "y": 2.5459682501256737, - "heading": -0.20598536477454374, - "angularVelocity": 6.268149377930614e-7, - "velocityX": 3.557137379442033, - "velocityY": -2.1806802847006312, - "timestamp": 1.2711298987043202, + "x": 3.4204616055120933, + "y": 2.668995655584455, + "heading": -0.22988334708765484, + "angularVelocity": 0.0019322451488097425, + "velocityX": 3.531967040829198, + "velocityY": -2.2158622331915043, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.1802303545562368, + 0.17998910216157288, + 0.18028797437995087, + 0.18004667269776484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.2860372087685171, + 0.28609395913281965, + 0.28628349383473545, + 0.2863402826996723 + ], + "timestamp": 1.275682320388309 }, { - "x": 3.906271071380292, - "y": 2.4199724862737657, - "heading": -0.20598532855803678, - "angularVelocity": 6.268148944566873e-7, - "velocityX": 3.5571475577924354, - "velocityY": -2.1806636816327134, - "timestamp": 1.3289085304636075, + "x": 3.6350877550593124, + "y": 2.5345014913633266, + "heading": -0.2297661360926154, + "angularVelocity": 0.0019295014569767248, + "velocityX": 3.533128168711827, + "velocityY": -2.214013162606174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.3541204299468525, + 0.3538924274182181, + 0.35417489682972425, + 0.353946893366516 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.5636476246937862, + 0.5637010038192122, + 0.5638806174778863, + 0.5639339973063658 + ], + "timestamp": 1.336429097549657 }, { - "x": 4.11179878981895, - "y": 2.293977700481347, - "heading": -0.20598529234153268, - "angularVelocity": 6.268148455453945e-7, - "velocityX": 3.5571579350461384, - "velocityY": -2.180646753930203, - "timestamp": 1.3866871622228947, + "x": 3.8498016257634333, + "y": 2.40014724328459, + "heading": -0.22964908843403078, + "angularVelocity": 0.0019268126484094804, + "velocityX": 3.534572214980632, + "velocityY": -2.2117098940390147, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.44038193061858183, + 0.44015848607666647, + 0.44043528163177037, + 0.4402118371108819 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.7021377248705836, + 0.702189994834005, + 0.7023660705559374, + 0.7024183406169506 + ], + "timestamp": 1.3971758747110052 }, { - "x": 4.317326439396235, - "y": 2.167982802359838, - "heading": -0.2059852561250577, - "angularVelocity": 6.268143417259201e-7, - "velocityX": 3.5571567432322886, - "velocityY": -2.180648698058812, - "timestamp": 1.444465793982182, + "x": 4.064620497965347, + "y": 2.2659607740855487, + "heading": -0.22953219618387868, + "angularVelocity": 0.0019242543491917005, + "velocityX": 3.536300726396375, + "velocityY": -2.2089479552574667, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.5271126607796838, + 0.5269000512450652, + 0.5271633904757267, + 0.5269507809884488 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.841995373042479, + 0.842045083501318, + 0.8422126375834696, + 0.8422623480625643 + ], + "timestamp": 1.4579226518723534 }, { - "x": 4.522852901289537, - "y": 2.0419859668637224, - "heading": -0.20598521990865043, - "angularVelocity": 6.268131693640567e-7, - "velocityX": 3.557136187467174, - "velocityY": -2.1806822290467753, - "timestamp": 1.502244425741469, + "x": 4.279571980781838, + "y": 2.131986668853432, + "heading": -0.22941542627904893, + "angularVelocity": 0.0019222403275750088, + "velocityX": 3.5384837329816343, + "velocityY": -2.2054520666383897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.6656732835619963, + 0.6655059081112186, + 0.6657132054858567, + 0.6655458299212555 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.0658087339094262, + 1.0658478402812293, + 1.0659797867298646, + 1.0660188932106331 + ], + "timestamp": 1.5186694290337015 }, { - "x": 4.728378638604872, - "y": 1.915987949440798, - "heading": -0.20598518369226368, - "angularVelocity": 6.268128139836973e-7, - "velocityX": 3.557123646880059, - "velocityY": -2.180702685169959, - "timestamp": 1.5600230575007563, + "x": 4.494714183162186, + "y": 1.9983189110767354, + "heading": -0.22929865369908023, + "angularVelocity": 0.0019222843651201956, + "velocityX": 3.5416233162281934, + "velocityY": -2.2004090426339027, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 0.9572730406663411, + 0.9572768008568153, + 0.9572722695664473, + 0.9572760277720431 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.5376453830506829, + 1.5376444223111616, + 1.537641738873583, + 1.5376407812414081 + ], + "timestamp": 1.5794162061950496 }, { - "x": 4.933904389542495, - "y": 1.789989954237894, - "heading": -0.20598514747579555, - "angularVelocity": 6.268142222822715e-7, - "velocityX": 3.5571238826469207, - "velocityY": -2.1807023005983677, - "timestamp": 1.6178016892600435, + "x": 4.71019887758486, + "y": 1.8652039603913078, + "heading": -0.22918153091443694, + "angularVelocity": 0.0019280493569589878, + "velocityX": 3.5472613444221155, + "velocityY": -2.1913088546551935, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.7188793874875354, + 1.719359415619067, + 1.7187662214033244, + 1.7192462384107166 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.7749933426026514, + 2.7748805191802095, + 2.774504552189087, + 2.7743917462893752 + ], + "timestamp": 1.6401629833563978 }, { - "x": 5.139425573676261, - "y": 1.6639845100463269, - "heading": -0.20598511125942923, - "angularVelocity": 6.268124608562066e-7, - "velocityX": 3.5570448429791726, - "velocityY": -2.180831223496614, - "timestamp": 1.6755803210193307, + "x": 4.92650138679515, + "y": 1.7334222858901553, + "heading": -0.22906346790995682, + "angularVelocity": 0.0019435270478060595, + "velocityX": 3.560724030441544, + "velocityY": -2.169360757215648, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 4.104337817632307, + 4.1056353424154866, + 4.104044418966293, + 4.105341913227292 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.692892366388001, + 6.692579450907831, + 6.691588497617617, + 6.691275625669315 + ], + "timestamp": 1.700909760517746 }, { - "x": 5.344946507226316, - "y": 1.5379786571420961, - "heading": -0.20598507504308844, - "angularVelocity": 6.26812018516268e-7, - "velocityX": 3.557040506017501, - "velocityY": -2.18083829726509, - "timestamp": 1.733358952778618, + "x": 5.145161278779899, + "y": 1.6055908082372623, + "heading": -0.2289442218006309, + "angularVelocity": 0.0019630030579103593, + "velocityX": 3.5995307438939776, + "velocityY": -2.104333491032175, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 11.831612713907242, + 11.8333544410758, + 11.831365177094387, + 11.833106828011122 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.82816100572495, + 19.827647282843774, + 19.826625940767062, + 19.82611227641246 + ], + "timestamp": 1.761656537679094 }, { - "x": 5.5520744228031775, - "y": 1.4146321708958636, - "heading": -0.20598503872955082, - "angularVelocity": 6.284942461809738e-7, - "velocityX": 3.5848532453966846, - "velocityY": -2.134811477712189, - "timestamp": 1.7911375845379052, + "x": 5.368528361022339, + "y": 1.4861879944086693, + "heading": -0.22880566280067124, + "angularVelocity": 0.002280927588826869, + "velocityX": 3.677019468031377, + "velocityY": -1.9655826927484585, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.607169766202997, + 23.643051115735936, + 23.610334986161725, + 23.646232477923206 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.32247409358339, + 42.306957963344956, + 42.30466302220125, + 42.28913671637425 + ], + "timestamp": 1.8224033148404422 }, { - "x": 5.766343681041228, - "y": 1.3041558760667749, - "heading": -0.20598498706942028, - "angularVelocity": 8.941044293612351e-7, - "velocityX": 3.708451580001442, - "velocityY": -1.9120614570685264, - "timestamp": 1.8489162162971924, + "x": 5.594731686092125, + "y": 1.3785349172133332, + "heading": -0.22009594070269464, + "angularVelocity": 0.14337751737582632, + "velocityX": 3.7237090696840376, + "velocityY": -1.7721611289665864, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 5.632676306893634, + 23.272475780054876, + 2.133790943178929, + 25.90462328184544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.68657116371662, + 58.50764797880355, + 60.22050628743225, + 54.48605875998542 + ], + "timestamp": 1.8831500920017903 }, { - "x": 5.978828837823206, - "y": 1.2069586010105995, - "heading": -0.18358111993898485, - "angularVelocity": 0.3877535076249762, - "velocityX": 3.67757335734804, - "velocityY": -1.6822356656196136, - "timestamp": 1.9066948480564796, + "x": 5.811700270843849, + "y": 1.2789932107204633, + "heading": -0.18966001704681176, + "angularVelocity": 0.501029438566638, + "velocityX": 3.571688818576141, + "velocityY": -1.6386335398251601, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -45.47229731946414, + -11.71237755344669, + -66.79574430311527, + -61.42650106553785 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 52.14690830101219, + 67.76050075721076, + 17.18007794174655, + 25.765415094116992 + ], + "timestamp": 1.9438968691631384 }, { - "x": 6.180402614425525, - "y": 1.1188565633405292, - "heading": -0.14743074561977582, - "angularVelocity": 0.6256703078365721, - "velocityX": 3.4887253378047918, - "velocityY": -1.524820422143498, - "timestamp": 1.9644734798157668, + "x": 6.017543917452549, + "y": 1.1876317750398822, + "heading": -0.15569629293190923, + "angularVelocity": 0.5591033088832403, + "velocityX": 3.388552549248239, + "velocityY": -1.503971732326116, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.81468001399278, + -51.658084594042855, + -59.56321925617317, + -57.32065074966512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.780122935166744, + 46.45495405516455, + 35.81946271588509, + 39.181677643796895 + ], + "timestamp": 2.0046436463244866 }, { - "x": 6.3699552080803885, - "y": 1.03925188031653, - "heading": -0.11182866618657619, - "angularVelocity": 0.6161807289158787, - "velocityX": 3.2806694773348446, - "velocityY": -1.3777529962225779, - "timestamp": 2.022252111575054, + "x": 6.211942565175739, + "y": 1.1041217629558815, + "heading": -0.12304603883396573, + "angularVelocity": 0.5374812561861837, + "velocityX": 3.2001475108194115, + "velocityY": -1.3747233349053536, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.92715212818352, + -58.820452124508435, + -56.00745810672458, + -57.02746778710766 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.72010778305741, + 37.37801384794724, + 41.46261932813739, + 40.07317384693905 + ], + "timestamp": 2.0653904234858347 }, { - "x": 6.547333304224276, - "y": 0.9678228780837896, - "heading": -0.08083165647112141, - "angularVelocity": 0.5364787772163276, - "velocityX": 3.069960134792835, - "velocityY": -1.2362529201162495, - "timestamp": 2.0800307433343415, + "x": 6.394789020912434, + "y": 1.028283965831958, + "heading": -0.09386899293523893, + "angularVelocity": 0.480306071567062, + "velocityX": 3.0099778832882285, + "velocityY": -1.2484250303928455, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.327514413157495, + -61.42662504368416, + -54.103418987470455, + -57.077099649476985 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.68618057244426, + 33.11752278725613, + 44.05739658506381, + 40.17482290590488 + ], + "timestamp": 2.126137200647183 }, { - "x": 6.712491158270741, - "y": 0.9043991401394745, - "heading": -0.05631142234718805, - "angularVelocity": 0.4243823949671858, - "velocityX": 2.8584590707258863, - "velocityY": -1.0977023168105784, - "timestamp": 2.137809375093629, + "x": 6.566031739545335, + "y": 0.9600073380049856, + "heading": -0.06937584491116108, + "angularVelocity": 0.4032007814838012, + "velocityX": 2.818959731444955, + "velocityY": -1.1239547350079944, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.069861133004025, + -62.755626355458325, + -52.94386192768173, + -57.20018579637284 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 35.55280016743487, + 30.641261053354217, + 45.52312125813877, + 40.08926410090019 + ], + "timestamp": 2.186883977808531 }, { - "x": 6.8654092710206385, - "y": 0.8488759629040167, - "heading": -0.03933718355960969, - "angularVelocity": 0.29378055988406115, - "velocityX": 2.6466205255079807, - "velocityY": -0.960963864059192, - "timestamp": 2.1955880068529163, + "x": 6.7256405364909, + "y": 0.8992162670770024, + "heading": -0.050336154380360036, + "angularVelocity": 0.31342717129223496, + "velocityX": 2.627444687668485, + "velocityY": -1.0007291541824086, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.514108020382636, + -63.55919989055135, + -52.17488419770267, + -57.32736238325528 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 34.857620800360785, + 29.015458713004353, + 46.452879033269035, + 39.96240941319886 + ], + "timestamp": 2.247630754969879 }, { - "x": 7.006077603998495, - "y": 0.8011825400871414, - "heading": -0.03060270556570015, - "angularVelocity": 0.1511714232053547, - "velocityX": 2.434608240013325, - "velocityY": -0.8254508866802454, - "timestamp": 2.2533666386122038, + "x": 6.8735954827732435, + "y": 0.8458557867676733, + "heading": -0.037281475042651085, + "angularVelocity": 0.21490324174786649, + "velocityX": 2.435601577502042, + "velocityY": -0.8784084160975282, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.81661226763178, + -64.09392641923661, + -51.633594168919544, + -57.431537926903395 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 34.3760487823041, + 27.870213929210905, + 47.088629847300666, + 39.84991120720424 + ], + "timestamp": 2.308377532131227 }, { - "x": 7.134490489959717, - "y": 0.7612675428390505, - "heading": -0.03060270556570016, - "angularVelocity": -1.1334804632089022e-18, - "velocityX": 2.222497869042738, - "velocityY": -0.6908262801095992, - "timestamp": 2.311145270371491, + "x": 7.009882359933434, + "y": 0.7998839582088394, + "heading": -0.030602705565700654, + "angularVelocity": 0.10994442485748854, + "velocityX": 2.243524406211743, + "velocityY": -0.7567780663775663, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.05696181241652, + -64.46983794382274, + -51.23488773203071, + -57.499448893944944 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 33.98499540836244, + 27.031497080754345, + 47.547504312795716, + 39.778795590114406 + ], + "timestamp": 2.3691243092925753 }, { - "x": 7.157992431819527, - "y": 0.7541017781880169, - "heading": -0.030602705565700175, - "angularVelocity": -1.2581567593470853e-19, - "velocityX": 2.1823811097675607, - "velocityY": -0.665410096950253, - "timestamp": 2.3219142152430465, + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.030602705565700654, + "angularVelocity": 6.143954003131083e-21, + "velocityX": 2.051271455855403, + "velocityY": -0.6356948824992158, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.28015029894974, + -64.74142483243833, + -50.93042154844376, + -57.523523345616425 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 33.61090134188054, + 26.407585160685315, + 47.892692401928606, + 39.76427915006603 + ], + "timestamp": 2.4298710864539235 }, { - "x": 7.1810654399906575, - "y": 0.7472145233417125, - "heading": -0.030602705565700185, - "angularVelocity": -1.2584235174923969e-19, - "velocityX": 2.1425504955526327, - "velocityY": -0.6395477856420501, - "timestamp": 2.332683160114602, + "x": 7.158249428727272, + "y": 0.7540454598560935, + "heading": -0.030602705565700654, + "angularVelocity": -1.5754196961660743e-21, + "velocityX": 2.013749496696474, + "velocityY": -0.6121260766027945, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.90493187982339, + -58.90493187982338, + -58.90493187982338, + -58.90493187982338 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.00017101817802, + 37.00017101817802, + 37.00017101817802, + 37.00017101817802 + ], + "timestamp": 2.441669445091148 }, { - "x": 7.203712486312128, - "y": 0.7406103026789971, - "heading": -0.0306027055657002, - "angularVelocity": -1.2589480252638889e-19, - "velocityX": 2.102995845144348, - "velocityY": -0.6132653422861725, - "timestamp": 2.343452104986157, + "x": 7.181568383197075, + "y": 0.7471058631440713, + "heading": -0.030602705565700654, + "angularVelocity": -1.5755174275361838e-21, + "velocityX": 1.9764575045406818, + "velocityY": -0.5881832317020187, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.54391153445607, + -58.543911534456065, + -58.54391153445607, + -58.54391153445607 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.58736695798949, + 37.587366957989495, + 37.58736695798948, + 37.58736695798949 + ], + "timestamp": 2.4534678037283726 }, { - "x": 7.225936436683162, - "y": 0.7342933827085865, - "heading": -0.03060270556570021, - "angularVelocity": -1.2597194526551408e-19, - "velocityX": 2.063707321014898, - "velocityY": -0.5865867126031925, - "timestamp": 2.3542210498577125, + "x": 7.204449987018278, + "y": 0.740452945344923, + "heading": -0.030602705565700654, + "angularVelocity": -1.5756212306779695e-21, + "velocityX": 1.9393887340405216, + "velocityY": -0.5638850287325661, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.193480567794914, + -58.193480567794914, + -58.193480567794914, + -58.193480567794914 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.14523609109384, + 38.14523609109384, + 38.14523609109384, + 38.14523609109384 + ], + "timestamp": 2.465266162365597 }, { - "x": 7.247740054890559, - "y": 0.7282677920480325, - "heading": -0.03060270556570022, - "angularVelocity": -1.2607260344010128e-19, - "velocityX": 2.0246754410440913, - "velocityY": -0.5595339870732939, - "timestamp": 2.364989994729268, + "x": 7.226896796171415, + "y": 0.73409069354206, + "heading": -0.030602705565700654, + "angularVelocity": -1.5757234420744785e-21, + "velocityX": 1.902536602194502, + "velocityY": -0.5392488903320608, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.853384116257146, + -57.853384116257146, + -57.853384116257146, + -57.85338411625714 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.675753793050916, + 38.67575379305091, + 38.675753793050916, + 38.67575379305091 + ], + "timestamp": 2.4770645210028217 }, { - "x": 7.269126006488931, - "y": 0.7225373395258404, - "heading": -0.030602705565700234, - "angularVelocity": -1.2619549751069908e-19, - "velocityX": 1.9858910834300973, - "velocityY": -0.5321275752212485, - "timestamp": 2.375758939600823, + "x": 7.248911291022215, + "y": 0.7280229029091462, + "heading": -0.030602705565700654, + "angularVelocity": -1.5758268601764534e-21, + "velocityX": 1.8658947000765984, + "velocityY": -0.514291082301043, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.52334890244216, + -57.52334890244216, + -57.52334890244216, + -57.52334890244216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.18073615798794, + 39.18073615798794, + 39.18073615798794, + 39.18073615798794 + ], + "timestamp": 2.4888628796400463 }, { - "x": 7.290096862678418, - "y": 0.7171056306060466, - "heading": -0.030602705565700244, - "angularVelocity": -1.2633925300320036e-19, - "velocityX": 1.9473454864531226, - "velocityY": -0.504386361391914, - "timestamp": 2.3865278844723785, + "x": 7.2704958784691165, + "y": 0.7222531892686241, + "heading": -0.030602705565700654, + "angularVelocity": -1.5759269373999168e-21, + "velocityX": 1.8294568007791379, + "velocityY": -0.4890268060099628, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.203089179579806, + -57.203089179579806, + -57.2030891795798, + -57.203089179579806 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.6618542122412, + 39.661854212241195, + 39.6618542122412, + 39.6618542122412 + ], + "timestamp": 2.500661238277271 }, { - "x": 7.310655104138184, - "y": 0.7119760823120441, - "heading": -0.030602705565700255, - "angularVelocity": -1.2650241619398796e-19, - "velocityX": 1.9090302443712892, - "velocityY": -0.47632784410954027, - "timestamp": 2.397296829343934, + "x": 7.291652894148451, + "y": 0.7167850006571109, + "heading": -0.030602705565700654, + "angularVelocity": -1.5760248670098474e-21, + "velocityX": 1.793216864300368, + "velocityY": -0.46347028257481016, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.89231152800956, + -56.89231152800956, + -56.89231152800956, + -56.89231152800956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 40.12064683660121, + 40.1206468366012, + 40.12064683660121, + 40.12064683660121 + ], + "timestamp": 2.5124595969144954 }, { - "x": 7.330803124784916, - "y": 0.7071519368064082, - "heading": -0.03060270556570027, - "angularVelocity": -1.2668346071584948e-19, - "velocityX": 1.8709373004545575, - "velocityY": -0.44796826088117375, - "timestamp": 2.408065774215489, + "x": 7.312384604668349, + "y": 0.7116216279858261, + "heading": -0.030602705565700654, + "angularVelocity": -1.5761194603453946e-21, + "velocityX": 1.7571690399788238, + "velocityY": -0.43763482955961036, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.590718706411, + -56.590718706411, + -56.590718706411, + -56.590718706411 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 40.5585324982308, + 40.5585324982308, + 40.558532498230804, + 40.5585324982308 + ], + "timestamp": 2.52425795555172 }, { - "x": 7.350543235433966, - "y": 0.7026362737657202, - "heading": -0.03060270556570028, - "angularVelocity": -1.2688080148855072e-19, - "velocityX": 1.8330589379457207, - "velocityY": -0.4193227000925091, - "timestamp": 2.4188347190870445, + "x": 7.332693209848262, + "y": 0.7067662148760306, + "heading": -0.030602705565700654, + "angularVelocity": -1.5762226828302798e-21, + "velocityX": 1.7213076669697598, + "velocityY": -0.4115329309007796, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.29801272551998, + -56.29801272551998, + -56.29801272551998, + -56.29801272551998 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 40.97681989152182, + 40.97681989152182, + 40.97681989152182, + 40.97681989152182 + ], + "timestamp": 2.5360563141889445 }, { - "x": 7.369877667347483, - "y": 0.6984320216736967, - "heading": -0.030602705565700293, - "angularVelocity": -1.2709279603654747e-19, - "velocityX": 1.795387769565657, - "velocityY": -0.3904052014537178, - "timestamp": 2.4296036639586, + "x": 7.352580844945816, + "y": 0.7022217667419586, + "heading": -0.030602705565700654, + "angularVelocity": -1.576312506639031e-21, + "velocityX": 1.6856272731705788, + "velocityY": -0.3851763006876371, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.013897283022565, + -56.013897283022565, + -56.013897283022565, + -56.013897283022565 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 41.37671758318597, + 41.37671758318597, + 41.37671758318597, + 41.37671758318597 + ], + "timestamp": 2.547854672826169 }, { - "x": 7.388808575659034, - "y": 0.6945419681420674, - "heading": -0.030602705565700303, - "angularVelocity": -1.2731776934626528e-19, - "velocityX": 1.7579167260438568, - "velocityY": -0.3612288462822784, - "timestamp": 2.440372608830155, + "x": 7.372049582856613, + "y": 0.6979911591869237, + "heading": -0.030602705565700654, + "angularVelocity": -1.576413633418625e-21, + "velocityX": 1.6501225729291613, + "velocityY": -0.3585759413760392, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.738079674247324, + -55.73807967424733, + -55.738079674247324, + -55.738079674247324 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 41.7593427515796, + 41.7593427515796, + 41.7593427515796, + 41.7593427515796 + ], + "timestamp": 2.5596530314633936 }, { - "x": 7.4073380426682265, - "y": 0.6909687693564187, - "heading": -0.030602705565700314, - "angularVelocity": -1.275540101779436e-19, - "velocityX": 1.7206390440473927, - "velocityY": -0.3318058387583308, - "timestamp": 2.4511415537017105, + "x": 7.391101436275881, + "y": 0.6940771457721053, + "heading": -0.030602705565700654, + "angularVelocity": -1.5764978279629491e-21, + "velocityX": 1.6147884638086976, + "velocityY": -0.3317421969586071, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.470272273345614, + -55.470272273345614, + -55.47027227334562, + -55.47027227334562 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.125729104240484, + 42.12572910424049, + 42.125729104240484, + 42.125729104240484 + ], + "timestamp": 2.571451390100618 }, { - "x": 7.42546808100196, - "y": 0.6877149587334354, - "heading": -0.030602705565700328, - "angularVelocity": -1.277997880149378e-19, - "velocityX": 1.6835482537961202, - "velocityY": -0.3021475791540086, - "timestamp": 2.461910498573266, + "x": 7.409738359813444, + "y": 0.6904823652119233, + "heading": -0.030602705565700654, + "angularVelocity": -1.5765938206984532e-21, + "velocityX": 1.5796200226328025, + "velocityY": -0.30468480156556027, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.21019366316019, + -55.21019366316018, + -55.21019366316019, + -55.21019366316018 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.47683405128342, + 42.47683405128342, + 42.47683405128342, + 42.476834051283426 + ], + "timestamp": 2.5832497487378427 }, { - "x": 7.443200636641307, - "y": 0.6847829548664589, - "heading": -0.030602705565700338, - "angularVelocity": -1.2805336078718123e-19, - "velocityX": 1.6466381665843768, - "velocityY": -0.27226472991991385, - "timestamp": 2.472679443444821, + "x": 7.427962252055706, + "y": 0.6872093480448581, + "heading": -0.030602705565700654, + "angularVelocity": -1.5766828089201572e-21, + "velocityX": 1.5446125009935687, + "velocityY": -0.2774129239247552, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.957569478345526, + -54.957569478345526, + -54.95756947834553, + -54.957569478345526 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 42.8135452059467, + 42.8135452059467, + 42.8135452059467, + 42.8135452059467 + ], + "timestamp": 2.5950481073750673 }, { - "x": 7.460537591814793, - "y": 0.682175068827898, - "heading": -0.030602705565700352, - "angularVelocity": -1.2831298509767557e-19, - "velocityX": 1.6099028623760643, - "velocityY": -0.24216727540775893, - "timestamp": 2.4834483883163765, + "x": 7.445774957570056, + "y": 0.6842605228240018, + "heading": -0.030602705565700654, + "angularVelocity": -1.5767705477238912e-21, + "velocityX": 1.5097613203712712, + "velocityY": -0.2499352080680578, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.71213301503008, + -54.71213301503008, + -54.71213301503008, + -54.71213301503008 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 43.136686277393444, + 43.136686277393444, + 43.136686277393444, + 43.136686277393444 + ], + "timestamp": 2.606846466012292 }, { - "x": 7.477480767760241, - "y": 0.6798935108896162, - "heading": -0.030602705565700362, - "angularVelocity": -1.2857692405835418e-19, - "velocityX": 1.5733366775979092, - "velocityY": -0.2118645759166451, - "timestamp": 2.494217333187932, + "x": 7.4631782688485275, + "y": 0.6816382218675067, + "heading": -0.030602705565700654, + "angularVelocity": -1.5768581448893446e-21, + "velocityX": 1.4750620669864223, + "velocityY": -0.22225981063346714, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.473625650990456, + -54.473625650990456, + -54.473625650990456, + -54.473625650990456 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 43.447022414970334, + 43.447022414970334, + 43.447022414970334, + 43.447022414970334 + ], + "timestamp": 2.6186448246495164 }, { - "x": 7.494031927358264, - "y": 0.67794039671589, - "heading": -0.030602705565700376, - "angularVelocity": -1.2884345997295027e-19, - "velocityX": 1.5369341932225304, - "velocityY": -0.18136541667003236, - "timestamp": 2.504986278059487, + "x": 7.480173928188722, + "y": 0.6793446866053732, + "heading": -0.030602705565700654, + "angularVelocity": -1.576940734576661e-21, + "velocityX": 1.4405104864817824, + "velocityY": -0.1943944350782258, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.24179711260399, + -54.24179711260399, + -54.24179711260398, + -54.24179711260399 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 43.74526505758359, + 43.74526505758358, + 43.74526505758358, + 43.74526505758359 + ], + "timestamp": 2.630443183286741 }, { - "x": 7.510192777641261, - "y": 0.6763177530777503, - "heading": -0.030602705565700387, - "angularVelocity": -1.2911089621766391e-19, - "velocityX": 1.5006902232068866, - "velocityY": -0.15067805225986258, - "timestamp": 2.5157552229310425, + "x": 7.496763629510907, + "y": 0.6773820725556718, + "heading": -0.030602705565700654, + "angularVelocity": -1.5770284572624799e-21, + "velocityX": 1.4061024785128795, + "velocityY": -0.16634636308725223, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.01640561847668, + -54.016405618476675, + -54.01640561847668, + -54.01640561847668 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.032076336704414, + 44.03207633670442, + 44.032076336704414, + 44.03207633670442 + ], + "timestamp": 2.6422415419239655 }, { - "x": 7.5259649721822255, - "y": 0.6750275231324118, - "heading": -0.0306027055657004, - "angularVelocity": -1.2937757521143262e-19, - "velocityX": 1.4645998033312837, - "velocityY": -0.1198102470323331, - "timestamp": 2.526524167802598, + "x": 7.512949020110952, + "y": 0.6757524539602611, + "heading": -0.030602705565700654, + "angularVelocity": -1.577110462456636e-21, + "velocityX": 1.3718340913099074, + "velocityY": -0.1381224834333462, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.79721792437704, + -53.797217924377044, + -53.79721792437704, + -53.79721792437704 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.30807307677664, + 44.30807307677664, + 44.30807307677664, + 44.30807307677664 + ], + "timestamp": 2.65403990056119 }, { - "x": 7.541350113367985, - "y": 0.6740715713069704, - "heading": -0.03060270556570041, - "angularVelocity": -1.296418828562996e-19, - "velocityX": 1.4286581804682124, - "velocityY": -0.08876931183542423, - "timestamp": 2.537293112674153, + "x": 7.528731702349357, + "y": 0.674457828107338, + "heading": -0.030602705565700654, + "angularVelocity": -1.5771882714153699e-21, + "velocityX": 1.337701516260951, + "velocityY": -0.10972931852049746, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.584009289751286, + -53.584009289751286, + -53.58400928975128, + -53.58400928975128 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.57383043246387, + 44.573830432463865, + 44.57383043246388, + 44.57383043246387 + ], + "timestamp": 2.6658382591984147 }, { - "x": 7.556349754561682, - "y": 0.6734516878215384, - "heading": -0.030602705565700425, - "angularVelocity": -1.2990224487888173e-19, - "velocityX": 1.3928608022979438, - "velocityY": -0.05756213750051861, - "timestamp": 2.5480620575457085, + "x": 7.544113235277089, + "y": 0.6735001193656943, + "heading": -0.030602705565700654, + "angularVelocity": -1.577268471904353e-21, + "velocityX": 1.3037010825558761, + "velocityY": -0.08117304881901886, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.376563382492776, + -53.376563382492776, + -53.376563382492776, + -53.376563382492776 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 44.82988519822965, + 44.82988519822965, + 44.82988519822965, + 44.82988519822965 + ], + "timestamp": 2.677636617835639 }, { - "x": 7.570965402159407, - "y": 0.6731695928834319, - "heading": -0.030602705565700435, - "angularVelocity": -1.3015716161437227e-19, - "velocityX": 1.3572033074783092, - "velocityY": -0.02619522538848284, - "timestamp": 2.558831002417264, + "x": 7.559095136199297, + "y": 0.6728811829533284, + "heading": -0.030602705565700657, + "angularVelocity": -1.5773476987646824e-21, + "velocityX": 1.2698292519214864, + "velocityY": -0.05245953538089433, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.174672135658575, + -53.17467213565857, + -53.174672135658575, + -53.174672135658575 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.07673882216826, + 45.07673882216826, + 45.07673882216826, + 45.07673882216826 + ], + "timestamp": 2.689434976472864 }, { - "x": 7.5851985175458605, - "y": 0.6732269405808596, - "heading": -0.030602705565700446, - "angularVelocity": -1.3040518388715472e-19, - "velocityX": 1.3216815162688345, - "velocityY": 0.005325284706314105, - "timestamp": 2.569599947288819, + "x": 7.57367888217827, + "y": 0.6726028084610565, + "heading": -0.030602705565700657, + "angularVelocity": -1.577425978280487e-21, + "velocityX": 1.2360826134714111, + "velocityY": -0.02359434060545585, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.978135567360255, + -52.978135567360255, + -52.97813556736026, + -52.978135567360255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.3148601527756, + 45.3148601527756, + 45.3148601527756, + 45.3148601527756 + ], + "timestamp": 2.7012333351100883 }, { - "x": 7.5990505189538675, - "y": 0.6736253225017574, - "heading": -0.03060270556570046, - "angularVelocity": -1.3064494528108826e-19, - "velocityX": 1.2862914216039185, - "velocityY": 0.03699358903303555, - "timestamp": 2.5803688921603745, + "x": 7.587865911477191, + "y": 0.6726667231499526, + "heading": -0.030602705565700657, + "angularVelocity": -1.577494341651009e-21, + "velocityX": 1.2024578786883242, + "velocityY": 0.005417252590915252, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.78676157301651, + -52.78676157301651, + -52.786761573016506, + -52.78676157301651 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.54468794443817, + 45.54468794443816, + 45.54468794443817, + 45.54468794443817 + ], + "timestamp": 2.713031693747313 }, { - "x": 7.612522783232516, - "y": 0.6743662711009057, - "heading": -0.030602705565700473, - "angularVelocity": -1.308751523423428e-19, - "velocityX": 1.2510291806056897, - "velocityY": 0.0688041965100445, - "timestamp": 2.59113783703193, + "x": 7.6016576249464, + "y": 0.6730745950398084, + "heading": -0.030602705565700657, + "angularVelocity": -1.5775749423343678e-21, + "velocityX": 1.1689518765513263, + "velocityY": 0.03457022306212233, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.600365697466685, + -52.60036569746668, + -52.600365697466685, + -52.600365697466685 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.76663314480191, + 45.76663314480191, + 45.766633144801894, + 45.76663314480191 + ], + "timestamp": 2.7248300523845375 }, { - "x": 7.62561664752849, - "y": 0.6754512628362374, - "heading": -0.030602705565700484, - "angularVelocity": -1.310946019138232e-19, - "velocityX": 1.2158911065242088, - "velocityY": 0.100751907291985, - "timestamp": 2.601906781903485, + "x": 7.615055387353991, + "y": 0.6738280358043203, + "heading": -0.030602705565700657, + "angularVelocity": -1.5776450797515691e-21, + "velocityX": 1.1355615488174282, + "velocityY": 0.06385979505103799, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.41877089304865, + -52.418770893048645, + -52.41877089304865, + -52.41877089304865 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.98108098483129, + 45.98108098483129, + 45.98108098483129, + 45.98108098483129 + ], + "timestamp": 2.736628411021762 }, { - "x": 7.638333410885047, - "y": 0.6768817210932491, - "heading": -0.030602705565700498, - "angularVelocity": -1.3130217522977708e-19, - "velocityX": 1.180873661090617, - "velocityY": 0.1328317930932966, - "timestamp": 2.6126757267750405, + "x": 7.628060528662616, + "y": 0.6749286034873688, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777155717091694e-21, + "velocityX": 1.102283945462927, + "velocityY": 0.0932814230257673, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.24180726858961, + -52.24180726858961, + -52.24180726858961, + -52.24180726858961 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.18839289026055, + 46.18839289026055, + 46.18839289026055, + 46.18839289026055 + ], + "timestamp": 2.7484267696589866 }, { - "x": 7.650674335762937, - "y": 0.6786590189146542, - "heading": -0.030602705565700508, - "angularVelocity": -1.314968563004619e-19, - "velocityX": 1.1459734472674334, - "velocityY": 0.16503917910282548, - "timestamp": 2.623444671646596, + "x": 7.640674345254447, + "y": 0.6763778050535418, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777829083695195e-21, + "velocityX": 1.069116220287915, + "velocityY": 0.12283077763042712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.06931183330361, + -52.06931183330361, + -52.06931183330361, + -52.06931183330361 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.38890823124871, + 46.38890823124871, + 46.38890823124871, + 46.38890823124871 + ], + "timestamp": 2.760225128296211 }, { - "x": 7.662640649487338, - "y": 0.6807844815508151, - "heading": -0.030602705565700522, - "angularVelocity": -1.316777225489205e-19, - "velocityX": 1.1111872023793405, - "velocityY": 0.19736962734156704, - "timestamp": 2.634213616518151, + "x": 7.652898101106192, + "y": 0.6781770987849446, + "heading": -0.030602705565700657, + "angularVelocity": -1.5778562176128796e-21, + "velocityX": 1.0360556266851288, + "velocityY": 0.1525037326570086, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.90112823880106, + -51.90112823880106, + -51.90112823880106, + -51.90112823880106 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.582945925356675, + 46.582945925356675, + 46.582945925356675, + 46.582945925356675 + ], + "timestamp": 2.7720234869334357 }, { - "x": 7.674233545624737, - "y": 0.6832593888450686, - "heading": -0.030602705565700532, - "angularVelocity": -1.3184396070946397e-19, - "velocityX": 1.076511791607365, - "velocityY": 0.22981892133095566, - "timestamp": 2.6449825613897064, + "x": 7.664733028916149, + "y": 0.6803278965353486, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779144284673886e-21, + "velocityX": 1.0030995135727094, + "velocityY": 0.1822963529535544, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.73710652176443, + -51.73710652176444, + -51.73710652176443, + -51.73710652176443 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.77080590744806, + 46.77080590744806, + 46.770805907448064, + 46.77080590744806 + ], + "timestamp": 2.7838218455706603 }, { - "x": 7.685454185293472, - "y": 0.6860849774667783, - "heading": -0.030602705565700546, - "angularVelocity": -1.3199486712853293e-19, - "velocityX": 1.0419442018292242, - "velocityY": 0.26238305195274914, - "timestamp": 2.6557515062612618, + "x": 7.676180331185167, + "y": 0.6828315658518145, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779786205887332e-21, + "velocityX": 0.9702453214891686, + "velocityY": 0.21220488319168138, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.57710284930733, + -51.57710284930733, + -51.57710284930733, + -51.57710284930733 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.952770478757216, + 46.95277047875722, + 46.952770478757216, + 46.952770478757216 + ], + "timestamp": 2.795620204207885 }, { - "x": 7.696303698411492, - "y": 0.6892624430037938, - "heading": -0.030602705565700557, - "angularVelocity": -1.321298423631589e-19, - "velocityX": 1.0074815357887332, - "velocityY": 0.29505820439365477, - "timestamp": 2.666520451132817, + "x": 7.687241181253433, + "y": 0.6856894319731031, + "heading": -0.030602705565700657, + "angularVelocity": -1.5780440132180937e-21, + "velocityX": 0.9374905788478461, + "velocityY": 0.24222573742350348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.4209792685918, + -51.42097926859181, + -51.4209792685918, + -51.42097926859181 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.12910554615218, + 47.12910554615218, + 47.12910554615219, + 47.12910554615218 + ], + "timestamp": 2.8074185628451094 }, { - "x": 7.706783184884676, - "y": 0.6927929419249639, - "heading": -0.03060270556570057, - "angularVelocity": -1.3224840778586506e-19, - "velocityX": 0.9731210065774615, - "velocityY": 0.32784074607859154, - "timestamp": 2.6772893960043724, + "x": 7.6979167242948945, + "y": 0.6889027797134403, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781108916036061e-21, + "velocityX": 0.9048328983473743, + "velocityY": 0.2723554893643408, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.26860346191532, + -51.268603461915326, + -51.268603461915326, + -51.268603461915326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.300061761530905, + 47.300061761530905, + 47.300061761530905, + 47.300061761530905 + ], + "timestamp": 2.819216921482334 }, { - "x": 7.716893715738936, - "y": 0.6966775934224183, - "heading": -0.03060270556570058, - "angularVelocity": -1.3235019457504513e-19, - "velocityX": 0.9388599324122615, - "velocityY": 0.3607272155060462, - "timestamp": 2.6880583408759278, + "x": 7.708208078271132, + "y": 0.692472855239512, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781613742366569e-21, + "velocityX": 0.8722699735340855, + "velocityY": 0.3025908633433094, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.11984850818019, + -51.1198485081802, + -51.11984850818019, + -51.11984850818019 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.465875570313855, + 47.465875570313855, + 47.465875570313855, + 47.465875570313855 + ], + "timestamp": 2.8310152801195585 }, { - "x": 7.726636334199068, - "y": 0.7009174811424926, - "heading": -0.030602705565700595, - "angularVelocity": -1.3243495649172234e-19, - "velocityX": 0.9046957316928207, - "velocityY": 0.3937143119074966, - "timestamp": 2.698827285747483, + "x": 7.71811633484641, + "y": 0.6964008677479491, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782194973535014e-21, + "velocityX": 0.839799575511869, + "velocityY": 0.3329287258690412, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.97459265141411, + -50.97459265141411, + -50.97459265141411, + -50.97459265141411 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.626770177121884, + 47.626770177121884, + 47.62677017712189, + 47.626770177121884 + ], + "timestamp": 2.842813638756783 }, { - "x": 7.736012056717246, - "y": 0.7055136548134117, - "heading": -0.030602705565700605, - "angularVelocity": -1.3250256127624165e-19, - "velocityX": 0.8706259183239783, - "velocityY": 0.42679888566046975, - "timestamp": 2.7095962306190384, + "x": 7.727642560265594, + "y": 0.7006879910499917, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782856298877835e-21, + "velocityX": 0.8074195497946888, + "velocityY": 0.3633660777624322, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.832719076811216, + -50.832719076811216, + -50.832719076811216, + -50.832719076811216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.782956435944584, + 47.782956435944584, + 47.782956435944584, + 47.782956435944584 + ], + "timestamp": 2.8546119973940076 }, { - "x": 7.745021873953834, - "y": 0.7104671317771619, - "heading": -0.03060270556570062, - "angularVelocity": -1.3255299337637072e-19, - "velocityX": 0.8366480972881875, - "velocityY": 0.4599779293915816, - "timestamp": 2.7203651754905938, + "x": 7.736787796196557, + "y": 0.7053353650695053, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783341743017235e-21, + "velocityX": 0.7751278132967745, + "velocityY": 0.3939000468125288, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.69411569460083, + -50.694115694600825, + -50.69411569460083, + -50.69411569460083 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 47.934633671401876, + 47.93463367140188, + 47.934633671401876, + 47.934633671401876 + ], + "timestamp": 2.866410356031232 }, { - "x": 7.753666751713056, - "y": 0.7157788984323638, - "heading": -0.03060270556570063, - "angularVelocity": -1.3258803470125528e-19, - "velocityX": 0.8027599604541601, - "velocityY": 0.49324856971196684, - "timestamp": 2.731134120362149, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + "x": 7.745553060538638, + "y": 0.7103440972600469, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783871187142811e-21, + "velocityX": 0.7429223514553885, + "velocityY": 0.42452788091546173, + "moduleForcesX": [ + -50.55867493192016, + -50.55867493192016, + -50.55867493192016, + -50.55867493192016 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 48.081990437070715, + 48.081990437070715, + 48.081990437070715, + 48.081990437070715 + ], + "timestamp": 2.8782087146684567 }, { - "x": 7.7619476318359375, - "y": 0.7214499115943908, - "heading": -0.030602705565700643, - "angularVelocity": 1.9516610437843725e-19, - "velocityX": 0.7689592826084032, - "velocityY": 0.5266080595329276, - "timestamp": 2.7419030652337044, + "x": 7.753939348198658, + "y": 0.7157152639462485, + "heading": -0.030602705565700657, + "angularVelocity": -1.5784278274945683e-21, + "velocityX": 0.7108012154810245, + "velocityY": 0.4552469416597822, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.42629353276154, + -50.42629353276154, + -50.42629353276154, + -50.426293532761534 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 48.225205216283044, + 48.22520521628305, + 48.22520521628305, + 48.22520521628305 + ], + "timestamp": 2.8900070733056813 }, { - "x": 7.7766579182187305, - "y": 0.733787242568658, - "heading": -0.0316362180023682, - "angularVelocity": -0.04948186074190923, - "velocityX": 0.704289872518588, - "velocityY": 0.5906790005971662, - "timestamp": 2.7627897582798333, + "x": 7.7619476318359375, + "y": 0.7214499115943909, + "heading": -0.030602705565700657, + "angularVelocity": -3.148277278674696e-20, + "velocityX": 0.6787625197299029, + "velocityY": 0.48605469832467524, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -50.29687236598059, + -50.2968723659806, + -50.29687236598059, + -50.29687236598059 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 48.36444707029217, + 48.36444707029217, + 48.36444707029217, + 48.36444707029218 + ], + "timestamp": 2.901805431942906 }, { - "x": 7.790017889428913, - "y": 0.7474637178929253, - "heading": -0.03369531549182525, - "angularVelocity": -0.09858417916658603, - "velocityX": 0.6396403289250577, - "velocityY": 0.6547937145464989, - "timestamp": 2.783676451325962, + "x": 7.775834761775601, + "y": 0.7336744213402673, + "heading": -0.029674491583620594, + "angularVelocity": 0.04133320302918859, + "velocityX": 0.6183914187572991, + "velocityY": 0.5443552381384222, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.79897589229874, + -39.780133893013954, + -58.67970592465287, + -50.912956484861766 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.066656692872485, + 57.46661517646156, + 37.97090849647713, + 47.83655299084039 + ], + "timestamp": 2.924262292627634 }, { - "x": 7.802027980510766, - "y": 0.7624802864780906, - "heading": -0.03677178647069785, - "angularVelocity": -0.14729334950622003, - "velocityX": 0.5750116141089285, - "velocityY": 0.7189538598571299, - "timestamp": 2.804563144372091, + "x": 7.788368140854988, + "y": 0.7472103329864517, + "heading": -0.027821691212613818, + "angularVelocity": 0.08250486998241903, + "velocityX": 0.5581091344575329, + "velocityY": 0.602751730805794, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.75032899008256, + -39.73852726591859, + -58.59664077334817, + -50.79325791310845 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.11257903465919, + 57.49212916567131, + 38.09380959713609, + 47.95877595970304 + ], + "timestamp": 2.946719153312362 }, { - "x": 7.812688648697797, - "y": 0.7788379349447829, - "heading": -0.04085710951119451, - "angularVelocity": -0.19559453626642123, - "velocityX": 0.5104047904322161, - "velocityY": 0.7831612419719024, - "timestamp": 2.82544983741822, + "x": 7.799549859955063, + "y": 0.7620598987689441, + "heading": -0.025048145025606164, + "angularVelocity": 0.12350551690841785, + "velocityX": 0.49791995671413297, + "velocityY": 0.6612485151404562, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.70596927556942, + -39.696671358920966, + -58.5105928092097, + -50.658351386971106 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.15391150943782, + 57.517647464607066, + 38.220416414837736, + 48.096193054830735 + ], + "timestamp": 2.9691760139970897 }, { - "x": 7.822000375712872, - "y": 0.7965376909288235, - "heading": -0.04594242586887812, - "angularVelocity": -0.24347158961222506, - "velocityX": 0.4458210303809276, - "velocityY": 0.8474178245905254, - "timestamp": 2.846336530464349, + "x": 7.809382113617076, + "y": 0.778225474828138, + "heading": -0.02135791261433199, + "angularVelocity": 0.1643253909387145, + "velocityX": 0.4378285015010667, + "velocityY": 0.719850217986502, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.665563165545585, + -39.654481167853724, + -58.42111050214514, + -50.50803121100085 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.19100165402582, + 57.54321836484414, + 38.3513396035236, + 48.24874804210011 + ], + "timestamp": 2.9916328746818177 }, { - "x": 7.829963670292153, - "y": 0.8155806266549606, - "heading": -0.052018509653501015, - "angularVelocity": -0.29090693156660485, - "velocityX": 0.3812616272807539, - "velocityY": 0.9117257425136729, - "timestamp": 2.8672232235104778, + "x": 7.81786720812435, + "y": 0.7957095282800837, + "heading": -0.01675527875999234, + "angularVelocity": 0.2049544644265316, + "velocityX": 0.3778397446729998, + "velocityY": 0.7785617810701315, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.628741535619795, + -39.61187676370431, + -58.32768446388277, + -50.342068535680255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.22422721221882, + 57.56888528997424, + 38.48726080108666, + 48.41637695147274 + ], + "timestamp": 3.0140897353665457 }, { - "x": 7.836579070950113, - "y": 0.8359678628145525, - "heading": -0.05907573494892603, - "angularVelocity": -0.3378814099407179, - "velocityX": 0.3167280068390848, - "velocityY": 0.9760873161953465, - "timestamp": 2.8881099165566066, + "x": 7.8250075704347815, + "y": 0.81451464496476, + "heading": -0.011244759938855008, + "angularVelocity": 0.24538242003188007, + "velocityX": 0.317959059846983, + "velocityY": 0.8373884911467139, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.59509547736108, + -39.56877957973785, + -58.22974192747053, + -50.16021133553847 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.25400056920583, + 57.5946892376497, + 38.62893751614043, + 48.59900718564385 + ], + "timestamp": 3.0365465960512736 }, { - "x": 7.841847149006602, - "y": 0.8577005727862841, - "heading": -0.06710403913607434, - "angularVelocity": -0.38437411654480413, - "velocityX": 0.2522217396911387, - "velocityY": 1.0405050681663293, - "timestamp": 2.9089966096027355, + "x": 7.830805758070983, + "y": 0.8346435379566366, + "heading": -0.004831111401089948, + "angularVelocity": 0.2855986251954946, + "velocityX": 0.2581922610467532, + "velocityY": 0.8963360139454165, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.56417134546266, + -39.52510815111938, + -58.126640306197565, + -49.962184350984025 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.28077385511992, + 57.62067155211774, + 38.777208724372585, + 48.79655657624957 + ], + "timestamp": 3.0590034567360016 }, { - "x": 7.845768511901353, - "y": 0.8807799872426505, - "heading": -0.07609288159225877, - "angularVelocity": -0.43036216582166986, - "velocityX": 0.18774455516197847, - "velocityY": 1.1049817415037784, - "timestamp": 2.9298833026488644, + "x": 7.835264470093169, + "y": 0.8560990569362551, + "heading": 0.0024806648955283503, + "angularVelocity": 0.32559209407175743, + "velocityX": 0.1985456509163127, + "velocityY": 0.955410432510261, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.53546496259126, + -39.48077323259204, + -58.01765965971268, + -49.747688925918816 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.305044830269836, + 57.64687706958707, + 38.933001272314584, + 49.008932453857526 + ], + "timestamp": 3.0814603174207296 }, { - "x": 7.848343806826723, - "y": 0.9052073991889596, - "heading": -0.08603119685039462, - "angularVelocity": -0.47582042960016563, - "velocityX": 0.12329835650299947, - "velocityY": 1.1695203205390383, - "timestamp": 2.9507699956949933, + "x": 7.838386559301684, + "y": 0.878884198537606, + "heading": 0.010685311162545508, + "angularVelocity": 0.3653514345661332, + "velocityX": 0.1390260754762802, + "velocityY": 1.0146182906520957, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.50841481822001, + -39.43567220213073, + -57.901993857247014, + -49.516402656611405 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.32736368864197, + 57.67335768869287, + 39.097337204567204, + 49.23603080832736 + ], + "timestamp": 3.1039171781054575 }, { - "x": 7.849573724716206, - "y": 0.9309841694860987, - "heading": -0.09690734120151905, - "angularVelocity": -0.5207212231780369, - "velocityX": 0.05888523792481034, - "velocityY": 1.2341240540190064, - "timestamp": 2.971656688741122, + "x": 7.840175045842622, + "y": 0.9030021178052353, + "heading": 0.019777303070195706, + "angularVelocity": 0.4048647776415743, + "velocityX": 0.0796409866029619, + "velocityY": 1.073966642364709, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.482394057840615, + -39.38968263604413, + -57.778740180587505, + -49.26797874619328 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.34834094615229, + 57.700176430930014, + 39.27134215238068, + 49.47773562798201 + ], + "timestamp": 3.1263740387901855 }, { - "x": 7.849459004634706, - "y": 0.9581117329134663, - "heading": -0.10870903161261351, - "angularVelocity": -0.565033937398806, - "velocityX": -0.00549249616711224, - "velocityY": 1.2987964809678323, - "timestamp": 2.992543381787251, + "x": 7.840633132422212, + "y": 0.9284561409179296, + "heading": 0.029750836975156507, + "angularVelocity": 0.4441196855152338, + "velocityX": 0.02039851366680633, + "velocityY": 1.1334631082252957, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.456701007923556, + -39.34265491230689, + -57.646887050118416, + -49.0020449323803 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.36865661744332, + 57.727412071922146, + 39.45625494779853, + 49.733918519651745 + ], + "timestamp": 3.1488308994749135 }, { - "x": 7.848000438627406, - "y": 0.9865916048345064, - "heading": -0.12142327570723585, - "angularVelocity": -0.6087246107625819, - "velocityX": -0.06983230921616214, - "velocityY": 1.3635414595379622, - "timestamp": 3.01343007483338, + "x": 7.839764221375153, + "y": 0.9552497793632655, + "heading": 0.040599814522998705, + "angularVelocity": 0.4831030347541035, + "velocityX": -0.03869245391234698, + "velocityY": 1.193115940001228, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.43054791636629, + -39.294403662044424, + -57.505299482322464, + -48.71820182217676 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.38907093181898, + 57.755164444721466, + 39.653438659319576, + 50.00443872739703 + ], + "timestamp": 3.1712877601596414 }, { - "x": 7.845198877097917, - "y": 1.016425388534499, - "heading": -0.13503629141647774, - "angularVelocity": -0.6517554348683694, - "velocityX": -0.13413140717401323, - "velocityY": 1.4283631991959511, - "timestamp": 3.034316767879509, + "x": 7.837571933880523, + "y": 0.9833867457802482, + "heading": 0.052317823956450675, + "angularVelocity": 0.5218008695855219, + "velocityX": -0.09762217103305225, + "velocityY": 1.2529340949297327, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.403047503230674, + -39.24469784148349, + -57.3527017919196, + -48.41602042450942 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.41043689789232, + 57.78356054222038, + 39.86439328342178, + 50.289143686044106 + ], + "timestamp": 3.1937446208443694 }, { - "x": 7.84105523480423, - "y": 1.0476147833090375, - "heading": -0.14953341474861673, - "angularVelocity": -0.6940841855683735, - "velocityX": -0.1983867089220468, - "velocityY": 1.493266296663426, - "timestamp": 3.0552034609256378, + "x": 7.834060131678907, + "y": 1.0128709717268876, + "heading": 0.06489811733773139, + "angularVelocity": 0.5601982199513789, + "velocityX": -0.1563799255344846, + "velocityY": 1.312927321435021, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.37319680587921, + -39.193249134826715, + -57.18765693004043, + -48.095038617489884 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.43371510124639, + 57.81276157882566, + 40.0907703727958, + 50.587870267194894 + ], + "timestamp": 3.2162014815290974 }, { - "x": 7.835570497583959, - "y": 1.080161593392477, - "heading": -0.1648989939421203, - "angularVelocity": -0.7356635710386621, - "velocityX": -0.2625948113547232, - "velocityY": 1.558255776132632, - "timestamp": 3.0760901539717667, + "x": 7.829232941718723, + "y": 1.043706627677372, + "heading": 0.07833358275008254, + "angularVelocity": 0.5982788779327504, + "velocityX": -0.21495390775908638, + "velocityY": 1.3731062584119214, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.33985765728971, + -39.139698317625495, + -57.00854169301743, + -47.754756218008076 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.4599912146078, + 57.84297121397121, + 40.33438993854238, + 50.90044690092914 + ], + "timestamp": 3.2386583422138253 }, { - "x": 7.828745729950008, - "y": 1.1140677378291983, - "heading": -0.18111626805043107, - "angularVelocity": -0.7764404864137381, - "velocityX": -0.3267519477055535, - "velocityY": 1.623337134406034, - "timestamp": 3.0969768470178956, + "x": 7.8230947842527225, + "y": 1.0758981456113792, + "heading": 0.09261671037700737, + "angularVelocity": 0.6360251251252692, + "velocityX": -0.2733310569172195, + "velocityY": 1.4334825506531832, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.30173294398142, + -39.08359910371381, + -56.813516833027066, + -47.39462823316166 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.49049682202346, + 57.874445194747054, + 40.597260032022504, + 51.22669678712463 + ], + "timestamp": 3.2611152028985533 }, { - "x": 7.820582083736118, - "y": 1.1493352614076457, - "heading": -0.19816722774665066, - "angularVelocity": -0.8163551625219962, - "velocityX": -0.3908539372824497, - "velocityY": 1.6885163917791046, - "timestamp": 3.1178635400640244, + "x": 7.815650405022353, + "y": 1.1094502446283658, + "heading": 0.10773955116341465, + "angularVelocity": 0.6734174023126805, + "velocityX": -0.33149687905543285, + "velocityY": 1.4940689835513845, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.25733753320973, + -39.02439885742062, + -56.60049083618665, + -47.01405575954595 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.52663431580873, + 57.90750274586684, + 40.88159949499811, + 51.56644244771051 + ], + "timestamp": 3.2835720635832812 }, { - "x": 7.811080808021215, - "y": 1.1859663467987929, - "heading": -0.21603245581517905, - "angularVelocity": -0.8553401933504964, - "velocityX": -0.45489612424139775, - "velocityY": 1.7538001497051927, - "timestamp": 3.1387502331101533, + "x": 7.806904912315233, + "y": 1.144367960105452, + "heading": 0.12369366653532315, + "angularVelocity": 0.7104339113061457, + "velocityX": -0.3894352300571961, + "velocityY": 1.5548796408944348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.20496241313145, + -38.9614153636149, + -56.36707578407902, + -46.61237384927613 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.57000682908308, + 57.94254012781791, + 41.18986446694118, + 51.91951191732679 + ], + "timestamp": 3.306028924268009 }, { - "x": 7.800243260625712, - "y": 1.223963328068296, - "heading": -0.23469094439171648, - "angularVelocity": -0.893319422817657, - "velocityX": -0.5188733023254182, - "velocityY": 1.819195656563993, - "timestamp": 3.159636926156282, + "x": 7.796863819868833, + "y": 1.1806566770225755, + "heading": 0.14047006738650036, + "angularVelocity": 0.7470501370027279, + "velocityX": -0.44712805531312344, + "velocityY": 1.6159300904334366, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.14263011894376, + -38.89380859263485, + -56.11053325083579, + -46.18883546909183 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.62245443314765, + 57.980046905846734, + 41.52477935881754, + 52.28574692763842 + ], + "timestamp": 3.328485784952737 }, { - "x": 7.788070921556361, - "y": 1.2633287057667226, - "heading": -0.25411988548888115, - "angularVelocity": -0.930206665758685, - "velocityX": -0.5827796215737641, - "velocityY": 1.8847108832157804, - "timestamp": 3.180523619202411, + "x": 7.785533096834175, + "y": 1.218322168207932, + "heading": 0.15805914022105402, + "angularVelocity": 0.7832382754422704, + "velocityX": -0.5045550753388937, + "velocityY": 1.6772376029821232, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.068038870856256, + -38.82054604855633, + -55.82770756749176, + -45.742590424489656 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.686098179120734, + 58.0206256339081, + 41.889373145833744, + 52.66501351384023 + ], + "timestamp": 3.350942645637465 }, { - "x": 7.774565408885156, - "y": 1.3040651638469198, - "heading": -0.27429443065388165, - "angularVelocity": -0.9659042300494589, - "velocityX": -0.6466084717852727, - "velocityY": 1.950354610479966, - "timestamp": 3.20141031224854, + "x": 7.772919226324579, + "y": 1.2573706384167138, + "heading": 0.17645055795615344, + "angularVelocity": 0.8189665507257076, + "velocityX": -0.5616934034851275, + "velocityY": 1.7388214121725996, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.9784919500898, + -38.74035980842601, + -55.51494294841905, + -45.27265778097575 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.763394026402025, + 58.06501587360676, + 42.287021998891454, + 53.057215566009084 + ], + "timestamp": 3.373399506322193 }, { - "x": 7.759728497690897, - "y": 1.3461755887141946, - "heading": -0.29518741467882864, - "angularVelocity": -1.0003011955413041, - "velocityX": -0.7103523358863058, - "velocityY": 2.0161365312485113, - "timestamp": 3.222297005294669, + "x": 7.759029274480038, + "y": 1.297808775355126, + "heading": 0.19563317241838563, + "angularVelocity": 0.854198399835892, + "velocityX": -0.6185170776780676, + "velocityY": 1.800703023727281, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.87080757350123, + -38.6516926889675, + -55.16797983581464, + -44.7778898551695 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.8571993169243, + 58.11412375947264, + 42.72149946406677, + 53.462311970183286 + ], + "timestamp": 3.395856367006921 }, { - "x": 7.7435621428812755, - "y": 1.3896630907863896, - "heading": -0.3167690370258923, - "angularVelocity": -1.0332713895588923, - "velocityX": -0.7740026041421778, - "velocityY": 2.082067370653246, - "timestamp": 3.243183698340798, + "x": 7.743870972511518, + "y": 1.3396438090103795, + "heading": 0.2155948849817681, + "angularVelocity": 0.8888914992894649, + "velocityX": -0.6749964824258908, + "velocityY": 1.8629065853226803, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.74120272451824, + -38.55263002850805, + -54.781824254523436, + -44.256925219792585 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 49.9708552791072, + 58.16905871875609, + 43.19703560298044, + 53.88033814429697 + ], + "timestamp": 3.418313227691649 }, { - "x": 7.726068506965954, - "y": 1.434531029030405, - "heading": -0.33900649289872903, - "angularVelocity": -1.0646709760958641, - "velocityX": -0.8375493371155777, - "velocityY": 2.148159028570159, - "timestamp": 3.2640703913869267, + "x": 7.727452814898921, + "y": 1.3828835809598985, + "heading": 0.23632249105346276, + "angularVelocity": 0.9229966005796477, + "velocityX": -0.7310976294991561, + "velocityY": 1.9254593309618246, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.58514179501422, + -38.440812211935494, + -54.35058180260293, + -43.708127294661715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 50.108290154756126, + 58.23117949997186, + 43.71838670288615, + 54.31143298588061 + ], + "timestamp": 3.440770088376377 }, { - "x": 7.7072499941922, - "y": 1.4807830390526746, - "heading": -0.36186354348562405, - "angularVelocity": -1.0943355435163682, - "velocityX": -0.90098096104507, - "velocityY": 2.21442474977349, - "timestamp": 3.2849570844330556, + "x": 7.7097841778700325, + "y": 1.427536625727524, + "heading": 0.25780149315423057, + "angularVelocity": 0.9564561317056592, + "velocityX": -0.7867812548218204, + "velocityY": 1.9883921174250394, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -48.39713708024115, + -38.313321087877355, + -53.867244872110646, + -43.129503869591225 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 50.274149038644, + 58.302152423506804, + 44.29091730647611, + 54.755872530059335 + ], + "timestamp": 3.463226949061105 + }, + { + "x": 7.690875463585105, + "y": 1.4736122667546074, + "heading": 0.2800158760757638, + "angularVelocity": 0.9892025084628333, + "velocityX": -0.8420016738041606, + "velocityY": 2.0517400750683525, + "moduleForcesX": [ + -48.17048249894332, + -38.16653050165898, + -53.32341741513459, + -42.5186011550902 + ], + "moduleForcesY": [ + 50.473958540577556, + 58.384025833931425, + 44.920696301688466, + 55.21411199238551 + ], + "timestamp": 3.485683809745833 }, { - "x": 7.6871092929208125, - "y": 1.5284230654567807, - "heading": -0.38530001152067206, - "angularVelocity": -1.1220765289788979, - "velocityX": -0.9642838733209447, - "velocityY": 2.280879328235054, - "timestamp": 3.3058437774791845, + "x": 7.670738277239801, + "y": 1.521120730189357, + "heading": 0.30294783589408236, + "angularVelocity": 1.021156079661379, + "velocityX": -0.8967053154939767, + "velocityY": 2.115543401267043, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.896893339338796, + -37.99590676528767, + -52.70895547165714, + -41.872363420085726 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 50.71433709651122, + 58.47932624716079, + 45.61460846262021, + 55.68683837373579 + ], + "timestamp": 3.508140670430561 }, { - "x": 7.665649428767142, - "y": 1.577455399343546, - "heading": -0.40927118351177383, - "angularVelocity": -1.1476767498885854, - "velocityX": -1.0274419270813502, - "velocityY": 2.347539353332566, - "timestamp": 3.3267304705253133, + "x": 7.649385646798962, + "y": 1.5700732805054096, + "heading": 0.3265774522777, + "angularVelocity": 1.0522226020526197, + "velocityX": -0.9508288242336721, + "velocityY": 2.1798483324672073, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.56601164581473, + -37.79573813409035, + -52.0114929081405, + -41.186945538092814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.0032653679841, + 58.59118385524638, + 46.380481780788394, + 56.175036474879285 + ], + "timestamp": 3.530597531115289 }, { - "x": 7.642873831944985, - "y": 1.627884722015486, - "heading": -0.4337270930873546, - "angularVelocity": -1.1708847121738761, - "velocityX": -1.0904357512152005, - "velocityY": 2.4144235068981454, - "timestamp": 3.3476171635714422, + "x": 7.626832298622284, + "y": 1.6204823829829593, + "heading": 0.35088229024466194, + "angularVelocity": 1.0822900986998034, + "velocityX": -1.0042965708032452, + "velocityY": 2.2447083403706065, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.16471619560507, + -37.558761787751244, + -51.21580910922188, + -40.45746015836846 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.350435851947076, + 58.7234981894725, + 47.227228477645056, + 56.680072054623324 + ], + "timestamp": 3.553054391800017 }, { - "x": 7.618786423564328, - "y": 1.679716156147042, - "heading": -0.45861164985999886, - "angularVelocity": -1.1914072140422596, - "velocityX": -1.1532418429025078, - "velocityY": 2.481552920660289, - "timestamp": 3.368503856617571, + "x": 7.6030950073651296, + "y": 1.6723618993656917, + "heading": 0.375836912812464, + "angularVelocity": 1.1112248910540168, + "velocityX": -1.057017344962063, + "velocityY": 2.3101856092474122, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -46.67614297978617, + -37.27563987908989, + -50.30297683116611, + -39.67763265542965 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.76770656382462, + 58.88115931128849, + 48.16499242151371, + 57.20379701479008 + ], + "timestamp": 3.5755112524847448 }, { - "x": 7.593391727562435, - "y": 1.7329553258622423, - "heading": -0.48386156329630237, - "angularVelocity": -1.2088995314164044, - "velocityX": -1.2158313403566556, - "velocityY": 2.5489516027079997, - "timestamp": 3.3893905496637, + "x": 7.578193046065189, + "y": 1.7257273245703881, + "heading": 0.4014122790745336, + "angularVelocity": 1.1388664970194333, + "velocityX": -1.10887989419089, + "velocityY": 2.3763528640041924, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -46.07826818342605, + -36.93420840143655, + -49.24920129246935, + -38.839323662038076 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 52.26968980950243, + 59.070346570031674, + 49.20528525631096, + 57.748682926949044 + ], + "timestamp": 3.5979681131694727 }, { - "x": 7.566695017846028, - "y": 1.7876084272433121, - "heading": -0.5094049884894066, - "angularVelocity": -1.2229521033650876, - "velocityX": -1.2781683370098904, - "velocityY": 2.6166469368974274, - "timestamp": 3.410277242709829, + "x": 7.552148773603568, + "y": 1.7805960741932823, + "heading": 0.4275749900570293, + "angularVelocity": 1.1650208526380503, + "velocityX": -1.159746806432897, + "velocityY": 2.4432956321543324, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -45.34180640013154, + -36.51839082918256, + -48.02420310313897, + -37.93187093145587 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 52.87451901489181, + 59.29892721665967, + 50.361091053125534, + 58.317982435667304 + ], + "timestamp": 3.6204249738542007 }, { - "x": 7.538702514691068, - "y": 1.8436823105941504, - "heading": -0.535159785645356, - "angularVelocity": -1.2330720377356625, - "velocityX": -1.3402075231889359, - "velocityY": 2.6846702456438365, - "timestamp": 3.431163935755958, + "x": 7.524988414016501, + "y": 1.8369878347061466, + "heading": 0.45428631835259325, + "angularVelocity": 1.1894506837159702, + "velocityX": -1.2094459670196709, + "velocityY": 2.5111150353804472, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -44.4269775716412, + -36.00663916505927, + -46.58886963506287, + -36.9412269147483 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 53.60486651018973, + 59.57696012187995, + 51.646935760180504, + 58.9158854959938 + ], + "timestamp": 3.6428818345389287 }, { - "x": 7.509421651533809, - "y": 1.9011845748805896, - "heading": -0.561031228953825, - "angularVelocity": -1.2386567491240053, - "velocityX": -1.4018908159655408, - "velocityY": 2.753057372914118, - "timestamp": 3.4520506288020867, + "x": 7.496743109224862, + "y": 1.8949249888052249, + "heading": 0.481500952384238, + "angularVelocity": 1.2118627983541963, + "velocityX": -1.2577583834256283, + "velocityY": 2.5799311360772217, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -43.278633193079, + -35.36928663740671, + -44.892235317696205, + -35.84851657664941 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 54.48907419495036, + 59.917534450420916, + 53.078442544005235, + 59.54782564244062 + ], + "timestamp": 3.6653386952236566 }, { - "x": 7.478861444881083, - "y": 1.9601236721846107, - "heading": -0.5869089074781779, - "angularVelocity": -1.2389552748824937, - "velocityX": -1.463142422078596, - "velocityY": 2.8218491636685754, - "timestamp": 3.4729373218482156, + "x": 7.467450369985361, + "y": 1.9544331275730602, + "heading": 0.5091653333949206, + "angularVelocity": 1.2318899510961534, + "velocityX": -1.3044004525272892, + "velocityY": 2.649886803114222, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -41.818465391731856, + -34.564457353035344, + -42.86709744505302, + -34.62796798911171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.562390689691554, + 60.337854845478226, + 54.67139801139793, + 60.22080440221946 + ], + "timestamp": 3.6877955559083846 }, { - "x": 7.447033019690258, - "y": 2.0205090133877057, - "heading": -0.6126624001237826, - "angularVelocity": -1.2330095812069104, - "velocityX": -1.52386139445488, - "velocityY": 2.8910915227093272, - "timestamp": 3.4938240148943445, + "x": 7.437156120844679, + "y": 2.0155416531017862, + "heading": 0.5372153899812724, + "angularVelocity": 1.2490640156763952, + "velocityX": -1.3489975097580846, + "velocityY": 2.7211517400686174, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.93234469142811, + -33.53127903658962, + -40.4238830177316, + -33.243732874386964 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 56.86779162166139, + 60.86072421041837, + 56.439612520888, + 60.94376392477456 + ], + "timestamp": 3.7102524165931126 }, { - "x": 7.413950377003154, - "y": 2.0823510497284965, - "heading": -0.6381350164273529, - "angularVelocity": -1.2195619597278216, - "velocityX": -1.58391003372531, - "velocityY": 2.960834259603034, - "timestamp": 3.5147107079404734, + "x": 7.405917653809547, + "y": 2.0782844487886423, + "heading": 0.5655733460663879, + "angularVelocity": 1.2627747254272552, + "velocityX": -1.3910433641500093, + "velocityY": 2.7939254986573028, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -37.449289352668195, + -32.17813668055997, + -37.442222113525524, + -31.644855941643783 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 58.454877482396405, + 61.51645302954368, + 58.39040701215156, + 61.72794502061664 + ], + "timestamp": 3.7327092772778405 }, { - "x": 7.379631553262011, - "y": 2.1456612626479417, - "heading": -0.6631343421228942, - "angularVelocity": -1.1969020486071915, - "velocityX": -1.643095135517515, - "velocityY": 3.0311266977315565, - "timestamp": 3.5355974009866022, + "x": 7.373808007670266, + "y": 2.1427005198377986, + "heading": 0.5941430486703141, + "angularVelocity": 1.2722037601344431, + "velocityX": -1.429836814239926, + "velocityY": 2.8684361520291715, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -34.106110749108545, + -30.361346662205033, + -33.759909563001315, + -29.757050726905675 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 60.372515002694854, + 62.34486305101686, + 60.5155148221152, + 62.587021626048845 + ], + "timestamp": 3.7551661379625685 }, { - "x": 7.3441004380170645, - "y": 2.2104518816733045, - "heading": -0.6874172157006555, - "angularVelocity": -1.1626002031117062, - "velocityX": -1.7011364683952517, - "velocityY": 3.102004653502146, - "timestamp": 3.556484094032731, + "x": 7.340922631872824, + "y": 2.208834305294925, + "heading": 0.6228028699999932, + "angularVelocity": 1.2762167309150885, + "velocityX": -1.464379917528102, + "velocityY": 2.9449256681768263, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -29.488831211772425, + -27.84430586661935, + -29.16009260628951, + -27.468765179999345 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.64310520696697, + 63.395555653457755, + 62.77337641474099, + 63.53639169197587 + ], + "timestamp": 3.7776229986472964 }, { "x": 7.307389736175537, "y": 2.2767348289489746, - "heading": -0.7106643956818505, - "angularVelocity": -1.1130139141630913, - "velocityX": -1.7576119762209603, - "velocityY": 3.1734534102302487, - "timestamp": 3.57737078707886, + "heading": 0.651394704983141, + "angularVelocity": 1.2731893110327712, + "velocityX": -1.493213863151001, + "velocityY": 3.023598204900744, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -22.944202270901513, + -24.21465545415547, + -23.3612496715893, + -24.60666611851974 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.18578752501641, + 64.71869044359822, + 65.0561812863054, + 64.58982615822626 + ], + "timestamp": 3.8000798593320244 }, { - "x": 7.245004584395614, - "y": 2.387946892684077, - "heading": -0.7444159303817715, - "angularVelocity": -0.9983968929355788, - "velocityX": -1.8454017648724967, - "velocityY": 3.2897401518852836, - "timestamp": 3.611176515981603, + "x": 7.248815171773436, + "y": 2.397870052407272, + "heading": 0.6993520230288638, + "angularVelocity": 1.2519933750565044, + "velocityX": -1.5291715543461624, + "velocityY": 3.1624057273424606, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -13.554606899807544, + -18.754530599776615, + -16.190169658989934, + -21.04901831055568 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.04712549812919, + 66.77563912336721, + 67.51443835673165, + 66.14028897039638 + ], + "timestamp": 3.8383846291504415 }, { - "x": 7.179181838076728, - "y": 2.5023458944446157, - "heading": -0.771176752673562, - "angularVelocity": -0.7916061318713116, - "velocityX": -1.9470885100053599, - "velocityY": 3.3840122805710715, - "timestamp": 3.6449822448843463, + "x": 7.187776019291328, + "y": 2.523834781842295, + "heading": 0.7446295784287422, + "angularVelocity": 1.1820343945288145, + "velocityX": -1.5935130995816602, + "velocityY": 3.2884867872109775, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -19.591145750118297, + -37.98139754625814, + -26.463765463312498, + -40.411245587942055 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.18854215090839, + 57.52115739971841, + 63.98330958934651, + 56.16932728301928 + ], + "timestamp": 3.8766893989688587 }, { - "x": 7.109668882109448, - "y": 2.618848519760876, - "heading": -0.7874298632579281, - "angularVelocity": -0.48077977052721604, - "velocityX": -2.0562478083896516, - "velocityY": 3.446239116790862, - "timestamp": 3.6787879737870894, + "x": 7.122504995376606, + "y": 2.652662187902979, + "heading": 0.7830476709398184, + "angularVelocity": 1.002958448600427, + "velocityX": -1.7039920674145068, + "velocityY": 3.363220994967132, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -38.50411283189515, + -67.8807832535497, + -43.99355925556282, + -63.30676628874828 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.96568908330176, + 7.99605419113258, + 53.090860270334055, + 27.49613782164128 + ], + "timestamp": 3.914994168787276 }, { - "x": 7.035693573660437, - "y": 2.735782548420554, - "heading": -0.7957259593983187, - "angularVelocity": -0.24540503665097835, - "velocityX": -2.1882476979518364, - "velocityY": 3.4590003663606774, - "timestamp": 3.7125937026898326, + "x": 7.0524861388736255, + "y": 2.780048017845025, + "heading": 0.8134204780925414, + "angularVelocity": 0.792924935894521, + "velocityX": -1.8279409283727237, + "velocityY": 3.3255866187400467, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.5893259131395, + -51.06230343897497, + -64.9362116867682, + -68.1504579709832 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.26080138014056, + -46.28923212294061, + 22.38813791806543, + -11.629425539106574 + ], + "timestamp": 3.953298938605693 }, { - "x": 6.957014333531214, - "y": 2.85167998109835, - "heading": -0.7988055186607733, - "angularVelocity": -0.09109578057950915, - "velocityX": -2.327393689855875, - "velocityY": 3.4283370434409512, - "timestamp": 3.7463994315925757, + "x": 6.978860469690245, + "y": 2.903882716544858, + "heading": 0.835844024047788, + "angularVelocity": 0.5853982692376145, + "velocityX": -1.9221018565677512, + "velocityY": 3.2328793329621344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -21.562244424212356, + -34.62932262467164, + -66.31709867690246, + -59.61467598265991 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.27987145910213, + -60.08637080254228, + -18.48132537572579, + -35.46418098539796 + ], + "timestamp": 3.99160370842411 }, { - "x": 6.873848758135451, - "y": 2.965397022115393, - "heading": -0.7993490485356187, - "angularVelocity": -0.016078040393953535, - "velocityX": -2.460103009020327, - "velocityY": 3.363839346407822, - "timestamp": 3.780205160495319, + "x": 6.9023661445198625, + "y": 3.02334463342803, + "heading": 0.851960881681859, + "angularVelocity": 0.4207532824364303, + "velocityX": -1.99699216397858, + "velocityY": 3.118721700965125, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -11.511427027857293, + -26.49135484230802, + -55.305599066212615, + -51.54228386360239 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -68.30321343557121, + -64.31033743337966, + -41.5191797357483, + -46.66765676782428 + ], + "timestamp": 4.029908478242527 }, { - "x": 6.787108786710581, - "y": 3.0756676554578557, - "heading": -0.7968305006548542, - "angularVelocity": 0.07450062348929531, - "velocityX": -2.5658364496270885, - "velocityY": 3.261891901804707, - "timestamp": 3.814010889398062, + "x": 6.823474133825397, + "y": 3.138064745532895, + "heading": 0.8627373559881912, + "angularVelocity": 0.28133504932722114, + "velocityX": -2.0595871237042025, + "velocityY": 2.9949302044808777, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -7.107740858591902, + -21.947560623725327, + -46.126941091656164, + -45.88711663756821 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.12264633137997, + -66.11554740505598, + -51.817761294107726, + -52.377974168882666 + ], + "timestamp": 4.068213248060944 }, { - "x": 6.697527011767112, - "y": 3.181964569343137, - "heading": -0.7898701081062274, - "angularVelocity": 0.2058938758176595, - "velocityX": -2.649899228654154, - "velocityY": 3.1443461607081735, - "timestamp": 3.847816618300805, + "x": 6.7424916283627505, + "y": 3.247851177841917, + "heading": 0.8687366550216334, + "angularVelocity": 0.15662015623332884, + "velocityX": -2.1141624358152225, + "velocityY": 2.8661295402494655, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -4.625678995394794, + -19.10670627605853, + -39.86325446905772, + -41.962349193643036 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.45421465311335, + -67.06287370765313, + -56.94646827331556, + -55.658959825256574 + ], + "timestamp": 4.106518017879361 }, { - "x": 6.6057091936381935, - "y": 3.2839361751329723, - "heading": -0.7782630438895483, - "angularVelocity": 0.3433460716102862, - "velocityX": -2.7160431414767596, - "velocityY": 3.0164001516784844, - "timestamp": 3.8816223472035483, + "x": 6.659632443969223, + "y": 3.352590465550665, + "heading": 0.8703097149954974, + "angularVelocity": 0.04106694757130892, + "velocityX": -2.1631557841573836, + "velocityY": 2.7343667173895567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -2.9392890106582032, + -17.16795571043183, + -35.492858843917666, + -39.161412624374584 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.62219293068152, + -67.63301269436307, + -59.87399729777828, + -57.72263501235083 + ], + "timestamp": 4.144822787697779 }, { - "x": 6.51217951882697, - "y": 3.3812879395453606, - "heading": -0.7629048430045671, - "angularVelocity": 0.4543076390740111, - "velocityX": -2.766681206025814, - "velocityY": 2.879741616944965, - "timestamp": 3.9154280761062914, + "x": 6.5751938599039885, + "y": 3.4522522211408053, + "heading": 0.8664613777008863, + "angularVelocity": -0.10046626863584004, + "velocityX": -2.2043882384756404, + "velocityY": 2.6018105855376312, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 6.6756971581081865, + -13.08693502719546, + -34.084950650164444, + -39.25443109792447 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.40781429789399, + -68.57930943336413, + -60.69656313620983, + -57.70254635673895 + ], + "timestamp": 4.183127557516196 }, { - "x": 6.417348951447825, - "y": 3.4738526119938054, - "heading": -0.7444150903267376, - "angularVelocity": 0.5469413995190979, - "velocityX": -2.805162629445672, - "velocityY": 2.73813567856347, - "timestamp": 3.9492338050090345, + "x": 6.489404168527532, + "y": 3.546832897562644, + "heading": 0.8564669131203747, + "angularVelocity": -0.2609195833283948, + "velocityX": -2.2396607989850876, + "velocityY": 2.469161852954501, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 14.026153266530716, + -10.251554947705781, + -32.50426642239253, + -39.493497425222124 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -68.34112513893986, + -69.08882381503473, + -61.56388871970546, + -57.57150120437821 + ], + "timestamp": 4.221432327334613 }, { - "x": 6.321538045542248, - "y": 3.5615325207234423, - "heading": -0.7232523306326979, - "angularVelocity": 0.6260110454924283, - "velocityX": -2.834161812668459, - "velocityY": 2.5936405329962575, - "timestamp": 3.9830395339117777, + "x": 6.402442972218456, + "y": 3.636336592495899, + "heading": 0.8398385034983689, + "angularVelocity": -0.4341080680247503, + "velocityX": -2.270244586282927, + "velocityY": 2.3366200960753623, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 19.48001047635372, + -8.344868417288076, + -30.456586817451974, + -39.83283134694458 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -67.0236130402517, + -69.36659570662582, + -62.606149903247946, + -57.362070917818706 + ], + "timestamp": 4.25973709715303 }, { - "x": 6.22500005413485, - "y": 3.644269040494466, - "heading": -0.6997733335781026, - "angularVelocity": 0.6945271649708546, - "velocityX": -2.8556695726079946, - "velocityY": 2.4474112068120664, - "timestamp": 4.01684526281452, + "x": 6.31445941990698, + "y": 3.7207657394524616, + "heading": 0.8162774785259399, + "angularVelocity": -0.6150937620593808, + "velocityX": -2.296934630558012, + "velocityY": 2.2041418694537835, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.474119088489243, + -7.151354060299332, + -27.6698892281525, + -40.2759868600396 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.75920165789266, + -69.51658701398907, + -63.88855313243185, + -57.07120937842084 + ], + "timestamp": 4.298041866971447 }, { - "x": 6.128354628757319, - "y": 3.7219973093295886, - "heading": -0.674348748925599, - "angularVelocity": 0.7520791734930076, - "velocityX": -2.858847553785181, - "velocityY": 2.299263212420078, - "timestamp": 4.050650991717263, + "x": 6.225587665815649, + "y": 3.800117256204276, + "heading": 0.7856285399310245, + "angularVelocity": -0.8001337363520462, + "velocityX": -2.3201223897865924, + "velocityY": 2.0715831769249156, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 26.34170555398603, + -6.532944776404838, + -23.833447409831145, + -40.82440606884512 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "moduleForcesY": [ + -64.68771288906095, + -69.59080461374796, + -65.41709903527536, + -56.69556947334269 + ], + "timestamp": 4.336346636789864 }, { - "x": 6.032238703839081, - "y": 3.7947340713477735, - "heading": -0.6473304083821297, - "angularVelocity": 0.7992237239196747, - "velocityX": -2.8431845145169645, - "velocityY": 2.1516105222119015, - "timestamp": 4.084456720620006, + "x": 6.135960221505824, + "y": 3.874382936093195, + "heading": 0.7478257683688064, + "angularVelocity": -0.9868946280429624, + "velocityX": -2.3398507479538915, + "velocityY": 1.9388102380192702, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.321691997722123, + -6.397047507232297, + -18.60839442942816, + -41.474269366135964 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.86599888942299, + -69.61428377619045, + -67.09117386647483, + -56.23411861967071 + ], + "timestamp": 4.374651406608281 }, { - "x": 5.937258266883108, - "y": 3.8625729143640037, - "heading": -0.6190835374532825, - "angularVelocity": 0.8355646171721902, - "velocityX": -2.809595889182734, - "velocityY": 2.0067262330416984, - "timestamp": 4.1182624495227484, + "x": 6.045718631019193, + "y": 3.9435543482909154, + "heading": 0.7028182623204676, + "angularVelocity": -1.1749843756194254, + "velocityX": -2.355883899431284, + "velocityY": 1.8058172004589867, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.583070662051995, + -6.679021376282012, + -11.697921956867376, + -42.21698481676095 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.30903879815944, + -69.59673749053458, + -68.63718808497758, + -55.6883192248564 + ], + "timestamp": 4.4129561764266985 }, { - "x": 5.843965629994652, - "y": 3.925669245257987, - "heading": -0.5899719126760393, - "angularVelocity": 0.8611447148794082, - "velocityX": -2.7596694381846882, - "velocityY": 1.8664390013748073, - "timestamp": 4.152068178425491, + "x": 5.95501883737919, + "y": 4.007632377025193, + "heading": 0.6504713977078268, + "angularVelocity": -1.3665886744859626, + "velocityX": -2.367845938507474, + "velocityY": 1.6728472469104376, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 30.242071008693404, + -7.332113448282208, + -3.0111849741770547, + -43.03540231115035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.01189016108501, + -69.53840485239049, + -69.57062224608904, + -55.06571791166298 + ], + "timestamp": 4.451260946245116 }, { - "x": 5.752846705505816, - "y": 3.9842209820332593, - "heading": -0.5603426513283869, - "angularVelocity": 0.8764568110007059, - "velocityX": -2.6953693189393753, - "velocityY": 1.7320063396272878, - "timestamp": 4.185873907328234, + "x": 5.864217566192097, + "y": 4.066536080901696, + "heading": 0.5912501893260527, + "angularVelocity": -1.5460531067674, + "velocityX": -2.370495152889156, + "velocityY": 1.5377642041900992, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.718851603031748, + -6.0277349981215025, + 9.808427386683189, + -37.62357776380388 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.72145888278574, + -69.65863600329807, + -69.01154866246023, + -58.88206753273683 + ], + "timestamp": 4.489565716063533 }, { - "x": 5.664317798324593, - "y": 4.038449719048553, - "heading": -0.5305153107707118, - "angularVelocity": 0.8823161495344912, - "velocityX": -2.6187545736971405, - "velocityY": 1.6041286129728605, - "timestamp": 4.2196796362309765, + "x": 5.773769788281854, + "y": 4.12019402694026, + "heading": 0.5258898594376827, + "angularVelocity": -1.706323525717786, + "velocityX": -2.361266712709909, + "velocityY": 1.4008163028502212, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.077156525668332, + -2.6190516278265084, + 19.942493272564615, + -27.551216304503075 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.9981552170959, + -69.85597400829346, + -66.83835206003178, + -64.18818535709728 + ], + "timestamp": 4.52787048588195 }, { - "x": 5.578729234360759, - "y": 4.08858536630745, - "heading": -0.5007767322400403, - "angularVelocity": 0.8796904990934415, - "velocityX": -2.5317769130216585, - "velocityY": 1.4830518047143701, - "timestamp": 4.253485365133719, + "x": 5.684194461783852, + "y": 4.168555317074818, + "heading": 0.45573902991462334, + "angularVelocity": -1.8313862700548158, + "velocityX": -2.338490139025271, + "velocityY": 1.2625396357637322, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.845525225997108, + 2.868459360903416, + 25.82031025671553, + -12.480505319333032 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.08767338357436, + -69.82817676464734, + -64.83137059821148, + -68.70350614038631 + ], + "timestamp": 4.566175255700367 }, { - "x": 5.496372709711907, - "y": 4.134855226623216, - "heading": -0.4713804332472861, - "angularVelocity": 0.8695656016566179, - "velocityX": -2.4361706527845137, - "velocityY": 1.368698792115411, - "timestamp": 4.287291094036462, + "x": 5.5961131688335195, + "y": 4.211653303342579, + "heading": 0.3826854671237098, + "angularVelocity": -1.9071662129082614, + "velocityX": -2.299486287683743, + "velocityY": 1.1251336706124553, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.294011106676425, + 11.561192169278678, + 29.038086584711337, + 6.546830388633117 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.87491705908301, + -68.90120167625906, + -63.481890154187745, + -69.50863151776373 + ], + "timestamp": 4.604480025518784 }, { - "x": 5.417489921821255, - "y": 4.177477117415218, - "heading": -0.44254865940527666, - "angularVelocity": 0.8528665045192995, - "velocityX": -2.3334147924333886, - "velocityY": 1.2607889897781017, - "timestamp": 4.321096822939205, + "x": 5.510206520663812, + "y": 4.249670423359626, + "heading": 0.30879309467363136, + "angularVelocity": -1.9290645212166333, + "velocityX": -2.242714120903117, + "velocityY": 0.9924904965430058, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.832794858977373, + 24.543298275362353, + 30.589352809614525, + 24.841635701432633 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.14804104041459, + -65.38436765439928, + -62.76769029208618, + -65.25448877489507 + ], + "timestamp": 4.642784795337201 }, { - "x": 5.342280996482041, - "y": 4.216655596783143, - "heading": -0.4144756108687364, - "angularVelocity": 0.8304228143491521, - "velocityX": -2.2247390540102043, - "velocityY": 1.158930176617096, - "timestamp": 4.354902551841947, + "x": 5.4271434792221624, + "y": 4.282957361580848, + "heading": 0.23619985896600906, + "angularVelocity": -1.8951487256482313, + "velocityX": -2.168477759699574, + "velocityY": 0.8690024343970101, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.115845332538285, + 41.06903159965116, + 31.07377346669187, + 38.327170576261956 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.45604854694082, + -56.46318260913099, + -62.54176805820284, + -58.38603607139395 + ], + "timestamp": 4.681089565155618 }, { - "x": 5.270911994343646, - "y": 4.252580324109894, - "heading": -0.38733095832594816, - "angularVelocity": 0.8029601320202794, - "velocityX": -2.111151111213083, - "velocityY": 1.0626816368936485, - "timestamp": 4.38870828074469, + "x": 5.347511143727999, + "y": 4.3120174525598784, + "heading": 0.1670601797455945, + "angularVelocity": -1.8049887663643287, + "velocityX": -2.078914345958959, + "velocityY": 0.7586546301358631, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 39.16579087700257, + 56.36659180058669, + 30.868366411389054, + 46.830213242575915 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.735869614603075, + -41.20039785214273, + -62.651260601832284, + -51.84400077749072 + ], + "timestamp": 4.7193943349740355 }, { - "x": 5.203521264343312, - "y": 4.285425771135261, - "heading": -0.3612632061683655, - "angularVelocity": 0.7711045732094111, - "velocityX": -1.993470698242112, - "velocityY": 0.9715941082016462, - "timestamp": 4.422514009647433, + "x": 5.271779304478975, + "y": 4.3374502837126645, + "heading": 0.10314932974442041, + "angularVelocity": -1.6684828104735203, + "velocityX": -1.9770863944106347, + "velocityY": 0.6639599003818522, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.22620792579668, + 65.54865963112326, + 30.228696864449027, + 51.94911192539971 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.3503107702457, + -24.09724293975179, + -62.96674981552025, + -46.74150170675748 + ], + "timestamp": 4.757699104792453 }, { - "x": 5.140224665694359, - "y": 4.3153517229828875, - "heading": -0.3364027186426946, - "angularVelocity": 0.7353927376390257, - "velocityX": -1.8723630787862457, - "velocityY": 0.8852331489056608, - "timestamp": 4.456319738550175, + "x": 5.200324467048064, + "y": 4.359962453378589, + "heading": 0.04607642935674221, + "angularVelocity": -1.4899684989162125, + "velocityX": -1.8654292342609016, + "velocityY": 0.5877119161045277, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 62.39363001699385, + 69.12128728024234, + 29.366088309030605, + 55.08304149855396 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.91815460039843, + -10.154582338579033, + -63.37541434311496, + -43.02849281340147 + ], + "timestamp": 4.79600387461087 }, { - "x": 5.081119789809812, - "y": 4.3425041978255985, - "heading": -0.3128643576563687, - "angularVelocity": 0.6962831966748698, - "velocityX": -1.7483686287193616, - "velocityY": 0.8031915217928767, - "timestamp": 4.490125467452918, + "x": 5.133330444194313, + "y": 4.380374542428873, + "heading": -0.0017870639374282645, + "angularVelocity": -1.249543947687614, + "velocityX": -1.7489733829842906, + "velocityY": 0.5328863519359758, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.60009572755186, + 69.88371266759867, + 28.653171968770533, + 57.108556214362686 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.4658789702280717, + -0.5530771011900537, + -63.70102779897246, + -40.32203534958156 + ], + "timestamp": 4.834308644429287 }, { - "x": 5.026289344990242, - "y": 4.367016552508206, - "heading": -0.2907497432944396, - "angularVelocity": 0.6541676538184275, - "velocityX": -1.6219276021917488, - "velocityY": 0.7250946948408769, - "timestamp": 4.523931196355661, + "x": 5.07094302964274, + "y": 4.398823700102076, + "heading": -0.04091035035913634, + "angularVelocity": -1.0213685294852566, + "velocityX": -1.6287113810452185, + "velocityY": 0.48164126192797413, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.69566051232286, + 69.88509820879884, + 34.807644921023055, + 58.218879373658325 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.383085808214707, + -1.2313579146898874, + -60.559793675243064, + -38.708703958240854 + ], + "timestamp": 4.872613414247704 }, { - "x": 4.975803861000419, - "y": 4.389010635354101, - "heading": -0.2701491739764076, - "angularVelocity": 0.6093810128247359, - "velocityX": -1.4934002498531325, - "velocityY": 0.6506022369513395, - "timestamp": 4.5577369252584035, + "x": 5.013318950558727, + "y": 4.415364484960623, + "heading": -0.0723458343336298, + "angularVelocity": -0.8206676119844227, + "velocityX": -1.504357795574233, + "velocityY": 0.43182050008285316, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.77111484855794, + 69.84251489276764, + 41.593033589218464, + 59.3144421166598 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.3208241533424338, + -2.9052260806298764, + -56.12266163210595, + -37.01316357020556 + ], + "timestamp": 4.910918184066121 }, { - "x": 4.929723850341455, - "y": 4.408597907896565, - "heading": -0.25114325101632495, - "angularVelocity": 0.5622101216856332, - "velocityX": -1.3630828902264982, - "velocityY": 0.5794068987187334, - "timestamp": 4.591542654161146, + "x": 4.960599029118365, + "y": 4.43005799914098, + "heading": -0.09720378182806412, + "angularVelocity": -0.6489517522823597, + "velocityX": -1.3763278487321355, + "velocityY": 0.3835948956229701, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.76884244721613, + 69.76019830694995, + 47.6750246092614, + 60.427751830882144 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.4869313128286294, + -4.551310418641529, + -51.067324322010194, + -35.17100214211091 + ], + "timestamp": 4.949222953884538 }, { - "x": 4.888101539259908, - "y": 4.425880494868218, - "heading": -0.23380425171395244, - "angularVelocity": 0.5129012112785903, - "velocityX": -1.2312206372266652, - "velocityY": 0.5112324902496034, - "timestamp": 4.625348383063889, + "x": 4.912900721322479, + "y": 4.442975990441067, + "heading": -0.11652232938514405, + "angularVelocity": -0.5043379100999429, + "velocityX": -1.2452315474547606, + "velocityY": 0.33724236854372874, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.69617308260153, + 69.65271281573908, + 52.68918433652125, + 61.524600948679 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.513598219094905, + -6.030145333032946, + -45.890088615066844, + -33.219883977337616 + ], + "timestamp": 4.987527723702955 }, { - "x": 4.850982259247048, - "y": 4.440952144393432, - "heading": -0.21819729085123546, - "angularVelocity": 0.46166615450349546, - "velocityX": -1.0980174431277496, - "velocityY": 0.44583122489608273, - "timestamp": 4.6591541119666315, + "x": 4.870318184119286, + "y": 4.454195003917222, + "heading": -0.13122808493679514, + "angularVelocity": -0.3839144738726619, + "velocityX": -1.111677146346366, + "velocityY": 0.2928881580372091, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.57851541352358, + 69.53114435701472, + 56.63462776067096, + 62.57276919270243 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.305601724754026, + -7.339101739309379, + -40.9380240167547, + -31.20590259253996 + ], + "timestamp": 5.0258324935213725 }, { - "x": 4.818405570732873, - "y": 4.453899093459424, - "heading": -0.20438130501428825, - "angularVelocity": 0.40868770724319975, - "velocityX": -0.9636440204527564, - "velocityY": 0.38298091732440465, - "timestamp": 4.692959840869374, + "x": 4.832925374132051, + "y": 4.4637912524025305, + "heading": -0.14213213721808432, + "angularVelocity": -0.2846656521623697, + "velocityX": -0.9761920033587095, + "velocityY": 0.2505235909470129, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.43595580485315, + 69.40224850291139, + 59.663436468994355, + 63.54980100227099 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.867209611667973, + -8.502161375414437, + -36.40067495895443, + -29.17027342419701 + ], + "timestamp": 5.06413726333979 }, { - "x": 4.790406175158671, - "y": 4.464800841015277, - "heading": -0.1924098886312887, - "angularVelocity": 0.3541238947233061, - "velocityX": -0.8282441019022307, - "velocityY": 0.3224822510769351, - "timestamp": 4.726765569772117, + "x": 4.800779895247548, + "y": 4.471837574357588, + "heading": -0.1499408638751895, + "angularVelocity": -0.2038578144216048, + "velocityX": -0.8392030297242103, + "velocityY": 0.21006057452377253, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.28209992859573, + 69.26974756314968, + 61.96548019624572, + 64.44277979789432 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -9.223771777793552, + -9.546104016764458, + -32.34604334826703, + -27.146475970155986 + ], + "timestamp": 5.102442033158207 }, { - "x": 4.7670146592934906, - "y": 4.4737308347828755, - "heading": -0.18233200563323024, - "angularVelocity": 0.29811169068567966, - "velocityX": -0.6919394027111793, - "velocityY": 0.26415622610265493, - "timestamp": 4.76057129867486, + "x": 4.773926538928355, + "y": 4.478402019817687, + "heading": -0.1552712471148476, + "angularVelocity": -0.13915716671648543, + "velocityX": -0.7010447118332788, + "velocityY": 0.1713741001764953, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.12575007463612, + 69.13551364887181, + 63.71417376547562, + 65.24638180955493 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -10.402976790280022, + -10.494490682190545, + -28.768694903223842, + -25.160096478201318 + ], + "timestamp": 5.140746802976624 }, { - "x": 4.748258106026371, - "y": 4.4807570795019735, - "heading": -0.17419259626741354, - "angularVelocity": 0.24077011885273358, - "velocityX": -0.554833570401078, - "velocityY": 0.2078418347171693, - "timestamp": 4.794377027577602, + "x": 4.75240017884568, + "y": 4.483547419009099, + "heading": -0.15866593035342794, + "angularVelocity": -0.08862299015691079, + "velocityX": -0.5619759676071341, + "velocityY": 0.13432789743429768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.97242563858514, + 69.00038635862892, + 65.04918104371559, + 65.96074652174384 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.430156295665528, + -11.366401538253799, + -25.627558210676778, + -23.229576950477114 + ], + "timestamp": 5.179051572795041 }, { - "x": 4.734160598392618, - "y": 4.485942674770102, - "heading": -0.16803309485896994, - "angularVelocity": 0.18220288715454405, - "velocityX": -0.4170153430003218, - "velocityY": 0.15339397896277213, - "timestamp": 4.828182756480345, + "x": 4.736228014670924, + "y": 4.487331465380528, + "heading": -0.16060625444196566, + "angularVelocity": -0.05065489487956186, + "velocityX": -0.4221971376259371, + "velocityY": 0.09878786347934124, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.82542589677142, + 68.8646902816725, + 66.07641921626355, + 66.58963148106368 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.327431975036218, + -12.17661725774209, + -22.869195278315257, + -21.367260413645806 + ], + "timestamp": 5.217356342613458 }, { - "x": 4.724743637814444, - "y": 4.489346290419544, - "heading": -0.16389187119456528, - "angularVelocity": 0.12250064704472823, - "velocityX": -0.2785610866509069, - "velocityY": 0.10068162290581124, - "timestamp": 4.861988485383088, + "x": 4.725431273494634, + "y": 4.489807034168813, + "heading": -0.16152293513135146, + "angularVelocity": -0.0239312412979195, + "velocityX": -0.2818641445300823, + "velocityY": 0.0646282121004902, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.68653508436358, + 68.72854672705208, + 66.87396454700497, + 67.13896677277403 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.113940323172452, + -12.93621979601385, + -20.43997158390438, + -19.580477199853668 + ], + "timestamp": 5.255661112431875 }, { "x": 4.72002649307251, "y": 4.49102258682251, "heading": -0.16180460559801732, - "angularVelocity": 0.061742954945680495, - "velocityX": -0.13953684464265562, - "velocityY": 0.04958616356973356, - "timestamp": 4.89579421428583, + "angularVelocity": -0.007353404497693264, + "velocityX": -0.14109941001462187, + "velocityY": 0.031733715134143824, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.55648929425, + 68.5920529641022, + 67.49873999487815, + 67.6157926344678 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.806304540551215, + -13.6532628907263, + -18.29145939685996, + -17.87255703162447 + ], + "timestamp": 5.293965882250292 }, { "x": 4.72002649307251, "y": 4.49102258682251, "heading": -0.16180460559801732, - "angularVelocity": 3.1683920940991345e-19, - "velocityX": -2.143213095252052e-16, - "velocityY": 1.1917993482771072e-16, - "timestamp": 4.929599943188573, + "angularVelocity": -5.881465861824842e-19, + "velocityX": 4.7073218726955604e-18, + "velocityY": -4.8944121317771445e-18, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.43529033536115, + 68.45537842802776, + 67.99220764527054, + 68.02751814191386 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] - }, - { - "x": 4.727896749068562, - "y": 4.486722216875996, - "heading": -0.16398120210505002, - "angularVelocity": -0.04820958180663479, - "velocityX": 0.17431882714826363, - "velocityY": -0.09524918195241291, - "timestamp": 4.974748571852526, - "moduleForcesX": [ - 0, - 0, - 0, - 0 + -14.419101113518574, + -14.333392437385246, + -16.38222197550169, + -16.243717713798855 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "timestamp": 5.3322706520687095 }, { - "x": 4.743634640773255, - "y": 4.478115890582503, - "heading": -0.16831439150065022, - "angularVelocity": -0.0959761021281911, - "velocityX": 0.3485796173751437, - "velocityY": -0.19062209746281752, - "timestamp": 5.019897200516479, + "x": 4.727887785907783, + "y": 4.4867414965294214, + "heading": -0.16393324128393727, + "angularVelocity": -0.043675380053083857, + "velocityX": 0.1612981284492419, + "velocityY": -0.08783947710216147, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.1117150997854, + 58.27226330642005, + 63.935474298105014, + 62.876004012259685 ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "moduleForcesY": [ + -35.787569098742956, + -38.698475042039036, + -28.39235873713487, + -30.649747218299385 + ], + "timestamp": 5.381008308920985 }, { - "x": 4.767237240008193, - "y": 4.465197395276607, - "heading": -0.17478216172949257, - "angularVelocity": -0.14325507596214157, - "velocityX": 0.5227755511826151, - "velocityY": -0.28613261771580356, - "timestamp": 5.065045829180432, + "x": 4.743608901300179, + "y": 4.478176373529895, + "heading": -0.16816273141664084, + "angularVelocity": -0.08678074421023493, + "velocityX": 0.3225660897085628, + "velocityY": -0.17573932668710152, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.10211452905184, + 58.30657944647576, + 63.88853984566503, + 62.852364595708245 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.79793680883123, + -38.64090528767794, + -28.490428053821134, + -30.690654466956545 + ], + "timestamp": 5.429745965773261 }, { - "x": 4.7987012551652635, - "y": 4.447959780759982, - "heading": -0.18336006472228875, - "angularVelocity": -0.1899925478720758, - "velocityX": 0.6968985789416005, - "velocityY": -0.38179707837699484, - "timestamp": 5.110194457844385, + "x": 4.767187803659241, + "y": 4.465323332405414, + "heading": -0.17446487838707617, + "angularVelocity": -0.1293075493870608, + "velocityX": 0.4837922846912751, + "velocityY": -0.2637188973495175, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.08319299546677, + 58.33917209907521, + 63.834689965991515, + 62.82905284121462 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.82327503982619, + -38.58514372397829, + -28.602708531096198, + -30.729984382580668 + ], + "timestamp": 5.478483622625537 }, { - "x": 4.838022961120384, - "y": 4.426395219986269, - "heading": -0.19402068105401282, - "angularVelocity": -0.2361227051007613, - "velocityX": 0.8709390986777716, - "velocityY": -0.47763490081218446, - "timestamp": 5.1553430865083385, + "x": 4.7986217955455785, + "y": 4.4481773888884435, + "heading": -0.18281105162428865, + "angularVelocity": -0.17124691206452064, + "velocityX": 0.6449631335707054, + "velocityY": -0.3518007352905859, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.05453059714415, + 58.36915057772371, + 63.77332474172923, + 62.80496825587504 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.864122102837584, + -38.532431107189865, + -28.73017924455715, + -30.769839626172665 + ], + "timestamp": 5.527221279477812 }, { - "x": 4.885198109514782, - "y": 4.400494832302089, - "heading": -0.2067329416955533, - "angularVelocity": -0.28156471232288355, - "velocityX": 1.0448855212309887, - "velocityY": -0.5736694214338179, - "timestamp": 5.200491715172292, + "x": 4.837907405014235, + "y": 4.4267322808755205, + "heading": -0.19317216950054888, + "angularVelocity": -0.21258957745270352, + "velocityX": 0.8060627450296197, + "velocityY": -0.44001105916772637, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 60.01558913830737, + 58.39551232521596, + 63.70371110385574, + 62.77887087644854 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.921152874938045, + -38.48415600762572, + -28.8740249473851, + -30.812554638417545 + ], + "timestamp": 5.575958936330088 }, { - "x": 4.940221812020733, - "y": 4.370248455773455, - "heading": -0.22146125661927976, - "angularVelocity": -0.32621843363946346, - "velocityX": 1.2187236718859935, - "velocityY": -0.6699290194119285, - "timestamp": 5.245640343836245, + "x": 4.885040256730086, + "y": 4.4009802654715, + "heading": -0.20551859769309883, + "angularVelocity": -0.2533242053464322, + "velocityX": 0.9670725832944921, + "velocityY": -0.5283802518876977, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.96575349834944, + 58.41725921204458, + 63.62488905730617, + 62.74931400892259 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.9950935691336, + -38.44166713578121, + -29.035814258336888, + -30.860816111812138 + ], + "timestamp": 5.624696593182364 }, { - "x": 5.00308838560409, - "y": 4.335644348833906, - "heading": -0.23816437672379223, - "angularVelocity": -0.36995852584657585, - "velocityX": 1.39243594863715, - "velocityY": -0.7664486821318964, - "timestamp": 5.290788972500198, + "x": 4.9400149224717165, + "y": 4.370911883732378, + "heading": -0.21981985541564256, + "angularVelocity": -0.29343342799369354, + "velocityX": 1.1279710452281166, + "velocityY": -0.6169435233675227, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.90436500356773, + 58.433508747517934, + 63.53552165026372, + 62.71451295261247 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.086645020921544, + -38.40608643734777, + -29.217782893197505, + -30.917903272378997 + ], + "timestamp": 5.6734342500346395 }, { - "x": 5.073791142966564, - "y": 4.296668791481402, - "heading": -0.25679387831743117, - "angularVelocity": -0.41262607846406313, - "velocityX": 1.5660001079705665, - "velocityY": -0.8632722300959411, - "timestamp": 5.335937601164151, + "x": 5.002824737573276, + "y": 4.3365156704551024, + "heading": -0.2360440268028712, + "angularVelocity": -0.3328878004210195, + "velocityX": 1.288732761444332, + "velocityY": -0.7057420380616938, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.83069936510459, + 58.44350633346029, + 63.43369480407949, + 62.67213545405848 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.196491254619396, + -38.37826447843325, + -29.423195161825817, + -30.988068940075383 + ], + "timestamp": 5.722171906886915 }, { - "x": 5.152322101580536, - "y": 4.253305539809008, - "heading": -0.27729209830433066, - "angularVelocity": -0.45401644730936996, - "velocityX": 1.7393874617652028, - "velocityY": -0.9604555654425806, - "timestamp": 5.381086229828104, + "x": 5.0734615573641815, + "y": 4.297777754538262, + "heading": -0.25415640753433766, + "angularVelocity": -0.37163010906259014, + "velocityX": 1.449327365183079, + "velocityY": -0.7948251602299122, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.744090092449774, + 58.44704036164283, + 63.316226848131265, + 62.61864458334687 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.32505385759954, + -38.35811235281445, + -29.657702012263695, + -31.077794323353526 + ], + "timestamp": 5.770909563739191 }, { - "x": 5.2386715676601066, - "y": 4.2055350595460474, - "heading": -0.29958924277694704, - "angularVelocity": -0.4938609462222111, - "velocityX": 1.9125601072466814, - "velocityY": -1.0580715666587264, - "timestamp": 5.426234858492057, + "x": 5.151915411974696, + "y": 4.25468129645477, + "heading": -0.2741175815590431, + "angularVelocity": -0.40956367855778775, + "velocityX": 1.6097174069797553, + "velocityY": -0.8842537960763628, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.64360343119425, + 58.44373716788734, + 63.178621301416385, + 62.549077549891024 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.47297266727465, + -38.34562203598795, + -29.929207127313692, + -31.196089277933915 + ], + "timestamp": 5.819647220591467 }, { - "x": 5.332827520074029, - "y": 4.1533334140156875, - "heading": -0.32359920197621383, - "angularVelocity": -0.5317981943144963, - "velocityX": 2.0854664958871436, - "velocityY": -1.156217742933077, - "timestamp": 5.47138348715601, + "x": 5.238174006915483, + "y": 4.207205685181185, + "heading": -0.2958807068394894, + "angularVelocity": -0.4465361424003276, + "velocityX": 1.769855190253369, + "velocityY": -0.9741053292218118, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.527894983854765, + 58.43285777534832, + 63.014466834783654, + 62.456352023467005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.64123940474272, + -38.34109648431631, + -30.248783905959737, + -31.35563367878393 + ], + "timestamp": 5.868384877443742 }, { - "x": 5.434774658180193, - "y": 4.096670587019706, - "heading": -0.34921324334652926, - "angularVelocity": -0.567327117750655, - "velocityX": 2.258033989580737, - "velocityY": -1.2550287499921766, - "timestamp": 5.516532115819963, + "x": 5.3322219822613, + "y": 4.1553253655006195, + "heading": -0.3193875115896396, + "angularVelocity": -0.4823129848322271, + "velocityX": 1.929677818342355, + "velocityY": -1.0644812047040957, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.39505944578591, + 58.4131658799856, + 62.81427204721697, + 62.32999478970495 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.83127084396701, + -38.34521709617963, + -30.632496505982925, + -31.574841876515983 + ], + "timestamp": 5.917122534296018 }, { - "x": 5.544492849824494, - "y": 4.035507829901232, - "heading": -0.37629001845839, - "angularVelocity": -0.5997253053552725, - "velocityX": 2.4301555748447696, - "velocityY": -1.3546980036473875, - "timestamp": 5.561680744483916, + "x": 5.434039775892651, + "y": 4.0990080736687124, + "heading": -0.3445620916805614, + "angularVelocity": -0.5165324251681986, + "velocityX": 2.0890990705598074, + "velocityY": -1.1555190681941212, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.2424099434238, + 58.382758773370185, + 62.56332386034091, + 62.15385276561653 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.044966117412464, + -38.35906580341401, + -31.10465784805854, + -31.881449853609084 + ], + "timestamp": 5.965860191148294 }, { - "x": 5.661954423048125, - "y": 3.969793203956593, - "heading": -0.40463868775063905, - "angularVelocity": -0.6278965747388003, - "velocityX": 2.601664252039902, - "velocityY": -1.455517651128717, - "timestamp": 5.606829373147869, + "x": 5.5436017981735946, + "y": 4.038212076548804, + "heading": -0.3713007276185388, + "angularVelocity": -0.5486237473217479, + "velocityX": 2.2479952742296794, + "velocityY": -1.2474132128301114, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.06616982015972, + 58.33889944637506, + 62.23745010518373, + 61.90167958421586 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.28464579302209, + -38.38394387493009, + -31.70407139850214, + -32.319144289431236 + ], + "timestamp": 6.0145978480005695 }, { - "x": 5.787118990955788, - "y": 3.8994534758169213, - "heading": -0.4339879303656175, - "angularVelocity": -0.6500583402749749, - "velocityX": 2.7722783971863314, - "velocityY": -1.557959349401715, - "timestamp": 5.651978001811822, + "x": 5.660873314983858, + "y": 3.972881619172404, + "heading": -0.3994539130426172, + "angularVelocity": -0.5776474956399826, + "velocityX": 2.4061788026805564, + "velocityY": -1.3404513387752193, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.861110925960276, + 58.27803525689294, + 61.793814588541615, + 61.52787331544831 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.55251333725383, + -38.42047870406832, + -32.49705527835299, + -32.96076779572281 + ], + "timestamp": 6.063335504852845 }, { - "x": 5.919922222075735, - "y": 3.824377705576958, - "heading": -0.46392202683218775, - "angularVelocity": -0.6630123074030976, - "velocityX": 2.94146766025651, - "velocityY": -1.662858263066248, - "timestamp": 5.6971266304757755, + "x": 5.7858046259197415, + "y": 3.90293883135293, + "heading": -0.4287917083501583, + "angularVelocity": -0.6019533396212233, + "velocityX": 2.5633425774766394, + "velocityY": -1.4350872064176459, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.620103986380464, + 58.19630530808812, + 61.14838745095298, + 60.94587079249968 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.848875439167145, + -38.465986940872234, + -33.607640962188185, + -33.93710006076957 + ], + "timestamp": 6.112073161705121 }, { - "x": 6.060246312588923, - "y": 3.744378388826008, - "heading": -0.49372399738879086, - "angularVelocity": -0.6600858417744332, - "velocityX": 3.1080476786491, - "velocityY": -1.7719102244808969, - "timestamp": 5.742275259139729, + "x": 5.91831853265109, + "y": 3.828267584191118, + "heading": -0.4589346798109314, + "angularVelocity": -0.6184739564344683, + "velocityX": 2.7189223957359974, + "velocityY": -1.5321058086182011, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.326947078741554, + 58.08282995269632, + 60.117188482682096, + 59.97586908627516 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.17670449234116, + -38.5199273448512, + -35.2876571890444, + -35.497400347823046 + ], + "timestamp": 6.160810818557397 }, { - "x": 6.207812080951999, - "y": 3.6590737752020033, - "heading": -0.5218572570950982, - "angularVelocity": -0.6231254533932935, - "velocityX": 3.2684440863404247, - "velocityY": -1.8894176002318588, - "timestamp": 5.787423887803682, + "x": 6.058277492034443, + "y": 3.7486755546886057, + "heading": -0.4891900682949278, + "angularVelocity": -0.6207805306623543, + "velocityX": 2.87168010164238, + "velocityY": -1.633070497085171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.933552634875014, + 57.90517524723794, + 58.20021101686637, + 58.17389473273651 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.55412830199519, + -38.59153171738365, + -38.14988944583118, + -38.184736629338815 + ], + "timestamp": 6.209548475409672 }, { - "x": 6.361376108177618, - "y": 3.567382557087351, - "heading": -0.5427117306077919, - "angularVelocity": -0.4619071305114704, - "velocityX": 3.401299923606018, - "velocityY": -2.0308749308228555, - "timestamp": 5.832572516467635, + "x": 6.20536554248472, + "y": 3.663782159034563, + "heading": -0.518016053099789, + "angularVelocity": -0.5914520037808051, + "velocityX": 3.0179549028403776, + "velocityY": -1.7418440100917267, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.26128036749851, + 57.57168077306263, + 53.42821507620888, + 54.096745915940296 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.05309394244987, + -38.69870267757176, + -44.16508041938489, + -43.433902022492006 + ], + "timestamp": 6.258286132261948 }, { - "x": 6.507947929927135, - "y": 3.4760151577839284, - "heading": -0.5427831848165636, - "angularVelocity": -0.001582644055571518, - "velocityX": 3.2464290962294933, - "velocityY": -2.0237026462859204, - "timestamp": 5.877721145131588, + "x": 6.358234311905263, + "y": 3.5725799858680882, + "heading": -0.5396049169657727, + "angularVelocity": -0.44296064399271334, + "velocityX": 3.136563784424236, + "velocityY": -1.8712876050424425, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.85541073928391, + 56.78515120271811, + 28.549377465823277, + 40.11195975367502 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.12663357622417, + -38.67670977163467, + -62.059281622052865, + -55.90953654319455 + ], + "timestamp": 6.307023789114224 }, { - "x": 6.6463211946378555, - "y": 3.3875812634188556, - "heading": -0.534698863978506, - "angularVelocity": 0.1790601636703647, - "velocityX": 3.0648387072983203, - "velocityY": -1.9587282489418958, - "timestamp": 5.922869773795541, + "x": 6.504544380104363, + "y": 3.4811457430282524, + "heading": -0.5406451663450832, + "angularVelocity": -0.021343852915655923, + "velocityX": 3.0019922509317034, + "velocityY": -1.8760492142035687, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.02036871779219, + -39.887755710619075, + -66.89935656640188, + -39.75985610319602 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 35.1518392779443, + 26.73240919500477, + -14.330998943432236, + -54.79155380612797 + ], + "timestamp": 6.3557614459664995 }, { - "x": 6.776622768824947, - "y": 3.302862133616632, - "heading": -0.521700730901354, - "angularVelocity": 0.28789652004494365, - "velocityX": 2.886058293308162, - "velocityY": -1.876449679851817, - "timestamp": 5.968018402459494, + "x": 6.642773011917336, + "y": 3.39257986759636, + "heading": -0.5333993015698099, + "angularVelocity": 0.1486707659590033, + "velocityX": 2.8361772136880554, + "velocityY": -1.8171960071928712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.17314064248429, + -56.782645504435905, + -68.11118457828722, + -68.99481187771686 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.647653054144726, + 38.908551026570734, + 12.965655796644898, + -0.05684803276109096 + ], + "timestamp": 6.404499102818775 }, { - "x": 6.89901686051039, - "y": 3.222359316821217, - "heading": -0.5061679462193499, - "angularVelocity": 0.3440366881930766, - "velocityX": 2.710914933794278, - "velocityY": -1.783062280686494, - "timestamp": 6.013167031123447, + "x": 6.77299529233642, + "y": 3.307676673408179, + "heading": -0.5210932836678952, + "angularVelocity": 0.2524950663757857, + "velocityX": 2.671902771480973, + "velocityY": -1.7420450565673056, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.413079928509745, + -57.56454105897526, + -66.26689919731484, + -67.47534495610694 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.79640277836911, + 38.802213146502545, + 21.22774198152598, + 16.413477598690807 + ], + "timestamp": 6.453236759671051 }, { - "x": 7.013622482346868, - "y": 3.1463301942253588, - "heading": -0.4893367943437813, - "angularVelocity": 0.3727943101183834, - "velocityX": 2.5384075934953327, - "velocityY": -1.6839741282454515, - "timestamp": 6.0583156597874, + "x": 6.895353465257662, + "y": 3.2269459829895237, + "heading": -0.5061107351838688, + "angularVelocity": 0.3074121624155894, + "velocityX": 2.5105468917414324, + "velocityY": -1.6564335594415196, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.83420840430033, + -58.39335442877089, + -63.83039907872561, + -64.22528475086266 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.3470242695362, + 37.928324954887835, + 27.9653516962451, + 26.900611565495222 + ], + "timestamp": 6.501974416523327 }, { - "x": 7.120523712990641, - "y": 3.0749298812320114, - "heading": -0.47196849852807987, - "angularVelocity": 0.38469154722231624, - "velocityX": 2.367762516984804, - "velocityY": -1.5814503143559333, - "timestamp": 6.103464288451353, + "x": 7.009958146403554, + "y": 3.1506562680745094, + "heading": -0.4897129728739464, + "angularVelocity": 0.33644954166804963, + "velocityX": 2.351460627113441, + "velocityY": -1.5653135551068555, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.06126363661514, + -58.80324446885711, + -61.97595959202741, + -61.992650193068634 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.11122186754958, + 37.47562944624757, + 32.005736723275994, + 31.92241702626428 + ], + "timestamp": 6.550712073375602 }, { - "x": 7.219782107188408, - "y": 3.0082617105937137, - "heading": -0.45458039412660683, - "angularVelocity": 0.3851302889151981, - "velocityX": 2.1984808206813833, - "velocityY": -1.476637776409936, - "timestamp": 6.148612917115306, + "x": 7.116889883146181, + "y": 3.078971573845945, + "heading": -0.472681692827929, + "angularVelocity": 0.34944806841329223, + "velocityX": 2.194027034716434, + "velocityY": -1.470827669164331, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.188861157366865, + -59.0565950352466, + -60.57370363308788, + -60.50166777126641 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.98973297515215, + 37.18470475795252, + 34.67434908895827, + 34.78282366024482 + ], + "timestamp": 6.599449730227878 }, { - "x": 7.31144440157125, - "y": 2.9463993226261698, - "heading": -0.4375474095126961, - "angularVelocity": 0.37726471695717073, - "velocityX": 2.030234297149889, - "velocityY": -1.3701941741795467, - "timestamp": 6.193761545779259, + "x": 7.216208739232633, + "y": 3.012002260537196, + "heading": -0.4555497886166887, + "angularVelocity": 0.3515126765976293, + "velocityX": 2.0378258312148474, + "velocityY": -1.374077410240163, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.259107003476444, + -59.23501809659255, + -59.48789026920808, + -59.46541071354874 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.93564118541098, + 36.97212626602456, + 36.5658086949398, + 36.60019434577678 + ], + "timestamp": 6.648187387080154 }, { - "x": 7.395547190220955, - "y": 2.8893977980972454, - "heading": -0.4211538577801982, - "angularVelocity": 0.36310187524225607, - "velocityX": 1.8627982983867202, - "velocityY": -1.2625305843327836, - "timestamp": 6.2389101744432125, + "x": 7.3079609219599915, + "y": 2.9498276058266644, + "heading": -0.438704028359401, + "angularVelocity": 0.34564157050773253, + "velocityX": 1.8825727097521214, + "velocityY": -1.2757005306796523, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.29365289888744, + -59.37140823133768, + -58.62492523104296, + -58.71622393834828 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.92389806309054, + 36.80401844208725, + 37.97737671126277, + 37.84116554349972 + ], + "timestamp": 6.6969250439324295 }, { - "x": 7.4721198593185285, - "y": 2.837299860832983, - "heading": -0.4056227341196367, - "angularVelocity": 0.3439998981178628, - "velocityX": 1.696013176114673, - "velocityY": -1.1539207016016817, - "timestamp": 6.284058803107166, + "x": 7.392182985105948, + "y": 2.8925073201188733, + "heading": -0.4224378414231501, + "angularVelocity": 0.3337498761081901, + "velocityX": 1.728069599267647, + "velocityY": -1.1760985121120737, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.30495245357254, + -59.48133869767553, + -57.923105668152786, + -58.15669309492114 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.93965088536188, + 36.66440827409813, + 39.07225527259574, + 38.732525009343235 + ], + "timestamp": 6.745662700784705 + }, + { + "x": 7.46890453487858, + "y": 2.840088011691178, + "heading": -0.40698132304682416, + "angularVelocity": 0.31713708402466445, + "velocityX": 1.5741739494201379, + "velocityY": -1.0755401841860777, + "moduleForcesX": [ + -59.30080799327379, + -59.57303727441818, + -57.34124401091068, + -57.727576478538566 + ], + "moduleForcesY": [ + 36.97334710012922, + 36.54495061039499, + 39.94695345169072, + 39.39731072564969 + ], + "timestamp": 6.794400357636981 }, { - "x": 7.5411865040845045, - "y": 2.7901396012655577, - "heading": -0.391133578181217, - "angularVelocity": 0.32092128525682667, - "velocityX": 1.5297617404959938, - "velocityY": -1.0445557476052048, - "timestamp": 6.329207431771119, + "x": 7.538150027938391, + "y": 2.792607090993914, + "heading": -0.39251959087248267, + "angularVelocity": 0.29672604528720975, + "velocityX": 1.420780101712605, + "velocityY": -0.9742142680592694, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.286449630610875, + -59.65121798176521, + -56.851137256943524, + -57.391052254666555 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.01843632004217, + 36.44093999973721, + 40.6620287333005, + 39.907997028640885 + ], + "timestamp": 6.843138014489257 }, { - "x": 7.602767227934594, - "y": 2.7479448444943095, - "heading": -0.3778340057729661, - "angularVelocity": 0.294573119977587, - "velocityX": 1.3639555767782687, - "velocityY": -0.9345744936199416, - "timestamp": 6.374356060435072, + "x": 7.5999400053897395, + "y": 2.7500952658192523, + "heading": -0.3792046657912946, + "angularVelocity": 0.27319583954445975, + "velocityX": 1.2678077167031896, + "velocityY": -0.8722582889759101, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.265580390881944, + -59.71875961705106, + -56.43293506564941, + -57.121900476801805 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.07019052901472, + 36.34955666898872, + 41.257357233208374, + 40.31008045851182 + ], + "timestamp": 6.891875671341532 }, { - "x": 7.656879051829462, - "y": 2.710738727067788, - "heading": -0.3658474980091209, - "angularVelocity": 0.265489963229258, - "velocityX": 1.1985264114582415, - "velocityY": -0.8240807866713209, - "timestamp": 6.419504689099025, + "x": 7.654291965065082, + "y": 2.71257820969881, + "heading": -0.36716351236120826, + "angularVelocity": 0.2470605730304626, + "velocityX": 1.1151943524917802, + "velocityY": -0.769775539972234, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.240941630510214, + -59.77751503582541, + -56.072294897256576, + -56.902662734729276 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.12505401285954, + 36.2690218055838, + 41.76026548249275, + 40.63360670016656 + ], + "timestamp": 6.940613328193808 }, { - "x": 7.703536568811032, - "y": 2.678540786924175, - "heading": -0.3552788592258075, - "angularVelocity": 0.23408548822105368, - "velocityX": 1.0334204684011108, - "velocityY": -0.7131543326214073, - "timestamp": 6.464653317762978, + "x": 7.701220994461928, + "y": 2.680077719478188, + "heading": -0.3565036811952784, + "angularVelocity": 0.2187185813679698, + "velocityX": 0.9628905537885815, + "velocityY": -0.6668455629521007, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.21463735536638, + -59.82873057685185, + -55.75860320218282, + -56.720860790156244 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.18026407678206, + 36.19816241481154, + 42.190116668716456, + 40.8992532606469 + ], + "timestamp": 6.989350985046084 }, { - "x": 7.742752426663906, - "y": 2.6513677405946736, - "heading": -0.3462181593402915, - "angularVelocity": 0.20068604858311379, - "velocityX": 0.8685946619721995, - "velocityY": -0.601857623002333, - "timestamp": 6.509801946426931, + "x": 7.740740240676776, + "y": 2.6526125435648233, + "heading": -0.34731738943313023, + "angularVelocity": 0.1884844770028772, + "velocityX": 0.8108565074153987, + "velocityY": -0.5635309058170574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.18832935144845, + -59.87327586160206, + -55.48383720612385, + -56.567328667141474 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.233618935349305, + 36.136175651055495, + 42.56102415512728, + 41.12174464090146 + ], + "timestamp": 7.0380886418983595 }, { - "x": 7.774537691405202, - "y": 2.6292340521386404, - "heading": -0.33874365509732585, - "angularVelocity": 0.16555329506458233, - "velocityX": 0.7040139574975169, - "velocityY": -0.49024054796386757, - "timestamp": 6.554950575090884, + "x": 7.772861266428678, + "y": 2.6301989901662406, + "heading": -0.339684547325653, + "angularVelocity": 0.15661077286934239, + "velocityX": 0.659059705091268, + "velocityY": -0.45988163662686266, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.16335937004299, + -59.91177524773766, + -55.241819195767484, + -56.4351735162662 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.28332974340017, + 36.08249644731776, + 42.88352328450667, + 41.3118704953204 + ], + "timestamp": 7.086826298750635 }, { - "x": 7.798902126117998, - "y": 2.6121523590781006, - "heading": -0.3329240021089049, - "angularVelocity": 0.12889988379794173, - "velocityX": 0.5396494962038237, - "velocityY": -0.3783435636036944, - "timestamp": 6.600099203754837, + "x": 7.797594324631981, + "y": 2.6128513840413476, + "heading": -0.3336750520304295, + "angularVelocity": 0.12330291777129779, + "velocityX": 0.5074732722229227, + "velocityY": -0.3559384518109465, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.14082827323915, + -59.944685575566105, + -55.02771684485968, + -56.319105977160326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.32792285618426, + 36.03672130026394, + 43.16563762979704, + 41.477730572889435 + ], + "timestamp": 7.135563955602911 }, { - "x": 7.815854408347504, - "y": 2.6001337975364263, - "heading": -0.32881996124668966, - "angularVelocity": 0.09090067591556648, - "velocityX": 0.3754772344401177, - "velocityY": -0.2661999245011564, - "timestamp": 6.64524783241879, + "x": 7.8149485735286035, + "y": 2.600582416205699, + "heading": -0.3293505584933595, + "angularVelocity": 0.08873002553602183, + "velocityX": 0.35607474830441416, + "velocityY": -0.25173487254088156, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.12164880145011, + -59.972343330248414, + -54.837701353470806, + -56.214995601152715 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.36617325186445, + 35.99856376882235, + 43.41357965125709, + 41.62553126027113 + ], + "timestamp": 7.184301612455187 }, { - "x": 7.825402302057902, - "y": 2.59318825469596, - "heading": -0.32648573615978776, - "angularVelocity": 0.051700907778946925, - "velocityX": 0.21147693723907554, - "velocityY": -0.15383729353472045, - "timestamp": 6.690396461082743, + "x": 7.82493224764851, + "y": 2.593403416275336, + "heading": -0.32676586862175916, + "angularVelocity": 0.05303270691556966, + "velocityX": 0.20484518059958043, + "velocityY": -0.1472988320329487, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.10658161435728, + -59.99499378510709, + -54.668709048931916, + -56.11956783284074 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.39705799806443, + 35.96782840705723, + 43.63222325633478, + 41.760111492977 + ], + "timestamp": 7.233039269307462 }, { "x": 7.827552795410156, "y": 2.5913245677948, "heading": -0.3259700361708536, - "angularVelocity": 0.011422273592663115, - "velocityX": 0.04763142128324741, - "velocityY": -0.041278925989795955, - "timestamp": 6.735545089746696, + "angularVelocity": 0.016328902583798655, + "velocityX": 0.053768439660265316, + "velocityY": -0.042653845400011325, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.0962603822262, + -60.0128092363337, + -54.51827220961817, + -56.03019263926832 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.41972307933626, + 35.94439562531672, + 43.82542988995558, + 41.885299559233914 + ], + "timestamp": 7.281776926159738 }, { - "x": 7.822069428752838, - "y": 2.594710598177058, - "heading": -0.32737861700103194, - "angularVelocity": -0.0306167622746833, - "velocityX": -0.11918587120830748, - "velocityY": 0.07359839424721457, - "timestamp": 6.781551941076702, + "x": 7.8225488196963315, + "y": 2.5945356796337284, + "heading": -0.32707092619343975, + "angularVelocity": -0.02210454265261678, + "velocityX": -0.1004737915048548, + "velocityY": 0.06447524925271463, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.09250521885778, + -60.026827078612236, + -54.38548873329238, + -55.94548073003525 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.433896169898766, + 35.92898049068984, + 43.99696696032904, + 42.00509106493425 + ], + "timestamp": 7.331580717167083 }, { - "x": 7.808905622815491, - "y": 2.6033747350422494, - "heading": -0.3306772931109868, - "angularVelocity": -0.07169967112708499, - "velocityX": -0.28612707796328773, - "velocityY": 0.18832275225800538, - "timestamp": 6.827558792406708, + "x": 7.809856922215013, + "y": 2.60307400937817, + "heading": -0.3300413576768632, + "angularVelocity": -0.05964267826485254, + "velocityX": -0.25483797969205607, + "velocityY": 0.17143935374683156, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.10198346880105, + -60.00321649731864, + -54.5146468504792, + -56.0118778613011 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.41314866516896, + 35.96272632326936, + 43.83193044683158, + 41.91169036270763 + ], + "timestamp": 7.381384508174428 }, { - "x": 7.788055061124846, - "y": 2.617309131719567, - "heading": -0.3358172750234352, - "angularVelocity": -0.11172209711937646, - "velocityX": -0.4532055789057263, - "velocityY": 0.30287655587135187, - "timestamp": 6.873565643736714, + "x": 7.789470410605781, + "y": 2.6169304547356593, + "heading": -0.334831649814279, + "angularVelocity": -0.0961832832506018, + "velocityX": -0.40933654239741785, + "velocityY": 0.27822069519659187, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.11540183229754, + -59.97455979820384, + -54.65945494827689, + -56.08220324786315 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.38554138626559, + 36.004195264752894, + 43.645740941732726, + 41.81214042336603 + ], + "timestamp": 7.431188299181772 }, { - "x": 7.759510705118672, - "y": 2.636504983937001, - "heading": -0.342744063189181, - "angularVelocity": -0.15055992673915827, - "velocityX": -0.6204370692839906, - "velocityY": 0.4172389907699501, - "timestamp": 6.91957249506672, + "x": 7.761381868173273, + "y": 2.636094866963018, + "heading": -0.3413860707357006, + "angularVelocity": -0.1316048595668631, + "velocityX": -0.563984023392206, + "velocityY": 0.3847982621349621, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.131972833924586, + -59.94064899020477, + -54.82186417144312, + -56.15866425233194 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.35219447077809, + 36.05357657441125, + 43.43541198535366, + 41.70330060547335 + ], + "timestamp": 7.480992090189117 }, { - "x": 7.72326466197336, - "y": 2.6609523431666986, - "heading": -0.35139631351611395, - "angularVelocity": -0.1880643877336843, - "velocityX": -0.7878401172320942, - "velocityY": 0.5313851855311155, - "timestamp": 6.9655793463967255, + "x": 7.725583023110576, + "y": 2.6605558484366756, + "heading": -0.3496416393051685, + "angularVelocity": -0.16576185070424912, + "velocityX": -0.7187975922840104, + "velocityY": 0.49114697855128736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.150756809411774, + -59.90120442288028, + -55.00427759704956, + -56.243983298951186 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.3144444527126, + 36.11113834559916, + 43.19721355292753, + 41.58124990297383 + ], + "timestamp": 7.530795881196462 }, { - "x": 7.679308018584539, - "y": 2.6906398782697627, - "heading": -0.36170440326754993, - "angularVelocity": -0.22405553636990902, - "velocityX": -0.955436899463533, - "velocityY": 0.6452850878691229, - "timestamp": 7.011586197726731, + "x": 7.682064585000808, + "y": 2.6903004949235343, + "heading": -0.3595266102822787, + "angularVelocity": -0.1984782840255993, + "velocityX": -0.8737977015313726, + "velocityY": 0.5972365935451077, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.170629797458076, + -59.8558574255911, + -55.209673101557854, + -56.34155870288089 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.27389034561202, + 36.17724358338253, + 42.92644612942895, + 41.44102766101657 + ], + "timestamp": 7.580599672203807 }, { - "x": 7.627630630163133, - "y": 2.725554566258506, - "heading": -0.37358859107991954, - "angularVelocity": -0.25831343525606093, - "velocityX": -1.1232541877453202, - "velocityY": 0.7589019239395776, - "timestamp": 7.057593049056737, + "x": 7.6308160376172705, + "y": 2.7253140621435996, + "heading": -0.37095853036312976, + "angularVelocity": -0.2295391545427168, + "velocityX": -1.029008963915585, + "velocityY": 0.7030301611960068, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.19023797796851, + -59.80412241246641, + -55.44177713617866, + -56.45569230309805 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.23245756719677, + 36.25237799504352, + 42.617115392340835, + 41.27625758458441 + ], + "timestamp": 7.6304034632111515 }, { - "x": 7.568220846867137, - "y": 2.7656812838051232, - "heading": -0.38695661518800695, - "angularVelocity": -0.2905659422810307, - "velocityX": -1.2913246957469655, - "velocityY": 0.8721900409743265, - "timestamp": 7.103599900386743, + "x": 7.571825372339086, + "y": 2.7655795264940592, + "heading": -0.3838417000522769, + "angularVelocity": -0.2586784947202948, + "velocityX": -1.1844613449101156, + "velocityY": 0.8084819154534241, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.207931730270154, + -59.745351697481844, + -55.70531482882298, + -56.59191892795338 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.192488473383165, + 36.33719734842945, + 42.26145357461246, + 41.07858851659918 + ], + "timestamp": 7.680207254218496 }, { - "x": 7.501065154089181, - "y": 2.8110022563599633, - "heading": -0.4017004947693149, - "angularVelocity": -0.320471389696928, - "velocityX": -1.4596889558089734, - "velocityY": 0.9850918122988714, - "timestamp": 7.149606751716749, + "x": 7.505078739279228, + "y": 2.8110769942076645, + "heading": -0.3980637925420557, + "angularVelocity": -0.2855624482015496, + "velocityX": -1.3401918149165175, + "velocityY": 0.9135342268803581, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.22166790895887, + -59.67866121626703, + -56.006376966810905, + -56.757495510878535 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.15687384273474, + 36.43260813321918, + 41.849197803503095, + 40.83683812183261 + ], + "timestamp": 7.730011045225841 }, { - "x": 7.426147689609661, - "y": 2.861496297172548, - "heading": -0.4176921686551944, - "angularVelocity": -0.34759331324742404, - "velocityX": -1.6283979953798158, - "velocityY": 1.097533070680981, - "timestamp": 7.195613603046755, + "x": 7.430559981843662, + "y": 2.861782887310645, + "heading": -0.4134912426202837, + "angularVelocity": -0.3097645734628845, + "velocityX": -1.4962466898267943, + "velocityY": 1.0181131210574481, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.22886099171272, + -59.60280573978956, + -56.352970221786904, + -56.96214845643797 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.12924943036937, + 36.53990645107112, + 41.36647109661613, + 40.53563677691423 + ], + "timestamp": 7.779814836233186 }, { - "x": 7.343449580448931, - "y": 2.917137725930469, - "heading": -0.43477738131331084, - "angularVelocity": -0.37136235504498266, - "velocityX": -1.7975172560177677, - "velocityY": 1.209416144539127, - "timestamp": 7.24162045437676, + "x": 7.348250001982471, + "y": 2.91766878994103, + "heading": -0.4299627816006446, + "angularVelocity": -0.3307286181874912, + "velocityX": -1.6526850305240866, + "velocityY": 1.122121459029986, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.22614908618427, + -59.51596296462916, + -56.75586225176142, + -57.21925371473785 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.114299515953256, + 36.661022383077885, + 40.79399009249656, + 40.15319398603601 + ], + "timestamp": 7.829618627240531 }, { - "x": 7.252948007596266, - "y": 2.977894779342196, - "heading": -0.45276682225529813, - "angularVelocity": -0.3910165643144865, - "velocityX": -1.9671325082323114, - "velocityY": 1.3206088148897153, - "timestamp": 7.287627305706766, + "x": 7.258125872493671, + "y": 2.9786997573492804, + "heading": -0.447280068194293, + "angularVelocity": -0.3477102092708425, + "velocityX": -1.8095837217594097, + "velocityY": 1.2254281486172496, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.20901241250783, + -59.41534526777336, + -57.22991514323557, + -57.547771337008655 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.11824324198438, + 36.79896415158689, + 40.104083590962425, + 39.65744486266393 + ], + "timestamp": 7.879422418247875 }, { - "x": 7.154614845503922, - "y": 3.043727177088802, - "heading": -0.4714227562781165, - "angularVelocity": -0.405503386636895, - "velocityX": -2.137359094344513, - "velocityY": 1.4309259565361523, - "timestamp": 7.333634157036772, + "x": 7.160159559273177, + "y": 3.0448317340581554, + "heading": -0.46519355516400246, + "angularVelocity": -0.35968119308557267, + "velocityX": -1.9670453039618014, + "velocityY": 1.3278502574055588, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.17112390867208, + -59.29646601900439, + -57.79625293055758, + -57.97555629434962 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.14964738452766, + 36.95866246790645, + 39.25550533118841, + 38.99902079802723 + ], + "timestamp": 7.92922620925522 }, { - "x": 7.04841461019935, - "y": 3.114582199536899, - "heading": -0.4904378133051287, - "angularVelocity": -0.41330924584726264, - "velocityX": -2.308356956288976, - "velocityY": 1.5400971898697202, - "timestamp": 7.379641008366778, + "x": 7.054316020955864, + "y": 3.116007407544827, + "heading": -0.4833800817095212, + "angularVelocity": -0.36516349815285365, + "velocityX": -2.1252104744737887, + "velocityY": 1.4291215999235103, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.10318516343768, + -59.15166124956973, + -58.48589886629264, + -58.54530982951959 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.220853687067574, + 37.14867467754115, + 38.183909847840106, + 38.097521158007694 + ], + "timestamp": 7.979030000262565 }, { - "x": 6.9343012328079725, - "y": 3.190387943549397, - "heading": -0.5093991137790973, - "angularVelocity": -0.4121407991596717, - "velocityX": -2.4803561663641203, - "velocityY": 1.6477055443056625, - "timestamp": 7.425647859696784, + "x": 6.940550279901206, + "y": 3.192149108226634, + "heading": -0.5014050172135768, + "angularVelocity": -0.36191894511392675, + "velocityX": -2.2842787417102173, + "velocityY": 1.5288334309847709, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.99070247540506, + -58.96685003246879, + -59.34607017274523, + -59.3258765315244 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.35063999073293, + 37.384909035242416, + 36.783179852851674, + 36.81230571075599 + ], + "timestamp": 8.028833791269909 }, { - "x": 6.812212749615798, - "y": 3.2710406909413905, - "heading": -0.5277221905562313, - "angularVelocity": -0.39826843714438165, - "velocityX": -2.6537022130994847, - "velocityY": 1.7530594913673245, - "timestamp": 7.4716547110267895, + "x": 6.818802755518582, + "y": 3.2731455858489316, + "heading": -0.5186526774775305, + "angularVelocity": -0.3463121966238951, + "velocityX": -2.444543315280335, + "velocityY": 1.6263114912347423, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.809382829177125, + -58.71358784581223, + -60.4512809890871, + -60.43486942717274 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.569561952863786, + 37.69968470053774, + 34.86573041395185, + 34.87310645465682 + ], + "timestamp": 8.078637582277253 }, { - "x": 6.682062235596833, - "y": 3.3563782923203362, - "heading": -0.5445137705863606, - "angularVelocity": -0.3649799876476428, - "velocityX": -2.8289376529030164, - "velocityY": 1.8548889765748082, - "timestamp": 7.517661562356795, + "x": 6.688991799983728, + "y": 3.35882440148119, + "heading": -0.5341824527514003, + "angularVelocity": -0.31181913986381316, + "velocityX": -2.606447278595903, + "velocityY": 1.7203271859289457, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.514573361510955, + -58.326247673925316, + -61.92221481178771, + -62.08483673870747 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 37.93169744721794, + 38.16730552805344, + 32.06925763597224, + 31.68921781658314 + ], + "timestamp": 8.128441373284597 }, { - "x": 6.543723163720848, - "y": 3.446113567100561, - "heading": -0.5582298280400101, - "angularVelocity": -0.2981307578575669, - "velocityX": -3.0069232707033753, - "velocityY": 1.9504763352865513, - "timestamp": 7.563668413686801, + "x": 6.551004047520405, + "y": 3.4488843576131765, + "heading": -0.5463754048886871, + "angularVelocity": -0.24481975951362644, + "velocityX": -2.7706274898425285, + "velocityY": 1.8082951982250848, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.013890485759816, + -57.619459348621795, + -63.94678027256177, + -64.65388238839292 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 38.542972783926814, + 38.9933046455943, + 27.612043945894843, + 25.71264202077718 + ], + "timestamp": 8.17824516429194 }, { - "x": 6.397030763296862, - "y": 3.539617888497486, - "heading": -0.5655190195287833, - "angularVelocity": -0.1584370866090424, - "velocityX": -3.188490326620382, - "velocityY": 2.032399929441372, - "timestamp": 7.609675265016807, + "x": 6.404717612130589, + "y": 3.542710294965948, + "heading": -0.5519204101572946, + "angularVelocity": -0.11133701183087394, + "velocityX": -2.9372550247880405, + "velocityY": 1.8839115548239003, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.113795087275484, + -55.91549478193979, + -66.62431787614162, + -68.22103648212187 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.58928122683748, + 40.86319114177037, + 19.820768581970626, + 12.213434771037093 + ], + "timestamp": 8.228048955299284 }, { - "x": 6.2419287062745346, - "y": 3.6358937730872856, - "heading": -0.5619188995991661, - "angularVelocity": 0.0782518217512324, - "velocityX": -3.3712817230152363, - "velocityY": 2.092642330578406, - "timestamp": 7.655682116346813, + "x": 6.250198490608255, + "y": 3.6391908454722977, + "heading": -0.5457747691771236, + "angularVelocity": 0.12339705182812093, + "velocityX": -3.1025574237821614, + "velocityY": 1.9372129822832336, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.58713376605027, + -53.33974998974297, + -68.46034756437241, + -67.51614445752597 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.43554791413637, + 42.167525568442166, + 9.068068374731828, + -11.380090875747735 + ], + "timestamp": 8.277852746306628 }, { - "x": 6.090348773822902, - "y": 3.727107885633491, - "heading": -0.5308075361092083, - "angularVelocity": 0.6762332694060575, - "velocityX": -3.2947252000436302, - "velocityY": 1.9826201948038515, - "timestamp": 7.7016889676768185, + "x": 6.097987430266949, + "y": 3.7299874981785344, + "heading": -0.5156247233713832, + "angularVelocity": 0.6053765224677262, + "velocityX": -3.0562143415721175, + "velocityY": 1.823087176091579, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 22.770535880407387, + 58.3654915803712, + -30.83233763579671, + 18.63614667300695 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.019228266912831, + -32.99460677689357, + -59.48353361867758, + -65.27585408960653 + ], + "timestamp": 8.327656537313972 }, { - "x": 5.946065659540226, - "y": 3.8125483414547894, - "heading": -0.49704527154413336, - "angularVelocity": 0.7338529716564365, - "velocityX": -3.1361223407299907, - "velocityY": 1.8571246097334149, - "timestamp": 7.747695819006824, + "x": 5.953032577481204, + "y": 3.8150896134309042, + "heading": -0.4828524298115028, + "angularVelocity": 0.6580280917780463, + "velocityX": -2.9105184535926045, + "velocityY": 1.7087477384968195, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.082891428412225, + 57.825099594946586, + 49.9679036226657, + 51.86089144480903 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.77081217035323, + -37.9156433224069, + -47.63722662252008, + -45.76733810078018 + ], + "timestamp": 8.377460328321316 }, { - "x": 5.809507545742696, - "y": 3.892749574489272, - "heading": -0.46310867406144995, - "angularVelocity": 0.737642253308334, - "velocityX": -2.9682125563864465, - "velocityY": 1.7432454235827397, - "timestamp": 7.79370267033683, + "x": 5.815789695146364, + "y": 3.894979580011532, + "heading": -0.44998473779909615, + "angularVelocity": 0.6599435775392054, + "velocityX": -2.755671396874217, + "velocityY": 1.6040940853045649, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.68075958437658, + 57.713586141874465, + 57.46071621722, + 57.494976579834784 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.779927142701034, + -38.73605436906477, + -39.10596886408706, + -39.06052467616949 + ], + "timestamp": 8.42726411932866 }, { - "x": 5.680813178762363, - "y": 3.9679262919736207, - "heading": -0.4299153775561693, - "angularVelocity": 0.7214859427607476, - "velocityX": -2.7972869966086495, - "velocityY": 1.6340330909652954, - "timestamp": 7.839709521666836, + "x": 5.686415520199889, + "y": 3.9698630353258517, + "heading": -0.4179455425858959, + "angularVelocity": 0.6433083619773232, + "velocityX": -2.5976772516653965, + "velocityY": 1.5035693829667574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.01158359477687, + 57.675293407211186, + 59.78776010886496, + 59.55700124631868 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.58867363434644, + -39.06021693225093, + -35.77042339307668, + -36.12094561509619 + ], + "timestamp": 8.477067910336004 }, { - "x": 5.56005020100016, - "y": 4.0381934710868315, - "heading": -0.3979447837375598, - "angularVelocity": 0.6949094079333238, - "velocityX": -2.6248911688385825, - "velocityY": 1.5273198900134695, - "timestamp": 7.885716372996842, + "x": 5.564989766174217, + "y": 4.0398541431914445, + "heading": -0.3871965150142558, + "angularVelocity": 0.6174033532327153, + "velocityX": -2.438082554955844, + "velocityY": 1.4053369522667516, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.264543307369664, + 57.66471107978457, + 60.91423954808589, + 60.569120254895154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.35971118959802, + -39.22137080293287, + -33.98916329487821, + -34.56003755765343 + ], + "timestamp": 8.526871701343348 }, { - "x": 5.4472584959154355, - "y": 4.103622654657881, - "heading": -0.3674912635645668, - "angularVelocity": 0.6619344574257268, - "velocityX": -2.451628438461739, - "velocityY": 1.422161736340723, - "timestamp": 7.931723224326848, + "x": 5.451561131897515, + "y": 4.105025780253013, + "heading": -0.3580025479633264, + "angularVelocity": 0.5861796152549963, + "velocityX": -2.277510044566196, + "velocityY": 1.3085677966152507, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.47766695205898, + 57.66854534300818, + 61.579352674899695, + 61.14164205294212 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.127103448665935, + -39.30725029783684, + -32.876324825656795, + -33.64284049749428 + ], + "timestamp": 8.576675492350692 }, { - "x": 5.342464329843252, - "y": 4.164262637278229, - "heading": -0.33875359215790146, - "angularVelocity": 0.6246389521536867, - "velocityX": -2.2777947858352126, - "velocityY": 1.3180641766892147, - "timestamp": 7.977730075656853, + "x": 5.346162560414555, + "y": 4.16542840894674, + "heading": -0.33052902928140854, + "angularVelocity": 0.5516350889405736, + "velocityX": -2.1162760776065714, + "velocityY": 1.2128118657637523, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.661727210334654, + 57.67772409889804, + 62.01899542035526, + 61.49274119424757 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.905735457379194, + -39.35658788513511, + -32.11284317063428, + -33.07108224307744 + ], + "timestamp": 8.626479283358035 }, { - "x": 5.245686300801653, - "y": 4.2201488242062295, - "heading": -0.3118746980426991, - "angularVelocity": 0.5842367677457507, - "velocityX": -2.103556888677577, - "velocityY": 1.214736181946669, - "timestamp": 8.02373692698686, + "x": 5.248817766939821, + "y": 4.221098858077944, + "heading": -0.3048871490385314, + "angularVelocity": 0.5148580002492649, + "velocityX": -1.9545659377692746, + "velocityY": 1.1177954128631216, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.8208023570056, + 57.68538470754296, + 62.33299687445542, + 61.720357395222756 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.70327140036946, + -39.39107568442525, + -31.552626163888533, + -32.6992302236387 + ], + "timestamp": 8.67628307436538 }, { - "x": 5.156938267783512, - "y": 4.271308077231094, - "heading": -0.28696206619637044, - "angularVelocity": 0.5414983013645119, - "velocityX": -1.929017753933078, - "velocityY": 1.1119920521815345, - "timestamp": 8.069743778316866, + "x": 5.159544554027955, + "y": 4.272065018175805, + "heading": -0.28115626660288606, + "angularVelocity": 0.4764874712477763, + "velocityX": -1.7924983441260611, + "velocityY": 1.0233389681187852, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.9585457477018, + 57.6894379002712, + 62.569640245165935, + 61.8736647000168 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.52133016605668, + -39.41986754663425, + -31.12156557933056, + -32.45037364930155 + ], + "timestamp": 8.726086865372723 }, { - "x": 5.076230957803232, - "y": 4.317761473916184, - "heading": -0.26409931203674286, - "angularVelocity": 0.4969423792041868, - "velocityX": -1.7542454579508007, - "velocityY": 1.0097060620793163, - "timestamp": 8.115750629646872, + "x": 5.078356681449302, + "y": 4.3183485848473975, + "heading": -0.2593961592752149, + "angularVelocity": 0.4369166862108823, + "velocityX": -1.6301544709052616, + "velocityY": 0.9293181449734556, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.07778177346457, + 57.68928677569656, + 62.75519542143905, + 61.98001733167642 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.35974156619956, + -39.44733709423662, + -30.77788520210788, + -32.28014363450484 + ], + "timestamp": 8.775890656380067 }, { - "x": 5.0035729200740136, - "y": 4.35952599392547, - "heading": -0.24335324999230393, - "angularVelocity": 0.45093418577217526, - "velocityX": -1.5792873371847216, - "velocityY": 0.9077891401371835, - "timestamp": 8.161757480976878, + "x": 5.005264996022972, + "y": 4.359966758652077, + "heading": -0.23965430603515792, + "angularVelocity": 0.3963925805797229, + "velocityX": -1.4675928066510353, + "velocityY": 0.8356426882953809, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.180547247280245, + 57.68466994507898, + 62.905230571710455, + 62.05581885638494 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.21797619330222, + -39.47601664455645, + -30.496124448133475, + -32.16122404253626 + ], + "timestamp": 8.825694447387411 }, { - "x": 4.938971127875511, - "y": 4.396615607729094, - "heading": -0.22477846264386359, - "angularVelocity": 0.40373959120137515, - "velocityX": -1.4041776459579138, - "velocityY": 0.8061758788398916, - "timestamp": 8.207764332306883, + "x": 4.940278147158268, + "y": 4.396933342317196, + "heading": -0.2219705257418124, + "angularVelocity": 0.3550689603274475, + "velocityX": -1.3048574726996405, + "velocityY": 0.7422443737197995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.26824839062111, + 57.67528712819701, + 63.02959304817103, + 62.11148859806688 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.095599533423275, + -39.507734267045606, + -30.259801971691886, + -32.07592975766271 + ], + "timestamp": 8.875498238394755 }, { - "x": 4.882431376803787, - "y": 4.429042010943445, - "heading": -0.2084203898669403, - "angularVelocity": 0.3555573203561781, - "velocityX": -1.2289419822749028, - "velocityY": 0.7048168322095503, - "timestamp": 8.25377118363689, + "x": 4.883403052764321, + "y": 4.4292594666928995, + "heading": -0.20638013151223242, + "angularVelocity": 0.3130362953149269, + "velocityX": -1.1419832354842123, + "velocityY": 0.6490695531779102, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.34178599112937, + 57.660654273155984, + 63.13485032267746, + 62.153958676237394 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.99243502127153, + -39.544128531495524, + -30.05770263657676, + -32.0123302554238 + ], + "timestamp": 8.925302029402099 }, { - "x": 4.8339585587253, - "y": 4.4568151376932645, - "heading": -0.1943174944577601, - "angularVelocity": 0.30653902628587343, - "velocityX": -1.0535999895057664, - "velocityY": 0.6036737126521039, - "timestamp": 8.299778034966895, + "x": 4.834645203593072, + "y": 4.456954073157951, + "heading": -0.1929162448283192, + "angularVelocity": 0.27033859093027734, + "velocityX": -0.9789987505983079, + "velocityY": 0.5560742647274852, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.40162494901575, + 57.64000635224589, + 63.22559418174835, + 62.18802789934803 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.90865322133897, + -39.5869554564749, + -29.88183551914879, + -31.962080822223083 + ], + "timestamp": 8.975105820409443 }, { - "x": 4.79355685638677, - "y": 4.479943530335828, - "heading": -0.18250282611154175, - "angularVelocity": 0.2568023675750131, - "velocityX": -0.878167081001256, - "velocityY": 0.5027162688588249, - "timestamp": 8.3457848862969, + "x": 4.794008855445192, + "y": 4.4800242215021635, + "heading": -0.18161152125726449, + "angularVelocity": 0.22698520217840887, + "velocityX": -0.8159288143725338, + "velocityY": 0.46322072833390676, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.447889487782945, + 57.612409258646025, + 63.305036757274024, + 62.21703504735025 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.84473423422396, + -39.63801883320855, + -29.72655318331352, + -31.919348814258 + ], + "timestamp": 9.024909611416787 }, { - "x": 4.761229885455668, - "y": 4.498434612513383, - "heading": -0.1730051789726765, - "angularVelocity": 0.20643984242124874, - "velocityX": -0.7026555827353059, - "velocityY": 0.4019201845594302, - "timestamp": 8.391791737626907, + "x": 4.761497157111103, + "y": 4.498475280403011, + "heading": -0.17249897912503193, + "angularVelocity": 0.1829688453011065, + "velocityX": -0.6527956542363457, + "velocityY": 0.37047498850291793, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.480757698581165, + 57.57767468689901, + 63.374951973932546, + 62.24303789987529 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.800895599030106, + -39.697897692680364, + -29.588906799338258, + -31.880597115876526 + ], + "timestamp": 9.07471340242413 }, { - "x": 4.736980800614418, - "y": 4.5122948951946675, - "heading": -0.1658499663057309, - "angularVelocity": 0.15552493726685634, - "velocityX": -0.5270755146296048, - "velocityY": 0.30126562198020357, - "timestamp": 8.437798588956912, + "x": 4.737112254938999, + "y": 4.512311078655776, + "heading": -0.16561237931313252, + "angularVelocity": 0.13827461067939542, + "velocityX": -0.4896193980194903, + "velocityY": 0.2778061262590337, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.500470597686586, + 57.53609792945577, + 63.436424698904354, + 62.267538639534294 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.77711729028737, + -39.76637187155159, + -29.467203351406376, + -31.843241815066424 + ], + "timestamp": 9.124517193431474 }, { - "x": 4.720812376397654, - "y": 4.521530135059827, - "heading": -0.161059893011452, - "angularVelocity": 0.10411652081815516, - "velocityX": -0.3514351395358153, - "velocityY": 0.20073618598487517, - "timestamp": 8.483805440286918, + "x": 4.720855401096699, + "y": 4.521534060875144, + "heading": -0.16098621244650427, + "angularVelocity": 0.09288784594621478, + "velocityX": -0.3264179997844283, + "velocityY": 0.18518634892690253, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.507466752585735, + 57.488636239380334, + 63.49007468351741, + 62.2917553844448 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.77294925308651, + -39.84219853146423, + -29.36060503198493, + -31.805162937494895 + ], + "timestamp": 9.174320984438818 }, { "x": 4.712727069854736, "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": 0.05226205644152036, - "velocityX": -0.1757413582799351, - "velocityY": 0.10031817062425848, - "timestamp": 8.529812291616924, + "heading": -0.1586554803505464, + "angularVelocity": 0.046798286813425384, + "velocityX": -0.1632070787696637, + "velocityY": 0.09259129180770913, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.50231342981584, + 57.436685296484804, + 63.536291576598956, + 62.31680881686762 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.787642839570296, + -39.9234662752398, + -29.26867023801951, + -31.764362683164634 + ], + "timestamp": 9.224124775446162 }, { "x": 4.712727069854736, "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": -6.6468410327424846e-18, - "velocityX": 2.2493473916040235e-16, - "velocityY": -1.5298106734453157e-16, - "timestamp": 8.57581914294693, + "heading": -0.1586554803505464, + "angularVelocity": -3.703482635322546e-17, + "velocityX": -1.608736844570313e-17, + "velocityY": 1.0011637647817821e-16, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 59.48552826355599, + 57.381669314243325, + 63.57539718374113, + 62.34378864540863 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.82045682240623, + -40.00820792112317, + -29.191027976211267, + -31.718848049662743 + ], + "timestamp": 9.273928566453506 }, { - "x": 4.72045077398223, - "y": 4.5244610183766945, - "heading": -0.15944941733113985, - "angularVelocity": -0.018748183968093766, - "velocityX": 0.18238906794481874, - "velocityY": -0.039776693697766305, - "timestamp": 8.618166550138191, + "x": 4.720433772917796, + "y": 4.5244282577394825, + "heading": -0.15956596078127833, + "angularVelocity": -0.019907357206469346, + "velocityX": 0.16850454505338935, + "velocityY": -0.03754602760860841, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.80338732604696, + 67.69937940973914, + 68.74287662542525, + 68.71645582409998 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.205761913299696, + -17.595184532357184, + -12.950838784825661, + -13.069378429332641 + ], + "timestamp": 9.319664442958311 }, { - "x": 4.735910354028739, - "y": 4.521143101658935, - "heading": -0.1608651057344522, - "angularVelocity": -0.03343034431644016, - "velocityX": 0.36506556296790393, - "velocityY": -0.07834993776064617, - "timestamp": 8.660513957329453, + "x": 4.735861027209657, + "y": 4.521051337004915, + "heading": -0.16118673422379018, + "angularVelocity": -0.0354376818894481, + "velocityX": 0.337311875727127, + "velocityY": -0.07383526877883675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.02613313855062, + 67.96212869316278, + 68.74186892262527, + 68.72245370843046 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -16.287231648135048, + -16.538801947492903, + -12.936871579222927, + -13.022378299421906 + ], + "timestamp": 9.365400319463117 }, { - "x": 4.759118611641173, - "y": 4.516248549328272, - "heading": -0.16271126185472826, - "angularVelocity": -0.043595493625807065, - "velocityX": 0.5480443585982796, - "velocityY": -0.11558092113070528, - "timestamp": 8.702861364520714, + "x": 4.759023077822673, + "y": 4.516077979049305, + "heading": -0.1632987479665863, + "angularVelocity": -0.04617849058987659, + "velocityX": 0.5064306706920069, + "velocityY": -0.10874084713532697, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.25981030819014, + 68.22753895407061, + 68.74107761326658, + 68.72870152523767 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.259590110589476, + -15.392638956088646, + -12.919297488140257, + -12.972348498792236 + ], + "timestamp": 9.411136195967922 }, { - "x": 4.790088948611765, - "y": 4.509841137187418, - "heading": -0.16477409739799392, - "angularVelocity": -0.048712204125010684, - "velocityX": 0.7313396267855219, - "velocityY": -0.15130589015557797, - "timestamp": 8.745208771711976, + "x": 4.78993447579833, + "y": 4.509578180923221, + "heading": -0.16566136708376267, + "angularVelocity": -0.051657895239617876, + "velocityX": 0.675867619425838, + "velocityY": -0.14211596284596015, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.50350707535492, + 68.49303294719238, + 68.74084205863427, + 68.73512660567103 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -14.1024699677952, + -14.147009556296766, + -12.895801465508455, + -12.91938321301856 + ], + "timestamp": 9.456872072472727 }, { - "x": 4.828835291057528, - "y": 4.501992894903998, - "heading": -0.1668130381713082, - "angularVelocity": -0.0481479483290547, - "velocityX": 0.9149637490382099, - "velocityY": -0.18532993644624973, - "timestamp": 8.787556178903237, + "x": 4.828609913892271, + "y": 4.501629650848665, + "heading": -0.16800970322453765, + "angularVelocity": -0.05134560262618672, + "velocityX": 0.8456258204623419, + "velocityY": -0.1737920136661285, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.75457398682809, + 68.75485128662268, + 68.74159589978248, + 68.74188714365835 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -12.793858115950135, + -12.792786588056815, + -12.863414140851779, + -12.862274143154936 + ], + "timestamp": 9.502607948977532 }, { - "x": 4.87537193800865, - "y": 4.492785773476231, - "heading": -0.16855526112385683, - "angularVelocity": -0.04114119536716668, - "velocityX": 1.0989255314012358, - "velocityY": -0.21741877575132304, - "timestamp": 8.829903586094499, + "x": 4.875063947756925, + "y": 4.492318742649612, + "heading": -0.17005298860886134, + "angularVelocity": -0.04467576748223311, + "velocityX": 1.0157022760845753, + "velocityY": -0.20357996633285005, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.00742342025065, + 69.00736029957974, + 68.74406456004296, + 68.74960363715357 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.31401004110338, + -11.325177975772071, + -12.817400536016985, + -12.797196457857895 + ], + "timestamp": 9.548343825482338 + }, + { + "x": 4.9293105256116565, + "y": 4.481740674632494, + "heading": -0.17147804969382133, + "angularVelocity": -0.031158495121688206, + "velocityX": 1.1860837049669444, + "velocityY": -0.23128600183283496, + "moduleForcesX": [ + 69.25096472000752, + 69.24135858676156, + 68.75005508065911, + 68.76010258534681 + ], + "moduleForcesY": [ + -9.66253175738912, + -9.758291225835647, + -12.7469457494496, + -12.713499056166762 + ], + "timestamp": 9.594079701987143 }, { - "x": 4.929713285634422, - "y": 4.482313779678824, - "heading": -0.16968860525240181, - "angularVelocity": -0.026763011095963223, - "velocityX": 1.2832272677366428, - "velocityY": -0.24728772059432708, - "timestamp": 8.87225099328576, + "x": 4.99136213724711, + "y": 4.469995647088225, + "heading": -0.17197892337322926, + "angularVelocity": -0.010951439388202797, + "velocityX": 1.3567382190419754, + "velocityY": -0.25680119070276025, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.46056476765253, + 69.43762452466495, + 68.76665753395334, + 68.78000742149132 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.948349171027031, + -8.198320730792853, + -12.612316503986388, + -12.573308297801287 + ], + "timestamp": 9.639815578491948 }, { - "x": 4.9918733447523085, - "y": 4.470685744570694, - "heading": -0.16985220386816807, - "angularVelocity": -0.003863249880384675, - "velocityX": 1.4678598582704596, - "velocityY": -0.2745867074131203, - "timestamp": 8.914598400477022, + "x": 5.0612286107095175, + "y": 4.457170122993223, + "heading": -0.1713870688770014, + "angularVelocity": 0.01294070522875632, + "velocityX": 1.5276076201374431, + "velocityY": -0.280425894836684, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.5829440880657, + 69.55296794704736, + 68.82252535637595, + 68.83451436407282 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.702829405206909, + -7.084114834034775, + -12.252818475528827, + -12.230117964020415 + ], + "timestamp": 9.685551454996753 }, { - "x": 5.061860239489897, - "y": 4.457956483078146, - "heading": -0.1690686039874579, - "angularVelocity": 0.018504081658909106, - "velocityX": 1.6526842935505748, - "velocityY": -0.3005912837840728, - "timestamp": 8.956945807668284, + "x": 5.138919118525394, + "y": 4.443349454305337, + "heading": -0.16960777566677002, + "angularVelocity": 0.038903664829617456, + "velocityX": 1.6986775755289982, + "velocityY": -0.3021844062927848, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.66525770118565, + 69.63337275225871, + 68.9055727307415, + 68.91362836404538 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.661274144167389, + -6.146253145235419, + -11.715620388599154, + -11.723669909749981 + ], + "timestamp": 9.731287331501559 }, { - "x": 5.139683075397797, - "y": 4.44419088673204, - "heading": -0.16736460937165645, - "angularVelocity": 0.040238463906547915, - "velocityX": 1.837723749093182, - "velocityY": -0.3250634987859916, - "timestamp": 8.999293214859545, + "x": 5.224442763669037, + "y": 4.428624391886193, + "heading": -0.16659018438651174, + "angularVelocity": 0.06597864763655856, + "velocityX": 1.869946564479987, + "velocityY": -0.32195867980347986, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.72538826991125, + 69.69549667043765, + 69.00815784678507, + 69.01120509814007 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.689930631400927, + -5.256840711468661, + -11.01863562374098, + -11.067124889621931 + ], + "timestamp": 9.777023208006364 }, { - "x": 5.225352067128327, - "y": 4.4294669770268476, - "heading": -0.16477252227366854, - "angularVelocity": 0.061210054402641684, - "velocityX": 2.0230044154441034, - "velocityY": -0.34769329887639594, - "timestamp": 9.041640622050807, + "x": 5.317808601892205, + "y": 4.4130935274532925, + "heading": -0.16232439817107916, + "angularVelocity": 0.09327002216711049, + "velocityX": 2.041413554485087, + "velocityY": -0.33957727761635736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.76711992547942, + 69.74253533511411, + 69.12674162054395, + 69.12459477608668 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.76239623931587, + -4.38534192571988, + -10.148122116283043, + -10.244672213991086 + ], + "timestamp": 9.82275908451117 }, { - "x": 5.3188786380327295, - "y": 4.413880308876193, - "heading": -0.16133199095048778, - "angularVelocity": 0.08124538316222467, - "velocityX": 2.2085548350573423, - "velocityY": -0.36806664644798187, - "timestamp": 9.083988029242068, + "x": 5.419025323818324, + "y": 4.396863147055441, + "heading": -0.15684869656376071, + "angularVelocity": 0.11972442698780004, + "velocityX": 2.213070562132601, + "velocityY": -0.3548719656908664, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.79031021328566, + 69.77346468438246, + 69.25574828757355, + 69.24927984015109 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.903191986479613, + -3.5458507304156437, + -9.0892493470505, + -9.237717164047913 + ], + "timestamp": 9.868494961015974 }, { - "x": 5.420275415204868, - "y": 4.397550565857798, - "heading": -0.15709279816979846, - "angularVelocity": 0.10010513185714313, - "velocityX": 2.3944034333479354, - "velocityY": -0.38561376248237317, - "timestamp": 9.12633543643333, + "x": 5.52810038011568, + "y": 4.380040993090314, + "heading": -0.15026129478697, + "angularVelocity": 0.14403138805275345, + "velocityX": 2.3848904762084104, + "velocityY": -0.36781090143443995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.79321775781901, + 69.78477344447799, + 69.38154578486166, + 69.37315969536866 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.2047682021387933, + -2.8149216811202784, + -7.873452706812336, + -8.066761255092352 + ], + "timestamp": 9.91423083752078 }, { - "x": 5.529555919371687, - "y": 4.380631876724543, - "heading": -0.15211926050700314, - "angularVelocity": 0.11744609629421822, - "velocityX": 2.580571312743078, - "velocityY": -0.39952125184055653, - "timestamp": 9.168682843624591, + "x": 5.6450382339964005, + "y": 4.362717739475332, + "heading": -0.14271348236770778, + "angularVelocity": 0.16503045302904903, + "velocityX": 2.556807976959482, + "velocityY": -0.3787672815925367, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.77437653034774, + 69.77249559151723, + 69.47528147773855, + 69.46862465706614 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.816754129432896, + -2.33802275113559, + -6.691620793216761, + -6.901945710558553 + ], + "timestamp": 9.959966714025585 }, { - "x": 5.646729800789407, - "y": 4.363258643636462, - "heading": -0.14652467158334573, - "angularVelocity": 0.13211172288281026, - "velocityX": 2.766967075186142, - "velocityY": -0.41025494216481784, - "timestamp": 9.211030250815853, + "x": 5.76983949771626, + "y": 4.344961578439053, + "heading": -0.13435862506865126, + "angularVelocity": 0.1826762257018425, + "velocityX": 2.728738864483024, + "velocityY": -0.38823266094861153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.73639668950086, + 69.7391053202753, + 69.51978621763436, + 69.51717538803744 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.640665678132772, + -2.059224524748982, + -5.717052653471247, + -5.916114289385076 + ], + "timestamp": 10.00570259053039 }, { - "x": 5.77179808676162, - "y": 4.345449809762651, - "heading": -0.1403026499775959, - "angularVelocity": 0.1469280416070862, - "velocityX": 2.953387096578184, - "velocityY": -0.42054130476934337, - "timestamp": 9.253377658007114, + "x": 5.90250135638388, + "y": 4.3268393470894875, + "heading": -0.1253359217641428, + "angularVelocity": 0.1972784604569021, + "velocityX": 2.9006082053260513, + "velocityY": -0.396236668770543, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.67672125871212, + 69.6835335833093, + 69.52525139897396, + 69.52725732715663 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.4360180064431145, + -1.7649582468139358, + -4.793003374678643, + -4.971788009241354 + ], + "timestamp": 10.051438467035196 }, { - "x": 5.904762237152584, - "y": 4.327233906223978, - "heading": -0.1334434929698247, - "angularVelocity": 0.16197348226756733, - "velocityX": 3.1398415914918836, - "velocityY": -0.43015392787571727, - "timestamp": 9.295725065198376, + "x": 6.043016008559749, + "y": 4.308439568160512, + "heading": -0.11577290468628006, + "angularVelocity": 0.20909224461597473, + "velocityX": 3.072306970242592, + "velocityY": -0.40230515593248406, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.57589103765577, + 69.5873088342188, + 69.48310184646131, + 69.49014430034282 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.002002090125232, + -1.260557055513839, + -3.703627017166795, + -3.8642133322240917 + ], + "timestamp": 10.09717434354 }, { - "x": 6.045624470448817, - "y": 4.308658885987565, - "heading": -0.12593086247063645, - "angularVelocity": 0.17740473378352586, - "velocityX": 3.3263484741824163, - "velocityY": -0.4386341801876725, - "timestamp": 9.338072472389637, + "x": 6.191362857418773, + "y": 4.289914580062972, + "heading": -0.105752915248726, + "angularVelocity": 0.21908379598905597, + "velocityX": 3.243555392306428, + "velocityY": -0.40504281350317384, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.36045699823889, + 69.38057014838174, + 69.32542691570295, + 69.34047732879235 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.12543001854848324, + -0.10638069419421153, + -2.1456983694633975, + -2.308108231675414 + ], + "timestamp": 10.142910220044806 }, { - "x": 6.194388388895311, - "y": 4.289822212771214, - "heading": -0.11773157256969978, - "angularVelocity": 0.19361964391124953, - "velocityX": 3.512940420994469, - "velocityY": -0.44481290510363836, - "timestamp": 9.380419879580899, + "x": 6.347457488337232, + "y": 4.271711840804772, + "heading": -0.09534305108217463, + "angularVelocity": 0.2276082795846684, + "velocityX": 3.412958116196967, + "velocityY": -0.39799694789465945, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.54231106054455, + 68.59302457717509, + 68.61978401615185, + 68.66194788706716 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.931080682823132, + 3.6553273468761067, + 2.0274226726044553, + 1.7998333413991716 + ], + "timestamp": 10.188646096549611 }, { - "x": 6.351057428461075, - "y": 4.2710290386378755, - "heading": -0.10874250542369378, - "angularVelocity": 0.2122695990667645, - "velocityX": 3.6996135054543466, - "velocityY": -0.4437857092043332, - "timestamp": 9.42276728677216, + "x": 6.499010999842534, + "y": 4.258784375408368, + "heading": -0.08577261057892385, + "angularVelocity": 0.2092545553870149, + "velocityX": 3.313668023600167, + "velocityY": -0.28265480809243204, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -40.04923380584519, + -42.198054783013426, + -38.19723135728384, + -40.396435975493866 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.43265273938118, + 44.97610338160631, + 48.41990947361969, + 47.015152742538085 + ], + "timestamp": 10.234381973054417 }, { - "x": 6.50282301849669, - "y": 4.258424259056123, - "heading": -0.09819003283415813, - "angularVelocity": 0.24918816261585086, - "velocityX": 3.583822484105557, - "velocityY": -0.29765174346620943, - "timestamp": 9.465114693963422, + "x": 6.642879165645002, + "y": 4.247067561044222, + "heading": -0.07673890427764565, + "angularVelocity": 0.1975190373869014, + "velocityX": 3.1456304502516725, + "velocityY": -0.25618431873531655, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.22212964277608, + -68.2839709709935, + -67.80785808937634, + -67.89168862036061 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.503576249034188, + 9.355342805866938, + 12.130749403028215, + 11.89012650006945 + ], + "timestamp": 10.280117849559222 }, { - "x": 6.6467532626709165, - "y": 4.246885318860448, - "heading": -0.08804674661411169, - "angularVelocity": 0.23952555523020602, - "velocityX": 3.398797086304931, - "velocityY": -0.2724828026320343, - "timestamp": 9.507462101154683, + "x": 6.778958301645864, + "y": 4.236239269388388, + "heading": -0.06821434435565671, + "angularVelocity": 0.18638671811811203, + "velocityX": 2.975325857952288, + "velocityY": -0.23675705995698562, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.0973456405106, + -69.12418778046829, + -68.80794303984331, + -68.84853620767575 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.65757649455385, + 6.592820170893202, + 9.185459140800466, + 9.034543617513933 + ], + "timestamp": 10.325853726064027 }, { - "x": 6.782818544949954, - "y": 4.236161923798197, - "heading": -0.07839991101805843, - "angularVelocity": 0.22780227258031485, - "velocityX": 3.2130723296588584, - "velocityY": -0.25322435949429833, - "timestamp": 9.549809508345945, + "x": 6.907214685419985, + "y": 4.226183379980087, + "heading": -0.060190997961812966, + "angularVelocity": 0.17542784804829725, + "velocityX": 2.8042839358428697, + "velocityY": -0.21986873712249297, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.38030583284085, + -69.3979896083893, + -69.13244316110051, + -69.16168156820291 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.635043587382622, + 5.586761254536832, + 8.134153364924495, + 8.001594974654777 + ], + "timestamp": 10.371589602568832 }, { - "x": 6.911010452447608, - "y": 4.226166800512976, - "heading": -0.06927977063447056, - "angularVelocity": 0.21536478827137961, - "velocityX": 3.027148909464, - "velocityY": -0.23602680655460856, - "timestamp": 9.592156915537206, + "x": 7.027631702570624, + "y": 4.21684016008354, + "heading": -0.052666254919128075, + "angularVelocity": 0.16452604864566778, + "velocityX": 2.6328787453758684, + "velocityY": -0.20428645104389276, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.51941322533438, + -69.53330766200058, + -69.29173058500854, + -69.31643053120393 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.10993358619719, + 5.061801017876795, + 7.601001097809299, + 7.469156240990973 + ], + "timestamp": 10.417325479073638 }, { - "x": 7.031325084937798, - "y": 4.216855572328386, - "heading": -0.06070166548684633, - "angularVelocity": 0.20256506163131557, - "velocityX": 2.8411333885635854, - "velocityY": -0.2198771731769983, - "timestamp": 9.634504322728468, + "x": 7.140199482701059, + "y": 4.208173286094341, + "heading": -0.045639550306257375, + "angularVelocity": 0.1536366010637066, + "velocityX": 2.4612577419086894, + "velocityY": -0.18949836871036593, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.60196914892245, + -69.61399739298777, + -69.38594180046856, + -69.40857117227125 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.7912087044330365, + 4.737258043152984, + 7.282249203024739, + 7.14463786732835 + ], + "timestamp": 10.463061355578443 }, { - "x": 7.143760204697017, - "y": 4.20820137385873, - "heading": -0.05267486689432953, - "angularVelocity": 0.18954640023801078, - "velocityX": 2.6550650256203054, - "velocityY": -0.20436194429969154, - "timestamp": 9.67685172991973, + "x": 7.244911494172856, + "y": 4.200158384931037, + "heading": -0.03911121865807897, + "angularVelocity": 0.1427398389859131, + "velocityX": 2.2894939263007865, + "velocityY": -0.17524319584127046, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.65656568433195, + -69.66760615916618, + -69.44798243820273, + -69.4696679644382 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.577890596566229, + 4.515644929971001, + 7.072313004344936, + 6.926240227703344 + ], + "timestamp": 10.508797232083248 }, { - "x": 7.248314363621348, - "y": 4.200186194442648, - "heading": -0.04520558147012243, - "angularVelocity": 0.17638117466016837, - "velocityX": 2.4689624668663797, - "velocityY": -0.1892720227210261, - "timestamp": 9.71919913711099, + "x": 7.341763099388763, + "y": 4.192778002897551, + "heading": -0.033082005940698156, + "angularVelocity": 0.13182676660290013, + "velocityX": 2.117628711143873, + "velocityY": -0.1613696423356269, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.69531333342799, + -69.70582319577018, + -69.49181138037484, + -69.51313242079627 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.425625424733099, + 4.354129622647004, + 6.9248631692526414, + 6.76928174173628 + ], + "timestamp": 10.554533108588053 }, { - "x": 7.344986549087882, - "y": 4.192797119904222, - "heading": -0.03829825329920174, - "angularVelocity": 0.16311100558586486, - "velocityX": 2.28283599583599, - "velocityY": -0.17448705903182293, - "timestamp": 9.761546544302252, + "x": 7.430750837831655, + "y": 4.186019049322701, + "heading": -0.02755283837322766, + "angularVelocity": 0.12089344274154035, + "velocityX": 1.9456878329103668, + "velocityY": -0.14778231207923104, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.72421761463168, + -69.7344520135668, + -69.52435350812418, + -69.54562452426842 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.311834168734011, + 4.230912530873534, + 6.816398499524391, + 6.651099022677878 + ], + "timestamp": 10.600268985092859 }, { - "x": 7.4337760136412285, - "y": 4.186024437482048, - "heading": -0.03195622007710045, - "angularVelocity": 0.14976201951296883, - "velocityX": 2.0966918742469876, - "velocityY": -0.1599314544001519, - "timestamp": 9.803893951493514, + "x": 7.511872030080587, + "y": 4.179871360027244, + "heading": -0.022524706336496326, + "angularVelocity": 0.10993846452686935, + "velocityX": 1.7736883700131427, + "velocityY": -0.13441721828184217, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.74659497812961, + -69.7567000937077, + -69.54943144982829, + -69.57082298732065 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.22378940668331, + 4.1337123312366195, + 6.733746342133302, + 6.558993209213771 + ], + "timestamp": 10.646004861597664 }, { - "x": 7.514682183099923, - "y": 4.179860576682016, - "heading": -0.026182079762754926, - "angularVelocity": 0.13635168472692413, - "velocityX": 1.9105341938240663, - "velocityY": -0.1455546209049743, - "timestamp": 9.846241358684775, + "x": 7.585124541352304, + "y": 4.174326828104019, + "heading": -0.01799860455362314, + "angularVelocity": 0.09896173701613159, + "velocityX": 1.6016422307773828, + "velocityY": -0.12122937936134792, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.76442640683265, + -69.77448438416424, + -69.5693262936985, + -69.59092386459363 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.153759007224523, + 4.055073699251123, + 6.668962324200309, + 6.4853094144621135 + ], + "timestamp": 10.69174073810247 }, { - "x": 7.587704602665072, - "y": 4.174299470931403, - "heading": -0.020977911619601226, - "angularVelocity": 0.12289224980526404, - "velocityX": 1.724365773690579, - "velocityY": -0.1313210446508697, - "timestamp": 9.888588765876037, + "x": 7.65050663163179, + "y": 4.169378847259442, + "heading": -0.013975501431084333, + "angularVelocity": 0.08796383561412432, + "velocityX": 1.4295580466816797, + "velocityY": -0.10818598489214333, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.77896823921817, + -69.78902105805807, + -69.58548265632585, + -69.60731822254213 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.096767891084601, + 3.990204124201372, + 6.616978368836639, + 6.425167134270045 + ], + "timestamp": 10.737476614607274 }, { - "x": 7.65284290325018, - "y": 4.169336149938423, - "heading": -0.01634541745734586, - "angularVelocity": 0.10939262801457487, - "velocityX": 1.5381886378760474, - "velocityY": -0.11720483784435133, - "timestamp": 9.930936173067298, + "x": 7.708016856106649, + "y": 4.165021938922856, + "heading": -0.01045632411434323, + "angularVelocity": 0.07694566247941691, + "velocityX": 1.2574422722349434, + "velocityY": -0.0952623775807261, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.7910558326898, + -69.80111895098251, + -69.59885941607023, + -69.62092948349829 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.049466064850303, + 3.935879874237554, + 6.5744140369827315, + 6.375313197496248 + ], + "timestamp": 10.78321249111208 }, { - "x": 7.710096779371271, - "y": 4.1649664671710225, - "heading": -0.012286016139425288, - "angularVelocity": 0.09585950090371237, - "velocityX": 1.3520042883028007, - "velocityY": -0.10318654806100733, - "timestamp": 9.97328358025856, + "x": 7.757653996449329, + "y": 4.161251493157439, + "heading": -0.0074419522272495394, + "angularVelocity": 0.06590825665656777, + "velocityX": 1.0852998594541612, + "velocityY": -0.08243956503208126, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.80126632101882, + -69.81133694079466, + -69.61011774011624, + -69.63239436946087 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.009513059359649, + 3.8898511599094165, + 6.538931335634244, + 6.333499233356207 + ], + "timestamp": 10.828948367616885 }, { - "x": 7.759465974032818, - "y": 4.1611869107555135, - "heading": -0.008800909228165892, - "angularVelocity": 0.0822979998638166, - "velocityX": 1.1658138699867133, - "velocityY": -0.08925118835347742, - "timestamp": 10.015630987449821, + "x": 7.799417011869502, + "y": 4.158063583102698, + "heading": -0.00493321647260633, + "angularVelocity": 0.054852687788281486, + "velocityX": 0.9131346901329209, + "velocityY": -0.06970261200542623, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.81001126839654, + -69.82007358682415, + -69.61972811287079, + -69.64216593746447 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.975223069720514, + 3.8504993321218803, + 6.508863836655236, + 6.298123901629999 + ], + "timestamp": 10.87468424412169 }, { - "x": 7.800950268047764, - "y": 4.157994468145469, - "heading": -0.005891128011754195, - "angularVelocity": 0.06871214578190664, - "velocityX": 0.9796182757443157, - "velocityY": -0.07538696750965443, - "timestamp": 10.057978394641083, + "x": 7.833305003310964, + "y": 4.155454828642314, + "heading": -0.0029308999552952564, + "angularVelocity": 0.043779996587561765, + "velocityX": 0.7409498632414073, + "velocityY": -0.05703956411790899, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.81759208868544, + -69.82762076790996, + -69.62803433000336, + -69.65057520214046 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.945350323599107, + 3.8166296377146143, + 6.482993178390347, + 6.268017369637354 + ], + "timestamp": 10.920420120626495 }, { - "x": 7.834549472277904, - "y": 4.155386526717799, - "heading": -0.0035575680752161012, - "angularVelocity": 0.055105143179099966, - "velocityX": 0.7934182151551894, - "velocityY": -0.061584441661107416, - "timestamp": 10.100325801832344, + "x": 7.859317186663494, + "y": 4.153422294030413, + "heading": -0.0014357410080319557, + "angularVelocity": 0.03269116198319357, + "velocityX": 0.5687478920360539, + "velocityY": -0.04444070535495125, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.82423459227853, + -69.83419712972186, + -69.63529336806604, + -69.65786953409446 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.918953936384261, + 3.7873408005249147, + 6.460408949790593, + 6.242306255356992 + ], + "timestamp": 10.9661559971313 }, { - "x": 7.860263421861004, - "y": 4.153360799115914, - "heading": -0.00180101527509397, - "angularVelocity": 0.041479583205382524, - "velocityX": 0.6072142614768032, - "velocityY": -0.0478359299008707, - "timestamp": 10.142673209023606, + "x": 7.877452872324375, + "y": 4.151963409556538, + "heading": -0.0004484368166770001, + "angularVelocity": 0.02158708363772215, + "velocityX": 0.39653084289255985, + "velocityY": -0.03189803247177224, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.83011129092088, + -69.83996968506385, + -69.64170110698417, + -69.66423743516098 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.895309854867698, + 3.7619401017620726, + 6.44041784331503, + 6.2203261064077635 + ], + "timestamp": 11.011891873636106 }, { - "x": 7.878091971827404, - "y": 4.15191526609013, - "heading": -0.0006221656198723453, - "angularVelocity": 0.027837587550457944, - "velocityX": 0.4210068844564231, - "velocityY": -0.03413510109970771, - "timestamp": 10.185020616214867, + "x": 7.887711449336735, + "y": 4.1510759106131365, + "heading": 0.000030352559408697598, + "angularVelocity": 0.01046857330993503, + "velocityX": 0.2243004353766338, + "velocityY": -0.019404874492980072, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.83535624003318, + -69.84506819003062, + -69.6474094313267, + -69.66982501002556 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.873851765520487, + 3.7398864374540004, + 6.42248302141526, + 6.201563022109505 + ], + "timestamp": 11.057627750140911 }, { - "x": 7.888034993711997, - "y": 4.15104813199311, - "heading": -0.000021640726833140938, - "angularVelocity": 0.014180912902812362, - "velocityX": 0.23479647383571572, - "velocityY": -0.020476675067826088, - "timestamp": 10.227368023406129, + "x": 7.890092372894287, + "y": 4.150757789611816, + "heading": 4.255278213177281e-17, + "angularVelocity": -0.0006636487967228019, + "velocityX": 0.05205811584920244, + "velocityY": -0.006955611778583246, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.84007517814702, + -69.84959496618039, + -69.65253790055276, + -69.67474720613788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.8541304068260542, + 3.720751145016197, + 6.406182616934665, + 6.185613725606737 + ], + "timestamp": 11.103363626645717 }, { - "x": 7.890092372894287, - "y": 4.150757789611816, - "heading": 2.985655027033241e-20, - "angularVelocity": 0.0005110283785593034, - "velocityX": 0.04858335654407801, - "velocityY": -0.006856202080605727, - "timestamp": 10.26971543059739, + "x": 7.884396417258817, + "y": 4.1510194176021615, + "heading": -0.0005556604870648964, + "angularVelocity": -0.0119730553372896, + "velocityX": -0.12273320419561777, + "velocityY": 0.005637410755500938, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.84526171242152, + -69.85450741619185, + -69.6580865944387, + -69.6799660562006 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.8358141593988173, + 3.704254767607179, + 6.391245989183205, + 6.172255310447964 + ], + "timestamp": 11.149772874027477 }, { - "x": 7.884089030051463, - "y": 4.151053781998558, - "heading": -0.0005722470658998936, - "angularVelocity": -0.013344129953205615, - "velocityX": -0.13999090921038085, - "velocityY": 0.006902195064321608, - "timestamp": 10.312599235529342, + "x": 7.87058912317916, + "y": 4.151868562531265, + "heading": -0.0016358270910557505, + "angularVelocity": -0.02327481407109726, + "velocityX": -0.29751169990061316, + "velocityY": 0.018296890749345013, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.84052693052642, + -69.84983916844774, + -69.65254097927807, + -69.67444185458244 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.8623216111553433, + 3.7325571482227415, + 6.415935419469509, + 6.198849100966151 + ], + "timestamp": 11.196182121409237 }, { - "x": 7.869999121571473, - "y": 4.151942789637054, - "heading": -0.0017380736763802918, - "angularVelocity": -0.02718570827216285, - "velocityX": -0.32856012898921155, - "velocityY": 0.020730614736915356, - "timestamp": 10.355483040461294, + "x": 7.84867115588573, + "y": 4.153308676549065, + "heading": -0.003240144063550548, + "angularVelocity": -0.03456890734075619, + "velocityX": -0.47227586160004714, + "velocityY": 0.031030755701638053, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.83527240234028, + -69.84460350357307, + -69.64637636140073, + -69.66821378044256 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.8913779162053537, + 3.7645881681953437, + 6.443230217638321, + 6.2292155333288814 + ], + "timestamp": 11.242591368790997 }, { - "x": 7.847822889491656, - "y": 4.153428152761437, - "heading": -0.0034968349733739213, - "angularVelocity": -0.04101224925783549, - "velocityX": -0.517123704741362, - "velocityY": 0.03463692474910159, - "timestamp": 10.398366845393246, + "x": 7.818643263508358, + "y": 4.155343645575917, + "heading": -0.005368256245780929, + "angularVelocity": -0.045855347851786174, + "velocityX": -0.6470239030244018, + "velocityY": 0.0438483522500035, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.82939663417959, + -69.83870154038723, + -69.63947003124473, + -69.66116334641347 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.9235625686422013, + 3.800903527686453, + 6.473707147215328, + 6.263908170932127 + ], + "timestamp": 11.289000616172757 }, { - "x": 7.817560606321279, - "y": 4.155513609226344, - "heading": -0.005847811800684315, - "angularVelocity": -0.0548220203650515, - "velocityX": -0.7056809258972377, - "velocityY": 0.04863039714445159, - "timestamp": 10.441250650325198, + "x": 7.78050629326201, + "y": 4.157977871963268, + "heading": -0.008019812097488225, + "angularVelocity": -0.05713421357377078, + "velocityX": -0.8217536891437839, + "velocityY": 0.05676080815707597, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.82277181100342, + -69.83200874861478, + -69.63166713132719, + -69.65314099231936 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 3.9595996572438468, + 3.842198223950906, + 6.508092726488677, + 6.30362480718904 + ], + "timestamp": 11.335409863554517 }, { - "x": 7.779212581155167, - "y": 4.1582033699664045, - "heading": -0.008790195887586437, - "angularVelocity": -0.06861294354759484, - "velocityX": -0.8942309393246004, - "velocityY": 0.0627220635932188, - "timestamp": 10.48413445525715, + "x": 7.734261212143908, + "y": 4.161216379632487, + "heading": -0.011194469041176991, + "angularVelocity": -0.06840569763122133, + "velocityX": -0.9964626389584227, + "velocityY": 0.06978151665721292, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.81523468704228, + -69.82436608085627, + -69.62276945269603, + -69.64395527152313 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.000406016495486, + 3.889353029204672, + 6.547314528154094, + 6.349256874184525 + ], + "timestamp": 11.381819110936277 }, { - "x": 7.73277916753519, - "y": 4.161502214843388, - "heading": -0.01232307102083907, - "angularVelocity": -0.08238250171267587, - "velocityX": -1.082772708570428, - "velocityY": 0.07692519080845843, - "timestamp": 10.527018260189102, + "x": 7.679909133824823, + "y": 4.165064949839472, + "heading": -0.01489190218850705, + "angularVelocity": -0.07967018117996913, + "velocityX": -1.1711475920302716, + "velocityY": 0.0829267963629735, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.80657340635271, + -69.81556714738767, + -69.61251921185455, + -69.63335719474814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.047160128801968, + 3.9435010446889462, + 6.592574924521756, + 6.401960505763682 + ], + "timestamp": 11.428228358318037 }, { - "x": 7.67826077373009, - "y": 4.16541561626476, - "heading": -0.01644538877252159, - "angularVelocity": -0.09612761176914611, - "velocityX": -1.2713049574684336, - "velocityY": 0.0912559281430923, - "timestamp": 10.569902065121054, + "x": 7.617451354230103, + "y": 4.169530299530098, + "heading": -0.019111818107833353, + "angularVelocity": -0.09092834203094423, + "velocityX": -1.3458046212416621, + "velocityY": 0.09621680898835733, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.79650796137848, + -69.80533920921064, + -69.60057497977996, + -69.62101700601912 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.101403068108447, + 4.006125260419006, + 6.645459577321982, + 6.463261124449069 + ], + "timestamp": 11.474637605699797 }, { - "x": 7.615657876437083, - "y": 4.169949901416868, - "heading": -0.02115593667818573, - "angularVelocity": -0.109844448577704, - "velocityX": -1.4598260903467988, - "velocityY": 0.10573420803734028, - "timestamp": 10.612785870053006, + "x": 7.546889399616104, + "y": 4.174620320330323, + "heading": -0.02385397626368427, + "angularVelocity": -0.10218131996073003, + "velocityX": -1.5204287635513867, + "velocityY": 0.10967686587018105, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.78466039505065, + -69.79331421219015, + -69.58647495658006, + -69.60648876241422 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.165190398987298, + 4.079205429145182, + 6.708101314583558, + 6.535211470992664 + ], + "timestamp": 11.521046853081558 }, { - "x": 7.544971039451351, - "y": 4.175112469466258, - "heading": -0.026453295686826896, - "angularVelocity": -0.12352819478231832, - "velocityX": -1.648334076183228, - "velocityY": 0.12038502781135295, - "timestamp": 10.655669674984958, + "x": 7.468225093135606, + "y": 4.180344406226608, + "heading": -0.029118222402481443, + "angularVelocity": -0.11343097412236461, + "velocityX": -1.695013621604547, + "velocityY": 0.12333933901574691, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.7705078691145, + -69.77898319801147, + -69.56957910482252, + -69.5891545516942 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.241327909128236, + 4.165446073880933, + 6.783435324837567, + 6.620637739239637 + ], + "timestamp": 11.567456100463318 }, { - "x": 7.466200939766659, - "y": 4.18091208916203, - "heading": -0.03233578193407697, - "angularVelocity": -0.13717267524615265, - "velocityX": -1.8368262753196516, - "velocityY": 0.13524032452285012, - "timestamp": 10.69855347991691, + "x": 7.381460649693566, + "y": 4.186713915140715, + "heading": -0.034904541035931, + "angularVelocity": -0.12468029455107398, + "velocityX": -1.869550754148636, + "velocityY": 0.1372465461831737, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.75330589901576, + -69.76162179840142, + -69.54897447434095, + -69.56813328750238 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.333750820449712, + 4.268643334562397, + 6.875610901168991, + 6.723536725391139 + ], + "timestamp": 11.613865347845078 }, { - "x": 7.379348405188472, - "y": 4.187359317831372, - "heading": -0.038801364852270294, - "angularVelocity": -0.15076980525522016, - "velocityX": -2.0252991710041326, - "velocityY": 0.15034180571364475, - "timestamp": 10.741437284848862, + "x": 7.286598815852057, + "y": 4.193742840360602, + "heading": -0.041213139417234076, + "angularVelocity": -0.13593408075358557, + "velocityX": -2.04402870533929, + "velocityY": 0.15145527274050752, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73195703945562, + -69.7401629162167, + -69.52331324455598, + -69.54212482189106 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.448160237686171, + 4.394300657319212, + 6.990684164675913, + 6.849743929305322 + ], + "timestamp": 11.660274595226838 }, { - "x": 7.28441447054349, - "y": 4.194467110684315, - "heading": -0.04584754817004653, - "angularVelocity": -0.16430872514593886, - "velocityX": -2.213747935744538, - "velocityY": 0.16574538719740164, - "timestamp": 10.784321089780814, + "x": 7.18364308501984, + "y": 4.201448826076235, + "heading": -0.04804458543530527, + "angularVelocity": -0.1472001035026177, + "velocityX": -2.218431382549879, + "velocityY": 0.1660441862425419, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.70477380584327, + -69.71296714864722, + -69.49052039305114, + -69.50912888004027 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.59314710805928, + 4.5507158370307845, + 7.13784349027266, + 7.008115076880458 + ], + "timestamp": 11.706683842608598 }, { - "x": 7.181400465488679, - "y": 4.202251742297978, - "heading": -0.05347118997708733, - "angularVelocity": -0.17777437937556867, - "velocityX": -2.4021656944451006, - "velocityY": 0.18152847271868103, - "timestamp": 10.827204894712766, + "x": 7.072598046196222, + "y": 4.209854779376856, + "heading": -0.05540004221521033, + "angularVelocity": -0.1584911886073516, + "velocityX": -2.3927351786200797, + "velocityY": 0.18112668864189005, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.6690212905443, + -69.67738056463489, + -69.44723006205231, + -69.46590391562414 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.782304652878327, + 4.751023006124584, + 7.3317145188368364, + 7.212747356646025 + ], + "timestamp": 11.753093089990358 }, { - "x": 7.070308159489152, - "y": 4.210734269536476, - "heading": -0.06166821693371768, - "angularVelocity": -0.19114504810469354, - "velocityX": -2.5905421912958992, - "velocityY": 0.19780257959754488, - "timestamp": 10.870088699644718, + "x": 6.953469988311547, + "y": 4.2189915912243094, + "heading": -0.06328168681444274, + "angularVelocity": -0.1698291837055948, + "velocityX": -2.566903464405157, + "velocityY": 0.19687481187303227, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.61995772487455, + -69.62880889445651, + -69.38760454569054, + -69.40683530559905 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.0385209067765535, + 5.017338367074698, + 7.597042900361163, + 7.487488106048717 + ], + "timestamp": 11.799502337372118 }, { - "x": 6.951140018808493, - "y": 4.219943001908025, - "heading": -0.07043314105169518, - "angularVelocity": -0.20438774338903917, - "velocityX": -2.778861177774566, - "velocityY": 0.2147368309822492, - "timestamp": 10.91297250457667, + "x": 6.8262680450984625, + "y": 4.228903116920455, + "heading": -0.071693508420302, + "angularVelocity": -0.1812531355371302, + "velocityX": -2.7408749417272147, + "velocityY": 0.21356790414233462, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.54858957338627, + -69.55855685469528, + -69.30057574672517, + -69.32129818626035 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.403628299226511, + 5.390066996590429, + 7.979205992586547, + 7.876042746068363 + ], + "timestamp": 11.845911584753878 }, { - "x": 6.823899707275857, - "y": 4.229918026482712, - "heading": -0.07975817249047097, - "angularVelocity": -0.21744878873441, - "velocityX": -2.9670947280573183, - "velocityY": 0.23260586579281498, - "timestamp": 10.955856309508622, + "x": 6.691006652283192, + "y": 4.239656373774396, + "heading": -0.08064298208106964, + "angularVelocity": -0.19283815544675706, + "velocityX": -2.914535366251887, + "velocityY": 0.23170504717486504, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.43557192437106, + -69.44797784528673, + -69.16236953774111, + -69.18653466227909 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 5.9632696087729125, + 5.951836292759237, + 8.57122701733304, + 8.467901672406025 + ], + "timestamp": 11.892320832135638 }, { - "x": 6.688593200567035, - "y": 4.2407204821859406, - "heading": -0.08963139398277363, - "angularVelocity": -0.23023193739383377, - "velocityX": -3.1551889325941507, - "velocityY": 0.2519005885874673, - "timestamp": 10.998740114440574, + "x": 6.547711917103736, + "y": 4.251366204967392, + "heading": -0.09014514013957545, + "angularVelocity": -0.20474708370822672, + "velocityX": -3.087633246898443, + "velocityY": 0.25231676559351734, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.23056504764862, + -69.24877490404154, + -68.91130543084316, + -68.94376045543765 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 6.924939250568172, + 6.902375785126476, + 9.598206634845097, + 9.479138636350383 + ], + "timestamp": 11.938730079517399 }, { - "x": 6.545231817237749, - "y": 4.2524550209975365, - "heading": -0.10003231048787421, - "angularVelocity": -0.24253716575767104, - "velocityX": -3.343019201695615, - "velocityY": 0.27363567272578576, - "timestamp": 11.041623919372526, + "x": 6.396444472585868, + "y": 4.264274074293088, + "heading": -0.100235428902828, + "angularVelocity": -0.21741978878160628, + "velocityX": -3.259424641678653, + "velocityY": 0.27813140815481985, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.75163556397735, + -68.78782008371181, + -68.32581616829665, + -68.38345282090013 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 8.954635792979039, + 8.879838644232008, + 11.779158099029415, + 11.597004401958207 + ], + "timestamp": 11.985139326899159 }, { - "x": 6.393843872443514, - "y": 4.265341711205096, - "heading": -0.11091742862318123, - "angularVelocity": -0.2538281794859249, - "velocityX": -3.530189194602847, - "velocityY": 0.3005024910454526, - "timestamp": 11.084507724304478, + "x": 6.237472491219683, + "y": 4.2792045976344, + "heading": -0.11104199693728996, + "angularVelocity": -0.2328537660947148, + "velocityX": -3.4254376085544243, + "velocityY": 0.32171440356475467, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.59485929897085, + -66.75642157750775, + -65.72559675335843, + -65.94713301467321 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.962348943442482, + 15.588218338142795, + 19.270950670728798, + 18.754614905341313 + ], + "timestamp": 12.031548574280919 }, { - "x": 6.2345739245631915, - "y": 4.2801353725847004, - "heading": -0.12213341695497802, - "angularVelocity": -0.26154368413890033, - "velocityX": -3.7139882557774366, - "velocityY": 0.34497082064147744, - "timestamp": 11.12739152923643, + "x": 6.085065633665861, + "y": 4.298042412916954, + "heading": -0.12218174486998531, + "angularVelocity": -0.24003293656236976, + "velocityX": -3.283976064083342, + "velocityY": 0.4059065023742881, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 57.0053860804575, + 56.478728686864144, + 56.444295782149524, + 55.901574741657306 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 32.6892348133087, + 33.44039865725631, + 33.76197013824198, + 34.513124594021534 + ], + "timestamp": 12.077957821662679 }, { - "x": 6.082279699737155, - "y": 4.29904771288146, - "heading": -0.131999926485477, - "angularVelocity": -0.23007542232213404, - "velocityX": -3.5513225812797105, - "velocityY": 0.441013579060209, - "timestamp": 11.170275334168382, + "x": 5.940673733394497, + "y": 4.317352125122351, + "heading": -0.1329879092907271, + "angularVelocity": -0.23284506925629764, + "velocityX": -3.111274334694664, + "velocityY": 0.4160746681918069, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.86038034489904, + 68.90317966132747, + 68.95196859689867, + 68.98645919449427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.991118465062357, + 4.6808848697736405, + 3.4192704644898573, + 3.141241868407977 + ], + "timestamp": 12.124367069044439 }, { - "x": 5.9380829445000805, - "y": 4.318353665099193, - "heading": -0.14108905245486633, - "angularVelocity": -0.21194775006116728, - "velocityX": -3.3624990941425232, - "velocityY": 0.4501921470906458, - "timestamp": 11.213159139100334, + "x": 5.8043600786015475, + "y": 4.336679265248018, + "heading": -0.1433326051543543, + "angularVelocity": -0.22290160791723843, + "velocityX": -2.9372089073464576, + "velocityY": 0.41645019508037123, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.45738187875165, + 69.4797847449118, + 69.46459078715823, + 69.47724528715867 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 1.4144428487594791, + 1.0690960643975045, + -0.801929440587436, + -1.08211628847879 + ], + "timestamp": 12.170776316426199 }, { - "x": 5.801993742650727, - "y": 4.337633718669649, - "heading": -0.14947757080505192, - "angularVelocity": -0.1956104026565831, - "velocityX": -3.1734404646532055, - "velocityY": 0.4495882210323852, - "timestamp": 11.256042944032286, + "x": 5.676141089669187, + "y": 4.355831010237803, + "heading": -0.15305098886667945, + "angularVelocity": -0.20940619080454775, + "velocityX": -2.7627896629660533, + "velocityY": 0.41267088070277785, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.6365925531376, + 69.65169350908516, + 69.57698575775873, + 69.57856632833895 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 0.2016406531953778, + -0.2436583811633672, + -2.8338919340357136, + -3.1574085340705524 + ], + "timestamp": 12.21718556380796 }, { - "x": 5.674010241786849, - "y": 4.356729470685759, - "heading": -0.15719498966904102, - "angularVelocity": -0.17996115028120813, - "velocityX": -2.9844250310102183, - "velocityY": 0.4452905250924069, - "timestamp": 11.298926748964238, + "x": 5.556022292840179, + "y": 4.3746890926569275, + "heading": -0.16197186560864046, + "angularVelocity": -0.1922219653460994, + "velocityX": -2.5882513422576707, + "velocityY": 0.40634320707678606, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.72318800890363, + 69.73286828495876, + 69.59309782548499, + 69.58477813190655 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.34534271820180595, + -0.9131953701791334, + -4.23685892754336, + -4.606135858097092 + ], + "timestamp": 12.26359481118972 }, { - "x": 5.554130228291056, - "y": 4.375557803560313, - "heading": -0.1642568809569973, - "angularVelocity": -0.16467501657471875, - "velocityX": -2.795461216326708, - "velocityY": 0.4390546245705114, - "timestamp": 11.34181055389619, + "x": 5.444004100512943, + "y": 4.3931540179139255, + "heading": -0.16990603039507135, + "angularVelocity": -0.17096085875212255, + "velocityX": -2.413704135423311, + "velocityY": 0.3978716807257086, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.77444256589784, + 69.77868829559299, + 69.556641960503, + 69.53834528949733 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -0.6782685787580125, + -1.390100473695053, + -5.524361841455879, + -5.931260226141385 + ], + "timestamp": 12.31000405857148 }, { - "x": 5.442351912305196, - "y": 4.394067512382829, - "heading": -0.1706728113794374, - "angularVelocity": -0.14961196732941112, - "velocityX": -2.60653913903462, - "velocityY": 0.43162468563335016, - "timestamp": 11.384694358828142, + "x": 5.340081548641706, + "y": 4.411102191832692, + "heading": -0.1766387898963379, + "angularVelocity": -0.1450736627094774, + "velocityX": -2.2392638910167224, + "velocityY": 0.38673701754155815, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.80433340427273, + 69.79992601922777, + 69.45005958344015, + 69.42304369833387 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.1566059509217277, + -2.0158282979165234, + -7.098734984802106, + -7.504268129899874 + ], + "timestamp": 12.35641330595324 }, { - "x": 5.338665287700869, - "y": 4.412086410331256, - "heading": -0.17624795050420117, - "angularVelocity": -0.1300057010708435, - "velocityX": -2.4178503929130177, - "velocityY": 0.4201795520947631, - "timestamp": 11.427578163760094, + "x": 5.244244566392908, + "y": 4.428381953152792, + "heading": -0.18200598017409053, + "angularVelocity": -0.11564915572967037, + "velocityX": -2.065040647189307, + "velocityY": 0.3723344439947396, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.81050045839473, + 69.7921252249223, + 69.27845232423293, + 69.24986378322077 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -2.0369461565346274, + -2.9640971751421596, + -8.826388357062102, + -9.164915697214896 + ], + "timestamp": 12.402822553335 }, { - "x": 5.2430532520076225, - "y": 4.429401007948697, - "heading": -0.18083314773923911, - "angularVelocity": -0.10692141805778863, - "velocityX": -2.229560456329923, - "velocityY": 0.4037560949854083, - "timestamp": 11.470461968692046, + "x": 5.15648098422649, + "y": 4.444848439176671, + "heading": -0.18591814561174294, + "angularVelocity": -0.08429711013130145, + "velocityX": -1.8910796256720086, + "velocityY": 0.35481045164185604, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.79261035699513, + 69.76022856943331, + 69.09096901387028, + 69.06852071671656 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -3.0780740994754163, + -3.9923265644123185, + -10.330588202948192, + -10.5744086172704 + ], + "timestamp": 12.44923180071676 }, { - "x": 5.155498932546095, - "y": 4.445849700284375, - "heading": -0.18431556778523087, - "angularVelocity": -0.08120594829487801, - "velocityX": -2.041663970826697, - "velocityY": 0.3835642000932039, - "timestamp": 11.513345773623998, + "x": 5.076778119428936, + "y": 4.460372361523327, + "heading": -0.1883439069874921, + "angularVelocity": -0.05226892295396647, + "velocityX": -1.7173918840338522, + "velocityY": 0.3345006269754168, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.75319008904908, + 69.71029119110527, + 68.91211319407469, + 68.90046868520734 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -4.150726145922235, + -4.998945027187704, + -11.562994310974698, + -11.710049981357619 + ], + "timestamp": 12.49564104809852 }, { - "x": 5.075986755055919, - "y": 4.461306054969781, - "heading": -0.1866069605810815, - "angularVelocity": -0.05343259068281342, - "velocityX": -1.8541306587963866, - "velocityY": 0.3604240507560462, - "timestamp": 11.55622957855595, + "x": 5.005123419271046, + "y": 4.474838998771846, + "heading": -0.1892978728238737, + "angularVelocity": -0.020555511890434683, + "velocityX": -1.5439746214469527, + "velocityY": 0.31171885054541326, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.69411921976389, + 69.64557438255135, + 68.7517062485026, + 68.75286906803288 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.22559712764522, + -5.9720537993535885, + -12.55658898708507, + -12.614712901539457 + ], + "timestamp": 12.54205029548028 }, { - "x": 5.004502693639158, - "y": 4.475668530318664, - "heading": -0.1876364643459641, - "angularVelocity": -0.024006819509514086, - "velocityX": -1.666924414244258, - "velocityY": 0.33491606847089855, - "timestamp": 11.599113383487902, + "x": 4.9415046158562514, + "y": 4.48814463537535, + "heading": -0.18883838264881078, + "angularVelocity": 0.009900832290652329, + "velocityX": -1.3708217005001222, + "velocityY": 0.28670227064991627, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.61413205900656, + 69.56540112809247, + 68.61441867501658, + 68.62832061302444 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.323579127496874, + -6.940462265907679, + -13.345454573494814, + -13.32710935547324 + ], + "timestamp": 12.58845954286204 }, { - "x": 4.941034226763125, - "y": 4.488853822479007, - "heading": -0.18734595892691064, - "angularVelocity": 0.006774245417691704, - "velocityX": -1.4800101571384419, - "velocityY": 0.3074655381271679, - "timestamp": 11.641997188419854, + "x": 4.885909430268591, + "y": 4.500190661952772, + "heading": -0.18708408954546277, + "angularVelocity": 0.037800507491888895, + "velocityX": -1.1979333586329695, + "velocityY": 0.2595609120383236, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.50284138380154, + 69.46028595959244, + 68.50631450719705, + 68.53045513094503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -7.535693883084783, + -7.992656059461959, + -13.938188800014524, + -13.862074973306907 + ], + "timestamp": 12.6348687902438 }, { - "x": 4.885570195844111, - "y": 4.500792376748957, - "heading": -0.18568694748911416, - "angularVelocity": 0.03868619961379329, - "velocityX": -1.2933561051082938, - "velocityY": 0.2783930737697567, - "timestamp": 11.684880993351806, + "x": 4.838323190234018, + "y": 4.51086214786475, + "heading": -0.18433458081751503, + "angularVelocity": 0.059244846298185855, + "velocityX": -1.0253611665608888, + "velocityY": 0.22994309354331424, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.29040648482314, + 69.26571416662244, + 68.45718283202788, + 68.48189023161743 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -9.352403419338149, + -9.577724011983078, + -14.220698662835838, + -14.131221759144733 + ], + "timestamp": 12.68127803762556 }, { - "x": 4.8380932102020315, - "y": 4.511348282473736, - "heading": -0.18310148046602473, - "angularVelocity": 0.06029005651881899, - "velocityX": -1.1071075833269828, - "velocityY": 0.24615133245590312, - "timestamp": 11.727764798283758, + "x": 4.798726023855189, + "y": 4.520025470268991, + "heading": -0.18105327767746845, + "angularVelocity": 0.07070364906058164, + "velocityX": -0.8532171628017221, + "velocityY": 0.1974460462343598, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.94120879674408, + 68.93883560485864, + 68.45826692344116, + 68.47332021936111 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.697567085386378, + -11.729504361683166, + -14.254527211566076, + -14.196865861359052 + ], + "timestamp": 12.72768728500732 }, { - "x": 4.79858234023127, - "y": 4.5203886369650235, - "heading": -0.18006536822705313, - "angularVelocity": 0.0707985740488572, - "velocityX": -0.9213471153843916, - "velocityY": 0.21081045643298443, - "timestamp": 11.77064860321571, + "x": 4.767095608562261, + "y": 4.527557015615815, + "heading": -0.1776853855114291, + "angularVelocity": 0.07256942001955871, + "velocityX": -0.6815541530492494, + "velocityY": 0.16228544464145783, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.55162051438302, + 68.55379092058199, + 68.46782247341, + 68.47053616623668 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -13.832938612988684, + -13.824496441700466, + -14.241971783342194, + -14.231170346327838 + ], + "timestamp": 12.77409653238908 }, { - "x": 4.767015877665549, - "y": 4.527798628484294, - "heading": -0.1769910620286464, - "angularVelocity": 0.07168921235615648, - "velocityX": -0.7360928587332712, - "velocityY": 0.17279230541760152, - "timestamp": 11.813532408147662, + "x": 4.74340845826846, + "y": 4.533345558511581, + "heading": -0.1746380830271375, + "angularVelocity": 0.06566153635769992, + "velocityX": -0.5103972081027701, + "velocityY": 0.1247282216871555, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.1535637279797, + 68.1342504645237, + 68.47947649206557, + 68.46859475877257 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.70324086306387, + -15.77978923295082, + -14.214506886725266, + -14.259019684715405 + ], + "timestamp": 12.82050577977084 }, { - "x": 4.743372122504489, - "y": 4.533478204796791, - "heading": -0.17423985797249714, - "angularVelocity": 0.06415484961082249, - "velocityX": -0.551344620622574, - "velocityY": 0.13244105371501808, - "timestamp": 11.856416213079614, + "x": 4.727640694796091, + "y": 4.537291353928148, + "heading": -0.1722808191793964, + "angularVelocity": 0.05079297727777901, + "velocityX": -0.3397547765139184, + "velocityY": 0.08502174974113795, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.76218605118999, + 67.69443534858641, + 68.49132060239295, + 68.46657149574686 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -17.335082718388172, + -17.585042001903926, + -14.18216192963107, + -14.285342893208833 + ], + "timestamp": 12.8669150271526 }, { - "x": 4.727629840983246, - "y": 4.537339486129321, - "heading": -0.1721310867927095, - "angularVelocity": 0.049174068931938486, - "velocityX": -0.36709152898681663, - "velocityY": 0.09004054884254221, - "timestamp": 11.899300018011566, + "x": 4.719768524169922, + "y": 4.539304733276367, + "heading": -0.1709491750126471, + "angularVelocity": 0.028693509200761788, + "velocityX": -0.16962504393602973, + "velocityY": 0.043383150165256165, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.38458116003311, + 67.24444069958429, + 68.5023901227519, + 68.46462600308531 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.766118515893627, + -19.24596546147227, + -14.150307555012077, + -14.309697153796881 + ], + "timestamp": 12.91332427453436 }, { "x": 4.719768524169922, "y": 4.539304733276367, - "heading": -0.170949175012647, - "angularVelocity": 0.02756079554829456, - "velocityX": -0.1833166815724163, - "velocityY": 0.04582725693684693, - "timestamp": 11.942183822943518, + "heading": -0.17094917501264706, + "angularVelocity": 1.4917178471052147e-17, + "velocityX": -1.2639827414836993e-17, + "velocityY": -4.774641016852188e-17, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.02327146248648, + 66.79173222790882, + 68.5119889759832, + 68.46335760377693 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -20.03211035825907, + -20.772617732478892, + -14.122904418171489, + -14.329466304300716 + ], + "timestamp": 12.959733521916121 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 0.7778744697570801, + "y": 4.333664894104004, + "heading": -1.051650156247713, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 2.4298710864539235, + "isStopPoint": false, + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.061776917324722916, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 + }, + { + "timestamp": 2.901805431942906, + "isStopPoint": false, + "x": 7.7619476318359375, + "y": 0.7214499115943909, + "heading": -0.030602705565700654, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 3.8000798593320244, + "isStopPoint": false, + "x": 7.307389736175537, + "y": 2.2767348289489746, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 40 + }, + { + "timestamp": 5.3322706520687095, + "isStopPoint": true, + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 7.281776926159738, + "isStopPoint": false, + "x": 7.827552795410156, + "y": 2.5913245677948, + "heading": -0.3259700361708536, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 9.273928566453506, + "isStopPoint": true, + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505463, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + }, + { + "timestamp": 11.103363626645717, + "isStopPoint": false, + "x": 7.890092372894287, + "y": 4.150757789611816, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 }, { + "timestamp": 12.959733521916121, + "isStopPoint": true, "x": 4.719768524169922, "y": 4.539304733276367, "heading": -0.170949175012647, - "angularVelocity": -1.0320000993069882e-19, - "velocityX": -1.034677306083588e-18, - "velocityY": -2.6376939008839734e-19, - "timestamp": 11.98506762787547, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 } ], - "trajectoryWaypoints": [], "constraints": [ { "scope": [ @@ -28058,7 +28732,7 @@ } ], "eventMarkers": [], - "isTrajectoryStale": true + "isTrajectoryStale": false }, "center 4": { "waypoints": [ diff --git a/src/main/deploy/choreo/amp 5.1.traj b/src/main/deploy/choreo/amp 5.1.traj index 8d031440..b4ad1d03 100644 --- a/src/main/deploy/choreo/amp 5.1.traj +++ b/src/main/deploy/choreo/amp 5.1.traj @@ -1,292 +1,719 @@ { - "samples": [ - { - "x": 0.7257580161094666, - "y": 6.734513759613037, - "heading": 1.0489622146743895, - "angularVelocity": -6.192528274226541e-39, - "velocityX": 4.367616489063668e-40, - "velocityY": -2.754805507678283e-40, - "timestamp": 0 - }, - { - "x": 0.7359588281336483, - "y": 6.73715165638492, - "heading": 1.040205662932865, - "angularVelocity": -0.18891919323128226, - "velocityX": 0.22007854630422122, - "velocityY": 0.056911595418114136, - "timestamp": 0.04635077882639643 - }, - { - "x": 0.7563770147164974, - "y": 6.742392850017265, - "heading": 1.0227991340994598, - "angularVelocity": -0.3755390799062996, - "velocityX": 0.44051442283902165, - "velocityY": 0.1130767112237008, - "timestamp": 0.09270155765279287 - }, - { - "x": 0.7870307911483414, - "y": 6.750198139973647, - "heading": 0.9968575893669767, - "angularVelocity": -0.5596787236228601, - "velocityX": 0.661343287167955, - "velocityY": 0.16839609072406708, - "timestamp": 0.1390523364791893 - }, - { - "x": 0.8279404209012724, - "y": 6.760521979407147, - "heading": 0.9625044803517897, - "angularVelocity": -0.7411549467993643, - "velocityX": 0.8826093280148551, - "velocityY": 0.2227328147422812, - "timestamp": 0.18540311530558573 - }, - { - "x": 0.8791287844684664, - "y": 6.7733101956563, - "heading": 0.9198734496254627, - "angularVelocity": -0.9197478835468662, - "velocityX": 1.1043690065903007, - "velocityY": 0.2759007846890953, - "timestamp": 0.23175389413198216 - }, - { - "x": 0.9406222307858362, - "y": 6.788496998498477, - "heading": 0.8691137148744773, - "angularVelocity": -1.0951215068273683, - "velocityX": 1.3266971531954002, - "velocityY": 0.3276493562073011, - "timestamp": 0.2781046729583786 - }, - { - "x": 1.0124518256432806, - "y": 6.806001018337905, - "heading": 0.8104018251055961, - "angularVelocity": -1.2666861540511007, - "velocityX": 1.5496955321177492, - "velocityY": 0.3776424103894355, - "timestamp": 0.32445545178477503 - }, - { - "x": 1.0946550980428575, - "y": 6.825719945182635, - "heading": 0.7439630462752712, - "angularVelocity": -1.4333907760032805, - "velocityX": 1.7735035846423053, - "velocityY": 0.4254281663440037, - "timestamp": 0.37080623061117146 - }, - { - "x": 1.187278340782525, - "y": 6.847522953921924, - "heading": 0.6701061767445722, - "angularVelocity": -1.5934331935893635, - "velocityX": 1.998310386252222, - "velocityY": 0.47039142148940066, - "timestamp": 0.4171570094375679 - }, - { - "x": 1.2903794187577957, - "y": 6.871239235401886, - "heading": 0.5892765061515742, - "angularVelocity": -1.743868660669969, - "velocityX": 2.2243656004450014, - "velocityY": 0.5116695356681982, - "timestamp": 0.4635077882639643 - }, - { - "x": 1.40403077681679, - "y": 6.8966389846255005, - "heading": 0.5021344290236092, - "angularVelocity": -1.8800563730406699, - "velocityX": 2.4519837840194127, - "velocityY": 0.5479896965431291, - "timestamp": 0.5098585670903608 - }, - { - "x": 1.5283214649187693, - "y": 6.923398515312292, - "heading": 0.40967657292107107, - "angularVelocity": -1.9947422339726464, - "velocityX": 2.681523185780791, - "velocityY": 0.5773264519894711, - "timestamp": 0.5562093459167572 - }, - { - "x": 1.6633533034799075, - "y": 6.951028990111667, - "heading": 0.31344699825620226, - "angularVelocity": -2.076115592907077, - "velocityX": 2.9132593233630564, - "velocityY": 0.5961167319941462, - "timestamp": 0.6025601247431536 - }, - { - "x": 1.8092073692389947, - "y": 6.978712169320396, - "heading": 0.215995436674554, - "angularVelocity": -2.1024794846845225, - "velocityX": 3.1467446600061115, - "velocityY": 0.5972538090981104, - "timestamp": 0.64891090356955 - }, - { - "x": 1.9657314404497876, - "y": 7.004870027709754, - "heading": 0.12223564840481631, - "angularVelocity": -2.0228309133900075, - "velocityX": 3.376945871762865, - "velocityY": 0.5643456065178637, - "timestamp": 0.6952616823959463 - }, - { - "x": 2.1311616087002494, - "y": 7.026380908952331, - "heading": 0.04292195201676955, - "angularVelocity": -1.7111621076554204, - "velocityX": 3.5690914465551646, - "velocityY": 0.4640888845286682, - "timestamp": 0.7416124612223427 - }, - { - "x": 2.2968963054159266, - "y": 7.042047366895359, - "heading": 0.004346790551392091, - "angularVelocity": -0.8322440839636805, - "velocityX": 3.575661529581302, - "velocityY": 0.33799772818715607, - "timestamp": 0.7879632400487391 - }, - { - "x": 2.460571050643921, - "y": 7.051084518432617, - "heading": 1.2991450543069827e-38, - "angularVelocity": -0.09378031311345789, - "velocityX": 3.5312188785656926, - "velocityY": 0.19497302453334203, - "timestamp": 0.8343140188751355 - }, - { - "x": 2.6474913754466702, - "y": 7.054201221280446, - "heading": 0.02263910050933059, - "angularVelocity": 0.40318272199585425, - "velocityX": 3.3288886773244903, - "velocityY": 0.055505771411816535, - "timestamp": 0.8904649878384419 - }, - { - "x": 2.820309176989229, - "y": 7.051878745268308, - "heading": 0.06322632791316712, - "angularVelocity": 0.7228232771968643, - "velocityX": 3.077734983620529, - "velocityY": -0.041361281114425025, - "timestamp": 0.9466159568017483 - }, - { - "x": 2.9777656678643236, - "y": 7.046257900198069, - "heading": 0.11239647407414549, - "angularVelocity": 0.8756776075068299, - "velocityX": 2.80416337922841, - "velocityY": -0.10010236998603794, - "timestamp": 1.0027669257650547 - }, - { - "x": 3.1194596165451562, - "y": 7.038825412623418, - "heading": 0.16470690639468305, - "angularVelocity": 0.9316033772225991, - "velocityX": 2.5234461897429954, - "velocityY": -0.1323661498968442, - "timestamp": 1.058917894728361 - }, - { - "x": 3.2452843149183654, - "y": 7.03057315594096, - "heading": 0.2167574463663451, - "angularVelocity": 0.9269749201599022, - "velocityX": 2.240828621415836, - "velocityY": -0.146965525881678, - "timestamp": 1.1150688636916675 - }, - { - "x": 3.355235740479973, - "y": 7.022192571859501, - "heading": 0.26620122860501905, - "angularVelocity": 0.8805508284458017, - "velocityX": 1.958139415785662, - "velocityY": -0.14925092542811763, - "timestamp": 1.1712198326549739 - }, - { - "x": 3.449347146223145, - "y": 7.014187327613359, - "heading": 0.3113273059481728, - "angularVelocity": 0.8036562534235666, - "velocityX": 1.676042417089403, - "velocityY": -0.14256644887772138, - "timestamp": 1.2273708016182803 - }, - { - "x": 3.5276639223656012, - "y": 7.006937973124809, - "heading": 0.35084892367317316, - "angularVelocity": 0.7038456941112984, - "velocityX": 1.394753778757316, - "velocityY": -0.12910470865226828, - "timestamp": 1.2835217705815867 - }, - { - "x": 3.5902334259275532, - "y": 7.000741009960109, - "heading": 0.38377467023325373, - "angularVelocity": 0.5863789560176054, - "velocityX": 1.1143085278339506, - "velocityY": -0.11036253299120015, - "timestamp": 1.339672739544893 - }, - { - "x": 3.6371010005522986, - "y": 6.995833525911573, - "heading": 0.4093219860754754, - "angularVelocity": 0.4549755118013431, - "velocityX": 0.8346708078247481, - "velocityY": -0.08739802961802687, - "timestamp": 1.3958237085081995 - }, - { - "x": 3.66830865544687, - "y": 6.992409233249185, - "heading": 0.42685683011593634, - "angularVelocity": 0.3122803464339083, - "velocityX": 0.5557812353151875, - "velocityY": -0.06098367892146618, - "timestamp": 1.4519746774715059 - }, - { - "x": 3.6838948726654057, - "y": 6.990629196166992, - "heading": 0.4358509294181536, - "angularVelocity": 0.1601770987798055, - "velocityX": 0.27757699477494313, - "velocityY": -0.03170091478485815, - "timestamp": 1.5081256464348123 - }, - { - "x": 3.6838948726654057, - "y": 6.990629196166992, - "heading": 0.4358509294181536, - "angularVelocity": 1.0435886153944948e-33, - "velocityX": -4.398813100266421e-36, - "velocityY": 6.126892567484817e-35, - "timestamp": 1.5642766153981187 - } - ] + "samples": [ + { + "x": 0.7257580161094666, + "y": 6.734513759613037, + "heading": 1.0489622146743895, + "angularVelocity": 3.560702415747362e-20, + "velocityX": 4.6566650472109595e-20, + "velocityY": -7.67851253430759e-20, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.7349458263056264, + "y": 6.736901005461545, + "heading": 1.0410313626853176, + "angularVelocity": -0.1560265308045545, + "velocityX": 0.1807551260032127, + "velocityY": 0.04696515436594876, + "moduleForcesX": [ + 67.77863741281475, + 69.7513107771417, + 58.31129286497225, + 67.62014116586165 + ], + "moduleForcesY": [ + 17.365581723918066, + -5.3491955198116745, + 38.6469404285886, + 17.791188373677336 + ], + "timestamp": 0.05083015015572263 + }, + { + "x": 0.7533353282744589, + "y": 6.741645801074208, + "heading": 1.0252632621160425, + "angularVelocity": -0.3102115677598463, + "velocityX": 0.3617833493015562, + "velocityY": 0.09334608688210272, + "moduleForcesX": [ + 67.88931883004255, + 69.744142742904, + 58.65730553318063, + 67.56867071865554 + ], + "moduleForcesY": [ + 16.915322509522433, + -5.391641331723364, + 38.11335989119491, + 17.965935729450656 + ], + "timestamp": 0.10166030031144525 + }, + { + "x": 0.7809416903717791, + "y": 6.748714774696191, + "heading": 1.0017587966777615, + "angularVelocity": -0.4624118828347558, + "velocityX": 0.5431099851708912, + "velocityY": 0.1390704847481553, + "moduleForcesX": [ + 68.0329904118336, + 69.73329960566443, + 59.063467603884355, + 67.46463433257982 + ], + "moduleForcesY": [ + 16.313180905742954, + -5.472059002398743, + 37.473728412643496, + 18.331188053012433 + ], + "timestamp": 0.1524904504671679 + }, + { + "x": 0.8177816600322735, + "y": 6.758069546838051, + "heading": 0.9706262907054911, + "angularVelocity": -0.612481093935258, + "velocityX": 0.7247660994040371, + "velocityY": 0.18403982898339327, + "moduleForcesX": [ + 68.20490844544075, + 69.71970691689772, + 59.534131096356596, + 67.31587987124801 + ], + "moduleForcesY": [ + 15.560935496648787, + -5.575405126367415, + 36.71326865136854, + 18.8467036246637 + ], + "timestamp": 0.2033206006228905 + }, + { + "x": 0.8638739713004835, + "y": 6.76966501688917, + "heading": 0.9319827137656648, + "angularVelocity": -0.7602491202846798, + "velocityX": 0.9067907752982476, + "velocityY": 0.228121892530428, + "moduleForcesX": [ + 68.39934278900921, + 69.70462099333616, + 60.07461323199193, + 67.13324992952326 + ], + "moduleForcesY": [ + 14.660553806044058, + -5.682696465093023, + 35.812569508315455, + 19.461811247926164 + ], + "timestamp": 0.25415075077861315 + }, + { + "x": 0.9192399416661748, + "y": 6.783447148737343, + "heading": 0.8859573541419334, + "angularVelocity": -0.9054736112863842, + "velocityX": 1.0892348379078312, + "velocityY": 0.2711408840214287, + "moduleForcesX": [ + 68.60960804762239, + 69.689700498591, + 60.690950974422464, + 66.93284858664386 + ], + "moduleForcesY": [ + 13.614388714702265, + -5.770692032769962, + 34.74656641160418, + 20.112484046049627 + ], + "timestamp": 0.3049809009343358 + }, + { + "x": 0.983904335689352, + "y": 6.799350088787072, + "heading": 0.8326997886428025, + "angularVelocity": -1.047755423424321, + "velocityX": 1.2721661026977942, + "velocityY": 0.31286431381795593, + "moduleForcesX": [ + 68.82809666723472, + 69.67700457197292, + 61.38970807052022, + 66.73842504792154 + ], + "moduleForcesY": [ + 12.425447395390638, + -5.811649731489452, + 33.48272964945166, + 20.717861347413503 + ], + "timestamp": 0.3558110510900584 + }, + { + "x": 1.0578965645735279, + "y": 6.817292354030373, + "heading": 0.7723943696459228, + "angularVelocity": -1.1864104042999828, + "velocityX": 1.455675984775156, + "velocityY": 0.3529846988122497, + "moduleForcesX": [ + 69.04632112438263, + 69.66883997055368, + 62.17787914764026, + 66.58356333887164 + ], + "moduleForcesY": [ + 11.097735094979605, + -5.773410206096803, + 31.977820693120183, + 21.175709622164334 + ], + "timestamp": 0.406641201245781 + }, + { + "x": 1.1412522629439987, + "y": 6.837171621279716, + "heading": 0.7052838154932164, + "angularVelocity": -1.320290299106089, + "velocityX": 1.6398869197726833, + "velocityY": 0.3910920425859111, + "moduleForcesX": [ + 69.25497535877996, + 69.66734661071521, + 63.06292746531208, + 66.51318061121054 + ], + "moduleForcesY": [ + 9.636630643387315, + -5.620327973735599, + 30.1719392739009, + 21.35548555877683 + ], + "timestamp": 0.45747135140150363 + }, + { + "x": 1.2340152225584982, + "y": 6.858857202651076, + "heading": 0.6317049758954995, + "angularVelocity": -1.4475432272440991, + "velocityX": 1.824959385921857, + "velocityY": 0.42662831616502395, + "moduleForcesX": [ + 69.444018645729, + 69.67369247131353, + 64.05292850950586, + 66.58352348252478 + ], + "moduleForcesY": [ + 8.049134648562669, + -5.316043074696186, + 27.977102676235553, + 21.086045022043404 + ], + "timestamp": 0.5083015015572263 + }, + { + "x": 1.336239525446417, + "y": 6.882178327439258, + "heading": 0.5521410726482914, + "angularVelocity": -1.5652895575452175, + "velocityX": 2.0110958274716717, + "velocityY": 0.4588049556559801, + "moduleForcesX": [ + 69.60274338725351, + 69.68680091789643, + 65.15644802145972, + 66.85897841873941 + ], + "moduleForcesY": [ + 6.343547834057763, + -4.829874363738353, + 25.25390648361354, + 20.131792157686757 + ], + "timestamp": 0.559131651712949 + }, + { + "x": 1.4479913432769729, + "y": 6.906904206622588, + "heading": 0.46729855991002156, + "angularVelocity": -1.6691375586801804, + "velocityX": 2.1985340882956748, + "velocityY": 0.48644119892593296, + "moduleForcesX": [ + 69.71964032829244, + 69.70176512572654, + 66.38013506405288, + 67.40090950193512 + ], + "moduleForcesY": [ + 4.5273936612622405, + -4.149849209526449, + 21.75973717517193, + 18.14419205678952 + ], + "timestamp": 0.6099618018686717 + }, + { + "x": 1.5693485685544746, + "y": 6.932706789834332, + "heading": 0.3782286281659802, + "angularVelocity": -1.752305107719883, + "velocityX": 2.3875047566400416, + "velocityY": 0.5076235882186242, + "moduleForcesX": [ + 69.78137648646972, + 69.70863030950251, + 67.71384580705609, + 68.23217282016584 + ], + "moduleForcesY": [ + 2.6001234895423515, + -3.3072145051316206, + 17.02105149641646, + 14.560635914807682 + ], + "timestamp": 0.6607919520243943 + }, + { + "x": 1.7003910118077161, + "y": 6.959083901483894, + "heading": 0.2865508313656539, + "angularVelocity": -1.803610583865349, + "velocityX": 2.578045566494773, + "velocityY": 0.5189264947822261, + "moduleForcesX": [ + 69.76826577227244, + 69.6928342321807, + 69.04667853650925, + 69.21682182751653 + ], + "moduleForcesY": [ + 0.528452765417669, + -2.4199848787536267, + 9.972415679659024, + 8.393777220370682 + ], + "timestamp": 0.711622102180117 + }, + { + "x": 1.84114642080487, + "y": 6.985181493560528, + "heading": 0.1949723701363114, + "angularVelocity": -1.8016563191095023, + "velocityX": 2.769132268268646, + "velocityY": 0.5134274047327988, + "moduleForcesX": [ + 69.63335245704607, + 69.6374894894225, + 69.6223806720665, + 69.62704779671014 + ], + "moduleForcesY": [ + -1.852656254437238, + -1.767437912661004, + -2.241176440831389, + -2.1539812823707956 + ], + "timestamp": 0.7624522523358397 + }, + { + "x": 1.9912773872627136, + "y": 7.009348952729066, + "heading": 0.10890055756168962, + "angularVelocity": -1.6933220207088358, + "velocityX": 2.9535810143766064, + "velocityY": 0.47545519921733215, + "moduleForcesX": [ + 69.1558577068949, + 69.51726830085234, + 63.4802043496292, + 66.69172357283001 + ], + "moduleForcesY": [ + -5.449071998499246, + -1.9100006415356654, + -28.162729429046532, + -19.824953357920638 + ], + "timestamp": 0.8132824024915624 + }, + { + "x": 2.148503261513255, + "y": 7.028632606627301, + "heading": 0.03810348776957061, + "angularVelocity": -1.3928164598220931, + "velocityX": 3.0931617114816445, + "velocityY": 0.37937432486752937, + "moduleForcesX": [ + 62.33433984737214, + 69.22493314014443, + 18.47942017317723, + 53.40850196881618 + ], + "moduleForcesY": [ + -24.913568038547456, + -3.8848383845555645, + -66.76509661276566, + -44.48010469413392 + ], + "timestamp": 0.864112552647285 + }, + { + "x": 2.3056499972911815, + "y": 7.042846888400874, + "heading": 0.004373222221168522, + "angularVelocity": -0.6635877613004575, + "velocityX": 3.091604791575267, + "velocityY": 0.2796427264138993, + "moduleForcesX": [ + -68.30025985333138, + 68.1190249450903, + -29.985030040340245, + 27.896961280069764 + ], + "moduleForcesY": [ + -9.268114697353543, + -9.678704097035373, + -62.7360059984554, + -63.68193116553009 + ], + "timestamp": 0.9149427028030077 + }, + { + "x": 2.460571050643921, + "y": 7.051084518432617, + "heading": -2.5476855649038215e-19, + "angularVelocity": -0.08603598863609044, + "velocityX": 3.0478181330986445, + "velocityY": 0.1620618866263923, + "moduleForcesX": [ + -69.408603959649, + 47.22818658385306, + -45.65746662582352, + 4.016216422047481 + ], + "moduleForcesY": [ + -4.392025131847485, + -44.823034450385144, + -52.672960264834764, + -69.49307046042028 + ], + "timestamp": 0.9657728529587304 + }, + { + "x": 2.6339413968023475, + "y": 7.054256789624725, + "heading": 0.019203300499829927, + "angularVelocity": 0.3196930791555915, + "velocityX": 2.886238217130867, + "velocityY": 0.052811397984757445, + "moduleForcesX": [ + -69.66803284504324, + -66.90230204431042, + -51.3271112404498, + -11.395749457319827 + ], + "moduleForcesY": [ + -3.669851433002323, + -14.937084837112758, + -47.342567439179255, + -68.80040546374998 + ], + "timestamp": 1.0258407798295648 + }, + { + "x": 2.7954059823990316, + "y": 7.052640165014191, + "heading": 0.05483010099103128, + "angularVelocity": 0.5931085413986503, + "velocityX": 2.688033265138227, + "velocityY": -0.026913274599785732, + "moduleForcesX": [ + -69.67163579849694, + -69.4291811112016, + -60.04175276669746, + -45.324064850652 + ], + "moduleForcesY": [ + -4.497652317821833, + -5.157912474702854, + -35.67144532737477, + -53.0056611861017 + ], + "timestamp": 1.0859087067003992 + }, + { + "x": 2.943837465947747, + "y": 7.0479371514642235, + "heading": 0.09905123347729747, + "angularVelocity": 0.7361854285625014, + "velocityX": 2.471060535647882, + "velocityY": -0.07829492035061607, + "moduleForcesX": [ + -69.69231623650948, + -69.68164005594598, + -65.47427288406016, + -62.76664335513325 + ], + "moduleForcesY": [ + -4.695747707667005, + -3.796274322744726, + -24.3499460738395, + -30.53232142224293 + ], + "timestamp": 1.1459766335712336 + }, + { + "x": 3.078822485301576, + "y": 7.041413339390925, + "heading": 0.14702705067066513, + "angularVelocity": 0.7986927415779024, + "velocityX": 2.2472062277778373, + "velocityY": -0.10860724538282249, + "moduleForcesX": [ + -69.72818603065281, + -69.7596079015204, + -68.38859769957736, + -68.22624212789155 + ], + "moduleForcesY": [ + -4.504269469792757, + -3.5778058967556476, + -14.32746694542038, + -14.977778291346095 + ], + "timestamp": 1.206044560442068 + }, + { + "x": 3.2002272413081156, + "y": 7.033942900091201, + "heading": 0.19568354071036723, + "angularVelocity": 0.8100244602136751, + "velocityX": 2.0211244557781205, + "velocityY": -0.12436652451445952, + "moduleForcesX": [ + -69.77434380275785, + -69.78583366938213, + -69.6376533540184, + -69.65216445919802 + ], + "moduleForcesY": [ + -4.025507414245834, + -3.7596029666501343, + -5.933180956814421, + -5.719254965505536 + ], + "timestamp": 1.2661124873129024 + }, + { + "x": 3.3080238664731816, + "y": 7.0261472273408945, + "heading": 0.24287978929626794, + "angularVelocity": 0.7857146241685362, + "velocityX": 1.7945787507678763, + "velocityY": -0.12978095227254638, + "moduleForcesX": [ + -69.8239122086594, + -69.7886520228163, + -69.89916016537913, + -69.91048737749132 + ], + "moduleForcesY": [ + -3.3282449419012328, + -4.106012047192674, + 0.878821020380172, + -0.12273689529457388 + ], + "timestamp": 1.3261804141837368 + }, + { + "x": 3.4022269153277565, + "y": 7.018484956229672, + "heading": 0.28703597691860205, + "angularVelocity": 0.7351042381949414, + "velocityX": 1.5682753469608157, + "velocityY": -0.1275601058728031, + "moduleForcesX": [ + -69.86945425825346, + -69.77873168375358, + -69.63079148515935, + -69.84437925254852 + ], + "moduleForcesY": [ + -2.476081074443016, + -4.5139716223726305, + 6.323043583788949, + 3.4062083090534006 + ], + "timestamp": 1.3862483410545712 + }, + { + "x": 3.4828675798920314, + "y": 7.011305779541126, + "heading": 0.3269486683719763, + "angularVelocity": 0.6644592802278575, + "velocityX": 1.3424912222735663, + "velocityY": -0.11951763715744827, + "moduleForcesX": [ + -69.90481971910265, + -69.76168758297744, + -69.11151930555599, + -69.70484951130506 + ], + "moduleForcesY": [ + -1.530159222254555, + -4.93017836808145, + 10.654158846675301, + 5.725785899615416 + ], + "timestamp": 1.4463162679254056 + }, + { + "x": 3.5499824318742017, + "y": 7.004883816268423, + "heading": 0.3616813159505086, + "angularVelocity": 0.5782228451669209, + "velocityX": 1.1173159367806609, + "velocityY": -0.10691168494151992, + "moduleForcesX": [ + -69.92630545679408, + -69.74116847936006, + -68.49902504941353, + -69.56543288443771 + ], + "moduleForcesY": [ + -0.5490408840169897, + -5.324820377603457, + 14.108140021647282, + 7.3139438361029105 + ], + "timestamp": 1.50638419479624 + }, + { + "x": 3.603608456549921, + "y": 6.999439143018714, + "heading": 0.39049082373098204, + "angularVelocity": 0.479615483358086, + "velocityX": 0.8927563754785365, + "velocityY": -0.09064193710928861, + "moduleForcesX": [ + -69.93313236611834, + -69.71979888800568, + -67.87606438356872, + -69.44350000630614 + ], + "moduleForcesY": [ + 0.41222223331554775, + -5.68083514756751, + 16.88297042084433, + 8.452802557587079 + ], + "timestamp": 1.5664521216670744 + }, + { + "x": 3.6437809828914665, + "y": 6.9951521091089965, + "heading": 0.41277534215156864, + "angularVelocity": 0.370988638720721, + "velocityX": 0.6687849645276798, + "velocityY": -0.07136976641343479, + "moduleForcesX": [ + -69.92731442009801, + -69.69954529689043, + -67.28177950622583, + -69.33842985840653 + ], + "moduleForcesY": [ + 1.3031874978566107, + -5.988417121750673, + 19.137047887565245, + 9.318539957354051 + ], + "timestamp": 1.6265200485379088 + }, + { + "x": 3.6705329637424313, + "y": 6.992173078054131, + "heading": 0.4280363632647725, + "angularVelocity": 0.2540627237896862, + "velocityX": 0.44536214656613415, + "velocityY": -0.04959437107378946, + "moduleForcesX": [ + -69.9130518494196, + -69.68191935114989, + -66.73116533462952, + -69.24429616335611 + ], + "moduleForcesY": [ + 2.078832643850339, + -6.241695964940187, + 20.993959211074248, + 10.026747774671946 + ], + "timestamp": 1.6865879754087432 + }, + { + "x": 3.683894872665399, + "y": 6.990629196166991, + "heading": 0.4358509294181536, + "angularVelocity": 0.1300954862348575, + "velocityX": 0.22244664697179467, + "velocityY": -0.025702266876332338, + "moduleForcesX": [ + -69.89582398543321, + -69.66813097066651, + -66.22664834740131, + -69.15410126557099 + ], + "moduleForcesY": [ + 2.6999001640317095, + -6.436502596457702, + 22.548639741530515, + 10.656561967561206 + ], + "timestamp": 1.7466559022795776 + }, + { + "x": 3.6838948726654057, + "y": 6.990629196166992, + "heading": 0.4358509294181536, + "angularVelocity": -1.2333730839117325e-17, + "velocityX": -6.570442047017082e-17, + "velocityY": -1.2245938174983995e-17, + "moduleForcesX": [ + -69.88135144913926, + -69.65921540442886, + -65.76480592283446, + -69.06104743816472 + ], + "moduleForcesY": [ + 3.132841893627689, + -6.568777063483323, + 23.87300716655661, + 11.2641878346189 + ], + "timestamp": 1.806723829150412 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/amp 5.2.traj b/src/main/deploy/choreo/amp 5.2.traj index 985aa0fc..13c9eb23 100644 --- a/src/main/deploy/choreo/amp 5.2.traj +++ b/src/main/deploy/choreo/amp 5.2.traj @@ -1,418 +1,1076 @@ { - "samples": [ - { - "x": 3.6838948726654057, - "y": 6.990629196166992, - "heading": 0.4358509294181536, - "angularVelocity": 1.0435886153944948e-33, - "velocityX": -4.398813100266421e-36, - "velocityY": 6.126892567484817e-35, - "timestamp": 0 - }, - { - "x": 3.7215570287352393, - "y": 6.994729136514659, - "heading": 0.43005668474904696, - "angularVelocity": -0.06680027997690283, - "velocityX": 0.43419681316055564, - "velocityY": 0.04726710360937999, - "timestamp": 0.08673982610716813 - }, - { - "x": 3.796881346879351, - "y": 7.002928986849061, - "heading": 0.41846747092712844, - "angularVelocity": -0.13360891233053568, - "velocityX": 0.8683936955447386, - "velocityY": 0.09453385719578568, - "timestamp": 0.17347965221433626 - }, - { - "x": 3.9098678253881354, - "y": 7.015228699436052, - "heading": 0.4010813400311802, - "angularVelocity": -0.20044000174115487, - "velocityX": 1.3025905582193407, - "velocityY": 0.14180006046811755, - "timestamp": 0.2602194783215044 - }, - { - "x": 4.060516455934136, - "y": 7.031628207648926, - "heading": 0.3778952747869828, - "angularVelocity": -0.26730587649035237, - "velocityX": 1.7367873248889414, - "velocityY": 0.18906549561918942, - "timestamp": 0.3469593044286725 - }, - { - "x": 4.2488272251585775, - "y": 7.052127424146422, - "heading": 0.3489054155525363, - "angularVelocity": -0.3342162480084887, - "velocityX": 2.170983937548847, - "velocityY": 0.23632992383646947, - "timestamp": 0.43369913053584064 - }, - { - "x": 4.474800116757303, - "y": 7.076726238955359, - "heading": 0.31410737398629535, - "angularVelocity": -0.40117721152965535, - "velocityX": 2.605180362242515, - "velocityY": 0.28359308420269713, - "timestamp": 0.5204389566430088 - }, - { - "x": 4.738435113924007, - "y": 7.105424517737501, - "heading": 0.27349664873677293, - "angularVelocity": -0.46819006991491213, - "velocityX": 3.0393765931808527, - "velocityY": 0.3308546958197185, - "timestamp": 0.6071787827501769 - }, - { - "x": 5.0397322013332415, - "y": 7.138222100552868, - "heading": 0.22706916292795404, - "angularVelocity": -0.535249929501324, - "velocityX": 3.4735726474362245, - "velocityY": 0.378114463531955, - "timestamp": 0.693918608857345 - }, - { - "x": 5.378691360605004, - "y": 7.175118800998282, - "heading": 0.17482199373260704, - "angularVelocity": -0.6023434855725319, - "velocityX": 3.907768489793545, - "velocityY": 0.42537208225236767, - "timestamp": 0.7806584349645131 - }, - { - "x": 5.738476726652386, - "y": 7.214275337174484, - "heading": 0.17482198692716483, - "angularVelocity": -7.845810273487402e-8, - "velocityX": 4.147868196125519, - "velocityY": 0.45142511731373064, - "timestamp": 0.8673982610716813 - }, - { - "x": 6.098262092919216, - "y": 7.253431871335105, - "heading": 0.17482198012188968, - "angularVelocity": -7.8456177092114e-8, - "velocityX": 4.147868198655502, - "velocityY": 0.4514250940766559, - "timestamp": 0.9541380871788494 - }, - { - "x": 6.458047460170514, - "y": 7.292588396450069, - "heading": 0.17482197331661464, - "angularVelocity": -7.8456175819358e-8, - "velocityX": 4.147868210005147, - "velocityY": 0.4514249897917174, - "timestamp": 1.0408779132860175 - }, - { - "x": 6.817884399372358, - "y": 7.33126802432734, - "heading": 0.17482195239203113, - "angularVelocity": -2.412338650069692e-7, - "velocityX": 4.148462769077504, - "velocityY": 0.44592697049544683, - "timestamp": 1.1276177393931857 - }, - { - "x": 7.141038473864095, - "y": 7.365735292740818, - "heading": 0.1432676116694533, - "angularVelocity": -0.3637814616274655, - "velocityX": 3.7255559411944876, - "velocityY": 0.397363817295337, - "timestamp": 1.2143575655003538 - }, - { - "x": 7.426499394591649, - "y": 7.396066082547886, - "heading": 0.11179036170015318, - "angularVelocity": -0.36289270317892447, - "velocityX": 3.2910017639978224, - "velocityY": 0.3496754739811683, - "timestamp": 1.301097391607522 - }, - { - "x": 7.674272883646842, - "y": 7.422276642837268, - "heading": 0.08300393967254027, - "angularVelocity": -0.3318708754620616, - "velocityX": 2.8565135552504515, - "velocityY": 0.30217446201699477, - "timestamp": 1.38783721771469 - }, - { - "x": 7.884364684018778, - "y": 7.444373477851927, - "heading": 0.05788615954608971, - "angularVelocity": -0.28957609501565307, - "velocityX": 2.4220915558715177, - "velocityY": 0.2547484357111628, - "timestamp": 1.4745770438218582 - }, - { - "x": 8.056778579699072, - "y": 7.4623601053531186, - "heading": 0.03694858398895131, - "angularVelocity": -0.24138364689905817, - "velocityX": 1.9877131811086814, - "velocityY": 0.20736296472359136, - "timestamp": 1.5613168699290263 - }, - { - "x": 8.19151716219001, - "y": 7.476238735509121, - "heading": 0.02050566439748422, - "angularVelocity": -0.1895659736641811, - "velocityX": 1.5533646830749575, - "velocityY": 0.16000297416847314, - "timestamp": 1.6480566960361944 - }, - { - "x": 8.288582300746091, - "y": 7.486010885320927, - "heading": 0.008770271725739378, - "angularVelocity": -0.13529416876217398, - "velocityX": 1.1190377351708798, - "velocityY": 0.11266047270756889, - "timestamp": 1.7347965221433626 - }, - { - "x": 8.347975403784513, - "y": 7.491677656538196, - "heading": 0.001896207350734873, - "angularVelocity": -0.07924922937373091, - "velocityX": 0.6847270245278102, - "velocityY": 0.06533067302058666, - "timestamp": 1.8215363482505307 - }, - { - "x": 8.369697570800781, - "y": 7.493239879608154, - "heading": 0, - "angularVelocity": -0.021860861795965372, - "velocityX": 0.25042898967114685, - "velocityY": 0.018010447335086683, - "timestamp": 1.9082761743576988 - }, - { - "x": 8.352323867081695, - "y": 7.490521859474649, - "heading": 0.003391928947815461, - "angularVelocity": 0.038109474516673104, - "velocityX": -0.19519946594669754, - "velocityY": -0.0305378799518526, - "timestamp": 1.9972810475771254 - }, - { - "x": 8.29528706136667, - "y": 7.483482778386333, - "heading": 0.012121653995426456, - "angularVelocity": 0.09808142781226502, - "velocityX": -0.6408278968547001, - "velocityY": -0.07908646834385069, - "timestamp": 2.086285920796552 - }, - { - "x": 8.19858715975201, - "y": 7.472122598921367, - "heading": 0.026189626436909315, - "angularVelocity": 0.15805845155018225, - "velocityX": -1.0864562592686573, - "velocityY": -0.12763547718290608, - "timestamp": 2.1752907940159787 - }, - { - "x": 8.062224171571483, - "y": 7.456441269170657, - "heading": 0.045596472555156704, - "angularVelocity": 0.21804251178924827, - "velocityX": -1.5320845168145878, - "velocityY": -0.17618506923829327, - "timestamp": 2.2642956672354053 - }, - { - "x": 7.886198108433151, - "y": 7.436438722452111, - "heading": 0.07034280314534609, - "angularVelocity": 0.2780334345197194, - "velocityX": -1.977712643939939, - "velocityY": -0.2247354104896387, - "timestamp": 2.353300540454832 - }, - { - "x": 7.67050898299837, - "y": 7.412114877207367, - "heading": 0.10042896288120143, - "angularVelocity": 0.33802822977662045, - "velocityX": -2.4233406288106867, - "velocityY": -0.2732866680768997, - "timestamp": 2.4423054136742586 - }, - { - "x": 7.415156807690052, - "y": 7.383469637350721, - "heading": 0.13585471703065086, - "angularVelocity": 0.3980203877389177, - "velocityX": -2.868968474105785, - "velocityY": -0.32183900521969433, - "timestamp": 2.531310286893685 - }, - { - "x": 7.120141594133794, - "y": 7.3505028936813765, - "heading": 0.17661886572392485, - "angularVelocity": 0.4579990647565643, - "velocityX": -3.3145961887833577, - "velocityY": -0.3703925692705661, - "timestamp": 2.620315160113112 - }, - { - "x": 6.785463358951232, - "y": 7.313214529440678, - "heading": 0.22271869503122552, - "angularVelocity": 0.5179472498505698, - "velocityX": -3.760223716711196, - "velocityY": -0.41894744514460663, - "timestamp": 2.7093200333325385 - }, - { - "x": 6.416287568987691, - "y": 7.272992388341639, - "heading": 0.22271870098656174, - "angularVelocity": 6.691022668474205e-8, - "velocityX": -4.147815469085613, - "velocityY": -0.4519094252275243, - "timestamp": 2.798324906551965 - }, - { - "x": 6.047111765662118, - "y": 7.23277036988053, - "heading": 0.22271870694119197, - "angularVelocity": 6.690229418173721e-8, - "velocityX": -4.147815619212581, - "velocityY": -0.45190804734868706, - "timestamp": 2.8873297797713917 - }, - { - "x": 5.677935962336312, - "y": 7.192548351421557, - "heading": 0.2227187128958224, - "angularVelocity": 6.690229646932938e-8, - "velocityX": -4.147815619215196, - "velocityY": -0.4519080473246947, - "timestamp": 2.9763346529908183 - }, - { - "x": 5.308760159179192, - "y": 7.1523263314145815, - "heading": 0.22271871885051556, - "angularVelocity": 6.690300149677752e-8, - "velocityX": -4.14781561731994, - "velocityY": -0.45190806471704004, - "timestamp": 3.065339526210245 - }, - { - "x": 4.95172334462196, - "y": 7.113363837104222, - "heading": 0.26186098038710365, - "angularVelocity": 0.43977661133328494, - "velocityX": -4.011429954818511, - "velocityY": -0.4377568654505472, - "timestamp": 3.1543443994296716 - }, - { - "x": 4.634371149324796, - "y": 7.078745922791863, - "heading": 0.298994825826337, - "angularVelocity": 0.41721137389506785, - "velocityX": -3.5655597701351214, - "velocityY": -0.38894403261509003, - "timestamp": 3.2433492726490982 - }, - { - "x": 4.356695054740775, - "y": 7.04846133521227, - "heading": 0.33239873644737333, - "angularVelocity": 0.37530428854928616, - "velocityX": -3.1197852942215483, - "velocityY": -0.3402576340391089, - "timestamp": 3.332354145868525 - }, - { - "x": 4.118690995174019, - "y": 7.022506310788581, - "heading": 0.36150883332597666, - "angularVelocity": 0.3270618318486594, - "velocityX": -2.6740564977829604, - "velocityY": -0.2916135205282652, - "timestamp": 3.4213590190879515 - }, - { - "x": 3.920356719586493, - "y": 7.000878984613713, - "heading": 0.3860461850811985, - "angularVelocity": 0.2756854862848816, - "velocityX": -2.228352992521715, - "velocityY": -0.2429903598823012, - "timestamp": 3.510363892307378 - }, - { - "x": 3.761690809946037, - "y": 6.983578248672895, - "heading": 0.4058447798824323, - "angularVelocity": 0.22244394138311574, - "velocityX": -1.782665419333746, - "velocityY": -0.19437964815888437, - "timestamp": 3.5993687655268047 - }, - { - "x": 3.6426922923609206, - "y": 6.970603368729404, - "heading": 0.4207944348114755, - "angularVelocity": 0.16796445394835097, - "velocityX": -1.3369887881503466, - "velocityY": -0.14577718583457613, - "timestamp": 3.6883736387462314 - }, - { - "x": 3.5633604552871434, - "y": 6.96195381979076, - "heading": 0.4308163573718641, - "angularVelocity": 0.11259970603723311, - "velocityX": -0.8913201514056183, - "velocityY": -0.09718062197920681, - "timestamp": 3.777378511965658 - }, - { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 0.05656512800009954, - "velocityX": -0.44565763879583925, - "velocityY": -0.04858853046969259, - "timestamp": 3.8663833851850846 - }, - { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 2.3187600409607448e-34, - "velocityX": 8.587821702972382e-38, - "velocityY": -6.37949321426987e-35, - "timestamp": 3.9553882584045112 - } - ] + "samples": [ + { + "x": 3.6838948726654057, + "y": 6.990629196166992, + "heading": 0.4358509294181536, + "angularVelocity": -1.2333730839117325e-17, + "velocityX": -6.570442047017082e-17, + "velocityY": -1.2245938174983995e-17, + "moduleForcesX": [ + -69.88135144913926, + -69.65921540442886, + -65.76480592283446, + -69.06104743816472 + ], + "moduleForcesY": [ + 3.132841893627689, + -6.568777063483323, + 23.87300716655661, + 11.2641878346189 + ], + "timestamp": 0 + }, + { + "x": 3.71273337002331, + "y": 6.993769042202617, + "heading": 0.4322417831610391, + "angularVelocity": -0.04117610957236326, + "velocityX": 0.32901330189513284, + "velocityY": 0.03582194658026348, + "moduleForcesX": [ + 69.71453698773938, + 69.83668466139216, + 69.1781482564392, + 69.37129180692132 + ], + "moduleForcesY": [ + 6.089460309970175, + 4.442994489214546, + 10.558732888487562, + 9.187548735499222 + ], + "timestamp": 0.08765146330258866 + }, + { + "x": 3.770409215130021, + "y": 7.0000485322545165, + "heading": 0.4250342548927282, + "angularVelocity": -0.082229411772068, + "velocityX": 0.6580134881043975, + "velocityY": 0.07164158833924725, + "moduleForcesX": [ + 69.71304944827605, + 69.83226933522268, + 69.17835779110943, + 69.36589901796629 + ], + "moduleForcesY": [ + 6.0725506387521495, + 4.462841126281095, + 10.537489447174165, + 9.203907045587357 + ], + "timestamp": 0.17530292660517732 + }, + { + "x": 3.8569210246227765, + "y": 7.009467420765238, + "heading": 0.4142408084540222, + "angularVelocity": -0.12314051622250871, + "velocityX": 0.9869978918480096, + "velocityY": 0.10745842860789051, + "moduleForcesX": [ + 69.71177894382569, + 69.82676570837756, + 69.17911035040915, + 69.35858035685686 + ], + "moduleForcesY": [ + 6.046217868182784, + 4.489628757385104, + 10.50867498275736, + 9.229898671296848 + ], + "timestamp": 0.262954389907766 + }, + { + "x": 3.9722671042293993, + "y": 7.022025405686271, + "heading": 0.3998763606111116, + "angularVelocity": -0.16388143793294585, + "velocityX": 1.3159629657890046, + "velocityY": 0.14327182281074755, + "moduleForcesX": [ + 69.71046021314075, + 69.8198974741911, + 69.18031501059886, + 69.34922401848952 + ], + "moduleForcesY": [ + 6.011100927364985, + 4.524225520867054, + 10.471500531532943, + 9.264680490040897 + ], + "timestamp": 0.3506058532103544 + }, + { + "x": 4.116445332756477, + "y": 7.037722109071731, + "heading": 0.3819594007871098, + "angularVelocity": -0.20441141709414523, + "velocityX": 1.6449038395231168, + "velocityY": 0.17908090515840447, + "moduleForcesX": [ + 69.70870186807899, + 69.81125494245507, + 69.18182561862704, + 69.33765890291046 + ], + "moduleForcesY": [ + 5.968117835101205, + 4.56785613497144, + 10.424845294908108, + 9.307043580800269 + ], + "timestamp": 0.43825731651294286 + }, + { + "x": 4.289452979479908, + "y": 7.056557046748935, + "heading": 0.3605137253969059, + "angularVelocity": -0.244669907178129, + "velocityX": 1.9738135589053831, + "velocityY": 0.2148844636088314, + "moduleForcesX": [ + 69.70590325334047, + 69.80020676267723, + 69.1833898066419, + 69.32360808819374 + ], + "moduleForcesY": [ + 5.918622597660823, + 4.6222581528834485, + 10.36710030631063, + 9.355212678388979 + ], + "timestamp": 0.5259087798155313 + }, + { + "x": 4.491286398898758, + "y": 7.078529577887164, + "heading": 0.3355712760338317, + "angularVelocity": -0.284563981288573, + "velocityX": 2.3026816873889038, + "velocityY": 0.25068071097614525, + "moduleForcesX": [ + 69.7010882476608, + 69.78572381037138, + 69.18454768855949, + 69.30659318300002 + ], + "moduleForcesY": [ + 5.864708408463554, + 4.689995025084493, + 10.295852357677372, + 9.406458202834528 + ], + "timestamp": 0.6135602431181197 + }, + { + "x": 4.72194047948587, + "y": 7.103638814434407, + "heading": 0.30717713963622795, + "angularVelocity": -0.3239436665155743, + "velocityX": 2.6314914993572556, + "velocityY": 0.28646682669538603, + "moduleForcesX": [ + 69.6925396842738, + 69.76599278747592, + 69.1844092905459, + 69.28571874852986 + ], + "moduleForcesY": [ + 5.809852834739107, + 4.775141601596265, + 10.207186094205664, + 9.45626962121508 + ], + "timestamp": 0.7012117064207082 + }, + { + "x": 4.981407536663346, + "y": 7.131883439918011, + "heading": 0.27539929869654756, + "angularVelocity": -0.36254775154275365, + "velocityX": 2.960213639374207, + "velocityY": 0.322237922998781, + "moduleForcesX": [ + 69.67688532859252, + 69.73745332066291, + 69.18109511388192, + 69.25912145298439 + ], + "moduleForcesY": [ + 5.7604772736185055, + 4.884973622706237, + 10.093948961885644, + 9.496355033319919 + ], + "timestamp": 0.7888631697232966 + }, + { + "x": 5.2696747157392645, + "y": 7.16326128562478, + "heading": 0.24035065522211263, + "angularVelocity": -0.3998637575913615, + "velocityX": 3.2887891224683043, + "velocityY": 0.35798427688638956, + "moduleForcesX": [ + 69.64635558661865, + 69.69192233776894, + 69.17003460606135, + 69.22227995512395 + ], + "moduleForcesY": [ + 5.730443281301375, + 5.034890855188263, + 9.940638314864696, + 9.508868750173416 + ], + "timestamp": 0.8765146330258851 + }, + { + "x": 5.586716138880711, + "y": 7.197768052856348, + "heading": 0.20225188541422048, + "angularVelocity": -0.43466210799589455, + "velocityX": 3.6170693698905665, + "velocityY": 0.3936815876171607, + "moduleForcesX": [ + 69.57781874992129, + 69.605182715032, + 69.13698178086617, + 69.16105934245041 + ], + "moduleForcesY": [ + 5.758012435342232, + 5.267022460386698, + 9.703722345613507, + 9.444629908661236 + ], + "timestamp": 0.9641660963284735 + }, + { + "x": 5.9324531112108065, + "y": 7.235390868816565, + "heading": 0.16171327180801012, + "angularVelocity": -0.4624978531895408, + "velocityX": 3.9444518014951417, + "velocityY": 0.42923203496321854, + "moduleForcesX": [ + 69.35626504333894, + 69.3586338077277, + 69.00654865041916, + 69.00071035003579 + ], + "moduleForcesY": [ + 6.010802975722171, + 5.764112803627707, + 9.186140262800697, + 9.088193864055215 + ], + "timestamp": 1.051817559631062 + }, + { + "x": 6.2926420964452054, + "y": 7.274075652929757, + "heading": 0.15157699660263166, + "angularVelocity": -0.11564296616882144, + "velocityX": 4.109332253703932, + "velocityY": 0.4413478412785149, + "moduleForcesX": [ + 25.537064957076705, + 41.00537243316871, + 29.11935463558539, + 43.70449680930129 + ], + "moduleForcesY": [ + 15.828177890064387, + 15.180857782711717, + -13.666358408251787, + -7.101712130054797 + ], + "timestamp": 1.1394690229336504 + }, + { + "x": 6.624248322845389, + "y": 7.309626417621327, + "heading": 0.13319905519758488, + "angularVelocity": -0.2096706741961522, + "velocityX": 3.783236627369623, + "velocityY": 0.40559236950706384, + "moduleForcesX": [ + -68.21902670144136, + -68.40055716844928, + -69.48817624197339, + -69.52671710457663 + ], + "moduleForcesY": [ + -13.298529207278651, + -12.732972381357325, + -1.5459528553622264, + -2.645093708981668 + ], + "timestamp": 1.2271204862362388 + }, + { + "x": 6.927080093084878, + "y": 7.342033964811542, + "heading": 0.1130003467841554, + "angularVelocity": -0.23044348208515422, + "velocityX": 3.4549539599975154, + "velocityY": 0.36973195847855655, + "moduleForcesX": [ + -69.23203983580204, + -69.24348674640966, + -69.50243337404267, + -69.50512811055788 + ], + "moduleForcesY": [ + -8.810697601535882, + -8.779904880684507, + -6.3340506588483585, + -6.386595610487957 + ], + "timestamp": 1.3147719495388273 + }, + { + "x": 7.2011011395793485, + "y": 7.371297846140624, + "heading": 0.09291393068206928, + "angularVelocity": -0.22916235901991489, + "velocityX": 3.1262575222811884, + "velocityY": 0.33386643218757106, + "moduleForcesX": [ + -69.46667416771255, + -69.46614249449486, + -69.45029242198363, + -69.44972109291177 + ], + "moduleForcesY": [ + -7.502648786689982, + -7.504777541699824, + -7.652850116721613, + -7.655296015765889 + ], + "timestamp": 1.4024234128414157 + }, + { + "x": 7.446297565391449, + "y": 7.397418251797731, + "heading": 0.07387351298521018, + "angularVelocity": -0.21722874872059053, + "velocityX": 2.7974025370454743, + "velocityY": 0.29800307574099766, + "moduleForcesX": [ + -69.57075046529391, + -69.56534099979022, + -69.42005979690991, + -69.410692250771 + ], + "moduleForcesY": [ + -6.861319369881006, + -6.894984974339123, + -8.248169615507683, + -8.309264425853886 + ], + "timestamp": 1.4900748761440041 + }, + { + "x": 7.6626622891867795, + "y": 7.420395426184484, + "heading": 0.05642928300350079, + "angularVelocity": -0.1990181261593979, + "velocityX": 2.4684667618915634, + "velocityY": 0.2621425076174404, + "moduleForcesX": [ + -69.63002597610446, + -69.62031340853349, + -69.40240709274255, + -69.38238524619528 + ], + "moduleForcesY": [ + -6.471315208043858, + -6.548228040704689, + -8.575674900339447, + -8.716163388086882 + ], + "timestamp": 1.5777263394465926 + }, + { + "x": 7.85019109185393, + "y": 7.440229588696638, + "heading": 0.040943874136283614, + "angularVelocity": -0.1766702834574549, + "velocityX": 2.139482851707337, + "velocityY": 0.22628444254436803, + "moduleForcesX": [ + -69.66857517919223, + -69.65472901831329, + -69.39166578908956, + -69.36084818857024 + ], + "moduleForcesY": [ + -6.204896728591403, + -6.33027260691344, + -8.776739977248619, + -8.997356504502584 + ], + "timestamp": 1.665377802749181 + }, + { + "x": 8.008881198620822, + "y": 7.456920925222343, + "heading": 0.027674247615156862, + "angularVelocity": -0.15139081563579526, + "velocityX": 1.8104672847659318, + "velocityY": 0.1904284982485763, + "moduleForcesX": [ + -69.69573981019354, + -69.67808923245292, + -69.38484210842434, + -69.34390510673202 + ], + "moduleForcesY": [ + -6.009873066579622, + -6.183290333248185, + -8.909835655533838, + -9.20447416091814 + ], + "timestamp": 1.7530292660517695 + }, + { + "x": 8.138730656467962, + "y": 7.47046959168678, + "heading": 0.016811986078443926, + "angularVelocity": -0.12392561547032095, + "velocityX": 1.4814294359829043, + "velocityY": 0.1545743328562974, + "moduleForcesX": [ + -69.71589432518516, + -69.69494957561433, + -69.38025120423755, + -69.33031502620337 + ], + "moduleForcesY": [ + -5.860980697776712, + -6.078102085587032, + -9.003686956057797, + -9.363199846938034 + ], + "timestamp": 1.840680729354358 + }, + { + "x": 8.239738021219495, + "y": 7.480875718937656, + "heading": 0.008505437312675418, + "angularVelocity": -0.09476794171751635, + "velocityX": 1.1523751110398692, + "velocityY": 0.11872166031172489, + "moduleForcesX": [ + -69.73135827520098, + -69.70777259127858, + -69.37687634602958, + -69.31932950157875 + ], + "moduleForcesY": [ + -5.744515132725714, + -5.998296381678699, + -9.074143024286755, + -9.487753208307007 + ], + "timestamp": 1.9283321926569463 + }, + { + "x": 8.311902184453807, + "y": 7.488139416952656, + "heading": 0.002872897499114873, + "angularVelocity": -0.06426064781227825, + "velocityX": 0.8233081401421045, + "velocityY": 0.08287024244503012, + "moduleForcesX": [ + -69.74347498658074, + -69.71800950414341, + -69.37406685483414, + -69.31047444510509 + ], + "moduleForcesY": [ + -5.652412851856778, + -5.933885535828861, + -9.130710729391835, + -9.58663810517636 + ], + "timestamp": 2.015983655959535 + }, + { + "x": 8.355222270363383, + "y": 7.492260778096745, + "heading": 0.000010950669769954884, + "angularVelocity": -0.032651443814858405, + "velocityX": 0.49423117739604394, + "velocityY": 0.047019878379535446, + "moduleForcesX": [ + -69.75307447116944, + -69.72657218899666, + -69.37138630208933, + -69.30343850401141 + ], + "moduleForcesY": [ + -5.57964088235884, + -5.878423935764105, + -9.179457981409767, + -9.665233690312343 + ], + "timestamp": 2.1036351192621234 + }, + { + "x": 8.369697570800781, + "y": 7.493239879608154, + "heading": -7.881566464442485e-17, + "angularVelocity": -0.00012493424911430998, + "velocityX": 0.1651461355340438, + "velocityY": 0.011170395499135654, + "moduleForcesX": [ + -69.76069461760781, + -69.73406157099639, + -69.36853113928332, + -69.29801306438992 + ], + "moduleForcesY": [ + -5.522924451656715, + -5.827567505462022, + -9.224441463987754, + -9.727078241229938 + ], + "timestamp": 2.191286582564712 + }, + { + "x": 8.352737612293208, + "y": 7.490760179168994, + "heading": 0.0032539733490376203, + "angularVelocity": 0.03509913671143355, + "velocityX": -0.18293939084003222, + "velocityY": -0.0267474055210394, + "moduleForcesX": [ + -69.76831890123296, + -69.74271198362243, + -69.36683877294385, + -69.29588021869304 + ], + "moduleForcesY": [ + -5.480804503119292, + -5.777706832814998, + -9.269405867329548, + -9.774224361555754 + ], + "timestamp": 2.2839946561502398 + }, + { + "x": 8.303508401476916, + "y": 7.4847653412385196, + "heading": 0.009752884539327149, + "angularVelocity": 0.07010081149293783, + "velocityX": -0.5310131999498825, + "velocityY": -0.06466360154385425, + "moduleForcesX": [ + -69.76378141141987, + -69.74010218368568, + -69.36383220105702, + -69.29667018816859 + ], + "moduleForcesY": [ + -5.504731849742543, + -5.775491056855282, + -9.271953606494217, + -9.74868241254796 + ], + "timestamp": 2.3767027297357686 + }, + { + "x": 8.222011244776846, + "y": 7.475255542704079, + "heading": 0.0194720993735911, + "angularVelocity": 0.10483676834579356, + "velocityX": -0.8790729172591132, + "velocityY": -0.10257788957049574, + "moduleForcesX": [ + -69.75807275571462, + -69.73727839814946, + -69.35973518217662, + -69.29803813719629 + ], + "moduleForcesY": [ + -5.536636985453941, + -5.769147993023383, + -9.278627503541149, + -9.714921661894554 + ], + "timestamp": 2.4694108033212974 + }, + { + "x": 8.108247742368361, + "y": 7.462230999314842, + "heading": 0.032381560232856814, + "angularVelocity": 0.1392485072765639, + "velocityX": -1.2271153741866627, + "velocityY": -0.1404898504033454, + "moduleForcesX": [ + -69.75094421559831, + -69.73395048932412, + -69.35452327043679, + -69.29991280428946 + ], + "moduleForcesY": [ + -5.57726728703641, + -5.759935479776583, + -9.288253182801638, + -9.67201840934626 + ], + "timestamp": 2.562118876906826 + }, + { + "x": 7.962219899052561, + "y": 7.4456919818850205, + "heading": 0.04844368551809424, + "angularVelocity": 0.1732548705201495, + "velocityX": -1.5751362062430538, + "velocityY": -0.17839889008868087, + "moduleForcesX": [ + -69.74202488701923, + -69.72968924442755, + -69.34815365654948, + -69.30218140121082 + ], + "moduleForcesY": [ + -5.6277140530370815, + -5.749677246750622, + -9.299118047114092, + -9.618630566943962 + ], + "timestamp": 2.654826950492355 + }, + { + "x": 7.7839302993633055, + "y": 7.425638841830219, + "heading": 0.06761009166196225, + "angularVelocity": 0.20673934213683384, + "velocityX": -1.9231291601069993, + "velocityY": -0.21630413921029784, + "moduleForcesX": [ + -69.73073814110488, + -69.72383241493522, + -69.34054661418894, + -69.30465306525284 + ], + "moduleForcesY": [ + -5.689616338239206, + -5.741110029297365, + -9.308630843305963, + -9.552753460922114 + ], + "timestamp": 2.7475350240778837 + }, + { + "x": 7.57338240126491, + "y": 7.402072053868818, + "heading": 0.08981617319609705, + "angularVelocity": 0.23952694382755024, + "velocityX": -2.2710848144667333, + "velocityY": -0.25420426775947824, + "moduleForcesX": [ + -69.7161334514111, + -69.7152962109817, + -69.3315460856372, + -69.30698645989594 + ], + "moduleForcesY": [ + -5.765575561709489, + -5.738569359389348, + -9.312646952242726, + -9.471226675287129 + ], + "timestamp": 2.8402430976634125 + }, + { + "x": 7.3305810690877395, + "y": 7.374992293157573, + "heading": 0.11497142901750439, + "angularVelocity": 0.27133835111025567, + "velocityX": -2.618987999501906, + "velocityY": -0.2920971137042797, + "moduleForcesX": [ + -69.69651360763362, + -69.70215909981302, + -69.32082749834133, + -69.30853096031237 + ], + "moduleForcesY": [ + -5.8600791942289785, + -5.749479323650169, + -9.303996598740806, + -9.368643513584303 + ], + "timestamp": 2.9329511712489413 + }, + { + "x": 7.05553365094518, + "y": 7.344400590269381, + "heading": 0.14294029115207701, + "angularVelocity": 0.30168744805805586, + "velocityX": -2.9668119237537858, + "velocityY": -0.32997884331991917, + "moduleForcesX": [ + -69.66849412798004, + -69.68061678535894, + -69.30765134115775, + -69.3079273830713 + ], + "moduleForcesY": [ + -5.98182820698545, + -5.788023723316763, + -9.26883650136894, + -9.234626545714724 + ], + "timestamp": 3.02565924483447 + }, + { + "x": 6.7482525321206115, + "y": 7.3102986954013085, + "heading": 0.17349789390140605, + "angularVelocity": 0.3296110205638581, + "velocityX": -3.314502253586811, + "velocityY": -0.3678416943548862, + "moduleForcesX": [ + -69.62414712861997, + -69.64182964225391, + -69.29006030546606, + -69.30189012029254 + ], + "moduleForcesY": [ + -6.150737999465796, + -5.885949634313379, + -9.1758152948886, + -9.04572516581162 + ], + "timestamp": 3.118367318419999 + }, + { + "x": 6.408762991716715, + "y": 7.272690185494389, + "heading": 0.20619974425581294, + "angularVelocity": 0.3527400482951426, + "velocityX": -3.661919909170612, + "velocityY": -0.4056659625459786, + "moduleForcesX": [ + -69.53936907246666, + -69.55921436358686, + -69.26126663758615, + -69.28016855556831 + ], + "moduleForcesY": [ + -6.425805382237093, + -6.13443660499566, + -8.93341347136292, + -8.73373902302664 + ], + "timestamp": 3.2110753920055277 + }, + { + "x": 6.037144614251277, + "y": 7.231586177478529, + "heading": 0.23975823447290523, + "angularVelocity": 0.36198023449565475, + "velocityX": -4.008479122615366, + "velocityY": -0.44337031745083166, + "moduleForcesX": [ + -69.28957901537899, + -69.29845538274668, + -69.178367902233, + -69.18758933035315 + ], + "moduleForcesY": [ + -7.095234826490689, + -6.956362149501358, + -8.102215146218617, + -7.977753242825863 + ], + "timestamp": 3.3037834655910565 + }, + { + "x": 5.652801425047927, + "y": 7.1896270689501725, + "heading": 0.23980206516261332, + "angularVelocity": 0.000472781798136049, + "velocityX": -4.145735903449521, + "velocityY": -0.45259389938238875, + "moduleForcesX": [ + -16.571396748725768, + -33.65400086227037, + -21.82722022871811, + -37.63661232853404 + ], + "moduleForcesY": [ + -12.2103276149095, + -14.701826582253906, + 13.465889416453868, + 6.075207443387718 + ], + "timestamp": 3.3964915391765853 + }, + { + "x": 5.298111964845378, + "y": 7.150977964279005, + "heading": 0.26897173187598356, + "angularVelocity": 0.31463998317852343, + "velocityX": -3.825874559628447, + "velocityY": -0.41689038695793895, + "moduleForcesX": [ + 60.8204038627184, + 63.37106474962372, + 64.28853563219975, + 67.13829272395807 + ], + "moduleForcesY": [ + 23.859380514651757, + 21.97947279345271, + -14.189558816473651, + -3.1167093010455487 + ], + "timestamp": 3.489199612762114 + }, + { + "x": 4.9755685784673, + "y": 7.115832057465299, + "heading": 0.2975659540753646, + "angularVelocity": 0.3084329238406523, + "velocityX": -3.479129421019347, + "velocityY": -0.37910297835334106, + "moduleForcesX": [ + 69.30756460724842, + 69.31797890856141, + 69.23303694756935, + 69.2439939042012 + ], + "moduleForcesY": [ + 7.276561678193144, + 7.146587079200416, + 7.949222841045259, + 7.825566417400626 + ], + "timestamp": 3.581907686347643 + }, + { + "x": 4.685238750010305, + "y": 7.084196382565833, + "heading": 0.3242030496936877, + "angularVelocity": 0.28732228584195735, + "velocityX": -3.13165636205216, + "velocityY": -0.34123969656671055, + "moduleForcesX": [ + 69.52487310529399, + 69.56809611024163, + 69.26983747218283, + 69.32148774652345 + ], + "moduleForcesY": [ + 6.682555986999185, + 6.155137992655826, + 8.938146178952955, + 8.482732172540391 + ], + "timestamp": 3.6746157599331717 + }, + { + "x": 4.427145252121188, + "y": 7.0560733444849175, + "heading": 0.34838785850576026, + "angularVelocity": 0.26087057876398645, + "velocityX": -2.7839376648338057, + "velocityY": -0.30335047416252775, + "moduleForcesX": [ + 69.59603645663093, + 69.65664896463282, + 69.27554470013678, + 69.35236696908984 + ], + "moduleForcesY": [ + 6.510142506359774, + 5.770907357067241, + 9.313250899736028, + 8.685002102039867 + ], + "timestamp": 3.7673238335187005 + }, + { + "x": 4.201299500038494, + "y": 7.03146416428453, + "heading": 0.3698661359324378, + "angularVelocity": 0.23167645056422312, + "velocityX": -2.436095836616221, + "velocityY": -0.26544808071826126, + "moduleForcesX": [ + 69.62984255451502, + 69.7025044618602, + 69.27553392954373, + 69.37111670765537 + ], + "moduleForcesY": [ + 6.446020871882368, + 5.55867205969008, + 9.519921232853722, + 8.765214382925269 + ], + "timestamp": 3.8600319071042293 + }, + { + "x": 4.00770834868209, + "y": 7.010369584114943, + "heading": 0.38848341137492554, + "angularVelocity": 0.20081611797868393, + "velocityX": -2.088180067485029, + "velocityY": -0.2275376820356199, + "moduleForcesX": [ + 69.64886003965472, + 69.73074352071386, + 69.2739746368505, + 69.38450959267684 + ], + "moduleForcesY": [ + 6.4224408751172914, + 5.4211819338511305, + 9.654178883544468, + 8.798424268716403 + ], + "timestamp": 3.952739980689758 + }, + { + "x": 3.8463763695233144, + "y": 6.992790104001513, + "heading": 0.40413599413422824, + "angularVelocity": 0.16883732078707747, + "velocityX": -1.7402149879674755, + "velocityY": -0.18962188980299566, + "moduleForcesX": [ + 69.66075134621069, + 69.74992510794067, + 69.27208132097891, + 69.39473658018888 + ], + "moduleForcesY": [ + 6.415810123437662, + 5.3242042891371835, + 9.749253366722565, + 8.811268456013565 + ], + "timestamp": 4.045448054275287 + }, + { + "x": 3.7173068280878687, + "y": 6.978726083763452, + "heading": 0.41674945237537175, + "angularVelocity": 0.13605566110356315, + "velocityX": -1.3922146846949535, + "velocityY": -0.15170221636944542, + "moduleForcesX": [ + 69.66884824073247, + 69.76377491927055, + 69.27031544596593, + 69.40270493473685 + ], + "moduleForcesY": [ + 6.41565406484041, + 5.252481685984143, + 9.819790231198308, + 8.815711928411224 + ], + "timestamp": 4.138156127860816 + }, + { + "x": 3.6205021730072082, + "y": 6.968177794137939, + "heading": 0.4262676670426803, + "angularVelocity": 0.10266867058413436, + "velocityX": -1.0441879691424423, + "velocityY": -0.11377962260780805, + "moduleForcesX": [ + 69.6748392764092, + 69.7741790279807, + 69.26888115012761, + 69.40885155094644 + ], + "moduleForcesY": [ + 6.416562283191862, + 5.198128904882913, + 9.873294373330431, + 8.817986139295842 + ], + "timestamp": 4.2308642014463445 + }, + { + "x": 3.5559643077496252, + "y": 6.961145445264002, + "heading": 0.43264667313122535, + "angularVelocity": 0.06880744946934213, + "velocityX": -0.6961407217537647, + "velocityY": -0.07585476218206108, + "moduleForcesX": [ + 69.67967442597626, + 69.78219559937338, + 69.26787920284706, + 69.41340986496246 + ], + "moduleForcesY": [ + 6.415437367083261, + 5.156644658660003, + 9.914021033667535, + 8.821680053737321 + ], + "timestamp": 4.323572275031873 + }, + { + "x": 3.523694753646369, + "y": 6.957629203796369, + "heading": 0.4358509294181538, + "angularVelocity": 0.03456286128110513, + "velocityX": -0.3480770644262573, + "velocityY": -0.03792810411766521, + "moduleForcesX": [ + 69.68392939080098, + 69.78846317841513, + 69.26736573865308, + 69.41651484459959 + ], + "moduleForcesY": [ + 6.41037366914171, + 5.125284648993253, + 9.944551046532684, + 8.829010337612573 + ], + "timestamp": 4.416280348617402 + }, + { + "x": 3.5236947536468506, + "y": 6.957629203796387, + "heading": 0.4358509294181537, + "angularVelocity": -6.3652969228526e-17, + "velocityX": 2.5325975992130535e-16, + "velocityY": 2.4211587421225694e-17, + "moduleForcesX": [ + 69.6879720295878, + 69.79338739453065, + 69.26737815226697, + 69.41824990526848 + ], + "moduleForcesY": [ + 6.400139814039668, + 5.102312426020163, + 9.966512050352243, + 8.841411030331118 + ], + "timestamp": 4.508988422202931 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/amp 5.3.traj b/src/main/deploy/choreo/amp 5.3.traj index cec36559..a8f1fd06 100644 --- a/src/main/deploy/choreo/amp 5.3.traj +++ b/src/main/deploy/choreo/amp 5.3.traj @@ -1,229 +1,593 @@ { - "samples": [ - { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 2.3187600409607448e-34, - "velocityX": 8.587821702972382e-38, - "velocityY": -6.37949321426987e-35, - "timestamp": 0 - }, - { - "x": 3.4981907852535445, - "y": 6.959171009128305, - "heading": 0.43414511974191367, - "angularVelocity": -0.023955485407123896, - "velocityX": -0.3581641909877709, - "velocityY": 0.02165229547226729, - "timestamp": 0.07120747700368746 - }, - { - "x": 3.447163439841886, - "y": 6.9618763780967905, - "heading": 0.43061513435289134, - "angularVelocity": -0.04957324058595087, - "velocityX": -0.7166009464008484, - "velocityY": 0.03799276539941486, - "timestamp": 0.14241495400737492 - }, - { - "x": 3.3705950956832815, - "y": 6.965217875700377, - "heading": 0.4250963546953294, - "angularVelocity": -0.0775028113589279, - "velocityX": -1.075285172014165, - "velocityY": 0.046926218203375725, - "timestamp": 0.21362243101106237 - }, - { - "x": 3.268479850300144, - "y": 6.968410265853386, - "heading": 0.41734484505981134, - "angularVelocity": -0.10885808571923827, - "velocityX": -1.4340522888888443, - "velocityY": 0.04483223233487215, - "timestamp": 0.28482990801474983 - }, - { - "x": 3.1408606742750864, - "y": 6.970165746109482, - "heading": 0.4069638180486535, - "angularVelocity": -0.14578563162152638, - "velocityX": -1.7922159497161996, - "velocityY": 0.0246530326584347, - "timestamp": 0.3560373850184373 - }, - { - "x": 2.9880041325771574, - "y": 6.968017435452493, - "heading": 0.39320539938068505, - "angularVelocity": -0.1932159268507158, - "velocityX": -2.1466361136487726, - "velocityY": -0.030169734238404296, - "timestamp": 0.42724486202212475 - }, - { - "x": 2.8117081103383113, - "y": 6.955790976171788, - "heading": 0.3742865295560884, - "angularVelocity": -0.2656865629941792, - "velocityX": -2.475807733360894, - "velocityY": -0.17170190259756937, - "timestamp": 0.4984523390258122 - }, - { - "x": 2.6309720516129818, - "y": 6.918497841369321, - "heading": 0.3475031077815749, - "angularVelocity": -0.3761321549579212, - "velocityX": -2.5381612483752334, - "velocityY": -0.5237249846745118, - "timestamp": 0.5696598160294997 - }, - { - "x": 2.469422974905377, - "y": 6.864353486730698, - "heading": 0.31728480719726343, - "angularVelocity": -0.4243697692413224, - "velocityX": -2.2687094600927837, - "velocityY": -0.7603745690332492, - "timestamp": 0.6408672930331871 - }, - { - "x": 2.330788464314718, - "y": 6.798904008310198, - "heading": 0.28558203833077617, - "angularVelocity": -0.4452168536296505, - "velocityX": -1.9469094598518244, - "velocityY": -0.9191377250609546, - "timestamp": 0.7120747700368746 - }, - { - "x": 2.216081577717413, - "y": 6.724482923135783, - "heading": 0.253182249347822, - "angularVelocity": -0.4550054340680616, - "velocityX": -1.610882612669526, - "velocityY": -1.045130206910173, - "timestamp": 0.783282247040562 - }, - { - "x": 2.1257318640380363, - "y": 6.642329996697514, - "heading": 0.22049812899291346, - "angularVelocity": -0.4589984328923238, - "velocityX": -1.2688234084560823, - "velocityY": -1.1537120804605343, - "timestamp": 0.8544897240442495 - }, - { - "x": 2.0599685603073308, - "y": 6.553207990036717, - "heading": 0.18778194474716126, - "angularVelocity": -0.45944872115126584, - "velocityX": -0.923544921094458, - "velocityY": -1.2515821429283673, - "timestamp": 0.925697201047937 - }, - { - "x": 2.0189318656921387, - "y": 6.457632064819336, - "heading": 0.15520351501857022, - "angularVelocity": -0.45751416985191246, - "velocityX": -0.5762975510713191, - "velocityY": -1.3422175484806422, - "timestamp": 0.9969046780516244 - }, - { - "x": 2.0058509114162586, - "y": 6.33174303037426, - "heading": 0.11577738147774351, - "angularVelocity": -0.4530545711235095, - "velocityX": -0.15031618870787897, - "velocityY": -1.4466192189656613, - "timestamp": 1.083927602118047 - }, - { - "x": 2.030140622426681, - "y": 6.1980996029655575, - "heading": 0.07717591617756428, - "angularVelocity": -0.44357812282561004, - "velocityX": 0.27911853423682637, - "velocityY": -1.5357266931951787, - "timestamp": 1.1709505261844697 - }, - { - "x": 2.0922105845511805, - "y": 6.059051963304603, - "heading": 0.04016159510277028, - "angularVelocity": -0.42533989143529494, - "velocityX": 0.7132599000824538, - "velocityY": -1.5978277120959903, - "timestamp": 1.2579734502508924 - }, - { - "x": 2.192436442718846, - "y": 5.919742066192084, - "heading": 0.006361238112608133, - "angularVelocity": -0.3884075070192219, - "velocityX": 1.1517178863257393, - "velocityY": -1.6008413714780172, - "timestamp": 1.344996374317315 - }, - { - "x": 2.3271366168791916, - "y": 5.796658714059874, - "heading": -0.01950608067342607, - "angularVelocity": -0.29724718013715956, - "velocityX": 1.547870007878992, - "velocityY": -1.4143784922495064, - "timestamp": 1.4320192983837376 - }, - { - "x": 2.4520784823628263, - "y": 5.71035975208952, - "heading": -0.03518699005277558, - "angularVelocity": -0.18019285777366748, - "velocityX": 1.4357350873233088, - "velocityY": -0.9916807886676425, - "timestamp": 1.5190422224501603 - }, - { - "x": 2.5494726928325897, - "y": 5.650429640070164, - "heading": -0.045206108063395034, - "angularVelocity": -0.11513193929190572, - "velocityX": 1.1191787855281121, - "velocityY": -0.6886704010728555, - "timestamp": 1.606065146516583 - }, - { - "x": 2.6155934972996713, - "y": 5.612350184030726, - "heading": -0.05121840972856573, - "angularVelocity": -0.06908871116054036, - "velocityX": 0.7598090408524236, - "velocityY": -0.4375795969619799, - "timestamp": 1.6930880705830056 - }, - { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": -0.031986325807191796, - "velocityX": 0.38409726580396053, - "velocityY": -0.21154164293807923, - "timestamp": 1.7801109946494282 - }, - { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": 6.234499929812248e-37, - "velocityX": -5.954404820163517e-39, - "velocityY": 9.289786212484402e-40, - "timestamp": 1.8671339187158509 - } - ] + "samples": [ + { + "x": 3.5236947536468506, + "y": 6.957629203796387, + "heading": 0.4358509294181537, + "angularVelocity": -6.3652969228526e-17, + "velocityX": 2.5325975992130535e-16, + "velocityY": 2.4211587421225694e-17, + "moduleForcesX": [ + 69.6879720295878, + 69.79338739453065, + 69.26737815226697, + 69.41824990526848 + ], + "moduleForcesY": [ + 6.400139814039668, + 5.102312426020163, + 9.966512050352243, + 8.841411030331118 + ], + "timestamp": 0 + }, + { + "x": 3.504008680182134, + "y": 6.958828592220609, + "heading": 0.4345383963239423, + "angularVelocity": -0.01816376334151166, + "velocityX": -0.2724298389989007, + "velocityY": 0.016597987196062425, + "moduleForcesX": [ + -69.87228927066603, + -69.92664912892137, + -69.71028587731463, + -69.80817031057008 + ], + "moduleForcesY": [ + 3.696859879202063, + 2.5017951424939016, + 6.032231558328799, + 4.786729977826209 + ], + "timestamp": 0.07226107660253778 + }, + { + "x": 3.4646249566959115, + "y": 6.960977577869598, + "heading": 0.4318354969292099, + "angularVelocity": -0.037404637763692565, + "velocityX": -0.5450198825966469, + "velocityY": 0.02973918671056234, + "moduleForcesX": [ + -69.91004996454419, + -69.94913431938565, + -69.76806738626483, + -69.85439779961642 + ], + "moduleForcesY": [ + 2.7475386769102728, + 1.5218682085139474, + 5.244817609123958, + 3.9592100735318545 + ], + "timestamp": 0.14452215320507555 + }, + { + "x": 3.405533150457087, + "y": 6.963744716072119, + "heading": 0.4276391427503084, + "angularVelocity": -0.05807212369645374, + "velocityX": -0.8177543017225102, + "velocityY": 0.03829361992128722, + "moduleForcesX": [ + -69.94035671639205, + -69.95779624844059, + -69.831131231136, + -69.90039089579349 + ], + "moduleForcesY": [ + 1.481852031033926, + 0.2253702688124266, + 4.19709047131765, + 2.866393130115254 + ], + "timestamp": 0.21678322980761333 + }, + { + "x": 3.3267280803300237, + "y": 6.966669549535244, + "heading": 0.42180657078185513, + "angularVelocity": -0.08071526529468337, + "velocityX": -1.0905604210759248, + "velocityY": 0.04047591871918787, + "moduleForcesX": [ + -69.944393384643, + -69.93017480627066, + -69.89279637048092, + -69.935823478966 + ], + "moduleForcesY": [ + -0.2855686674079939, + -1.5687776317224258, + 2.7360551933868202, + 1.3557626568809862 + ], + "timestamp": 0.2890443064101511 + }, + { + "x": 3.2282219406045525, + "y": 6.969070582511565, + "heading": 0.4141275813189536, + "angularVelocity": -0.106267299408487, + "velocityX": -1.363197787202792, + "velocityY": 0.03322719628891129, + "moduleForcesX": [ + -69.86768232546632, + -69.80577667993118, + -69.928043827401, + -69.92866557160472 + ], + "moduleForcesY": [ + -2.9174583427517518, + -4.208806798563373, + 0.5614022126112732, + -0.8671212869487849 + ], + "timestamp": 0.3613053830126889 + }, + { + "x": 3.1100851320087015, + "y": 6.969841680096625, + "heading": 0.4042640076485218, + "angularVelocity": -0.1364991242060381, + "velocityX": -1.6348608981519306, + "velocityY": 0.010670994971479508, + "moduleForcesX": [ + -69.52771087749251, + -69.39542788596013, + -69.83967722325332, + -69.76846617635722 + ], + "moduleForcesY": [ + -7.223343535058923, + -8.451926525830187, + -3.0027344194169414, + -4.448461427126985 + ], + "timestamp": 0.43356645961522666 + }, + { + "x": 2.9726210080406896, + "y": 6.966909534106027, + "heading": 0.39159295049887616, + "angularVelocity": -0.1753510706647928, + "velocityX": -1.9023259883618235, + "velocityY": -0.04057711465779841, + "moduleForcesX": [ + -68.13824090007081, + -67.94815744062642, + -69.16126861726049, + -68.97946034593463 + ], + "moduleForcesY": [ + -15.378652863046907, + -16.24922017669266, + -9.819591974713527, + -11.096296387691988 + ], + "timestamp": 0.5058275362177644 + }, + { + "x": 2.8175053112512938, + "y": 6.955390242706097, + "heading": 0.3747240648762452, + "angularVelocity": -0.23344359668782608, + "velocityX": -2.1466009653106655, + "velocityY": -0.15941211979569803, + "moduleForcesX": [ + -60.5243490932261, + -61.08904468511663, + -64.3753689319186, + -64.46196021712132 + ], + "moduleForcesY": [ + -34.64482754819854, + -33.700258242728985, + -26.81185071903246, + -26.68244842261669 + ], + "timestamp": 0.5780886128203022 + }, + { + "x": 2.6580075023446637, + "y": 6.924835444144418, + "heading": 0.3517771226345669, + "angularVelocity": -0.31755605258823977, + "velocityX": -2.2072437390315343, + "velocityY": -0.42283896114283714, + "moduleForcesX": [ + -7.500492720496396, + -17.077730761329356, + -13.696710725278216, + -23.901006646199814 + ], + "moduleForcesY": [ + -69.16614118399755, + -67.47875312690866, + -68.1302785572017, + -65.31161079653731 + ], + "timestamp": 0.65034968942284 + }, + { + "x": 2.512094219927897, + "y": 6.880097554781259, + "heading": 0.32573277062951456, + "angularVelocity": -0.3604202044802863, + "velocityX": -2.019251432127737, + "velocityY": -0.6191146252806835, + "moduleForcesX": [ + 49.23323127220877, + 45.222550849805664, + 51.20604942518577, + 47.08328609414976 + ], + "moduleForcesY": [ + -49.40668398485789, + -53.0900647376754, + -47.32703000139266, + -51.414115514708236 + ], + "timestamp": 0.7226107660253778 + }, + { + "x": 2.38337424306588, + "y": 6.825767194324153, + "heading": 0.29824613675169936, + "angularVelocity": -0.3803795233912951, + "velocityX": -1.7813182824554856, + "velocityY": -0.7518620398633497, + "moduleForcesX": [ + 61.014317060916646, + 59.97930704642065, + 61.9703116329183, + 60.9846261965019 + ], + "moduleForcesY": [ + -34.017279735413425, + -35.80222114610556, + -32.232808064989165, + -34.051218169708044 + ], + "timestamp": 0.7948718426279155 + }, + { + "x": 2.2728561169196504, + "y": 6.763886893527126, + "heading": 0.270013159659039, + "angularVelocity": -0.3907079498407138, + "velocityX": -1.5294281699416044, + "velocityY": -0.8563434660320723, + "moduleForcesX": [ + 64.51682644746371, + 64.15947514330024, + 64.96118778717998, + 64.62089453574477 + ], + "moduleForcesY": [ + -26.910160275774995, + -27.746887463442874, + -25.815176840710752, + -26.65069502194605 + ], + "timestamp": 0.8671329192304533 + }, + { + "x": 2.1809664769418573, + "y": 6.695555322443913, + "heading": 0.24140156675644972, + "angularVelocity": -0.39594750379880767, + "velocityX": -1.2716339736151412, + "velocityY": -0.9456207172093772, + "moduleForcesX": [ + 66.0413858325682, + 65.90601352826312, + 66.24757393601978, + 66.11676113826505 + ], + "moduleForcesY": [ + -22.993822030513314, + -23.376806141336413, + -22.39133033986236, + -22.772395017295977 + ], + "timestamp": 0.9393939958329911 + }, + { + "x": 2.10793174121269, + "y": 6.621451079278133, + "heading": 0.21263652855987272, + "angularVelocity": -0.3980709885460903, + "velocityX": -1.0107064433994604, + "velocityY": -1.0255070454233672, + "moduleForcesX": [ + 66.8636361844648, + 66.82004357580999, + 66.9417289345033, + 66.89887639750914 + ], + "moduleForcesY": [ + -20.534601787987587, + -20.675168374302586, + -20.278085325526686, + -20.418154301299452 + ], + "timestamp": 1.0116550724355289 + }, + { + "x": 2.053889644996445, + "y": 6.542033142609429, + "heading": 0.18386962520410707, + "angularVelocity": -0.3980967999410536, + "velocityX": -0.7478728349633684, + "velocityY": -1.0990417027071344, + "moduleForcesX": [ + 67.3694057005157, + 67.36896934569019, + 67.37030693780851, + 67.36987068909862 + ], + "moduleForcesY": [ + -18.849277311799415, + -18.850827151291227, + -18.846051034707006, + -18.847600780373277 + ], + "timestamp": 1.0839161490380667 + }, + { + "x": 2.0189318656921387, + "y": 6.457632064819336, + "heading": 0.1552097358119083, + "angularVelocity": -0.3966158648567963, + "velocityX": -0.4837705296945251, + "velocityY": -1.168001941824504, + "moduleForcesX": [ + 67.7090423612836, + 67.73009792197675, + 67.65939642414298, + 67.68078791913334 + ], + "moduleForcesY": [ + -17.62135282604726, + -17.540771618443966, + -17.81125344841753, + -17.730310040741127 + ], + "timestamp": 1.1561772256406044 + }, + { + "x": 2.0052865513434206, + "y": 6.343797195792587, + "heading": 0.11940626574695491, + "angularVelocity": -0.39332077782798075, + "velocityX": -0.1499012705642367, + "velocityY": -1.2505385413291163, + "moduleForcesX": [ + 67.96060745654087, + 67.99161289296391, + 67.87550138401026, + 67.90750272578354 + ], + "moduleForcesY": [ + -16.68587051432994, + -16.559769774995235, + -17.029024447855548, + -16.901634904532678 + ], + "timestamp": 1.2472059026982203 + }, + { + "x": 2.022247148811026, + "y": 6.223394735532684, + "heading": 0.08421303002934574, + "angularVelocity": -0.3866170184516034, + "velocityX": 0.18632147599893392, + "velocityY": -1.3226871371940876, + "moduleForcesX": [ + 68.46729328449145, + 68.51169045285276, + 68.31184039254397, + 68.35989694476902 + ], + "moduleForcesY": [ + -14.427249497757915, + -14.21701040549349, + -15.14684477924876, + -14.930428838920712 + ], + "timestamp": 1.3382345797558362 + }, + { + "x": 2.070100166264576, + "y": 6.0979843334608175, + "heading": 0.050137413227322986, + "angularVelocity": -0.37433936099560144, + "velocityX": 0.5256916721228605, + "velocityY": -1.3777021277864965, + "moduleForcesX": [ + 69.14142659590892, + 69.183669722046, + 68.91777971152585, + 68.96954514028045 + ], + "moduleForcesY": [ + -10.653795733607852, + -10.382977927188257, + -12.017178426384481, + -11.722589653131394 + ], + "timestamp": 1.429263256813452 + }, + { + "x": 2.149170669807766, + "y": 5.970583772712009, + "heading": 0.018143952496880358, + "angularVelocity": -0.3514657332676905, + "velocityX": 0.8686328978849589, + "velocityY": -1.399565113619872, + "moduleForcesX": [ + 69.85708540622566, + 69.86722121118044, + 69.68541026299444, + 69.70915498448376 + ], + "moduleForcesY": [ + -3.2345749313842362, + -3.0737072796649643, + -5.869737828976878, + -5.616200902203141 + ], + "timestamp": 1.5202919338710679 + }, + { + "x": 2.2589421028859875, + "y": 5.84893569297478, + "heading": -0.009410414960995034, + "angularVelocity": -0.30269985622701284, + "velocityX": 1.2058994662609797, + "velocityY": -1.3363709511040576, + "moduleForcesX": [ + 67.98084084636709, + 68.2675831535751, + 69.05891885988348, + 69.19294176958722 + ], + "moduleForcesY": [ + 16.13895221715203, + 14.927441807742866, + 10.601664217236635, + 9.765487872549716 + ], + "timestamp": 1.6113206109286837 + }, + { + "x": 2.3816513002770323, + "y": 5.755553059874296, + "heading": -0.027384399572384054, + "angularVelocity": -0.19745409020953478, + "velocityX": 1.3480279111754776, + "velocityY": -1.0258594996539299, + "moduleForcesX": [ + 21.966329313241527, + 31.581568327780396, + 25.74217152067996, + 36.3878611200454 + ], + "moduleForcesY": [ + 66.21615338730194, + 62.22247266268533, + 64.79108701149657, + 59.49465927749819 + ], + "timestamp": 1.7023492879862996 + }, + { + "x": 2.4864376569970665, + "y": 5.687717688117273, + "heading": -0.03917673719935255, + "angularVelocity": -0.1295453038332599, + "velocityX": 1.1511356652333973, + "velocityY": -0.7452088061665051, + "moduleForcesX": [ + -40.646924554508985, + -35.55926258048956, + -44.540441651147525, + -39.503400775538864 + ], + "moduleForcesY": [ + 56.83907183027018, + 60.14311904713099, + 53.826944953458195, + 57.61165195931745 + ], + "timestamp": 1.7933779650439146 + }, + { + "x": 2.5670376254789677, + "y": 5.639694297374605, + "heading": -0.046992417914178235, + "angularVelocity": -0.0858595441289215, + "velocityX": 0.8854349100436367, + "velocityY": -0.5275633162533232, + "moduleForcesX": [ + -53.764584122595764, + -51.796025428861604, + -56.23218009700383, + -54.46028659633161 + ], + "moduleForcesY": [ + 44.72376090629561, + 46.98309037575621, + 41.57325635814428, + 43.860927171376815 + ], + "timestamp": 1.8844066421015295 + }, + { + "x": 2.6215256643831455, + "y": 5.608902177535465, + "heading": -0.05176785407305588, + "angularVelocity": -0.052460788327782594, + "velocityX": 0.5985810259517479, + "velocityY": -0.3382683439379309, + "moduleForcesX": [ + -58.013654151683696, + -56.89649326724905, + -59.773057608039814, + -58.78634165660711 + ], + "moduleForcesY": [ + 39.09776755772533, + 40.70212530474273, + 36.34830149368659, + 37.9184361720148 + ], + "timestamp": 1.9754353191591445 + }, + { + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -0.024542807053857217, + "velocityX": 0.3020268007993012, + "velocityY": -0.16435442454640978, + "moduleForcesX": [ + -60.00824864493395, + -59.23254288719752, + -61.40348619502263, + -60.720348492315956 + ], + "moduleForcesY": [ + 35.98651589745473, + 37.24645407124533, + 33.548693110700135, + 34.766372955894965 + ], + "timestamp": 2.0664639962167595 + }, + { + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -2.516475827417988e-25, + "velocityX": 7.632931644423266e-25, + "velocityY": 4.2087418463139514e-24, + "moduleForcesX": [ + -61.14846543581324, + -60.54551335620342, + -62.32828598200511, + -61.796474937784545 + ], + "moduleForcesY": [ + 34.02931368740686, + 35.088553675699565, + 31.815663944493068, + 32.83405951923116 + ], + "timestamp": 2.1574926732743744 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/amp 5.4.traj b/src/main/deploy/choreo/amp 5.4.traj index 659c3399..6d02ca18 100644 --- a/src/main/deploy/choreo/amp 5.4.traj +++ b/src/main/deploy/choreo/amp 5.4.traj @@ -1,202 +1,530 @@ { - "samples": [ - { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": 6.234499929812248e-37, - "velocityX": -5.954404820163517e-39, - "velocityY": 9.289786212484402e-40, - "timestamp": 0 - }, - { - "x": 2.62198431803652, - "y": 5.580043064925952, - "heading": -0.056108015333715296, - "angularVelocity": -0.02711578558662552, - "velocityX": -0.3480715441935303, - "velocityY": -0.1789402056558487, - "timestamp": 0.07766922321089798 - }, - { - "x": 2.568262058390104, - "y": 5.551594493751894, - "heading": -0.06050672729633236, - "angularVelocity": -0.05663391213110331, - "velocityX": -0.6916801459510109, - "velocityY": -0.36627855922814373, - "timestamp": 0.15533844642179595 - }, - { - "x": 2.4884227375874857, - "y": 5.507597880034233, - "heading": -0.06748444289191319, - "angularVelocity": -0.08983887448743955, - "velocityX": -1.0279402510029907, - "velocityY": -0.5664613588086967, - "timestamp": 0.23300766963269393 - }, - { - "x": 2.383562784136071, - "y": 5.446350561790552, - "heading": -0.07753336707806786, - "angularVelocity": -0.129381031130805, - "velocityX": -1.3500837154851462, - "velocityY": -0.7885661232554546, - "timestamp": 0.3106768928435919 - }, - { - "x": 2.256467478514415, - "y": 5.364400156526684, - "heading": -0.0916700546188319, - "angularVelocity": -0.1820114448985554, - "velocityX": -1.636366379982311, - "velocityY": -1.0551207013020436, - "timestamp": 0.3883461160544899 - }, - { - "x": 2.119544018906857, - "y": 5.253743230346513, - "heading": -0.11255845223354533, - "angularVelocity": -0.26894047283045835, - "velocityX": -1.7629049699102062, - "velocityY": -1.4247203925253684, - "timestamp": 0.46601533926538785 - }, - { - "x": 2.008778386029055, - "y": 5.127667150124761, - "heading": -0.13895169616586953, - "angularVelocity": -0.3398159894126605, - "velocityX": -1.426120003505583, - "velocityY": -1.6232437381202094, - "timestamp": 0.5436845624762858 - }, - { - "x": 1.9284008413219034, - "y": 5.000788184781257, - "heading": -0.1672683067582648, - "angularVelocity": -0.36457955187096464, - "velocityX": -1.0348699444167093, - "velocityY": -1.6335809745255814, - "timestamp": 0.6213537856871847 - }, - { - "x": 1.8781980407977803, - "y": 4.877626055058778, - "heading": -0.19630541946212163, - "angularVelocity": -0.37385609773656636, - "velocityX": -0.6463667132064052, - "velocityY": -1.5857262971209511, - "timestamp": 0.6990230088980836 - }, - { - "x": 1.8578509725471128, - "y": 4.760208836139962, - "heading": -0.2255136021690484, - "angularVelocity": -0.3760586433009199, - "velocityX": -0.26197079627561504, - "velocityY": -1.5117599232322432, - "timestamp": 0.7766922321089824 - }, - { - "x": 1.86711847782135, - "y": 4.649672508239746, - "heading": -0.2545830639623134, - "angularVelocity": -0.3742725959075389, - "velocityX": 0.11932017459570718, - "velocityY": -1.4231676760828684, - "timestamp": 0.8543614553198813 - }, - { - "x": 1.9024658837216946, - "y": 4.551560652342133, - "heading": -0.28188511691074963, - "angularVelocity": -0.37015914188109383, - "velocityX": 0.4792374207355572, - "velocityY": -1.3301930245323257, - "timestamp": 0.9281190634926562 - }, - { - "x": 1.9640237722001979, - "y": 4.461494718826653, - "heading": -0.3085593600606435, - "angularVelocity": -0.3616473447377832, - "velocityX": 0.8345971351769702, - "velocityY": -1.2211070253864846, - "timestamp": 1.001876671665431 - }, - { - "x": 2.051077126619584, - "y": 4.381509766483172, - "heading": -0.3340463436929941, - "angularVelocity": -0.3455505711715616, - "velocityX": 1.1802627088376656, - "velocityY": -1.0844298551021145, - "timestamp": 1.075634279838206 - }, - { - "x": 2.1615708290526574, - "y": 4.315732779500964, - "heading": -0.3571925535628894, - "angularVelocity": -0.3138145398597539, - "velocityX": 1.498065151112891, - "velocityY": -0.8917993494058019, - "timestamp": 1.1493918880109808 - }, - { - "x": 2.285578310541265, - "y": 4.273764739768483, - "heading": -0.3750653368614216, - "angularVelocity": -0.2423178264765015, - "velocityX": 1.681283932067371, - "velocityY": -0.5689994669319045, - "timestamp": 1.2231494961837557 - }, - { - "x": 2.3925342430815864, - "y": 4.253189783587575, - "heading": -0.3864443630006571, - "angularVelocity": -0.1542759644887136, - "velocityX": 1.4501003379852107, - "velocityY": -0.2789536793643197, - "timestamp": 1.2969071043565306 - }, - { - "x": 2.473959082909401, - "y": 4.2425466442092885, - "heading": -0.39377914827365895, - "angularVelocity": -0.09944445671042275, - "velocityX": 1.1039517392847038, - "velocityY": -0.14429886817039247, - "timestamp": 1.3706647125293054 - }, - { - "x": 2.528516353801377, - "y": 4.237309273601869, - "heading": -0.3981937238226007, - "angularVelocity": -0.059852477029905565, - "velocityX": 0.7396832983544896, - "velocityY": -0.07100786938686426, - "timestamp": 1.4444223207020803 - }, - { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": -0.027749812663341342, - "velocityX": 0.3706654528734074, - "velocityY": -0.027066155765340248, - "timestamp": 1.5181799288748552 - }, - { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": 4.4259744873179585e-39, - "velocityX": 1.5602548377328346e-41, - "velocityY": -1.5730056958393183e-40, - "timestamp": 1.59193753704763 - } - ] + "samples": [ + { + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -2.516475827417988e-25, + "velocityX": 7.632931644423266e-25, + "velocityY": 4.2087418463139514e-24, + "moduleForcesX": [ + -61.14846543581324, + -60.54551335620342, + -62.32828598200511, + -61.796474937784545 + ], + "moduleForcesY": [ + 34.02931368740686, + 35.088553675699565, + 31.815663944493068, + 32.83405951923116 + ], + "timestamp": 0 + }, + { + "x": 2.625979185275369, + "y": 5.582239168042045, + "heading": -0.05575363056713169, + "angularVelocity": -0.021178185260196356, + "velocityX": -0.2785538721575841, + "velocityY": -0.14148042991624163, + "moduleForcesX": [ + -61.53863897627298, + -62.166928992230204, + -62.61985338113243, + -63.18666812097547 + ], + "moduleForcesY": [ + -33.30975265130726, + -32.124426211771144, + -31.228092651527213, + -30.06753272100449 + ], + "timestamp": 0.0827113945393183 + }, + { + "x": 2.580156759644853, + "y": 5.558350091305469, + "heading": -0.059396028960474336, + "angularVelocity": -0.04403744385679758, + "velocityX": -0.5540037849166433, + "velocityY": -0.2888244947341631, + "moduleForcesX": [ + -60.73237553392687, + -61.46900521182332, + -61.93243395044323, + -62.597931463592055 + ], + "moduleForcesY": [ + -34.74344619336721, + -33.42597146211571, + -32.553980913931255, + -31.258703129802008 + ], + "timestamp": 0.1654227890786366 + }, + { + "x": 2.5119523808979367, + "y": 5.521562926032323, + "heading": -0.06513366080174465, + "angularVelocity": -0.06936930362772273, + "velocityX": -0.8246068045013343, + "velocityY": -0.4447653854470885, + "moduleForcesX": [ + -59.47199058841197, + -60.38775068114945, + -60.8500722034585, + -61.68037234868746 + ], + "moduleForcesY": [ + -36.83895663075063, + -35.32168509134177, + -34.51215439268144, + -33.00983394279163 + ], + "timestamp": 0.24813418361795492 + }, + { + "x": 2.4220716473990893, + "y": 5.470740218496298, + "heading": -0.07329565797813033, + "angularVelocity": -0.09868044447619313, + "velocityX": -1.0866789757259105, + "velocityY": -0.6144583563013899, + "moduleForcesX": [ + -57.25337994625179, + -58.50613454292772, + -58.92176665835011, + -60.06747509072916 + ], + "moduleForcesY": [ + -40.170140034566, + -38.327817129689315, + -37.67584903649057, + -35.82712417002034 + ], + "timestamp": 0.3308455781572732 + }, + { + "x": 2.3120330410722323, + "y": 5.403804623394754, + "heading": -0.0844908659212872, + "angularVelocity": -0.13535266822076233, + "velocityX": -1.3303923472665944, + "velocityY": -0.8092669150890133, + "moduleForcesX": [ + -52.4970997286662, + -54.53520253007027, + -54.68159428956403, + -56.590132378075765 + ], + "moduleForcesY": [ + -46.16367614831186, + -43.74464862582026, + -43.54567869822569, + -41.04398563604756 + ], + "timestamp": 0.41355697269659153 + }, + { + "x": 2.186637116851186, + "y": 5.316186882095392, + "heading": -0.1001206928527023, + "angularVelocity": -0.1889682433535231, + "velocityX": -1.5160658929700233, + "velocityY": -1.0593188736252193, + "moduleForcesX": [ + -37.84812600751691, + -42.48043340727384, + -40.63706416897053, + -45.34976090197617 + ], + "moduleForcesY": [ + -58.68513607330116, + -55.43434166030699, + -56.76878104529127, + -53.093501615698166 + ], + "timestamp": 0.49626836723590984 + }, + { + "x": 2.069822500671029, + "y": 5.204382721788452, + "heading": -0.12240803875328186, + "angularVelocity": -0.26945919633823856, + "velocityX": -1.412315882603427, + "velocityY": -1.3517383055824614, + "moduleForcesX": [ + 25.202348234910946, + 16.95147057761103, + 29.842566999836002, + 20.936739362517404 + ], + "moduleForcesY": [ + -64.9859363567085, + -67.59023718567776, + -62.94453518621747, + -66.41132942373025 + ], + "timestamp": 0.5789797617752281 + }, + { + "x": 1.978162289732587, + "y": 5.086947684868809, + "heading": -0.14761389079428558, + "angularVelocity": -0.3047446144681042, + "velocityX": -1.1081932719060839, + "velocityY": -1.4198169136638004, + "moduleForcesX": [ + 67.68490838035501, + 67.56249894147786, + 68.60619427842576, + 68.56145212917936 + ], + "moduleForcesY": [ + -17.17609026683669, + -17.605956443045816, + -13.013279466286473, + -13.18546586615485 + ], + "timestamp": 0.6616911563145464 + }, + { + "x": 1.9122925979368877, + "y": 4.9707044147930874, + "heading": -0.1739682538797872, + "angularVelocity": -0.31863038015848894, + "velocityX": -0.7963798961748549, + "velocityY": -1.4054081752963692, + "moduleForcesX": [ + 69.87223440954051, + 69.85768951539075, + 69.79968480932632, + 69.77437760404688 + ], + "moduleForcesY": [ + 2.2014490421001476, + 2.5539028923202314, + 3.8804044095447408, + 4.270739583900649 + ], + "timestamp": 0.7444025508538648 + }, + { + "x": 1.8719723679437992, + "y": 4.8582723674266255, + "heading": -0.20076752508140072, + "angularVelocity": -0.32400942277516737, + "velocityX": -0.4874809597596813, + "velocityY": -1.359329606188858, + "moduleForcesX": [ + 69.2365116830962, + 69.20383607933752, + 69.1442434422726, + 69.1088127074709 + ], + "moduleForcesY": [ + 9.893150934674008, + 10.114696359535678, + 10.5202564608269, + 10.746354103969098 + ], + "timestamp": 0.8271139453931831 + }, + { + "x": 1.8569722868703582, + "y": 4.750992338069457, + "heading": -0.22764746637810754, + "angularVelocity": -0.32498474299002544, + "velocityX": -0.18135446944145373, + "velocityY": -1.2970405100130564, + "moduleForcesX": [ + 68.56864884555179, + 68.55864335178183, + 68.54641491623597, + 68.53630350295705 + ], + "moduleForcesY": [ + 13.869385456649603, + 13.918326387580239, + 13.97905842821346, + 14.028119303773838 + ], + "timestamp": 0.9098253399325014 + }, + { + "x": 1.86711847782135, + "y": 4.649672508239746, + "heading": -0.25438752055343183, + "angularVelocity": -0.32329347515248463, + "velocityX": 0.12266980876702048, + "velocityY": -1.224980311286467, + "moduleForcesX": [ + 68.04853737119781, + 68.07141251551009, + 68.09224407296453, + 68.11477934004309 + ], + "moduleForcesY": [ + 16.276510075414343, + 16.181079461768007, + 16.092408994460172, + 15.997267003288515 + ], + "timestamp": 0.9925367344718197 + }, + { + "x": 1.893981174454082, + "y": 4.567960592211496, + "heading": -0.2769920214000605, + "angularVelocity": -0.32033134739266317, + "velocityX": 0.3806747985875902, + "velocityY": -1.1579502833069275, + "moduleForcesX": [ + 67.64503155321364, + 67.7008004063933, + 67.74100235706341, + 67.79529885711308 + ], + "moduleForcesY": [ + 17.883134704933525, + 17.671739615525684, + 17.515534914842895, + 17.305117138910887 + ], + "timestamp": 1.0631027313079642 + }, + { + "x": 1.9388710931342503, + "y": 4.491611739523084, + "heading": -0.2992146718264406, + "angularVelocity": -0.3149200949854273, + "velocityX": 0.6361409275405473, + "velocityY": -1.0819496090403846, + "moduleForcesX": [ + 66.89497321476524, + 67.02261578244135, + 67.08816014248102, + 67.21080749571729 + ], + "moduleForcesY": [ + 20.479529884065915, + 20.059556741468292, + 19.836322433834518, + 19.418492532551788 + ], + "timestamp": 1.1336687281441087 + }, + { + "x": 2.001467948892821, + "y": 4.421590727961635, + "heading": -0.32079068497766927, + "angularVelocity": -0.30575651331516684, + "velocityX": 0.8870682561733165, + "velocityY": -0.9922769421657726, + "moduleForcesX": [ + 65.53922289248395, + 65.82467044567649, + 65.90795915660198, + 66.1793702855204 + ], + "moduleForcesY": [ + 24.43276781519512, + 23.6558866785065, + 23.41741977489106, + 22.64219513995646 + ], + "timestamp": 1.2042347249802532 + }, + { + "x": 2.081094062364392, + "y": 4.359524172405404, + "heading": -0.3412692624127303, + "angularVelocity": -0.2902046077888271, + "velocityX": 1.1283921016019085, + "velocityY": -0.8795533024262525, + "moduleForcesX": [ + 62.64316082126668, + 63.34020929025356, + 63.36139711783674, + 64.02365824512484 + ], + "moduleForcesY": [ + 31.061388733940635, + 29.618897152165395, + 29.563491732614338, + 28.105948923350745 + ], + "timestamp": 1.2748007218163977 + }, + { + "x": 2.1758603536691266, + "y": 4.3085633486402415, + "heading": -0.3597562406717856, + "angularVelocity": -0.26198139455157654, + "velocityX": 1.3429455481906323, + "velocityY": -0.7221725200523089, + "moduleForcesX": [ + 54.585879292422305, + 56.673637255593206, + 55.97374519969251, + 58.02864241995829 + ], + "moduleForcesY": [ + 43.62180660033044, + 40.879896618536996, + 41.813608075268824, + 38.920415656963144 + ], + "timestamp": 1.3453667186525422 + }, + { + "x": 2.27801271257031, + "y": 4.27480914095921, + "heading": -0.3742958708643891, + "angularVelocity": -0.2060430071775894, + "velocityX": 1.4476144812122793, + "velocityY": -0.4783353058755663, + "moduleForcesX": [ + 23.761748115499397, + 30.966425197958873, + 23.522820731074834, + 31.642011798670588 + ], + "moduleForcesY": [ + 65.61870599326856, + 62.542931754781115, + 65.6739208799796, + 62.171678942392184 + ], + "timestamp": 1.4159327154886867 + }, + { + "x": 2.369292836574492, + "y": 4.256289167846281, + "heading": -0.3842856655425764, + "angularVelocity": -0.14156669112722634, + "velocityX": 1.2935426139608872, + "velocityY": -0.2624489689550226, + "moduleForcesX": [ + -39.395901739962994, + -34.91737000537315, + -45.57603307920421, + -41.872357584198234 + ], + "moduleForcesY": [ + 57.617656747659694, + 60.40950447199274, + 52.84534331139303, + 55.788815115450184 + ], + "timestamp": 1.4864987123248312 + }, + { + "x": 2.4435658123428112, + "y": 4.245702404777808, + "heading": -0.39122795243288855, + "angularVelocity": -0.09838005840734046, + "velocityX": 1.0525320848337525, + "velocityY": -0.15002640851308846, + "moduleForcesX": [ + -62.059015510900586, + -61.79060844179407, + -64.60055543174373, + -64.589292033163 + ], + "moduleForcesY": [ + 32.12670273071491, + 32.614292917779764, + 26.648569819117977, + 26.644054775734322 + ], + "timestamp": 1.5570647091609757 + }, + { + "x": 2.4996157079976045, + "y": 4.239688102315035, + "heading": -0.3959449037616861, + "angularVelocity": -0.06684453618292123, + "velocityX": 0.7942904255280592, + "velocityY": -0.0852294693255483, + "moduleForcesX": [ + -67.15525230693295, + -67.29602335930974, + -68.25589199909099, + -68.42344727243434 + ], + "moduleForcesY": [ + 19.483980629357102, + 18.970532635195774, + 15.188806152023922, + 14.38766371463949 + ], + "timestamp": 1.6276307059971202 + }, + { + "x": 2.537089872555244, + "y": 4.236555630867047, + "heading": -0.39886430283701785, + "angularVelocity": -0.041371187345523225, + "velocityX": 0.5310513028626985, + "velocityY": -0.044390663895267427, + "moduleForcesX": [ + -68.74553744303479, + -68.88550658051672, + -69.31271764555699, + -69.43374223877584 + ], + "moduleForcesY": [ + 12.910083849972219, + 12.121292110958931, + 9.406272290419192, + 8.439440051930237 + ], + "timestamp": 1.6981967028332647 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -0.019502038610309587, + "velocityX": 0.26593372620992684, + "velocityY": -0.017610353889658304, + "moduleForcesX": [ + -69.38048696240153, + -69.48460284359975, + -69.70453769706126, + -69.78008486300917 + ], + "moduleForcesY": [ + 8.992556017647724, + 8.129391390949667, + 5.990707642370114, + 5.004272092261957 + ], + "timestamp": 1.7687626996694092 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -8.909310736046408e-26, + "velocityX": -5.474032174370015e-26, + "velocityY": 1.2979510185453306e-24, + "moduleForcesX": [ + -69.67508744104906, + -69.7483426665789, + -69.869796921471, + -69.91336928012747 + ], + "moduleForcesY": [ + 6.415152694532496, + 5.541413760327354, + 3.7496882206129016, + 2.783039779233016 + ], + "timestamp": 1.8393286965055538 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/amp 5.traj b/src/main/deploy/choreo/amp 5.traj index cad72958..a15364ec 100644 --- a/src/main/deploy/choreo/amp 5.traj +++ b/src/main/deploy/choreo/amp 5.traj @@ -1,1102 +1,2840 @@ { - "samples": [ - { - "x": 0.7257580161094666, - "y": 6.734513759613037, - "heading": 1.0489622146743895, - "angularVelocity": -6.192528274226541e-39, - "velocityX": 4.367616489063668e-40, - "velocityY": -2.754805507678283e-40, - "timestamp": 0 - }, - { - "x": 0.7359588281336483, - "y": 6.73715165638492, - "heading": 1.040205662932865, - "angularVelocity": -0.18891919323128226, - "velocityX": 0.22007854630422122, - "velocityY": 0.056911595418114136, - "timestamp": 0.04635077882639643 - }, - { - "x": 0.7563770147164974, - "y": 6.742392850017265, - "heading": 1.0227991340994598, - "angularVelocity": -0.3755390799062996, - "velocityX": 0.44051442283902165, - "velocityY": 0.1130767112237008, - "timestamp": 0.09270155765279287 - }, - { - "x": 0.7870307911483414, - "y": 6.750198139973647, - "heading": 0.9968575893669767, - "angularVelocity": -0.5596787236228601, - "velocityX": 0.661343287167955, - "velocityY": 0.16839609072406708, - "timestamp": 0.1390523364791893 - }, - { - "x": 0.8279404209012724, - "y": 6.760521979407147, - "heading": 0.9625044803517897, - "angularVelocity": -0.7411549467993643, - "velocityX": 0.8826093280148551, - "velocityY": 0.2227328147422812, - "timestamp": 0.18540311530558573 - }, - { - "x": 0.8791287844684664, - "y": 6.7733101956563, - "heading": 0.9198734496254627, - "angularVelocity": -0.9197478835468662, - "velocityX": 1.1043690065903007, - "velocityY": 0.2759007846890953, - "timestamp": 0.23175389413198216 - }, - { - "x": 0.9406222307858362, - "y": 6.788496998498477, - "heading": 0.8691137148744773, - "angularVelocity": -1.0951215068273683, - "velocityX": 1.3266971531954002, - "velocityY": 0.3276493562073011, - "timestamp": 0.2781046729583786 - }, - { - "x": 1.0124518256432806, - "y": 6.806001018337905, - "heading": 0.8104018251055961, - "angularVelocity": -1.2666861540511007, - "velocityX": 1.5496955321177492, - "velocityY": 0.3776424103894355, - "timestamp": 0.32445545178477503 - }, - { - "x": 1.0946550980428575, - "y": 6.825719945182635, - "heading": 0.7439630462752712, - "angularVelocity": -1.4333907760032805, - "velocityX": 1.7735035846423053, - "velocityY": 0.4254281663440037, - "timestamp": 0.37080623061117146 - }, - { - "x": 1.187278340782525, - "y": 6.847522953921924, - "heading": 0.6701061767445722, - "angularVelocity": -1.5934331935893635, - "velocityX": 1.998310386252222, - "velocityY": 0.47039142148940066, - "timestamp": 0.4171570094375679 - }, - { - "x": 1.2903794187577957, - "y": 6.871239235401886, - "heading": 0.5892765061515742, - "angularVelocity": -1.743868660669969, - "velocityX": 2.2243656004450014, - "velocityY": 0.5116695356681982, - "timestamp": 0.4635077882639643 - }, - { - "x": 1.40403077681679, - "y": 6.8966389846255005, - "heading": 0.5021344290236092, - "angularVelocity": -1.8800563730406699, - "velocityX": 2.4519837840194127, - "velocityY": 0.5479896965431291, - "timestamp": 0.5098585670903608 - }, - { - "x": 1.5283214649187693, - "y": 6.923398515312292, - "heading": 0.40967657292107107, - "angularVelocity": -1.9947422339726464, - "velocityX": 2.681523185780791, - "velocityY": 0.5773264519894711, - "timestamp": 0.5562093459167572 - }, - { - "x": 1.6633533034799075, - "y": 6.951028990111667, - "heading": 0.31344699825620226, - "angularVelocity": -2.076115592907077, - "velocityX": 2.9132593233630564, - "velocityY": 0.5961167319941462, - "timestamp": 0.6025601247431536 - }, - { - "x": 1.8092073692389947, - "y": 6.978712169320396, - "heading": 0.215995436674554, - "angularVelocity": -2.1024794846845225, - "velocityX": 3.1467446600061115, - "velocityY": 0.5972538090981104, - "timestamp": 0.64891090356955 - }, - { - "x": 1.9657314404497876, - "y": 7.004870027709754, - "heading": 0.12223564840481631, - "angularVelocity": -2.0228309133900075, - "velocityX": 3.376945871762865, - "velocityY": 0.5643456065178637, - "timestamp": 0.6952616823959463 - }, - { - "x": 2.1311616087002494, - "y": 7.026380908952331, - "heading": 0.04292195201676955, - "angularVelocity": -1.7111621076554204, - "velocityX": 3.5690914465551646, - "velocityY": 0.4640888845286682, - "timestamp": 0.7416124612223427 - }, - { - "x": 2.2968963054159266, - "y": 7.042047366895359, - "heading": 0.004346790551392091, - "angularVelocity": -0.8322440839636805, - "velocityX": 3.575661529581302, - "velocityY": 0.33799772818715607, - "timestamp": 0.7879632400487391 - }, - { - "x": 2.460571050643921, - "y": 7.051084518432617, - "heading": 1.2991450543069827e-38, - "angularVelocity": -0.09378031311345789, - "velocityX": 3.5312188785656926, - "velocityY": 0.19497302453334203, - "timestamp": 0.8343140188751355 - }, - { - "x": 2.6474913754466702, - "y": 7.054201221280446, - "heading": 0.02263910050933059, - "angularVelocity": 0.40318272199585425, - "velocityX": 3.3288886773244903, - "velocityY": 0.055505771411816535, - "timestamp": 0.8904649878384419 - }, - { - "x": 2.820309176989229, - "y": 7.051878745268308, - "heading": 0.06322632791316712, - "angularVelocity": 0.7228232771968643, - "velocityX": 3.077734983620529, - "velocityY": -0.041361281114425025, - "timestamp": 0.9466159568017483 - }, - { - "x": 2.9777656678643236, - "y": 7.046257900198069, - "heading": 0.11239647407414549, - "angularVelocity": 0.8756776075068299, - "velocityX": 2.80416337922841, - "velocityY": -0.10010236998603794, - "timestamp": 1.0027669257650547 - }, - { - "x": 3.1194596165451562, - "y": 7.038825412623418, - "heading": 0.16470690639468305, - "angularVelocity": 0.9316033772225991, - "velocityX": 2.5234461897429954, - "velocityY": -0.1323661498968442, - "timestamp": 1.058917894728361 - }, - { - "x": 3.2452843149183654, - "y": 7.03057315594096, - "heading": 0.2167574463663451, - "angularVelocity": 0.9269749201599022, - "velocityX": 2.240828621415836, - "velocityY": -0.146965525881678, - "timestamp": 1.1150688636916675 - }, - { - "x": 3.355235740479973, - "y": 7.022192571859501, - "heading": 0.26620122860501905, - "angularVelocity": 0.8805508284458017, - "velocityX": 1.958139415785662, - "velocityY": -0.14925092542811763, - "timestamp": 1.1712198326549739 - }, - { - "x": 3.449347146223145, - "y": 7.014187327613359, - "heading": 0.3113273059481728, - "angularVelocity": 0.8036562534235666, - "velocityX": 1.676042417089403, - "velocityY": -0.14256644887772138, - "timestamp": 1.2273708016182803 - }, - { - "x": 3.5276639223656012, - "y": 7.006937973124809, - "heading": 0.35084892367317316, - "angularVelocity": 0.7038456941112984, - "velocityX": 1.394753778757316, - "velocityY": -0.12910470865226828, - "timestamp": 1.2835217705815867 - }, - { - "x": 3.5902334259275532, - "y": 7.000741009960109, - "heading": 0.38377467023325373, - "angularVelocity": 0.5863789560176054, - "velocityX": 1.1143085278339506, - "velocityY": -0.11036253299120015, - "timestamp": 1.339672739544893 - }, - { - "x": 3.6371010005522986, - "y": 6.995833525911573, - "heading": 0.4093219860754754, - "angularVelocity": 0.4549755118013431, - "velocityX": 0.8346708078247481, - "velocityY": -0.08739802961802687, - "timestamp": 1.3958237085081995 - }, - { - "x": 3.66830865544687, - "y": 6.992409233249185, - "heading": 0.42685683011593634, - "angularVelocity": 0.3122803464339083, - "velocityX": 0.5557812353151875, - "velocityY": -0.06098367892146618, - "timestamp": 1.4519746774715059 - }, - { - "x": 3.6838948726654057, - "y": 6.990629196166992, - "heading": 0.4358509294181536, - "angularVelocity": 0.1601770987798055, - "velocityX": 0.27757699477494313, - "velocityY": -0.03170091478485815, - "timestamp": 1.5081256464348123 - }, - { - "x": 3.6838948726654057, - "y": 6.990629196166992, - "heading": 0.4358509294181536, - "angularVelocity": 1.0435886153944948e-33, - "velocityX": -4.398813100266421e-36, - "velocityY": 6.126892567484817e-35, - "timestamp": 1.5642766153981187 - }, - { - "x": 3.7215570287352393, - "y": 6.994729136514659, - "heading": 0.43005668474904696, - "angularVelocity": -0.06680027997690283, - "velocityX": 0.43419681316055564, - "velocityY": 0.04726710360937999, - "timestamp": 1.6510164415052868 - }, - { - "x": 3.796881346879351, - "y": 7.002928986849061, - "heading": 0.41846747092712844, - "angularVelocity": -0.13360891233053568, - "velocityX": 0.8683936955447386, - "velocityY": 0.09453385719578568, - "timestamp": 1.737756267612455 - }, - { - "x": 3.9098678253881354, - "y": 7.015228699436052, - "heading": 0.4010813400311802, - "angularVelocity": -0.20044000174115487, - "velocityX": 1.3025905582193407, - "velocityY": 0.14180006046811755, - "timestamp": 1.824496093719623 - }, - { - "x": 4.060516455934136, - "y": 7.031628207648926, - "heading": 0.3778952747869828, - "angularVelocity": -0.26730587649035237, - "velocityX": 1.7367873248889414, - "velocityY": 0.18906549561918942, - "timestamp": 1.9112359198267912 - }, - { - "x": 4.2488272251585775, - "y": 7.052127424146422, - "heading": 0.3489054155525363, - "angularVelocity": -0.3342162480084887, - "velocityX": 2.170983937548847, - "velocityY": 0.23632992383646947, - "timestamp": 1.9979757459339593 - }, - { - "x": 4.474800116757303, - "y": 7.076726238955359, - "heading": 0.31410737398629535, - "angularVelocity": -0.40117721152965535, - "velocityX": 2.605180362242515, - "velocityY": 0.28359308420269713, - "timestamp": 2.0847155720411275 - }, - { - "x": 4.738435113924007, - "y": 7.105424517737501, - "heading": 0.27349664873677293, - "angularVelocity": -0.46819006991491213, - "velocityX": 3.0393765931808527, - "velocityY": 0.3308546958197185, - "timestamp": 2.1714553981482956 - }, - { - "x": 5.0397322013332415, - "y": 7.138222100552868, - "heading": 0.22706916292795404, - "angularVelocity": -0.535249929501324, - "velocityX": 3.4735726474362245, - "velocityY": 0.378114463531955, - "timestamp": 2.2581952242554637 - }, - { - "x": 5.378691360605004, - "y": 7.175118800998282, - "heading": 0.17482199373260704, - "angularVelocity": -0.6023434855725319, - "velocityX": 3.907768489793545, - "velocityY": 0.42537208225236767, - "timestamp": 2.344935050362632 - }, - { - "x": 5.738476726652386, - "y": 7.214275337174484, - "heading": 0.17482198692716483, - "angularVelocity": -7.845810273487402e-8, - "velocityX": 4.147868196125519, - "velocityY": 0.45142511731373064, - "timestamp": 2.4316748764698 - }, - { - "x": 6.098262092919216, - "y": 7.253431871335105, - "heading": 0.17482198012188968, - "angularVelocity": -7.8456177092114e-8, - "velocityX": 4.147868198655502, - "velocityY": 0.4514250940766559, - "timestamp": 2.518414702576968 - }, - { - "x": 6.458047460170514, - "y": 7.292588396450069, - "heading": 0.17482197331661464, - "angularVelocity": -7.8456175819358e-8, - "velocityX": 4.147868210005147, - "velocityY": 0.4514249897917174, - "timestamp": 2.605154528684136 - }, - { - "x": 6.817884399372358, - "y": 7.33126802432734, - "heading": 0.17482195239203113, - "angularVelocity": -2.412338650069692e-7, - "velocityX": 4.148462769077504, - "velocityY": 0.44592697049544683, - "timestamp": 2.6918943547913043 - }, - { - "x": 7.141038473864095, - "y": 7.365735292740818, - "heading": 0.1432676116694533, - "angularVelocity": -0.3637814616274655, - "velocityX": 3.7255559411944876, - "velocityY": 0.397363817295337, - "timestamp": 2.7786341808984725 - }, - { - "x": 7.426499394591649, - "y": 7.396066082547886, - "heading": 0.11179036170015318, - "angularVelocity": -0.36289270317892447, - "velocityX": 3.2910017639978224, - "velocityY": 0.3496754739811683, - "timestamp": 2.8653740070056406 - }, - { - "x": 7.674272883646842, - "y": 7.422276642837268, - "heading": 0.08300393967254027, - "angularVelocity": -0.3318708754620616, - "velocityX": 2.8565135552504515, - "velocityY": 0.30217446201699477, - "timestamp": 2.9521138331128087 - }, - { - "x": 7.884364684018778, - "y": 7.444373477851927, - "heading": 0.05788615954608971, - "angularVelocity": -0.28957609501565307, - "velocityX": 2.4220915558715177, - "velocityY": 0.2547484357111628, - "timestamp": 3.038853659219977 - }, - { - "x": 8.056778579699072, - "y": 7.4623601053531186, - "heading": 0.03694858398895131, - "angularVelocity": -0.24138364689905817, - "velocityX": 1.9877131811086814, - "velocityY": 0.20736296472359136, - "timestamp": 3.125593485327145 - }, - { - "x": 8.19151716219001, - "y": 7.476238735509121, - "heading": 0.02050566439748422, - "angularVelocity": -0.1895659736641811, - "velocityX": 1.5533646830749575, - "velocityY": 0.16000297416847314, - "timestamp": 3.212333311434313 - }, - { - "x": 8.288582300746091, - "y": 7.486010885320927, - "heading": 0.008770271725739378, - "angularVelocity": -0.13529416876217398, - "velocityX": 1.1190377351708798, - "velocityY": 0.11266047270756889, - "timestamp": 3.2990731375414812 - }, - { - "x": 8.347975403784513, - "y": 7.491677656538196, - "heading": 0.001896207350734873, - "angularVelocity": -0.07924922937373091, - "velocityX": 0.6847270245278102, - "velocityY": 0.06533067302058666, - "timestamp": 3.3858129636486494 - }, - { - "x": 8.369697570800781, - "y": 7.493239879608154, - "heading": 0, - "angularVelocity": -0.021860861795965372, - "velocityX": 0.25042898967114685, - "velocityY": 0.018010447335086683, - "timestamp": 3.4725527897558175 - }, - { - "x": 8.352323867081695, - "y": 7.490521859474649, - "heading": 0.003391928947815461, - "angularVelocity": 0.038109474516673104, - "velocityX": -0.19519946594669754, - "velocityY": -0.0305378799518526, - "timestamp": 3.561557662975244 - }, - { - "x": 8.29528706136667, - "y": 7.483482778386333, - "heading": 0.012121653995426456, - "angularVelocity": 0.09808142781226502, - "velocityX": -0.6408278968547001, - "velocityY": -0.07908646834385069, - "timestamp": 3.6505625361946707 - }, - { - "x": 8.19858715975201, - "y": 7.472122598921367, - "heading": 0.026189626436909315, - "angularVelocity": 0.15805845155018225, - "velocityX": -1.0864562592686573, - "velocityY": -0.12763547718290608, - "timestamp": 3.7395674094140974 - }, - { - "x": 8.062224171571483, - "y": 7.456441269170657, - "heading": 0.045596472555156704, - "angularVelocity": 0.21804251178924827, - "velocityX": -1.5320845168145878, - "velocityY": -0.17618506923829327, - "timestamp": 3.828572282633524 - }, - { - "x": 7.886198108433151, - "y": 7.436438722452111, - "heading": 0.07034280314534609, - "angularVelocity": 0.2780334345197194, - "velocityX": -1.977712643939939, - "velocityY": -0.2247354104896387, - "timestamp": 3.9175771558529506 - }, - { - "x": 7.67050898299837, - "y": 7.412114877207367, - "heading": 0.10042896288120143, - "angularVelocity": 0.33802822977662045, - "velocityX": -2.4233406288106867, - "velocityY": -0.2732866680768997, - "timestamp": 4.006582029072377 - }, - { - "x": 7.415156807690052, - "y": 7.383469637350721, - "heading": 0.13585471703065086, - "angularVelocity": 0.3980203877389177, - "velocityX": -2.868968474105785, - "velocityY": -0.32183900521969433, - "timestamp": 4.095586902291804 - }, - { - "x": 7.120141594133794, - "y": 7.3505028936813765, - "heading": 0.17661886572392485, - "angularVelocity": 0.4579990647565643, - "velocityX": -3.3145961887833577, - "velocityY": -0.3703925692705661, - "timestamp": 4.1845917755112305 - }, - { - "x": 6.785463358951232, - "y": 7.313214529440678, - "heading": 0.22271869503122552, - "angularVelocity": 0.5179472498505698, - "velocityX": -3.760223716711196, - "velocityY": -0.41894744514460663, - "timestamp": 4.273596648730657 - }, - { - "x": 6.416287568987691, - "y": 7.272992388341639, - "heading": 0.22271870098656174, - "angularVelocity": 6.691022668474205e-8, - "velocityX": -4.147815469085613, - "velocityY": -0.4519094252275243, - "timestamp": 4.362601521950084 - }, - { - "x": 6.047111765662118, - "y": 7.23277036988053, - "heading": 0.22271870694119197, - "angularVelocity": 6.690229418173721e-8, - "velocityX": -4.147815619212581, - "velocityY": -0.45190804734868706, - "timestamp": 4.45160639516951 - }, - { - "x": 5.677935962336312, - "y": 7.192548351421557, - "heading": 0.2227187128958224, - "angularVelocity": 6.690229646932938e-8, - "velocityX": -4.147815619215196, - "velocityY": -0.4519080473246947, - "timestamp": 4.540611268388937 - }, - { - "x": 5.308760159179192, - "y": 7.1523263314145815, - "heading": 0.22271871885051556, - "angularVelocity": 6.690300149677752e-8, - "velocityX": -4.14781561731994, - "velocityY": -0.45190806471704004, - "timestamp": 4.629616141608364 - }, - { - "x": 4.95172334462196, - "y": 7.113363837104222, - "heading": 0.26186098038710365, - "angularVelocity": 0.43977661133328494, - "velocityX": -4.011429954818511, - "velocityY": -0.4377568654505472, - "timestamp": 4.71862101482779 - }, - { - "x": 4.634371149324796, - "y": 7.078745922791863, - "heading": 0.298994825826337, - "angularVelocity": 0.41721137389506785, - "velocityX": -3.5655597701351214, - "velocityY": -0.38894403261509003, - "timestamp": 4.807625888047217 - }, - { - "x": 4.356695054740775, - "y": 7.04846133521227, - "heading": 0.33239873644737333, - "angularVelocity": 0.37530428854928616, - "velocityX": -3.1197852942215483, - "velocityY": -0.3402576340391089, - "timestamp": 4.8966307612666435 - }, - { - "x": 4.118690995174019, - "y": 7.022506310788581, - "heading": 0.36150883332597666, - "angularVelocity": 0.3270618318486594, - "velocityX": -2.6740564977829604, - "velocityY": -0.2916135205282652, - "timestamp": 4.98563563448607 - }, - { - "x": 3.920356719586493, - "y": 7.000878984613713, - "heading": 0.3860461850811985, - "angularVelocity": 0.2756854862848816, - "velocityX": -2.228352992521715, - "velocityY": -0.2429903598823012, - "timestamp": 5.074640507705497 - }, - { - "x": 3.761690809946037, - "y": 6.983578248672895, - "heading": 0.4058447798824323, - "angularVelocity": 0.22244394138311574, - "velocityX": -1.782665419333746, - "velocityY": -0.19437964815888437, - "timestamp": 5.163645380924923 - }, - { - "x": 3.6426922923609206, - "y": 6.970603368729404, - "heading": 0.4207944348114755, - "angularVelocity": 0.16796445394835097, - "velocityX": -1.3369887881503466, - "velocityY": -0.14577718583457613, - "timestamp": 5.25265025414435 - }, - { - "x": 3.5633604552871434, - "y": 6.96195381979076, - "heading": 0.4308163573718641, - "angularVelocity": 0.11259970603723311, - "velocityX": -0.8913201514056183, - "velocityY": -0.09718062197920681, - "timestamp": 5.341655127363777 - }, - { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 0.05656512800009954, - "velocityX": -0.44565763879583925, - "velocityY": -0.04858853046969259, - "timestamp": 5.430660000583203 - }, - { - "x": 3.5236947536468506, - "y": 6.957629203796387, - "heading": 0.4358509294181536, - "angularVelocity": 2.3187600409607448e-34, - "velocityX": 8.587821702972382e-38, - "velocityY": -6.37949321426987e-35, - "timestamp": 5.51966487380263 - }, - { - "x": 3.4981907852535445, - "y": 6.959171009128305, - "heading": 0.43414511974191367, - "angularVelocity": -0.023955485407123896, - "velocityX": -0.3581641909877709, - "velocityY": 0.02165229547226729, - "timestamp": 5.590872350806317 - }, - { - "x": 3.447163439841886, - "y": 6.9618763780967905, - "heading": 0.43061513435289134, - "angularVelocity": -0.04957324058595087, - "velocityX": -0.7166009464008484, - "velocityY": 0.03799276539941486, - "timestamp": 5.662079827810005 - }, - { - "x": 3.3705950956832815, - "y": 6.965217875700377, - "heading": 0.4250963546953294, - "angularVelocity": -0.0775028113589279, - "velocityX": -1.075285172014165, - "velocityY": 0.046926218203375725, - "timestamp": 5.733287304813692 - }, - { - "x": 3.268479850300144, - "y": 6.968410265853386, - "heading": 0.41734484505981134, - "angularVelocity": -0.10885808571923827, - "velocityX": -1.4340522888888443, - "velocityY": 0.04483223233487215, - "timestamp": 5.80449478181738 - }, - { - "x": 3.1408606742750864, - "y": 6.970165746109482, - "heading": 0.4069638180486535, - "angularVelocity": -0.14578563162152638, - "velocityX": -1.7922159497161996, - "velocityY": 0.0246530326584347, - "timestamp": 5.875702258821067 - }, - { - "x": 2.9880041325771574, - "y": 6.968017435452493, - "heading": 0.39320539938068505, - "angularVelocity": -0.1932159268507158, - "velocityX": -2.1466361136487726, - "velocityY": -0.030169734238404296, - "timestamp": 5.946909735824755 - }, - { - "x": 2.8117081103383113, - "y": 6.955790976171788, - "heading": 0.3742865295560884, - "angularVelocity": -0.2656865629941792, - "velocityX": -2.475807733360894, - "velocityY": -0.17170190259756937, - "timestamp": 6.018117212828442 - }, - { - "x": 2.6309720516129818, - "y": 6.918497841369321, - "heading": 0.3475031077815749, - "angularVelocity": -0.3761321549579212, - "velocityX": -2.5381612483752334, - "velocityY": -0.5237249846745118, - "timestamp": 6.08932468983213 - }, - { - "x": 2.469422974905377, - "y": 6.864353486730698, - "heading": 0.31728480719726343, - "angularVelocity": -0.4243697692413224, - "velocityX": -2.2687094600927837, - "velocityY": -0.7603745690332492, - "timestamp": 6.160532166835817 - }, - { - "x": 2.330788464314718, - "y": 6.798904008310198, - "heading": 0.28558203833077617, - "angularVelocity": -0.4452168536296505, - "velocityX": -1.9469094598518244, - "velocityY": -0.9191377250609546, - "timestamp": 6.2317396438395045 - }, - { - "x": 2.216081577717413, - "y": 6.724482923135783, - "heading": 0.253182249347822, - "angularVelocity": -0.4550054340680616, - "velocityX": -1.610882612669526, - "velocityY": -1.045130206910173, - "timestamp": 6.302947120843192 - }, - { - "x": 2.1257318640380363, - "y": 6.642329996697514, - "heading": 0.22049812899291346, - "angularVelocity": -0.4589984328923238, - "velocityX": -1.2688234084560823, - "velocityY": -1.1537120804605343, - "timestamp": 6.374154597846879 - }, - { - "x": 2.0599685603073308, - "y": 6.553207990036717, - "heading": 0.18778194474716126, - "angularVelocity": -0.45944872115126584, - "velocityX": -0.923544921094458, - "velocityY": -1.2515821429283673, - "timestamp": 6.445362074850567 - }, - { - "x": 2.0189318656921387, - "y": 6.457632064819336, - "heading": 0.15520351501857022, - "angularVelocity": -0.45751416985191246, - "velocityX": -0.5762975510713191, - "velocityY": -1.3422175484806422, - "timestamp": 6.516569551854254 - }, - { - "x": 2.0058509114162586, - "y": 6.33174303037426, - "heading": 0.11577738147774351, - "angularVelocity": -0.4530545711235095, - "velocityX": -0.15031618870787897, - "velocityY": -1.4466192189656613, - "timestamp": 6.603592475920677 - }, - { - "x": 2.030140622426681, - "y": 6.1980996029655575, - "heading": 0.07717591617756428, - "angularVelocity": -0.44357812282561004, - "velocityX": 0.27911853423682637, - "velocityY": -1.5357266931951787, - "timestamp": 6.6906153999871 - }, - { - "x": 2.0922105845511805, - "y": 6.059051963304603, - "heading": 0.04016159510277028, - "angularVelocity": -0.42533989143529494, - "velocityX": 0.7132599000824538, - "velocityY": -1.5978277120959903, - "timestamp": 6.777638324053522 - }, - { - "x": 2.192436442718846, - "y": 5.919742066192084, - "heading": 0.006361238112608133, - "angularVelocity": -0.3884075070192219, - "velocityX": 1.1517178863257393, - "velocityY": -1.6008413714780172, - "timestamp": 6.864661248119945 - }, - { - "x": 2.3271366168791916, - "y": 5.796658714059874, - "heading": -0.01950608067342607, - "angularVelocity": -0.29724718013715956, - "velocityX": 1.547870007878992, - "velocityY": -1.4143784922495064, - "timestamp": 6.951684172186368 - }, - { - "x": 2.4520784823628263, - "y": 5.71035975208952, - "heading": -0.03518699005277558, - "angularVelocity": -0.18019285777366748, - "velocityX": 1.4357350873233088, - "velocityY": -0.9916807886676425, - "timestamp": 7.03870709625279 - }, - { - "x": 2.5494726928325897, - "y": 5.650429640070164, - "heading": -0.045206108063395034, - "angularVelocity": -0.11513193929190572, - "velocityX": 1.1191787855281121, - "velocityY": -0.6886704010728555, - "timestamp": 7.125730020319213 - }, - { - "x": 2.6155934972996713, - "y": 5.612350184030726, - "heading": -0.05121840972856573, - "angularVelocity": -0.06908871116054036, - "velocityX": 0.7598090408524236, - "velocityY": -0.4375795969619799, - "timestamp": 7.2127529443856355 - }, - { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": -0.031986325807191796, - "velocityX": 0.38409726580396053, - "velocityY": -0.21154164293807923, - "timestamp": 7.299775868452058 - }, - { - "x": 2.6490187644958496, - "y": 5.5939412117004395, - "heading": -0.05400195333044882, - "angularVelocity": 6.234499929812248e-37, - "velocityX": -5.954404820163517e-39, - "velocityY": 9.289786212484402e-40, - "timestamp": 7.386798792518481 - }, - { - "x": 2.62198431803652, - "y": 5.580043064925952, - "heading": -0.056108015333715296, - "angularVelocity": -0.02711578558662552, - "velocityX": -0.3480715441935303, - "velocityY": -0.1789402056558487, - "timestamp": 7.464468015729379 - }, - { - "x": 2.568262058390104, - "y": 5.551594493751894, - "heading": -0.06050672729633236, - "angularVelocity": -0.05663391213110331, - "velocityX": -0.6916801459510109, - "velocityY": -0.36627855922814373, - "timestamp": 7.542137238940277 - }, - { - "x": 2.4884227375874857, - "y": 5.507597880034233, - "heading": -0.06748444289191319, - "angularVelocity": -0.08983887448743955, - "velocityX": -1.0279402510029907, - "velocityY": -0.5664613588086967, - "timestamp": 7.619806462151175 - }, - { - "x": 2.383562784136071, - "y": 5.446350561790552, - "heading": -0.07753336707806786, - "angularVelocity": -0.129381031130805, - "velocityX": -1.3500837154851462, - "velocityY": -0.7885661232554546, - "timestamp": 7.697475685362073 - }, - { - "x": 2.256467478514415, - "y": 5.364400156526684, - "heading": -0.0916700546188319, - "angularVelocity": -0.1820114448985554, - "velocityX": -1.636366379982311, - "velocityY": -1.0551207013020436, - "timestamp": 7.775144908572971 - }, - { - "x": 2.119544018906857, - "y": 5.253743230346513, - "heading": -0.11255845223354533, - "angularVelocity": -0.26894047283045835, - "velocityX": -1.7629049699102062, - "velocityY": -1.4247203925253684, - "timestamp": 7.852814131783869 - }, - { - "x": 2.008778386029055, - "y": 5.127667150124761, - "heading": -0.13895169616586953, - "angularVelocity": -0.3398159894126605, - "velocityX": -1.426120003505583, - "velocityY": -1.6232437381202094, - "timestamp": 7.930483354994767 - }, - { - "x": 1.9284008413219034, - "y": 5.000788184781257, - "heading": -0.1672683067582648, - "angularVelocity": -0.36457955187096464, - "velocityX": -1.0348699444167093, - "velocityY": -1.6335809745255814, - "timestamp": 8.008152578205666 - }, - { - "x": 1.8781980407977803, - "y": 4.877626055058778, - "heading": -0.19630541946212163, - "angularVelocity": -0.37385609773656636, - "velocityX": -0.6463667132064052, - "velocityY": -1.5857262971209511, - "timestamp": 8.085821801416564 - }, - { - "x": 1.8578509725471128, - "y": 4.760208836139962, - "heading": -0.2255136021690484, - "angularVelocity": -0.3760586433009199, - "velocityX": -0.26197079627561504, - "velocityY": -1.5117599232322432, - "timestamp": 8.163491024627463 - }, - { - "x": 1.86711847782135, - "y": 4.649672508239746, - "heading": -0.2545830639623134, - "angularVelocity": -0.3742725959075389, - "velocityX": 0.11932017459570718, - "velocityY": -1.4231676760828684, - "timestamp": 8.241160247838362 - }, - { - "x": 1.9024658837216946, - "y": 4.551560652342133, - "heading": -0.28188511691074963, - "angularVelocity": -0.37015914188109383, - "velocityX": 0.4792374207355572, - "velocityY": -1.3301930245323257, - "timestamp": 8.314917856011137 - }, - { - "x": 1.9640237722001979, - "y": 4.461494718826653, - "heading": -0.3085593600606435, - "angularVelocity": -0.3616473447377832, - "velocityX": 0.8345971351769702, - "velocityY": -1.2211070253864846, - "timestamp": 8.388675464183912 - }, - { - "x": 2.051077126619584, - "y": 4.381509766483172, - "heading": -0.3340463436929941, - "angularVelocity": -0.3455505711715616, - "velocityX": 1.1802627088376656, - "velocityY": -1.0844298551021145, - "timestamp": 8.462433072356687 - }, - { - "x": 2.1615708290526574, - "y": 4.315732779500964, - "heading": -0.3571925535628894, - "angularVelocity": -0.3138145398597539, - "velocityX": 1.498065151112891, - "velocityY": -0.8917993494058019, - "timestamp": 8.536190680529462 - }, - { - "x": 2.285578310541265, - "y": 4.273764739768483, - "heading": -0.3750653368614216, - "angularVelocity": -0.2423178264765015, - "velocityX": 1.681283932067371, - "velocityY": -0.5689994669319045, - "timestamp": 8.609948288702236 - }, - { - "x": 2.3925342430815864, - "y": 4.253189783587575, - "heading": -0.3864443630006571, - "angularVelocity": -0.1542759644887136, - "velocityX": 1.4501003379852107, - "velocityY": -0.2789536793643197, - "timestamp": 8.683705896875011 - }, - { - "x": 2.473959082909401, - "y": 4.2425466442092885, - "heading": -0.39377914827365895, - "angularVelocity": -0.09944445671042275, - "velocityX": 1.1039517392847038, - "velocityY": -0.14429886817039247, - "timestamp": 8.757463505047786 - }, - { - "x": 2.528516353801377, - "y": 4.237309273601869, - "heading": -0.3981937238226007, - "angularVelocity": -0.059852477029905565, - "velocityX": 0.7396832983544896, - "velocityY": -0.07100786938686426, - "timestamp": 8.831221113220561 - }, - { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": -0.027749812663341342, - "velocityX": 0.3706654528734074, - "velocityY": -0.027066155765340248, - "timestamp": 8.904978721393336 - }, - { - "x": 2.5558557510375977, - "y": 4.2353129386901855, - "heading": -0.40024048363189135, - "angularVelocity": 4.4259744873179585e-39, - "velocityX": 1.5602548377328346e-41, - "velocityY": -1.5730056958393183e-40, - "timestamp": 8.978736329566111 - } - ] + "samples": [ + { + "x": 0.7257580161094666, + "y": 6.734513759613037, + "heading": 1.0489622146743895, + "angularVelocity": 3.560702415747362e-20, + "velocityX": 4.6566650472109595e-20, + "velocityY": -7.67851253430759e-20, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.7349458263056264, + "y": 6.736901005461545, + "heading": 1.0410313626853176, + "angularVelocity": -0.1560265308045545, + "velocityX": 0.1807551260032127, + "velocityY": 0.04696515436594876, + "moduleForcesX": [ + 67.77863741281475, + 69.7513107771417, + 58.31129286497225, + 67.62014116586165 + ], + "moduleForcesY": [ + 17.365581723918066, + -5.3491955198116745, + 38.6469404285886, + 17.791188373677336 + ], + "timestamp": 0.05083015015572263 + }, + { + "x": 0.7533353282744589, + "y": 6.741645801074208, + "heading": 1.0252632621160425, + "angularVelocity": -0.3102115677598463, + "velocityX": 0.3617833493015562, + "velocityY": 0.09334608688210272, + "moduleForcesX": [ + 67.88931883004255, + 69.744142742904, + 58.65730553318063, + 67.56867071865554 + ], + "moduleForcesY": [ + 16.915322509522433, + -5.391641331723364, + 38.11335989119491, + 17.965935729450656 + ], + "timestamp": 0.10166030031144525 + }, + { + "x": 0.7809416903717791, + "y": 6.748714774696191, + "heading": 1.0017587966777615, + "angularVelocity": -0.4624118828347558, + "velocityX": 0.5431099851708912, + "velocityY": 0.1390704847481553, + "moduleForcesX": [ + 68.0329904118336, + 69.73329960566443, + 59.063467603884355, + 67.46463433257982 + ], + "moduleForcesY": [ + 16.313180905742954, + -5.472059002398743, + 37.473728412643496, + 18.331188053012433 + ], + "timestamp": 0.1524904504671679 + }, + { + "x": 0.8177816600322735, + "y": 6.758069546838051, + "heading": 0.9706262907054911, + "angularVelocity": -0.612481093935258, + "velocityX": 0.7247660994040371, + "velocityY": 0.18403982898339327, + "moduleForcesX": [ + 68.20490844544075, + 69.71970691689772, + 59.534131096356596, + 67.31587987124801 + ], + "moduleForcesY": [ + 15.560935496648787, + -5.575405126367415, + 36.71326865136854, + 18.8467036246637 + ], + "timestamp": 0.2033206006228905 + }, + { + "x": 0.8638739713004835, + "y": 6.76966501688917, + "heading": 0.9319827137656648, + "angularVelocity": -0.7602491202846798, + "velocityX": 0.9067907752982476, + "velocityY": 0.228121892530428, + "moduleForcesX": [ + 68.39934278900921, + 69.70462099333616, + 60.07461323199193, + 67.13324992952326 + ], + "moduleForcesY": [ + 14.660553806044058, + -5.682696465093023, + 35.812569508315455, + 19.461811247926164 + ], + "timestamp": 0.25415075077861315 + }, + { + "x": 0.9192399416661748, + "y": 6.783447148737343, + "heading": 0.8859573541419334, + "angularVelocity": -0.9054736112863842, + "velocityX": 1.0892348379078312, + "velocityY": 0.2711408840214287, + "moduleForcesX": [ + 68.60960804762239, + 69.689700498591, + 60.690950974422464, + 66.93284858664386 + ], + "moduleForcesY": [ + 13.614388714702265, + -5.770692032769962, + 34.74656641160418, + 20.112484046049627 + ], + "timestamp": 0.3049809009343358 + }, + { + "x": 0.983904335689352, + "y": 6.799350088787072, + "heading": 0.8326997886428025, + "angularVelocity": -1.047755423424321, + "velocityX": 1.2721661026977942, + "velocityY": 0.31286431381795593, + "moduleForcesX": [ + 68.82809666723472, + 69.67700457197292, + 61.38970807052022, + 66.73842504792154 + ], + "moduleForcesY": [ + 12.425447395390638, + -5.811649731489452, + 33.48272964945166, + 20.717861347413503 + ], + "timestamp": 0.3558110510900584 + }, + { + "x": 1.0578965645735279, + "y": 6.817292354030373, + "heading": 0.7723943696459228, + "angularVelocity": -1.1864104042999828, + "velocityX": 1.455675984775156, + "velocityY": 0.3529846988122497, + "moduleForcesX": [ + 69.04632112438263, + 69.66883997055368, + 62.17787914764026, + 66.58356333887164 + ], + "moduleForcesY": [ + 11.097735094979605, + -5.773410206096803, + 31.977820693120183, + 21.175709622164334 + ], + "timestamp": 0.406641201245781 + }, + { + "x": 1.1412522629439987, + "y": 6.837171621279716, + "heading": 0.7052838154932164, + "angularVelocity": -1.320290299106089, + "velocityX": 1.6398869197726833, + "velocityY": 0.3910920425859111, + "moduleForcesX": [ + 69.25497535877996, + 69.66734661071521, + 63.06292746531208, + 66.51318061121054 + ], + "moduleForcesY": [ + 9.636630643387315, + -5.620327973735599, + 30.1719392739009, + 21.35548555877683 + ], + "timestamp": 0.45747135140150363 + }, + { + "x": 1.2340152225584982, + "y": 6.858857202651076, + "heading": 0.6317049758954995, + "angularVelocity": -1.4475432272440991, + "velocityX": 1.824959385921857, + "velocityY": 0.42662831616502395, + "moduleForcesX": [ + 69.444018645729, + 69.67369247131353, + 64.05292850950586, + 66.58352348252478 + ], + "moduleForcesY": [ + 8.049134648562669, + -5.316043074696186, + 27.977102676235553, + 21.086045022043404 + ], + "timestamp": 0.5083015015572263 + }, + { + "x": 1.336239525446417, + "y": 6.882178327439258, + "heading": 0.5521410726482914, + "angularVelocity": -1.5652895575452175, + "velocityX": 2.0110958274716717, + "velocityY": 0.4588049556559801, + "moduleForcesX": [ + 69.60274338725351, + 69.68680091789643, + 65.15644802145972, + 66.85897841873941 + ], + "moduleForcesY": [ + 6.343547834057763, + -4.829874363738353, + 25.25390648361354, + 20.131792157686757 + ], + "timestamp": 0.559131651712949 + }, + { + "x": 1.4479913432769729, + "y": 6.906904206622588, + "heading": 0.46729855991002156, + "angularVelocity": -1.6691375586801804, + "velocityX": 2.1985340882956748, + "velocityY": 0.48644119892593296, + "moduleForcesX": [ + 69.71964032829244, + 69.70176512572654, + 66.38013506405288, + 67.40090950193512 + ], + "moduleForcesY": [ + 4.5273936612622405, + -4.149849209526449, + 21.75973717517193, + 18.14419205678952 + ], + "timestamp": 0.6099618018686717 + }, + { + "x": 1.5693485685544746, + "y": 6.932706789834332, + "heading": 0.3782286281659802, + "angularVelocity": -1.752305107719883, + "velocityX": 2.3875047566400416, + "velocityY": 0.5076235882186242, + "moduleForcesX": [ + 69.78137648646972, + 69.70863030950251, + 67.71384580705609, + 68.23217282016584 + ], + "moduleForcesY": [ + 2.6001234895423515, + -3.3072145051316206, + 17.02105149641646, + 14.560635914807682 + ], + "timestamp": 0.6607919520243943 + }, + { + "x": 1.7003910118077161, + "y": 6.959083901483894, + "heading": 0.2865508313656539, + "angularVelocity": -1.803610583865349, + "velocityX": 2.578045566494773, + "velocityY": 0.5189264947822261, + "moduleForcesX": [ + 69.76826577227244, + 69.6928342321807, + 69.04667853650925, + 69.21682182751653 + ], + "moduleForcesY": [ + 0.528452765417669, + -2.4199848787536267, + 9.972415679659024, + 8.393777220370682 + ], + "timestamp": 0.711622102180117 + }, + { + "x": 1.84114642080487, + "y": 6.985181493560528, + "heading": 0.1949723701363114, + "angularVelocity": -1.8016563191095023, + "velocityX": 2.769132268268646, + "velocityY": 0.5134274047327988, + "moduleForcesX": [ + 69.63335245704607, + 69.6374894894225, + 69.6223806720665, + 69.62704779671014 + ], + "moduleForcesY": [ + -1.852656254437238, + -1.767437912661004, + -2.241176440831389, + -2.1539812823707956 + ], + "timestamp": 0.7624522523358397 + }, + { + "x": 1.9912773872627136, + "y": 7.009348952729066, + "heading": 0.10890055756168962, + "angularVelocity": -1.6933220207088358, + "velocityX": 2.9535810143766064, + "velocityY": 0.47545519921733215, + "moduleForcesX": [ + 69.1558577068949, + 69.51726830085234, + 63.4802043496292, + 66.69172357283001 + ], + "moduleForcesY": [ + -5.449071998499246, + -1.9100006415356654, + -28.162729429046532, + -19.824953357920638 + ], + "timestamp": 0.8132824024915624 + }, + { + "x": 2.148503261513255, + "y": 7.028632606627301, + "heading": 0.03810348776957061, + "angularVelocity": -1.3928164598220931, + "velocityX": 3.0931617114816445, + "velocityY": 0.37937432486752937, + "moduleForcesX": [ + 62.33433984737214, + 69.22493314014443, + 18.47942017317723, + 53.40850196881618 + ], + "moduleForcesY": [ + -24.913568038547456, + -3.8848383845555645, + -66.76509661276566, + -44.48010469413392 + ], + "timestamp": 0.864112552647285 + }, + { + "x": 2.3056499972911815, + "y": 7.042846888400874, + "heading": 0.004373222221168522, + "angularVelocity": -0.6635877613004575, + "velocityX": 3.091604791575267, + "velocityY": 0.2796427264138993, + "moduleForcesX": [ + -68.30025985333138, + 68.1190249450903, + -29.985030040340245, + 27.896961280069764 + ], + "moduleForcesY": [ + -9.268114697353543, + -9.678704097035373, + -62.7360059984554, + -63.68193116553009 + ], + "timestamp": 0.9149427028030077 + }, + { + "x": 2.460571050643921, + "y": 7.051084518432617, + "heading": -2.5476855649038215e-19, + "angularVelocity": -0.08603598863609044, + "velocityX": 3.0478181330986445, + "velocityY": 0.1620618866263923, + "moduleForcesX": [ + -69.408603959649, + 47.22818658385306, + -45.65746662582352, + 4.016216422047481 + ], + "moduleForcesY": [ + -4.392025131847485, + -44.823034450385144, + -52.672960264834764, + -69.49307046042028 + ], + "timestamp": 0.9657728529587304 + }, + { + "x": 2.6339413968023475, + "y": 7.054256789624725, + "heading": 0.019203300499829927, + "angularVelocity": 0.3196930791555915, + "velocityX": 2.886238217130867, + "velocityY": 0.052811397984757445, + "moduleForcesX": [ + -69.66803284504324, + -66.90230204431042, + -51.3271112404498, + -11.395749457319827 + ], + "moduleForcesY": [ + -3.669851433002323, + -14.937084837112758, + -47.342567439179255, + -68.80040546374998 + ], + "timestamp": 1.0258407798295648 + }, + { + "x": 2.7954059823990316, + "y": 7.052640165014191, + "heading": 0.05483010099103128, + "angularVelocity": 0.5931085413986503, + "velocityX": 2.688033265138227, + "velocityY": -0.026913274599785732, + "moduleForcesX": [ + -69.67163579849694, + -69.4291811112016, + -60.04175276669746, + -45.324064850652 + ], + "moduleForcesY": [ + -4.497652317821833, + -5.157912474702854, + -35.67144532737477, + -53.0056611861017 + ], + "timestamp": 1.0859087067003992 + }, + { + "x": 2.943837465947747, + "y": 7.0479371514642235, + "heading": 0.09905123347729747, + "angularVelocity": 0.7361854285625014, + "velocityX": 2.471060535647882, + "velocityY": -0.07829492035061607, + "moduleForcesX": [ + -69.69231623650948, + -69.68164005594598, + -65.47427288406016, + -62.76664335513325 + ], + "moduleForcesY": [ + -4.695747707667005, + -3.796274322744726, + -24.3499460738395, + -30.53232142224293 + ], + "timestamp": 1.1459766335712336 + }, + { + "x": 3.078822485301576, + "y": 7.041413339390925, + "heading": 0.14702705067066513, + "angularVelocity": 0.7986927415779024, + "velocityX": 2.2472062277778373, + "velocityY": -0.10860724538282249, + "moduleForcesX": [ + -69.72818603065281, + -69.7596079015204, + -68.38859769957736, + -68.22624212789155 + ], + "moduleForcesY": [ + -4.504269469792757, + -3.5778058967556476, + -14.32746694542038, + -14.977778291346095 + ], + "timestamp": 1.206044560442068 + }, + { + "x": 3.2002272413081156, + "y": 7.033942900091201, + "heading": 0.19568354071036723, + "angularVelocity": 0.8100244602136751, + "velocityX": 2.0211244557781205, + "velocityY": -0.12436652451445952, + "moduleForcesX": [ + -69.77434380275785, + -69.78583366938213, + -69.6376533540184, + -69.65216445919802 + ], + "moduleForcesY": [ + -4.025507414245834, + -3.7596029666501343, + -5.933180956814421, + -5.719254965505536 + ], + "timestamp": 1.2661124873129024 + }, + { + "x": 3.3080238664731816, + "y": 7.0261472273408945, + "heading": 0.24287978929626794, + "angularVelocity": 0.7857146241685362, + "velocityX": 1.7945787507678763, + "velocityY": -0.12978095227254638, + "moduleForcesX": [ + -69.8239122086594, + -69.7886520228163, + -69.89916016537913, + -69.91048737749132 + ], + "moduleForcesY": [ + -3.3282449419012328, + -4.106012047192674, + 0.878821020380172, + -0.12273689529457388 + ], + "timestamp": 1.3261804141837368 + }, + { + "x": 3.4022269153277565, + "y": 7.018484956229672, + "heading": 0.28703597691860205, + "angularVelocity": 0.7351042381949414, + "velocityX": 1.5682753469608157, + "velocityY": -0.1275601058728031, + "moduleForcesX": [ + -69.86945425825346, + -69.77873168375358, + -69.63079148515935, + -69.84437925254852 + ], + "moduleForcesY": [ + -2.476081074443016, + -4.5139716223726305, + 6.323043583788949, + 3.4062083090534006 + ], + "timestamp": 1.3862483410545712 + }, + { + "x": 3.4828675798920314, + "y": 7.011305779541126, + "heading": 0.3269486683719763, + "angularVelocity": 0.6644592802278575, + "velocityX": 1.3424912222735663, + "velocityY": -0.11951763715744827, + "moduleForcesX": [ + -69.90481971910265, + -69.76168758297744, + -69.11151930555599, + -69.70484951130506 + ], + "moduleForcesY": [ + -1.530159222254555, + -4.93017836808145, + 10.654158846675301, + 5.725785899615416 + ], + "timestamp": 1.4463162679254056 + }, + { + "x": 3.5499824318742017, + "y": 7.004883816268423, + "heading": 0.3616813159505086, + "angularVelocity": 0.5782228451669209, + "velocityX": 1.1173159367806609, + "velocityY": -0.10691168494151992, + "moduleForcesX": [ + -69.92630545679408, + -69.74116847936006, + -68.49902504941353, + -69.56543288443771 + ], + "moduleForcesY": [ + -0.5490408840169897, + -5.324820377603457, + 14.108140021647282, + 7.3139438361029105 + ], + "timestamp": 1.50638419479624 + }, + { + "x": 3.603608456549921, + "y": 6.999439143018714, + "heading": 0.39049082373098204, + "angularVelocity": 0.479615483358086, + "velocityX": 0.8927563754785365, + "velocityY": -0.09064193710928861, + "moduleForcesX": [ + -69.93313236611834, + -69.71979888800568, + -67.87606438356872, + -69.44350000630614 + ], + "moduleForcesY": [ + 0.41222223331554775, + -5.68083514756751, + 16.88297042084433, + 8.452802557587079 + ], + "timestamp": 1.5664521216670744 + }, + { + "x": 3.6437809828914665, + "y": 6.9951521091089965, + "heading": 0.41277534215156864, + "angularVelocity": 0.370988638720721, + "velocityX": 0.6687849645276798, + "velocityY": -0.07136976641343479, + "moduleForcesX": [ + -69.92731442009801, + -69.69954529689043, + -67.28177950622583, + -69.33842985840653 + ], + "moduleForcesY": [ + 1.3031874978566107, + -5.988417121750673, + 19.137047887565245, + 9.318539957354051 + ], + "timestamp": 1.6265200485379088 + }, + { + "x": 3.6705329637424313, + "y": 6.992173078054131, + "heading": 0.4280363632647725, + "angularVelocity": 0.2540627237896862, + "velocityX": 0.44536214656613415, + "velocityY": -0.04959437107378946, + "moduleForcesX": [ + -69.9130518494196, + -69.68191935114989, + -66.73116533462952, + -69.24429616335611 + ], + "moduleForcesY": [ + 2.078832643850339, + -6.241695964940187, + 20.993959211074248, + 10.026747774671946 + ], + "timestamp": 1.6865879754087432 + }, + { + "x": 3.683894872665399, + "y": 6.990629196166991, + "heading": 0.4358509294181536, + "angularVelocity": 0.1300954862348575, + "velocityX": 0.22244664697179467, + "velocityY": -0.025702266876332338, + "moduleForcesX": [ + -69.89582398543321, + -69.66813097066651, + -66.22664834740131, + -69.15410126557099 + ], + "moduleForcesY": [ + 2.6999001640317095, + -6.436502596457702, + 22.548639741530515, + 10.656561967561206 + ], + "timestamp": 1.7466559022795776 + }, + { + "x": 3.6838948726654057, + "y": 6.990629196166992, + "heading": 0.4358509294181536, + "angularVelocity": -1.2333730839117325e-17, + "velocityX": -6.570442047017082e-17, + "velocityY": -1.2245938174983995e-17, + "moduleForcesX": [ + -69.88135144913926, + -69.65921540442886, + -65.76480592283446, + -69.06104743816472 + ], + "moduleForcesY": [ + 3.132841893627689, + -6.568777063483323, + 23.87300716655661, + 11.2641878346189 + ], + "timestamp": 1.806723829150412 + }, + { + "x": 3.71273337002331, + "y": 6.993769042202617, + "heading": 0.4322417831610391, + "angularVelocity": -0.04117610957236326, + "velocityX": 0.32901330189513284, + "velocityY": 0.03582194658026348, + "moduleForcesX": [ + 69.71453698773938, + 69.83668466139216, + 69.1781482564392, + 69.37129180692132 + ], + "moduleForcesY": [ + 6.089460309970175, + 4.442994489214546, + 10.558732888487562, + 9.187548735499222 + ], + "timestamp": 1.8943752924530006 + }, + { + "x": 3.770409215130021, + "y": 7.0000485322545165, + "heading": 0.4250342548927282, + "angularVelocity": -0.082229411772068, + "velocityX": 0.6580134881043975, + "velocityY": 0.07164158833924725, + "moduleForcesX": [ + 69.71304944827605, + 69.83226933522268, + 69.17835779110943, + 69.36589901796629 + ], + "moduleForcesY": [ + 6.0725506387521495, + 4.462841126281095, + 10.537489447174165, + 9.203907045587357 + ], + "timestamp": 1.9820267557555893 + }, + { + "x": 3.8569210246227765, + "y": 7.009467420765238, + "heading": 0.4142408084540222, + "angularVelocity": -0.12314051622250871, + "velocityX": 0.9869978918480096, + "velocityY": 0.10745842860789051, + "moduleForcesX": [ + 69.71177894382569, + 69.82676570837756, + 69.17911035040915, + 69.35858035685686 + ], + "moduleForcesY": [ + 6.046217868182784, + 4.489628757385104, + 10.50867498275736, + 9.229898671296848 + ], + "timestamp": 2.069678219058178 + }, + { + "x": 3.9722671042293993, + "y": 7.022025405686271, + "heading": 0.3998763606111116, + "angularVelocity": -0.16388143793294585, + "velocityX": 1.3159629657890046, + "velocityY": 0.14327182281074755, + "moduleForcesX": [ + 69.71046021314075, + 69.8198974741911, + 69.18031501059886, + 69.34922401848952 + ], + "moduleForcesY": [ + 6.011100927364985, + 4.524225520867054, + 10.471500531532943, + 9.264680490040897 + ], + "timestamp": 2.1573296823607664 + }, + { + "x": 4.116445332756477, + "y": 7.037722109071731, + "heading": 0.3819594007871098, + "angularVelocity": -0.20441141709414523, + "velocityX": 1.6449038395231168, + "velocityY": 0.17908090515840447, + "moduleForcesX": [ + 69.70870186807899, + 69.81125494245507, + 69.18182561862704, + 69.33765890291046 + ], + "moduleForcesY": [ + 5.968117835101205, + 4.56785613497144, + 10.424845294908108, + 9.307043580800269 + ], + "timestamp": 2.244981145663355 + }, + { + "x": 4.289452979479908, + "y": 7.056557046748935, + "heading": 0.3605137253969059, + "angularVelocity": -0.244669907178129, + "velocityX": 1.9738135589053831, + "velocityY": 0.2148844636088314, + "moduleForcesX": [ + 69.70590325334047, + 69.80020676267723, + 69.1833898066419, + 69.32360808819374 + ], + "moduleForcesY": [ + 5.918622597660823, + 4.6222581528834485, + 10.36710030631063, + 9.355212678388979 + ], + "timestamp": 2.3326326089659433 + }, + { + "x": 4.491286398898758, + "y": 7.078529577887164, + "heading": 0.3355712760338317, + "angularVelocity": -0.284563981288573, + "velocityX": 2.3026816873889038, + "velocityY": 0.25068071097614525, + "moduleForcesX": [ + 69.7010882476608, + 69.78572381037138, + 69.18454768855949, + 69.30659318300002 + ], + "moduleForcesY": [ + 5.864708408463554, + 4.689995025084493, + 10.295852357677372, + 9.406458202834528 + ], + "timestamp": 2.4202840722685317 + }, + { + "x": 4.72194047948587, + "y": 7.103638814434407, + "heading": 0.30717713963622795, + "angularVelocity": -0.3239436665155743, + "velocityX": 2.6314914993572556, + "velocityY": 0.28646682669538603, + "moduleForcesX": [ + 69.6925396842738, + 69.76599278747592, + 69.1844092905459, + 69.28571874852986 + ], + "moduleForcesY": [ + 5.809852834739107, + 4.775141601596265, + 10.207186094205664, + 9.45626962121508 + ], + "timestamp": 2.50793553557112 + }, + { + "x": 4.981407536663346, + "y": 7.131883439918011, + "heading": 0.27539929869654756, + "angularVelocity": -0.36254775154275365, + "velocityX": 2.960213639374207, + "velocityY": 0.322237922998781, + "moduleForcesX": [ + 69.67688532859252, + 69.73745332066291, + 69.18109511388192, + 69.25912145298439 + ], + "moduleForcesY": [ + 5.7604772736185055, + 4.884973622706237, + 10.093948961885644, + 9.496355033319919 + ], + "timestamp": 2.5955869988737086 + }, + { + "x": 5.2696747157392645, + "y": 7.16326128562478, + "heading": 0.24035065522211263, + "angularVelocity": -0.3998637575913615, + "velocityX": 3.2887891224683043, + "velocityY": 0.35798427688638956, + "moduleForcesX": [ + 69.64635558661865, + 69.69192233776894, + 69.17003460606135, + 69.22227995512395 + ], + "moduleForcesY": [ + 5.730443281301375, + 5.034890855188263, + 9.940638314864696, + 9.508868750173416 + ], + "timestamp": 2.683238462176297 + }, + { + "x": 5.586716138880711, + "y": 7.197768052856348, + "heading": 0.20225188541422048, + "angularVelocity": -0.43466210799589455, + "velocityX": 3.6170693698905665, + "velocityY": 0.3936815876171607, + "moduleForcesX": [ + 69.57781874992129, + 69.605182715032, + 69.13698178086617, + 69.16105934245041 + ], + "moduleForcesY": [ + 5.758012435342232, + 5.267022460386698, + 9.703722345613507, + 9.444629908661236 + ], + "timestamp": 2.7708899254788855 + }, + { + "x": 5.9324531112108065, + "y": 7.235390868816565, + "heading": 0.16171327180801012, + "angularVelocity": -0.4624978531895408, + "velocityX": 3.9444518014951417, + "velocityY": 0.42923203496321854, + "moduleForcesX": [ + 69.35626504333894, + 69.3586338077277, + 69.00654865041916, + 69.00071035003579 + ], + "moduleForcesY": [ + 6.010802975722171, + 5.764112803627707, + 9.186140262800697, + 9.088193864055215 + ], + "timestamp": 2.858541388781474 + }, + { + "x": 6.2926420964452054, + "y": 7.274075652929757, + "heading": 0.15157699660263166, + "angularVelocity": -0.11564296616882144, + "velocityX": 4.109332253703932, + "velocityY": 0.4413478412785149, + "moduleForcesX": [ + 25.537064957076705, + 41.00537243316871, + 29.11935463558539, + 43.70449680930129 + ], + "moduleForcesY": [ + 15.828177890064387, + 15.180857782711717, + -13.666358408251787, + -7.101712130054797 + ], + "timestamp": 2.9461928520840623 + }, + { + "x": 6.624248322845389, + "y": 7.309626417621327, + "heading": 0.13319905519758488, + "angularVelocity": -0.2096706741961522, + "velocityX": 3.783236627369623, + "velocityY": 0.40559236950706384, + "moduleForcesX": [ + -68.21902670144136, + -68.40055716844928, + -69.48817624197339, + -69.52671710457663 + ], + "moduleForcesY": [ + -13.298529207278651, + -12.732972381357325, + -1.5459528553622264, + -2.645093708981668 + ], + "timestamp": 3.033844315386651 + }, + { + "x": 6.927080093084878, + "y": 7.342033964811542, + "heading": 0.1130003467841554, + "angularVelocity": -0.23044348208515422, + "velocityX": 3.4549539599975154, + "velocityY": 0.36973195847855655, + "moduleForcesX": [ + -69.23203983580204, + -69.24348674640966, + -69.50243337404267, + -69.50512811055788 + ], + "moduleForcesY": [ + -8.810697601535882, + -8.779904880684507, + -6.3340506588483585, + -6.386595610487957 + ], + "timestamp": 3.121495778689239 + }, + { + "x": 7.2011011395793485, + "y": 7.371297846140624, + "heading": 0.09291393068206928, + "angularVelocity": -0.22916235901991489, + "velocityX": 3.1262575222811884, + "velocityY": 0.33386643218757106, + "moduleForcesX": [ + -69.46667416771255, + -69.46614249449486, + -69.45029242198363, + -69.44972109291177 + ], + "moduleForcesY": [ + -7.502648786689982, + -7.504777541699824, + -7.652850116721613, + -7.655296015765889 + ], + "timestamp": 3.2091472419918277 + }, + { + "x": 7.446297565391449, + "y": 7.397418251797731, + "heading": 0.07387351298521018, + "angularVelocity": -0.21722874872059053, + "velocityX": 2.7974025370454743, + "velocityY": 0.29800307574099766, + "moduleForcesX": [ + -69.57075046529391, + -69.56534099979022, + -69.42005979690991, + -69.410692250771 + ], + "moduleForcesY": [ + -6.861319369881006, + -6.894984974339123, + -8.248169615507683, + -8.309264425853886 + ], + "timestamp": 3.296798705294416 + }, + { + "x": 7.6626622891867795, + "y": 7.420395426184484, + "heading": 0.05642928300350079, + "angularVelocity": -0.1990181261593979, + "velocityX": 2.4684667618915634, + "velocityY": 0.2621425076174404, + "moduleForcesX": [ + -69.63002597610446, + -69.62031340853349, + -69.40240709274255, + -69.38238524619528 + ], + "moduleForcesY": [ + -6.471315208043858, + -6.548228040704689, + -8.575674900339447, + -8.716163388086882 + ], + "timestamp": 3.3844501685970045 + }, + { + "x": 7.85019109185393, + "y": 7.440229588696638, + "heading": 0.040943874136283614, + "angularVelocity": -0.1766702834574549, + "velocityX": 2.139482851707337, + "velocityY": 0.22628444254436803, + "moduleForcesX": [ + -69.66857517919223, + -69.65472901831329, + -69.39166578908956, + -69.36084818857024 + ], + "moduleForcesY": [ + -6.204896728591403, + -6.33027260691344, + -8.776739977248619, + -8.997356504502584 + ], + "timestamp": 3.472101631899593 + }, + { + "x": 8.008881198620822, + "y": 7.456920925222343, + "heading": 0.027674247615156862, + "angularVelocity": -0.15139081563579526, + "velocityX": 1.8104672847659318, + "velocityY": 0.1904284982485763, + "moduleForcesX": [ + -69.69573981019354, + -69.67808923245292, + -69.38484210842434, + -69.34390510673202 + ], + "moduleForcesY": [ + -6.009873066579622, + -6.183290333248185, + -8.909835655533838, + -9.20447416091814 + ], + "timestamp": 3.5597530952021814 + }, + { + "x": 8.138730656467962, + "y": 7.47046959168678, + "heading": 0.016811986078443926, + "angularVelocity": -0.12392561547032095, + "velocityX": 1.4814294359829043, + "velocityY": 0.1545743328562974, + "moduleForcesX": [ + -69.71589432518516, + -69.69494957561433, + -69.38025120423755, + -69.33031502620337 + ], + "moduleForcesY": [ + -5.860980697776712, + -6.078102085587032, + -9.003686956057797, + -9.363199846938034 + ], + "timestamp": 3.64740455850477 + }, + { + "x": 8.239738021219495, + "y": 7.480875718937656, + "heading": 0.008505437312675418, + "angularVelocity": -0.09476794171751635, + "velocityX": 1.1523751110398692, + "velocityY": 0.11872166031172489, + "moduleForcesX": [ + -69.73135827520098, + -69.70777259127858, + -69.37687634602958, + -69.31932950157875 + ], + "moduleForcesY": [ + -5.744515132725714, + -5.998296381678699, + -9.074143024286755, + -9.487753208307007 + ], + "timestamp": 3.7350560218073583 + }, + { + "x": 8.311902184453807, + "y": 7.488139416952656, + "heading": 0.002872897499114873, + "angularVelocity": -0.06426064781227825, + "velocityX": 0.8233081401421045, + "velocityY": 0.08287024244503012, + "moduleForcesX": [ + -69.74347498658074, + -69.71800950414341, + -69.37406685483414, + -69.31047444510509 + ], + "moduleForcesY": [ + -5.652412851856778, + -5.933885535828861, + -9.130710729391835, + -9.58663810517636 + ], + "timestamp": 3.8227074851099467 + }, + { + "x": 8.355222270363383, + "y": 7.492260778096745, + "heading": 0.000010950669769954884, + "angularVelocity": -0.032651443814858405, + "velocityX": 0.49423117739604394, + "velocityY": 0.047019878379535446, + "moduleForcesX": [ + -69.75307447116944, + -69.72657218899666, + -69.37138630208933, + -69.30343850401141 + ], + "moduleForcesY": [ + -5.57964088235884, + -5.878423935764105, + -9.179457981409767, + -9.665233690312343 + ], + "timestamp": 3.910358948412535 + }, + { + "x": 8.369697570800781, + "y": 7.493239879608154, + "heading": -7.881566464442485e-17, + "angularVelocity": -0.00012493424911430998, + "velocityX": 0.1651461355340438, + "velocityY": 0.011170395499135654, + "moduleForcesX": [ + -69.76069461760781, + -69.73406157099639, + -69.36853113928332, + -69.29801306438992 + ], + "moduleForcesY": [ + -5.522924451656715, + -5.827567505462022, + -9.224441463987754, + -9.727078241229938 + ], + "timestamp": 3.9980104117151236 + }, + { + "x": 8.352737612293208, + "y": 7.490760179168994, + "heading": 0.0032539733490376203, + "angularVelocity": 0.03509913671143355, + "velocityX": -0.18293939084003222, + "velocityY": -0.0267474055210394, + "moduleForcesX": [ + -69.76831890123296, + -69.74271198362243, + -69.36683877294385, + -69.29588021869304 + ], + "moduleForcesY": [ + -5.480804503119292, + -5.777706832814998, + -9.269405867329548, + -9.774224361555754 + ], + "timestamp": 4.090718485300652 + }, + { + "x": 8.303508401476916, + "y": 7.4847653412385196, + "heading": 0.009752884539327149, + "angularVelocity": 0.07010081149293783, + "velocityX": -0.5310131999498825, + "velocityY": -0.06466360154385425, + "moduleForcesX": [ + -69.76378141141987, + -69.74010218368568, + -69.36383220105702, + -69.29667018816859 + ], + "moduleForcesY": [ + -5.504731849742543, + -5.775491056855282, + -9.271953606494217, + -9.74868241254796 + ], + "timestamp": 4.183426558886181 + }, + { + "x": 8.222011244776846, + "y": 7.475255542704079, + "heading": 0.0194720993735911, + "angularVelocity": 0.10483676834579356, + "velocityX": -0.8790729172591132, + "velocityY": -0.10257788957049574, + "moduleForcesX": [ + -69.75807275571462, + -69.73727839814946, + -69.35973518217662, + -69.29803813719629 + ], + "moduleForcesY": [ + -5.536636985453941, + -5.769147993023383, + -9.278627503541149, + -9.714921661894554 + ], + "timestamp": 4.2761346324717096 + }, + { + "x": 8.108247742368361, + "y": 7.462230999314842, + "heading": 0.032381560232856814, + "angularVelocity": 0.1392485072765639, + "velocityX": -1.2271153741866627, + "velocityY": -0.1404898504033454, + "moduleForcesX": [ + -69.75094421559831, + -69.73395048932412, + -69.35452327043679, + -69.29991280428946 + ], + "moduleForcesY": [ + -5.57726728703641, + -5.759935479776583, + -9.288253182801638, + -9.67201840934626 + ], + "timestamp": 4.368842706057238 + }, + { + "x": 7.962219899052561, + "y": 7.4456919818850205, + "heading": 0.04844368551809424, + "angularVelocity": 0.1732548705201495, + "velocityX": -1.5751362062430538, + "velocityY": -0.17839889008868087, + "moduleForcesX": [ + -69.74202488701923, + -69.72968924442755, + -69.34815365654948, + -69.30218140121082 + ], + "moduleForcesY": [ + -5.6277140530370815, + -5.749677246750622, + -9.299118047114092, + -9.618630566943962 + ], + "timestamp": 4.461550779642767 + }, + { + "x": 7.7839302993633055, + "y": 7.425638841830219, + "heading": 0.06761009166196225, + "angularVelocity": 0.20673934213683384, + "velocityX": -1.9231291601069993, + "velocityY": -0.21630413921029784, + "moduleForcesX": [ + -69.73073814110488, + -69.72383241493522, + -69.34054661418894, + -69.30465306525284 + ], + "moduleForcesY": [ + -5.689616338239206, + -5.741110029297365, + -9.308630843305963, + -9.552753460922114 + ], + "timestamp": 4.554258853228296 + }, + { + "x": 7.57338240126491, + "y": 7.402072053868818, + "heading": 0.08981617319609705, + "angularVelocity": 0.23952694382755024, + "velocityX": -2.2710848144667333, + "velocityY": -0.25420426775947824, + "moduleForcesX": [ + -69.7161334514111, + -69.7152962109817, + -69.3315460856372, + -69.30698645989594 + ], + "moduleForcesY": [ + -5.765575561709489, + -5.738569359389348, + -9.312646952242726, + -9.471226675287129 + ], + "timestamp": 4.646966926813825 + }, + { + "x": 7.3305810690877395, + "y": 7.374992293157573, + "heading": 0.11497142901750439, + "angularVelocity": 0.27133835111025567, + "velocityX": -2.618987999501906, + "velocityY": -0.2920971137042797, + "moduleForcesX": [ + -69.69651360763362, + -69.70215909981302, + -69.32082749834133, + -69.30853096031237 + ], + "moduleForcesY": [ + -5.8600791942289785, + -5.749479323650169, + -9.303996598740806, + -9.368643513584303 + ], + "timestamp": 4.7396750003993535 + }, + { + "x": 7.05553365094518, + "y": 7.344400590269381, + "heading": 0.14294029115207701, + "angularVelocity": 0.30168744805805586, + "velocityX": -2.9668119237537858, + "velocityY": -0.32997884331991917, + "moduleForcesX": [ + -69.66849412798004, + -69.68061678535894, + -69.30765134115775, + -69.3079273830713 + ], + "moduleForcesY": [ + -5.98182820698545, + -5.788023723316763, + -9.26883650136894, + -9.234626545714724 + ], + "timestamp": 4.832383073984882 + }, + { + "x": 6.7482525321206115, + "y": 7.3102986954013085, + "heading": 0.17349789390140605, + "angularVelocity": 0.3296110205638581, + "velocityX": -3.314502253586811, + "velocityY": -0.3678416943548862, + "moduleForcesX": [ + -69.62414712861997, + -69.64182964225391, + -69.29006030546606, + -69.30189012029254 + ], + "moduleForcesY": [ + -6.150737999465796, + -5.885949634313379, + -9.1758152948886, + -9.04572516581162 + ], + "timestamp": 4.925091147570411 + }, + { + "x": 6.408762991716715, + "y": 7.272690185494389, + "heading": 0.20619974425581294, + "angularVelocity": 0.3527400482951426, + "velocityX": -3.661919909170612, + "velocityY": -0.4056659625459786, + "moduleForcesX": [ + -69.53936907246666, + -69.55921436358686, + -69.26126663758615, + -69.28016855556831 + ], + "moduleForcesY": [ + -6.425805382237093, + -6.13443660499566, + -8.93341347136292, + -8.73373902302664 + ], + "timestamp": 5.01779922115594 + }, + { + "x": 6.037144614251277, + "y": 7.231586177478529, + "heading": 0.23975823447290523, + "angularVelocity": 0.36198023449565475, + "velocityX": -4.008479122615366, + "velocityY": -0.44337031745083166, + "moduleForcesX": [ + -69.28957901537899, + -69.29845538274668, + -69.178367902233, + -69.18758933035315 + ], + "moduleForcesY": [ + -7.095234826490689, + -6.956362149501358, + -8.102215146218617, + -7.977753242825863 + ], + "timestamp": 5.110507294741469 + }, + { + "x": 5.652801425047927, + "y": 7.1896270689501725, + "heading": 0.23980206516261332, + "angularVelocity": 0.000472781798136049, + "velocityX": -4.145735903449521, + "velocityY": -0.45259389938238875, + "moduleForcesX": [ + -16.571396748725768, + -33.65400086227037, + -21.82722022871811, + -37.63661232853404 + ], + "moduleForcesY": [ + -12.2103276149095, + -14.701826582253906, + 13.465889416453868, + 6.075207443387718 + ], + "timestamp": 5.2032153683269975 + }, + { + "x": 5.298111964845378, + "y": 7.150977964279005, + "heading": 0.26897173187598356, + "angularVelocity": 0.31463998317852343, + "velocityX": -3.825874559628447, + "velocityY": -0.41689038695793895, + "moduleForcesX": [ + 60.8204038627184, + 63.37106474962372, + 64.28853563219975, + 67.13829272395807 + ], + "moduleForcesY": [ + 23.859380514651757, + 21.97947279345271, + -14.189558816473651, + -3.1167093010455487 + ], + "timestamp": 5.295923441912526 + }, + { + "x": 4.9755685784673, + "y": 7.115832057465299, + "heading": 0.2975659540753646, + "angularVelocity": 0.3084329238406523, + "velocityX": -3.479129421019347, + "velocityY": -0.37910297835334106, + "moduleForcesX": [ + 69.30756460724842, + 69.31797890856141, + 69.23303694756935, + 69.2439939042012 + ], + "moduleForcesY": [ + 7.276561678193144, + 7.146587079200416, + 7.949222841045259, + 7.825566417400626 + ], + "timestamp": 5.388631515498055 + }, + { + "x": 4.685238750010305, + "y": 7.084196382565833, + "heading": 0.3242030496936877, + "angularVelocity": 0.28732228584195735, + "velocityX": -3.13165636205216, + "velocityY": -0.34123969656671055, + "moduleForcesX": [ + 69.52487310529399, + 69.56809611024163, + 69.26983747218283, + 69.32148774652345 + ], + "moduleForcesY": [ + 6.682555986999185, + 6.155137992655826, + 8.938146178952955, + 8.482732172540391 + ], + "timestamp": 5.481339589083584 + }, + { + "x": 4.427145252121188, + "y": 7.0560733444849175, + "heading": 0.34838785850576026, + "angularVelocity": 0.26087057876398645, + "velocityX": -2.7839376648338057, + "velocityY": -0.30335047416252775, + "moduleForcesX": [ + 69.59603645663093, + 69.65664896463282, + 69.27554470013678, + 69.35236696908984 + ], + "moduleForcesY": [ + 6.510142506359774, + 5.770907357067241, + 9.313250899736028, + 8.685002102039867 + ], + "timestamp": 5.574047662669113 + }, + { + "x": 4.201299500038494, + "y": 7.03146416428453, + "heading": 0.3698661359324378, + "angularVelocity": 0.23167645056422312, + "velocityX": -2.436095836616221, + "velocityY": -0.26544808071826126, + "moduleForcesX": [ + 69.62984255451502, + 69.7025044618602, + 69.27553392954373, + 69.37111670765537 + ], + "moduleForcesY": [ + 6.446020871882368, + 5.55867205969008, + 9.519921232853722, + 8.765214382925269 + ], + "timestamp": 5.6667557362546415 + }, + { + "x": 4.00770834868209, + "y": 7.010369584114943, + "heading": 0.38848341137492554, + "angularVelocity": 0.20081611797868393, + "velocityX": -2.088180067485029, + "velocityY": -0.2275376820356199, + "moduleForcesX": [ + 69.64886003965472, + 69.73074352071386, + 69.2739746368505, + 69.38450959267684 + ], + "moduleForcesY": [ + 6.4224408751172914, + 5.4211819338511305, + 9.654178883544468, + 8.798424268716403 + ], + "timestamp": 5.75946380984017 + }, + { + "x": 3.8463763695233144, + "y": 6.992790104001513, + "heading": 0.40413599413422824, + "angularVelocity": 0.16883732078707747, + "velocityX": -1.7402149879674755, + "velocityY": -0.18962188980299566, + "moduleForcesX": [ + 69.66075134621069, + 69.74992510794067, + 69.27208132097891, + 69.39473658018888 + ], + "moduleForcesY": [ + 6.415810123437662, + 5.3242042891371835, + 9.749253366722565, + 8.811268456013565 + ], + "timestamp": 5.852171883425699 + }, + { + "x": 3.7173068280878687, + "y": 6.978726083763452, + "heading": 0.41674945237537175, + "angularVelocity": 0.13605566110356315, + "velocityX": -1.3922146846949535, + "velocityY": -0.15170221636944542, + "moduleForcesX": [ + 69.66884824073247, + 69.76377491927055, + 69.27031544596593, + 69.40270493473685 + ], + "moduleForcesY": [ + 6.41565406484041, + 5.252481685984143, + 9.819790231198308, + 8.815711928411224 + ], + "timestamp": 5.944879957011228 + }, + { + "x": 3.6205021730072082, + "y": 6.968177794137939, + "heading": 0.4262676670426803, + "angularVelocity": 0.10266867058413436, + "velocityX": -1.0441879691424423, + "velocityY": -0.11377962260780805, + "moduleForcesX": [ + 69.6748392764092, + 69.7741790279807, + 69.26888115012761, + 69.40885155094644 + ], + "moduleForcesY": [ + 6.416562283191862, + 5.198128904882913, + 9.873294373330431, + 8.817986139295842 + ], + "timestamp": 6.037588030596757 + }, + { + "x": 3.5559643077496252, + "y": 6.961145445264002, + "heading": 0.43264667313122535, + "angularVelocity": 0.06880744946934213, + "velocityX": -0.6961407217537647, + "velocityY": -0.07585476218206108, + "moduleForcesX": [ + 69.67967442597626, + 69.78219559937338, + 69.26787920284706, + 69.41340986496246 + ], + "moduleForcesY": [ + 6.415437367083261, + 5.156644658660003, + 9.914021033667535, + 8.821680053737321 + ], + "timestamp": 6.130296104182285 + }, + { + "x": 3.523694753646369, + "y": 6.957629203796369, + "heading": 0.4358509294181538, + "angularVelocity": 0.03456286128110513, + "velocityX": -0.3480770644262573, + "velocityY": -0.03792810411766521, + "moduleForcesX": [ + 69.68392939080098, + 69.78846317841513, + 69.26736573865308, + 69.41651484459959 + ], + "moduleForcesY": [ + 6.41037366914171, + 5.125284648993253, + 9.944551046532684, + 8.829010337612573 + ], + "timestamp": 6.223004177767814 + }, + { + "x": 3.5236947536468506, + "y": 6.957629203796387, + "heading": 0.4358509294181537, + "angularVelocity": -6.3652969228526e-17, + "velocityX": 2.5325975992130535e-16, + "velocityY": 2.4211587421225694e-17, + "moduleForcesX": [ + 69.6879720295878, + 69.79338739453065, + 69.26737815226697, + 69.41824990526848 + ], + "moduleForcesY": [ + 6.400139814039668, + 5.102312426020163, + 9.966512050352243, + 8.841411030331118 + ], + "timestamp": 6.315712251353343 + }, + { + "x": 3.504008680182134, + "y": 6.958828592220609, + "heading": 0.4345383963239423, + "angularVelocity": -0.01816376334151166, + "velocityX": -0.2724298389989007, + "velocityY": 0.016597987196062425, + "moduleForcesX": [ + -69.87228927066603, + -69.92664912892137, + -69.71028587731463, + -69.80817031057008 + ], + "moduleForcesY": [ + 3.696859879202063, + 2.5017951424939016, + 6.032231558328799, + 4.786729977826209 + ], + "timestamp": 6.387973327955881 + }, + { + "x": 3.4646249566959115, + "y": 6.960977577869598, + "heading": 0.4318354969292099, + "angularVelocity": -0.037404637763692565, + "velocityX": -0.5450198825966469, + "velocityY": 0.02973918671056234, + "moduleForcesX": [ + -69.91004996454419, + -69.94913431938565, + -69.76806738626483, + -69.85439779961642 + ], + "moduleForcesY": [ + 2.7475386769102728, + 1.5218682085139474, + 5.244817609123958, + 3.9592100735318545 + ], + "timestamp": 6.460234404558419 + }, + { + "x": 3.405533150457087, + "y": 6.963744716072119, + "heading": 0.4276391427503084, + "angularVelocity": -0.05807212369645374, + "velocityX": -0.8177543017225102, + "velocityY": 0.03829361992128722, + "moduleForcesX": [ + -69.94035671639205, + -69.95779624844059, + -69.831131231136, + -69.90039089579349 + ], + "moduleForcesY": [ + 1.481852031033926, + 0.2253702688124266, + 4.19709047131765, + 2.866393130115254 + ], + "timestamp": 6.532495481160956 + }, + { + "x": 3.3267280803300237, + "y": 6.966669549535244, + "heading": 0.42180657078185513, + "angularVelocity": -0.08071526529468337, + "velocityX": -1.0905604210759248, + "velocityY": 0.04047591871918787, + "moduleForcesX": [ + -69.944393384643, + -69.93017480627066, + -69.89279637048092, + -69.935823478966 + ], + "moduleForcesY": [ + -0.2855686674079939, + -1.5687776317224258, + 2.7360551933868202, + 1.3557626568809862 + ], + "timestamp": 6.604756557763494 + }, + { + "x": 3.2282219406045525, + "y": 6.969070582511565, + "heading": 0.4141275813189536, + "angularVelocity": -0.106267299408487, + "velocityX": -1.363197787202792, + "velocityY": 0.03322719628891129, + "moduleForcesX": [ + -69.86768232546632, + -69.80577667993118, + -69.928043827401, + -69.92866557160472 + ], + "moduleForcesY": [ + -2.9174583427517518, + -4.208806798563373, + 0.5614022126112732, + -0.8671212869487849 + ], + "timestamp": 6.677017634366032 + }, + { + "x": 3.1100851320087015, + "y": 6.969841680096625, + "heading": 0.4042640076485218, + "angularVelocity": -0.1364991242060381, + "velocityX": -1.6348608981519306, + "velocityY": 0.010670994971479508, + "moduleForcesX": [ + -69.52771087749251, + -69.39542788596013, + -69.83967722325332, + -69.76846617635722 + ], + "moduleForcesY": [ + -7.223343535058923, + -8.451926525830187, + -3.0027344194169414, + -4.448461427126985 + ], + "timestamp": 6.74927871096857 + }, + { + "x": 2.9726210080406896, + "y": 6.966909534106027, + "heading": 0.39159295049887616, + "angularVelocity": -0.1753510706647928, + "velocityX": -1.9023259883618235, + "velocityY": -0.04057711465779841, + "moduleForcesX": [ + -68.13824090007081, + -67.94815744062642, + -69.16126861726049, + -68.97946034593463 + ], + "moduleForcesY": [ + -15.378652863046907, + -16.24922017669266, + -9.819591974713527, + -11.096296387691988 + ], + "timestamp": 6.8215397875711075 + }, + { + "x": 2.8175053112512938, + "y": 6.955390242706097, + "heading": 0.3747240648762452, + "angularVelocity": -0.23344359668782608, + "velocityX": -2.1466009653106655, + "velocityY": -0.15941211979569803, + "moduleForcesX": [ + -60.5243490932261, + -61.08904468511663, + -64.3753689319186, + -64.46196021712132 + ], + "moduleForcesY": [ + -34.64482754819854, + -33.700258242728985, + -26.81185071903246, + -26.68244842261669 + ], + "timestamp": 6.893800864173645 + }, + { + "x": 2.6580075023446637, + "y": 6.924835444144418, + "heading": 0.3517771226345669, + "angularVelocity": -0.31755605258823977, + "velocityX": -2.2072437390315343, + "velocityY": -0.42283896114283714, + "moduleForcesX": [ + -7.500492720496396, + -17.077730761329356, + -13.696710725278216, + -23.901006646199814 + ], + "moduleForcesY": [ + -69.16614118399755, + -67.47875312690866, + -68.1302785572017, + -65.31161079653731 + ], + "timestamp": 6.966061940776183 + }, + { + "x": 2.512094219927897, + "y": 6.880097554781259, + "heading": 0.32573277062951456, + "angularVelocity": -0.3604202044802863, + "velocityX": -2.019251432127737, + "velocityY": -0.6191146252806835, + "moduleForcesX": [ + 49.23323127220877, + 45.222550849805664, + 51.20604942518577, + 47.08328609414976 + ], + "moduleForcesY": [ + -49.40668398485789, + -53.0900647376754, + -47.32703000139266, + -51.414115514708236 + ], + "timestamp": 7.038323017378721 + }, + { + "x": 2.38337424306588, + "y": 6.825767194324153, + "heading": 0.29824613675169936, + "angularVelocity": -0.3803795233912951, + "velocityX": -1.7813182824554856, + "velocityY": -0.7518620398633497, + "moduleForcesX": [ + 61.014317060916646, + 59.97930704642065, + 61.9703116329183, + 60.9846261965019 + ], + "moduleForcesY": [ + -34.017279735413425, + -35.80222114610556, + -32.232808064989165, + -34.051218169708044 + ], + "timestamp": 7.110584093981259 + }, + { + "x": 2.2728561169196504, + "y": 6.763886893527126, + "heading": 0.270013159659039, + "angularVelocity": -0.3907079498407138, + "velocityX": -1.5294281699416044, + "velocityY": -0.8563434660320723, + "moduleForcesX": [ + 64.51682644746371, + 64.15947514330024, + 64.96118778717998, + 64.62089453574477 + ], + "moduleForcesY": [ + -26.910160275774995, + -27.746887463442874, + -25.815176840710752, + -26.65069502194605 + ], + "timestamp": 7.182845170583796 + }, + { + "x": 2.1809664769418573, + "y": 6.695555322443913, + "heading": 0.24140156675644972, + "angularVelocity": -0.39594750379880767, + "velocityX": -1.2716339736151412, + "velocityY": -0.9456207172093772, + "moduleForcesX": [ + 66.0413858325682, + 65.90601352826312, + 66.24757393601978, + 66.11676113826505 + ], + "moduleForcesY": [ + -22.993822030513314, + -23.376806141336413, + -22.39133033986236, + -22.772395017295977 + ], + "timestamp": 7.255106247186334 + }, + { + "x": 2.10793174121269, + "y": 6.621451079278133, + "heading": 0.21263652855987272, + "angularVelocity": -0.3980709885460903, + "velocityX": -1.0107064433994604, + "velocityY": -1.0255070454233672, + "moduleForcesX": [ + 66.8636361844648, + 66.82004357580999, + 66.9417289345033, + 66.89887639750914 + ], + "moduleForcesY": [ + -20.534601787987587, + -20.675168374302586, + -20.278085325526686, + -20.418154301299452 + ], + "timestamp": 7.327367323788872 + }, + { + "x": 2.053889644996445, + "y": 6.542033142609429, + "heading": 0.18386962520410707, + "angularVelocity": -0.3980967999410536, + "velocityX": -0.7478728349633684, + "velocityY": -1.0990417027071344, + "moduleForcesX": [ + 67.3694057005157, + 67.36896934569019, + 67.37030693780851, + 67.36987068909862 + ], + "moduleForcesY": [ + -18.849277311799415, + -18.850827151291227, + -18.846051034707006, + -18.847600780373277 + ], + "timestamp": 7.39962840039141 + }, + { + "x": 2.0189318656921387, + "y": 6.457632064819336, + "heading": 0.1552097358119083, + "angularVelocity": -0.3966158648567963, + "velocityX": -0.4837705296945251, + "velocityY": -1.168001941824504, + "moduleForcesX": [ + 67.7090423612836, + 67.73009792197675, + 67.65939642414298, + 67.68078791913334 + ], + "moduleForcesY": [ + -17.62135282604726, + -17.540771618443966, + -17.81125344841753, + -17.730310040741127 + ], + "timestamp": 7.4718894769939475 + }, + { + "x": 2.0052865513434206, + "y": 6.343797195792587, + "heading": 0.11940626574695491, + "angularVelocity": -0.39332077782798075, + "velocityX": -0.1499012705642367, + "velocityY": -1.2505385413291163, + "moduleForcesX": [ + 67.96060745654087, + 67.99161289296391, + 67.87550138401026, + 67.90750272578354 + ], + "moduleForcesY": [ + -16.68587051432994, + -16.559769774995235, + -17.029024447855548, + -16.901634904532678 + ], + "timestamp": 7.562918154051563 + }, + { + "x": 2.022247148811026, + "y": 6.223394735532684, + "heading": 0.08421303002934574, + "angularVelocity": -0.3866170184516034, + "velocityX": 0.18632147599893392, + "velocityY": -1.3226871371940876, + "moduleForcesX": [ + 68.46729328449145, + 68.51169045285276, + 68.31184039254397, + 68.35989694476902 + ], + "moduleForcesY": [ + -14.427249497757915, + -14.21701040549349, + -15.14684477924876, + -14.930428838920712 + ], + "timestamp": 7.653946831109179 + }, + { + "x": 2.070100166264576, + "y": 6.0979843334608175, + "heading": 0.050137413227322986, + "angularVelocity": -0.37433936099560144, + "velocityX": 0.5256916721228605, + "velocityY": -1.3777021277864965, + "moduleForcesX": [ + 69.14142659590892, + 69.183669722046, + 68.91777971152585, + 68.96954514028045 + ], + "moduleForcesY": [ + -10.653795733607852, + -10.382977927188257, + -12.017178426384481, + -11.722589653131394 + ], + "timestamp": 7.744975508166795 + }, + { + "x": 2.149170669807766, + "y": 5.970583772712009, + "heading": 0.018143952496880358, + "angularVelocity": -0.3514657332676905, + "velocityX": 0.8686328978849589, + "velocityY": -1.399565113619872, + "moduleForcesX": [ + 69.85708540622566, + 69.86722121118044, + 69.68541026299444, + 69.70915498448376 + ], + "moduleForcesY": [ + -3.2345749313842362, + -3.0737072796649643, + -5.869737828976878, + -5.616200902203141 + ], + "timestamp": 7.836004185224411 + }, + { + "x": 2.2589421028859875, + "y": 5.84893569297478, + "heading": -0.009410414960995034, + "angularVelocity": -0.30269985622701284, + "velocityX": 1.2058994662609797, + "velocityY": -1.3363709511040576, + "moduleForcesX": [ + 67.98084084636709, + 68.2675831535751, + 69.05891885988348, + 69.19294176958722 + ], + "moduleForcesY": [ + 16.13895221715203, + 14.927441807742866, + 10.601664217236635, + 9.765487872549716 + ], + "timestamp": 7.927032862282027 + }, + { + "x": 2.3816513002770323, + "y": 5.755553059874296, + "heading": -0.027384399572384054, + "angularVelocity": -0.19745409020953478, + "velocityX": 1.3480279111754776, + "velocityY": -1.0258594996539299, + "moduleForcesX": [ + 21.966329313241527, + 31.581568327780396, + 25.74217152067996, + 36.3878611200454 + ], + "moduleForcesY": [ + 66.21615338730194, + 62.22247266268533, + 64.79108701149657, + 59.49465927749819 + ], + "timestamp": 8.018061539339643 + }, + { + "x": 2.4864376569970665, + "y": 5.687717688117273, + "heading": -0.03917673719935255, + "angularVelocity": -0.1295453038332599, + "velocityX": 1.1511356652333973, + "velocityY": -0.7452088061665051, + "moduleForcesX": [ + -40.646924554508985, + -35.55926258048956, + -44.540441651147525, + -39.503400775538864 + ], + "moduleForcesY": [ + 56.83907183027018, + 60.14311904713099, + 53.826944953458195, + 57.61165195931745 + ], + "timestamp": 8.109090216397258 + }, + { + "x": 2.5670376254789677, + "y": 5.639694297374605, + "heading": -0.046992417914178235, + "angularVelocity": -0.0858595441289215, + "velocityX": 0.8854349100436367, + "velocityY": -0.5275633162533232, + "moduleForcesX": [ + -53.764584122595764, + -51.796025428861604, + -56.23218009700383, + -54.46028659633161 + ], + "moduleForcesY": [ + 44.72376090629561, + 46.98309037575621, + 41.57325635814428, + 43.860927171376815 + ], + "timestamp": 8.200118893454873 + }, + { + "x": 2.6215256643831455, + "y": 5.608902177535465, + "heading": -0.05176785407305588, + "angularVelocity": -0.052460788327782594, + "velocityX": 0.5985810259517479, + "velocityY": -0.3382683439379309, + "moduleForcesX": [ + -58.013654151683696, + -56.89649326724905, + -59.773057608039814, + -58.78634165660711 + ], + "moduleForcesY": [ + 39.09776755772533, + 40.70212530474273, + 36.34830149368659, + 37.9184361720148 + ], + "timestamp": 8.291147570512488 + }, + { + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -0.024542807053857217, + "velocityX": 0.3020268007993012, + "velocityY": -0.16435442454640978, + "moduleForcesX": [ + -60.00824864493395, + -59.23254288719752, + -61.40348619502263, + -60.720348492315956 + ], + "moduleForcesY": [ + 35.98651589745473, + 37.24645407124533, + 33.548693110700135, + 34.766372955894965 + ], + "timestamp": 8.382176247570102 + }, + { + "x": 2.6490187644958496, + "y": 5.5939412117004395, + "heading": -0.05400195333044882, + "angularVelocity": -2.516475827417988e-25, + "velocityX": 7.632931644423266e-25, + "velocityY": 4.2087418463139514e-24, + "moduleForcesX": [ + -61.14846543581324, + -60.54551335620342, + -62.32828598200511, + -61.796474937784545 + ], + "moduleForcesY": [ + 34.02931368740686, + 35.088553675699565, + 31.815663944493068, + 32.83405951923116 + ], + "timestamp": 8.473204924627717 + }, + { + "x": 2.625979185275369, + "y": 5.582239168042045, + "heading": -0.05575363056713169, + "angularVelocity": -0.021178185260196356, + "velocityX": -0.2785538721575841, + "velocityY": -0.14148042991624163, + "moduleForcesX": [ + -61.53863897627298, + -62.166928992230204, + -62.61985338113243, + -63.18666812097547 + ], + "moduleForcesY": [ + -33.30975265130726, + -32.124426211771144, + -31.228092651527213, + -30.06753272100449 + ], + "timestamp": 8.555916319167036 + }, + { + "x": 2.580156759644853, + "y": 5.558350091305469, + "heading": -0.059396028960474336, + "angularVelocity": -0.04403744385679758, + "velocityX": -0.5540037849166433, + "velocityY": -0.2888244947341631, + "moduleForcesX": [ + -60.73237553392687, + -61.46900521182332, + -61.93243395044323, + -62.597931463592055 + ], + "moduleForcesY": [ + -34.74344619336721, + -33.42597146211571, + -32.553980913931255, + -31.258703129802008 + ], + "timestamp": 8.638627713706354 + }, + { + "x": 2.5119523808979367, + "y": 5.521562926032323, + "heading": -0.06513366080174465, + "angularVelocity": -0.06936930362772273, + "velocityX": -0.8246068045013343, + "velocityY": -0.4447653854470885, + "moduleForcesX": [ + -59.47199058841197, + -60.38775068114945, + -60.8500722034585, + -61.68037234868746 + ], + "moduleForcesY": [ + -36.83895663075063, + -35.32168509134177, + -34.51215439268144, + -33.00983394279163 + ], + "timestamp": 8.721339108245672 + }, + { + "x": 2.4220716473990893, + "y": 5.470740218496298, + "heading": -0.07329565797813033, + "angularVelocity": -0.09868044447619313, + "velocityX": -1.0866789757259105, + "velocityY": -0.6144583563013899, + "moduleForcesX": [ + -57.25337994625179, + -58.50613454292772, + -58.92176665835011, + -60.06747509072916 + ], + "moduleForcesY": [ + -40.170140034566, + -38.327817129689315, + -37.67584903649057, + -35.82712417002034 + ], + "timestamp": 8.80405050278499 + }, + { + "x": 2.3120330410722323, + "y": 5.403804623394754, + "heading": -0.0844908659212872, + "angularVelocity": -0.13535266822076233, + "velocityX": -1.3303923472665944, + "velocityY": -0.8092669150890133, + "moduleForcesX": [ + -52.4970997286662, + -54.53520253007027, + -54.68159428956403, + -56.590132378075765 + ], + "moduleForcesY": [ + -46.16367614831186, + -43.74464862582026, + -43.54567869822569, + -41.04398563604756 + ], + "timestamp": 8.886761897324309 + }, + { + "x": 2.186637116851186, + "y": 5.316186882095392, + "heading": -0.1001206928527023, + "angularVelocity": -0.1889682433535231, + "velocityX": -1.5160658929700233, + "velocityY": -1.0593188736252193, + "moduleForcesX": [ + -37.84812600751691, + -42.48043340727384, + -40.63706416897053, + -45.34976090197617 + ], + "moduleForcesY": [ + -58.68513607330116, + -55.43434166030699, + -56.76878104529127, + -53.093501615698166 + ], + "timestamp": 8.969473291863627 + }, + { + "x": 2.069822500671029, + "y": 5.204382721788452, + "heading": -0.12240803875328186, + "angularVelocity": -0.26945919633823856, + "velocityX": -1.412315882603427, + "velocityY": -1.3517383055824614, + "moduleForcesX": [ + 25.202348234910946, + 16.95147057761103, + 29.842566999836002, + 20.936739362517404 + ], + "moduleForcesY": [ + -64.9859363567085, + -67.59023718567776, + -62.94453518621747, + -66.41132942373025 + ], + "timestamp": 9.052184686402946 + }, + { + "x": 1.978162289732587, + "y": 5.086947684868809, + "heading": -0.14761389079428558, + "angularVelocity": -0.3047446144681042, + "velocityX": -1.1081932719060839, + "velocityY": -1.4198169136638004, + "moduleForcesX": [ + 67.68490838035501, + 67.56249894147786, + 68.60619427842576, + 68.56145212917936 + ], + "moduleForcesY": [ + -17.17609026683669, + -17.605956443045816, + -13.013279466286473, + -13.18546586615485 + ], + "timestamp": 9.134896080942264 + }, + { + "x": 1.9122925979368877, + "y": 4.9707044147930874, + "heading": -0.1739682538797872, + "angularVelocity": -0.31863038015848894, + "velocityX": -0.7963798961748549, + "velocityY": -1.4054081752963692, + "moduleForcesX": [ + 69.87223440954051, + 69.85768951539075, + 69.79968480932632, + 69.77437760404688 + ], + "moduleForcesY": [ + 2.2014490421001476, + 2.5539028923202314, + 3.8804044095447408, + 4.270739583900649 + ], + "timestamp": 9.217607475481582 + }, + { + "x": 1.8719723679437992, + "y": 4.8582723674266255, + "heading": -0.20076752508140072, + "angularVelocity": -0.32400942277516737, + "velocityX": -0.4874809597596813, + "velocityY": -1.359329606188858, + "moduleForcesX": [ + 69.2365116830962, + 69.20383607933752, + 69.1442434422726, + 69.1088127074709 + ], + "moduleForcesY": [ + 9.893150934674008, + 10.114696359535678, + 10.5202564608269, + 10.746354103969098 + ], + "timestamp": 9.3003188700209 + }, + { + "x": 1.8569722868703582, + "y": 4.750992338069457, + "heading": -0.22764746637810754, + "angularVelocity": -0.32498474299002544, + "velocityX": -0.18135446944145373, + "velocityY": -1.2970405100130564, + "moduleForcesX": [ + 68.56864884555179, + 68.55864335178183, + 68.54641491623597, + 68.53630350295705 + ], + "moduleForcesY": [ + 13.869385456649603, + 13.918326387580239, + 13.97905842821346, + 14.028119303773838 + ], + "timestamp": 9.383030264560219 + }, + { + "x": 1.86711847782135, + "y": 4.649672508239746, + "heading": -0.25438752055343183, + "angularVelocity": -0.32329347515248463, + "velocityX": 0.12266980876702048, + "velocityY": -1.224980311286467, + "moduleForcesX": [ + 68.04853737119781, + 68.07141251551009, + 68.09224407296453, + 68.11477934004309 + ], + "moduleForcesY": [ + 16.276510075414343, + 16.181079461768007, + 16.092408994460172, + 15.997267003288515 + ], + "timestamp": 9.465741659099537 + }, + { + "x": 1.893981174454082, + "y": 4.567960592211496, + "heading": -0.2769920214000605, + "angularVelocity": -0.32033134739266317, + "velocityX": 0.3806747985875902, + "velocityY": -1.1579502833069275, + "moduleForcesX": [ + 67.64503155321364, + 67.7008004063933, + 67.74100235706341, + 67.79529885711308 + ], + "moduleForcesY": [ + 17.883134704933525, + 17.671739615525684, + 17.515534914842895, + 17.305117138910887 + ], + "timestamp": 9.536307655935682 + }, + { + "x": 1.9388710931342503, + "y": 4.491611739523084, + "heading": -0.2992146718264406, + "angularVelocity": -0.3149200949854273, + "velocityX": 0.6361409275405473, + "velocityY": -1.0819496090403846, + "moduleForcesX": [ + 66.89497321476524, + 67.02261578244135, + 67.08816014248102, + 67.21080749571729 + ], + "moduleForcesY": [ + 20.479529884065915, + 20.059556741468292, + 19.836322433834518, + 19.418492532551788 + ], + "timestamp": 9.606873652771826 + }, + { + "x": 2.001467948892821, + "y": 4.421590727961635, + "heading": -0.32079068497766927, + "angularVelocity": -0.30575651331516684, + "velocityX": 0.8870682561733165, + "velocityY": -0.9922769421657726, + "moduleForcesX": [ + 65.53922289248395, + 65.82467044567649, + 65.90795915660198, + 66.1793702855204 + ], + "moduleForcesY": [ + 24.43276781519512, + 23.6558866785065, + 23.41741977489106, + 22.64219513995646 + ], + "timestamp": 9.67743964960797 + }, + { + "x": 2.081094062364392, + "y": 4.359524172405404, + "heading": -0.3412692624127303, + "angularVelocity": -0.2902046077888271, + "velocityX": 1.1283921016019085, + "velocityY": -0.8795533024262525, + "moduleForcesX": [ + 62.64316082126668, + 63.34020929025356, + 63.36139711783674, + 64.02365824512484 + ], + "moduleForcesY": [ + 31.061388733940635, + 29.618897152165395, + 29.563491732614338, + 28.105948923350745 + ], + "timestamp": 9.748005646444115 + }, + { + "x": 2.1758603536691266, + "y": 4.3085633486402415, + "heading": -0.3597562406717856, + "angularVelocity": -0.26198139455157654, + "velocityX": 1.3429455481906323, + "velocityY": -0.7221725200523089, + "moduleForcesX": [ + 54.585879292422305, + 56.673637255593206, + 55.97374519969251, + 58.02864241995829 + ], + "moduleForcesY": [ + 43.62180660033044, + 40.879896618536996, + 41.813608075268824, + 38.920415656963144 + ], + "timestamp": 9.81857164328026 + }, + { + "x": 2.27801271257031, + "y": 4.27480914095921, + "heading": -0.3742958708643891, + "angularVelocity": -0.2060430071775894, + "velocityX": 1.4476144812122793, + "velocityY": -0.4783353058755663, + "moduleForcesX": [ + 23.761748115499397, + 30.966425197958873, + 23.522820731074834, + 31.642011798670588 + ], + "moduleForcesY": [ + 65.61870599326856, + 62.542931754781115, + 65.6739208799796, + 62.171678942392184 + ], + "timestamp": 9.889137640116404 + }, + { + "x": 2.369292836574492, + "y": 4.256289167846281, + "heading": -0.3842856655425764, + "angularVelocity": -0.14156669112722634, + "velocityX": 1.2935426139608872, + "velocityY": -0.2624489689550226, + "moduleForcesX": [ + -39.395901739962994, + -34.91737000537315, + -45.57603307920421, + -41.872357584198234 + ], + "moduleForcesY": [ + 57.617656747659694, + 60.40950447199274, + 52.84534331139303, + 55.788815115450184 + ], + "timestamp": 9.959703636952549 + }, + { + "x": 2.4435658123428112, + "y": 4.245702404777808, + "heading": -0.39122795243288855, + "angularVelocity": -0.09838005840734046, + "velocityX": 1.0525320848337525, + "velocityY": -0.15002640851308846, + "moduleForcesX": [ + -62.059015510900586, + -61.79060844179407, + -64.60055543174373, + -64.589292033163 + ], + "moduleForcesY": [ + 32.12670273071491, + 32.614292917779764, + 26.648569819117977, + 26.644054775734322 + ], + "timestamp": 10.030269633788693 + }, + { + "x": 2.4996157079976045, + "y": 4.239688102315035, + "heading": -0.3959449037616861, + "angularVelocity": -0.06684453618292123, + "velocityX": 0.7942904255280592, + "velocityY": -0.0852294693255483, + "moduleForcesX": [ + -67.15525230693295, + -67.29602335930974, + -68.25589199909099, + -68.42344727243434 + ], + "moduleForcesY": [ + 19.483980629357102, + 18.970532635195774, + 15.188806152023922, + 14.38766371463949 + ], + "timestamp": 10.100835630624838 + }, + { + "x": 2.537089872555244, + "y": 4.236555630867047, + "heading": -0.39886430283701785, + "angularVelocity": -0.041371187345523225, + "velocityX": 0.5310513028626985, + "velocityY": -0.044390663895267427, + "moduleForcesX": [ + -68.74553744303479, + -68.88550658051672, + -69.31271764555699, + -69.43374223877584 + ], + "moduleForcesY": [ + 12.910083849972219, + 12.121292110958931, + 9.406272290419192, + 8.439440051930237 + ], + "timestamp": 10.171401627460982 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -0.019502038610309587, + "velocityX": 0.26593372620992684, + "velocityY": -0.017610353889658304, + "moduleForcesX": [ + -69.38048696240153, + -69.48460284359975, + -69.70453769706126, + -69.78008486300917 + ], + "moduleForcesY": [ + 8.992556017647724, + 8.129391390949667, + 5.990707642370114, + 5.004272092261957 + ], + "timestamp": 10.241967624297127 + }, + { + "x": 2.5558557510375977, + "y": 4.2353129386901855, + "heading": -0.40024048363189135, + "angularVelocity": -8.909310736046408e-26, + "velocityX": -5.474032174370015e-26, + "velocityY": 1.2979510185453306e-24, + "moduleForcesX": [ + -69.67508744104906, + -69.7483426665789, + -69.869796921471, + -69.91336928012747 + ], + "moduleForcesY": [ + 6.415152694532496, + 5.541413760327354, + 3.7496882206129016, + 2.783039779233016 + ], + "timestamp": 10.312533621133271 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/line test.traj b/src/main/deploy/choreo/line test.traj index 0d2831b0..9ddef6b4 100644 --- a/src/main/deploy/choreo/line test.traj +++ b/src/main/deploy/choreo/line test.traj @@ -1,373 +1,866 @@ { - "samples": [ - { - "x": 1.452175259590149, - "y": 5.548182010650635, - "heading": 0, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 3.4945685682605637e-29, - "timestamp": 0 - }, - { - "x": 1.466318199772255, - "y": 5.548197511661567, - "heading": -0.015794096368164284, - "angularVelocity": -0.27289353383712045, - "velocityX": 0.24436452932970548, - "velocityY": 0.0002678295453188977, - "timestamp": 0.05787640383462572 - }, - { - "x": 1.4946023825949046, - "y": 5.548215805203245, - "heading": -0.047399238826634923, - "angularVelocity": -0.5460799283396711, - "velocityX": 0.4886997281991622, - "velocityY": 0.00031607944598028616, - "timestamp": 0.11575280766925145 - }, - { - "x": 1.537028040945496, - "y": 5.548218122819324, - "heading": -0.09479472244738407, - "angularVelocity": -0.8189085789835888, - "velocityX": 0.733038950943337, - "velocityY": 0.00004004423038595117, - "timestamp": 0.17362921150387717 - }, - { - "x": 1.5935995805953969, - "y": 5.548180996795719, - "heading": -0.15788218478551821, - "angularVelocity": -1.090037703769253, - "velocityX": 0.9774542974802214, - "velocityY": -0.0006414708100250865, - "timestamp": 0.2315056153385029 - }, - { - "x": 1.664328160311928, - "y": 5.548079541936028, - "heading": -0.23644069409709345, - "angularVelocity": -1.3573495260047375, - "velocityX": 1.2220624474150692, - "velocityY": -0.0017529572162204646, - "timestamp": 0.2893820191731286 - }, - { - "x": 1.7492336470969705, - "y": 5.547893435172729, - "heading": -0.3300943236975879, - "angularVelocity": -1.6181660123239159, - "velocityX": 1.4670138633541152, - "velocityY": -0.0032155896193883414, - "timestamp": 0.34725842300775434 - }, - { - "x": 1.8483442655588582, - "y": 5.547615499316589, - "heading": -0.4383212527905159, - "angularVelocity": -1.869966375284976, - "velocityX": 1.7124529496815084, - "velocityY": -0.004802230923623355, - "timestamp": 0.40513482684238006 - }, - { - "x": 1.9616918443348377, - "y": 5.5472607603153925, - "heading": -0.5605387748450251, - "angularVelocity": -2.1116986190773885, - "velocityX": 1.9584419775245834, - "velocityY": -0.006129250918006309, - "timestamp": 0.4630112306770058 - }, - { - "x": 2.089301537907997, - "y": 5.546870943882143, - "heading": -0.6962804015937716, - "angularVelocity": -2.345370785939591, - "velocityX": 2.2048656295222804, - "velocityY": -0.006735325756529281, - "timestamp": 0.5208876345116316 - }, - { - "x": 2.2311784431428587, - "y": 5.546508222522918, - "heading": -0.8454226137788738, - "angularVelocity": -2.5769087625314175, - "velocityX": 2.451377346157542, - "velocityY": -0.006267171688453446, - "timestamp": 0.5787640383462573 - }, - { - "x": 2.3587177894945413, - "y": 5.547218535842002, - "heading": -0.982790955158246, - "angularVelocity": -2.373477484371751, - "velocityX": 2.203650156176975, - "velocityY": 0.012272934605100748, - "timestamp": 0.6366404421808831 - }, - { - "x": 2.4720356622517756, - "y": 5.547832011680835, - "heading": -1.106019942043312, - "angularVelocity": -2.1291749092646794, - "velocityX": 1.9579287109521937, - "velocityY": 0.010599757386506177, - "timestamp": 0.6945168460155089 - }, - { - "x": 2.5711620359111182, - "y": 5.548341349904571, - "heading": -1.214609623516904, - "angularVelocity": -1.8762340829201694, - "velocityX": 1.7127251710318223, - "velocityY": 0.008800446989432407, - "timestamp": 0.7523932498501347 - }, - { - "x": 2.656120422240657, - "y": 5.548755583572793, - "heading": -1.3081618200834486, - "angularVelocity": -1.6164134321717587, - "velocityX": 1.4679278721099536, - "velocityY": 0.0071572115902751934, - "timestamp": 0.8102696536847604 - }, - { - "x": 2.726926079229215, - "y": 5.549091194186358, - "heading": -1.3864135118598573, - "angularVelocity": -1.3520482716470443, - "velocityX": 1.2233942037492063, - "velocityY": 0.005798746836437776, - "timestamp": 0.8681460575193862 - }, - { - "x": 2.783587051454044, - "y": 5.54936580399135, - "heading": -1.4492215585526071, - "angularVelocity": -1.0852099047030253, - "velocityX": 0.9789995311918915, - "velocityY": 0.004744762750412747, - "timestamp": 0.926022461354012 - }, - { - "x": 2.8261063522777903, - "y": 5.549594405957992, - "heading": -1.4965273141780742, - "angularVelocity": -0.8173582408069484, - "velocityX": 0.7346569241128174, - "velocityY": 0.0039498301816464874, - "timestamp": 0.9838988651886378 - }, - { - "x": 2.854484149597495, - "y": 5.549787551270912, - "heading": -1.5283205384099117, - "angularVelocity": -0.5493296425187139, - "velocityX": 0.49031721799214734, - "velocityY": 0.0033372030764393466, - "timestamp": 1.0417752690232636 - }, - { - "x": 2.8687193895062917, - "y": 5.54995070270213, - "heading": -1.5446123805496204, - "angularVelocity": -0.2814936840762383, - "velocityX": 0.24595930225930615, - "velocityY": 0.0028189628311447905, - "timestamp": 1.0996516728578893 - }, - { - "x": 2.868810653686523, - "y": 5.550084114074707, - "heading": -1.5454210598741147, - "angularVelocity": -0.013972521918793338, - "velocityX": 0.0015768805523035806, - "velocityY": 0.00230510819110946, - "timestamp": 1.1575280766925151 - }, - { - "x": 2.854727051459898, - "y": 5.550182947564483, - "heading": -1.530739895204114, - "angularVelocity": 0.25340219049451096, - "velocityX": -0.24308804744790793, - "velocityY": 0.0017059016353199324, - "timestamp": 1.2154642951537273 - }, - { - "x": 2.826469390730147, - "y": 5.550236990005126, - "heading": -1.5005635985743295, - "angularVelocity": 0.5208537496702079, - "velocityX": -0.4877374028908444, - "velocityY": 0.0009327919932704577, - "timestamp": 1.2734005136149396 - }, - { - "x": 2.7840363173025917, - "y": 5.550231531336438, - "heading": -1.4549278185227903, - "angularVelocity": 0.7876900022392844, - "velocityX": -0.7324101322216507, - "velocityY": -0.00009421858648957693, - "timestamp": 1.3313367320761518 - }, - { - "x": 2.7274221860317014, - "y": 5.550148761102887, - "heading": -1.3939422780597905, - "angularVelocity": 1.0526323961280135, - "velocityX": -0.9771802987977017, - "velocityY": -0.0014286440443203173, - "timestamp": 1.389272950537364 - }, - { - "x": 2.6566148405660037, - "y": 5.549971116782003, - "heading": -1.3178266829234198, - "angularVelocity": 1.3137825898375852, - "velocityX": -1.2221602883789593, - "velocityY": -0.0030662049661788395, - "timestamp": 1.4472091689985762 - }, - { - "x": 2.5715941967619655, - "y": 5.549687031457954, - "heading": -1.226931382981112, - "angularVelocity": 1.5688856186358704, - "velocityX": -1.4674869375120783, - "velocityY": -0.004903415021825008, - "timestamp": 1.5051453874597884 - }, - { - "x": 2.4723332576046424, - "y": 5.549298738005835, - "heading": -1.121715620167328, - "angularVelocity": 1.8160619662218163, - "velocityX": -1.7132795648476955, - "velocityY": -0.006702084848955864, - "timestamp": 1.5630816059210006 - }, - { - "x": 2.35880343917765, - "y": 5.548829799595477, - "heading": -1.002653528016106, - "angularVelocity": 2.05505459822325, - "velocityX": -1.9595655608762472, - "velocityY": -0.008094045876840723, - "timestamp": 1.6210178243822129 - }, - { - "x": 2.2309849265830795, - "y": 5.548327388172679, - "heading": -0.8700585611941914, - "angularVelocity": 2.288636889771009, - "velocityX": -2.206193569179898, - "velocityY": -0.008671802127711101, - "timestamp": 1.678954042843425 - }, - { - "x": 2.0888792640733476, - "y": 5.547853208451157, - "heading": -0.7238741429089274, - "angularVelocity": 2.523195717157545, - "velocityX": -2.4527949231291983, - "velocityY": -0.008184512791055682, - "timestamp": 1.7368902613046373 - }, - { - "x": 1.9614332833366477, - "y": 5.548125746738703, - "heading": -0.5810528234524482, - "angularVelocity": 2.4651474197456285, - "velocityX": -2.19976353521857, - "velocityY": 0.004704109005015754, - "timestamp": 1.7948264797658495 - }, - { - "x": 1.8482134080283263, - "y": 5.5483011716472355, - "heading": -0.45292058282424763, - "angularVelocity": 2.2116086280188663, - "velocityX": -1.9542158310940076, - "velocityY": 0.0030278971056558047, - "timestamp": 1.8527626982270617 - }, - { - "x": 1.74918485679449, - "y": 5.548383856133978, - "heading": -0.34009176355754206, - "angularVelocity": 1.9474660628554865, - "velocityX": -1.7092684656678476, - "velocityY": 0.00142716402119401, - "timestamp": 1.910698916688274 - }, - { - "x": 1.6643218193773226, - "y": 5.548394075122146, - "heading": -0.24302592792019384, - "angularVelocity": 1.6753912874017696, - "velocityX": -1.4647665945893205, - "velocityY": 0.00017638341397612615, - "timestamp": 1.9686351351494862 - }, - { - "x": 1.5936086785085652, - "y": 5.548358224540171, - "heading": -0.16200635138643993, - "angularVelocity": 1.398427075219485, - "velocityX": -1.2205342831867738, - "velocityY": -0.0006187939607027076, - "timestamp": 2.0265713536106986 - }, - { - "x": 1.537038141911803, - "y": 5.548301796110423, - "heading": -0.09717158064029811, - "angularVelocity": 1.1190714973622422, - "velocityX": -0.9764278391021166, - "velocityY": -0.0009739750250737027, - "timestamp": 2.084507572071911 - }, - { - "x": 1.494608340977685, - "y": 5.54824541753566, - "heading": -0.04856510536917417, - "angularVelocity": 0.8389652718330209, - "velocityX": -0.7323536478881102, - "velocityY": -0.0009731145096314944, - "timestamp": 2.1424437905331235 - }, - { - "x": 1.466320145844647, - "y": 5.548203147038483, - "heading": -0.016181616805544394, - "angularVelocity": 0.558950677542195, - "velocityX": -0.48826443777135237, - "velocityY": -0.0007296040082267754, - "timestamp": 2.200380008994336 - }, - { - "x": 1.452175259590149, - "y": 5.548182010650635, - "heading": -2.869110193225328e-35, - "angularVelocity": 0.27930053488301665, - "velocityX": -0.24414583192426295, - "velocityY": -0.00036482166811733157, - "timestamp": 2.2583162274555484 - }, - { - "x": 1.452175259590149, - "y": 5.548182010650635, - "heading": -1.1719973638462166e-31, - "angularVelocity": -2.0224094515653083e-30, - "velocityX": -2.9733771204512377e-31, - "velocityY": -1.5033381732661464e-32, - "timestamp": 2.316252445916761 - } - ] + "samples": [ + { + "x": 1.452175259590149, + "y": 5.548182010650635, + "heading": 1.0294010822531346e-17, + "angularVelocity": -2.312824974359611e-17, + "velocityX": 4.049033420126817e-16, + "velocityY": -1.8062381342062934e-17, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 1.4661787439500271, + "y": 5.548202389830067, + "heading": -0.015689802867767496, + "angularVelocity": -0.2521141013750506, + "velocityX": 0.22501722330541685, + "velocityY": 0.000327466097049848, + "moduleForcesX": [ + 68.36743612310936, + 65.67120973275374, + 68.43796411251796, + 65.4051528330653 + ], + "moduleForcesY": [ + -14.916545938031529, + -24.09350864850128, + 14.590544267758787, + 24.809356900454638 + ], + "timestamp": 0.062232944457305456 + }, + { + "x": 1.4941829092064594, + "y": 5.54823108453382, + "heading": -0.04708641884354897, + "angularVelocity": -0.5045015345102256, + "velocityX": 0.4499893987284657, + "velocityY": 0.0004610854270737568, + "moduleForcesX": [ + 68.24242028044128, + 65.80814397665154, + 68.54130246968722, + 65.23626681938696 + ], + "moduleForcesY": [ + -15.459062362083179, + -23.693955439338687, + 14.078029007569464, + 25.234061868946913 + ], + "timestamp": 0.12446588891461091 + }, + { + "x": 1.5361865608972907, + "y": 5.548250164742622, + "heading": -0.09417002579982231, + "angularVelocity": -0.7565704526258189, + "velocityX": 0.6749423806852723, + "velocityY": 0.0003065933753257053, + "moduleForcesX": [ + 68.05135706456979, + 66.04443401100497, + 68.69389388528236, + 65.01559886961645 + ], + "moduleForcesY": [ + -16.255891153735035, + -22.995751292823424, + 13.288724122654443, + 25.77899638866557 + ], + "timestamp": 0.18669883337191637 + }, + { + "x": 1.592192187169078, + "y": 5.548237228118494, + "heading": -0.15684482205857422, + "angularVelocity": -1.0070999661888969, + "velocityX": 0.8999353439006594, + "velocityY": -0.00020787421276645849, + "moduleForcesX": [ + 67.78853725655748, + 66.40340058350813, + 68.88772566571352, + 64.7732177923879 + ], + "moduleForcesY": [ + -17.289829766053117, + -21.893111053169036, + 12.210012377221087, + 26.360457616915966 + ], + "timestamp": 0.24893177782922182 + }, + { + "x": 1.6622082786383208, + "y": 5.548168715354815, + "heading": -0.23489507719505093, + "angularVelocity": -1.2541629809925792, + "velocityX": 1.1250647399188554, + "velocityY": -0.0011009082713559807, + "moduleForcesX": [ + 67.44898603912773, + 66.90663131914464, + 69.11019328504294, + 64.5494931539374 + ], + "moduleForcesY": [ + -18.5327130359385, + -20.236352256279453, + 10.829233055871725, + 26.876680116881865 + ], + "timestamp": 0.31116472228652725 + }, + { + "x": 1.7462508678780084, + "y": 5.5480259553335705, + "heading": -0.32795338443621086, + "angularVelocity": -1.495322261427799, + "velocityX": 1.3504517578945718, + "velocityY": -0.0022939621824202643, + "moduleForcesX": [ + 67.03070665430681, + 67.55768718675783, + 69.34294277064075, + 64.39066470434966 + ], + "moduleForcesY": [ + -19.942274619650558, + -17.834062739977952, + 9.137125138501382, + 27.21888812265869 + ], + "timestamp": 0.3733976667438327 + }, + { + "x": 1.8443424215888629, + "y": 5.547803977108122, + "heading": -0.43550968072961793, + "angularVelocity": -1.7282855123020584, + "velocityX": 1.5761997855746834, + "velocityY": -0.0035668925491956203, + "moduleForcesX": [ + 66.53717023050702, + 68.31328347527213, + 69.56086232907249, + 64.34046534237268 + ], + "moduleForcesY": [ + -21.45901140636986, + -14.471864682344837, + 7.131369005953755, + 27.284090504472072 + ], + "timestamp": 0.4356306112011381 + }, + { + "x": 1.9565053274747046, + "y": 5.547521370980101, + "heading": -0.5569957251060687, + "angularVelocity": -1.9521178924749518, + "velocityX": 1.8023075537834055, + "velocityY": -0.004541101654116381, + "moduleForcesX": [ + 65.97845109447337, + 69.04318518170581, + 69.73055044912445, + 64.42786376649663 + ], + "moduleForcesY": [ + -23.00299883474482, + -9.963721508540116, + 4.819601707864198, + 26.98732807113168 + ], + "timestamp": 0.49786355565844354 + }, + { + "x": 2.082745961192638, + "y": 5.547227617976748, + "heading": -0.6919657140494007, + "angularVelocity": -2.168786807700917, + "velocityX": 2.0285177700681523, + "velocityY": -0.004720217038150667, + "moduleForcesX": [ + 65.36387024702701, + 69.48897061504135, + 69.80313086258776, + 64.6460426364106 + ], + "moduleForcesY": [ + -24.467608867784115, + -4.2427991311191215, + 2.223447593631636, + 26.273724528663145 + ], + "timestamp": 0.560096500115749 + }, + { + "x": 2.2230105159626565, + "y": 5.547011251147142, + "heading": -0.840362540302743, + "angularVelocity": -2.3845380858557443, + "velocityX": 2.253863383650871, + "velocityY": -0.003476724919496624, + "moduleForcesX": [ + 64.62144840932022, + 69.14799520919838, + 69.65300288636165, + 64.85026310991704 + ], + "moduleForcesY": [ + -25.68406787701617, + 2.593300358750234, + -0.5916618817893329, + 25.16279990587563 + ], + "timestamp": 0.6223294445730544 + }, + { + "x": 2.350634812561981, + "y": 5.547576294555637, + "heading": -0.9773350292155086, + "angularVelocity": -2.20096429804296, + "velocityX": 2.0507513780011637, + "velocityY": 0.009079490164974249, + "moduleForcesX": [ + -57.778646701876895, + -59.00426522471736, + -63.82596835256742, + -61.19484177581821 + ], + "moduleForcesY": [ + 23.440944352062132, + 0.33147530586501744, + 5.826619416609448, + -14.650934293702942 + ], + "timestamp": 0.6845623890303598 + }, + { + "x": 2.4642470741298954, + "y": 5.548095499375778, + "heading": -1.1004365987890865, + "angularVelocity": -1.9780772169286014, + "velocityX": 1.8255967568004277, + "velocityY": 0.008342925524492215, + "moduleForcesX": [ + -64.13376888015945, + -68.22676612200455, + -69.4343176509021, + -66.25048158467057 + ], + "moduleForcesY": [ + 26.899021062721772, + -12.28250273213839, + 5.959056572500632, + -21.452451043955914 + ], + "timestamp": 0.7467953334876652 + }, + { + "x": 2.5638359943055784, + "y": 5.548536330883737, + "heading": -1.2091212509039668, + "angularVelocity": -1.7464166778932393, + "velocityX": 1.6002604575436765, + "velocityY": 0.007083571445061832, + "moduleForcesX": [ + -64.30407111448545, + -67.72989321449542, + -69.38847237345551, + -66.83918425861827 + ], + "moduleForcesY": [ + 27.04838490872202, + -16.322307297612472, + 7.973956891766362, + -20.199288586078318 + ], + "timestamp": 0.8090282779449707 + }, + { + "x": 2.64941127722025, + "y": 5.548898336746436, + "heading": -1.3029681083406854, + "angularVelocity": -1.5079932060876673, + "velocityX": 1.3750800908347844, + "velocityY": 0.005816948977397364, + "moduleForcesX": [ + -64.46785963487848, + -67.10068503303509, + -69.22032555827928, + -67.28711389699549 + ], + "moduleForcesY": [ + 26.851194749692368, + -19.18344485285335, + 9.715575687112043, + -18.89123264317697 + ], + "timestamp": 0.8712612224022761 + }, + { + "x": 2.72098160233461, + "y": 5.549193052067176, + "heading": -1.3816963689946384, + "angularVelocity": -1.2650576208500885, + "velocityX": 1.1500391912718237, + "velocityY": 0.004735680153697735, + "moduleForcesX": [ + -64.67707379137855, + -66.55858882390321, + -69.0307826777712, + -67.64350396236398 + ], + "moduleForcesY": [ + 26.44544821918082, + -21.187051294359822, + 11.15350748308186, + -17.69914897664885 + ], + "timestamp": 0.9334941668595815 + }, + { + "x": 2.778551285124397, + "y": 5.549435248938275, + "heading": -1.445148415425005, + "angularVelocity": -1.0195893346099913, + "velocityX": 0.9250676356557979, + "velocityY": 0.0038917790821066944, + "moduleForcesX": [ + -64.90601405011923, + -66.14737625956599, + -68.85440707126513, + -67.91959828827395 + ], + "moduleForcesY": [ + 25.943074751080765, + -22.54904087061858, + 12.289279085739823, + -16.687972535734747 + ], + "timestamp": 0.995727111316887 + }, + { + "x": 2.822120933461105, + "y": 5.549638235305081, + "heading": -1.4932545313488537, + "angularVelocity": -0.773000801151365, + "velocityX": 0.7001058477059969, + "velocityY": 0.003261718832441912, + "moduleForcesX": [ + -65.11998377198796, + -65.86340862601119, + -68.70989741781385, + -68.12247750067468 + ], + "moduleForcesY": [ + 25.446972732311313, + -23.434946629935343, + 13.132442814780301, + -15.894552168041413 + ], + "timestamp": 1.0579600557741924 + }, + { + "x": 2.8516889881925245, + "y": 5.549811577390205, + "heading": -1.5259966380029482, + "angularVelocity": -0.5261217662004515, + "velocityX": 0.4751190063003369, + "velocityY": 0.0027853749681004416, + "moduleForcesX": [ + -65.28930355863467, + -65.68973610854191, + -68.60834394961354, + -68.25820970062102 + ], + "moduleForcesY": [ + 25.04423462908666, + -23.96428862271737, + 13.694287481052196, + -15.341318229708934 + ], + "timestamp": 1.120193000231498 + }, + { + "x": 2.8672530575750774, + "y": 5.549960197790441, + "heading": -1.543380633501073, + "angularVelocity": -0.2793375060321907, + "velocityX": 0.25009373283076736, + "velocityY": 0.0023881306099092455, + "moduleForcesX": [ + -65.39357403027284, + -65.6101093223986, + -68.556065221474, + -68.33159790330103 + ], + "moduleForcesY": [ + 24.798625891364853, + -24.214734736612353, + 13.984463188212427, + -15.041271559617318 + ], + "timestamp": 1.1824259446888035 + }, + { + "x": 2.868810653686523, + "y": 5.550084114074707, + "heading": -1.5454210598741147, + "angularVelocity": -0.032786916808060076, + "velocityX": 0.02502848168697494, + "velocityY": 0.0019911685931672846, + "moduleForcesX": [ + -65.42245256841296, + -65.61481136744267, + -68.55604210076865, + -68.34563364143742 + ], + "moduleForcesY": [ + 24.74545735648303, + -24.22655073353629, + 14.00900484193397, + -15.00049255558983 + ], + "timestamp": 1.244658889146109 + }, + { + "x": 2.8560580548726877, + "y": 5.550179036527251, + "heading": -1.5318136793543256, + "angularVelocity": 0.21620724291774876, + "velocityX": -0.20262564316804035, + "velocityY": 0.001508219875877104, + "moduleForcesX": [ + -65.37447953791477, + -65.7052120397811, + -68.61016225748908, + -68.3003808870975 + ], + "moduleForcesY": [ + 24.893387518949716, + -24.000892863879745, + 13.763877443898723, + -15.22489041675177 + ], + "timestamp": 1.3075956360181824 + }, + { + "x": 2.828980183177157, + "y": 5.550233981900514, + "heading": -1.5025237665909776, + "angularVelocity": 0.46538650659134856, + "velocityX": -0.43023945533078567, + "velocityY": 0.0008730253125815452, + "moduleForcesX": [ + -65.21226267062308, + -65.84831813583705, + -68.70273293284437, + -68.17946562571872 + ], + "moduleForcesY": [ + 25.29948286012646, + -23.582552543858412, + 13.274401354915979, + -15.73907098938741 + ], + "timestamp": 1.3705323828902558 + }, + { + "x": 2.7875777614954127, + "y": 5.550234623197386, + "heading": -1.4575775018441677, + "angularVelocity": 0.7141497929322483, + "velocityX": -0.6578417814578725, + "velocityY": 0.00001018956244456657, + "moduleForcesX": [ + -64.99635460278539, + -66.0989076251482, + -68.84264625200836, + -67.99134973587267 + ], + "moduleForcesY": [ + 25.831090822374836, + -22.839475132301708, + 12.502904847328153, + -16.510234859933455 + ], + "timestamp": 1.4334691297623292 + }, + { + "x": 2.7318477952498763, + "y": 5.550163391111192, + "heading": -1.3970728918522342, + "angularVelocity": 0.9613558532771274, + "velocityX": -0.8854916883070214, + "velocityY": -0.0011318044263684292, + "moduleForcesX": [ + -64.75567753641344, + -66.4777432693289, + -69.02158842662257, + -67.7302601315089 + ], + "moduleForcesY": [ + 26.407346934911697, + -21.6675742621197, + 11.438365069617793, + -17.522471992014214 + ], + "timestamp": 1.4964058766344026 + }, + { + "x": 2.661781530319156, + "y": 5.5500028342906, + "heading": -1.3212163187248507, + "angularVelocity": 1.2052827147449419, + "velocityX": -1.113280689172428, + "velocityY": -0.002551082272751422, + "moduleForcesX": [ + -64.52936413322816, + -67.00221396579178, + -69.22667923999464, + -67.39075093394216 + ], + "moduleForcesY": [ + 26.929132035464175, + -19.91969936190412, + 10.069711861017682, + -18.749892224405997 + ], + "timestamp": 1.559342623506476 + }, + { + "x": 2.5773633649542718, + "y": 5.549741521399564, + "heading": -1.230344103171569, + "angularVelocity": 1.4438657869916498, + "velocityX": -1.341317585634253, + "velocityY": -0.004151992344170057, + "moduleForcesX": [ + -64.36241714956134, + -67.66937886189378, + -69.43947692219834, + -66.96955346089686 + ], + "moduleForcesY": [ + 27.290314184429594, + -17.409293348365264, + 8.388775355718925, + -20.15435798513431 + ], + "timestamp": 1.6222793703785494 + }, + { + "x": 2.4785726509492148, + "y": 5.549382320102514, + "heading": -1.1249003745230932, + "angularVelocity": 1.6753921022121, + "velocityX": -1.569682560931959, + "velocityY": -0.005707338176077271, + "moduleForcesX": [ + -64.29741448888443, + -68.42726170583565, + -69.63508541869187, + -66.46727313239425 + ], + "moduleForcesY": [ + 27.391044834031142, + -13.93090390666345, + 6.393009384152986, + -21.684074722941702 + ], + "timestamp": 1.6852161172506228 + }, + { + "x": 2.3653912124588783, + "y": 5.548951054594649, + "heading": -1.0053368531706355, + "angularVelocity": 1.8997410462836546, + "velocityX": -1.7983363315305039, + "velocityY": -0.006852364146410688, + "moduleForcesX": [ + -64.361890009489, + -69.136881435311, + -69.78062918639013, + -65.88759861349882 + ], + "moduleForcesY": [ + 27.151847007916277, + -9.311825028879877, + 4.08694064831974, + -23.274866069633724 + ], + "timestamp": 1.7481528641226962 + }, + { + "x": 2.237820961474841, + "y": 5.548501554978895, + "heading": -0.8719106153272527, + "angularVelocity": 2.1200053144573325, + "velocityX": -2.0269597226398592, + "velocityY": -0.007142085319468688, + "moduleForcesX": [ + -64.54460005629463, + -69.53557534409713, + -69.82800005514223, + -65.2230616150622 + ], + "moduleForcesY": [ + 26.534156398187733, + -3.4957836602984522, + 1.481573631951752, + -24.86100078824297 + ], + "timestamp": 1.8110896109947696 + }, + { + "x": 2.095934565490872, + "y": 5.5481183529252664, + "heading": -0.7243375961227965, + "angularVelocity": 2.344783080457575, + "velocityX": -2.2544285021908332, + "velocityY": -0.006088685357057522, + "moduleForcesX": [ + -64.67215484224079, + -69.11998592679583, + -69.65401084782593, + -64.32589803391569 + ], + "moduleForcesY": [ + 25.64865976101465, + 3.4614680134652653, + -1.4064003555861124, + -26.463684422006175 + ], + "timestamp": 1.874026357866843 + }, + { + "x": 1.9671341741737232, + "y": 5.5482903285396015, + "heading": -0.581945105897832, + "angularVelocity": 2.2624698177357256, + "velocityX": -2.0465053838645235, + "velocityY": 0.0027325150550230742, + "moduleForcesX": [ + 61.54842778772192, + 60.33651967726527, + 62.41051256201755, + 60.46779790887323 + ], + "moduleForcesY": [ + -5.654151714257232, + 0.9052787770944943, + 3.9736029040300114, + 11.159424373321091 + ], + "timestamp": 1.9369631047389164 + }, + { + "x": 1.8526704687838236, + "y": 5.548407377905108, + "heading": -0.45388509301955116, + "angularVelocity": 2.034741534040793, + "velocityX": -1.8187102302001648, + "velocityY": 0.0018597938031193369, + "moduleForcesX": [ + 66.36814528403231, + 68.10148667456188, + 69.37166829635237, + 64.31495097956763 + ], + "moduleForcesY": [ + -21.098496982862496, + -13.090928600142043, + 6.676948754570997, + 26.485125475899284 + ], + "timestamp": 1.9998998516109898 + }, + { + "x": 1.7525389201263797, + "y": 5.548452358602103, + "heading": -0.34097309248428354, + "angularVelocity": 1.7940552403287962, + "velocityX": -1.5909870407093032, + "velocityY": 0.0007146968174985772, + "moduleForcesX": [ + 66.91376160409132, + 67.52782878620512, + 69.2860574339187, + 64.34388851318542 + ], + "moduleForcesY": [ + -19.96150028366774, + -17.190255443859797, + 8.836964561850435, + 26.96680412559349 + ], + "timestamp": 2.062836598483063 + }, + { + "x": 1.666723438941702, + "y": 5.548437277029116, + "heading": -0.2437477324997491, + "angularVelocity": 1.5448106998926139, + "velocityX": -1.363519492980257, + "velocityY": -0.00023963060024477235, + "moduleForcesX": [ + 67.35513974793022, + 66.87090830528443, + 69.0834563648647, + 64.46109515480865 + ], + "moduleForcesY": [ + -18.65587696179638, + -19.99992325966331, + 10.655663584120108, + 26.876720012100044 + ], + "timestamp": 2.125773345355136 + }, + { + "x": 1.5952128189106207, + "y": 5.548384193629019, + "heading": -0.16253908370744105, + "angularVelocity": 1.2903216773706274, + "velocityX": -1.1362300021159608, + "velocityY": -0.0008434404860780658, + "moduleForcesX": [ + 67.71134490467824, + 66.33009784800674, + 68.86573657738248, + 64.65381498740837 + ], + "moduleForcesY": [ + -17.445142325704392, + -21.912951647780986, + 12.137859674457161, + 26.509440443987298 + ], + "timestamp": 2.1887100922272094 + }, + { + "x": 1.5380021409243265, + "y": 5.548316086523075, + "heading": -0.09751754598609085, + "angularVelocity": 1.0331251765118854, + "velocityX": -0.9090186707750106, + "velocityY": -0.0010821517125678584, + "moduleForcesX": [ + 67.98728047149343, + 65.93523459116835, + 68.66828272586083, + 64.87818858014563 + ], + "moduleForcesY": [ + -16.416458996033853, + -23.1780085941375, + 13.294947884723614, + 26.018513254754996 + ], + "timestamp": 2.2516468390992825 + }, + { + "x": 1.4950909876344731, + "y": 5.5482520614605075, + "heading": -0.04874946317801182, + "angularVelocity": 0.7748745404202622, + "velocityX": -0.6818139707219196, + "velocityY": -0.001017292132037145, + "moduleForcesX": [ + 68.18834152304179, + 65.67233987704924, + 68.51001840724298, + 65.09048033163083 + ], + "moduleForcesY": [ + -15.615250917452268, + -23.97795738437613, + 14.142077463878332, + 25.527482339271003 + ], + "timestamp": 2.3145835859713557 + }, + { + "x": 1.4664812166751366, + "y": 5.548205229161406, + "heading": -0.016246393265528333, + "angularVelocity": 0.5164402599093739, + "velocityX": -0.4545797548068217, + "velocityY": -0.0007441170269136336, + "moduleForcesX": [ + 68.32022707353642, + 65.51795160520804, + 68.40182352069117, + 65.255923467784 + ], + "moduleForcesY": [ + -15.067788193756657, + -24.44065464018659, + 14.694333100896438, + 25.13568642572427 + ], + "timestamp": 2.377520332843429 + }, + { + "x": 1.4521752595901487, + "y": 5.548182010650635, + "heading": -1.272467497388997e-17, + "angularVelocity": 0.2581384337919935, + "velocityX": -0.22730690407773096, + "velocityY": -0.0003689181440546911, + "moduleForcesX": [ + 68.38765858797099, + 65.45254130892798, + 68.34963446656292, + 65.35157149350827 + ], + "moduleForcesY": [ + -14.78879046721604, + -24.646519101335457, + 14.96365777331691, + 24.913328996344212 + ], + "timestamp": 2.440457079715502 + }, + { + "x": 1.452175259590149, + "y": 5.548182010650635, + "heading": -6.774111808455795e-18, + "angularVelocity": -1.2736553930478867e-17, + "velocityX": 3.5588044169619737e-16, + "velocityY": 3.4220333719525545e-18, + "moduleForcesX": [ + 68.39344426513723, + 65.46559625670558, + 68.35606913524865, + 65.3663831736629 + ], + "moduleForcesY": [ + -14.784944739844013, + -24.634793889576954, + 14.956891653850455, + 24.897130606858017 + ], + "timestamp": 2.5033938265875753 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4 center.1.traj b/src/main/deploy/choreo/source 4 center.1.traj index 87a45984..edd41c56 100644 --- a/src/main/deploy/choreo/source 4 center.1.traj +++ b/src/main/deploy/choreo/source 4 center.1.traj @@ -1,1453 +1,3386 @@ { - "samples": [ - { - "x": 0.7778744697570803, - "y": 4.333664894104004, - "heading": -1.051650156247713, - "angularVelocity": -1.7793953070033792e-17, - "velocityX": -2.3662346560779174e-16, - "velocityY": 1.513985749824813e-16, - "timestamp": 0 - }, - { - "x": 0.790260400822094, - "y": 4.32606669230055, - "heading": -1.043226880114087, - "angularVelocity": 0.1457853167710587, - "velocityX": 0.2143687153516353, - "velocityY": -0.1315053951971085, - "timestamp": 0.05777863175928728 - }, - { - "x": 0.8150389153431291, - "y": 4.310868474494396, - "heading": -1.026520641212676, - "angularVelocity": 0.28914216887328015, - "velocityX": 0.4288525665381815, - "velocityY": -0.2630421895324896, - "timestamp": 0.11555726351857457 - }, - { - "x": 0.8522172862387298, - "y": 4.288068391059585, - "heading": -1.0016844781071523, - "angularVelocity": 0.42985031575330845, - "velocityX": 0.6434622933005771, - "velocityY": -0.3946109961516389, - "timestamp": 0.17333589527786186 - }, - { - "x": 0.9018037069270466, - "y": 4.257664548050408, - "heading": -0.9688918459931005, - "angularVelocity": 0.5675563978508485, - "velocityX": 0.8582138271272934, - "velocityY": -0.5262125821158792, - "timestamp": 0.23111452703714913 - }, - { - "x": 0.9638076509071686, - "y": 4.21965495404394, - "heading": -0.9283472235119572, - "angularVelocity": 0.7017234788469388, - "velocityX": 1.0731293229378922, - "velocityY": -0.6578486345059211, - "timestamp": 0.2888931587964364 - }, - { - "x": 1.0382402900358625, - "y": 4.174037389516853, - "heading": -0.8803008243396758, - "angularVelocity": 0.8315600025360311, - "velocityX": 1.2882381749500231, - "velocityY": -0.7895231011550332, - "timestamp": 0.34667179055572367 - }, - { - "x": 1.1251149598280679, - "y": 4.120809170553125, - "heading": -0.8250688523182798, - "angularVelocity": 0.9559238483095122, - "velocityX": 1.5035778305401113, - "velocityY": -0.9212440195102288, - "timestamp": 0.40445042231501094 - }, - { - "x": 1.2244476483198248, - "y": 4.059966801166272, - "heading": -0.7630612249532699, - "angularVelocity": 1.0731930728879349, - "velocityX": 1.719194198048661, - "velocityY": -1.0530254444295157, - "timestamp": 0.4622290540742982 - }, - { - "x": 1.3362574752268745, - "y": 3.9915055634581638, - "heading": -0.6948199700911081, - "angularVelocity": 1.1810811849346494, - "velocityX": 1.935141478823221, - "velocityY": -1.1848885240710811, - "timestamp": 0.5200076858335855 - }, - { - "x": 1.4605671120938635, - "y": 3.915419208926679, - "heading": -0.6210750436535144, - "angularVelocity": 1.276335631221314, - "velocityX": 2.1514811459170184, - "velocityY": -1.3168597492662952, - "timestamp": 0.5777863175928728 - }, - { - "x": 1.5974029985127856, - "y": 3.8317001576981107, - "heading": -0.5428340183077932, - "angularVelocity": 1.3541515775534916, - "velocityX": 2.3682784145702263, - "velocityY": -1.4489621626443523, - "timestamp": 0.6355649493521601 - }, - { - "x": 1.7467946407653947, - "y": 3.740341260921631, - "heading": -0.4615494492257075, - "angularVelocity": 1.4068275174934395, - "velocityX": 2.5855863613211305, - "velocityY": -1.5811883043041164, - "timestamp": 0.6933435811114474 - }, - { - "x": 1.908769072887807, - "y": 3.6413426760214245, - "heading": -0.3794943251085089, - "angularVelocity": 1.420163849830334, - "velocityX": 2.803362197935337, - "velocityY": -1.7134117213548117, - "timestamp": 0.7511222128707348 - }, - { - "x": 2.083315645349881, - "y": 3.5347427761060226, - "heading": -0.30082734030617125, - "angularVelocity": 1.3615238437987522, - "velocityX": 3.020953718482913, - "velocityY": -1.844970998266447, - "timestamp": 0.8089008446300221 - }, - { - "x": 2.270090753487244, - "y": 3.4209144724017664, - "heading": -0.23622157160887522, - "angularVelocity": 1.1181602390041263, - "velocityX": 3.2325983231221276, - "velocityY": -1.9700761378095335, - "timestamp": 0.8666794763893094 - }, - { - "x": 2.4675703698241453, - "y": 3.301925100586404, - "heading": -0.20598558214025112, - "angularVelocity": 0.5233074676221288, - "velocityX": 3.4178659190066183, - "velocityY": -2.0594009963940656, - "timestamp": 0.9244581081485967 - }, - { - "x": 2.67309990510019, - "y": 3.1759332785826966, - "heading": -0.2059855458578113, - "angularVelocity": 6.279560238040065e-7, - "velocityX": 3.5571893798438423, - "velocityY": -2.180595458345295, - "timestamp": 0.9822367399078841 - }, - { - "x": 2.878638160545615, - "y": 3.0499556827875893, - "heading": -0.20598550964073065, - "angularVelocity": 6.268248243037761e-7, - "velocityX": 3.557340303621619, - "velocityY": -2.1803492391433776, - "timestamp": 1.0400153716671714 - }, - { - "x": 3.0841652677026152, - "y": 2.923959899852403, - "heading": -0.2059854734241155, - "angularVelocity": 6.268167671168799e-7, - "velocityX": 3.5571473553276682, - "velocityY": -2.180664011915343, - "timestamp": 1.0977940034264586 - }, - { - "x": 3.2896912914469922, - "y": 2.7979623496482073, - "heading": -0.20598543720757262, - "angularVelocity": 6.26815516623068e-7, - "velocityX": 3.557128604232485, - "velocityY": -2.1806945988114834, - "timestamp": 1.1555726351857458 - }, - { - "x": 3.4952174217611773, - "y": 2.671964973280129, - "heading": -0.20598540099105317, - "angularVelocity": 6.268151111067458e-7, - "velocityX": 3.557130448682686, - "velocityY": -2.1806915901539288, - "timestamp": 1.213351266945033 - }, - { - "x": 3.700743952525155, - "y": 2.5459682501256737, - "heading": -0.20598536477454374, - "angularVelocity": 6.268149377930614e-7, - "velocityX": 3.557137379442033, - "velocityY": -2.1806802847006312, - "timestamp": 1.2711298987043202 - }, - { - "x": 3.906271071380292, - "y": 2.4199724862737657, - "heading": -0.20598532855803678, - "angularVelocity": 6.268148944566873e-7, - "velocityX": 3.5571475577924354, - "velocityY": -2.1806636816327134, - "timestamp": 1.3289085304636075 - }, - { - "x": 4.11179878981895, - "y": 2.293977700481347, - "heading": -0.20598529234153268, - "angularVelocity": 6.268148455453945e-7, - "velocityX": 3.5571579350461384, - "velocityY": -2.180646753930203, - "timestamp": 1.3866871622228947 - }, - { - "x": 4.317326439396235, - "y": 2.167982802359838, - "heading": -0.2059852561250577, - "angularVelocity": 6.268143417259201e-7, - "velocityX": 3.5571567432322886, - "velocityY": -2.180648698058812, - "timestamp": 1.444465793982182 - }, - { - "x": 4.522852901289537, - "y": 2.0419859668637224, - "heading": -0.20598521990865043, - "angularVelocity": 6.268131693640567e-7, - "velocityX": 3.557136187467174, - "velocityY": -2.1806822290467753, - "timestamp": 1.502244425741469 - }, - { - "x": 4.728378638604872, - "y": 1.915987949440798, - "heading": -0.20598518369226368, - "angularVelocity": 6.268128139836973e-7, - "velocityX": 3.557123646880059, - "velocityY": -2.180702685169959, - "timestamp": 1.5600230575007563 - }, - { - "x": 4.933904389542495, - "y": 1.789989954237894, - "heading": -0.20598514747579555, - "angularVelocity": 6.268142222822715e-7, - "velocityX": 3.5571238826469207, - "velocityY": -2.1807023005983677, - "timestamp": 1.6178016892600435 - }, - { - "x": 5.139425573676261, - "y": 1.6639845100463269, - "heading": -0.20598511125942923, - "angularVelocity": 6.268124608562066e-7, - "velocityX": 3.5570448429791726, - "velocityY": -2.180831223496614, - "timestamp": 1.6755803210193307 - }, - { - "x": 5.344946507226316, - "y": 1.5379786571420961, - "heading": -0.20598507504308844, - "angularVelocity": 6.26812018516268e-7, - "velocityX": 3.557040506017501, - "velocityY": -2.18083829726509, - "timestamp": 1.733358952778618 - }, - { - "x": 5.5520744228031775, - "y": 1.4146321708958636, - "heading": -0.20598503872955082, - "angularVelocity": 6.284942461809738e-7, - "velocityX": 3.5848532453966846, - "velocityY": -2.134811477712189, - "timestamp": 1.7911375845379052 - }, - { - "x": 5.766343681041228, - "y": 1.3041558760667749, - "heading": -0.20598498706942028, - "angularVelocity": 8.941044293612351e-7, - "velocityX": 3.708451580001442, - "velocityY": -1.9120614570685264, - "timestamp": 1.8489162162971924 - }, - { - "x": 5.978828837823206, - "y": 1.2069586010105995, - "heading": -0.18358111993898485, - "angularVelocity": 0.3877535076249762, - "velocityX": 3.67757335734804, - "velocityY": -1.6822356656196136, - "timestamp": 1.9066948480564796 - }, - { - "x": 6.180402614425525, - "y": 1.1188565633405292, - "heading": -0.14743074561977582, - "angularVelocity": 0.6256703078365721, - "velocityX": 3.4887253378047918, - "velocityY": -1.524820422143498, - "timestamp": 1.9644734798157668 - }, - { - "x": 6.3699552080803885, - "y": 1.03925188031653, - "heading": -0.11182866618657619, - "angularVelocity": 0.6161807289158787, - "velocityX": 3.2806694773348446, - "velocityY": -1.3777529962225779, - "timestamp": 2.022252111575054 - }, - { - "x": 6.547333304224276, - "y": 0.9678228780837896, - "heading": -0.08083165647112141, - "angularVelocity": 0.5364787772163276, - "velocityX": 3.069960134792835, - "velocityY": -1.2362529201162495, - "timestamp": 2.0800307433343415 - }, - { - "x": 6.712491158270741, - "y": 0.9043991401394745, - "heading": -0.05631142234718805, - "angularVelocity": 0.4243823949671858, - "velocityX": 2.8584590707258863, - "velocityY": -1.0977023168105784, - "timestamp": 2.137809375093629 - }, - { - "x": 6.8654092710206385, - "y": 0.8488759629040167, - "heading": -0.03933718355960969, - "angularVelocity": 0.29378055988406115, - "velocityX": 2.6466205255079807, - "velocityY": -0.960963864059192, - "timestamp": 2.1955880068529163 - }, - { - "x": 7.006077603998495, - "y": 0.8011825400871414, - "heading": -0.03060270556570015, - "angularVelocity": 0.1511714232053547, - "velocityX": 2.434608240013325, - "velocityY": -0.8254508866802454, - "timestamp": 2.2533666386122038 - }, - { - "x": 7.134490489959717, - "y": 0.7612675428390505, - "heading": -0.03060270556570016, - "angularVelocity": -1.1334804632089022e-18, - "velocityX": 2.222497869042738, - "velocityY": -0.6908262801095992, - "timestamp": 2.311145270371491 - }, - { - "x": 7.157992431819527, - "y": 0.7541017781880169, - "heading": -0.030602705565700175, - "angularVelocity": -1.2581567593470853e-19, - "velocityX": 2.1823811097675607, - "velocityY": -0.665410096950253, - "timestamp": 2.3219142152430465 - }, - { - "x": 7.1810654399906575, - "y": 0.7472145233417125, - "heading": -0.030602705565700185, - "angularVelocity": -1.2584235174923969e-19, - "velocityX": 2.1425504955526327, - "velocityY": -0.6395477856420501, - "timestamp": 2.332683160114602 - }, - { - "x": 7.203712486312128, - "y": 0.7406103026789971, - "heading": -0.0306027055657002, - "angularVelocity": -1.2589480252638889e-19, - "velocityX": 2.102995845144348, - "velocityY": -0.6132653422861725, - "timestamp": 2.343452104986157 - }, - { - "x": 7.225936436683162, - "y": 0.7342933827085865, - "heading": -0.03060270556570021, - "angularVelocity": -1.2597194526551408e-19, - "velocityX": 2.063707321014898, - "velocityY": -0.5865867126031925, - "timestamp": 2.3542210498577125 - }, - { - "x": 7.247740054890559, - "y": 0.7282677920480325, - "heading": -0.03060270556570022, - "angularVelocity": -1.2607260344010128e-19, - "velocityX": 2.0246754410440913, - "velocityY": -0.5595339870732939, - "timestamp": 2.364989994729268 - }, - { - "x": 7.269126006488931, - "y": 0.7225373395258404, - "heading": -0.030602705565700234, - "angularVelocity": -1.2619549751069908e-19, - "velocityX": 1.9858910834300973, - "velocityY": -0.5321275752212485, - "timestamp": 2.375758939600823 - }, - { - "x": 7.290096862678418, - "y": 0.7171056306060466, - "heading": -0.030602705565700244, - "angularVelocity": -1.2633925300320036e-19, - "velocityX": 1.9473454864531226, - "velocityY": -0.504386361391914, - "timestamp": 2.3865278844723785 - }, - { - "x": 7.310655104138184, - "y": 0.7119760823120441, - "heading": -0.030602705565700255, - "angularVelocity": -1.2650241619398796e-19, - "velocityX": 1.9090302443712892, - "velocityY": -0.47632784410954027, - "timestamp": 2.397296829343934 - }, - { - "x": 7.330803124784916, - "y": 0.7071519368064082, - "heading": -0.03060270556570027, - "angularVelocity": -1.2668346071584948e-19, - "velocityX": 1.8709373004545575, - "velocityY": -0.44796826088117375, - "timestamp": 2.408065774215489 - }, - { - "x": 7.350543235433966, - "y": 0.7026362737657202, - "heading": -0.03060270556570028, - "angularVelocity": -1.2688080148855072e-19, - "velocityX": 1.8330589379457207, - "velocityY": -0.4193227000925091, - "timestamp": 2.4188347190870445 - }, - { - "x": 7.369877667347483, - "y": 0.6984320216736967, - "heading": -0.030602705565700293, - "angularVelocity": -1.2709279603654747e-19, - "velocityX": 1.795387769565657, - "velocityY": -0.3904052014537178, - "timestamp": 2.4296036639586 - }, - { - "x": 7.388808575659034, - "y": 0.6945419681420674, - "heading": -0.030602705565700303, - "angularVelocity": -1.2731776934626528e-19, - "velocityX": 1.7579167260438568, - "velocityY": -0.3612288462822784, - "timestamp": 2.440372608830155 - }, - { - "x": 7.4073380426682265, - "y": 0.6909687693564187, - "heading": -0.030602705565700314, - "angularVelocity": -1.275540101779436e-19, - "velocityX": 1.7206390440473927, - "velocityY": -0.3318058387583308, - "timestamp": 2.4511415537017105 - }, - { - "x": 7.42546808100196, - "y": 0.6877149587334354, - "heading": -0.030602705565700328, - "angularVelocity": -1.277997880149378e-19, - "velocityX": 1.6835482537961202, - "velocityY": -0.3021475791540086, - "timestamp": 2.461910498573266 - }, - { - "x": 7.443200636641307, - "y": 0.6847829548664589, - "heading": -0.030602705565700338, - "angularVelocity": -1.2805336078718123e-19, - "velocityX": 1.6466381665843768, - "velocityY": -0.27226472991991385, - "timestamp": 2.472679443444821 - }, - { - "x": 7.460537591814793, - "y": 0.682175068827898, - "heading": -0.030602705565700352, - "angularVelocity": -1.2831298509767557e-19, - "velocityX": 1.6099028623760643, - "velocityY": -0.24216727540775893, - "timestamp": 2.4834483883163765 - }, - { - "x": 7.477480767760241, - "y": 0.6798935108896162, - "heading": -0.030602705565700362, - "angularVelocity": -1.2857692405835418e-19, - "velocityX": 1.5733366775979092, - "velocityY": -0.2118645759166451, - "timestamp": 2.494217333187932 - }, - { - "x": 7.494031927358264, - "y": 0.67794039671589, - "heading": -0.030602705565700376, - "angularVelocity": -1.2884345997295027e-19, - "velocityX": 1.5369341932225304, - "velocityY": -0.18136541667003236, - "timestamp": 2.504986278059487 - }, - { - "x": 7.510192777641261, - "y": 0.6763177530777503, - "heading": -0.030602705565700387, - "angularVelocity": -1.2911089621766391e-19, - "velocityX": 1.5006902232068866, - "velocityY": -0.15067805225986258, - "timestamp": 2.5157552229310425 - }, - { - "x": 7.5259649721822255, - "y": 0.6750275231324118, - "heading": -0.0306027055657004, - "angularVelocity": -1.2937757521143262e-19, - "velocityX": 1.4645998033312837, - "velocityY": -0.1198102470323331, - "timestamp": 2.526524167802598 - }, - { - "x": 7.541350113367985, - "y": 0.6740715713069704, - "heading": -0.03060270556570041, - "angularVelocity": -1.296418828562996e-19, - "velocityX": 1.4286581804682124, - "velocityY": -0.08876931183542423, - "timestamp": 2.537293112674153 - }, - { - "x": 7.556349754561682, - "y": 0.6734516878215384, - "heading": -0.030602705565700425, - "angularVelocity": -1.2990224487888173e-19, - "velocityX": 1.3928608022979438, - "velocityY": -0.05756213750051861, - "timestamp": 2.5480620575457085 - }, - { - "x": 7.570965402159407, - "y": 0.6731695928834319, - "heading": -0.030602705565700435, - "angularVelocity": -1.3015716161437227e-19, - "velocityX": 1.3572033074783092, - "velocityY": -0.02619522538848284, - "timestamp": 2.558831002417264 - }, - { - "x": 7.5851985175458605, - "y": 0.6732269405808596, - "heading": -0.030602705565700446, - "angularVelocity": -1.3040518388715472e-19, - "velocityX": 1.3216815162688345, - "velocityY": 0.005325284706314105, - "timestamp": 2.569599947288819 - }, - { - "x": 7.5990505189538675, - "y": 0.6736253225017574, - "heading": -0.03060270556570046, - "angularVelocity": -1.3064494528108826e-19, - "velocityX": 1.2862914216039185, - "velocityY": 0.03699358903303555, - "timestamp": 2.5803688921603745 - }, - { - "x": 7.612522783232516, - "y": 0.6743662711009057, - "heading": -0.030602705565700473, - "angularVelocity": -1.308751523423428e-19, - "velocityX": 1.2510291806056897, - "velocityY": 0.0688041965100445, - "timestamp": 2.59113783703193 - }, - { - "x": 7.62561664752849, - "y": 0.6754512628362374, - "heading": -0.030602705565700484, - "angularVelocity": -1.310946019138232e-19, - "velocityX": 1.2158911065242088, - "velocityY": 0.100751907291985, - "timestamp": 2.601906781903485 - }, - { - "x": 7.638333410885047, - "y": 0.6768817210932491, - "heading": -0.030602705565700498, - "angularVelocity": -1.3130217522977708e-19, - "velocityX": 1.180873661090617, - "velocityY": 0.1328317930932966, - "timestamp": 2.6126757267750405 - }, - { - "x": 7.650674335762937, - "y": 0.6786590189146542, - "heading": -0.030602705565700508, - "angularVelocity": -1.314968563004619e-19, - "velocityX": 1.1459734472674334, - "velocityY": 0.16503917910282548, - "timestamp": 2.623444671646596 - }, - { - "x": 7.662640649487338, - "y": 0.6807844815508151, - "heading": -0.030602705565700522, - "angularVelocity": -1.316777225489205e-19, - "velocityX": 1.1111872023793405, - "velocityY": 0.19736962734156704, - "timestamp": 2.634213616518151 - }, - { - "x": 7.674233545624737, - "y": 0.6832593888450686, - "heading": -0.030602705565700532, - "angularVelocity": -1.3184396070946397e-19, - "velocityX": 1.076511791607365, - "velocityY": 0.22981892133095566, - "timestamp": 2.6449825613897064 - }, - { - "x": 7.685454185293472, - "y": 0.6860849774667783, - "heading": -0.030602705565700546, - "angularVelocity": -1.3199486712853293e-19, - "velocityX": 1.0419442018292242, - "velocityY": 0.26238305195274914, - "timestamp": 2.6557515062612618 - }, - { - "x": 7.696303698411492, - "y": 0.6892624430037938, - "heading": -0.030602705565700557, - "angularVelocity": -1.321298423631589e-19, - "velocityX": 1.0074815357887332, - "velocityY": 0.29505820439365477, - "timestamp": 2.666520451132817 - }, - { - "x": 7.706783184884676, - "y": 0.6927929419249639, - "heading": -0.03060270556570057, - "angularVelocity": -1.3224840778586506e-19, - "velocityX": 0.9731210065774615, - "velocityY": 0.32784074607859154, - "timestamp": 2.6772893960043724 - }, - { - "x": 7.716893715738936, - "y": 0.6966775934224183, - "heading": -0.03060270556570058, - "angularVelocity": -1.3235019457504513e-19, - "velocityX": 0.9388599324122615, - "velocityY": 0.3607272155060462, - "timestamp": 2.6880583408759278 - }, - { - "x": 7.726636334199068, - "y": 0.7009174811424926, - "heading": -0.030602705565700595, - "angularVelocity": -1.3243495649172234e-19, - "velocityX": 0.9046957316928207, - "velocityY": 0.3937143119074966, - "timestamp": 2.698827285747483 - }, - { - "x": 7.736012056717246, - "y": 0.7055136548134117, - "heading": -0.030602705565700605, - "angularVelocity": -1.3250256127624165e-19, - "velocityX": 0.8706259183239783, - "velocityY": 0.42679888566046975, - "timestamp": 2.7095962306190384 - }, - { - "x": 7.745021873953834, - "y": 0.7104671317771619, - "heading": -0.03060270556570062, - "angularVelocity": -1.3255299337637072e-19, - "velocityX": 0.8366480972881875, - "velocityY": 0.4599779293915816, - "timestamp": 2.7203651754905938 - }, - { - "x": 7.753666751713056, - "y": 0.7157788984323638, - "heading": -0.03060270556570063, - "angularVelocity": -1.3258803470125528e-19, - "velocityX": 0.8027599604541601, - "velocityY": 0.49324856971196684, - "timestamp": 2.731134120362149 - }, - { - "x": 7.7619476318359375, - "y": 0.7214499115943908, - "heading": -0.030602705565700643, - "angularVelocity": 1.9516610437843725e-19, - "velocityX": 0.7689592826084032, - "velocityY": 0.5266080595329276, - "timestamp": 2.7419030652337044 - }, - { - "x": 7.7766579182187305, - "y": 0.733787242568658, - "heading": -0.0316362180023682, - "angularVelocity": -0.04948186074190923, - "velocityX": 0.704289872518588, - "velocityY": 0.5906790005971662, - "timestamp": 2.7627897582798333 - }, - { - "x": 7.790017889428913, - "y": 0.7474637178929253, - "heading": -0.03369531549182525, - "angularVelocity": -0.09858417916658603, - "velocityX": 0.6396403289250577, - "velocityY": 0.6547937145464989, - "timestamp": 2.783676451325962 - }, - { - "x": 7.802027980510766, - "y": 0.7624802864780906, - "heading": -0.03677178647069785, - "angularVelocity": -0.14729334950622003, - "velocityX": 0.5750116141089285, - "velocityY": 0.7189538598571299, - "timestamp": 2.804563144372091 - }, - { - "x": 7.812688648697797, - "y": 0.7788379349447829, - "heading": -0.04085710951119451, - "angularVelocity": -0.19559453626642123, - "velocityX": 0.5104047904322161, - "velocityY": 0.7831612419719024, - "timestamp": 2.82544983741822 - }, - { - "x": 7.822000375712872, - "y": 0.7965376909288235, - "heading": -0.04594242586887812, - "angularVelocity": -0.24347158961222506, - "velocityX": 0.4458210303809276, - "velocityY": 0.8474178245905254, - "timestamp": 2.846336530464349 - }, - { - "x": 7.829963670292153, - "y": 0.8155806266549606, - "heading": -0.052018509653501015, - "angularVelocity": -0.29090693156660485, - "velocityX": 0.3812616272807539, - "velocityY": 0.9117257425136729, - "timestamp": 2.8672232235104778 - }, - { - "x": 7.836579070950113, - "y": 0.8359678628145525, - "heading": -0.05907573494892603, - "angularVelocity": -0.3378814099407179, - "velocityX": 0.3167280068390848, - "velocityY": 0.9760873161953465, - "timestamp": 2.8881099165566066 - }, - { - "x": 7.841847149006602, - "y": 0.8577005727862841, - "heading": -0.06710403913607434, - "angularVelocity": -0.38437411654480413, - "velocityX": 0.2522217396911387, - "velocityY": 1.0405050681663293, - "timestamp": 2.9089966096027355 - }, - { - "x": 7.845768511901353, - "y": 0.8807799872426505, - "heading": -0.07609288159225877, - "angularVelocity": -0.43036216582166986, - "velocityX": 0.18774455516197847, - "velocityY": 1.1049817415037784, - "timestamp": 2.9298833026488644 - }, - { - "x": 7.848343806826723, - "y": 0.9052073991889596, - "heading": -0.08603119685039462, - "angularVelocity": -0.47582042960016563, - "velocityX": 0.12329835650299947, - "velocityY": 1.1695203205390383, - "timestamp": 2.9507699956949933 - }, - { - "x": 7.849573724716206, - "y": 0.9309841694860987, - "heading": -0.09690734120151905, - "angularVelocity": -0.5207212231780369, - "velocityX": 0.05888523792481034, - "velocityY": 1.2341240540190064, - "timestamp": 2.971656688741122 - }, - { - "x": 7.849459004634706, - "y": 0.9581117329134663, - "heading": -0.10870903161261351, - "angularVelocity": -0.565033937398806, - "velocityX": -0.00549249616711224, - "velocityY": 1.2987964809678323, - "timestamp": 2.992543381787251 - }, - { - "x": 7.848000438627406, - "y": 0.9865916048345064, - "heading": -0.12142327570723585, - "angularVelocity": -0.6087246107625819, - "velocityX": -0.06983230921616214, - "velocityY": 1.3635414595379622, - "timestamp": 3.01343007483338 - }, - { - "x": 7.845198877097917, - "y": 1.016425388534499, - "heading": -0.13503629141647774, - "angularVelocity": -0.6517554348683694, - "velocityX": -0.13413140717401323, - "velocityY": 1.4283631991959511, - "timestamp": 3.034316767879509 - }, - { - "x": 7.84105523480423, - "y": 1.0476147833090375, - "heading": -0.14953341474861673, - "angularVelocity": -0.6940841855683735, - "velocityX": -0.1983867089220468, - "velocityY": 1.493266296663426, - "timestamp": 3.0552034609256378 - }, - { - "x": 7.835570497583959, - "y": 1.080161593392477, - "heading": -0.1648989939421203, - "angularVelocity": -0.7356635710386621, - "velocityX": -0.2625948113547232, - "velocityY": 1.558255776132632, - "timestamp": 3.0760901539717667 - }, - { - "x": 7.828745729950008, - "y": 1.1140677378291983, - "heading": -0.18111626805043107, - "angularVelocity": -0.7764404864137381, - "velocityX": -0.3267519477055535, - "velocityY": 1.623337134406034, - "timestamp": 3.0969768470178956 - }, - { - "x": 7.820582083736118, - "y": 1.1493352614076457, - "heading": -0.19816722774665066, - "angularVelocity": -0.8163551625219962, - "velocityX": -0.3908539372824497, - "velocityY": 1.6885163917791046, - "timestamp": 3.1178635400640244 - }, - { - "x": 7.811080808021215, - "y": 1.1859663467987929, - "heading": -0.21603245581517905, - "angularVelocity": -0.8553401933504964, - "velocityX": -0.45489612424139775, - "velocityY": 1.7538001497051927, - "timestamp": 3.1387502331101533 - }, - { - "x": 7.800243260625712, - "y": 1.223963328068296, - "heading": -0.23469094439171648, - "angularVelocity": -0.893319422817657, - "velocityX": -0.5188733023254182, - "velocityY": 1.819195656563993, - "timestamp": 3.159636926156282 - }, - { - "x": 7.788070921556361, - "y": 1.2633287057667226, - "heading": -0.25411988548888115, - "angularVelocity": -0.930206665758685, - "velocityX": -0.5827796215737641, - "velocityY": 1.8847108832157804, - "timestamp": 3.180523619202411 - }, - { - "x": 7.774565408885156, - "y": 1.3040651638469198, - "heading": -0.27429443065388165, - "angularVelocity": -0.9659042300494589, - "velocityX": -0.6466084717852727, - "velocityY": 1.950354610479966, - "timestamp": 3.20141031224854 - }, - { - "x": 7.759728497690897, - "y": 1.3461755887141946, - "heading": -0.29518741467882864, - "angularVelocity": -1.0003011955413041, - "velocityX": -0.7103523358863058, - "velocityY": 2.0161365312485113, - "timestamp": 3.222297005294669 - }, - { - "x": 7.7435621428812755, - "y": 1.3896630907863896, - "heading": -0.3167690370258923, - "angularVelocity": -1.0332713895588923, - "velocityX": -0.7740026041421778, - "velocityY": 2.082067370653246, - "timestamp": 3.243183698340798 - }, - { - "x": 7.726068506965954, - "y": 1.434531029030405, - "heading": -0.33900649289872903, - "angularVelocity": -1.0646709760958641, - "velocityX": -0.8375493371155777, - "velocityY": 2.148159028570159, - "timestamp": 3.2640703913869267 - }, - { - "x": 7.7072499941922, - "y": 1.4807830390526746, - "heading": -0.36186354348562405, - "angularVelocity": -1.0943355435163682, - "velocityX": -0.90098096104507, - "velocityY": 2.21442474977349, - "timestamp": 3.2849570844330556 - }, - { - "x": 7.6871092929208125, - "y": 1.5284230654567807, - "heading": -0.38530001152067206, - "angularVelocity": -1.1220765289788979, - "velocityX": -0.9642838733209447, - "velocityY": 2.280879328235054, - "timestamp": 3.3058437774791845 - }, - { - "x": 7.665649428767142, - "y": 1.577455399343546, - "heading": -0.40927118351177383, - "angularVelocity": -1.1476767498885854, - "velocityX": -1.0274419270813502, - "velocityY": 2.347539353332566, - "timestamp": 3.3267304705253133 - }, - { - "x": 7.642873831944985, - "y": 1.627884722015486, - "heading": -0.4337270930873546, - "angularVelocity": -1.1708847121738761, - "velocityX": -1.0904357512152005, - "velocityY": 2.4144235068981454, - "timestamp": 3.3476171635714422 - }, - { - "x": 7.618786423564328, - "y": 1.679716156147042, - "heading": -0.45861164985999886, - "angularVelocity": -1.1914072140422596, - "velocityX": -1.1532418429025078, - "velocityY": 2.481552920660289, - "timestamp": 3.368503856617571 - }, - { - "x": 7.593391727562435, - "y": 1.7329553258622423, - "heading": -0.48386156329630237, - "angularVelocity": -1.2088995314164044, - "velocityX": -1.2158313403566556, - "velocityY": 2.5489516027079997, - "timestamp": 3.3893905496637 - }, - { - "x": 7.566695017846028, - "y": 1.7876084272433121, - "heading": -0.5094049884894066, - "angularVelocity": -1.2229521033650876, - "velocityX": -1.2781683370098904, - "velocityY": 2.6166469368974274, - "timestamp": 3.410277242709829 - }, - { - "x": 7.538702514691068, - "y": 1.8436823105941504, - "heading": -0.535159785645356, - "angularVelocity": -1.2330720377356625, - "velocityX": -1.3402075231889359, - "velocityY": 2.6846702456438365, - "timestamp": 3.431163935755958 - }, - { - "x": 7.509421651533809, - "y": 1.9011845748805896, - "heading": -0.561031228953825, - "angularVelocity": -1.2386567491240053, - "velocityX": -1.4018908159655408, - "velocityY": 2.753057372914118, - "timestamp": 3.4520506288020867 - }, - { - "x": 7.478861444881083, - "y": 1.9601236721846107, - "heading": -0.5869089074781779, - "angularVelocity": -1.2389552748824937, - "velocityX": -1.463142422078596, - "velocityY": 2.8218491636685754, - "timestamp": 3.4729373218482156 - }, - { - "x": 7.447033019690258, - "y": 2.0205090133877057, - "heading": -0.6126624001237826, - "angularVelocity": -1.2330095812069104, - "velocityX": -1.52386139445488, - "velocityY": 2.8910915227093272, - "timestamp": 3.4938240148943445 - }, - { - "x": 7.413950377003154, - "y": 2.0823510497284965, - "heading": -0.6381350164273529, - "angularVelocity": -1.2195619597278216, - "velocityX": -1.58391003372531, - "velocityY": 2.960834259603034, - "timestamp": 3.5147107079404734 - }, - { - "x": 7.379631553262011, - "y": 2.1456612626479417, - "heading": -0.6631343421228942, - "angularVelocity": -1.1969020486071915, - "velocityX": -1.643095135517515, - "velocityY": 3.0311266977315565, - "timestamp": 3.5355974009866022 - }, - { - "x": 7.3441004380170645, - "y": 2.2104518816733045, - "heading": -0.6874172157006555, - "angularVelocity": -1.1626002031117062, - "velocityX": -1.7011364683952517, - "velocityY": 3.102004653502146, - "timestamp": 3.556484094032731 - }, - { - "x": 7.307389736175537, - "y": 2.2767348289489746, - "heading": -0.7106643956818505, - "angularVelocity": -1.1130139141630913, - "velocityX": -1.7576119762209603, - "velocityY": 3.1734534102302487, - "timestamp": 3.57737078707886 - }, - { - "x": 7.245004584395614, - "y": 2.387946892684077, - "heading": -0.7444159303817715, - "angularVelocity": -0.9983968929355788, - "velocityX": -1.8454017648724967, - "velocityY": 3.2897401518852836, - "timestamp": 3.611176515981603 - }, - { - "x": 7.179181838076728, - "y": 2.5023458944446157, - "heading": -0.771176752673562, - "angularVelocity": -0.7916061318713116, - "velocityX": -1.9470885100053599, - "velocityY": 3.3840122805710715, - "timestamp": 3.6449822448843463 - }, - { - "x": 7.109668882109448, - "y": 2.618848519760876, - "heading": -0.7874298632579281, - "angularVelocity": -0.48077977052721604, - "velocityX": -2.0562478083896516, - "velocityY": 3.446239116790862, - "timestamp": 3.6787879737870894 - }, - { - "x": 7.035693573660437, - "y": 2.735782548420554, - "heading": -0.7957259593983187, - "angularVelocity": -0.24540503665097835, - "velocityX": -2.1882476979518364, - "velocityY": 3.4590003663606774, - "timestamp": 3.7125937026898326 - }, - { - "x": 6.957014333531214, - "y": 2.85167998109835, - "heading": -0.7988055186607733, - "angularVelocity": -0.09109578057950915, - "velocityX": -2.327393689855875, - "velocityY": 3.4283370434409512, - "timestamp": 3.7463994315925757 - }, - { - "x": 6.873848758135451, - "y": 2.965397022115393, - "heading": -0.7993490485356187, - "angularVelocity": -0.016078040393953535, - "velocityX": -2.460103009020327, - "velocityY": 3.363839346407822, - "timestamp": 3.780205160495319 - }, - { - "x": 6.787108786710581, - "y": 3.0756676554578557, - "heading": -0.7968305006548542, - "angularVelocity": 0.07450062348929531, - "velocityX": -2.5658364496270885, - "velocityY": 3.261891901804707, - "timestamp": 3.814010889398062 - }, - { - "x": 6.697527011767112, - "y": 3.181964569343137, - "heading": -0.7898701081062274, - "angularVelocity": 0.2058938758176595, - "velocityX": -2.649899228654154, - "velocityY": 3.1443461607081735, - "timestamp": 3.847816618300805 - }, - { - "x": 6.6057091936381935, - "y": 3.2839361751329723, - "heading": -0.7782630438895483, - "angularVelocity": 0.3433460716102862, - "velocityX": -2.7160431414767596, - "velocityY": 3.0164001516784844, - "timestamp": 3.8816223472035483 - }, - { - "x": 6.51217951882697, - "y": 3.3812879395453606, - "heading": -0.7629048430045671, - "angularVelocity": 0.4543076390740111, - "velocityX": -2.766681206025814, - "velocityY": 2.879741616944965, - "timestamp": 3.9154280761062914 - }, - { - "x": 6.417348951447825, - "y": 3.4738526119938054, - "heading": -0.7444150903267376, - "angularVelocity": 0.5469413995190979, - "velocityX": -2.805162629445672, - "velocityY": 2.73813567856347, - "timestamp": 3.9492338050090345 - }, - { - "x": 6.321538045542248, - "y": 3.5615325207234423, - "heading": -0.7232523306326979, - "angularVelocity": 0.6260110454924283, - "velocityX": -2.834161812668459, - "velocityY": 2.5936405329962575, - "timestamp": 3.9830395339117777 - }, - { - "x": 6.22500005413485, - "y": 3.644269040494466, - "heading": -0.6997733335781026, - "angularVelocity": 0.6945271649708546, - "velocityX": -2.8556695726079946, - "velocityY": 2.4474112068120664, - "timestamp": 4.01684526281452 - }, - { - "x": 6.128354628757319, - "y": 3.7219973093295886, - "heading": -0.674348748925599, - "angularVelocity": 0.7520791734930076, - "velocityX": -2.858847553785181, - "velocityY": 2.299263212420078, - "timestamp": 4.050650991717263 - }, - { - "x": 6.032238703839081, - "y": 3.7947340713477735, - "heading": -0.6473304083821297, - "angularVelocity": 0.7992237239196747, - "velocityX": -2.8431845145169645, - "velocityY": 2.1516105222119015, - "timestamp": 4.084456720620006 - }, - { - "x": 5.937258266883108, - "y": 3.8625729143640037, - "heading": -0.6190835374532825, - "angularVelocity": 0.8355646171721902, - "velocityX": -2.809595889182734, - "velocityY": 2.0067262330416984, - "timestamp": 4.1182624495227484 - }, - { - "x": 5.843965629994652, - "y": 3.925669245257987, - "heading": -0.5899719126760393, - "angularVelocity": 0.8611447148794082, - "velocityX": -2.7596694381846882, - "velocityY": 1.8664390013748073, - "timestamp": 4.152068178425491 - }, - { - "x": 5.752846705505816, - "y": 3.9842209820332593, - "heading": -0.5603426513283869, - "angularVelocity": 0.8764568110007059, - "velocityX": -2.6953693189393753, - "velocityY": 1.7320063396272878, - "timestamp": 4.185873907328234 - }, - { - "x": 5.664317798324593, - "y": 4.038449719048553, - "heading": -0.5305153107707118, - "angularVelocity": 0.8823161495344912, - "velocityX": -2.6187545736971405, - "velocityY": 1.6041286129728605, - "timestamp": 4.2196796362309765 - }, - { - "x": 5.578729234360759, - "y": 4.08858536630745, - "heading": -0.5007767322400403, - "angularVelocity": 0.8796904990934415, - "velocityX": -2.5317769130216585, - "velocityY": 1.4830518047143701, - "timestamp": 4.253485365133719 - }, - { - "x": 5.496372709711907, - "y": 4.134855226623216, - "heading": -0.4713804332472861, - "angularVelocity": 0.8695656016566179, - "velocityX": -2.4361706527845137, - "velocityY": 1.368698792115411, - "timestamp": 4.287291094036462 - }, - { - "x": 5.417489921821255, - "y": 4.177477117415218, - "heading": -0.44254865940527666, - "angularVelocity": 0.8528665045192995, - "velocityX": -2.3334147924333886, - "velocityY": 1.2607889897781017, - "timestamp": 4.321096822939205 - }, - { - "x": 5.342280996482041, - "y": 4.216655596783143, - "heading": -0.4144756108687364, - "angularVelocity": 0.8304228143491521, - "velocityX": -2.2247390540102043, - "velocityY": 1.158930176617096, - "timestamp": 4.354902551841947 - }, - { - "x": 5.270911994343646, - "y": 4.252580324109894, - "heading": -0.38733095832594816, - "angularVelocity": 0.8029601320202794, - "velocityX": -2.111151111213083, - "velocityY": 1.0626816368936485, - "timestamp": 4.38870828074469 - }, - { - "x": 5.203521264343312, - "y": 4.285425771135261, - "heading": -0.3612632061683655, - "angularVelocity": 0.7711045732094111, - "velocityX": -1.993470698242112, - "velocityY": 0.9715941082016462, - "timestamp": 4.422514009647433 - }, - { - "x": 5.140224665694359, - "y": 4.3153517229828875, - "heading": -0.3364027186426946, - "angularVelocity": 0.7353927376390257, - "velocityX": -1.8723630787862457, - "velocityY": 0.8852331489056608, - "timestamp": 4.456319738550175 - }, - { - "x": 5.081119789809812, - "y": 4.3425041978255985, - "heading": -0.3128643576563687, - "angularVelocity": 0.6962831966748698, - "velocityX": -1.7483686287193616, - "velocityY": 0.8031915217928767, - "timestamp": 4.490125467452918 - }, - { - "x": 5.026289344990242, - "y": 4.367016552508206, - "heading": -0.2907497432944396, - "angularVelocity": 0.6541676538184275, - "velocityX": -1.6219276021917488, - "velocityY": 0.7250946948408769, - "timestamp": 4.523931196355661 - }, - { - "x": 4.975803861000419, - "y": 4.389010635354101, - "heading": -0.2701491739764076, - "angularVelocity": 0.6093810128247359, - "velocityX": -1.4934002498531325, - "velocityY": 0.6506022369513395, - "timestamp": 4.5577369252584035 - }, - { - "x": 4.929723850341455, - "y": 4.408597907896565, - "heading": -0.25114325101632495, - "angularVelocity": 0.5622101216856332, - "velocityX": -1.3630828902264982, - "velocityY": 0.5794068987187334, - "timestamp": 4.591542654161146 - }, - { - "x": 4.888101539259908, - "y": 4.425880494868218, - "heading": -0.23380425171395244, - "angularVelocity": 0.5129012112785903, - "velocityX": -1.2312206372266652, - "velocityY": 0.5112324902496034, - "timestamp": 4.625348383063889 - }, - { - "x": 4.850982259247048, - "y": 4.440952144393432, - "heading": -0.21819729085123546, - "angularVelocity": 0.46166615450349546, - "velocityX": -1.0980174431277496, - "velocityY": 0.44583122489608273, - "timestamp": 4.6591541119666315 - }, - { - "x": 4.818405570732873, - "y": 4.453899093459424, - "heading": -0.20438130501428825, - "angularVelocity": 0.40868770724319975, - "velocityX": -0.9636440204527564, - "velocityY": 0.38298091732440465, - "timestamp": 4.692959840869374 - }, - { - "x": 4.790406175158671, - "y": 4.464800841015277, - "heading": -0.1924098886312887, - "angularVelocity": 0.3541238947233061, - "velocityX": -0.8282441019022307, - "velocityY": 0.3224822510769351, - "timestamp": 4.726765569772117 - }, - { - "x": 4.7670146592934906, - "y": 4.4737308347828755, - "heading": -0.18233200563323024, - "angularVelocity": 0.29811169068567966, - "velocityX": -0.6919394027111793, - "velocityY": 0.26415622610265493, - "timestamp": 4.76057129867486 - }, - { - "x": 4.748258106026371, - "y": 4.4807570795019735, - "heading": -0.17419259626741354, - "angularVelocity": 0.24077011885273358, - "velocityX": -0.554833570401078, - "velocityY": 0.2078418347171693, - "timestamp": 4.794377027577602 - }, - { - "x": 4.734160598392618, - "y": 4.485942674770102, - "heading": -0.16803309485896994, - "angularVelocity": 0.18220288715454405, - "velocityX": -0.4170153430003218, - "velocityY": 0.15339397896277213, - "timestamp": 4.828182756480345 - }, - { - "x": 4.724743637814444, - "y": 4.489346290419544, - "heading": -0.16389187119456528, - "angularVelocity": 0.12250064704472823, - "velocityX": -0.2785610866509069, - "velocityY": 0.10068162290581124, - "timestamp": 4.861988485383088 - }, - { - "x": 4.72002649307251, - "y": 4.49102258682251, - "heading": -0.16180460559801732, - "angularVelocity": 0.061742954945680495, - "velocityX": -0.13953684464265562, - "velocityY": 0.04958616356973356, - "timestamp": 4.89579421428583 - }, - { - "x": 4.72002649307251, - "y": 4.49102258682251, - "heading": -0.16180460559801732, - "angularVelocity": 3.1683920940991345e-19, - "velocityX": -2.143213095252052e-16, - "velocityY": 1.1917993482771072e-16, - "timestamp": 4.929599943188573 - } - ] + "samples": [ + { + "x": 0.7778744697570801, + "y": 4.333664894104004, + "heading": -1.051650156247713, + "angularVelocity": -5.636129343676144e-20, + "velocityX": -1.5582516804955846e-19, + "velocityY": -1.233474018766279e-19, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.7895452521522209, + "y": 4.326271706184473, + "heading": -1.0450525918907192, + "angularVelocity": 0.10860764414662394, + "velocityX": 0.19212183658965779, + "velocityY": -0.12170502313059048, + "moduleForcesX": [ + 65.06383099029837, + 60.906607266744466, + 56.3319330950316, + 52.01323971713489 + ], + "moduleForcesY": [ + -25.71732033864186, + -34.44361073075982, + -41.475415745609055, + -46.7975187530415 + ], + "timestamp": 0.06074677716134803 + }, + { + "x": 0.812891040884265, + "y": 4.311485642995027, + "heading": -1.0319614680992248, + "angularVelocity": 0.21550318227950277, + "velocityX": 0.38431320677368613, + "velocityY": -0.2434048994924028, + "moduleForcesX": [ + 64.97080534520987, + 60.951662581783964, + 56.28614472291954, + 52.19180297323933 + ], + "moduleForcesY": [ + -25.942901335843057, + -34.358458408204996, + -41.53202089319371, + -46.59420782929671 + ], + "timestamp": 0.12149355432269605 + }, + { + "x": 0.8479163410713284, + "y": 4.289307010011541, + "heading": -1.0124901254227336, + "angularVelocity": 0.3205329333731382, + "velocityX": 0.5765787392149813, + "velocityY": -0.3650997471780042, + "moduleForcesX": [ + 64.86126439569931, + 61.02328105292509, + 56.19999670140154, + 52.406323236350914 + ], + "moduleForcesY": [ + -26.205865141072746, + -34.224961707159885, + -41.642410823466925, + -46.348217721367696 + ], + "timestamp": 0.1822403314840441 + }, + { + "x": 0.89462603889228, + "y": 4.259736097975707, + "heading": -0.9867650702973968, + "angularVelocity": 0.42348016351565526, + "velocityX": 0.7689247068513118, + "velocityY": -0.4867898087381881, + "moduleForcesX": [ + 64.73067218370694, + 61.11706368178447, + 56.082381085599536, + 52.65884879811182 + ], + "moduleForcesY": [ + -26.515734115300113, + -34.05011315200466, + -41.79386284871882, + -46.055908023341814 + ], + "timestamp": 0.2429871086453921 + }, + { + "x": 0.953025517326669, + "y": 4.2227731651890155, + "heading": -0.9549309751434943, + "angularVelocity": 0.5240458282971734, + "velocityX": 0.9613592879055225, + "velocityY": -0.6084756181964223, + "moduleForcesX": [ + 64.57325982367182, + 61.227498456031874, + 55.944316274286756, + 52.95196588119314 + ], + "moduleForcesY": [ + -26.88414387827563, + -33.84283883946265, + -41.9708347598879, + -45.71261471367435 + ], + "timestamp": 0.30373388580674016 + }, + { + "x": 1.023120786856791, + "y": 4.178418402152836, + "heading": -0.9171572799850713, + "angularVelocity": 0.6218222089065436, + "velocityX": 1.1538928121889291, + "velocityY": -0.7301582916632786, + "moduleForcesX": [ + 64.38187670480939, + 61.34764033918663, + 55.799516599457185, + 53.28867992093736 + ], + "moduleForcesY": [ + -27.324742826425798, + -33.614752605263604, + -42.15445916906758, + -45.31265287311907 + ], + "timestamp": 0.3644806629680882 + }, + { + "x": 1.1049186274470617, + "y": 4.126671872057348, + "heading": -0.873646939244105, + "angularVelocity": 0.7162575987430515, + "velocityX": 1.346537946745875, + "velocityY": -0.8518399249073805, + "moduleForcesX": [ + 64.1478028196942, + 61.468621723586494, + 55.665083076725416, + 53.67232805267827 + ], + "moduleForcesY": [ + -27.853017238524256, + -33.3812445308963, + -42.3218302773256, + -44.84924675078015 + ], + "timestamp": 0.4252274401294362 + }, + { + "x": 1.1984267341731174, + "y": 4.067533424655495, + "heading": -0.824648035993807, + "angularVelocity": 0.8066090999388039, + "velocityX": 1.539309755934722, + "velocityY": -0.9735240314852686, + "moduleForcesX": [ + 63.8605162741697, + 61.57887433379153, + 55.56236960606459, + 54.1065703578737 + ], + "moduleForcesY": [ + -28.48601435609894, + -33.16309981350497, + -42.44492962580768, + -44.31431152916742 + ], + "timestamp": 0.4859742172907842 + }, + { + "x": 1.3036538534859086, + "y": 4.001002590651008, + "heading": -0.7704693310933457, + "angularVelocity": 0.8918778482117411, + "velocityX": 1.7322255472631922, + "velocityY": -1.095215863514464, + "moduleForcesX": [ + 63.50739782955684, + 61.66282895640172, + 55.518158163313615, + 54.59554910231365 + ], + "moduleForcesY": [ + -29.24196295284344, + -32.9890092589466, + -42.488870027426124, + -43.69793519935049 + ], + "timestamp": 0.5467209944521323 + }, + { + "x": 1.420609888323638, + "y": 3.9270784831952756, + "heading": -0.7115015548767949, + "angularVelocity": 0.9707144802090146, + "velocityX": 1.925304358568446, + "velocityY": -1.216922294649221, + "moduleForcesX": [ + 63.073315620909774, + 61.698608578825045, + 55.56643922813387, + 55.144393028054715 + ], + "moduleForcesY": [ + -30.139867136621483, + -32.89967785549446, + -42.40879677377493, + -42.98724103203216 + ], + "timestamp": 0.6074677716134803 + }, + { + "x": 1.549305929784203, + "y": 3.845759771334139, + "heading": -0.6482479021390049, + "angularVelocity": 1.0412676308700886, + "velocityX": 2.1185657490723906, + "velocityY": -1.338650635656737, + "moduleForcesX": [ + 62.539923460384564, + 61.65364147525013, + 55.75142545651446, + 55.76044328396493 + ], + "moduleForcesY": [ + -31.19933132427257, + -32.955006820356004, + -42.14405313430009, + -42.16391323535469 + ], + "timestamp": 0.6682145487748283 + }, + { + "x": 1.6897541099219289, + "y": 3.7570448709667494, + "heading": -0.5813709766950805, + "angularVelocity": 1.1009131441869606, + "velocityX": 2.312026854769351, + "velocityY": -1.4604050537817976, + "moduleForcesX": [ + 61.88420903341154, + 61.475608657814256, + 56.133115918467446, + 56.45607668593568 + ], + "moduleForcesY": [ + -32.44129101146052, + -33.24767092959366, + -41.606512702494356, + -41.1986340416764 + ], + "timestamp": 0.7289613259361764 + }, + { + "x": 1.8419669511597132, + "y": 3.6609326997604614, + "heading": -0.5117725030101681, + "angularVelocity": 1.145714668945378, + "velocityX": 2.5056941018203385, + "velocityY": -1.582177289027317, + "moduleForcesX": [ + 61.07501738915023, + 61.071790321814795, + 56.798209973922155, + 57.255406703969186 + ], + "moduleForcesY": [ + -33.891307938815935, + -33.931276678048704, + -40.65560929631092, + -40.03764488634434 + ], + "timestamp": 0.7897081030975244 + }, + { + "x": 2.0059550611467434, + "y": 3.557424966823023, + "heading": -0.4407458962436112, + "angularVelocity": 1.1692242796338779, + "velocityX": 2.6995359696443733, + "velocityY": -1.7039213893193699, + "moduleForcesX": [ + 60.06391562765075, + 60.2553534688524, + 57.88240967857871, + 58.211716579845955 + ], + "moduleForcesY": [ + -35.589653551995454, + -35.28568480691761, + -39.04000192025351, + -38.566184571815135 + ], + "timestamp": 0.8504548802588724 + }, + { + "x": 2.181718451496118, + "y": 3.446533493890028, + "heading": -0.37031453022930083, + "angularVelocity": 1.159425558120382, + "velocityX": 2.8933780286406527, + "velocityY": -1.8254708828166932, + "moduleForcesX": [ + 58.75896628533793, + 58.57779198874031, + 59.61638310709172, + 59.460487131227445 + ], + "moduleForcesY": [ + -37.62021543413481, + -37.8914092227543, + -36.24409731253385, + -36.48845656614379 + ], + "timestamp": 0.9112016574202204 + }, + { + "x": 2.3692072132515976, + "y": 3.3283109625607157, + "heading": -0.3041558144467885, + "angularVelocity": 1.0890901357085954, + "velocityX": 3.0863984974461345, + "velocityY": -1.9461531434878288, + "moduleForcesX": [ + 56.93835584644663, + 54.64324099612931, + 62.40530836687403, + 61.42469557396897 + ], + "moduleForcesY": [ + -40.19943588591799, + -43.18365028431357, + -31.01488653473848, + -32.78851143617189 + ], + "timestamp": 0.9719484345815684 + }, + { + "x": 2.56806447073906, + "y": 3.2031059904962547, + "heading": -0.2513338119549388, + "angularVelocity": 0.8695441134523151, + "velocityX": 3.273544157894707, + "velocityY": -2.0610965373834955, + "moduleForcesX": [ + 53.88336419615082, + 41.809191119167274, + 66.69854625720048, + 65.85546615427828 + ], + "moduleForcesY": [ + -44.010821811647745, + -55.34450268010527, + -19.634216069923124, + -21.19770757793386 + ], + "timestamp": 1.0326952117429165 + }, + { + "x": 2.776792495396947, + "y": 3.0728016301437586, + "heading": -0.23024910209459595, + "angularVelocity": 0.34709182685264595, + "velocityX": 3.4360345422686316, + "velocityY": -2.145041538687696, + "moduleForcesX": [ + 50.13974894181501, + 14.462070724025372, + 68.87486756491161, + 64.69981567644771 + ], + "moduleForcesY": [ + -47.70818593784217, + -67.04398929850127, + -5.497361173032204, + 17.868544087245013 + ], + "timestamp": 1.0934419889042646 + }, + { + "x": 2.991386265300539, + "y": 2.93826565209188, + "heading": -0.23011827872356835, + "angularVelocity": 0.0021535853775438334, + "velocityX": 3.532595142185318, + "velocityY": -2.214701492632949, + "moduleForcesX": [ + 35.48252383687913, + 9.774963698526314, + 47.16159141172256, + 25.3481482265981 + ], + "moduleForcesY": [ + -36.0500079299969, + -40.12544174173949, + -7.927697970329668, + -0.8555169505330844 + ], + "timestamp": 1.1541887660656127 + }, + { + "x": 3.205905990741616, + "y": 2.803602144884387, + "heading": -0.2300007247531307, + "angularVelocity": 0.0019351474420683024, + "velocityX": 3.5313762386323164, + "velocityY": -2.2168008493655034, + "moduleForcesX": [ + -0.3647413828336435, + -0.3828932952888559, + -0.360410692437786, + -0.3785536331016633 + ], + "moduleForcesY": [ + -0.6515095237983872, + -0.6472507026375742, + -0.6329625479827293, + -0.6286944294381447 + ], + "timestamp": 1.2149355432269608 + }, + { + "x": 3.4204616055120933, + "y": 2.668995655584455, + "heading": -0.22988334708765484, + "angularVelocity": 0.0019322451488097425, + "velocityX": 3.531967040829198, + "velocityY": -2.2158622331915043, + "moduleForcesX": [ + 0.1802303545562368, + 0.17998910216157288, + 0.18028797437995087, + 0.18004667269776484 + ], + "moduleForcesY": [ + 0.2860372087685171, + 0.28609395913281965, + 0.28628349383473545, + 0.2863402826996723 + ], + "timestamp": 1.275682320388309 + }, + { + "x": 3.6350877550593124, + "y": 2.5345014913633266, + "heading": -0.2297661360926154, + "angularVelocity": 0.0019295014569767248, + "velocityX": 3.533128168711827, + "velocityY": -2.214013162606174, + "moduleForcesX": [ + 0.3541204299468525, + 0.3538924274182181, + 0.35417489682972425, + 0.353946893366516 + ], + "moduleForcesY": [ + 0.5636476246937862, + 0.5637010038192122, + 0.5638806174778863, + 0.5639339973063658 + ], + "timestamp": 1.336429097549657 + }, + { + "x": 3.8498016257634333, + "y": 2.40014724328459, + "heading": -0.22964908843403078, + "angularVelocity": 0.0019268126484094804, + "velocityX": 3.534572214980632, + "velocityY": -2.2117098940390147, + "moduleForcesX": [ + 0.44038193061858183, + 0.44015848607666647, + 0.44043528163177037, + 0.4402118371108819 + ], + "moduleForcesY": [ + 0.7021377248705836, + 0.702189994834005, + 0.7023660705559374, + 0.7024183406169506 + ], + "timestamp": 1.3971758747110052 + }, + { + "x": 4.064620497965347, + "y": 2.2659607740855487, + "heading": -0.22953219618387868, + "angularVelocity": 0.0019242543491917005, + "velocityX": 3.536300726396375, + "velocityY": -2.2089479552574667, + "moduleForcesX": [ + 0.5271126607796838, + 0.5269000512450652, + 0.5271633904757267, + 0.5269507809884488 + ], + "moduleForcesY": [ + 0.841995373042479, + 0.842045083501318, + 0.8422126375834696, + 0.8422623480625643 + ], + "timestamp": 1.4579226518723534 + }, + { + "x": 4.279571980781838, + "y": 2.131986668853432, + "heading": -0.22941542627904893, + "angularVelocity": 0.0019222403275750088, + "velocityX": 3.5384837329816343, + "velocityY": -2.2054520666383897, + "moduleForcesX": [ + 0.6656732835619963, + 0.6655059081112186, + 0.6657132054858567, + 0.6655458299212555 + ], + "moduleForcesY": [ + 1.0658087339094262, + 1.0658478402812293, + 1.0659797867298646, + 1.0660188932106331 + ], + "timestamp": 1.5186694290337015 + }, + { + "x": 4.494714183162186, + "y": 1.9983189110767354, + "heading": -0.22929865369908023, + "angularVelocity": 0.0019222843651201956, + "velocityX": 3.5416233162281934, + "velocityY": -2.2004090426339027, + "moduleForcesX": [ + 0.9572730406663411, + 0.9572768008568153, + 0.9572722695664473, + 0.9572760277720431 + ], + "moduleForcesY": [ + 1.5376453830506829, + 1.5376444223111616, + 1.537641738873583, + 1.5376407812414081 + ], + "timestamp": 1.5794162061950496 + }, + { + "x": 4.71019887758486, + "y": 1.8652039603913078, + "heading": -0.22918153091443694, + "angularVelocity": 0.0019280493569589878, + "velocityX": 3.5472613444221155, + "velocityY": -2.1913088546551935, + "moduleForcesX": [ + 1.7188793874875354, + 1.719359415619067, + 1.7187662214033244, + 1.7192462384107166 + ], + "moduleForcesY": [ + 2.7749933426026514, + 2.7748805191802095, + 2.774504552189087, + 2.7743917462893752 + ], + "timestamp": 1.6401629833563978 + }, + { + "x": 4.92650138679515, + "y": 1.7334222858901553, + "heading": -0.22906346790995682, + "angularVelocity": 0.0019435270478060595, + "velocityX": 3.560724030441544, + "velocityY": -2.169360757215648, + "moduleForcesX": [ + 4.104337817632307, + 4.1056353424154866, + 4.104044418966293, + 4.105341913227292 + ], + "moduleForcesY": [ + 6.692892366388001, + 6.692579450907831, + 6.691588497617617, + 6.691275625669315 + ], + "timestamp": 1.700909760517746 + }, + { + "x": 5.145161278779899, + "y": 1.6055908082372623, + "heading": -0.2289442218006309, + "angularVelocity": 0.0019630030579103593, + "velocityX": 3.5995307438939776, + "velocityY": -2.104333491032175, + "moduleForcesX": [ + 11.831612713907242, + 11.8333544410758, + 11.831365177094387, + 11.833106828011122 + ], + "moduleForcesY": [ + 19.82816100572495, + 19.827647282843774, + 19.826625940767062, + 19.82611227641246 + ], + "timestamp": 1.761656537679094 + }, + { + "x": 5.368528361022339, + "y": 1.4861879944086693, + "heading": -0.22880566280067124, + "angularVelocity": 0.002280927588826869, + "velocityX": 3.677019468031377, + "velocityY": -1.9655826927484585, + "moduleForcesX": [ + 23.607169766202997, + 23.643051115735936, + 23.610334986161725, + 23.646232477923206 + ], + "moduleForcesY": [ + 42.32247409358339, + 42.306957963344956, + 42.30466302220125, + 42.28913671637425 + ], + "timestamp": 1.8224033148404422 + }, + { + "x": 5.594731686092125, + "y": 1.3785349172133332, + "heading": -0.22009594070269464, + "angularVelocity": 0.14337751737582632, + "velocityX": 3.7237090696840376, + "velocityY": -1.7721611289665864, + "moduleForcesX": [ + 5.632676306893634, + 23.272475780054876, + 2.133790943178929, + 25.90462328184544 + ], + "moduleForcesY": [ + 62.68657116371662, + 58.50764797880355, + 60.22050628743225, + 54.48605875998542 + ], + "timestamp": 1.8831500920017903 + }, + { + "x": 5.811700270843849, + "y": 1.2789932107204633, + "heading": -0.18966001704681176, + "angularVelocity": 0.501029438566638, + "velocityX": 3.571688818576141, + "velocityY": -1.6386335398251601, + "moduleForcesX": [ + -45.47229731946414, + -11.71237755344669, + -66.79574430311527, + -61.42650106553785 + ], + "moduleForcesY": [ + 52.14690830101219, + 67.76050075721076, + 17.18007794174655, + 25.765415094116992 + ], + "timestamp": 1.9438968691631384 + }, + { + "x": 6.017543917452549, + "y": 1.1876317750398822, + "heading": -0.15569629293190923, + "angularVelocity": 0.5591033088832403, + "velocityX": 3.388552549248239, + "velocityY": -1.503971732326116, + "moduleForcesX": [ + -54.81468001399278, + -51.658084594042855, + -59.56321925617317, + -57.32065074966512 + ], + "moduleForcesY": [ + 42.780122935166744, + 46.45495405516455, + 35.81946271588509, + 39.181677643796895 + ], + "timestamp": 2.0046436463244866 + }, + { + "x": 6.211942565175739, + "y": 1.1041217629558815, + "heading": -0.12304603883396573, + "angularVelocity": 0.5374812561861837, + "velocityX": 3.2001475108194115, + "velocityY": -1.3747233349053536, + "moduleForcesX": [ + -57.92715212818352, + -58.820452124508435, + -56.00745810672458, + -57.02746778710766 + ], + "moduleForcesY": [ + 38.72010778305741, + 37.37801384794724, + 41.46261932813739, + 40.07317384693905 + ], + "timestamp": 2.0653904234858347 + }, + { + "x": 6.394789020912434, + "y": 1.028283965831958, + "heading": -0.09386899293523893, + "angularVelocity": 0.480306071567062, + "velocityX": 3.0099778832882285, + "velocityY": -1.2484250303928455, + "moduleForcesX": [ + -59.327514413157495, + -61.42662504368416, + -54.103418987470455, + -57.077099649476985 + ], + "moduleForcesY": [ + 36.68618057244426, + 33.11752278725613, + 44.05739658506381, + 40.17482290590488 + ], + "timestamp": 2.126137200647183 + }, + { + "x": 6.566031739545335, + "y": 0.9600073380049856, + "heading": -0.06937584491116108, + "angularVelocity": 0.4032007814838012, + "velocityX": 2.818959731444955, + "velocityY": -1.1239547350079944, + "moduleForcesX": [ + -60.069861133004025, + -62.755626355458325, + -52.94386192768173, + -57.20018579637284 + ], + "moduleForcesY": [ + 35.55280016743487, + 30.641261053354217, + 45.52312125813877, + 40.08926410090019 + ], + "timestamp": 2.186883977808531 + }, + { + "x": 6.7256405364909, + "y": 0.8992162670770024, + "heading": -0.050336154380360036, + "angularVelocity": 0.31342717129223496, + "velocityX": 2.627444687668485, + "velocityY": -1.0007291541824086, + "moduleForcesX": [ + -60.514108020382636, + -63.55919989055135, + -52.17488419770267, + -57.32736238325528 + ], + "moduleForcesY": [ + 34.857620800360785, + 29.015458713004353, + 46.452879033269035, + 39.96240941319886 + ], + "timestamp": 2.247630754969879 + }, + { + "x": 6.8735954827732435, + "y": 0.8458557867676733, + "heading": -0.037281475042651085, + "angularVelocity": 0.21490324174786649, + "velocityX": 2.435601577502042, + "velocityY": -0.8784084160975282, + "moduleForcesX": [ + -60.81661226763178, + -64.09392641923661, + -51.633594168919544, + -57.431537926903395 + ], + "moduleForcesY": [ + 34.3760487823041, + 27.870213929210905, + 47.088629847300666, + 39.84991120720424 + ], + "timestamp": 2.308377532131227 + }, + { + "x": 7.009882359933434, + "y": 0.7998839582088394, + "heading": -0.030602705565700654, + "angularVelocity": 0.10994442485748854, + "velocityX": 2.243524406211743, + "velocityY": -0.7567780663775663, + "moduleForcesX": [ + -61.05696181241652, + -64.46983794382274, + -51.23488773203071, + -57.499448893944944 + ], + "moduleForcesY": [ + 33.98499540836244, + 27.031497080754345, + 47.547504312795716, + 39.778795590114406 + ], + "timestamp": 2.3691243092925753 + }, + { + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.030602705565700654, + "angularVelocity": 6.143954003131083e-21, + "velocityX": 2.051271455855403, + "velocityY": -0.6356948824992158, + "moduleForcesX": [ + -61.28015029894974, + -64.74142483243833, + -50.93042154844376, + -57.523523345616425 + ], + "moduleForcesY": [ + 33.61090134188054, + 26.407585160685315, + 47.892692401928606, + 39.76427915006603 + ], + "timestamp": 2.4298710864539235 + }, + { + "x": 7.158249428727272, + "y": 0.7540454598560935, + "heading": -0.030602705565700654, + "angularVelocity": -1.5754196961660743e-21, + "velocityX": 2.013749496696474, + "velocityY": -0.6121260766027945, + "moduleForcesX": [ + -58.90493187982339, + -58.90493187982338, + -58.90493187982338, + -58.90493187982338 + ], + "moduleForcesY": [ + 37.00017101817802, + 37.00017101817802, + 37.00017101817802, + 37.00017101817802 + ], + "timestamp": 2.441669445091148 + }, + { + "x": 7.181568383197075, + "y": 0.7471058631440713, + "heading": -0.030602705565700654, + "angularVelocity": -1.5755174275361838e-21, + "velocityX": 1.9764575045406818, + "velocityY": -0.5881832317020187, + "moduleForcesX": [ + -58.54391153445607, + -58.543911534456065, + -58.54391153445607, + -58.54391153445607 + ], + "moduleForcesY": [ + 37.58736695798949, + 37.587366957989495, + 37.58736695798948, + 37.58736695798949 + ], + "timestamp": 2.4534678037283726 + }, + { + "x": 7.204449987018278, + "y": 0.740452945344923, + "heading": -0.030602705565700654, + "angularVelocity": -1.5756212306779695e-21, + "velocityX": 1.9393887340405216, + "velocityY": -0.5638850287325661, + "moduleForcesX": [ + -58.193480567794914, + -58.193480567794914, + -58.193480567794914, + -58.193480567794914 + ], + "moduleForcesY": [ + 38.14523609109384, + 38.14523609109384, + 38.14523609109384, + 38.14523609109384 + ], + "timestamp": 2.465266162365597 + }, + { + "x": 7.226896796171415, + "y": 0.73409069354206, + "heading": -0.030602705565700654, + "angularVelocity": -1.5757234420744785e-21, + "velocityX": 1.902536602194502, + "velocityY": -0.5392488903320608, + "moduleForcesX": [ + -57.853384116257146, + -57.853384116257146, + -57.853384116257146, + -57.85338411625714 + ], + "moduleForcesY": [ + 38.675753793050916, + 38.67575379305091, + 38.675753793050916, + 38.67575379305091 + ], + "timestamp": 2.4770645210028217 + }, + { + "x": 7.248911291022215, + "y": 0.7280229029091462, + "heading": -0.030602705565700654, + "angularVelocity": -1.5758268601764534e-21, + "velocityX": 1.8658947000765984, + "velocityY": -0.514291082301043, + "moduleForcesX": [ + -57.52334890244216, + -57.52334890244216, + -57.52334890244216, + -57.52334890244216 + ], + "moduleForcesY": [ + 39.18073615798794, + 39.18073615798794, + 39.18073615798794, + 39.18073615798794 + ], + "timestamp": 2.4888628796400463 + }, + { + "x": 7.2704958784691165, + "y": 0.7222531892686241, + "heading": -0.030602705565700654, + "angularVelocity": -1.5759269373999168e-21, + "velocityX": 1.8294568007791379, + "velocityY": -0.4890268060099628, + "moduleForcesX": [ + -57.203089179579806, + -57.203089179579806, + -57.2030891795798, + -57.203089179579806 + ], + "moduleForcesY": [ + 39.6618542122412, + 39.661854212241195, + 39.6618542122412, + 39.6618542122412 + ], + "timestamp": 2.500661238277271 + }, + { + "x": 7.291652894148451, + "y": 0.7167850006571109, + "heading": -0.030602705565700654, + "angularVelocity": -1.5760248670098474e-21, + "velocityX": 1.793216864300368, + "velocityY": -0.46347028257481016, + "moduleForcesX": [ + -56.89231152800956, + -56.89231152800956, + -56.89231152800956, + -56.89231152800956 + ], + "moduleForcesY": [ + 40.12064683660121, + 40.1206468366012, + 40.12064683660121, + 40.12064683660121 + ], + "timestamp": 2.5124595969144954 + }, + { + "x": 7.312384604668349, + "y": 0.7116216279858261, + "heading": -0.030602705565700654, + "angularVelocity": -1.5761194603453946e-21, + "velocityX": 1.7571690399788238, + "velocityY": -0.43763482955961036, + "moduleForcesX": [ + -56.590718706411, + -56.590718706411, + -56.590718706411, + -56.590718706411 + ], + "moduleForcesY": [ + 40.5585324982308, + 40.5585324982308, + 40.558532498230804, + 40.5585324982308 + ], + "timestamp": 2.52425795555172 + }, + { + "x": 7.332693209848262, + "y": 0.7067662148760306, + "heading": -0.030602705565700654, + "angularVelocity": -1.5762226828302798e-21, + "velocityX": 1.7213076669697598, + "velocityY": -0.4115329309007796, + "moduleForcesX": [ + -56.29801272551998, + -56.29801272551998, + -56.29801272551998, + -56.29801272551998 + ], + "moduleForcesY": [ + 40.97681989152182, + 40.97681989152182, + 40.97681989152182, + 40.97681989152182 + ], + "timestamp": 2.5360563141889445 + }, + { + "x": 7.352580844945816, + "y": 0.7022217667419586, + "heading": -0.030602705565700654, + "angularVelocity": -1.576312506639031e-21, + "velocityX": 1.6856272731705788, + "velocityY": -0.3851763006876371, + "moduleForcesX": [ + -56.013897283022565, + -56.013897283022565, + -56.013897283022565, + -56.013897283022565 + ], + "moduleForcesY": [ + 41.37671758318597, + 41.37671758318597, + 41.37671758318597, + 41.37671758318597 + ], + "timestamp": 2.547854672826169 + }, + { + "x": 7.372049582856613, + "y": 0.6979911591869237, + "heading": -0.030602705565700654, + "angularVelocity": -1.576413633418625e-21, + "velocityX": 1.6501225729291613, + "velocityY": -0.3585759413760392, + "moduleForcesX": [ + -55.738079674247324, + -55.73807967424733, + -55.738079674247324, + -55.738079674247324 + ], + "moduleForcesY": [ + 41.7593427515796, + 41.7593427515796, + 41.7593427515796, + 41.7593427515796 + ], + "timestamp": 2.5596530314633936 + }, + { + "x": 7.391101436275881, + "y": 0.6940771457721053, + "heading": -0.030602705565700654, + "angularVelocity": -1.5764978279629491e-21, + "velocityX": 1.6147884638086976, + "velocityY": -0.3317421969586071, + "moduleForcesX": [ + -55.470272273345614, + -55.470272273345614, + -55.47027227334562, + -55.47027227334562 + ], + "moduleForcesY": [ + 42.125729104240484, + 42.12572910424049, + 42.125729104240484, + 42.125729104240484 + ], + "timestamp": 2.571451390100618 + }, + { + "x": 7.409738359813444, + "y": 0.6904823652119233, + "heading": -0.030602705565700654, + "angularVelocity": -1.5765938206984532e-21, + "velocityX": 1.5796200226328025, + "velocityY": -0.30468480156556027, + "moduleForcesX": [ + -55.21019366316019, + -55.21019366316018, + -55.21019366316019, + -55.21019366316018 + ], + "moduleForcesY": [ + 42.47683405128342, + 42.47683405128342, + 42.47683405128342, + 42.476834051283426 + ], + "timestamp": 2.5832497487378427 + }, + { + "x": 7.427962252055706, + "y": 0.6872093480448581, + "heading": -0.030602705565700654, + "angularVelocity": -1.5766828089201572e-21, + "velocityX": 1.5446125009935687, + "velocityY": -0.2774129239247552, + "moduleForcesX": [ + -54.957569478345526, + -54.957569478345526, + -54.95756947834553, + -54.957569478345526 + ], + "moduleForcesY": [ + 42.8135452059467, + 42.8135452059467, + 42.8135452059467, + 42.8135452059467 + ], + "timestamp": 2.5950481073750673 + }, + { + "x": 7.445774957570056, + "y": 0.6842605228240018, + "heading": -0.030602705565700654, + "angularVelocity": -1.5767705477238912e-21, + "velocityX": 1.5097613203712712, + "velocityY": -0.2499352080680578, + "moduleForcesX": [ + -54.71213301503008, + -54.71213301503008, + -54.71213301503008, + -54.71213301503008 + ], + "moduleForcesY": [ + 43.136686277393444, + 43.136686277393444, + 43.136686277393444, + 43.136686277393444 + ], + "timestamp": 2.606846466012292 + }, + { + "x": 7.4631782688485275, + "y": 0.6816382218675067, + "heading": -0.030602705565700654, + "angularVelocity": -1.5768581448893446e-21, + "velocityX": 1.4750620669864223, + "velocityY": -0.22225981063346714, + "moduleForcesX": [ + -54.473625650990456, + -54.473625650990456, + -54.473625650990456, + -54.473625650990456 + ], + "moduleForcesY": [ + 43.447022414970334, + 43.447022414970334, + 43.447022414970334, + 43.447022414970334 + ], + "timestamp": 2.6186448246495164 + }, + { + "x": 7.480173928188722, + "y": 0.6793446866053732, + "heading": -0.030602705565700654, + "angularVelocity": -1.576940734576661e-21, + "velocityX": 1.4405104864817824, + "velocityY": -0.1943944350782258, + "moduleForcesX": [ + -54.24179711260399, + -54.24179711260399, + -54.24179711260398, + -54.24179711260399 + ], + "moduleForcesY": [ + 43.74526505758359, + 43.74526505758358, + 43.74526505758358, + 43.74526505758359 + ], + "timestamp": 2.630443183286741 + }, + { + "x": 7.496763629510907, + "y": 0.6773820725556718, + "heading": -0.030602705565700654, + "angularVelocity": -1.5770284572624799e-21, + "velocityX": 1.4061024785128795, + "velocityY": -0.16634636308725223, + "moduleForcesX": [ + -54.01640561847668, + -54.016405618476675, + -54.01640561847668, + -54.01640561847668 + ], + "moduleForcesY": [ + 44.032076336704414, + 44.03207633670442, + 44.032076336704414, + 44.03207633670442 + ], + "timestamp": 2.6422415419239655 + }, + { + "x": 7.512949020110952, + "y": 0.6757524539602611, + "heading": -0.030602705565700654, + "angularVelocity": -1.577110462456636e-21, + "velocityX": 1.3718340913099074, + "velocityY": -0.1381224834333462, + "moduleForcesX": [ + -53.79721792437704, + -53.797217924377044, + -53.79721792437704, + -53.79721792437704 + ], + "moduleForcesY": [ + 44.30807307677664, + 44.30807307677664, + 44.30807307677664, + 44.30807307677664 + ], + "timestamp": 2.65403990056119 + }, + { + "x": 7.528731702349357, + "y": 0.674457828107338, + "heading": -0.030602705565700654, + "angularVelocity": -1.5771882714153699e-21, + "velocityX": 1.337701516260951, + "velocityY": -0.10972931852049746, + "moduleForcesX": [ + -53.584009289751286, + -53.584009289751286, + -53.58400928975128, + -53.58400928975128 + ], + "moduleForcesY": [ + 44.57383043246387, + 44.573830432463865, + 44.57383043246388, + 44.57383043246387 + ], + "timestamp": 2.6658382591984147 + }, + { + "x": 7.544113235277089, + "y": 0.6735001193656943, + "heading": -0.030602705565700654, + "angularVelocity": -1.577268471904353e-21, + "velocityX": 1.3037010825558761, + "velocityY": -0.08117304881901886, + "moduleForcesX": [ + -53.376563382492776, + -53.376563382492776, + -53.376563382492776, + -53.376563382492776 + ], + "moduleForcesY": [ + 44.82988519822965, + 44.82988519822965, + 44.82988519822965, + 44.82988519822965 + ], + "timestamp": 2.677636617835639 + }, + { + "x": 7.559095136199297, + "y": 0.6728811829533284, + "heading": -0.030602705565700657, + "angularVelocity": -1.5773476987646824e-21, + "velocityX": 1.2698292519214864, + "velocityY": -0.05245953538089433, + "moduleForcesX": [ + -53.174672135658575, + -53.17467213565857, + -53.174672135658575, + -53.174672135658575 + ], + "moduleForcesY": [ + 45.07673882216826, + 45.07673882216826, + 45.07673882216826, + 45.07673882216826 + ], + "timestamp": 2.689434976472864 + }, + { + "x": 7.57367888217827, + "y": 0.6726028084610565, + "heading": -0.030602705565700657, + "angularVelocity": -1.577425978280487e-21, + "velocityX": 1.2360826134714111, + "velocityY": -0.02359434060545585, + "moduleForcesX": [ + -52.978135567360255, + -52.978135567360255, + -52.97813556736026, + -52.978135567360255 + ], + "moduleForcesY": [ + 45.3148601527756, + 45.3148601527756, + 45.3148601527756, + 45.3148601527756 + ], + "timestamp": 2.7012333351100883 + }, + { + "x": 7.587865911477191, + "y": 0.6726667231499526, + "heading": -0.030602705565700657, + "angularVelocity": -1.577494341651009e-21, + "velocityX": 1.2024578786883242, + "velocityY": 0.005417252590915252, + "moduleForcesX": [ + -52.78676157301651, + -52.78676157301651, + -52.786761573016506, + -52.78676157301651 + ], + "moduleForcesY": [ + 45.54468794443817, + 45.54468794443816, + 45.54468794443817, + 45.54468794443817 + ], + "timestamp": 2.713031693747313 + }, + { + "x": 7.6016576249464, + "y": 0.6730745950398084, + "heading": -0.030602705565700657, + "angularVelocity": -1.5775749423343678e-21, + "velocityX": 1.1689518765513263, + "velocityY": 0.03457022306212233, + "moduleForcesX": [ + -52.600365697466685, + -52.60036569746668, + -52.600365697466685, + -52.600365697466685 + ], + "moduleForcesY": [ + 45.76663314480191, + 45.76663314480191, + 45.766633144801894, + 45.76663314480191 + ], + "timestamp": 2.7248300523845375 + }, + { + "x": 7.615055387353991, + "y": 0.6738280358043203, + "heading": -0.030602705565700657, + "angularVelocity": -1.5776450797515691e-21, + "velocityX": 1.1355615488174282, + "velocityY": 0.06385979505103799, + "moduleForcesX": [ + -52.41877089304865, + -52.418770893048645, + -52.41877089304865, + -52.41877089304865 + ], + "moduleForcesY": [ + 45.98108098483129, + 45.98108098483129, + 45.98108098483129, + 45.98108098483129 + ], + "timestamp": 2.736628411021762 + }, + { + "x": 7.628060528662616, + "y": 0.6749286034873688, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777155717091694e-21, + "velocityX": 1.102283945462927, + "velocityY": 0.0932814230257673, + "moduleForcesX": [ + -52.24180726858961, + -52.24180726858961, + -52.24180726858961, + -52.24180726858961 + ], + "moduleForcesY": [ + 46.18839289026055, + 46.18839289026055, + 46.18839289026055, + 46.18839289026055 + ], + "timestamp": 2.7484267696589866 + }, + { + "x": 7.640674345254447, + "y": 0.6763778050535418, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777829083695195e-21, + "velocityX": 1.069116220287915, + "velocityY": 0.12283077763042712, + "moduleForcesX": [ + -52.06931183330361, + -52.06931183330361, + -52.06931183330361, + -52.06931183330361 + ], + "moduleForcesY": [ + 46.38890823124871, + 46.38890823124871, + 46.38890823124871, + 46.38890823124871 + ], + "timestamp": 2.760225128296211 + }, + { + "x": 7.652898101106192, + "y": 0.6781770987849446, + "heading": -0.030602705565700657, + "angularVelocity": -1.5778562176128796e-21, + "velocityX": 1.0360556266851288, + "velocityY": 0.1525037326570086, + "moduleForcesX": [ + -51.90112823880106, + -51.90112823880106, + -51.90112823880106, + -51.90112823880106 + ], + "moduleForcesY": [ + 46.582945925356675, + 46.582945925356675, + 46.582945925356675, + 46.582945925356675 + ], + "timestamp": 2.7720234869334357 + }, + { + "x": 7.664733028916149, + "y": 0.6803278965353486, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779144284673886e-21, + "velocityX": 1.0030995135727094, + "velocityY": 0.1822963529535544, + "moduleForcesX": [ + -51.73710652176443, + -51.73710652176444, + -51.73710652176443, + -51.73710652176443 + ], + "moduleForcesY": [ + 46.77080590744806, + 46.77080590744806, + 46.770805907448064, + 46.77080590744806 + ], + "timestamp": 2.7838218455706603 + }, + { + "x": 7.676180331185167, + "y": 0.6828315658518145, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779786205887332e-21, + "velocityX": 0.9702453214891686, + "velocityY": 0.21220488319168138, + "moduleForcesX": [ + -51.57710284930733, + -51.57710284930733, + -51.57710284930733, + -51.57710284930733 + ], + "moduleForcesY": [ + 46.952770478757216, + 46.95277047875722, + 46.952770478757216, + 46.952770478757216 + ], + "timestamp": 2.795620204207885 + }, + { + "x": 7.687241181253433, + "y": 0.6856894319731031, + "heading": -0.030602705565700657, + "angularVelocity": -1.5780440132180937e-21, + "velocityX": 0.9374905788478461, + "velocityY": 0.24222573742350348, + "moduleForcesX": [ + -51.4209792685918, + -51.42097926859181, + -51.4209792685918, + -51.42097926859181 + ], + "moduleForcesY": [ + 47.12910554615218, + 47.12910554615218, + 47.12910554615219, + 47.12910554615218 + ], + "timestamp": 2.8074185628451094 + }, + { + "x": 7.6979167242948945, + "y": 0.6889027797134403, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781108916036061e-21, + "velocityX": 0.9048328983473743, + "velocityY": 0.2723554893643408, + "moduleForcesX": [ + -51.26860346191532, + -51.268603461915326, + -51.268603461915326, + -51.268603461915326 + ], + "moduleForcesY": [ + 47.300061761530905, + 47.300061761530905, + 47.300061761530905, + 47.300061761530905 + ], + "timestamp": 2.819216921482334 + }, + { + "x": 7.708208078271132, + "y": 0.692472855239512, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781613742366569e-21, + "velocityX": 0.8722699735340855, + "velocityY": 0.3025908633433094, + "moduleForcesX": [ + -51.11984850818019, + -51.1198485081802, + -51.11984850818019, + -51.11984850818019 + ], + "moduleForcesY": [ + 47.465875570313855, + 47.465875570313855, + 47.465875570313855, + 47.465875570313855 + ], + "timestamp": 2.8310152801195585 + }, + { + "x": 7.71811633484641, + "y": 0.6964008677479491, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782194973535014e-21, + "velocityX": 0.839799575511869, + "velocityY": 0.3329287258690412, + "moduleForcesX": [ + -50.97459265141411, + -50.97459265141411, + -50.97459265141411, + -50.97459265141411 + ], + "moduleForcesY": [ + 47.626770177121884, + 47.626770177121884, + 47.62677017712189, + 47.626770177121884 + ], + "timestamp": 2.842813638756783 + }, + { + "x": 7.727642560265594, + "y": 0.7006879910499917, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782856298877835e-21, + "velocityX": 0.8074195497946888, + "velocityY": 0.3633660777624322, + "moduleForcesX": [ + -50.832719076811216, + -50.832719076811216, + -50.832719076811216, + -50.832719076811216 + ], + "moduleForcesY": [ + 47.782956435944584, + 47.782956435944584, + 47.782956435944584, + 47.782956435944584 + ], + "timestamp": 2.8546119973940076 + }, + { + "x": 7.736787796196557, + "y": 0.7053353650695053, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783341743017235e-21, + "velocityX": 0.7751278132967745, + "velocityY": 0.3939000468125288, + "moduleForcesX": [ + -50.69411569460083, + -50.694115694600825, + -50.69411569460083, + -50.69411569460083 + ], + "moduleForcesY": [ + 47.934633671401876, + 47.93463367140188, + 47.934633671401876, + 47.934633671401876 + ], + "timestamp": 2.866410356031232 + }, + { + "x": 7.745553060538638, + "y": 0.7103440972600469, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783871187142811e-21, + "velocityX": 0.7429223514553885, + "velocityY": 0.42452788091546173, + "moduleForcesX": [ + -50.55867493192016, + -50.55867493192016, + -50.55867493192016, + -50.55867493192016 + ], + "moduleForcesY": [ + 48.081990437070715, + 48.081990437070715, + 48.081990437070715, + 48.081990437070715 + ], + "timestamp": 2.8782087146684567 + }, + { + "x": 7.753939348198658, + "y": 0.7157152639462485, + "heading": -0.030602705565700657, + "angularVelocity": -1.5784278274945683e-21, + "velocityX": 0.7108012154810245, + "velocityY": 0.4552469416597822, + "moduleForcesX": [ + -50.42629353276154, + -50.42629353276154, + -50.42629353276154, + -50.426293532761534 + ], + "moduleForcesY": [ + 48.225205216283044, + 48.22520521628305, + 48.22520521628305, + 48.22520521628305 + ], + "timestamp": 2.8900070733056813 + }, + { + "x": 7.7619476318359375, + "y": 0.7214499115943909, + "heading": -0.030602705565700657, + "angularVelocity": -3.148277278674696e-20, + "velocityX": 0.6787625197299029, + "velocityY": 0.48605469832467524, + "moduleForcesX": [ + -50.29687236598059, + -50.2968723659806, + -50.29687236598059, + -50.29687236598059 + ], + "moduleForcesY": [ + 48.36444707029217, + 48.36444707029217, + 48.36444707029217, + 48.36444707029218 + ], + "timestamp": 2.901805431942906 + }, + { + "x": 7.775834761775601, + "y": 0.7336744213402673, + "heading": -0.029674491583620594, + "angularVelocity": 0.04133320302918859, + "velocityX": 0.6183914187572991, + "velocityY": 0.5443552381384222, + "moduleForcesX": [ + -49.79897589229874, + -39.780133893013954, + -58.67970592465287, + -50.912956484861766 + ], + "moduleForcesY": [ + 49.066656692872485, + 57.46661517646156, + 37.97090849647713, + 47.83655299084039 + ], + "timestamp": 2.924262292627634 + }, + { + "x": 7.788368140854988, + "y": 0.7472103329864517, + "heading": -0.027821691212613818, + "angularVelocity": 0.08250486998241903, + "velocityX": 0.5581091344575329, + "velocityY": 0.602751730805794, + "moduleForcesX": [ + -49.75032899008256, + -39.73852726591859, + -58.59664077334817, + -50.79325791310845 + ], + "moduleForcesY": [ + 49.11257903465919, + 57.49212916567131, + 38.09380959713609, + 47.95877595970304 + ], + "timestamp": 2.946719153312362 + }, + { + "x": 7.799549859955063, + "y": 0.7620598987689441, + "heading": -0.025048145025606164, + "angularVelocity": 0.12350551690841785, + "velocityX": 0.49791995671413297, + "velocityY": 0.6612485151404562, + "moduleForcesX": [ + -49.70596927556942, + -39.696671358920966, + -58.5105928092097, + -50.658351386971106 + ], + "moduleForcesY": [ + 49.15391150943782, + 57.517647464607066, + 38.220416414837736, + 48.096193054830735 + ], + "timestamp": 2.9691760139970897 + }, + { + "x": 7.809382113617076, + "y": 0.778225474828138, + "heading": -0.02135791261433199, + "angularVelocity": 0.1643253909387145, + "velocityX": 0.4378285015010667, + "velocityY": 0.719850217986502, + "moduleForcesX": [ + -49.665563165545585, + -39.654481167853724, + -58.42111050214514, + -50.50803121100085 + ], + "moduleForcesY": [ + 49.19100165402582, + 57.54321836484414, + 38.3513396035236, + 48.24874804210011 + ], + "timestamp": 2.9916328746818177 + }, + { + "x": 7.81786720812435, + "y": 0.7957095282800837, + "heading": -0.01675527875999234, + "angularVelocity": 0.2049544644265316, + "velocityX": 0.3778397446729998, + "velocityY": 0.7785617810701315, + "moduleForcesX": [ + -49.628741535619795, + -39.61187676370431, + -58.32768446388277, + -50.342068535680255 + ], + "moduleForcesY": [ + 49.22422721221882, + 57.56888528997424, + 38.48726080108666, + 48.41637695147274 + ], + "timestamp": 3.0140897353665457 + }, + { + "x": 7.8250075704347815, + "y": 0.81451464496476, + "heading": -0.011244759938855008, + "angularVelocity": 0.24538242003188007, + "velocityX": 0.317959059846983, + "velocityY": 0.8373884911467139, + "moduleForcesX": [ + -49.59509547736108, + -39.56877957973785, + -58.22974192747053, + -50.16021133553847 + ], + "moduleForcesY": [ + 49.25400056920583, + 57.5946892376497, + 38.62893751614043, + 48.59900718564385 + ], + "timestamp": 3.0365465960512736 + }, + { + "x": 7.830805758070983, + "y": 0.8346435379566366, + "heading": -0.004831111401089948, + "angularVelocity": 0.2855986251954946, + "velocityX": 0.2581922610467532, + "velocityY": 0.8963360139454165, + "moduleForcesX": [ + -49.56417134546266, + -39.52510815111938, + -58.126640306197565, + -49.962184350984025 + ], + "moduleForcesY": [ + 49.28077385511992, + 57.62067155211774, + 38.777208724372585, + 48.79655657624957 + ], + "timestamp": 3.0590034567360016 + }, + { + "x": 7.835264470093169, + "y": 0.8560990569362551, + "heading": 0.0024806648955283503, + "angularVelocity": 0.32559209407175743, + "velocityX": 0.1985456509163127, + "velocityY": 0.955410432510261, + "moduleForcesX": [ + -49.53546496259126, + -39.48077323259204, + -58.01765965971268, + -49.747688925918816 + ], + "moduleForcesY": [ + 49.305044830269836, + 57.64687706958707, + 38.933001272314584, + 49.008932453857526 + ], + "timestamp": 3.0814603174207296 + }, + { + "x": 7.838386559301684, + "y": 0.878884198537606, + "heading": 0.010685311162545508, + "angularVelocity": 0.3653514345661332, + "velocityX": 0.1390260754762802, + "velocityY": 1.0146182906520957, + "moduleForcesX": [ + -49.50841481822001, + -39.43567220213073, + -57.901993857247014, + -49.516402656611405 + ], + "moduleForcesY": [ + 49.32736368864197, + 57.67335768869287, + 39.097337204567204, + 49.23603080832736 + ], + "timestamp": 3.1039171781054575 + }, + { + "x": 7.840175045842622, + "y": 0.9030021178052353, + "heading": 0.019777303070195706, + "angularVelocity": 0.4048647776415743, + "velocityX": 0.0796409866029619, + "velocityY": 1.073966642364709, + "moduleForcesX": [ + -49.482394057840615, + -39.38968263604413, + -57.778740180587505, + -49.26797874619328 + ], + "moduleForcesY": [ + 49.34834094615229, + 57.700176430930014, + 39.27134215238068, + 49.47773562798201 + ], + "timestamp": 3.1263740387901855 + }, + { + "x": 7.840633132422212, + "y": 0.9284561409179296, + "heading": 0.029750836975156507, + "angularVelocity": 0.4441196855152338, + "velocityX": 0.02039851366680633, + "velocityY": 1.1334631082252957, + "moduleForcesX": [ + -49.456701007923556, + -39.34265491230689, + -57.646887050118416, + -49.0020449323803 + ], + "moduleForcesY": [ + 49.36865661744332, + 57.727412071922146, + 39.45625494779853, + 49.733918519651745 + ], + "timestamp": 3.1488308994749135 + }, + { + "x": 7.839764221375153, + "y": 0.9552497793632655, + "heading": 0.040599814522998705, + "angularVelocity": 0.4831030347541035, + "velocityX": -0.03869245391234698, + "velocityY": 1.193115940001228, + "moduleForcesX": [ + -49.43054791636629, + -39.294403662044424, + -57.505299482322464, + -48.71820182217676 + ], + "moduleForcesY": [ + 49.38907093181898, + 57.755164444721466, + 39.653438659319576, + 50.00443872739703 + ], + "timestamp": 3.1712877601596414 + }, + { + "x": 7.837571933880523, + "y": 0.9833867457802482, + "heading": 0.052317823956450675, + "angularVelocity": 0.5218008695855219, + "velocityX": -0.09762217103305225, + "velocityY": 1.2529340949297327, + "moduleForcesX": [ + -49.403047503230674, + -39.24469784148349, + -57.3527017919196, + -48.41602042450942 + ], + "moduleForcesY": [ + 49.41043689789232, + 57.78356054222038, + 39.86439328342178, + 50.289143686044106 + ], + "timestamp": 3.1937446208443694 + }, + { + "x": 7.834060131678907, + "y": 1.0128709717268876, + "heading": 0.06489811733773139, + "angularVelocity": 0.5601982199513789, + "velocityX": -0.1563799255344846, + "velocityY": 1.312927321435021, + "moduleForcesX": [ + -49.37319680587921, + -39.193249134826715, + -57.18765693004043, + -48.095038617489884 + ], + "moduleForcesY": [ + 49.43371510124639, + 57.81276157882566, + 40.0907703727958, + 50.587870267194894 + ], + "timestamp": 3.2162014815290974 + }, + { + "x": 7.829232941718723, + "y": 1.043706627677372, + "heading": 0.07833358275008254, + "angularVelocity": 0.5982788779327504, + "velocityX": -0.21495390775908638, + "velocityY": 1.3731062584119214, + "moduleForcesX": [ + -49.33985765728971, + -39.139698317625495, + -57.00854169301743, + -47.754756218008076 + ], + "moduleForcesY": [ + 49.4599912146078, + 57.84297121397121, + 40.33438993854238, + 50.90044690092914 + ], + "timestamp": 3.2386583422138253 + }, + { + "x": 7.8230947842527225, + "y": 1.0758981456113792, + "heading": 0.09261671037700737, + "angularVelocity": 0.6360251251252692, + "velocityX": -0.2733310569172195, + "velocityY": 1.4334825506531832, + "moduleForcesX": [ + -49.30173294398142, + -39.08359910371381, + -56.813516833027066, + -47.39462823316166 + ], + "moduleForcesY": [ + 49.49049682202346, + 57.874445194747054, + 40.597260032022504, + 51.22669678712463 + ], + "timestamp": 3.2611152028985533 + }, + { + "x": 7.815650405022353, + "y": 1.1094502446283658, + "heading": 0.10773955116341465, + "angularVelocity": 0.6734174023126805, + "velocityX": -0.33149687905543285, + "velocityY": 1.4940689835513845, + "moduleForcesX": [ + -49.25733753320973, + -39.02439885742062, + -56.60049083618665, + -47.01405575954595 + ], + "moduleForcesY": [ + 49.52663431580873, + 57.90750274586684, + 40.88159949499811, + 51.56644244771051 + ], + "timestamp": 3.2835720635832812 + }, + { + "x": 7.806904912315233, + "y": 1.144367960105452, + "heading": 0.12369366653532315, + "angularVelocity": 0.7104339113061457, + "velocityX": -0.3894352300571961, + "velocityY": 1.5548796408944348, + "moduleForcesX": [ + -49.20496241313145, + -38.9614153636149, + -56.36707578407902, + -46.61237384927613 + ], + "moduleForcesY": [ + 49.57000682908308, + 57.94254012781791, + 41.18986446694118, + 51.91951191732679 + ], + "timestamp": 3.306028924268009 + }, + { + "x": 7.796863819868833, + "y": 1.1806566770225755, + "heading": 0.14047006738650036, + "angularVelocity": 0.7470501370027279, + "velocityX": -0.44712805531312344, + "velocityY": 1.6159300904334366, + "moduleForcesX": [ + -49.14263011894376, + -38.89380859263485, + -56.11053325083579, + -46.18883546909183 + ], + "moduleForcesY": [ + 49.62245443314765, + 57.980046905846734, + 41.52477935881754, + 52.28574692763842 + ], + "timestamp": 3.328485784952737 + }, + { + "x": 7.785533096834175, + "y": 1.218322168207932, + "heading": 0.15805914022105402, + "angularVelocity": 0.7832382754422704, + "velocityX": -0.5045550753388937, + "velocityY": 1.6772376029821232, + "moduleForcesX": [ + -49.068038870856256, + -38.82054604855633, + -55.82770756749176, + -45.742590424489656 + ], + "moduleForcesY": [ + 49.686098179120734, + 58.0206256339081, + 41.889373145833744, + 52.66501351384023 + ], + "timestamp": 3.350942645637465 + }, + { + "x": 7.772919226324579, + "y": 1.2573706384167138, + "heading": 0.17645055795615344, + "angularVelocity": 0.8189665507257076, + "velocityX": -0.5616934034851275, + "velocityY": 1.7388214121725996, + "moduleForcesX": [ + -48.9784919500898, + -38.74035980842601, + -55.51494294841905, + -45.27265778097575 + ], + "moduleForcesY": [ + 49.763394026402025, + 58.06501587360676, + 42.287021998891454, + 53.057215566009084 + ], + "timestamp": 3.373399506322193 + }, + { + "x": 7.759029274480038, + "y": 1.297808775355126, + "heading": 0.19563317241838563, + "angularVelocity": 0.854198399835892, + "velocityX": -0.6185170776780676, + "velocityY": 1.800703023727281, + "moduleForcesX": [ + -48.87080757350123, + -38.6516926889675, + -55.16797983581464, + -44.7778898551695 + ], + "moduleForcesY": [ + 49.8571993169243, + 58.11412375947264, + 42.72149946406677, + 53.462311970183286 + ], + "timestamp": 3.395856367006921 + }, + { + "x": 7.743870972511518, + "y": 1.3396438090103795, + "heading": 0.2155948849817681, + "angularVelocity": 0.8888914992894649, + "velocityX": -0.6749964824258908, + "velocityY": 1.8629065853226803, + "moduleForcesX": [ + -48.74120272451824, + -38.55263002850805, + -54.781824254523436, + -44.256925219792585 + ], + "moduleForcesY": [ + 49.9708552791072, + 58.16905871875609, + 43.19703560298044, + 53.88033814429697 + ], + "timestamp": 3.418313227691649 + }, + { + "x": 7.727452814898921, + "y": 1.3828835809598985, + "heading": 0.23632249105346276, + "angularVelocity": 0.9229966005796477, + "velocityX": -0.7310976294991561, + "velocityY": 1.9254593309618246, + "moduleForcesX": [ + -48.58514179501422, + -38.440812211935494, + -54.35058180260293, + -43.708127294661715 + ], + "moduleForcesY": [ + 50.108290154756126, + 58.23117949997186, + 43.71838670288615, + 54.31143298588061 + ], + "timestamp": 3.440770088376377 + }, + { + "x": 7.7097841778700325, + "y": 1.427536625727524, + "heading": 0.25780149315423057, + "angularVelocity": 0.9564561317056592, + "velocityX": -0.7867812548218204, + "velocityY": 1.9883921174250394, + "moduleForcesX": [ + -48.39713708024115, + -38.313321087877355, + -53.867244872110646, + -43.129503869591225 + ], + "moduleForcesY": [ + 50.274149038644, + 58.302152423506804, + 44.29091730647611, + 54.755872530059335 + ], + "timestamp": 3.463226949061105 + }, + { + "x": 7.690875463585105, + "y": 1.4736122667546074, + "heading": 0.2800158760757638, + "angularVelocity": 0.9892025084628333, + "velocityX": -0.8420016738041606, + "velocityY": 2.0517400750683525, + "moduleForcesX": [ + -48.17048249894332, + -38.16653050165898, + -53.32341741513459, + -42.5186011550902 + ], + "moduleForcesY": [ + 50.473958540577556, + 58.384025833931425, + 44.920696301688466, + 55.21411199238551 + ], + "timestamp": 3.485683809745833 + }, + { + "x": 7.670738277239801, + "y": 1.521120730189357, + "heading": 0.30294783589408236, + "angularVelocity": 1.021156079661379, + "velocityX": -0.8967053154939767, + "velocityY": 2.115543401267043, + "moduleForcesX": [ + -47.896893339338796, + -37.99590676528767, + -52.70895547165714, + -41.872363420085726 + ], + "moduleForcesY": [ + 50.71433709651122, + 58.47932624716079, + 45.61460846262021, + 55.68683837373579 + ], + "timestamp": 3.508140670430561 + }, + { + "x": 7.649385646798962, + "y": 1.5700732805054096, + "heading": 0.3265774522777, + "angularVelocity": 1.0522226020526197, + "velocityX": -0.9508288242336721, + "velocityY": 2.1798483324672073, + "moduleForcesX": [ + -47.56601164581473, + -37.79573813409035, + -52.0114929081405, + -41.186945538092814 + ], + "moduleForcesY": [ + 51.0032653679841, + 58.59118385524638, + 46.380481780788394, + 56.175036474879285 + ], + "timestamp": 3.530597531115289 + }, + { + "x": 7.626832298622284, + "y": 1.6204823829829593, + "heading": 0.35088229024466194, + "angularVelocity": 1.0822900986998034, + "velocityX": -1.0042965708032452, + "velocityY": 2.2447083403706065, + "moduleForcesX": [ + -47.16471619560507, + -37.558761787751244, + -51.21580910922188, + -40.45746015836846 + ], + "moduleForcesY": [ + 51.350435851947076, + 58.7234981894725, + 47.227228477645056, + 56.680072054623324 + ], + "timestamp": 3.553054391800017 + }, + { + "x": 7.6030950073651296, + "y": 1.6723618993656917, + "heading": 0.375836912812464, + "angularVelocity": 1.1112248910540168, + "velocityX": -1.057017344962063, + "velocityY": 2.3101856092474122, + "moduleForcesX": [ + -46.67614297978617, + -37.27563987908989, + -50.30297683116611, + -39.67763265542965 + ], + "moduleForcesY": [ + 51.76770656382462, + 58.88115931128849, + 48.16499242151371, + 57.20379701479008 + ], + "timestamp": 3.5755112524847448 + }, + { + "x": 7.578193046065189, + "y": 1.7257273245703881, + "heading": 0.4014122790745336, + "angularVelocity": 1.1388664970194333, + "velocityX": -1.10887989419089, + "velocityY": 2.3763528640041924, + "moduleForcesX": [ + -46.07826818342605, + -36.93420840143655, + -49.24920129246935, + -38.839323662038076 + ], + "moduleForcesY": [ + 52.26968980950243, + 59.070346570031674, + 49.20528525631096, + 57.748682926949044 + ], + "timestamp": 3.5979681131694727 + }, + { + "x": 7.552148773603568, + "y": 1.7805960741932823, + "heading": 0.4275749900570293, + "angularVelocity": 1.1650208526380503, + "velocityX": -1.159746806432897, + "velocityY": 2.4432956321543324, + "moduleForcesX": [ + -45.34180640013154, + -36.51839082918256, + -48.02420310313897, + -37.93187093145587 + ], + "moduleForcesY": [ + 52.87451901489181, + 59.29892721665967, + 50.361091053125534, + 58.317982435667304 + ], + "timestamp": 3.6204249738542007 + }, + { + "x": 7.524988414016501, + "y": 1.8369878347061466, + "heading": 0.45428631835259325, + "angularVelocity": 1.1894506837159702, + "velocityX": -1.2094459670196709, + "velocityY": 2.5111150353804472, + "moduleForcesX": [ + -44.4269775716412, + -36.00663916505927, + -46.58886963506287, + -36.9412269147483 + ], + "moduleForcesY": [ + 53.60486651018973, + 59.57696012187995, + 51.646935760180504, + 58.9158854959938 + ], + "timestamp": 3.6428818345389287 + }, + { + "x": 7.496743109224862, + "y": 1.8949249888052249, + "heading": 0.481500952384238, + "angularVelocity": 1.2118627983541963, + "velocityX": -1.2577583834256283, + "velocityY": 2.5799311360772217, + "moduleForcesX": [ + -43.278633193079, + -35.36928663740671, + -44.892235317696205, + -35.84851657664941 + ], + "moduleForcesY": [ + 54.48907419495036, + 59.917534450420916, + 53.078442544005235, + 59.54782564244062 + ], + "timestamp": 3.6653386952236566 + }, + { + "x": 7.467450369985361, + "y": 1.9544331275730602, + "heading": 0.5091653333949206, + "angularVelocity": 1.2318899510961534, + "velocityX": -1.3044004525272892, + "velocityY": 2.649886803114222, + "moduleForcesX": [ + -41.818465391731856, + -34.564457353035344, + -42.86709744505302, + -34.62796798911171 + ], + "moduleForcesY": [ + 55.562390689691554, + 60.337854845478226, + 54.67139801139793, + 60.22080440221946 + ], + "timestamp": 3.6877955559083846 + }, + { + "x": 7.437156120844679, + "y": 2.0155416531017862, + "heading": 0.5372153899812724, + "angularVelocity": 1.2490640156763952, + "velocityX": -1.3489975097580846, + "velocityY": 2.7211517400686174, + "moduleForcesX": [ + -39.93234469142811, + -33.53127903658962, + -40.4238830177316, + -33.243732874386964 + ], + "moduleForcesY": [ + 56.86779162166139, + 60.86072421041837, + 56.439612520888, + 60.94376392477456 + ], + "timestamp": 3.7102524165931126 + }, + { + "x": 7.405917653809547, + "y": 2.0782844487886423, + "heading": 0.5655733460663879, + "angularVelocity": 1.2627747254272552, + "velocityX": -1.3910433641500093, + "velocityY": 2.7939254986573028, + "moduleForcesX": [ + -37.449289352668195, + -32.17813668055997, + -37.442222113525524, + -31.644855941643783 + ], + "moduleForcesY": [ + 58.454877482396405, + 61.51645302954368, + 58.39040701215156, + 61.72794502061664 + ], + "timestamp": 3.7327092772778405 + }, + { + "x": 7.373808007670266, + "y": 2.1427005198377986, + "heading": 0.5941430486703141, + "angularVelocity": 1.2722037601344431, + "velocityX": -1.429836814239926, + "velocityY": 2.8684361520291715, + "moduleForcesX": [ + -34.106110749108545, + -30.361346662205033, + -33.759909563001315, + -29.757050726905675 + ], + "moduleForcesY": [ + 60.372515002694854, + 62.34486305101686, + 60.5155148221152, + 62.587021626048845 + ], + "timestamp": 3.7551661379625685 + }, + { + "x": 7.340922631872824, + "y": 2.208834305294925, + "heading": 0.6228028699999932, + "angularVelocity": 1.2762167309150885, + "velocityX": -1.464379917528102, + "velocityY": 2.9449256681768263, + "moduleForcesX": [ + -29.488831211772425, + -27.84430586661935, + -29.16009260628951, + -27.468765179999345 + ], + "moduleForcesY": [ + 62.64310520696697, + 63.395555653457755, + 62.77337641474099, + 63.53639169197587 + ], + "timestamp": 3.7776229986472964 + }, + { + "x": 7.307389736175537, + "y": 2.2767348289489746, + "heading": 0.651394704983141, + "angularVelocity": 1.2731893110327712, + "velocityX": -1.493213863151001, + "velocityY": 3.023598204900744, + "moduleForcesX": [ + -22.944202270901513, + -24.21465545415547, + -23.3612496715893, + -24.60666611851974 + ], + "moduleForcesY": [ + 65.18578752501641, + 64.71869044359822, + 65.0561812863054, + 64.58982615822626 + ], + "timestamp": 3.8000798593320244 + }, + { + "x": 7.248815171773436, + "y": 2.397870052407272, + "heading": 0.6993520230288638, + "angularVelocity": 1.2519933750565044, + "velocityX": -1.5291715543461624, + "velocityY": 3.1624057273424606, + "moduleForcesX": [ + -13.554606899807544, + -18.754530599776615, + -16.190169658989934, + -21.04901831055568 + ], + "moduleForcesY": [ + 68.04712549812919, + 66.77563912336721, + 67.51443835673165, + 66.14028897039638 + ], + "timestamp": 3.8383846291504415 + }, + { + "x": 7.187776019291328, + "y": 2.523834781842295, + "heading": 0.7446295784287422, + "angularVelocity": 1.1820343945288145, + "velocityX": -1.5935130995816602, + "velocityY": 3.2884867872109775, + "moduleForcesX": [ + -19.591145750118297, + -37.98139754625814, + -26.463765463312498, + -40.411245587942055 + ], + "moduleForcesY": [ + 66.18854215090839, + 57.52115739971841, + 63.98330958934651, + 56.16932728301928 + ], + "timestamp": 3.8766893989688587 + }, + { + "x": 7.122504995376606, + "y": 2.652662187902979, + "heading": 0.7830476709398184, + "angularVelocity": 1.002958448600427, + "velocityX": -1.7039920674145068, + "velocityY": 3.363220994967132, + "moduleForcesX": [ + -38.50411283189515, + -67.8807832535497, + -43.99355925556282, + -63.30676628874828 + ], + "moduleForcesY": [ + 55.96568908330176, + 7.99605419113258, + 53.090860270334055, + 27.49613782164128 + ], + "timestamp": 3.914994168787276 + }, + { + "x": 7.0524861388736255, + "y": 2.780048017845025, + "heading": 0.8134204780925414, + "angularVelocity": 0.792924935894521, + "velocityX": -1.8279409283727237, + "velocityY": 3.3255866187400467, + "moduleForcesX": [ + -55.5893259131395, + -51.06230343897497, + -64.9362116867682, + -68.1504579709832 + ], + "moduleForcesY": [ + -37.26080138014056, + -46.28923212294061, + 22.38813791806543, + -11.629425539106574 + ], + "timestamp": 3.953298938605693 + }, + { + "x": 6.978860469690245, + "y": 2.903882716544858, + "heading": 0.835844024047788, + "angularVelocity": 0.5853982692376145, + "velocityX": -1.9221018565677512, + "velocityY": 3.2328793329621344, + "moduleForcesX": [ + -21.562244424212356, + -34.62932262467164, + -66.31709867690246, + -59.61467598265991 + ], + "moduleForcesY": [ + -65.27987145910213, + -60.08637080254228, + -18.48132537572579, + -35.46418098539796 + ], + "timestamp": 3.99160370842411 + }, + { + "x": 6.9023661445198625, + "y": 3.02334463342803, + "heading": 0.851960881681859, + "angularVelocity": 0.4207532824364303, + "velocityX": -1.99699216397858, + "velocityY": 3.118721700965125, + "moduleForcesX": [ + -11.511427027857293, + -26.49135484230802, + -55.305599066212615, + -51.54228386360239 + ], + "moduleForcesY": [ + -68.30321343557121, + -64.31033743337966, + -41.5191797357483, + -46.66765676782428 + ], + "timestamp": 4.029908478242527 + }, + { + "x": 6.823474133825397, + "y": 3.138064745532895, + "heading": 0.8627373559881912, + "angularVelocity": 0.28133504932722114, + "velocityX": -2.0595871237042025, + "velocityY": 2.9949302044808777, + "moduleForcesX": [ + -7.107740858591902, + -21.947560623725327, + -46.126941091656164, + -45.88711663756821 + ], + "moduleForcesY": [ + -69.12264633137997, + -66.11554740505598, + -51.817761294107726, + -52.377974168882666 + ], + "timestamp": 4.068213248060944 + }, + { + "x": 6.7424916283627505, + "y": 3.247851177841917, + "heading": 0.8687366550216334, + "angularVelocity": 0.15662015623332884, + "velocityX": -2.1141624358152225, + "velocityY": 2.8661295402494655, + "moduleForcesX": [ + -4.625678995394794, + -19.10670627605853, + -39.86325446905772, + -41.962349193643036 + ], + "moduleForcesY": [ + -69.45421465311335, + -67.06287370765313, + -56.94646827331556, + -55.658959825256574 + ], + "timestamp": 4.106518017879361 + }, + { + "x": 6.659632443969223, + "y": 3.352590465550665, + "heading": 0.8703097149954974, + "angularVelocity": 0.04106694757130892, + "velocityX": -2.1631557841573836, + "velocityY": 2.7343667173895567, + "moduleForcesX": [ + -2.9392890106582032, + -17.16795571043183, + -35.492858843917666, + -39.161412624374584 + ], + "moduleForcesY": [ + -69.62219293068152, + -67.63301269436307, + -59.87399729777828, + -57.72263501235083 + ], + "timestamp": 4.144822787697779 + }, + { + "x": 6.5751938599039885, + "y": 3.4522522211408053, + "heading": 0.8664613777008863, + "angularVelocity": -0.10046626863584004, + "velocityX": -2.2043882384756404, + "velocityY": 2.6018105855376312, + "moduleForcesX": [ + 6.6756971581081865, + -13.08693502719546, + -34.084950650164444, + -39.25443109792447 + ], + "moduleForcesY": [ + -69.40781429789399, + -68.57930943336413, + -60.69656313620983, + -57.70254635673895 + ], + "timestamp": 4.183127557516196 + }, + { + "x": 6.489404168527532, + "y": 3.546832897562644, + "heading": 0.8564669131203747, + "angularVelocity": -0.2609195833283948, + "velocityX": -2.2396607989850876, + "velocityY": 2.469161852954501, + "moduleForcesX": [ + 14.026153266530716, + -10.251554947705781, + -32.50426642239253, + -39.493497425222124 + ], + "moduleForcesY": [ + -68.34112513893986, + -69.08882381503473, + -61.56388871970546, + -57.57150120437821 + ], + "timestamp": 4.221432327334613 + }, + { + "x": 6.402442972218456, + "y": 3.636336592495899, + "heading": 0.8398385034983689, + "angularVelocity": -0.4341080680247503, + "velocityX": -2.270244586282927, + "velocityY": 2.3366200960753623, + "moduleForcesX": [ + 19.48001047635372, + -8.344868417288076, + -30.456586817451974, + -39.83283134694458 + ], + "moduleForcesY": [ + -67.0236130402517, + -69.36659570662582, + -62.606149903247946, + -57.362070917818706 + ], + "timestamp": 4.25973709715303 + }, + { + "x": 6.31445941990698, + "y": 3.7207657394524616, + "heading": 0.8162774785259399, + "angularVelocity": -0.6150937620593808, + "velocityX": -2.296934630558012, + "velocityY": 2.2041418694537835, + "moduleForcesX": [ + 23.474119088489243, + -7.151354060299332, + -27.6698892281525, + -40.2759868600396 + ], + "moduleForcesY": [ + -65.75920165789266, + -69.51658701398907, + -63.88855313243185, + -57.07120937842084 + ], + "timestamp": 4.298041866971447 + }, + { + "x": 6.225587665815649, + "y": 3.800117256204276, + "heading": 0.7856285399310245, + "angularVelocity": -0.8001337363520462, + "velocityX": -2.3201223897865924, + "velocityY": 2.0715831769249156, + "moduleForcesX": [ + 26.34170555398603, + -6.532944776404838, + -23.833447409831145, + -40.82440606884512 + ], + "moduleForcesY": [ + -64.68771288906095, + -69.59080461374796, + -65.41709903527536, + -56.69556947334269 + ], + "timestamp": 4.336346636789864 + }, + { + "x": 6.135960221505824, + "y": 3.874382936093195, + "heading": 0.7478257683688064, + "angularVelocity": -0.9868946280429624, + "velocityX": -2.3398507479538915, + "velocityY": 1.9388102380192702, + "moduleForcesX": [ + 28.321691997722123, + -6.397047507232297, + -18.60839442942816, + -41.474269366135964 + ], + "moduleForcesY": [ + -63.86599888942299, + -69.61428377619045, + -67.09117386647483, + -56.23411861967071 + ], + "timestamp": 4.374651406608281 + }, + { + "x": 6.045718631019193, + "y": 3.9435543482909154, + "heading": 0.7028182623204676, + "angularVelocity": -1.1749843756194254, + "velocityX": -2.355883899431284, + "velocityY": 1.8058172004589867, + "moduleForcesX": [ + 29.583070662051995, + -6.679021376282012, + -11.697921956867376, + -42.21698481676095 + ], + "moduleForcesY": [ + -63.30903879815944, + -69.59673749053458, + -68.63718808497758, + -55.6883192248564 + ], + "timestamp": 4.4129561764266985 + }, + { + "x": 5.95501883737919, + "y": 4.007632377025193, + "heading": 0.6504713977078268, + "angularVelocity": -1.3665886744859626, + "velocityX": -2.367845938507474, + "velocityY": 1.6728472469104376, + "moduleForcesX": [ + 30.242071008693404, + -7.332113448282208, + -3.0111849741770547, + -43.03540231115035 + ], + "moduleForcesY": [ + -63.01189016108501, + -69.53840485239049, + -69.57062224608904, + -55.06571791166298 + ], + "timestamp": 4.451260946245116 + }, + { + "x": 5.864217566192097, + "y": 4.066536080901696, + "heading": 0.5912501893260527, + "angularVelocity": -1.5460531067674, + "velocityX": -2.370495152889156, + "velocityY": 1.5377642041900992, + "moduleForcesX": [ + 28.718851603031748, + -6.0277349981215025, + 9.808427386683189, + -37.62357776380388 + ], + "moduleForcesY": [ + -63.72145888278574, + -69.65863600329807, + -69.01154866246023, + -58.88206753273683 + ], + "timestamp": 4.489565716063533 + }, + { + "x": 5.773769788281854, + "y": 4.12019402694026, + "heading": 0.5258898594376827, + "angularVelocity": -1.706323525717786, + "velocityX": -2.361266712709909, + "velocityY": 1.4008163028502212, + "moduleForcesX": [ + 28.077156525668332, + -2.6190516278265084, + 19.942493272564615, + -27.551216304503075 + ], + "moduleForcesY": [ + -63.9981552170959, + -69.85597400829346, + -66.83835206003178, + -64.18818535709728 + ], + "timestamp": 4.52787048588195 + }, + { + "x": 5.684194461783852, + "y": 4.168555317074818, + "heading": 0.45573902991462334, + "angularVelocity": -1.8313862700548158, + "velocityX": -2.338490139025271, + "velocityY": 1.2625396357637322, + "moduleForcesX": [ + 27.845525225997108, + 2.868459360903416, + 25.82031025671553, + -12.480505319333032 + ], + "moduleForcesY": [ + -64.08767338357436, + -69.82817676464734, + -64.83137059821148, + -68.70350614038631 + ], + "timestamp": 4.566175255700367 + }, + { + "x": 5.5961131688335195, + "y": 4.211653303342579, + "heading": 0.3826854671237098, + "angularVelocity": -1.9071662129082614, + "velocityX": -2.299486287683743, + "velocityY": 1.1251336706124553, + "moduleForcesX": [ + 28.294011106676425, + 11.561192169278678, + 29.038086584711337, + 6.546830388633117 + ], + "moduleForcesY": [ + -63.87491705908301, + -68.90120167625906, + -63.481890154187745, + -69.50863151776373 + ], + "timestamp": 4.604480025518784 + }, + { + "x": 5.510206520663812, + "y": 4.249670423359626, + "heading": 0.30879309467363136, + "angularVelocity": -1.9290645212166333, + "velocityX": -2.242714120903117, + "velocityY": 0.9924904965430058, + "moduleForcesX": [ + 29.832794858977373, + 24.543298275362353, + 30.589352809614525, + 24.841635701432633 + ], + "moduleForcesY": [ + -63.14804104041459, + -65.38436765439928, + -62.76769029208618, + -65.25448877489507 + ], + "timestamp": 4.642784795337201 + }, + { + "x": 5.4271434792221624, + "y": 4.282957361580848, + "heading": 0.23619985896600906, + "angularVelocity": -1.8951487256482313, + "velocityX": -2.168477759699574, + "velocityY": 0.8690024343970101, + "moduleForcesX": [ + 33.115845332538285, + 41.06903159965116, + 31.07377346669187, + 38.327170576261956 + ], + "moduleForcesY": [ + -61.45604854694082, + -56.46318260913099, + -62.54176805820284, + -58.38603607139395 + ], + "timestamp": 4.681089565155618 + }, + { + "x": 5.347511143727999, + "y": 4.3120174525598784, + "heading": 0.1670601797455945, + "angularVelocity": -1.8049887663643287, + "velocityX": -2.078914345958959, + "velocityY": 0.7586546301358631, + "moduleForcesX": [ + 39.16579087700257, + 56.36659180058669, + 30.868366411389054, + 46.830213242575915 + ], + "moduleForcesY": [ + -57.735869614603075, + -41.20039785214273, + -62.651260601832284, + -51.84400077749072 + ], + "timestamp": 4.7193943349740355 + }, + { + "x": 5.271779304478975, + "y": 4.3374502837126645, + "heading": 0.10314932974442041, + "angularVelocity": -1.6684828104735203, + "velocityX": -1.9770863944106347, + "velocityY": 0.6639599003818522, + "moduleForcesX": [ + 49.22620792579668, + 65.54865963112326, + 30.228696864449027, + 51.94911192539971 + ], + "moduleForcesY": [ + -49.3503107702457, + -24.09724293975179, + -62.96674981552025, + -46.74150170675748 + ], + "timestamp": 4.757699104792453 + }, + { + "x": 5.200324467048064, + "y": 4.359962453378589, + "heading": 0.04607642935674221, + "angularVelocity": -1.4899684989162125, + "velocityX": -1.8654292342609016, + "velocityY": 0.5877119161045277, + "moduleForcesX": [ + 62.39363001699385, + 69.12128728024234, + 29.366088309030605, + 55.08304149855396 + ], + "moduleForcesY": [ + -30.91815460039843, + -10.154582338579033, + -63.37541434311496, + -43.02849281340147 + ], + "timestamp": 4.79600387461087 + }, + { + "x": 5.133330444194313, + "y": 4.380374542428873, + "heading": -0.0017870639374282645, + "angularVelocity": -1.249543947687614, + "velocityX": -1.7489733829842906, + "velocityY": 0.5328863519359758, + "moduleForcesX": [ + 69.60009572755186, + 69.88371266759867, + 28.653171968770533, + 57.108556214362686 + ], + "moduleForcesY": [ + -1.4658789702280717, + -0.5530771011900537, + -63.70102779897246, + -40.32203534958156 + ], + "timestamp": 4.834308644429287 + }, + { + "x": 5.07094302964274, + "y": 4.398823700102076, + "heading": -0.04091035035913634, + "angularVelocity": -1.0213685294852566, + "velocityX": -1.6287113810452185, + "velocityY": 0.48164126192797413, + "moduleForcesX": [ + 69.69566051232286, + 69.88509820879884, + 34.807644921023055, + 58.218879373658325 + ], + "moduleForcesY": [ + 1.383085808214707, + -1.2313579146898874, + -60.559793675243064, + -38.708703958240854 + ], + "timestamp": 4.872613414247704 + }, + { + "x": 5.013318950558727, + "y": 4.415364484960623, + "heading": -0.0723458343336298, + "angularVelocity": -0.8206676119844227, + "velocityX": -1.504357795574233, + "velocityY": 0.43182050008285316, + "moduleForcesX": [ + 69.77111484855794, + 69.84251489276764, + 41.593033589218464, + 59.3144421166598 + ], + "moduleForcesY": [ + -0.3208241533424338, + -2.9052260806298764, + -56.12266163210595, + -37.01316357020556 + ], + "timestamp": 4.910918184066121 + }, + { + "x": 4.960599029118365, + "y": 4.43005799914098, + "heading": -0.09720378182806412, + "angularVelocity": -0.6489517522823597, + "velocityX": -1.3763278487321355, + "velocityY": 0.3835948956229701, + "moduleForcesX": [ + 69.76884244721613, + 69.76019830694995, + 47.6750246092614, + 60.427751830882144 + ], + "moduleForcesY": [ + -2.4869313128286294, + -4.551310418641529, + -51.067324322010194, + -35.17100214211091 + ], + "timestamp": 4.949222953884538 + }, + { + "x": 4.912900721322479, + "y": 4.442975990441067, + "heading": -0.11652232938514405, + "angularVelocity": -0.5043379100999429, + "velocityX": -1.2452315474547606, + "velocityY": 0.33724236854372874, + "moduleForcesX": [ + 69.69617308260153, + 69.65271281573908, + 52.68918433652125, + 61.524600948679 + ], + "moduleForcesY": [ + -4.513598219094905, + -6.030145333032946, + -45.890088615066844, + -33.219883977337616 + ], + "timestamp": 4.987527723702955 + }, + { + "x": 4.870318184119286, + "y": 4.454195003917222, + "heading": -0.13122808493679514, + "angularVelocity": -0.3839144738726619, + "velocityX": -1.111677146346366, + "velocityY": 0.2928881580372091, + "moduleForcesX": [ + 69.57851541352358, + 69.53114435701472, + 56.63462776067096, + 62.57276919270243 + ], + "moduleForcesY": [ + -6.305601724754026, + -7.339101739309379, + -40.9380240167547, + -31.20590259253996 + ], + "timestamp": 5.0258324935213725 + }, + { + "x": 4.832925374132051, + "y": 4.4637912524025305, + "heading": -0.14213213721808432, + "angularVelocity": -0.2846656521623697, + "velocityX": -0.9761920033587095, + "velocityY": 0.2505235909470129, + "moduleForcesX": [ + 69.43595580485315, + 69.40224850291139, + 59.663436468994355, + 63.54980100227099 + ], + "moduleForcesY": [ + -7.867209611667973, + -8.502161375414437, + -36.40067495895443, + -29.17027342419701 + ], + "timestamp": 5.06413726333979 + }, + { + "x": 4.800779895247548, + "y": 4.471837574357588, + "heading": -0.1499408638751895, + "angularVelocity": -0.2038578144216048, + "velocityX": -0.8392030297242103, + "velocityY": 0.21006057452377253, + "moduleForcesX": [ + 69.28209992859573, + 69.26974756314968, + 61.96548019624572, + 64.44277979789432 + ], + "moduleForcesY": [ + -9.223771777793552, + -9.546104016764458, + -32.34604334826703, + -27.146475970155986 + ], + "timestamp": 5.102442033158207 + }, + { + "x": 4.773926538928355, + "y": 4.478402019817687, + "heading": -0.1552712471148476, + "angularVelocity": -0.13915716671648543, + "velocityX": -0.7010447118332788, + "velocityY": 0.1713741001764953, + "moduleForcesX": [ + 69.12575007463612, + 69.13551364887181, + 63.71417376547562, + 65.24638180955493 + ], + "moduleForcesY": [ + -10.402976790280022, + -10.494490682190545, + -28.768694903223842, + -25.160096478201318 + ], + "timestamp": 5.140746802976624 + }, + { + "x": 4.75240017884568, + "y": 4.483547419009099, + "heading": -0.15866593035342794, + "angularVelocity": -0.08862299015691079, + "velocityX": -0.5619759676071341, + "velocityY": 0.13432789743429768, + "moduleForcesX": [ + 68.97242563858514, + 69.00038635862892, + 65.04918104371559, + 65.96074652174384 + ], + "moduleForcesY": [ + -11.430156295665528, + -11.366401538253799, + -25.627558210676778, + -23.229576950477114 + ], + "timestamp": 5.179051572795041 + }, + { + "x": 4.736228014670924, + "y": 4.487331465380528, + "heading": -0.16060625444196566, + "angularVelocity": -0.05065489487956186, + "velocityX": -0.4221971376259371, + "velocityY": 0.09878786347934124, + "moduleForcesX": [ + 68.82542589677142, + 68.8646902816725, + 66.07641921626355, + 66.58963148106368 + ], + "moduleForcesY": [ + -12.327431975036218, + -12.17661725774209, + -22.869195278315257, + -21.367260413645806 + ], + "timestamp": 5.217356342613458 + }, + { + "x": 4.725431273494634, + "y": 4.489807034168813, + "heading": -0.16152293513135146, + "angularVelocity": -0.0239312412979195, + "velocityX": -0.2818641445300823, + "velocityY": 0.0646282121004902, + "moduleForcesX": [ + 68.68653508436358, + 68.72854672705208, + 66.87396454700497, + 67.13896677277403 + ], + "moduleForcesY": [ + -13.113940323172452, + -12.93621979601385, + -20.43997158390438, + -19.580477199853668 + ], + "timestamp": 5.255661112431875 + }, + { + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "angularVelocity": -0.007353404497693264, + "velocityX": -0.14109941001462187, + "velocityY": 0.031733715134143824, + "moduleForcesX": [ + 68.55648929425, + 68.5920529641022, + 67.49873999487815, + 67.6157926344678 + ], + "moduleForcesY": [ + -13.806304540551215, + -13.6532628907263, + -18.29145939685996, + -17.87255703162447 + ], + "timestamp": 5.293965882250292 + }, + { + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "angularVelocity": -5.881465861824842e-19, + "velocityX": 4.7073218726955604e-18, + "velocityY": -4.8944121317771445e-18, + "moduleForcesX": [ + 68.43529033536115, + 68.45537842802776, + 67.99220764527054, + 68.02751814191386 + ], + "moduleForcesY": [ + -14.419101113518574, + -14.333392437385246, + -16.38222197550169, + -16.243717713798855 + ], + "timestamp": 5.3322706520687095 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4 center.2.traj b/src/main/deploy/choreo/source 4 center.2.traj index ba69ee3b..0176bf36 100644 --- a/src/main/deploy/choreo/source 4 center.2.traj +++ b/src/main/deploy/choreo/source 4 center.2.traj @@ -1,733 +1,1706 @@ { - "samples": [ - { - "x": 4.72002649307251, - "y": 4.49102258682251, - "heading": -0.16180460559801732, - "angularVelocity": 3.1683920940991345e-19, - "velocityX": -2.143213095252052e-16, - "velocityY": 1.1917993482771072e-16, - "timestamp": 0 - }, - { - "x": 4.727896749068562, - "y": 4.486722216875996, - "heading": -0.16398120210505002, - "angularVelocity": -0.04820958180663479, - "velocityX": 0.17431882714826363, - "velocityY": -0.09524918195241291, - "timestamp": 0.04514862866395308 - }, - { - "x": 4.743634640773255, - "y": 4.478115890582503, - "heading": -0.16831439150065022, - "angularVelocity": -0.0959761021281911, - "velocityX": 0.3485796173751437, - "velocityY": -0.19062209746281752, - "timestamp": 0.09029725732790617 - }, - { - "x": 4.767237240008193, - "y": 4.465197395276607, - "heading": -0.17478216172949257, - "angularVelocity": -0.14325507596214157, - "velocityX": 0.5227755511826151, - "velocityY": -0.28613261771580356, - "timestamp": 0.13544588599185925 - }, - { - "x": 4.7987012551652635, - "y": 4.447959780759982, - "heading": -0.18336006472228875, - "angularVelocity": -0.1899925478720758, - "velocityX": 0.6968985789416005, - "velocityY": -0.38179707837699484, - "timestamp": 0.18059451465581233 - }, - { - "x": 4.838022961120384, - "y": 4.426395219986269, - "heading": -0.19402068105401282, - "angularVelocity": -0.2361227051007613, - "velocityX": 0.8709390986777716, - "velocityY": -0.47763490081218446, - "timestamp": 0.22574314331976542 - }, - { - "x": 4.885198109514782, - "y": 4.400494832302089, - "heading": -0.2067329416955533, - "angularVelocity": -0.28156471232288355, - "velocityX": 1.0448855212309887, - "velocityY": -0.5736694214338179, - "timestamp": 0.2708917719837185 - }, - { - "x": 4.940221812020733, - "y": 4.370248455773455, - "heading": -0.22146125661927976, - "angularVelocity": -0.32621843363946346, - "velocityX": 1.2187236718859935, - "velocityY": -0.6699290194119285, - "timestamp": 0.3160404006476716 - }, - { - "x": 5.00308838560409, - "y": 4.335644348833906, - "heading": -0.23816437672379223, - "angularVelocity": -0.36995852584657585, - "velocityX": 1.39243594863715, - "velocityY": -0.7664486821318964, - "timestamp": 0.36118902931162467 - }, - { - "x": 5.073791142966564, - "y": 4.296668791481402, - "heading": -0.25679387831743117, - "angularVelocity": -0.41262607846406313, - "velocityX": 1.5660001079705665, - "velocityY": -0.8632722300959411, - "timestamp": 0.40633765797557775 - }, - { - "x": 5.152322101580536, - "y": 4.253305539809008, - "heading": -0.27729209830433066, - "angularVelocity": -0.45401644730936996, - "velocityX": 1.7393874617652028, - "velocityY": -0.9604555654425806, - "timestamp": 0.45148628663953083 - }, - { - "x": 5.2386715676601066, - "y": 4.2055350595460474, - "heading": -0.29958924277694704, - "angularVelocity": -0.4938609462222111, - "velocityX": 1.9125601072466814, - "velocityY": -1.0580715666587264, - "timestamp": 0.4966349153034839 - }, - { - "x": 5.332827520074029, - "y": 4.1533334140156875, - "heading": -0.32359920197621383, - "angularVelocity": -0.5317981943144963, - "velocityX": 2.0854664958871436, - "velocityY": -1.156217742933077, - "timestamp": 0.541783543967437 - }, - { - "x": 5.434774658180193, - "y": 4.096670587019706, - "heading": -0.34921324334652926, - "angularVelocity": -0.567327117750655, - "velocityX": 2.258033989580737, - "velocityY": -1.2550287499921766, - "timestamp": 0.5869321726313901 - }, - { - "x": 5.544492849824494, - "y": 4.035507829901232, - "heading": -0.37629001845839, - "angularVelocity": -0.5997253053552725, - "velocityX": 2.4301555748447696, - "velocityY": -1.3546980036473875, - "timestamp": 0.6320808012953432 - }, - { - "x": 5.661954423048125, - "y": 3.969793203956593, - "heading": -0.40463868775063905, - "angularVelocity": -0.6278965747388003, - "velocityX": 2.601664252039902, - "velocityY": -1.455517651128717, - "timestamp": 0.6772294299592962 - }, - { - "x": 5.787118990955788, - "y": 3.8994534758169213, - "heading": -0.4339879303656175, - "angularVelocity": -0.6500583402749749, - "velocityX": 2.7722783971863314, - "velocityY": -1.557959349401715, - "timestamp": 0.7223780586232493 - }, - { - "x": 5.919922222075735, - "y": 3.824377705576958, - "heading": -0.46392202683218775, - "angularVelocity": -0.6630123074030976, - "velocityX": 2.94146766025651, - "velocityY": -1.662858263066248, - "timestamp": 0.7675266872872024 - }, - { - "x": 6.060246312588923, - "y": 3.744378388826008, - "heading": -0.49372399738879086, - "angularVelocity": -0.6600858417744332, - "velocityX": 3.1080476786491, - "velocityY": -1.7719102244808969, - "timestamp": 0.8126753159511555 - }, - { - "x": 6.207812080951999, - "y": 3.6590737752020033, - "heading": -0.5218572570950982, - "angularVelocity": -0.6231254533932935, - "velocityX": 3.2684440863404247, - "velocityY": -1.8894176002318588, - "timestamp": 0.8578239446151086 - }, - { - "x": 6.361376108177618, - "y": 3.567382557087351, - "heading": -0.5427117306077919, - "angularVelocity": -0.4619071305114704, - "velocityX": 3.401299923606018, - "velocityY": -2.0308749308228555, - "timestamp": 0.9029725732790617 - }, - { - "x": 6.507947929927135, - "y": 3.4760151577839284, - "heading": -0.5427831848165636, - "angularVelocity": -0.001582644055571518, - "velocityX": 3.2464290962294933, - "velocityY": -2.0237026462859204, - "timestamp": 0.9481212019430147 - }, - { - "x": 6.6463211946378555, - "y": 3.3875812634188556, - "heading": -0.534698863978506, - "angularVelocity": 0.1790601636703647, - "velocityX": 3.0648387072983203, - "velocityY": -1.9587282489418958, - "timestamp": 0.9932698306069678 - }, - { - "x": 6.776622768824947, - "y": 3.302862133616632, - "heading": -0.521700730901354, - "angularVelocity": 0.28789652004494365, - "velocityX": 2.886058293308162, - "velocityY": -1.876449679851817, - "timestamp": 1.038418459270921 - }, - { - "x": 6.89901686051039, - "y": 3.222359316821217, - "heading": -0.5061679462193499, - "angularVelocity": 0.3440366881930766, - "velocityX": 2.710914933794278, - "velocityY": -1.783062280686494, - "timestamp": 1.083567087934874 - }, - { - "x": 7.013622482346868, - "y": 3.1463301942253588, - "heading": -0.4893367943437813, - "angularVelocity": 0.3727943101183834, - "velocityX": 2.5384075934953327, - "velocityY": -1.6839741282454515, - "timestamp": 1.128715716598827 - }, - { - "x": 7.120523712990641, - "y": 3.0749298812320114, - "heading": -0.47196849852807987, - "angularVelocity": 0.38469154722231624, - "velocityX": 2.367762516984804, - "velocityY": -1.5814503143559333, - "timestamp": 1.1738643452627802 - }, - { - "x": 7.219782107188408, - "y": 3.0082617105937137, - "heading": -0.45458039412660683, - "angularVelocity": 0.3851302889151981, - "velocityX": 2.1984808206813833, - "velocityY": -1.476637776409936, - "timestamp": 1.2190129739267332 - }, - { - "x": 7.31144440157125, - "y": 2.9463993226261698, - "heading": -0.4375474095126961, - "angularVelocity": 0.37726471695717073, - "velocityX": 2.030234297149889, - "velocityY": -1.3701941741795467, - "timestamp": 1.2641616025906863 - }, - { - "x": 7.395547190220955, - "y": 2.8893977980972454, - "heading": -0.4211538577801982, - "angularVelocity": 0.36310187524225607, - "velocityX": 1.8627982983867202, - "velocityY": -1.2625305843327836, - "timestamp": 1.3093102312546394 - }, - { - "x": 7.4721198593185285, - "y": 2.837299860832983, - "heading": -0.4056227341196367, - "angularVelocity": 0.3439998981178628, - "velocityX": 1.696013176114673, - "velocityY": -1.1539207016016817, - "timestamp": 1.3544588599185925 - }, - { - "x": 7.5411865040845045, - "y": 2.7901396012655577, - "heading": -0.391133578181217, - "angularVelocity": 0.32092128525682667, - "velocityX": 1.5297617404959938, - "velocityY": -1.0445557476052048, - "timestamp": 1.3996074885825456 - }, - { - "x": 7.602767227934594, - "y": 2.7479448444943095, - "heading": -0.3778340057729661, - "angularVelocity": 0.294573119977587, - "velocityX": 1.3639555767782687, - "velocityY": -0.9345744936199416, - "timestamp": 1.4447561172464987 - }, - { - "x": 7.656879051829462, - "y": 2.710738727067788, - "heading": -0.3658474980091209, - "angularVelocity": 0.265489963229258, - "velocityX": 1.1985264114582415, - "velocityY": -0.8240807866713209, - "timestamp": 1.4899047459104517 - }, - { - "x": 7.703536568811032, - "y": 2.678540786924175, - "heading": -0.3552788592258075, - "angularVelocity": 0.23408548822105368, - "velocityX": 1.0334204684011108, - "velocityY": -0.7131543326214073, - "timestamp": 1.5350533745744048 - }, - { - "x": 7.742752426663906, - "y": 2.6513677405946736, - "heading": -0.3462181593402915, - "angularVelocity": 0.20068604858311379, - "velocityX": 0.8685946619721995, - "velocityY": -0.601857623002333, - "timestamp": 1.580202003238358 - }, - { - "x": 7.774537691405202, - "y": 2.6292340521386404, - "heading": -0.33874365509732585, - "angularVelocity": 0.16555329506458233, - "velocityX": 0.7040139574975169, - "velocityY": -0.49024054796386757, - "timestamp": 1.625350631902311 - }, - { - "x": 7.798902126117998, - "y": 2.6121523590781006, - "heading": -0.3329240021089049, - "angularVelocity": 0.12889988379794173, - "velocityX": 0.5396494962038237, - "velocityY": -0.3783435636036944, - "timestamp": 1.670499260566264 - }, - { - "x": 7.815854408347504, - "y": 2.6001337975364263, - "heading": -0.32881996124668966, - "angularVelocity": 0.09090067591556648, - "velocityX": 0.3754772344401177, - "velocityY": -0.2661999245011564, - "timestamp": 1.7156478892302172 - }, - { - "x": 7.825402302057902, - "y": 2.59318825469596, - "heading": -0.32648573615978776, - "angularVelocity": 0.051700907778946925, - "velocityX": 0.21147693723907554, - "velocityY": -0.15383729353472045, - "timestamp": 1.7607965178941702 - }, - { - "x": 7.827552795410156, - "y": 2.5913245677948, - "heading": -0.3259700361708536, - "angularVelocity": 0.011422273592663115, - "velocityX": 0.04763142128324741, - "velocityY": -0.041278925989795955, - "timestamp": 1.8059451465581233 - }, - { - "x": 7.822069428752838, - "y": 2.594710598177058, - "heading": -0.32737861700103194, - "angularVelocity": -0.0306167622746833, - "velocityX": -0.11918587120830748, - "velocityY": 0.07359839424721457, - "timestamp": 1.8519519978881291 - }, - { - "x": 7.808905622815491, - "y": 2.6033747350422494, - "heading": -0.3306772931109868, - "angularVelocity": -0.07169967112708499, - "velocityX": -0.28612707796328773, - "velocityY": 0.18832275225800538, - "timestamp": 1.897958849218135 - }, - { - "x": 7.788055061124846, - "y": 2.617309131719567, - "heading": -0.3358172750234352, - "angularVelocity": -0.11172209711937646, - "velocityX": -0.4532055789057263, - "velocityY": 0.30287655587135187, - "timestamp": 1.9439657005481408 - }, - { - "x": 7.759510705118672, - "y": 2.636504983937001, - "heading": -0.342744063189181, - "angularVelocity": -0.15055992673915827, - "velocityX": -0.6204370692839906, - "velocityY": 0.4172389907699501, - "timestamp": 1.9899725518781466 - }, - { - "x": 7.72326466197336, - "y": 2.6609523431666986, - "heading": -0.35139631351611395, - "angularVelocity": -0.1880643877336843, - "velocityX": -0.7878401172320942, - "velocityY": 0.5313851855311155, - "timestamp": 2.0359794032081524 - }, - { - "x": 7.679308018584539, - "y": 2.6906398782697627, - "heading": -0.36170440326754993, - "angularVelocity": -0.22405553636990902, - "velocityX": -0.955436899463533, - "velocityY": 0.6452850878691229, - "timestamp": 2.081986254538158 - }, - { - "x": 7.627630630163133, - "y": 2.725554566258506, - "heading": -0.37358859107991954, - "angularVelocity": -0.25831343525606093, - "velocityX": -1.1232541877453202, - "velocityY": 0.7589019239395776, - "timestamp": 2.127993105868164 - }, - { - "x": 7.568220846867137, - "y": 2.7656812838051232, - "heading": -0.38695661518800695, - "angularVelocity": -0.2905659422810307, - "velocityX": -1.2913246957469655, - "velocityY": 0.8721900409743265, - "timestamp": 2.17399995719817 - }, - { - "x": 7.501065154089181, - "y": 2.8110022563599633, - "heading": -0.4017004947693149, - "angularVelocity": -0.320471389696928, - "velocityX": -1.4596889558089734, - "velocityY": 0.9850918122988714, - "timestamp": 2.2200068085281757 - }, - { - "x": 7.426147689609661, - "y": 2.861496297172548, - "heading": -0.4176921686551944, - "angularVelocity": -0.34759331324742404, - "velocityX": -1.6283979953798158, - "velocityY": 1.097533070680981, - "timestamp": 2.2660136598581815 - }, - { - "x": 7.343449580448931, - "y": 2.917137725930469, - "heading": -0.43477738131331084, - "angularVelocity": -0.37136235504498266, - "velocityX": -1.7975172560177677, - "velocityY": 1.209416144539127, - "timestamp": 2.3120205111881873 - }, - { - "x": 7.252948007596266, - "y": 2.977894779342196, - "heading": -0.45276682225529813, - "angularVelocity": -0.3910165643144865, - "velocityX": -1.9671325082323114, - "velocityY": 1.3206088148897153, - "timestamp": 2.358027362518193 - }, - { - "x": 7.154614845503922, - "y": 3.043727177088802, - "heading": -0.4714227562781165, - "angularVelocity": -0.405503386636895, - "velocityX": -2.137359094344513, - "velocityY": 1.4309259565361523, - "timestamp": 2.404034213848199 - }, - { - "x": 7.04841461019935, - "y": 3.114582199536899, - "heading": -0.4904378133051287, - "angularVelocity": -0.41330924584726264, - "velocityX": -2.308356956288976, - "velocityY": 1.5400971898697202, - "timestamp": 2.4500410651782047 - }, - { - "x": 6.9343012328079725, - "y": 3.190387943549397, - "heading": -0.5093991137790973, - "angularVelocity": -0.4121407991596717, - "velocityX": -2.4803561663641203, - "velocityY": 1.6477055443056625, - "timestamp": 2.4960479165082106 - }, - { - "x": 6.812212749615798, - "y": 3.2710406909413905, - "heading": -0.5277221905562313, - "angularVelocity": -0.39826843714438165, - "velocityX": -2.6537022130994847, - "velocityY": 1.7530594913673245, - "timestamp": 2.5420547678382164 - }, - { - "x": 6.682062235596833, - "y": 3.3563782923203362, - "heading": -0.5445137705863606, - "angularVelocity": -0.3649799876476428, - "velocityX": -2.8289376529030164, - "velocityY": 1.8548889765748082, - "timestamp": 2.588061619168222 - }, - { - "x": 6.543723163720848, - "y": 3.446113567100561, - "heading": -0.5582298280400101, - "angularVelocity": -0.2981307578575669, - "velocityX": -3.0069232707033753, - "velocityY": 1.9504763352865513, - "timestamp": 2.634068470498228 - }, - { - "x": 6.397030763296862, - "y": 3.539617888497486, - "heading": -0.5655190195287833, - "angularVelocity": -0.1584370866090424, - "velocityX": -3.188490326620382, - "velocityY": 2.032399929441372, - "timestamp": 2.680075321828234 - }, - { - "x": 6.2419287062745346, - "y": 3.6358937730872856, - "heading": -0.5619188995991661, - "angularVelocity": 0.0782518217512324, - "velocityX": -3.3712817230152363, - "velocityY": 2.092642330578406, - "timestamp": 2.7260821731582396 - }, - { - "x": 6.090348773822902, - "y": 3.727107885633491, - "heading": -0.5308075361092083, - "angularVelocity": 0.6762332694060575, - "velocityX": -3.2947252000436302, - "velocityY": 1.9826201948038515, - "timestamp": 2.7720890244882455 - }, - { - "x": 5.946065659540226, - "y": 3.8125483414547894, - "heading": -0.49704527154413336, - "angularVelocity": 0.7338529716564365, - "velocityX": -3.1361223407299907, - "velocityY": 1.8571246097334149, - "timestamp": 2.8180958758182513 - }, - { - "x": 5.809507545742696, - "y": 3.892749574489272, - "heading": -0.46310867406144995, - "angularVelocity": 0.737642253308334, - "velocityX": -2.9682125563864465, - "velocityY": 1.7432454235827397, - "timestamp": 2.864102727148257 - }, - { - "x": 5.680813178762363, - "y": 3.9679262919736207, - "heading": -0.4299153775561693, - "angularVelocity": 0.7214859427607476, - "velocityX": -2.7972869966086495, - "velocityY": 1.6340330909652954, - "timestamp": 2.910109578478263 - }, - { - "x": 5.56005020100016, - "y": 4.0381934710868315, - "heading": -0.3979447837375598, - "angularVelocity": 0.6949094079333238, - "velocityX": -2.6248911688385825, - "velocityY": 1.5273198900134695, - "timestamp": 2.9561164298082687 - }, - { - "x": 5.4472584959154355, - "y": 4.103622654657881, - "heading": -0.3674912635645668, - "angularVelocity": 0.6619344574257268, - "velocityX": -2.451628438461739, - "velocityY": 1.422161736340723, - "timestamp": 3.0021232811382745 - }, - { - "x": 5.342464329843252, - "y": 4.164262637278229, - "heading": -0.33875359215790146, - "angularVelocity": 0.6246389521536867, - "velocityX": -2.2777947858352126, - "velocityY": 1.3180641766892147, - "timestamp": 3.0481301324682804 - }, - { - "x": 5.245686300801653, - "y": 4.2201488242062295, - "heading": -0.3118746980426991, - "angularVelocity": 0.5842367677457507, - "velocityX": -2.103556888677577, - "velocityY": 1.214736181946669, - "timestamp": 3.094136983798287 - }, - { - "x": 5.156938267783512, - "y": 4.271308077231094, - "heading": -0.28696206619637044, - "angularVelocity": 0.5414983013645119, - "velocityX": -1.929017753933078, - "velocityY": 1.1119920521815345, - "timestamp": 3.140143835128293 - }, - { - "x": 5.076230957803232, - "y": 4.317761473916184, - "heading": -0.26409931203674286, - "angularVelocity": 0.4969423792041868, - "velocityX": -1.7542454579508007, - "velocityY": 1.0097060620793163, - "timestamp": 3.1861506864582987 - }, - { - "x": 5.0035729200740136, - "y": 4.35952599392547, - "heading": -0.24335324999230393, - "angularVelocity": 0.45093418577217526, - "velocityX": -1.5792873371847216, - "velocityY": 0.9077891401371835, - "timestamp": 3.2321575377883045 - }, - { - "x": 4.938971127875511, - "y": 4.396615607729094, - "heading": -0.22477846264386359, - "angularVelocity": 0.40373959120137515, - "velocityX": -1.4041776459579138, - "velocityY": 0.8061758788398916, - "timestamp": 3.2781643891183103 - }, - { - "x": 4.882431376803787, - "y": 4.429042010943445, - "heading": -0.2084203898669403, - "angularVelocity": 0.3555573203561781, - "velocityX": -1.2289419822749028, - "velocityY": 0.7048168322095503, - "timestamp": 3.324171240448316 - }, - { - "x": 4.8339585587253, - "y": 4.4568151376932645, - "heading": -0.1943174944577601, - "angularVelocity": 0.30653902628587343, - "velocityX": -1.0535999895057664, - "velocityY": 0.6036737126521039, - "timestamp": 3.370178091778322 - }, - { - "x": 4.79355685638677, - "y": 4.479943530335828, - "heading": -0.18250282611154175, - "angularVelocity": 0.2568023675750131, - "velocityX": -0.878167081001256, - "velocityY": 0.5027162688588249, - "timestamp": 3.4161849431083278 - }, - { - "x": 4.761229885455668, - "y": 4.498434612513383, - "heading": -0.1730051789726765, - "angularVelocity": 0.20643984242124874, - "velocityX": -0.7026555827353059, - "velocityY": 0.4019201845594302, - "timestamp": 3.4621917944383336 - }, - { - "x": 4.736980800614418, - "y": 4.5122948951946675, - "heading": -0.1658499663057309, - "angularVelocity": 0.15552493726685634, - "velocityX": -0.5270755146296048, - "velocityY": 0.30126562198020357, - "timestamp": 3.5081986457683394 - }, - { - "x": 4.720812376397654, - "y": 4.521530135059827, - "heading": -0.161059893011452, - "angularVelocity": 0.10411652081815516, - "velocityX": -0.3514351395358153, - "velocityY": 0.20073618598487517, - "timestamp": 3.554205497098345 - }, - { - "x": 4.712727069854736, - "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": 0.05226205644152036, - "velocityX": -0.1757413582799351, - "velocityY": 0.10031817062425848, - "timestamp": 3.600212348428351 - }, - { - "x": 4.712727069854736, - "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": -6.6468410327424846e-18, - "velocityX": 2.2493473916040235e-16, - "velocityY": -1.5298106734453157e-16, - "timestamp": 3.646219199758357 - } - ] + "samples": [ + { + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "angularVelocity": -5.881465861824842e-19, + "velocityX": 4.7073218726955604e-18, + "velocityY": -4.8944121317771445e-18, + "moduleForcesX": [ + 68.43529033536115, + 68.45537842802776, + 67.99220764527054, + 68.02751814191386 + ], + "moduleForcesY": [ + -14.419101113518574, + -14.333392437385246, + -16.38222197550169, + -16.243717713798855 + ], + "timestamp": 0 + }, + { + "x": 4.727887785907783, + "y": 4.4867414965294214, + "heading": -0.16393324128393727, + "angularVelocity": -0.043675380053083857, + "velocityX": 0.1612981284492419, + "velocityY": -0.08783947710216147, + "moduleForcesX": [ + 60.1117150997854, + 58.27226330642005, + 63.935474298105014, + 62.876004012259685 + ], + "moduleForcesY": [ + -35.787569098742956, + -38.698475042039036, + -28.39235873713487, + -30.649747218299385 + ], + "timestamp": 0.04873765685227571 + }, + { + "x": 4.743608901300179, + "y": 4.478176373529895, + "heading": -0.16816273141664084, + "angularVelocity": -0.08678074421023493, + "velocityX": 0.3225660897085628, + "velocityY": -0.17573932668710152, + "moduleForcesX": [ + 60.10211452905184, + 58.30657944647576, + 63.88853984566503, + 62.852364595708245 + ], + "moduleForcesY": [ + -35.79793680883123, + -38.64090528767794, + -28.490428053821134, + -30.690654466956545 + ], + "timestamp": 0.09747531370455143 + }, + { + "x": 4.767187803659241, + "y": 4.465323332405414, + "heading": -0.17446487838707617, + "angularVelocity": -0.1293075493870608, + "velocityX": 0.4837922846912751, + "velocityY": -0.2637188973495175, + "moduleForcesX": [ + 60.08319299546677, + 58.33917209907521, + 63.834689965991515, + 62.82905284121462 + ], + "moduleForcesY": [ + -35.82327503982619, + -38.58514372397829, + -28.602708531096198, + -30.729984382580668 + ], + "timestamp": 0.14621297055682714 + }, + { + "x": 4.7986217955455785, + "y": 4.4481773888884435, + "heading": -0.18281105162428865, + "angularVelocity": -0.17124691206452064, + "velocityX": 0.6449631335707054, + "velocityY": -0.3518007352905859, + "moduleForcesX": [ + 60.05453059714415, + 58.36915057772371, + 63.77332474172923, + 62.80496825587504 + ], + "moduleForcesY": [ + -35.864122102837584, + -38.532431107189865, + -28.73017924455715, + -30.769839626172665 + ], + "timestamp": 0.19495062740910285 + }, + { + "x": 4.837907405014235, + "y": 4.4267322808755205, + "heading": -0.19317216950054888, + "angularVelocity": -0.21258957745270352, + "velocityX": 0.8060627450296197, + "velocityY": -0.44001105916772637, + "moduleForcesX": [ + 60.01558913830737, + 58.39551232521596, + 63.70371110385574, + 62.77887087644854 + ], + "moduleForcesY": [ + -35.921152874938045, + -38.48415600762572, + -28.8740249473851, + -30.812554638417545 + ], + "timestamp": 0.24368828426137856 + }, + { + "x": 4.885040256730086, + "y": 4.4009802654715, + "heading": -0.20551859769309883, + "angularVelocity": -0.2533242053464322, + "velocityX": 0.9670725832944921, + "velocityY": -0.5283802518876977, + "moduleForcesX": [ + 59.96575349834944, + 58.41725921204458, + 63.62488905730617, + 62.74931400892259 + ], + "moduleForcesY": [ + -35.9950935691336, + -38.44166713578121, + -29.035814258336888, + -30.860816111812138 + ], + "timestamp": 0.2924259411136543 + }, + { + "x": 4.9400149224717165, + "y": 4.370911883732378, + "heading": -0.21981985541564256, + "angularVelocity": -0.29343342799369354, + "velocityX": 1.1279710452281166, + "velocityY": -0.6169435233675227, + "moduleForcesX": [ + 59.90436500356773, + 58.433508747517934, + 63.53552165026372, + 62.71451295261247 + ], + "moduleForcesY": [ + -36.086645020921544, + -38.40608643734777, + -29.217782893197505, + -30.917903272378997 + ], + "timestamp": 0.34116359796593 + }, + { + "x": 5.002824737573276, + "y": 4.3365156704551024, + "heading": -0.2360440268028712, + "angularVelocity": -0.3328878004210195, + "velocityX": 1.288732761444332, + "velocityY": -0.7057420380616938, + "moduleForcesX": [ + 59.83069936510459, + 58.44350633346029, + 63.43369480407949, + 62.67213545405848 + ], + "moduleForcesY": [ + -36.196491254619396, + -38.37826447843325, + -29.423195161825817, + -30.988068940075383 + ], + "timestamp": 0.3899012548182057 + }, + { + "x": 5.0734615573641815, + "y": 4.297777754538262, + "heading": -0.25415640753433766, + "angularVelocity": -0.37163010906259014, + "velocityX": 1.449327365183079, + "velocityY": -0.7948251602299122, + "moduleForcesX": [ + 59.744090092449774, + 58.44704036164283, + 63.316226848131265, + 62.61864458334687 + ], + "moduleForcesY": [ + -36.32505385759954, + -38.35811235281445, + -29.657702012263695, + -31.077794323353526 + ], + "timestamp": 0.4386389116704814 + }, + { + "x": 5.151915411974696, + "y": 4.25468129645477, + "heading": -0.2741175815590431, + "angularVelocity": -0.40956367855778775, + "velocityX": 1.6097174069797553, + "velocityY": -0.8842537960763628, + "moduleForcesX": [ + 59.64360343119425, + 58.44373716788734, + 63.178621301416385, + 62.549077549891024 + ], + "moduleForcesY": [ + -36.47297266727465, + -38.34562203598795, + -29.929207127313692, + -31.196089277933915 + ], + "timestamp": 0.4873765685227571 + }, + { + "x": 5.238174006915483, + "y": 4.207205685181185, + "heading": -0.2958807068394894, + "angularVelocity": -0.4465361424003276, + "velocityX": 1.769855190253369, + "velocityY": -0.9741053292218118, + "moduleForcesX": [ + 59.527894983854765, + 58.43285777534832, + 63.014466834783654, + 62.456352023467005 + ], + "moduleForcesY": [ + -36.64123940474272, + -38.34109648431631, + -30.248783905959737, + -31.35563367878393 + ], + "timestamp": 0.5361142253750328 + }, + { + "x": 5.3322219822613, + "y": 4.1553253655006195, + "heading": -0.3193875115896396, + "angularVelocity": -0.4823129848322271, + "velocityX": 1.929677818342355, + "velocityY": -1.0644812047040957, + "moduleForcesX": [ + 59.39505944578591, + 58.4131658799856, + 62.81427204721697, + 62.32999478970495 + ], + "moduleForcesY": [ + -36.83127084396701, + -38.34521709617963, + -30.632496505982925, + -31.574841876515983 + ], + "timestamp": 0.5848518822273086 + }, + { + "x": 5.434039775892651, + "y": 4.0990080736687124, + "heading": -0.3445620916805614, + "angularVelocity": -0.5165324251681986, + "velocityX": 2.0890990705598074, + "velocityY": -1.1555190681941212, + "moduleForcesX": [ + 59.2424099434238, + 58.382758773370185, + 62.56332386034091, + 62.15385276561653 + ], + "moduleForcesY": [ + -37.044966117412464, + -38.35906580341401, + -31.10465784805854, + -31.881449853609084 + ], + "timestamp": 0.6335895390795843 + }, + { + "x": 5.5436017981735946, + "y": 4.038212076548804, + "heading": -0.3713007276185388, + "angularVelocity": -0.5486237473217479, + "velocityX": 2.2479952742296794, + "velocityY": -1.2474132128301114, + "moduleForcesX": [ + 59.06616982015972, + 58.33889944637506, + 62.23745010518373, + 61.90167958421586 + ], + "moduleForcesY": [ + -37.28464579302209, + -38.38394387493009, + -31.70407139850214, + -32.319144289431236 + ], + "timestamp": 0.68232719593186 + }, + { + "x": 5.660873314983858, + "y": 3.972881619172404, + "heading": -0.3994539130426172, + "angularVelocity": -0.5776474956399826, + "velocityX": 2.4061788026805564, + "velocityY": -1.3404513387752193, + "moduleForcesX": [ + 58.861110925960276, + 58.27803525689294, + 61.793814588541615, + 61.52787331544831 + ], + "moduleForcesY": [ + -37.55251333725383, + -38.42047870406832, + -32.49705527835299, + -32.96076779572281 + ], + "timestamp": 0.7310648527841357 + }, + { + "x": 5.7858046259197415, + "y": 3.90293883135293, + "heading": -0.4287917083501583, + "angularVelocity": -0.6019533396212233, + "velocityX": 2.5633425774766394, + "velocityY": -1.4350872064176459, + "moduleForcesX": [ + 58.620103986380464, + 58.19630530808812, + 61.14838745095298, + 60.94587079249968 + ], + "moduleForcesY": [ + -37.848875439167145, + -38.465986940872234, + -33.607640962188185, + -33.93710006076957 + ], + "timestamp": 0.7798025096364114 + }, + { + "x": 5.91831853265109, + "y": 3.828267584191118, + "heading": -0.4589346798109314, + "angularVelocity": -0.6184739564344683, + "velocityX": 2.7189223957359974, + "velocityY": -1.5321058086182011, + "moduleForcesX": [ + 58.326947078741554, + 58.08282995269632, + 60.117188482682096, + 59.97586908627516 + ], + "moduleForcesY": [ + -38.17670449234116, + -38.5199273448512, + -35.2876571890444, + -35.497400347823046 + ], + "timestamp": 0.8285401664886871 + }, + { + "x": 6.058277492034443, + "y": 3.7486755546886057, + "heading": -0.4891900682949278, + "angularVelocity": -0.6207805306623543, + "velocityX": 2.87168010164238, + "velocityY": -1.633070497085171, + "moduleForcesX": [ + 57.933552634875014, + 57.90517524723794, + 58.20021101686637, + 58.17389473273651 + ], + "moduleForcesY": [ + -38.55412830199519, + -38.59153171738365, + -38.14988944583118, + -38.184736629338815 + ], + "timestamp": 0.8772778233409628 + }, + { + "x": 6.20536554248472, + "y": 3.663782159034563, + "heading": -0.518016053099789, + "angularVelocity": -0.5914520037808051, + "velocityX": 3.0179549028403776, + "velocityY": -1.7418440100917267, + "moduleForcesX": [ + 57.26128036749851, + 57.57168077306263, + 53.42821507620888, + 54.096745915940296 + ], + "moduleForcesY": [ + -39.05309394244987, + -38.69870267757176, + -44.16508041938489, + -43.433902022492006 + ], + "timestamp": 0.9260154801932385 + }, + { + "x": 6.358234311905263, + "y": 3.5725799858680882, + "heading": -0.5396049169657727, + "angularVelocity": -0.44296064399271334, + "velocityX": 3.136563784424236, + "velocityY": -1.8712876050424425, + "moduleForcesX": [ + 54.85541073928391, + 56.78515120271811, + 28.549377465823277, + 40.11195975367502 + ], + "moduleForcesY": [ + -40.12663357622417, + -38.67670977163467, + -62.059281622052865, + -55.90953654319455 + ], + "timestamp": 0.9747531370455143 + }, + { + "x": 6.504544380104363, + "y": 3.4811457430282524, + "heading": -0.5406451663450832, + "angularVelocity": -0.021343852915655923, + "velocityX": 3.0019922509317034, + "velocityY": -1.8760492142035687, + "moduleForcesX": [ + -58.02036871779219, + -39.887755710619075, + -66.89935656640188, + -39.75985610319602 + ], + "moduleForcesY": [ + 35.1518392779443, + 26.73240919500477, + -14.330998943432236, + -54.79155380612797 + ], + "timestamp": 1.02349079389779 + }, + { + "x": 6.642773011917336, + "y": 3.39257986759636, + "heading": -0.5333993015698099, + "angularVelocity": 0.1486707659590033, + "velocityX": 2.8361772136880554, + "velocityY": -1.8171960071928712, + "moduleForcesX": [ + -58.17314064248429, + -56.782645504435905, + -68.11118457828722, + -68.99481187771686 + ], + "moduleForcesY": [ + 37.647653054144726, + 38.908551026570734, + 12.965655796644898, + -0.05684803276109096 + ], + "timestamp": 1.0722284507500657 + }, + { + "x": 6.77299529233642, + "y": 3.307676673408179, + "heading": -0.5210932836678952, + "angularVelocity": 0.2524950663757857, + "velocityX": 2.671902771480973, + "velocityY": -1.7420450565673056, + "moduleForcesX": [ + -58.413079928509745, + -57.56454105897526, + -66.26689919731484, + -67.47534495610694 + ], + "moduleForcesY": [ + 37.79640277836911, + 38.802213146502545, + 21.22774198152598, + 16.413477598690807 + ], + "timestamp": 1.1209661076023414 + }, + { + "x": 6.895353465257662, + "y": 3.2269459829895237, + "heading": -0.5061107351838688, + "angularVelocity": 0.3074121624155894, + "velocityX": 2.5105468917414324, + "velocityY": -1.6564335594415196, + "moduleForcesX": [ + -58.83420840430033, + -58.39335442877089, + -63.83039907872561, + -64.22528475086266 + ], + "moduleForcesY": [ + 37.3470242695362, + 37.928324954887835, + 27.9653516962451, + 26.900611565495222 + ], + "timestamp": 1.169703764454617 + }, + { + "x": 7.009958146403554, + "y": 3.1506562680745094, + "heading": -0.4897129728739464, + "angularVelocity": 0.33644954166804963, + "velocityX": 2.351460627113441, + "velocityY": -1.5653135551068555, + "moduleForcesX": [ + -59.06126363661514, + -58.80324446885711, + -61.97595959202741, + -61.992650193068634 + ], + "moduleForcesY": [ + 37.11122186754958, + 37.47562944624757, + 32.005736723275994, + 31.92241702626428 + ], + "timestamp": 1.2184414213068928 + }, + { + "x": 7.116889883146181, + "y": 3.078971573845945, + "heading": -0.472681692827929, + "angularVelocity": 0.34944806841329223, + "velocityX": 2.194027034716434, + "velocityY": -1.470827669164331, + "moduleForcesX": [ + -59.188861157366865, + -59.0565950352466, + -60.57370363308788, + -60.50166777126641 + ], + "moduleForcesY": [ + 36.98973297515215, + 37.18470475795252, + 34.67434908895827, + 34.78282366024482 + ], + "timestamp": 1.2671790781591685 + }, + { + "x": 7.216208739232633, + "y": 3.012002260537196, + "heading": -0.4555497886166887, + "angularVelocity": 0.3515126765976293, + "velocityX": 2.0378258312148474, + "velocityY": -1.374077410240163, + "moduleForcesX": [ + -59.259107003476444, + -59.23501809659255, + -59.48789026920808, + -59.46541071354874 + ], + "moduleForcesY": [ + 36.93564118541098, + 36.97212626602456, + 36.5658086949398, + 36.60019434577678 + ], + "timestamp": 1.3159167350114442 + }, + { + "x": 7.3079609219599915, + "y": 2.9498276058266644, + "heading": -0.438704028359401, + "angularVelocity": 0.34564157050773253, + "velocityX": 1.8825727097521214, + "velocityY": -1.2757005306796523, + "moduleForcesX": [ + -59.29365289888744, + -59.37140823133768, + -58.62492523104296, + -58.71622393834828 + ], + "moduleForcesY": [ + 36.92389806309054, + 36.80401844208725, + 37.97737671126277, + 37.84116554349972 + ], + "timestamp": 1.36465439186372 + }, + { + "x": 7.392182985105948, + "y": 2.8925073201188733, + "heading": -0.4224378414231501, + "angularVelocity": 0.3337498761081901, + "velocityX": 1.728069599267647, + "velocityY": -1.1760985121120737, + "moduleForcesX": [ + -59.30495245357254, + -59.48133869767553, + -57.923105668152786, + -58.15669309492114 + ], + "moduleForcesY": [ + 36.93965088536188, + 36.66440827409813, + 39.07225527259574, + 38.732525009343235 + ], + "timestamp": 1.4133920487159957 + }, + { + "x": 7.46890453487858, + "y": 2.840088011691178, + "heading": -0.40698132304682416, + "angularVelocity": 0.31713708402466445, + "velocityX": 1.5741739494201379, + "velocityY": -1.0755401841860777, + "moduleForcesX": [ + -59.30080799327379, + -59.57303727441818, + -57.34124401091068, + -57.727576478538566 + ], + "moduleForcesY": [ + 36.97334710012922, + 36.54495061039499, + 39.94695345169072, + 39.39731072564969 + ], + "timestamp": 1.4621297055682714 + }, + { + "x": 7.538150027938391, + "y": 2.792607090993914, + "heading": -0.39251959087248267, + "angularVelocity": 0.29672604528720975, + "velocityX": 1.420780101712605, + "velocityY": -0.9742142680592694, + "moduleForcesX": [ + -59.286449630610875, + -59.65121798176521, + -56.851137256943524, + -57.391052254666555 + ], + "moduleForcesY": [ + 37.01843632004217, + 36.44093999973721, + 40.6620287333005, + 39.907997028640885 + ], + "timestamp": 1.510867362420547 + }, + { + "x": 7.5999400053897395, + "y": 2.7500952658192523, + "heading": -0.3792046657912946, + "angularVelocity": 0.27319583954445975, + "velocityX": 1.2678077167031896, + "velocityY": -0.8722582889759101, + "moduleForcesX": [ + -59.265580390881944, + -59.71875961705106, + -56.43293506564941, + -57.121900476801805 + ], + "moduleForcesY": [ + 37.07019052901472, + 36.34955666898872, + 41.257357233208374, + 40.31008045851182 + ], + "timestamp": 1.5596050192728228 + }, + { + "x": 7.654291965065082, + "y": 2.71257820969881, + "heading": -0.36716351236120826, + "angularVelocity": 0.2470605730304626, + "velocityX": 1.1151943524917802, + "velocityY": -0.769775539972234, + "moduleForcesX": [ + -59.240941630510214, + -59.77751503582541, + -56.072294897256576, + -56.902662734729276 + ], + "moduleForcesY": [ + 37.12505401285954, + 36.2690218055838, + 41.76026548249275, + 40.63360670016656 + ], + "timestamp": 1.6083426761250985 + }, + { + "x": 7.701220994461928, + "y": 2.680077719478188, + "heading": -0.3565036811952784, + "angularVelocity": 0.2187185813679698, + "velocityX": 0.9628905537885815, + "velocityY": -0.6668455629521007, + "moduleForcesX": [ + -59.21463735536638, + -59.82873057685185, + -55.75860320218282, + -56.720860790156244 + ], + "moduleForcesY": [ + 37.18026407678206, + 36.19816241481154, + 42.190116668716456, + 40.8992532606469 + ], + "timestamp": 1.6570803329773742 + }, + { + "x": 7.740740240676776, + "y": 2.6526125435648233, + "heading": -0.34731738943313023, + "angularVelocity": 0.1884844770028772, + "velocityX": 0.8108565074153987, + "velocityY": -0.5635309058170574, + "moduleForcesX": [ + -59.18832935144845, + -59.87327586160206, + -55.48383720612385, + -56.567328667141474 + ], + "moduleForcesY": [ + 37.233618935349305, + 36.136175651055495, + 42.56102415512728, + 41.12174464090146 + ], + "timestamp": 1.70581798982965 + }, + { + "x": 7.772861266428678, + "y": 2.6301989901662406, + "heading": -0.339684547325653, + "angularVelocity": 0.15661077286934239, + "velocityX": 0.659059705091268, + "velocityY": -0.45988163662686266, + "moduleForcesX": [ + -59.16335937004299, + -59.91177524773766, + -55.241819195767484, + -56.4351735162662 + ], + "moduleForcesY": [ + 37.28332974340017, + 36.08249644731776, + 42.88352328450667, + 41.3118704953204 + ], + "timestamp": 1.7545556466819257 + }, + { + "x": 7.797594324631981, + "y": 2.6128513840413476, + "heading": -0.3336750520304295, + "angularVelocity": 0.12330291777129779, + "velocityX": 0.5074732722229227, + "velocityY": -0.3559384518109465, + "moduleForcesX": [ + -59.14082827323915, + -59.944685575566105, + -55.02771684485968, + -56.319105977160326 + ], + "moduleForcesY": [ + 37.32792285618426, + 36.03672130026394, + 43.16563762979704, + 41.477730572889435 + ], + "timestamp": 1.8032933035342014 + }, + { + "x": 7.8149485735286035, + "y": 2.600582416205699, + "heading": -0.3293505584933595, + "angularVelocity": 0.08873002553602183, + "velocityX": 0.35607474830441416, + "velocityY": -0.25173487254088156, + "moduleForcesX": [ + -59.12164880145011, + -59.972343330248414, + -54.837701353470806, + -56.214995601152715 + ], + "moduleForcesY": [ + 37.36617325186445, + 35.99856376882235, + 43.41357965125709, + 41.62553126027113 + ], + "timestamp": 1.852030960386477 + }, + { + "x": 7.82493224764851, + "y": 2.593403416275336, + "heading": -0.32676586862175916, + "angularVelocity": 0.05303270691556966, + "velocityX": 0.20484518059958043, + "velocityY": -0.1472988320329487, + "moduleForcesX": [ + -59.10658161435728, + -59.99499378510709, + -54.668709048931916, + -56.11956783284074 + ], + "moduleForcesY": [ + 37.39705799806443, + 35.96782840705723, + 43.63222325633478, + 41.760111492977 + ], + "timestamp": 1.9007686172387528 + }, + { + "x": 7.827552795410156, + "y": 2.5913245677948, + "heading": -0.3259700361708536, + "angularVelocity": 0.016328902583798655, + "velocityX": 0.053768439660265316, + "velocityY": -0.042653845400011325, + "moduleForcesX": [ + -59.0962603822262, + -60.0128092363337, + -54.51827220961817, + -56.03019263926832 + ], + "moduleForcesY": [ + 37.41972307933626, + 35.94439562531672, + 43.82542988995558, + 41.885299559233914 + ], + "timestamp": 1.9495062740910285 + }, + { + "x": 7.8225488196963315, + "y": 2.5945356796337284, + "heading": -0.32707092619343975, + "angularVelocity": -0.02210454265261678, + "velocityX": -0.1004737915048548, + "velocityY": 0.06447524925271463, + "moduleForcesX": [ + -59.09250521885778, + -60.026827078612236, + -54.38548873329238, + -55.94548073003525 + ], + "moduleForcesY": [ + 37.433896169898766, + 35.92898049068984, + 43.99696696032904, + 42.00509106493425 + ], + "timestamp": 1.9993100650983733 + }, + { + "x": 7.809856922215013, + "y": 2.60307400937817, + "heading": -0.3300413576768632, + "angularVelocity": -0.05964267826485254, + "velocityX": -0.25483797969205607, + "velocityY": 0.17143935374683156, + "moduleForcesX": [ + -59.10198346880105, + -60.00321649731864, + -54.5146468504792, + -56.0118778613011 + ], + "moduleForcesY": [ + 37.41314866516896, + 35.96272632326936, + 43.83193044683158, + 41.91169036270763 + ], + "timestamp": 2.049113856105718 + }, + { + "x": 7.789470410605781, + "y": 2.6169304547356593, + "heading": -0.334831649814279, + "angularVelocity": -0.0961832832506018, + "velocityX": -0.40933654239741785, + "velocityY": 0.27822069519659187, + "moduleForcesX": [ + -59.11540183229754, + -59.97455979820384, + -54.65945494827689, + -56.08220324786315 + ], + "moduleForcesY": [ + 37.38554138626559, + 36.004195264752894, + 43.645740941732726, + 41.81214042336603 + ], + "timestamp": 2.098917647113063 + }, + { + "x": 7.761381868173273, + "y": 2.636094866963018, + "heading": -0.3413860707357006, + "angularVelocity": -0.1316048595668631, + "velocityX": -0.563984023392206, + "velocityY": 0.3847982621349621, + "moduleForcesX": [ + -59.131972833924586, + -59.94064899020477, + -54.82186417144312, + -56.15866425233194 + ], + "moduleForcesY": [ + 37.35219447077809, + 36.05357657441125, + 43.43541198535366, + 41.70330060547335 + ], + "timestamp": 2.1487214381204076 + }, + { + "x": 7.725583023110576, + "y": 2.6605558484366756, + "heading": -0.3496416393051685, + "angularVelocity": -0.16576185070424912, + "velocityX": -0.7187975922840104, + "velocityY": 0.49114697855128736, + "moduleForcesX": [ + -59.150756809411774, + -59.90120442288028, + -55.00427759704956, + -56.243983298951186 + ], + "moduleForcesY": [ + 37.3144444527126, + 36.11113834559916, + 43.19721355292753, + 41.58124990297383 + ], + "timestamp": 2.1985252291277524 + }, + { + "x": 7.682064585000808, + "y": 2.6903004949235343, + "heading": -0.3595266102822787, + "angularVelocity": -0.1984782840255993, + "velocityX": -0.8737977015313726, + "velocityY": 0.5972365935451077, + "moduleForcesX": [ + -59.170629797458076, + -59.8558574255911, + -55.209673101557854, + -56.34155870288089 + ], + "moduleForcesY": [ + 37.27389034561202, + 36.17724358338253, + 42.92644612942895, + 41.44102766101657 + ], + "timestamp": 2.248329020135097 + }, + { + "x": 7.6308160376172705, + "y": 2.7253140621435996, + "heading": -0.37095853036312976, + "angularVelocity": -0.2295391545427168, + "velocityX": -1.029008963915585, + "velocityY": 0.7030301611960068, + "moduleForcesX": [ + -59.19023797796851, + -59.80412241246641, + -55.44177713617866, + -56.45569230309805 + ], + "moduleForcesY": [ + 37.23245756719677, + 36.25237799504352, + 42.617115392340835, + 41.27625758458441 + ], + "timestamp": 2.298132811142442 + }, + { + "x": 7.571825372339086, + "y": 2.7655795264940592, + "heading": -0.3838417000522769, + "angularVelocity": -0.2586784947202948, + "velocityX": -1.1844613449101156, + "velocityY": 0.8084819154534241, + "moduleForcesX": [ + -59.207931730270154, + -59.745351697481844, + -55.70531482882298, + -56.59191892795338 + ], + "moduleForcesY": [ + 37.192488473383165, + 36.33719734842945, + 42.26145357461246, + 41.07858851659918 + ], + "timestamp": 2.3479366021497867 + }, + { + "x": 7.505078739279228, + "y": 2.8110769942076645, + "heading": -0.3980637925420557, + "angularVelocity": -0.2855624482015496, + "velocityX": -1.3401918149165175, + "velocityY": 0.9135342268803581, + "moduleForcesX": [ + -59.22166790895887, + -59.67866121626703, + -56.006376966810905, + -56.757495510878535 + ], + "moduleForcesY": [ + 37.15687384273474, + 36.43260813321918, + 41.849197803503095, + 40.83683812183261 + ], + "timestamp": 2.3977403931571315 + }, + { + "x": 7.430559981843662, + "y": 2.861782887310645, + "heading": -0.4134912426202837, + "angularVelocity": -0.3097645734628845, + "velocityX": -1.4962466898267943, + "velocityY": 1.0181131210574481, + "moduleForcesX": [ + -59.22886099171272, + -59.60280573978956, + -56.352970221786904, + -56.96214845643797 + ], + "moduleForcesY": [ + 37.12924943036937, + 36.53990645107112, + 41.36647109661613, + 40.53563677691423 + ], + "timestamp": 2.4475441841644763 + }, + { + "x": 7.348250001982471, + "y": 2.91766878994103, + "heading": -0.4299627816006446, + "angularVelocity": -0.3307286181874912, + "velocityX": -1.6526850305240866, + "velocityY": 1.122121459029986, + "moduleForcesX": [ + -59.22614908618427, + -59.51596296462916, + -56.75586225176142, + -57.21925371473785 + ], + "moduleForcesY": [ + 37.114299515953256, + 36.661022383077885, + 40.79399009249656, + 40.15319398603601 + ], + "timestamp": 2.497347975171821 + }, + { + "x": 7.258125872493671, + "y": 2.9786997573492804, + "heading": -0.447280068194293, + "angularVelocity": -0.3477102092708425, + "velocityX": -1.8095837217594097, + "velocityY": 1.2254281486172496, + "moduleForcesX": [ + -59.20901241250783, + -59.41534526777336, + -57.22991514323557, + -57.547771337008655 + ], + "moduleForcesY": [ + 37.11824324198438, + 36.79896415158689, + 40.104083590962425, + 39.65744486266393 + ], + "timestamp": 2.547151766179166 + }, + { + "x": 7.160159559273177, + "y": 3.0448317340581554, + "heading": -0.46519355516400246, + "angularVelocity": -0.35968119308557267, + "velocityX": -1.9670453039618014, + "velocityY": 1.3278502574055588, + "moduleForcesX": [ + -59.17112390867208, + -59.29646601900439, + -57.79625293055758, + -57.97555629434962 + ], + "moduleForcesY": [ + 37.14964738452766, + 36.95866246790645, + 39.25550533118841, + 38.99902079802723 + ], + "timestamp": 2.5969555571865106 + }, + { + "x": 7.054316020955864, + "y": 3.116007407544827, + "heading": -0.4833800817095212, + "angularVelocity": -0.36516349815285365, + "velocityX": -2.1252104744737887, + "velocityY": 1.4291215999235103, + "moduleForcesX": [ + -59.10318516343768, + -59.15166124956973, + -58.48589886629264, + -58.54530982951959 + ], + "moduleForcesY": [ + 37.220853687067574, + 37.14867467754115, + 38.183909847840106, + 38.097521158007694 + ], + "timestamp": 2.6467593481938554 + }, + { + "x": 6.940550279901206, + "y": 3.192149108226634, + "heading": -0.5014050172135768, + "angularVelocity": -0.36191894511392675, + "velocityX": -2.2842787417102173, + "velocityY": 1.5288334309847709, + "moduleForcesX": [ + -58.99070247540506, + -58.96685003246879, + -59.34607017274523, + -59.3258765315244 + ], + "moduleForcesY": [ + 37.35063999073293, + 37.384909035242416, + 36.783179852851674, + 36.81230571075599 + ], + "timestamp": 2.6965631392011993 + }, + { + "x": 6.818802755518582, + "y": 3.2731455858489316, + "heading": -0.5186526774775305, + "angularVelocity": -0.3463121966238951, + "velocityX": -2.444543315280335, + "velocityY": 1.6263114912347423, + "moduleForcesX": [ + -58.809382829177125, + -58.71358784581223, + -60.4512809890871, + -60.43486942717274 + ], + "moduleForcesY": [ + 37.569561952863786, + 37.69968470053774, + 34.86573041395185, + 34.87310645465682 + ], + "timestamp": 2.746366930208543 + }, + { + "x": 6.688991799983728, + "y": 3.35882440148119, + "heading": -0.5341824527514003, + "angularVelocity": -0.31181913986381316, + "velocityX": -2.606447278595903, + "velocityY": 1.7203271859289457, + "moduleForcesX": [ + -58.514573361510955, + -58.326247673925316, + -61.92221481178771, + -62.08483673870747 + ], + "moduleForcesY": [ + 37.93169744721794, + 38.16730552805344, + 32.06925763597224, + 31.68921781658314 + ], + "timestamp": 2.796170721215887 + }, + { + "x": 6.551004047520405, + "y": 3.4488843576131765, + "heading": -0.5463754048886871, + "angularVelocity": -0.24481975951362644, + "velocityX": -2.7706274898425285, + "velocityY": 1.8082951982250848, + "moduleForcesX": [ + -58.013890485759816, + -57.619459348621795, + -63.94678027256177, + -64.65388238839292 + ], + "moduleForcesY": [ + 38.542972783926814, + 38.9933046455943, + 27.612043945894843, + 25.71264202077718 + ], + "timestamp": 2.845974512223231 + }, + { + "x": 6.404717612130589, + "y": 3.542710294965948, + "heading": -0.5519204101572946, + "angularVelocity": -0.11133701183087394, + "velocityX": -2.9372550247880405, + "velocityY": 1.8839115548239003, + "moduleForcesX": [ + -57.113795087275484, + -55.91549478193979, + -66.62431787614162, + -68.22103648212187 + ], + "moduleForcesY": [ + 39.58928122683748, + 40.86319114177037, + 19.820768581970626, + 12.213434771037093 + ], + "timestamp": 2.895778303230575 + }, + { + "x": 6.250198490608255, + "y": 3.6391908454722977, + "heading": -0.5457747691771236, + "angularVelocity": 0.12339705182812093, + "velocityX": -3.1025574237821614, + "velocityY": 1.9372129822832336, + "moduleForcesX": [ + -56.58713376605027, + -53.33974998974297, + -68.46034756437241, + -67.51614445752597 + ], + "moduleForcesY": [ + 39.43554791413637, + 42.167525568442166, + 9.068068374731828, + -11.380090875747735 + ], + "timestamp": 2.9455820942379187 + }, + { + "x": 6.097987430266949, + "y": 3.7299874981785344, + "heading": -0.5156247233713832, + "angularVelocity": 0.6053765224677262, + "velocityX": -3.0562143415721175, + "velocityY": 1.823087176091579, + "moduleForcesX": [ + 22.770535880407387, + 58.3654915803712, + -30.83233763579671, + 18.63614667300695 + ], + "moduleForcesY": [ + -12.019228266912831, + -32.99460677689357, + -59.48353361867758, + -65.27585408960653 + ], + "timestamp": 2.9953858852452626 + }, + { + "x": 5.953032577481204, + "y": 3.8150896134309042, + "heading": -0.4828524298115028, + "angularVelocity": 0.6580280917780463, + "velocityX": -2.9105184535926045, + "velocityY": 1.7087477384968195, + "moduleForcesX": [ + 57.082891428412225, + 57.825099594946586, + 49.9679036226657, + 51.86089144480903 + ], + "moduleForcesY": [ + -38.77081217035323, + -37.9156433224069, + -47.63722662252008, + -45.76733810078018 + ], + "timestamp": 3.0451896762526065 + }, + { + "x": 5.815789695146364, + "y": 3.894979580011532, + "heading": -0.44998473779909615, + "angularVelocity": 0.6599435775392054, + "velocityX": -2.755671396874217, + "velocityY": 1.6040940853045649, + "moduleForcesX": [ + 57.68075958437658, + 57.713586141874465, + 57.46071621722, + 57.494976579834784 + ], + "moduleForcesY": [ + -38.779927142701034, + -38.73605436906477, + -39.10596886408706, + -39.06052467616949 + ], + "timestamp": 3.0949934672599504 + }, + { + "x": 5.686415520199889, + "y": 3.9698630353258517, + "heading": -0.4179455425858959, + "angularVelocity": 0.6433083619773232, + "velocityX": -2.5976772516653965, + "velocityY": 1.5035693829667574, + "moduleForcesX": [ + 58.01158359477687, + 57.675293407211186, + 59.78776010886496, + 59.55700124631868 + ], + "moduleForcesY": [ + -38.58867363434644, + -39.06021693225093, + -35.77042339307668, + -36.12094561509619 + ], + "timestamp": 3.1447972582672943 + }, + { + "x": 5.564989766174217, + "y": 4.0398541431914445, + "heading": -0.3871965150142558, + "angularVelocity": 0.6174033532327153, + "velocityX": -2.438082554955844, + "velocityY": 1.4053369522667516, + "moduleForcesX": [ + 58.264543307369664, + 57.66471107978457, + 60.91423954808589, + 60.569120254895154 + ], + "moduleForcesY": [ + -38.35971118959802, + -39.22137080293287, + -33.98916329487821, + -34.56003755765343 + ], + "timestamp": 3.194601049274638 + }, + { + "x": 5.451561131897515, + "y": 4.105025780253013, + "heading": -0.3580025479633264, + "angularVelocity": 0.5861796152549963, + "velocityX": -2.277510044566196, + "velocityY": 1.3085677966152507, + "moduleForcesX": [ + 58.47766695205898, + 57.66854534300818, + 61.579352674899695, + 61.14164205294212 + ], + "moduleForcesY": [ + -38.127103448665935, + -39.30725029783684, + -32.876324825656795, + -33.64284049749428 + ], + "timestamp": 3.244404840281982 + }, + { + "x": 5.346162560414555, + "y": 4.16542840894674, + "heading": -0.33052902928140854, + "angularVelocity": 0.5516350889405736, + "velocityX": -2.1162760776065714, + "velocityY": 1.2128118657637523, + "moduleForcesX": [ + 58.661727210334654, + 57.67772409889804, + 62.01899542035526, + 61.49274119424757 + ], + "moduleForcesY": [ + -37.905735457379194, + -39.35658788513511, + -32.11284317063428, + -33.07108224307744 + ], + "timestamp": 3.294208631289326 + }, + { + "x": 5.248817766939821, + "y": 4.221098858077944, + "heading": -0.3048871490385314, + "angularVelocity": 0.5148580002492649, + "velocityX": -1.9545659377692746, + "velocityY": 1.1177954128631216, + "moduleForcesX": [ + 58.8208023570056, + 57.68538470754296, + 62.33299687445542, + 61.720357395222756 + ], + "moduleForcesY": [ + -37.70327140036946, + -39.39107568442525, + -31.552626163888533, + -32.6992302236387 + ], + "timestamp": 3.34401242229667 + }, + { + "x": 5.159544554027955, + "y": 4.272065018175805, + "heading": -0.28115626660288606, + "angularVelocity": 0.4764874712477763, + "velocityX": -1.7924983441260611, + "velocityY": 1.0233389681187852, + "moduleForcesX": [ + 58.9585457477018, + 57.6894379002712, + 62.569640245165935, + 61.8736647000168 + ], + "moduleForcesY": [ + -37.52133016605668, + -39.41986754663425, + -31.12156557933056, + -32.45037364930155 + ], + "timestamp": 3.3938162133040137 + }, + { + "x": 5.078356681449302, + "y": 4.3183485848473975, + "heading": -0.2593961592752149, + "angularVelocity": 0.4369166862108823, + "velocityX": -1.6301544709052616, + "velocityY": 0.9293181449734556, + "moduleForcesX": [ + 59.07778177346457, + 57.68928677569656, + 62.75519542143905, + 61.98001733167642 + ], + "moduleForcesY": [ + -37.35974156619956, + -39.44733709423662, + -30.77788520210788, + -32.28014363450484 + ], + "timestamp": 3.4436200043113576 + }, + { + "x": 5.005264996022972, + "y": 4.359966758652077, + "heading": -0.23965430603515792, + "angularVelocity": 0.3963925805797229, + "velocityX": -1.4675928066510353, + "velocityY": 0.8356426882953809, + "moduleForcesX": [ + 59.180547247280245, + 57.68466994507898, + 62.905230571710455, + 62.05581885638494 + ], + "moduleForcesY": [ + -37.21797619330222, + -39.47601664455645, + -30.496124448133475, + -32.16122404253626 + ], + "timestamp": 3.4934237953187015 + }, + { + "x": 4.940278147158268, + "y": 4.396933342317196, + "heading": -0.2219705257418124, + "angularVelocity": 0.3550689603274475, + "velocityX": -1.3048574726996405, + "velocityY": 0.7422443737197995, + "moduleForcesX": [ + 59.26824839062111, + 57.67528712819701, + 63.02959304817103, + 62.11148859806688 + ], + "moduleForcesY": [ + -37.095599533423275, + -39.507734267045606, + -30.259801971691886, + -32.07592975766271 + ], + "timestamp": 3.5432275863260454 + }, + { + "x": 4.883403052764321, + "y": 4.4292594666928995, + "heading": -0.20638013151223242, + "angularVelocity": 0.3130362953149269, + "velocityX": -1.1419832354842123, + "velocityY": 0.6490695531779102, + "moduleForcesX": [ + 59.34178599112937, + 57.660654273155984, + 63.13485032267746, + 62.153958676237394 + ], + "moduleForcesY": [ + -36.99243502127153, + -39.544128531495524, + -30.05770263657676, + -32.0123302554238 + ], + "timestamp": 3.5930313773333893 + }, + { + "x": 4.834645203593072, + "y": 4.456954073157951, + "heading": -0.1929162448283192, + "angularVelocity": 0.27033859093027734, + "velocityX": -0.9789987505983079, + "velocityY": 0.5560742647274852, + "moduleForcesX": [ + 59.40162494901575, + 57.64000635224589, + 63.22559418174835, + 62.18802789934803 + ], + "moduleForcesY": [ + -36.90865322133897, + -39.5869554564749, + -29.88183551914879, + -31.962080822223083 + ], + "timestamp": 3.642835168340733 + }, + { + "x": 4.794008855445192, + "y": 4.4800242215021635, + "heading": -0.18161152125726449, + "angularVelocity": 0.22698520217840887, + "velocityX": -0.8159288143725338, + "velocityY": 0.46322072833390676, + "moduleForcesX": [ + 59.447889487782945, + 57.612409258646025, + 63.305036757274024, + 62.21703504735025 + ], + "moduleForcesY": [ + -36.84473423422396, + -39.63801883320855, + -29.72655318331352, + -31.919348814258 + ], + "timestamp": 3.692638959348077 + }, + { + "x": 4.761497157111103, + "y": 4.498475280403011, + "heading": -0.17249897912503193, + "angularVelocity": 0.1829688453011065, + "velocityX": -0.6527956542363457, + "velocityY": 0.37047498850291793, + "moduleForcesX": [ + 59.480757698581165, + 57.57767468689901, + 63.374951973932546, + 62.24303789987529 + ], + "moduleForcesY": [ + -36.800895599030106, + -39.697897692680364, + -29.588906799338258, + -31.880597115876526 + ], + "timestamp": 3.742442750355421 + }, + { + "x": 4.737112254938999, + "y": 4.512311078655776, + "heading": -0.16561237931313252, + "angularVelocity": 0.13827461067939542, + "velocityX": -0.4896193980194903, + "velocityY": 0.2778061262590337, + "moduleForcesX": [ + 59.500470597686586, + 57.53609792945577, + 63.436424698904354, + 62.267538639534294 + ], + "moduleForcesY": [ + -36.77711729028737, + -39.76637187155159, + -29.467203351406376, + -31.843241815066424 + ], + "timestamp": 3.792246541362765 + }, + { + "x": 4.720855401096699, + "y": 4.521534060875144, + "heading": -0.16098621244650427, + "angularVelocity": 0.09288784594621478, + "velocityX": -0.3264179997844283, + "velocityY": 0.18518634892690253, + "moduleForcesX": [ + 59.507466752585735, + 57.488636239380334, + 63.49007468351741, + 62.2917553844448 + ], + "moduleForcesY": [ + -36.77294925308651, + -39.84219853146423, + -29.36060503198493, + -31.805162937494895 + ], + "timestamp": 3.8420503323701087 + }, + { + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505464, + "angularVelocity": 0.046798286813425384, + "velocityX": -0.1632070787696637, + "velocityY": 0.09259129180770913, + "moduleForcesX": [ + 59.50231342981584, + 57.436685296484804, + 63.536291576598956, + 62.31680881686762 + ], + "moduleForcesY": [ + -36.787642839570296, + -39.9234662752398, + -29.26867023801951, + -31.764362683164634 + ], + "timestamp": 3.8918541233774526 + }, + { + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505464, + "angularVelocity": -3.703482635322546e-17, + "velocityX": -1.608736844570313e-17, + "velocityY": 1.0011637647817821e-16, + "moduleForcesX": [ + 59.48552826355599, + 57.381669314243325, + 63.57539718374113, + 62.34378864540863 + ], + "moduleForcesY": [ + -36.82045682240623, + -40.00820792112317, + -29.191027976211267, + -31.718848049662743 + ], + "timestamp": 3.9416579143847965 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4 center.3.traj b/src/main/deploy/choreo/source 4 center.3.traj index 5b44202a..c0026696 100644 --- a/src/main/deploy/choreo/source 4 center.3.traj +++ b/src/main/deploy/choreo/source 4 center.3.traj @@ -1,733 +1,1706 @@ { - "samples": [ - { - "x": 4.712727069854736, - "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": -6.6468410327424846e-18, - "velocityX": 2.2493473916040235e-16, - "velocityY": -1.5298106734453157e-16, - "timestamp": 0 - }, - { - "x": 4.72045077398223, - "y": 4.5244610183766945, - "heading": -0.15944941733113985, - "angularVelocity": -0.018748183968093766, - "velocityX": 0.18238906794481874, - "velocityY": -0.039776693697766305, - "timestamp": 0.04234740719126151 - }, - { - "x": 4.735910354028739, - "y": 4.521143101658935, - "heading": -0.1608651057344522, - "angularVelocity": -0.03343034431644016, - "velocityX": 0.36506556296790393, - "velocityY": -0.07834993776064617, - "timestamp": 0.08469481438252302 - }, - { - "x": 4.759118611641173, - "y": 4.516248549328272, - "heading": -0.16271126185472826, - "angularVelocity": -0.043595493625807065, - "velocityX": 0.5480443585982796, - "velocityY": -0.11558092113070528, - "timestamp": 0.12704222157378453 - }, - { - "x": 4.790088948611765, - "y": 4.509841137187418, - "heading": -0.16477409739799392, - "angularVelocity": -0.048712204125010684, - "velocityX": 0.7313396267855219, - "velocityY": -0.15130589015557797, - "timestamp": 0.16938962876504604 - }, - { - "x": 4.828835291057528, - "y": 4.501992894903998, - "heading": -0.1668130381713082, - "angularVelocity": -0.0481479483290547, - "velocityX": 0.9149637490382099, - "velocityY": -0.18532993644624973, - "timestamp": 0.21173703595630755 - }, - { - "x": 4.87537193800865, - "y": 4.492785773476231, - "heading": -0.16855526112385683, - "angularVelocity": -0.04114119536716668, - "velocityX": 1.0989255314012358, - "velocityY": -0.21741877575132304, - "timestamp": 0.25408444314756906 - }, - { - "x": 4.929713285634422, - "y": 4.482313779678824, - "heading": -0.16968860525240181, - "angularVelocity": -0.026763011095963223, - "velocityX": 1.2832272677366428, - "velocityY": -0.24728772059432708, - "timestamp": 0.29643185033883057 - }, - { - "x": 4.9918733447523085, - "y": 4.470685744570694, - "heading": -0.16985220386816807, - "angularVelocity": -0.003863249880384675, - "velocityX": 1.4678598582704596, - "velocityY": -0.2745867074131203, - "timestamp": 0.3387792575300921 - }, - { - "x": 5.061860239489897, - "y": 4.457956483078146, - "heading": -0.1690686039874579, - "angularVelocity": 0.018504081658909106, - "velocityX": 1.6526842935505748, - "velocityY": -0.3005912837840728, - "timestamp": 0.3811266647213536 - }, - { - "x": 5.139683075397797, - "y": 4.44419088673204, - "heading": -0.16736460937165645, - "angularVelocity": 0.040238463906547915, - "velocityX": 1.837723749093182, - "velocityY": -0.3250634987859916, - "timestamp": 0.4234740719126151 - }, - { - "x": 5.225352067128327, - "y": 4.4294669770268476, - "heading": -0.16477252227366854, - "angularVelocity": 0.061210054402641684, - "velocityX": 2.0230044154441034, - "velocityY": -0.34769329887639594, - "timestamp": 0.4658214791038766 - }, - { - "x": 5.3188786380327295, - "y": 4.413880308876193, - "heading": -0.16133199095048778, - "angularVelocity": 0.08124538316222467, - "velocityX": 2.2085548350573423, - "velocityY": -0.36806664644798187, - "timestamp": 0.5081688862951381 - }, - { - "x": 5.420275415204868, - "y": 4.397550565857798, - "heading": -0.15709279816979846, - "angularVelocity": 0.10010513185714313, - "velocityX": 2.3944034333479354, - "velocityY": -0.38561376248237317, - "timestamp": 0.5505162934863996 - }, - { - "x": 5.529555919371687, - "y": 4.380631876724543, - "heading": -0.15211926050700314, - "angularVelocity": 0.11744609629421822, - "velocityX": 2.580571312743078, - "velocityY": -0.39952125184055653, - "timestamp": 0.5928637006776611 - }, - { - "x": 5.646729800789407, - "y": 4.363258643636462, - "heading": -0.14652467158334573, - "angularVelocity": 0.13211172288281026, - "velocityX": 2.766967075186142, - "velocityY": -0.41025494216481784, - "timestamp": 0.6352111078689227 - }, - { - "x": 5.77179808676162, - "y": 4.345449809762651, - "heading": -0.1403026499775959, - "angularVelocity": 0.1469280416070862, - "velocityX": 2.953387096578184, - "velocityY": -0.42054130476934337, - "timestamp": 0.6775585150601842 - }, - { - "x": 5.904762237152584, - "y": 4.327233906223978, - "heading": -0.1334434929698247, - "angularVelocity": 0.16197348226756733, - "velocityX": 3.1398415914918836, - "velocityY": -0.43015392787571727, - "timestamp": 0.7199059222514457 - }, - { - "x": 6.045624470448817, - "y": 4.308658885987565, - "heading": -0.12593086247063645, - "angularVelocity": 0.17740473378352586, - "velocityX": 3.3263484741824163, - "velocityY": -0.4386341801876725, - "timestamp": 0.7622533294427072 - }, - { - "x": 6.194388388895311, - "y": 4.289822212771214, - "heading": -0.11773157256969978, - "angularVelocity": 0.19361964391124953, - "velocityX": 3.512940420994469, - "velocityY": -0.44481290510363836, - "timestamp": 0.8046007366339687 - }, - { - "x": 6.351057428461075, - "y": 4.2710290386378755, - "heading": -0.10874250542369378, - "angularVelocity": 0.2122695990667645, - "velocityX": 3.6996135054543466, - "velocityY": -0.4437857092043332, - "timestamp": 0.8469481438252302 - }, - { - "x": 6.50282301849669, - "y": 4.258424259056123, - "heading": -0.09819003283415813, - "angularVelocity": 0.24918816261585086, - "velocityX": 3.583822484105557, - "velocityY": -0.29765174346620943, - "timestamp": 0.8892955510164917 - }, - { - "x": 6.6467532626709165, - "y": 4.246885318860448, - "heading": -0.08804674661411169, - "angularVelocity": 0.23952555523020602, - "velocityX": 3.398797086304931, - "velocityY": -0.2724828026320343, - "timestamp": 0.9316429582077532 - }, - { - "x": 6.782818544949954, - "y": 4.236161923798197, - "heading": -0.07839991101805843, - "angularVelocity": 0.22780227258031485, - "velocityX": 3.2130723296588584, - "velocityY": -0.25322435949429833, - "timestamp": 0.9739903653990147 - }, - { - "x": 6.911010452447608, - "y": 4.226166800512976, - "heading": -0.06927977063447056, - "angularVelocity": 0.21536478827137961, - "velocityX": 3.027148909464, - "velocityY": -0.23602680655460856, - "timestamp": 1.0163377725902762 - }, - { - "x": 7.031325084937798, - "y": 4.216855572328386, - "heading": -0.06070166548684633, - "angularVelocity": 0.20256506163131557, - "velocityX": 2.8411333885635854, - "velocityY": -0.2198771731769983, - "timestamp": 1.0586851797815378 - }, - { - "x": 7.143760204697017, - "y": 4.20820137385873, - "heading": -0.05267486689432953, - "angularVelocity": 0.18954640023801078, - "velocityX": 2.6550650256203054, - "velocityY": -0.20436194429969154, - "timestamp": 1.1010325869727993 - }, - { - "x": 7.248314363621348, - "y": 4.200186194442648, - "heading": -0.04520558147012243, - "angularVelocity": 0.17638117466016837, - "velocityX": 2.4689624668663797, - "velocityY": -0.1892720227210261, - "timestamp": 1.1433799941640608 - }, - { - "x": 7.344986549087882, - "y": 4.192797119904222, - "heading": -0.03829825329920174, - "angularVelocity": 0.16311100558586486, - "velocityX": 2.28283599583599, - "velocityY": -0.17448705903182293, - "timestamp": 1.1857274013553223 - }, - { - "x": 7.4337760136412285, - "y": 4.186024437482048, - "heading": -0.03195622007710045, - "angularVelocity": 0.14976201951296883, - "velocityX": 2.0966918742469876, - "velocityY": -0.1599314544001519, - "timestamp": 1.2280748085465838 - }, - { - "x": 7.514682183099923, - "y": 4.179860576682016, - "heading": -0.026182079762754926, - "angularVelocity": 0.13635168472692413, - "velocityX": 1.9105341938240663, - "velocityY": -0.1455546209049743, - "timestamp": 1.2704222157378453 - }, - { - "x": 7.587704602665072, - "y": 4.174299470931403, - "heading": -0.020977911619601226, - "angularVelocity": 0.12289224980526404, - "velocityX": 1.724365773690579, - "velocityY": -0.1313210446508697, - "timestamp": 1.3127696229291068 - }, - { - "x": 7.65284290325018, - "y": 4.169336149938423, - "heading": -0.01634541745734586, - "angularVelocity": 0.10939262801457487, - "velocityX": 1.5381886378760474, - "velocityY": -0.11720483784435133, - "timestamp": 1.3551170301203683 - }, - { - "x": 7.710096779371271, - "y": 4.1649664671710225, - "heading": -0.012286016139425288, - "angularVelocity": 0.09585950090371237, - "velocityX": 1.3520042883028007, - "velocityY": -0.10318654806100733, - "timestamp": 1.3974644373116298 - }, - { - "x": 7.759465974032818, - "y": 4.1611869107555135, - "heading": -0.008800909228165892, - "angularVelocity": 0.0822979998638166, - "velocityX": 1.1658138699867133, - "velocityY": -0.08925118835347742, - "timestamp": 1.4398118445028913 - }, - { - "x": 7.800950268047764, - "y": 4.157994468145469, - "heading": -0.005891128011754195, - "angularVelocity": 0.06871214578190664, - "velocityX": 0.9796182757443157, - "velocityY": -0.07538696750965443, - "timestamp": 1.4821592516941529 - }, - { - "x": 7.834549472277904, - "y": 4.155386526717799, - "heading": -0.0035575680752161012, - "angularVelocity": 0.055105143179099966, - "velocityX": 0.7934182151551894, - "velocityY": -0.061584441661107416, - "timestamp": 1.5245066588854144 - }, - { - "x": 7.860263421861004, - "y": 4.153360799115914, - "heading": -0.00180101527509397, - "angularVelocity": 0.041479583205382524, - "velocityX": 0.6072142614768032, - "velocityY": -0.0478359299008707, - "timestamp": 1.5668540660766759 - }, - { - "x": 7.878091971827404, - "y": 4.15191526609013, - "heading": -0.0006221656198723453, - "angularVelocity": 0.027837587550457944, - "velocityX": 0.4210068844564231, - "velocityY": -0.03413510109970771, - "timestamp": 1.6092014732679374 - }, - { - "x": 7.888034993711997, - "y": 4.15104813199311, - "heading": -0.000021640726833140938, - "angularVelocity": 0.014180912902812362, - "velocityX": 0.23479647383571572, - "velocityY": -0.020476675067826088, - "timestamp": 1.651548880459199 - }, - { - "x": 7.890092372894287, - "y": 4.150757789611816, - "heading": 2.985655027033241e-20, - "angularVelocity": 0.0005110283785593034, - "velocityX": 0.04858335654407801, - "velocityY": -0.006856202080605727, - "timestamp": 1.6938962876504604 - }, - { - "x": 7.884089030051463, - "y": 4.151053781998558, - "heading": -0.0005722470658998936, - "angularVelocity": -0.013344129953205615, - "velocityX": -0.13999090921038085, - "velocityY": 0.006902195064321608, - "timestamp": 1.7367800925824124 - }, - { - "x": 7.869999121571473, - "y": 4.151942789637054, - "heading": -0.0017380736763802918, - "angularVelocity": -0.02718570827216285, - "velocityX": -0.32856012898921155, - "velocityY": 0.020730614736915356, - "timestamp": 1.7796638975143644 - }, - { - "x": 7.847822889491656, - "y": 4.153428152761437, - "heading": -0.0034968349733739213, - "angularVelocity": -0.04101224925783549, - "velocityX": -0.517123704741362, - "velocityY": 0.03463692474910159, - "timestamp": 1.8225477024463164 - }, - { - "x": 7.817560606321279, - "y": 4.155513609226344, - "heading": -0.005847811800684315, - "angularVelocity": -0.0548220203650515, - "velocityX": -0.7056809258972377, - "velocityY": 0.04863039714445159, - "timestamp": 1.8654315073782683 - }, - { - "x": 7.779212581155167, - "y": 4.1582033699664045, - "heading": -0.008790195887586437, - "angularVelocity": -0.06861294354759484, - "velocityX": -0.8942309393246004, - "velocityY": 0.0627220635932188, - "timestamp": 1.9083153123102203 - }, - { - "x": 7.73277916753519, - "y": 4.161502214843388, - "heading": -0.01232307102083907, - "angularVelocity": -0.08238250171267587, - "velocityX": -1.082772708570428, - "velocityY": 0.07692519080845843, - "timestamp": 1.9511991172421723 - }, - { - "x": 7.67826077373009, - "y": 4.16541561626476, - "heading": -0.01644538877252159, - "angularVelocity": -0.09612761176914611, - "velocityX": -1.2713049574684336, - "velocityY": 0.0912559281430923, - "timestamp": 1.9940829221741243 - }, - { - "x": 7.615657876437083, - "y": 4.169949901416868, - "heading": -0.02115593667818573, - "angularVelocity": -0.109844448577704, - "velocityX": -1.4598260903467988, - "velocityY": 0.10573420803734028, - "timestamp": 2.0369667271060763 - }, - { - "x": 7.544971039451351, - "y": 4.175112469466258, - "heading": -0.026453295686826896, - "angularVelocity": -0.12352819478231832, - "velocityX": -1.648334076183228, - "velocityY": 0.12038502781135295, - "timestamp": 2.0798505320380283 - }, - { - "x": 7.466200939766659, - "y": 4.18091208916203, - "heading": -0.03233578193407697, - "angularVelocity": -0.13717267524615265, - "velocityX": -1.8368262753196516, - "velocityY": 0.13524032452285012, - "timestamp": 2.1227343369699803 - }, - { - "x": 7.379348405188472, - "y": 4.187359317831372, - "heading": -0.038801364852270294, - "angularVelocity": -0.15076980525522016, - "velocityX": -2.0252991710041326, - "velocityY": 0.15034180571364475, - "timestamp": 2.1656181419019322 - }, - { - "x": 7.28441447054349, - "y": 4.194467110684315, - "heading": -0.04584754817004653, - "angularVelocity": -0.16430872514593886, - "velocityX": -2.213747935744538, - "velocityY": 0.16574538719740164, - "timestamp": 2.2085019468338842 - }, - { - "x": 7.181400465488679, - "y": 4.202251742297978, - "heading": -0.05347118997708733, - "angularVelocity": -0.17777437937556867, - "velocityX": -2.4021656944451006, - "velocityY": 0.18152847271868103, - "timestamp": 2.251385751765836 - }, - { - "x": 7.070308159489152, - "y": 4.210734269536476, - "heading": -0.06166821693371768, - "angularVelocity": -0.19114504810469354, - "velocityX": -2.5905421912958992, - "velocityY": 0.19780257959754488, - "timestamp": 2.294269556697788 - }, - { - "x": 6.951140018808493, - "y": 4.219943001908025, - "heading": -0.07043314105169518, - "angularVelocity": -0.20438774338903917, - "velocityX": -2.778861177774566, - "velocityY": 0.2147368309822492, - "timestamp": 2.33715336162974 - }, - { - "x": 6.823899707275857, - "y": 4.229918026482712, - "heading": -0.07975817249047097, - "angularVelocity": -0.21744878873441, - "velocityX": -2.9670947280573183, - "velocityY": 0.23260586579281498, - "timestamp": 2.380037166561692 - }, - { - "x": 6.688593200567035, - "y": 4.2407204821859406, - "heading": -0.08963139398277363, - "angularVelocity": -0.23023193739383377, - "velocityX": -3.1551889325941507, - "velocityY": 0.2519005885874673, - "timestamp": 2.422920971493644 - }, - { - "x": 6.545231817237749, - "y": 4.2524550209975365, - "heading": -0.10003231048787421, - "angularVelocity": -0.24253716575767104, - "velocityX": -3.343019201695615, - "velocityY": 0.27363567272578576, - "timestamp": 2.465804776425596 - }, - { - "x": 6.393843872443514, - "y": 4.265341711205096, - "heading": -0.11091742862318123, - "angularVelocity": -0.2538281794859249, - "velocityX": -3.530189194602847, - "velocityY": 0.3005024910454526, - "timestamp": 2.508688581357548 - }, - { - "x": 6.2345739245631915, - "y": 4.2801353725847004, - "heading": -0.12213341695497802, - "angularVelocity": -0.26154368413890033, - "velocityX": -3.7139882557774366, - "velocityY": 0.34497082064147744, - "timestamp": 2.5515723862895 - }, - { - "x": 6.082279699737155, - "y": 4.29904771288146, - "heading": -0.131999926485477, - "angularVelocity": -0.23007542232213404, - "velocityX": -3.5513225812797105, - "velocityY": 0.441013579060209, - "timestamp": 2.594456191221452 - }, - { - "x": 5.9380829445000805, - "y": 4.318353665099193, - "heading": -0.14108905245486633, - "angularVelocity": -0.21194775006116728, - "velocityX": -3.3624990941425232, - "velocityY": 0.4501921470906458, - "timestamp": 2.637339996153404 - }, - { - "x": 5.801993742650727, - "y": 4.337633718669649, - "heading": -0.14947757080505192, - "angularVelocity": -0.1956104026565831, - "velocityX": -3.1734404646532055, - "velocityY": 0.4495882210323852, - "timestamp": 2.680223801085356 - }, - { - "x": 5.674010241786849, - "y": 4.356729470685759, - "heading": -0.15719498966904102, - "angularVelocity": -0.17996115028120813, - "velocityX": -2.9844250310102183, - "velocityY": 0.4452905250924069, - "timestamp": 2.723107606017308 - }, - { - "x": 5.554130228291056, - "y": 4.375557803560313, - "heading": -0.1642568809569973, - "angularVelocity": -0.16467501657471875, - "velocityX": -2.795461216326708, - "velocityY": 0.4390546245705114, - "timestamp": 2.76599141094926 - }, - { - "x": 5.442351912305196, - "y": 4.394067512382829, - "heading": -0.1706728113794374, - "angularVelocity": -0.14961196732941112, - "velocityX": -2.60653913903462, - "velocityY": 0.43162468563335016, - "timestamp": 2.808875215881212 - }, - { - "x": 5.338665287700869, - "y": 4.412086410331256, - "heading": -0.17624795050420117, - "angularVelocity": -0.1300057010708435, - "velocityX": -2.4178503929130177, - "velocityY": 0.4201795520947631, - "timestamp": 2.851759020813164 - }, - { - "x": 5.2430532520076225, - "y": 4.429401007948697, - "heading": -0.18083314773923911, - "angularVelocity": -0.10692141805778863, - "velocityX": -2.229560456329923, - "velocityY": 0.4037560949854083, - "timestamp": 2.894642825745116 - }, - { - "x": 5.155498932546095, - "y": 4.445849700284375, - "heading": -0.18431556778523087, - "angularVelocity": -0.08120594829487801, - "velocityX": -2.041663970826697, - "velocityY": 0.3835642000932039, - "timestamp": 2.937526630677068 - }, - { - "x": 5.075986755055919, - "y": 4.461306054969781, - "heading": -0.1866069605810815, - "angularVelocity": -0.05343259068281342, - "velocityX": -1.8541306587963866, - "velocityY": 0.3604240507560462, - "timestamp": 2.98041043560902 - }, - { - "x": 5.004502693639158, - "y": 4.475668530318664, - "heading": -0.1876364643459641, - "angularVelocity": -0.024006819509514086, - "velocityX": -1.666924414244258, - "velocityY": 0.33491606847089855, - "timestamp": 3.023294240540972 - }, - { - "x": 4.941034226763125, - "y": 4.488853822479007, - "heading": -0.18734595892691064, - "angularVelocity": 0.006774245417691704, - "velocityX": -1.4800101571384419, - "velocityY": 0.3074655381271679, - "timestamp": 3.066178045472924 - }, - { - "x": 4.885570195844111, - "y": 4.500792376748957, - "heading": -0.18568694748911416, - "angularVelocity": 0.03868619961379329, - "velocityX": -1.2933561051082938, - "velocityY": 0.2783930737697567, - "timestamp": 3.109061850404876 - }, - { - "x": 4.8380932102020315, - "y": 4.511348282473736, - "heading": -0.18310148046602473, - "angularVelocity": 0.06029005651881899, - "velocityX": -1.1071075833269828, - "velocityY": 0.24615133245590312, - "timestamp": 3.151945655336828 - }, - { - "x": 4.79858234023127, - "y": 4.5203886369650235, - "heading": -0.18006536822705313, - "angularVelocity": 0.0707985740488572, - "velocityX": -0.9213471153843916, - "velocityY": 0.21081045643298443, - "timestamp": 3.19482946026878 - }, - { - "x": 4.767015877665549, - "y": 4.527798628484294, - "heading": -0.1769910620286464, - "angularVelocity": 0.07168921235615648, - "velocityX": -0.7360928587332712, - "velocityY": 0.17279230541760152, - "timestamp": 3.237713265200732 - }, - { - "x": 4.743372122504489, - "y": 4.533478204796791, - "heading": -0.17423985797249714, - "angularVelocity": 0.06415484961082249, - "velocityX": -0.551344620622574, - "velocityY": 0.13244105371501808, - "timestamp": 3.280597070132684 - }, - { - "x": 4.727629840983246, - "y": 4.537339486129321, - "heading": -0.1721310867927095, - "angularVelocity": 0.049174068931938486, - "velocityX": -0.36709152898681663, - "velocityY": 0.09004054884254221, - "timestamp": 3.323480875064636 - }, - { - "x": 4.719768524169922, - "y": 4.539304733276367, - "heading": -0.170949175012647, - "angularVelocity": 0.02756079554829456, - "velocityX": -0.1833166815724163, - "velocityY": 0.04582725693684693, - "timestamp": 3.366364679996588 - }, - { - "x": 4.719768524169922, - "y": 4.539304733276367, - "heading": -0.170949175012647, - "angularVelocity": -1.0320000993069882e-19, - "velocityX": -1.034677306083588e-18, - "velocityY": -2.6376939008839734e-19, - "timestamp": 3.40924848492854 - } - ] + "samples": [ + { + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505464, + "angularVelocity": -3.703482635322546e-17, + "velocityX": -1.608736844570313e-17, + "velocityY": 1.0011637647817821e-16, + "moduleForcesX": [ + 59.48552826355599, + 57.381669314243325, + 63.57539718374113, + 62.34378864540863 + ], + "moduleForcesY": [ + -36.82045682240623, + -40.00820792112317, + -29.191027976211267, + -31.718848049662743 + ], + "timestamp": 0 + }, + { + "x": 4.720433772917796, + "y": 4.5244282577394825, + "heading": -0.15956596078127833, + "angularVelocity": -0.019907357206469346, + "velocityX": 0.16850454505338935, + "velocityY": -0.03754602760860841, + "moduleForcesX": [ + 67.80338732604696, + 67.69937940973914, + 68.74287662542525, + 68.71645582409998 + ], + "moduleForcesY": [ + -17.205761913299696, + -17.595184532357184, + -12.950838784825661, + -13.069378429332641 + ], + "timestamp": 0.04573587650480526 + }, + { + "x": 4.735861027209657, + "y": 4.521051337004915, + "heading": -0.16118673422379018, + "angularVelocity": -0.0354376818894481, + "velocityX": 0.337311875727127, + "velocityY": -0.07383526877883675, + "moduleForcesX": [ + 68.02613313855062, + 67.96212869316278, + 68.74186892262527, + 68.72245370843046 + ], + "moduleForcesY": [ + -16.287231648135048, + -16.538801947492903, + -12.936871579222927, + -13.022378299421906 + ], + "timestamp": 0.09147175300961052 + }, + { + "x": 4.759023077822673, + "y": 4.516077979049305, + "heading": -0.1632987479665863, + "angularVelocity": -0.04617849058987659, + "velocityX": 0.5064306706920069, + "velocityY": -0.10874084713532697, + "moduleForcesX": [ + 68.25981030819014, + 68.22753895407061, + 68.74107761326658, + 68.72870152523767 + ], + "moduleForcesY": [ + -15.259590110589476, + -15.392638956088646, + -12.919297488140257, + -12.972348498792236 + ], + "timestamp": 0.13720762951441579 + }, + { + "x": 4.78993447579833, + "y": 4.509578180923221, + "heading": -0.16566136708376267, + "angularVelocity": -0.051657895239617876, + "velocityX": 0.675867619425838, + "velocityY": -0.14211596284596015, + "moduleForcesX": [ + 68.50350707535492, + 68.49303294719238, + 68.74084205863427, + 68.73512660567103 + ], + "moduleForcesY": [ + -14.1024699677952, + -14.147009556296766, + -12.895801465508455, + -12.91938321301856 + ], + "timestamp": 0.18294350601922105 + }, + { + "x": 4.828609913892271, + "y": 4.501629650848665, + "heading": -0.16800970322453765, + "angularVelocity": -0.05134560262618672, + "velocityX": 0.8456258204623419, + "velocityY": -0.1737920136661285, + "moduleForcesX": [ + 68.75457398682809, + 68.75485128662268, + 68.74159589978248, + 68.74188714365835 + ], + "moduleForcesY": [ + -12.793858115950135, + -12.792786588056815, + -12.863414140851779, + -12.862274143154936 + ], + "timestamp": 0.2286793825240263 + }, + { + "x": 4.875063947756925, + "y": 4.492318742649612, + "heading": -0.17005298860886134, + "angularVelocity": -0.04467576748223311, + "velocityX": 1.0157022760845753, + "velocityY": -0.20357996633285005, + "moduleForcesX": [ + 69.00742342025065, + 69.00736029957974, + 68.74406456004296, + 68.74960363715357 + ], + "moduleForcesY": [ + -11.31401004110338, + -11.325177975772071, + -12.817400536016985, + -12.797196457857895 + ], + "timestamp": 0.27441525902883157 + }, + { + "x": 4.9293105256116565, + "y": 4.481740674632494, + "heading": -0.17147804969382133, + "angularVelocity": -0.031158495121688206, + "velocityX": 1.1860837049669444, + "velocityY": -0.23128600183283496, + "moduleForcesX": [ + 69.25096472000752, + 69.24135858676156, + 68.75005508065911, + 68.76010258534681 + ], + "moduleForcesY": [ + -9.66253175738912, + -9.758291225835647, + -12.7469457494496, + -12.713499056166762 + ], + "timestamp": 0.32015113553363683 + }, + { + "x": 4.99136213724711, + "y": 4.469995647088225, + "heading": -0.17197892337322926, + "angularVelocity": -0.010951439388202797, + "velocityX": 1.3567382190419754, + "velocityY": -0.25680119070276025, + "moduleForcesX": [ + 69.46056476765253, + 69.43762452466495, + 68.76665753395334, + 68.78000742149132 + ], + "moduleForcesY": [ + -7.948349171027031, + -8.198320730792853, + -12.612316503986388, + -12.573308297801287 + ], + "timestamp": 0.3658870120384421 + }, + { + "x": 5.0612286107095175, + "y": 4.457170122993223, + "heading": -0.1713870688770014, + "angularVelocity": 0.01294070522875632, + "velocityX": 1.5276076201374431, + "velocityY": -0.280425894836684, + "moduleForcesX": [ + 69.5829440880657, + 69.55296794704736, + 68.82252535637595, + 68.83451436407282 + ], + "moduleForcesY": [ + -6.702829405206909, + -7.084114834034775, + -12.252818475528827, + -12.230117964020415 + ], + "timestamp": 0.41162288854324736 + }, + { + "x": 5.138919118525394, + "y": 4.443349454305337, + "heading": -0.16960777566677002, + "angularVelocity": 0.038903664829617456, + "velocityX": 1.6986775755289982, + "velocityY": -0.3021844062927848, + "moduleForcesX": [ + 69.66525770118565, + 69.63337275225871, + 68.9055727307415, + 68.91362836404538 + ], + "moduleForcesY": [ + -5.661274144167389, + -6.146253145235419, + -11.715620388599154, + -11.723669909749981 + ], + "timestamp": 0.4573587650480526 + }, + { + "x": 5.224442763669037, + "y": 4.428624391886193, + "heading": -0.16659018438651174, + "angularVelocity": 0.06597864763655856, + "velocityX": 1.869946564479987, + "velocityY": -0.32195867980347986, + "moduleForcesX": [ + 69.72538826991125, + 69.69549667043765, + 69.00815784678507, + 69.01120509814007 + ], + "moduleForcesY": [ + -4.689930631400927, + -5.256840711468661, + -11.01863562374098, + -11.067124889621931 + ], + "timestamp": 0.5030946415528579 + }, + { + "x": 5.317808601892205, + "y": 4.4130935274532925, + "heading": -0.16232439817107916, + "angularVelocity": 0.09327002216711049, + "velocityX": 2.041413554485087, + "velocityY": -0.33957727761635736, + "moduleForcesX": [ + 69.76711992547942, + 69.74253533511411, + 69.12674162054395, + 69.12459477608668 + ], + "moduleForcesY": [ + -3.76239623931587, + -4.38534192571988, + -10.148122116283043, + -10.244672213991086 + ], + "timestamp": 0.5488305180576631 + }, + { + "x": 5.419025323818324, + "y": 4.396863147055441, + "heading": -0.15684869656376071, + "angularVelocity": 0.11972442698780004, + "velocityX": 2.213070562132601, + "velocityY": -0.3548719656908664, + "moduleForcesX": [ + 69.79031021328566, + 69.77346468438246, + 69.25574828757355, + 69.24927984015109 + ], + "moduleForcesY": [ + -2.903191986479613, + -3.5458507304156437, + -9.0892493470505, + -9.237717164047913 + ], + "timestamp": 0.5945663945624684 + }, + { + "x": 5.52810038011568, + "y": 4.380040993090314, + "heading": -0.15026129478697, + "angularVelocity": 0.14403138805275345, + "velocityX": 2.3848904762084104, + "velocityY": -0.36781090143443995, + "moduleForcesX": [ + 69.79321775781901, + 69.78477344447799, + 69.38154578486166, + 69.37315969536866 + ], + "moduleForcesY": [ + -2.2047682021387933, + -2.8149216811202784, + -7.873452706812336, + -8.066761255092352 + ], + "timestamp": 0.6403022710672737 + }, + { + "x": 5.6450382339964005, + "y": 4.362717739475332, + "heading": -0.14271348236770778, + "angularVelocity": 0.16503045302904903, + "velocityX": 2.556807976959482, + "velocityY": -0.3787672815925367, + "moduleForcesX": [ + 69.77437653034774, + 69.77249559151723, + 69.47528147773855, + 69.46862465706614 + ], + "moduleForcesY": [ + -1.816754129432896, + -2.33802275113559, + -6.691620793216761, + -6.901945710558553 + ], + "timestamp": 0.6860381475720789 + }, + { + "x": 5.76983949771626, + "y": 4.344961578439053, + "heading": -0.13435862506865126, + "angularVelocity": 0.1826762257018425, + "velocityX": 2.728738864483024, + "velocityY": -0.38823266094861153, + "moduleForcesX": [ + 69.73639668950086, + 69.7391053202753, + 69.51978621763436, + 69.51717538803744 + ], + "moduleForcesY": [ + -1.640665678132772, + -2.059224524748982, + -5.717052653471247, + -5.916114289385076 + ], + "timestamp": 0.7317740240768842 + }, + { + "x": 5.90250135638388, + "y": 4.3268393470894875, + "heading": -0.1253359217641428, + "angularVelocity": 0.1972784604569021, + "velocityX": 2.9006082053260513, + "velocityY": -0.396236668770543, + "moduleForcesX": [ + 69.67672125871212, + 69.6835335833093, + 69.52525139897396, + 69.52725732715663 + ], + "moduleForcesY": [ + -1.4360180064431145, + -1.7649582468139358, + -4.793003374678643, + -4.971788009241354 + ], + "timestamp": 0.7775099005816895 + }, + { + "x": 6.043016008559749, + "y": 4.308439568160512, + "heading": -0.11577290468628006, + "angularVelocity": 0.20909224461597473, + "velocityX": 3.072306970242592, + "velocityY": -0.40230515593248406, + "moduleForcesX": [ + 69.57589103765577, + 69.5873088342188, + 69.48310184646131, + 69.49014430034282 + ], + "moduleForcesY": [ + -1.002002090125232, + -1.260557055513839, + -3.703627017166795, + -3.8642133322240917 + ], + "timestamp": 0.8232457770864947 + }, + { + "x": 6.191362857418773, + "y": 4.289914580062972, + "heading": -0.105752915248726, + "angularVelocity": 0.21908379598905597, + "velocityX": 3.243555392306428, + "velocityY": -0.40504281350317384, + "moduleForcesX": [ + 69.36045699823889, + 69.38057014838174, + 69.32542691570295, + 69.34047732879235 + ], + "moduleForcesY": [ + 0.12543001854848324, + -0.10638069419421153, + -2.1456983694633975, + -2.308108231675414 + ], + "timestamp": 0.8689816535913 + }, + { + "x": 6.347457488337232, + "y": 4.271711840804772, + "heading": -0.09534305108217463, + "angularVelocity": 0.2276082795846684, + "velocityX": 3.412958116196967, + "velocityY": -0.39799694789465945, + "moduleForcesX": [ + 68.54231106054455, + 68.59302457717509, + 68.61978401615185, + 68.66194788706716 + ], + "moduleForcesY": [ + 3.931080682823132, + 3.6553273468761067, + 2.0274226726044553, + 1.7998333413991716 + ], + "timestamp": 0.9147175300961052 + }, + { + "x": 6.499010999842534, + "y": 4.258784375408368, + "heading": -0.08577261057892385, + "angularVelocity": 0.2092545553870149, + "velocityX": 3.313668023600167, + "velocityY": -0.28265480809243204, + "moduleForcesX": [ + -40.04923380584519, + -42.198054783013426, + -38.19723135728384, + -40.396435975493866 + ], + "moduleForcesY": [ + 46.43265273938118, + 44.97610338160631, + 48.41990947361969, + 47.015152742538085 + ], + "timestamp": 0.9604534066009105 + }, + { + "x": 6.642879165645002, + "y": 4.247067561044222, + "heading": -0.07673890427764565, + "angularVelocity": 0.1975190373869014, + "velocityX": 3.1456304502516725, + "velocityY": -0.25618431873531655, + "moduleForcesX": [ + -68.22212964277608, + -68.2839709709935, + -67.80785808937634, + -67.89168862036061 + ], + "moduleForcesY": [ + 9.503576249034188, + 9.355342805866938, + 12.130749403028215, + 11.89012650006945 + ], + "timestamp": 1.0061892831057158 + }, + { + "x": 6.778958301645864, + "y": 4.236239269388388, + "heading": -0.06821434435565671, + "angularVelocity": 0.18638671811811203, + "velocityX": 2.975325857952288, + "velocityY": -0.23675705995698562, + "moduleForcesX": [ + -69.0973456405106, + -69.12418778046829, + -68.80794303984331, + -68.84853620767575 + ], + "moduleForcesY": [ + 6.65757649455385, + 6.592820170893202, + 9.185459140800466, + 9.034543617513933 + ], + "timestamp": 1.051925159610521 + }, + { + "x": 6.907214685419985, + "y": 4.226183379980087, + "heading": -0.060190997961812966, + "angularVelocity": 0.17542784804829725, + "velocityX": 2.8042839358428697, + "velocityY": -0.21986873712249297, + "moduleForcesX": [ + -69.38030583284085, + -69.3979896083893, + -69.13244316110051, + -69.16168156820291 + ], + "moduleForcesY": [ + 5.635043587382622, + 5.586761254536832, + 8.134153364924495, + 8.001594974654777 + ], + "timestamp": 1.0976610361153263 + }, + { + "x": 7.027631702570624, + "y": 4.21684016008354, + "heading": -0.052666254919128075, + "angularVelocity": 0.16452604864566778, + "velocityX": 2.6328787453758684, + "velocityY": -0.20428645104389276, + "moduleForcesX": [ + -69.51941322533438, + -69.53330766200058, + -69.29173058500854, + -69.31643053120393 + ], + "moduleForcesY": [ + 5.10993358619719, + 5.061801017876795, + 7.601001097809299, + 7.469156240990973 + ], + "timestamp": 1.1433969126201315 + }, + { + "x": 7.140199482701059, + "y": 4.208173286094341, + "heading": -0.045639550306257375, + "angularVelocity": 0.1536366010637066, + "velocityX": 2.4612577419086894, + "velocityY": -0.18949836871036593, + "moduleForcesX": [ + -69.60196914892245, + -69.61399739298777, + -69.38594180046856, + -69.40857117227125 + ], + "moduleForcesY": [ + 4.7912087044330365, + 4.737258043152984, + 7.282249203024739, + 7.14463786732835 + ], + "timestamp": 1.1891327891249368 + }, + { + "x": 7.244911494172856, + "y": 4.200158384931037, + "heading": -0.03911121865807897, + "angularVelocity": 0.1427398389859131, + "velocityX": 2.2894939263007865, + "velocityY": -0.17524319584127046, + "moduleForcesX": [ + -69.65656568433195, + -69.66760615916618, + -69.44798243820273, + -69.4696679644382 + ], + "moduleForcesY": [ + 4.577890596566229, + 4.515644929971001, + 7.072313004344936, + 6.926240227703344 + ], + "timestamp": 1.234868665629742 + }, + { + "x": 7.341763099388763, + "y": 4.192778002897551, + "heading": -0.033082005940698156, + "angularVelocity": 0.13182676660290013, + "velocityX": 2.117628711143873, + "velocityY": -0.1613696423356269, + "moduleForcesX": [ + -69.69531333342799, + -69.70582319577018, + -69.49181138037484, + -69.51313242079627 + ], + "moduleForcesY": [ + 4.425625424733099, + 4.354129622647004, + 6.9248631692526414, + 6.76928174173628 + ], + "timestamp": 1.2806045421345473 + }, + { + "x": 7.430750837831655, + "y": 4.186019049322701, + "heading": -0.02755283837322766, + "angularVelocity": 0.12089344274154035, + "velocityX": 1.9456878329103668, + "velocityY": -0.14778231207923104, + "moduleForcesX": [ + -69.72421761463168, + -69.7344520135668, + -69.52435350812418, + -69.54562452426842 + ], + "moduleForcesY": [ + 4.311834168734011, + 4.230912530873534, + 6.816398499524391, + 6.651099022677878 + ], + "timestamp": 1.3263404186393526 + }, + { + "x": 7.511872030080587, + "y": 4.179871360027244, + "heading": -0.022524706336496326, + "angularVelocity": 0.10993846452686935, + "velocityX": 1.7736883700131427, + "velocityY": -0.13441721828184217, + "moduleForcesX": [ + -69.74659497812961, + -69.7567000937077, + -69.54943144982829, + -69.57082298732065 + ], + "moduleForcesY": [ + 4.22378940668331, + 4.1337123312366195, + 6.733746342133302, + 6.558993209213771 + ], + "timestamp": 1.3720762951441579 + }, + { + "x": 7.585124541352304, + "y": 4.174326828104019, + "heading": -0.01799860455362314, + "angularVelocity": 0.09896173701613159, + "velocityX": 1.6016422307773828, + "velocityY": -0.12122937936134792, + "moduleForcesX": [ + -69.76442640683265, + -69.77448438416424, + -69.5693262936985, + -69.59092386459363 + ], + "moduleForcesY": [ + 4.153759007224523, + 4.055073699251123, + 6.668962324200309, + 6.4853094144621135 + ], + "timestamp": 1.4178121716489631 + }, + { + "x": 7.65050663163179, + "y": 4.169378847259442, + "heading": -0.013975501431084333, + "angularVelocity": 0.08796383561412432, + "velocityX": 1.4295580466816797, + "velocityY": -0.10818598489214333, + "moduleForcesX": [ + -69.77896823921817, + -69.78902105805807, + -69.58548265632585, + -69.60731822254213 + ], + "moduleForcesY": [ + 4.096767891084601, + 3.990204124201372, + 6.616978368836639, + 6.425167134270045 + ], + "timestamp": 1.4635480481537684 + }, + { + "x": 7.708016856106649, + "y": 4.165021938922856, + "heading": -0.01045632411434323, + "angularVelocity": 0.07694566247941691, + "velocityX": 1.2574422722349434, + "velocityY": -0.0952623775807261, + "moduleForcesX": [ + -69.7910558326898, + -69.80111895098251, + -69.59885941607023, + -69.62092948349829 + ], + "moduleForcesY": [ + 4.049466064850303, + 3.935879874237554, + 6.5744140369827315, + 6.375313197496248 + ], + "timestamp": 1.5092839246585736 + }, + { + "x": 7.757653996449329, + "y": 4.161251493157439, + "heading": -0.0074419522272495394, + "angularVelocity": 0.06590825665656777, + "velocityX": 1.0852998594541612, + "velocityY": -0.08243956503208126, + "moduleForcesX": [ + -69.80126632101882, + -69.81133694079466, + -69.61011774011624, + -69.63239436946087 + ], + "moduleForcesY": [ + 4.009513059359649, + 3.8898511599094165, + 6.538931335634244, + 6.333499233356207 + ], + "timestamp": 1.555019801163379 + }, + { + "x": 7.799417011869502, + "y": 4.158063583102698, + "heading": -0.00493321647260633, + "angularVelocity": 0.054852687788281486, + "velocityX": 0.9131346901329209, + "velocityY": -0.06970261200542623, + "moduleForcesX": [ + -69.81001126839654, + -69.82007358682415, + -69.61972811287079, + -69.64216593746447 + ], + "moduleForcesY": [ + 3.975223069720514, + 3.8504993321218803, + 6.508863836655236, + 6.298123901629999 + ], + "timestamp": 1.6007556776681842 + }, + { + "x": 7.833305003310964, + "y": 4.155454828642314, + "heading": -0.0029308999552952564, + "angularVelocity": 0.043779996587561765, + "velocityX": 0.7409498632414073, + "velocityY": -0.05703956411790899, + "moduleForcesX": [ + -69.81759208868544, + -69.82762076790996, + -69.62803433000336, + -69.65057520214046 + ], + "moduleForcesY": [ + 3.945350323599107, + 3.8166296377146143, + 6.482993178390347, + 6.268017369637354 + ], + "timestamp": 1.6464915541729894 + }, + { + "x": 7.859317186663494, + "y": 4.153422294030413, + "heading": -0.0014357410080319557, + "angularVelocity": 0.03269116198319357, + "velocityX": 0.5687478920360539, + "velocityY": -0.04444070535495125, + "moduleForcesX": [ + -69.82423459227853, + -69.83419712972186, + -69.63529336806604, + -69.65786953409446 + ], + "moduleForcesY": [ + 3.918953936384261, + 3.7873408005249147, + 6.460408949790593, + 6.242306255356992 + ], + "timestamp": 1.6922274306777947 + }, + { + "x": 7.877452872324375, + "y": 4.151963409556538, + "heading": -0.0004484368166770001, + "angularVelocity": 0.02158708363772215, + "velocityX": 0.39653084289255985, + "velocityY": -0.03189803247177224, + "moduleForcesX": [ + -69.83011129092088, + -69.83996968506385, + -69.64170110698417, + -69.66423743516098 + ], + "moduleForcesY": [ + 3.895309854867698, + 3.7619401017620726, + 6.44041784331503, + 6.2203261064077635 + ], + "timestamp": 1.7379633071826 + }, + { + "x": 7.887711449336735, + "y": 4.1510759106131365, + "heading": 0.000030352559408697598, + "angularVelocity": 0.01046857330993503, + "velocityX": 0.2243004353766338, + "velocityY": -0.019404874492980072, + "moduleForcesX": [ + -69.83535624003318, + -69.84506819003062, + -69.6474094313267, + -69.66982501002556 + ], + "moduleForcesY": [ + 3.873851765520487, + 3.7398864374540004, + 6.42248302141526, + 6.201563022109505 + ], + "timestamp": 1.7836991836874052 + }, + { + "x": 7.890092372894287, + "y": 4.150757789611816, + "heading": 4.255278213177281e-17, + "angularVelocity": -0.0006636487967228019, + "velocityX": 0.05205811584920244, + "velocityY": -0.006955611778583246, + "moduleForcesX": [ + -69.84007517814702, + -69.84959496618039, + -69.65253790055276, + -69.67474720613788 + ], + "moduleForcesY": [ + 3.8541304068260542, + 3.720751145016197, + 6.406182616934665, + 6.185613725606737 + ], + "timestamp": 1.8294350601922105 + }, + { + "x": 7.884396417258817, + "y": 4.1510194176021615, + "heading": -0.0005556604870648964, + "angularVelocity": -0.0119730553372896, + "velocityX": -0.12273320419561777, + "velocityY": 0.005637410755500938, + "moduleForcesX": [ + -69.84526171242152, + -69.85450741619185, + -69.6580865944387, + -69.6799660562006 + ], + "moduleForcesY": [ + 3.8358141593988173, + 3.704254767607179, + 6.391245989183205, + 6.172255310447964 + ], + "timestamp": 1.8758443075739706 + }, + { + "x": 7.87058912317916, + "y": 4.151868562531265, + "heading": -0.0016358270910557505, + "angularVelocity": -0.02327481407109726, + "velocityX": -0.29751169990061316, + "velocityY": 0.018296890749345013, + "moduleForcesX": [ + -69.84052693052642, + -69.84983916844774, + -69.65254097927807, + -69.67444185458244 + ], + "moduleForcesY": [ + 3.8623216111553433, + 3.7325571482227415, + 6.415935419469509, + 6.198849100966151 + ], + "timestamp": 1.9222535549557307 + }, + { + "x": 7.84867115588573, + "y": 4.153308676549065, + "heading": -0.003240144063550548, + "angularVelocity": -0.03456890734075619, + "velocityX": -0.47227586160004714, + "velocityY": 0.031030755701638053, + "moduleForcesX": [ + -69.83527240234028, + -69.84460350357307, + -69.64637636140073, + -69.66821378044256 + ], + "moduleForcesY": [ + 3.8913779162053537, + 3.7645881681953437, + 6.443230217638321, + 6.2292155333288814 + ], + "timestamp": 1.9686628023374908 + }, + { + "x": 7.818643263508358, + "y": 4.155343645575917, + "heading": -0.005368256245780929, + "angularVelocity": -0.045855347851786174, + "velocityX": -0.6470239030244018, + "velocityY": 0.0438483522500035, + "moduleForcesX": [ + -69.82939663417959, + -69.83870154038723, + -69.63947003124473, + -69.66116334641347 + ], + "moduleForcesY": [ + 3.9235625686422013, + 3.800903527686453, + 6.473707147215328, + 6.263908170932127 + ], + "timestamp": 2.015072049719251 + }, + { + "x": 7.78050629326201, + "y": 4.157977871963268, + "heading": -0.008019812097488225, + "angularVelocity": -0.05713421357377078, + "velocityX": -0.8217536891437839, + "velocityY": 0.05676080815707597, + "moduleForcesX": [ + -69.82277181100342, + -69.83200874861478, + -69.63166713132719, + -69.65314099231936 + ], + "moduleForcesY": [ + 3.9595996572438468, + 3.842198223950906, + 6.508092726488677, + 6.30362480718904 + ], + "timestamp": 2.061481297101011 + }, + { + "x": 7.734261212143908, + "y": 4.161216379632487, + "heading": -0.011194469041176991, + "angularVelocity": -0.06840569763122133, + "velocityX": -0.9964626389584227, + "velocityY": 0.06978151665721292, + "moduleForcesX": [ + -69.81523468704228, + -69.82436608085627, + -69.62276945269603, + -69.64395527152313 + ], + "moduleForcesY": [ + 4.000406016495486, + 3.889353029204672, + 6.547314528154094, + 6.349256874184525 + ], + "timestamp": 2.107890544482771 + }, + { + "x": 7.679909133824823, + "y": 4.165064949839472, + "heading": -0.01489190218850705, + "angularVelocity": -0.07967018117996913, + "velocityX": -1.1711475920302716, + "velocityY": 0.0829267963629735, + "moduleForcesX": [ + -69.80657340635271, + -69.81556714738767, + -69.61251921185455, + -69.63335719474814 + ], + "moduleForcesY": [ + 4.047160128801968, + 3.9435010446889462, + 6.592574924521756, + 6.401960505763682 + ], + "timestamp": 2.1542997918645312 + }, + { + "x": 7.617451354230103, + "y": 4.169530299530098, + "heading": -0.019111818107833353, + "angularVelocity": -0.09092834203094423, + "velocityX": -1.3458046212416621, + "velocityY": 0.09621680898835733, + "moduleForcesX": [ + -69.79650796137848, + -69.80533920921064, + -69.60057497977996, + -69.62101700601912 + ], + "moduleForcesY": [ + 4.101403068108447, + 4.006125260419006, + 6.645459577321982, + 6.463261124449069 + ], + "timestamp": 2.2007090392462914 + }, + { + "x": 7.546889399616104, + "y": 4.174620320330323, + "heading": -0.02385397626368427, + "angularVelocity": -0.10218131996073003, + "velocityX": -1.5204287635513867, + "velocityY": 0.10967686587018105, + "moduleForcesX": [ + -69.78466039505065, + -69.79331421219015, + -69.58647495658006, + -69.60648876241422 + ], + "moduleForcesY": [ + 4.165190398987298, + 4.079205429145182, + 6.708101314583558, + 6.535211470992664 + ], + "timestamp": 2.2471182866280515 + }, + { + "x": 7.468225093135606, + "y": 4.180344406226608, + "heading": -0.029118222402481443, + "angularVelocity": -0.11343097412236461, + "velocityX": -1.695013621604547, + "velocityY": 0.12333933901574691, + "moduleForcesX": [ + -69.7705078691145, + -69.77898319801147, + -69.56957910482252, + -69.5891545516942 + ], + "moduleForcesY": [ + 4.241327909128236, + 4.165446073880933, + 6.783435324837567, + 6.620637739239637 + ], + "timestamp": 2.2935275340098116 + }, + { + "x": 7.381460649693566, + "y": 4.186713915140715, + "heading": -0.034904541035931, + "angularVelocity": -0.12468029455107398, + "velocityX": -1.869550754148636, + "velocityY": 0.1372465461831737, + "moduleForcesX": [ + -69.75330589901576, + -69.76162179840142, + -69.54897447434095, + -69.56813328750238 + ], + "moduleForcesY": [ + 4.333750820449712, + 4.268643334562397, + 6.875610901168991, + 6.723536725391139 + ], + "timestamp": 2.3399367813915717 + }, + { + "x": 7.286598815852057, + "y": 4.193742840360602, + "heading": -0.041213139417234076, + "angularVelocity": -0.13593408075358557, + "velocityX": -2.04402870533929, + "velocityY": 0.15145527274050752, + "moduleForcesX": [ + -69.73195703945562, + -69.7401629162167, + -69.52331324455598, + -69.54212482189106 + ], + "moduleForcesY": [ + 4.448160237686171, + 4.394300657319212, + 6.990684164675913, + 6.849743929305322 + ], + "timestamp": 2.386346028773332 + }, + { + "x": 7.18364308501984, + "y": 4.201448826076235, + "heading": -0.04804458543530527, + "angularVelocity": -0.1472001035026177, + "velocityX": -2.218431382549879, + "velocityY": 0.1660441862425419, + "moduleForcesX": [ + -69.70477380584327, + -69.71296714864722, + -69.49052039305114, + -69.50912888004027 + ], + "moduleForcesY": [ + 4.59314710805928, + 4.5507158370307845, + 7.13784349027266, + 7.008115076880458 + ], + "timestamp": 2.432755276155092 + }, + { + "x": 7.072598046196222, + "y": 4.209854779376856, + "heading": -0.05540004221521033, + "angularVelocity": -0.1584911886073516, + "velocityX": -2.3927351786200797, + "velocityY": 0.18112668864189005, + "moduleForcesX": [ + -69.6690212905443, + -69.67738056463489, + -69.44723006205231, + -69.46590391562414 + ], + "moduleForcesY": [ + 4.782304652878327, + 4.751023006124584, + 7.3317145188368364, + 7.212747356646025 + ], + "timestamp": 2.479164523536852 + }, + { + "x": 6.953469988311547, + "y": 4.2189915912243094, + "heading": -0.06328168681444274, + "angularVelocity": -0.1698291837055948, + "velocityX": -2.566903464405157, + "velocityY": 0.19687481187303227, + "moduleForcesX": [ + -69.61995772487455, + -69.62880889445651, + -69.38760454569054, + -69.40683530559905 + ], + "moduleForcesY": [ + 5.0385209067765535, + 5.017338367074698, + 7.597042900361163, + 7.487488106048717 + ], + "timestamp": 2.525573770918612 + }, + { + "x": 6.8262680450984625, + "y": 4.228903116920455, + "heading": -0.071693508420302, + "angularVelocity": -0.1812531355371302, + "velocityX": -2.7408749417272147, + "velocityY": 0.21356790414233462, + "moduleForcesX": [ + -69.54858957338627, + -69.55855685469528, + -69.30057574672517, + -69.32129818626035 + ], + "moduleForcesY": [ + 5.403628299226511, + 5.390066996590429, + 7.979205992586547, + 7.876042746068363 + ], + "timestamp": 2.5719830183003722 + }, + { + "x": 6.691006652283192, + "y": 4.239656373774396, + "heading": -0.08064298208106964, + "angularVelocity": -0.19283815544675706, + "velocityX": -2.914535366251887, + "velocityY": 0.23170504717486504, + "moduleForcesX": [ + -69.43557192437106, + -69.44797784528673, + -69.16236953774111, + -69.18653466227909 + ], + "moduleForcesY": [ + 5.9632696087729125, + 5.951836292759237, + 8.57122701733304, + 8.467901672406025 + ], + "timestamp": 2.6183922656821323 + }, + { + "x": 6.547711917103736, + "y": 4.251366204967392, + "heading": -0.09014514013957545, + "angularVelocity": -0.20474708370822672, + "velocityX": -3.087633246898443, + "velocityY": 0.25231676559351734, + "moduleForcesX": [ + -69.23056504764862, + -69.24877490404154, + -68.91130543084316, + -68.94376045543765 + ], + "moduleForcesY": [ + 6.924939250568172, + 6.902375785126476, + 9.598206634845097, + 9.479138636350383 + ], + "timestamp": 2.6648015130638925 + }, + { + "x": 6.396444472585868, + "y": 4.264274074293088, + "heading": -0.100235428902828, + "angularVelocity": -0.21741978878160628, + "velocityX": -3.259424641678653, + "velocityY": 0.27813140815481985, + "moduleForcesX": [ + -68.75163556397735, + -68.78782008371181, + -68.32581616829665, + -68.38345282090013 + ], + "moduleForcesY": [ + 8.954635792979039, + 8.879838644232008, + 11.779158099029415, + 11.597004401958207 + ], + "timestamp": 2.7112107604456526 + }, + { + "x": 6.237472491219683, + "y": 4.2792045976344, + "heading": -0.11104199693728996, + "angularVelocity": -0.2328537660947148, + "velocityX": -3.4254376085544243, + "velocityY": 0.32171440356475467, + "moduleForcesX": [ + -66.59485929897085, + -66.75642157750775, + -65.72559675335843, + -65.94713301467321 + ], + "moduleForcesY": [ + 15.962348943442482, + 15.588218338142795, + 19.270950670728798, + 18.754614905341313 + ], + "timestamp": 2.7576200078274127 + }, + { + "x": 6.085065633665861, + "y": 4.298042412916954, + "heading": -0.12218174486998531, + "angularVelocity": -0.24003293656236976, + "velocityX": -3.283976064083342, + "velocityY": 0.4059065023742881, + "moduleForcesX": [ + 57.0053860804575, + 56.478728686864144, + 56.444295782149524, + 55.901574741657306 + ], + "moduleForcesY": [ + 32.6892348133087, + 33.44039865725631, + 33.76197013824198, + 34.513124594021534 + ], + "timestamp": 2.804029255209173 + }, + { + "x": 5.940673733394497, + "y": 4.317352125122351, + "heading": -0.1329879092907271, + "angularVelocity": -0.23284506925629764, + "velocityX": -3.111274334694664, + "velocityY": 0.4160746681918069, + "moduleForcesX": [ + 68.86038034489904, + 68.90317966132747, + 68.95196859689867, + 68.98645919449427 + ], + "moduleForcesY": [ + 4.991118465062357, + 4.6808848697736405, + 3.4192704644898573, + 3.141241868407977 + ], + "timestamp": 2.850438502590933 + }, + { + "x": 5.8043600786015475, + "y": 4.336679265248018, + "heading": -0.1433326051543543, + "angularVelocity": -0.22290160791723843, + "velocityX": -2.9372089073464576, + "velocityY": 0.41645019508037123, + "moduleForcesX": [ + 69.45738187875165, + 69.4797847449118, + 69.46459078715823, + 69.47724528715867 + ], + "moduleForcesY": [ + 1.4144428487594791, + 1.0690960643975045, + -0.801929440587436, + -1.08211628847879 + ], + "timestamp": 2.896847749972693 + }, + { + "x": 5.676141089669187, + "y": 4.355831010237803, + "heading": -0.15305098886667945, + "angularVelocity": -0.20940619080454775, + "velocityX": -2.7627896629660533, + "velocityY": 0.41267088070277785, + "moduleForcesX": [ + 69.6365925531376, + 69.65169350908516, + 69.57698575775873, + 69.57856632833895 + ], + "moduleForcesY": [ + 0.2016406531953778, + -0.2436583811633672, + -2.8338919340357136, + -3.1574085340705524 + ], + "timestamp": 2.943256997354453 + }, + { + "x": 5.556022292840179, + "y": 4.3746890926569275, + "heading": -0.16197186560864046, + "angularVelocity": -0.1922219653460994, + "velocityX": -2.5882513422576707, + "velocityY": 0.40634320707678606, + "moduleForcesX": [ + 69.72318800890363, + 69.73286828495876, + 69.59309782548499, + 69.58477813190655 + ], + "moduleForcesY": [ + -0.34534271820180595, + -0.9131953701791334, + -4.23685892754336, + -4.606135858097092 + ], + "timestamp": 2.9896662447362132 + }, + { + "x": 5.444004100512943, + "y": 4.3931540179139255, + "heading": -0.16990603039507135, + "angularVelocity": -0.17096085875212255, + "velocityX": -2.413704135423311, + "velocityY": 0.3978716807257086, + "moduleForcesX": [ + 69.77444256589784, + 69.77868829559299, + 69.556641960503, + 69.53834528949733 + ], + "moduleForcesY": [ + -0.6782685787580125, + -1.390100473695053, + -5.524361841455879, + -5.931260226141385 + ], + "timestamp": 3.0360754921179733 + }, + { + "x": 5.340081548641706, + "y": 4.411102191832692, + "heading": -0.1766387898963379, + "angularVelocity": -0.1450736627094774, + "velocityX": -2.2392638910167224, + "velocityY": 0.38673701754155815, + "moduleForcesX": [ + 69.80433340427273, + 69.79992601922777, + 69.45005958344015, + 69.42304369833387 + ], + "moduleForcesY": [ + -1.1566059509217277, + -2.0158282979165234, + -7.098734984802106, + -7.504268129899874 + ], + "timestamp": 3.0824847394997335 + }, + { + "x": 5.244244566392908, + "y": 4.428381953152792, + "heading": -0.18200598017409053, + "angularVelocity": -0.11564915572967037, + "velocityX": -2.065040647189307, + "velocityY": 0.3723344439947396, + "moduleForcesX": [ + 69.81050045839473, + 69.7921252249223, + 69.27845232423293, + 69.24986378322077 + ], + "moduleForcesY": [ + -2.0369461565346274, + -2.9640971751421596, + -8.826388357062102, + -9.164915697214896 + ], + "timestamp": 3.1288939868814936 + }, + { + "x": 5.15648098422649, + "y": 4.444848439176671, + "heading": -0.18591814561174294, + "angularVelocity": -0.08429711013130145, + "velocityX": -1.8910796256720086, + "velocityY": 0.35481045164185604, + "moduleForcesX": [ + 69.79261035699513, + 69.76022856943331, + 69.09096901387028, + 69.06852071671656 + ], + "moduleForcesY": [ + -3.0780740994754163, + -3.9923265644123185, + -10.330588202948192, + -10.5744086172704 + ], + "timestamp": 3.1753032342632537 + }, + { + "x": 5.076778119428936, + "y": 4.460372361523327, + "heading": -0.1883439069874921, + "angularVelocity": -0.05226892295396647, + "velocityX": -1.7173918840338522, + "velocityY": 0.3345006269754168, + "moduleForcesX": [ + 69.75319008904908, + 69.71029119110527, + 68.91211319407469, + 68.90046868520734 + ], + "moduleForcesY": [ + -4.150726145922235, + -4.998945027187704, + -11.562994310974698, + -11.710049981357619 + ], + "timestamp": 3.221712481645014 + }, + { + "x": 5.005123419271046, + "y": 4.474838998771846, + "heading": -0.1892978728238737, + "angularVelocity": -0.020555511890434683, + "velocityX": -1.5439746214469527, + "velocityY": 0.31171885054541326, + "moduleForcesX": [ + 69.69411921976389, + 69.64557438255135, + 68.7517062485026, + 68.75286906803288 + ], + "moduleForcesY": [ + -5.22559712764522, + -5.9720537993535885, + -12.55658898708507, + -12.614712901539457 + ], + "timestamp": 3.268121729026774 + }, + { + "x": 4.9415046158562514, + "y": 4.48814463537535, + "heading": -0.18883838264881078, + "angularVelocity": 0.009900832290652329, + "velocityX": -1.3708217005001222, + "velocityY": 0.28670227064991627, + "moduleForcesX": [ + 69.61413205900656, + 69.56540112809247, + 68.61441867501658, + 68.62832061302444 + ], + "moduleForcesY": [ + -6.323579127496874, + -6.940462265907679, + -13.345454573494814, + -13.32710935547324 + ], + "timestamp": 3.314530976408534 + }, + { + "x": 4.885909430268591, + "y": 4.500190661952772, + "heading": -0.18708408954546277, + "angularVelocity": 0.037800507491888895, + "velocityX": -1.1979333586329695, + "velocityY": 0.2595609120383236, + "moduleForcesX": [ + 69.50284138380154, + 69.46028595959244, + 68.50631450719705, + 68.53045513094503 + ], + "moduleForcesY": [ + -7.535693883084783, + -7.992656059461959, + -13.938188800014524, + -13.862074973306907 + ], + "timestamp": 3.360940223790294 + }, + { + "x": 4.838323190234018, + "y": 4.51086214786475, + "heading": -0.18433458081751503, + "angularVelocity": 0.059244846298185855, + "velocityX": -1.0253611665608888, + "velocityY": 0.22994309354331424, + "moduleForcesX": [ + 69.29040648482314, + 69.26571416662244, + 68.45718283202788, + 68.48189023161743 + ], + "moduleForcesY": [ + -9.352403419338149, + -9.577724011983078, + -14.220698662835838, + -14.131221759144733 + ], + "timestamp": 3.4073494711720542 + }, + { + "x": 4.798726023855189, + "y": 4.520025470268991, + "heading": -0.18105327767746845, + "angularVelocity": 0.07070364906058164, + "velocityX": -0.8532171628017221, + "velocityY": 0.1974460462343598, + "moduleForcesX": [ + 68.94120879674408, + 68.93883560485864, + 68.45826692344116, + 68.47332021936111 + ], + "moduleForcesY": [ + -11.697567085386378, + -11.729504361683166, + -14.254527211566076, + -14.196865861359052 + ], + "timestamp": 3.4537587185538143 + }, + { + "x": 4.767095608562261, + "y": 4.527557015615815, + "heading": -0.1776853855114291, + "angularVelocity": 0.07256942001955871, + "velocityX": -0.6815541530492494, + "velocityY": 0.16228544464145783, + "moduleForcesX": [ + 68.55162051438302, + 68.55379092058199, + 68.46782247341, + 68.47053616623668 + ], + "moduleForcesY": [ + -13.832938612988684, + -13.824496441700466, + -14.241971783342194, + -14.231170346327838 + ], + "timestamp": 3.5001679659355744 + }, + { + "x": 4.74340845826846, + "y": 4.533345558511581, + "heading": -0.1746380830271375, + "angularVelocity": 0.06566153635769992, + "velocityX": -0.5103972081027701, + "velocityY": 0.1247282216871555, + "moduleForcesX": [ + 68.1535637279797, + 68.1342504645237, + 68.47947649206557, + 68.46859475877257 + ], + "moduleForcesY": [ + -15.70324086306387, + -15.77978923295082, + -14.214506886725266, + -14.259019684715405 + ], + "timestamp": 3.5465772133173346 + }, + { + "x": 4.727640694796091, + "y": 4.537291353928148, + "heading": -0.1722808191793964, + "angularVelocity": 0.05079297727777901, + "velocityX": -0.3397547765139184, + "velocityY": 0.08502174974113795, + "moduleForcesX": [ + 67.76218605118999, + 67.69443534858641, + 68.49132060239295, + 68.46657149574686 + ], + "moduleForcesY": [ + -17.335082718388172, + -17.585042001903926, + -14.18216192963107, + -14.285342893208833 + ], + "timestamp": 3.5929864606990947 + }, + { + "x": 4.719768524169922, + "y": 4.539304733276367, + "heading": -0.1709491750126471, + "angularVelocity": 0.028693509200761788, + "velocityX": -0.16962504393602973, + "velocityY": 0.043383150165256165, + "moduleForcesX": [ + 67.38458116003311, + 67.24444069958429, + 68.5023901227519, + 68.46462600308531 + ], + "moduleForcesY": [ + -18.766118515893627, + -19.24596546147227, + -14.150307555012077, + -14.309697153796881 + ], + "timestamp": 3.6393957080808548 + }, + { + "x": 4.719768524169922, + "y": 4.539304733276367, + "heading": -0.17094917501264706, + "angularVelocity": 1.4917178471052147e-17, + "velocityX": -1.2639827414836993e-17, + "velocityY": -4.774641016852188e-17, + "moduleForcesX": [ + 67.02327146248648, + 66.79173222790882, + 68.5119889759832, + 68.46335760377693 + ], + "moduleForcesY": [ + -20.03211035825907, + -20.772617732478892, + -14.122904418171489, + -14.329466304300716 + ], + "timestamp": 3.685804955462615 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4 center.traj b/src/main/deploy/choreo/source 4 center.traj index 1ef00b46..b753a066 100644 --- a/src/main/deploy/choreo/source 4 center.traj +++ b/src/main/deploy/choreo/source 4 center.traj @@ -1,2893 +1,6746 @@ { - "samples": [ - { - "x": 0.7778744697570803, - "y": 4.333664894104004, - "heading": -1.051650156247713, - "angularVelocity": -1.7793953070033792e-17, - "velocityX": -2.3662346560779174e-16, - "velocityY": 1.513985749824813e-16, - "timestamp": 0 - }, - { - "x": 0.790260400822094, - "y": 4.32606669230055, - "heading": -1.043226880114087, - "angularVelocity": 0.1457853167710587, - "velocityX": 0.2143687153516353, - "velocityY": -0.1315053951971085, - "timestamp": 0.05777863175928728 - }, - { - "x": 0.8150389153431291, - "y": 4.310868474494396, - "heading": -1.026520641212676, - "angularVelocity": 0.28914216887328015, - "velocityX": 0.4288525665381815, - "velocityY": -0.2630421895324896, - "timestamp": 0.11555726351857457 - }, - { - "x": 0.8522172862387298, - "y": 4.288068391059585, - "heading": -1.0016844781071523, - "angularVelocity": 0.42985031575330845, - "velocityX": 0.6434622933005771, - "velocityY": -0.3946109961516389, - "timestamp": 0.17333589527786186 - }, - { - "x": 0.9018037069270466, - "y": 4.257664548050408, - "heading": -0.9688918459931005, - "angularVelocity": 0.5675563978508485, - "velocityX": 0.8582138271272934, - "velocityY": -0.5262125821158792, - "timestamp": 0.23111452703714913 - }, - { - "x": 0.9638076509071686, - "y": 4.21965495404394, - "heading": -0.9283472235119572, - "angularVelocity": 0.7017234788469388, - "velocityX": 1.0731293229378922, - "velocityY": -0.6578486345059211, - "timestamp": 0.2888931587964364 - }, - { - "x": 1.0382402900358625, - "y": 4.174037389516853, - "heading": -0.8803008243396758, - "angularVelocity": 0.8315600025360311, - "velocityX": 1.2882381749500231, - "velocityY": -0.7895231011550332, - "timestamp": 0.34667179055572367 - }, - { - "x": 1.1251149598280679, - "y": 4.120809170553125, - "heading": -0.8250688523182798, - "angularVelocity": 0.9559238483095122, - "velocityX": 1.5035778305401113, - "velocityY": -0.9212440195102288, - "timestamp": 0.40445042231501094 - }, - { - "x": 1.2244476483198248, - "y": 4.059966801166272, - "heading": -0.7630612249532699, - "angularVelocity": 1.0731930728879349, - "velocityX": 1.719194198048661, - "velocityY": -1.0530254444295157, - "timestamp": 0.4622290540742982 - }, - { - "x": 1.3362574752268745, - "y": 3.9915055634581638, - "heading": -0.6948199700911081, - "angularVelocity": 1.1810811849346494, - "velocityX": 1.935141478823221, - "velocityY": -1.1848885240710811, - "timestamp": 0.5200076858335855 - }, - { - "x": 1.4605671120938635, - "y": 3.915419208926679, - "heading": -0.6210750436535144, - "angularVelocity": 1.276335631221314, - "velocityX": 2.1514811459170184, - "velocityY": -1.3168597492662952, - "timestamp": 0.5777863175928728 - }, - { - "x": 1.5974029985127856, - "y": 3.8317001576981107, - "heading": -0.5428340183077932, - "angularVelocity": 1.3541515775534916, - "velocityX": 2.3682784145702263, - "velocityY": -1.4489621626443523, - "timestamp": 0.6355649493521601 - }, - { - "x": 1.7467946407653947, - "y": 3.740341260921631, - "heading": -0.4615494492257075, - "angularVelocity": 1.4068275174934395, - "velocityX": 2.5855863613211305, - "velocityY": -1.5811883043041164, - "timestamp": 0.6933435811114474 - }, - { - "x": 1.908769072887807, - "y": 3.6413426760214245, - "heading": -0.3794943251085089, - "angularVelocity": 1.420163849830334, - "velocityX": 2.803362197935337, - "velocityY": -1.7134117213548117, - "timestamp": 0.7511222128707348 - }, - { - "x": 2.083315645349881, - "y": 3.5347427761060226, - "heading": -0.30082734030617125, - "angularVelocity": 1.3615238437987522, - "velocityX": 3.020953718482913, - "velocityY": -1.844970998266447, - "timestamp": 0.8089008446300221 - }, - { - "x": 2.270090753487244, - "y": 3.4209144724017664, - "heading": -0.23622157160887522, - "angularVelocity": 1.1181602390041263, - "velocityX": 3.2325983231221276, - "velocityY": -1.9700761378095335, - "timestamp": 0.8666794763893094 - }, - { - "x": 2.4675703698241453, - "y": 3.301925100586404, - "heading": -0.20598558214025112, - "angularVelocity": 0.5233074676221288, - "velocityX": 3.4178659190066183, - "velocityY": -2.0594009963940656, - "timestamp": 0.9244581081485967 - }, - { - "x": 2.67309990510019, - "y": 3.1759332785826966, - "heading": -0.2059855458578113, - "angularVelocity": 6.279560238040065e-7, - "velocityX": 3.5571893798438423, - "velocityY": -2.180595458345295, - "timestamp": 0.9822367399078841 - }, - { - "x": 2.878638160545615, - "y": 3.0499556827875893, - "heading": -0.20598550964073065, - "angularVelocity": 6.268248243037761e-7, - "velocityX": 3.557340303621619, - "velocityY": -2.1803492391433776, - "timestamp": 1.0400153716671714 - }, - { - "x": 3.0841652677026152, - "y": 2.923959899852403, - "heading": -0.2059854734241155, - "angularVelocity": 6.268167671168799e-7, - "velocityX": 3.5571473553276682, - "velocityY": -2.180664011915343, - "timestamp": 1.0977940034264586 - }, - { - "x": 3.2896912914469922, - "y": 2.7979623496482073, - "heading": -0.20598543720757262, - "angularVelocity": 6.26815516623068e-7, - "velocityX": 3.557128604232485, - "velocityY": -2.1806945988114834, - "timestamp": 1.1555726351857458 - }, - { - "x": 3.4952174217611773, - "y": 2.671964973280129, - "heading": -0.20598540099105317, - "angularVelocity": 6.268151111067458e-7, - "velocityX": 3.557130448682686, - "velocityY": -2.1806915901539288, - "timestamp": 1.213351266945033 - }, - { - "x": 3.700743952525155, - "y": 2.5459682501256737, - "heading": -0.20598536477454374, - "angularVelocity": 6.268149377930614e-7, - "velocityX": 3.557137379442033, - "velocityY": -2.1806802847006312, - "timestamp": 1.2711298987043202 - }, - { - "x": 3.906271071380292, - "y": 2.4199724862737657, - "heading": -0.20598532855803678, - "angularVelocity": 6.268148944566873e-7, - "velocityX": 3.5571475577924354, - "velocityY": -2.1806636816327134, - "timestamp": 1.3289085304636075 - }, - { - "x": 4.11179878981895, - "y": 2.293977700481347, - "heading": -0.20598529234153268, - "angularVelocity": 6.268148455453945e-7, - "velocityX": 3.5571579350461384, - "velocityY": -2.180646753930203, - "timestamp": 1.3866871622228947 - }, - { - "x": 4.317326439396235, - "y": 2.167982802359838, - "heading": -0.2059852561250577, - "angularVelocity": 6.268143417259201e-7, - "velocityX": 3.5571567432322886, - "velocityY": -2.180648698058812, - "timestamp": 1.444465793982182 - }, - { - "x": 4.522852901289537, - "y": 2.0419859668637224, - "heading": -0.20598521990865043, - "angularVelocity": 6.268131693640567e-7, - "velocityX": 3.557136187467174, - "velocityY": -2.1806822290467753, - "timestamp": 1.502244425741469 - }, - { - "x": 4.728378638604872, - "y": 1.915987949440798, - "heading": -0.20598518369226368, - "angularVelocity": 6.268128139836973e-7, - "velocityX": 3.557123646880059, - "velocityY": -2.180702685169959, - "timestamp": 1.5600230575007563 - }, - { - "x": 4.933904389542495, - "y": 1.789989954237894, - "heading": -0.20598514747579555, - "angularVelocity": 6.268142222822715e-7, - "velocityX": 3.5571238826469207, - "velocityY": -2.1807023005983677, - "timestamp": 1.6178016892600435 - }, - { - "x": 5.139425573676261, - "y": 1.6639845100463269, - "heading": -0.20598511125942923, - "angularVelocity": 6.268124608562066e-7, - "velocityX": 3.5570448429791726, - "velocityY": -2.180831223496614, - "timestamp": 1.6755803210193307 - }, - { - "x": 5.344946507226316, - "y": 1.5379786571420961, - "heading": -0.20598507504308844, - "angularVelocity": 6.26812018516268e-7, - "velocityX": 3.557040506017501, - "velocityY": -2.18083829726509, - "timestamp": 1.733358952778618 - }, - { - "x": 5.5520744228031775, - "y": 1.4146321708958636, - "heading": -0.20598503872955082, - "angularVelocity": 6.284942461809738e-7, - "velocityX": 3.5848532453966846, - "velocityY": -2.134811477712189, - "timestamp": 1.7911375845379052 - }, - { - "x": 5.766343681041228, - "y": 1.3041558760667749, - "heading": -0.20598498706942028, - "angularVelocity": 8.941044293612351e-7, - "velocityX": 3.708451580001442, - "velocityY": -1.9120614570685264, - "timestamp": 1.8489162162971924 - }, - { - "x": 5.978828837823206, - "y": 1.2069586010105995, - "heading": -0.18358111993898485, - "angularVelocity": 0.3877535076249762, - "velocityX": 3.67757335734804, - "velocityY": -1.6822356656196136, - "timestamp": 1.9066948480564796 - }, - { - "x": 6.180402614425525, - "y": 1.1188565633405292, - "heading": -0.14743074561977582, - "angularVelocity": 0.6256703078365721, - "velocityX": 3.4887253378047918, - "velocityY": -1.524820422143498, - "timestamp": 1.9644734798157668 - }, - { - "x": 6.3699552080803885, - "y": 1.03925188031653, - "heading": -0.11182866618657619, - "angularVelocity": 0.6161807289158787, - "velocityX": 3.2806694773348446, - "velocityY": -1.3777529962225779, - "timestamp": 2.022252111575054 - }, - { - "x": 6.547333304224276, - "y": 0.9678228780837896, - "heading": -0.08083165647112141, - "angularVelocity": 0.5364787772163276, - "velocityX": 3.069960134792835, - "velocityY": -1.2362529201162495, - "timestamp": 2.0800307433343415 - }, - { - "x": 6.712491158270741, - "y": 0.9043991401394745, - "heading": -0.05631142234718805, - "angularVelocity": 0.4243823949671858, - "velocityX": 2.8584590707258863, - "velocityY": -1.0977023168105784, - "timestamp": 2.137809375093629 - }, - { - "x": 6.8654092710206385, - "y": 0.8488759629040167, - "heading": -0.03933718355960969, - "angularVelocity": 0.29378055988406115, - "velocityX": 2.6466205255079807, - "velocityY": -0.960963864059192, - "timestamp": 2.1955880068529163 - }, - { - "x": 7.006077603998495, - "y": 0.8011825400871414, - "heading": -0.03060270556570015, - "angularVelocity": 0.1511714232053547, - "velocityX": 2.434608240013325, - "velocityY": -0.8254508866802454, - "timestamp": 2.2533666386122038 - }, - { - "x": 7.134490489959717, - "y": 0.7612675428390505, - "heading": -0.03060270556570016, - "angularVelocity": -1.1334804632089022e-18, - "velocityX": 2.222497869042738, - "velocityY": -0.6908262801095992, - "timestamp": 2.311145270371491 - }, - { - "x": 7.157992431819527, - "y": 0.7541017781880169, - "heading": -0.030602705565700175, - "angularVelocity": -1.2581567593470853e-19, - "velocityX": 2.1823811097675607, - "velocityY": -0.665410096950253, - "timestamp": 2.3219142152430465 - }, - { - "x": 7.1810654399906575, - "y": 0.7472145233417125, - "heading": -0.030602705565700185, - "angularVelocity": -1.2584235174923969e-19, - "velocityX": 2.1425504955526327, - "velocityY": -0.6395477856420501, - "timestamp": 2.332683160114602 - }, - { - "x": 7.203712486312128, - "y": 0.7406103026789971, - "heading": -0.0306027055657002, - "angularVelocity": -1.2589480252638889e-19, - "velocityX": 2.102995845144348, - "velocityY": -0.6132653422861725, - "timestamp": 2.343452104986157 - }, - { - "x": 7.225936436683162, - "y": 0.7342933827085865, - "heading": -0.03060270556570021, - "angularVelocity": -1.2597194526551408e-19, - "velocityX": 2.063707321014898, - "velocityY": -0.5865867126031925, - "timestamp": 2.3542210498577125 - }, - { - "x": 7.247740054890559, - "y": 0.7282677920480325, - "heading": -0.03060270556570022, - "angularVelocity": -1.2607260344010128e-19, - "velocityX": 2.0246754410440913, - "velocityY": -0.5595339870732939, - "timestamp": 2.364989994729268 - }, - { - "x": 7.269126006488931, - "y": 0.7225373395258404, - "heading": -0.030602705565700234, - "angularVelocity": -1.2619549751069908e-19, - "velocityX": 1.9858910834300973, - "velocityY": -0.5321275752212485, - "timestamp": 2.375758939600823 - }, - { - "x": 7.290096862678418, - "y": 0.7171056306060466, - "heading": -0.030602705565700244, - "angularVelocity": -1.2633925300320036e-19, - "velocityX": 1.9473454864531226, - "velocityY": -0.504386361391914, - "timestamp": 2.3865278844723785 - }, - { - "x": 7.310655104138184, - "y": 0.7119760823120441, - "heading": -0.030602705565700255, - "angularVelocity": -1.2650241619398796e-19, - "velocityX": 1.9090302443712892, - "velocityY": -0.47632784410954027, - "timestamp": 2.397296829343934 - }, - { - "x": 7.330803124784916, - "y": 0.7071519368064082, - "heading": -0.03060270556570027, - "angularVelocity": -1.2668346071584948e-19, - "velocityX": 1.8709373004545575, - "velocityY": -0.44796826088117375, - "timestamp": 2.408065774215489 - }, - { - "x": 7.350543235433966, - "y": 0.7026362737657202, - "heading": -0.03060270556570028, - "angularVelocity": -1.2688080148855072e-19, - "velocityX": 1.8330589379457207, - "velocityY": -0.4193227000925091, - "timestamp": 2.4188347190870445 - }, - { - "x": 7.369877667347483, - "y": 0.6984320216736967, - "heading": -0.030602705565700293, - "angularVelocity": -1.2709279603654747e-19, - "velocityX": 1.795387769565657, - "velocityY": -0.3904052014537178, - "timestamp": 2.4296036639586 - }, - { - "x": 7.388808575659034, - "y": 0.6945419681420674, - "heading": -0.030602705565700303, - "angularVelocity": -1.2731776934626528e-19, - "velocityX": 1.7579167260438568, - "velocityY": -0.3612288462822784, - "timestamp": 2.440372608830155 - }, - { - "x": 7.4073380426682265, - "y": 0.6909687693564187, - "heading": -0.030602705565700314, - "angularVelocity": -1.275540101779436e-19, - "velocityX": 1.7206390440473927, - "velocityY": -0.3318058387583308, - "timestamp": 2.4511415537017105 - }, - { - "x": 7.42546808100196, - "y": 0.6877149587334354, - "heading": -0.030602705565700328, - "angularVelocity": -1.277997880149378e-19, - "velocityX": 1.6835482537961202, - "velocityY": -0.3021475791540086, - "timestamp": 2.461910498573266 - }, - { - "x": 7.443200636641307, - "y": 0.6847829548664589, - "heading": -0.030602705565700338, - "angularVelocity": -1.2805336078718123e-19, - "velocityX": 1.6466381665843768, - "velocityY": -0.27226472991991385, - "timestamp": 2.472679443444821 - }, - { - "x": 7.460537591814793, - "y": 0.682175068827898, - "heading": -0.030602705565700352, - "angularVelocity": -1.2831298509767557e-19, - "velocityX": 1.6099028623760643, - "velocityY": -0.24216727540775893, - "timestamp": 2.4834483883163765 - }, - { - "x": 7.477480767760241, - "y": 0.6798935108896162, - "heading": -0.030602705565700362, - "angularVelocity": -1.2857692405835418e-19, - "velocityX": 1.5733366775979092, - "velocityY": -0.2118645759166451, - "timestamp": 2.494217333187932 - }, - { - "x": 7.494031927358264, - "y": 0.67794039671589, - "heading": -0.030602705565700376, - "angularVelocity": -1.2884345997295027e-19, - "velocityX": 1.5369341932225304, - "velocityY": -0.18136541667003236, - "timestamp": 2.504986278059487 - }, - { - "x": 7.510192777641261, - "y": 0.6763177530777503, - "heading": -0.030602705565700387, - "angularVelocity": -1.2911089621766391e-19, - "velocityX": 1.5006902232068866, - "velocityY": -0.15067805225986258, - "timestamp": 2.5157552229310425 - }, - { - "x": 7.5259649721822255, - "y": 0.6750275231324118, - "heading": -0.0306027055657004, - "angularVelocity": -1.2937757521143262e-19, - "velocityX": 1.4645998033312837, - "velocityY": -0.1198102470323331, - "timestamp": 2.526524167802598 - }, - { - "x": 7.541350113367985, - "y": 0.6740715713069704, - "heading": -0.03060270556570041, - "angularVelocity": -1.296418828562996e-19, - "velocityX": 1.4286581804682124, - "velocityY": -0.08876931183542423, - "timestamp": 2.537293112674153 - }, - { - "x": 7.556349754561682, - "y": 0.6734516878215384, - "heading": -0.030602705565700425, - "angularVelocity": -1.2990224487888173e-19, - "velocityX": 1.3928608022979438, - "velocityY": -0.05756213750051861, - "timestamp": 2.5480620575457085 - }, - { - "x": 7.570965402159407, - "y": 0.6731695928834319, - "heading": -0.030602705565700435, - "angularVelocity": -1.3015716161437227e-19, - "velocityX": 1.3572033074783092, - "velocityY": -0.02619522538848284, - "timestamp": 2.558831002417264 - }, - { - "x": 7.5851985175458605, - "y": 0.6732269405808596, - "heading": -0.030602705565700446, - "angularVelocity": -1.3040518388715472e-19, - "velocityX": 1.3216815162688345, - "velocityY": 0.005325284706314105, - "timestamp": 2.569599947288819 - }, - { - "x": 7.5990505189538675, - "y": 0.6736253225017574, - "heading": -0.03060270556570046, - "angularVelocity": -1.3064494528108826e-19, - "velocityX": 1.2862914216039185, - "velocityY": 0.03699358903303555, - "timestamp": 2.5803688921603745 - }, - { - "x": 7.612522783232516, - "y": 0.6743662711009057, - "heading": -0.030602705565700473, - "angularVelocity": -1.308751523423428e-19, - "velocityX": 1.2510291806056897, - "velocityY": 0.0688041965100445, - "timestamp": 2.59113783703193 - }, - { - "x": 7.62561664752849, - "y": 0.6754512628362374, - "heading": -0.030602705565700484, - "angularVelocity": -1.310946019138232e-19, - "velocityX": 1.2158911065242088, - "velocityY": 0.100751907291985, - "timestamp": 2.601906781903485 - }, - { - "x": 7.638333410885047, - "y": 0.6768817210932491, - "heading": -0.030602705565700498, - "angularVelocity": -1.3130217522977708e-19, - "velocityX": 1.180873661090617, - "velocityY": 0.1328317930932966, - "timestamp": 2.6126757267750405 - }, - { - "x": 7.650674335762937, - "y": 0.6786590189146542, - "heading": -0.030602705565700508, - "angularVelocity": -1.314968563004619e-19, - "velocityX": 1.1459734472674334, - "velocityY": 0.16503917910282548, - "timestamp": 2.623444671646596 - }, - { - "x": 7.662640649487338, - "y": 0.6807844815508151, - "heading": -0.030602705565700522, - "angularVelocity": -1.316777225489205e-19, - "velocityX": 1.1111872023793405, - "velocityY": 0.19736962734156704, - "timestamp": 2.634213616518151 - }, - { - "x": 7.674233545624737, - "y": 0.6832593888450686, - "heading": -0.030602705565700532, - "angularVelocity": -1.3184396070946397e-19, - "velocityX": 1.076511791607365, - "velocityY": 0.22981892133095566, - "timestamp": 2.6449825613897064 - }, - { - "x": 7.685454185293472, - "y": 0.6860849774667783, - "heading": -0.030602705565700546, - "angularVelocity": -1.3199486712853293e-19, - "velocityX": 1.0419442018292242, - "velocityY": 0.26238305195274914, - "timestamp": 2.6557515062612618 - }, - { - "x": 7.696303698411492, - "y": 0.6892624430037938, - "heading": -0.030602705565700557, - "angularVelocity": -1.321298423631589e-19, - "velocityX": 1.0074815357887332, - "velocityY": 0.29505820439365477, - "timestamp": 2.666520451132817 - }, - { - "x": 7.706783184884676, - "y": 0.6927929419249639, - "heading": -0.03060270556570057, - "angularVelocity": -1.3224840778586506e-19, - "velocityX": 0.9731210065774615, - "velocityY": 0.32784074607859154, - "timestamp": 2.6772893960043724 - }, - { - "x": 7.716893715738936, - "y": 0.6966775934224183, - "heading": -0.03060270556570058, - "angularVelocity": -1.3235019457504513e-19, - "velocityX": 0.9388599324122615, - "velocityY": 0.3607272155060462, - "timestamp": 2.6880583408759278 - }, - { - "x": 7.726636334199068, - "y": 0.7009174811424926, - "heading": -0.030602705565700595, - "angularVelocity": -1.3243495649172234e-19, - "velocityX": 0.9046957316928207, - "velocityY": 0.3937143119074966, - "timestamp": 2.698827285747483 - }, - { - "x": 7.736012056717246, - "y": 0.7055136548134117, - "heading": -0.030602705565700605, - "angularVelocity": -1.3250256127624165e-19, - "velocityX": 0.8706259183239783, - "velocityY": 0.42679888566046975, - "timestamp": 2.7095962306190384 - }, - { - "x": 7.745021873953834, - "y": 0.7104671317771619, - "heading": -0.03060270556570062, - "angularVelocity": -1.3255299337637072e-19, - "velocityX": 0.8366480972881875, - "velocityY": 0.4599779293915816, - "timestamp": 2.7203651754905938 - }, - { - "x": 7.753666751713056, - "y": 0.7157788984323638, - "heading": -0.03060270556570063, - "angularVelocity": -1.3258803470125528e-19, - "velocityX": 0.8027599604541601, - "velocityY": 0.49324856971196684, - "timestamp": 2.731134120362149 - }, - { - "x": 7.7619476318359375, - "y": 0.7214499115943908, - "heading": -0.030602705565700643, - "angularVelocity": 1.9516610437843725e-19, - "velocityX": 0.7689592826084032, - "velocityY": 0.5266080595329276, - "timestamp": 2.7419030652337044 - }, - { - "x": 7.7766579182187305, - "y": 0.733787242568658, - "heading": -0.0316362180023682, - "angularVelocity": -0.04948186074190923, - "velocityX": 0.704289872518588, - "velocityY": 0.5906790005971662, - "timestamp": 2.7627897582798333 - }, - { - "x": 7.790017889428913, - "y": 0.7474637178929253, - "heading": -0.03369531549182525, - "angularVelocity": -0.09858417916658603, - "velocityX": 0.6396403289250577, - "velocityY": 0.6547937145464989, - "timestamp": 2.783676451325962 - }, - { - "x": 7.802027980510766, - "y": 0.7624802864780906, - "heading": -0.03677178647069785, - "angularVelocity": -0.14729334950622003, - "velocityX": 0.5750116141089285, - "velocityY": 0.7189538598571299, - "timestamp": 2.804563144372091 - }, - { - "x": 7.812688648697797, - "y": 0.7788379349447829, - "heading": -0.04085710951119451, - "angularVelocity": -0.19559453626642123, - "velocityX": 0.5104047904322161, - "velocityY": 0.7831612419719024, - "timestamp": 2.82544983741822 - }, - { - "x": 7.822000375712872, - "y": 0.7965376909288235, - "heading": -0.04594242586887812, - "angularVelocity": -0.24347158961222506, - "velocityX": 0.4458210303809276, - "velocityY": 0.8474178245905254, - "timestamp": 2.846336530464349 - }, - { - "x": 7.829963670292153, - "y": 0.8155806266549606, - "heading": -0.052018509653501015, - "angularVelocity": -0.29090693156660485, - "velocityX": 0.3812616272807539, - "velocityY": 0.9117257425136729, - "timestamp": 2.8672232235104778 - }, - { - "x": 7.836579070950113, - "y": 0.8359678628145525, - "heading": -0.05907573494892603, - "angularVelocity": -0.3378814099407179, - "velocityX": 0.3167280068390848, - "velocityY": 0.9760873161953465, - "timestamp": 2.8881099165566066 - }, - { - "x": 7.841847149006602, - "y": 0.8577005727862841, - "heading": -0.06710403913607434, - "angularVelocity": -0.38437411654480413, - "velocityX": 0.2522217396911387, - "velocityY": 1.0405050681663293, - "timestamp": 2.9089966096027355 - }, - { - "x": 7.845768511901353, - "y": 0.8807799872426505, - "heading": -0.07609288159225877, - "angularVelocity": -0.43036216582166986, - "velocityX": 0.18774455516197847, - "velocityY": 1.1049817415037784, - "timestamp": 2.9298833026488644 - }, - { - "x": 7.848343806826723, - "y": 0.9052073991889596, - "heading": -0.08603119685039462, - "angularVelocity": -0.47582042960016563, - "velocityX": 0.12329835650299947, - "velocityY": 1.1695203205390383, - "timestamp": 2.9507699956949933 - }, - { - "x": 7.849573724716206, - "y": 0.9309841694860987, - "heading": -0.09690734120151905, - "angularVelocity": -0.5207212231780369, - "velocityX": 0.05888523792481034, - "velocityY": 1.2341240540190064, - "timestamp": 2.971656688741122 - }, - { - "x": 7.849459004634706, - "y": 0.9581117329134663, - "heading": -0.10870903161261351, - "angularVelocity": -0.565033937398806, - "velocityX": -0.00549249616711224, - "velocityY": 1.2987964809678323, - "timestamp": 2.992543381787251 - }, - { - "x": 7.848000438627406, - "y": 0.9865916048345064, - "heading": -0.12142327570723585, - "angularVelocity": -0.6087246107625819, - "velocityX": -0.06983230921616214, - "velocityY": 1.3635414595379622, - "timestamp": 3.01343007483338 - }, - { - "x": 7.845198877097917, - "y": 1.016425388534499, - "heading": -0.13503629141647774, - "angularVelocity": -0.6517554348683694, - "velocityX": -0.13413140717401323, - "velocityY": 1.4283631991959511, - "timestamp": 3.034316767879509 - }, - { - "x": 7.84105523480423, - "y": 1.0476147833090375, - "heading": -0.14953341474861673, - "angularVelocity": -0.6940841855683735, - "velocityX": -0.1983867089220468, - "velocityY": 1.493266296663426, - "timestamp": 3.0552034609256378 - }, - { - "x": 7.835570497583959, - "y": 1.080161593392477, - "heading": -0.1648989939421203, - "angularVelocity": -0.7356635710386621, - "velocityX": -0.2625948113547232, - "velocityY": 1.558255776132632, - "timestamp": 3.0760901539717667 - }, - { - "x": 7.828745729950008, - "y": 1.1140677378291983, - "heading": -0.18111626805043107, - "angularVelocity": -0.7764404864137381, - "velocityX": -0.3267519477055535, - "velocityY": 1.623337134406034, - "timestamp": 3.0969768470178956 - }, - { - "x": 7.820582083736118, - "y": 1.1493352614076457, - "heading": -0.19816722774665066, - "angularVelocity": -0.8163551625219962, - "velocityX": -0.3908539372824497, - "velocityY": 1.6885163917791046, - "timestamp": 3.1178635400640244 - }, - { - "x": 7.811080808021215, - "y": 1.1859663467987929, - "heading": -0.21603245581517905, - "angularVelocity": -0.8553401933504964, - "velocityX": -0.45489612424139775, - "velocityY": 1.7538001497051927, - "timestamp": 3.1387502331101533 - }, - { - "x": 7.800243260625712, - "y": 1.223963328068296, - "heading": -0.23469094439171648, - "angularVelocity": -0.893319422817657, - "velocityX": -0.5188733023254182, - "velocityY": 1.819195656563993, - "timestamp": 3.159636926156282 - }, - { - "x": 7.788070921556361, - "y": 1.2633287057667226, - "heading": -0.25411988548888115, - "angularVelocity": -0.930206665758685, - "velocityX": -0.5827796215737641, - "velocityY": 1.8847108832157804, - "timestamp": 3.180523619202411 - }, - { - "x": 7.774565408885156, - "y": 1.3040651638469198, - "heading": -0.27429443065388165, - "angularVelocity": -0.9659042300494589, - "velocityX": -0.6466084717852727, - "velocityY": 1.950354610479966, - "timestamp": 3.20141031224854 - }, - { - "x": 7.759728497690897, - "y": 1.3461755887141946, - "heading": -0.29518741467882864, - "angularVelocity": -1.0003011955413041, - "velocityX": -0.7103523358863058, - "velocityY": 2.0161365312485113, - "timestamp": 3.222297005294669 - }, - { - "x": 7.7435621428812755, - "y": 1.3896630907863896, - "heading": -0.3167690370258923, - "angularVelocity": -1.0332713895588923, - "velocityX": -0.7740026041421778, - "velocityY": 2.082067370653246, - "timestamp": 3.243183698340798 - }, - { - "x": 7.726068506965954, - "y": 1.434531029030405, - "heading": -0.33900649289872903, - "angularVelocity": -1.0646709760958641, - "velocityX": -0.8375493371155777, - "velocityY": 2.148159028570159, - "timestamp": 3.2640703913869267 - }, - { - "x": 7.7072499941922, - "y": 1.4807830390526746, - "heading": -0.36186354348562405, - "angularVelocity": -1.0943355435163682, - "velocityX": -0.90098096104507, - "velocityY": 2.21442474977349, - "timestamp": 3.2849570844330556 - }, - { - "x": 7.6871092929208125, - "y": 1.5284230654567807, - "heading": -0.38530001152067206, - "angularVelocity": -1.1220765289788979, - "velocityX": -0.9642838733209447, - "velocityY": 2.280879328235054, - "timestamp": 3.3058437774791845 - }, - { - "x": 7.665649428767142, - "y": 1.577455399343546, - "heading": -0.40927118351177383, - "angularVelocity": -1.1476767498885854, - "velocityX": -1.0274419270813502, - "velocityY": 2.347539353332566, - "timestamp": 3.3267304705253133 - }, - { - "x": 7.642873831944985, - "y": 1.627884722015486, - "heading": -0.4337270930873546, - "angularVelocity": -1.1708847121738761, - "velocityX": -1.0904357512152005, - "velocityY": 2.4144235068981454, - "timestamp": 3.3476171635714422 - }, - { - "x": 7.618786423564328, - "y": 1.679716156147042, - "heading": -0.45861164985999886, - "angularVelocity": -1.1914072140422596, - "velocityX": -1.1532418429025078, - "velocityY": 2.481552920660289, - "timestamp": 3.368503856617571 - }, - { - "x": 7.593391727562435, - "y": 1.7329553258622423, - "heading": -0.48386156329630237, - "angularVelocity": -1.2088995314164044, - "velocityX": -1.2158313403566556, - "velocityY": 2.5489516027079997, - "timestamp": 3.3893905496637 - }, - { - "x": 7.566695017846028, - "y": 1.7876084272433121, - "heading": -0.5094049884894066, - "angularVelocity": -1.2229521033650876, - "velocityX": -1.2781683370098904, - "velocityY": 2.6166469368974274, - "timestamp": 3.410277242709829 - }, - { - "x": 7.538702514691068, - "y": 1.8436823105941504, - "heading": -0.535159785645356, - "angularVelocity": -1.2330720377356625, - "velocityX": -1.3402075231889359, - "velocityY": 2.6846702456438365, - "timestamp": 3.431163935755958 - }, - { - "x": 7.509421651533809, - "y": 1.9011845748805896, - "heading": -0.561031228953825, - "angularVelocity": -1.2386567491240053, - "velocityX": -1.4018908159655408, - "velocityY": 2.753057372914118, - "timestamp": 3.4520506288020867 - }, - { - "x": 7.478861444881083, - "y": 1.9601236721846107, - "heading": -0.5869089074781779, - "angularVelocity": -1.2389552748824937, - "velocityX": -1.463142422078596, - "velocityY": 2.8218491636685754, - "timestamp": 3.4729373218482156 - }, - { - "x": 7.447033019690258, - "y": 2.0205090133877057, - "heading": -0.6126624001237826, - "angularVelocity": -1.2330095812069104, - "velocityX": -1.52386139445488, - "velocityY": 2.8910915227093272, - "timestamp": 3.4938240148943445 - }, - { - "x": 7.413950377003154, - "y": 2.0823510497284965, - "heading": -0.6381350164273529, - "angularVelocity": -1.2195619597278216, - "velocityX": -1.58391003372531, - "velocityY": 2.960834259603034, - "timestamp": 3.5147107079404734 - }, - { - "x": 7.379631553262011, - "y": 2.1456612626479417, - "heading": -0.6631343421228942, - "angularVelocity": -1.1969020486071915, - "velocityX": -1.643095135517515, - "velocityY": 3.0311266977315565, - "timestamp": 3.5355974009866022 - }, - { - "x": 7.3441004380170645, - "y": 2.2104518816733045, - "heading": -0.6874172157006555, - "angularVelocity": -1.1626002031117062, - "velocityX": -1.7011364683952517, - "velocityY": 3.102004653502146, - "timestamp": 3.556484094032731 - }, - { - "x": 7.307389736175537, - "y": 2.2767348289489746, - "heading": -0.7106643956818505, - "angularVelocity": -1.1130139141630913, - "velocityX": -1.7576119762209603, - "velocityY": 3.1734534102302487, - "timestamp": 3.57737078707886 - }, - { - "x": 7.245004584395614, - "y": 2.387946892684077, - "heading": -0.7444159303817715, - "angularVelocity": -0.9983968929355788, - "velocityX": -1.8454017648724967, - "velocityY": 3.2897401518852836, - "timestamp": 3.611176515981603 - }, - { - "x": 7.179181838076728, - "y": 2.5023458944446157, - "heading": -0.771176752673562, - "angularVelocity": -0.7916061318713116, - "velocityX": -1.9470885100053599, - "velocityY": 3.3840122805710715, - "timestamp": 3.6449822448843463 - }, - { - "x": 7.109668882109448, - "y": 2.618848519760876, - "heading": -0.7874298632579281, - "angularVelocity": -0.48077977052721604, - "velocityX": -2.0562478083896516, - "velocityY": 3.446239116790862, - "timestamp": 3.6787879737870894 - }, - { - "x": 7.035693573660437, - "y": 2.735782548420554, - "heading": -0.7957259593983187, - "angularVelocity": -0.24540503665097835, - "velocityX": -2.1882476979518364, - "velocityY": 3.4590003663606774, - "timestamp": 3.7125937026898326 - }, - { - "x": 6.957014333531214, - "y": 2.85167998109835, - "heading": -0.7988055186607733, - "angularVelocity": -0.09109578057950915, - "velocityX": -2.327393689855875, - "velocityY": 3.4283370434409512, - "timestamp": 3.7463994315925757 - }, - { - "x": 6.873848758135451, - "y": 2.965397022115393, - "heading": -0.7993490485356187, - "angularVelocity": -0.016078040393953535, - "velocityX": -2.460103009020327, - "velocityY": 3.363839346407822, - "timestamp": 3.780205160495319 - }, - { - "x": 6.787108786710581, - "y": 3.0756676554578557, - "heading": -0.7968305006548542, - "angularVelocity": 0.07450062348929531, - "velocityX": -2.5658364496270885, - "velocityY": 3.261891901804707, - "timestamp": 3.814010889398062 - }, - { - "x": 6.697527011767112, - "y": 3.181964569343137, - "heading": -0.7898701081062274, - "angularVelocity": 0.2058938758176595, - "velocityX": -2.649899228654154, - "velocityY": 3.1443461607081735, - "timestamp": 3.847816618300805 - }, - { - "x": 6.6057091936381935, - "y": 3.2839361751329723, - "heading": -0.7782630438895483, - "angularVelocity": 0.3433460716102862, - "velocityX": -2.7160431414767596, - "velocityY": 3.0164001516784844, - "timestamp": 3.8816223472035483 - }, - { - "x": 6.51217951882697, - "y": 3.3812879395453606, - "heading": -0.7629048430045671, - "angularVelocity": 0.4543076390740111, - "velocityX": -2.766681206025814, - "velocityY": 2.879741616944965, - "timestamp": 3.9154280761062914 - }, - { - "x": 6.417348951447825, - "y": 3.4738526119938054, - "heading": -0.7444150903267376, - "angularVelocity": 0.5469413995190979, - "velocityX": -2.805162629445672, - "velocityY": 2.73813567856347, - "timestamp": 3.9492338050090345 - }, - { - "x": 6.321538045542248, - "y": 3.5615325207234423, - "heading": -0.7232523306326979, - "angularVelocity": 0.6260110454924283, - "velocityX": -2.834161812668459, - "velocityY": 2.5936405329962575, - "timestamp": 3.9830395339117777 - }, - { - "x": 6.22500005413485, - "y": 3.644269040494466, - "heading": -0.6997733335781026, - "angularVelocity": 0.6945271649708546, - "velocityX": -2.8556695726079946, - "velocityY": 2.4474112068120664, - "timestamp": 4.01684526281452 - }, - { - "x": 6.128354628757319, - "y": 3.7219973093295886, - "heading": -0.674348748925599, - "angularVelocity": 0.7520791734930076, - "velocityX": -2.858847553785181, - "velocityY": 2.299263212420078, - "timestamp": 4.050650991717263 - }, - { - "x": 6.032238703839081, - "y": 3.7947340713477735, - "heading": -0.6473304083821297, - "angularVelocity": 0.7992237239196747, - "velocityX": -2.8431845145169645, - "velocityY": 2.1516105222119015, - "timestamp": 4.084456720620006 - }, - { - "x": 5.937258266883108, - "y": 3.8625729143640037, - "heading": -0.6190835374532825, - "angularVelocity": 0.8355646171721902, - "velocityX": -2.809595889182734, - "velocityY": 2.0067262330416984, - "timestamp": 4.1182624495227484 - }, - { - "x": 5.843965629994652, - "y": 3.925669245257987, - "heading": -0.5899719126760393, - "angularVelocity": 0.8611447148794082, - "velocityX": -2.7596694381846882, - "velocityY": 1.8664390013748073, - "timestamp": 4.152068178425491 - }, - { - "x": 5.752846705505816, - "y": 3.9842209820332593, - "heading": -0.5603426513283869, - "angularVelocity": 0.8764568110007059, - "velocityX": -2.6953693189393753, - "velocityY": 1.7320063396272878, - "timestamp": 4.185873907328234 - }, - { - "x": 5.664317798324593, - "y": 4.038449719048553, - "heading": -0.5305153107707118, - "angularVelocity": 0.8823161495344912, - "velocityX": -2.6187545736971405, - "velocityY": 1.6041286129728605, - "timestamp": 4.2196796362309765 - }, - { - "x": 5.578729234360759, - "y": 4.08858536630745, - "heading": -0.5007767322400403, - "angularVelocity": 0.8796904990934415, - "velocityX": -2.5317769130216585, - "velocityY": 1.4830518047143701, - "timestamp": 4.253485365133719 - }, - { - "x": 5.496372709711907, - "y": 4.134855226623216, - "heading": -0.4713804332472861, - "angularVelocity": 0.8695656016566179, - "velocityX": -2.4361706527845137, - "velocityY": 1.368698792115411, - "timestamp": 4.287291094036462 - }, - { - "x": 5.417489921821255, - "y": 4.177477117415218, - "heading": -0.44254865940527666, - "angularVelocity": 0.8528665045192995, - "velocityX": -2.3334147924333886, - "velocityY": 1.2607889897781017, - "timestamp": 4.321096822939205 - }, - { - "x": 5.342280996482041, - "y": 4.216655596783143, - "heading": -0.4144756108687364, - "angularVelocity": 0.8304228143491521, - "velocityX": -2.2247390540102043, - "velocityY": 1.158930176617096, - "timestamp": 4.354902551841947 - }, - { - "x": 5.270911994343646, - "y": 4.252580324109894, - "heading": -0.38733095832594816, - "angularVelocity": 0.8029601320202794, - "velocityX": -2.111151111213083, - "velocityY": 1.0626816368936485, - "timestamp": 4.38870828074469 - }, - { - "x": 5.203521264343312, - "y": 4.285425771135261, - "heading": -0.3612632061683655, - "angularVelocity": 0.7711045732094111, - "velocityX": -1.993470698242112, - "velocityY": 0.9715941082016462, - "timestamp": 4.422514009647433 - }, - { - "x": 5.140224665694359, - "y": 4.3153517229828875, - "heading": -0.3364027186426946, - "angularVelocity": 0.7353927376390257, - "velocityX": -1.8723630787862457, - "velocityY": 0.8852331489056608, - "timestamp": 4.456319738550175 - }, - { - "x": 5.081119789809812, - "y": 4.3425041978255985, - "heading": -0.3128643576563687, - "angularVelocity": 0.6962831966748698, - "velocityX": -1.7483686287193616, - "velocityY": 0.8031915217928767, - "timestamp": 4.490125467452918 - }, - { - "x": 5.026289344990242, - "y": 4.367016552508206, - "heading": -0.2907497432944396, - "angularVelocity": 0.6541676538184275, - "velocityX": -1.6219276021917488, - "velocityY": 0.7250946948408769, - "timestamp": 4.523931196355661 - }, - { - "x": 4.975803861000419, - "y": 4.389010635354101, - "heading": -0.2701491739764076, - "angularVelocity": 0.6093810128247359, - "velocityX": -1.4934002498531325, - "velocityY": 0.6506022369513395, - "timestamp": 4.5577369252584035 - }, - { - "x": 4.929723850341455, - "y": 4.408597907896565, - "heading": -0.25114325101632495, - "angularVelocity": 0.5622101216856332, - "velocityX": -1.3630828902264982, - "velocityY": 0.5794068987187334, - "timestamp": 4.591542654161146 - }, - { - "x": 4.888101539259908, - "y": 4.425880494868218, - "heading": -0.23380425171395244, - "angularVelocity": 0.5129012112785903, - "velocityX": -1.2312206372266652, - "velocityY": 0.5112324902496034, - "timestamp": 4.625348383063889 - }, - { - "x": 4.850982259247048, - "y": 4.440952144393432, - "heading": -0.21819729085123546, - "angularVelocity": 0.46166615450349546, - "velocityX": -1.0980174431277496, - "velocityY": 0.44583122489608273, - "timestamp": 4.6591541119666315 - }, - { - "x": 4.818405570732873, - "y": 4.453899093459424, - "heading": -0.20438130501428825, - "angularVelocity": 0.40868770724319975, - "velocityX": -0.9636440204527564, - "velocityY": 0.38298091732440465, - "timestamp": 4.692959840869374 - }, - { - "x": 4.790406175158671, - "y": 4.464800841015277, - "heading": -0.1924098886312887, - "angularVelocity": 0.3541238947233061, - "velocityX": -0.8282441019022307, - "velocityY": 0.3224822510769351, - "timestamp": 4.726765569772117 - }, - { - "x": 4.7670146592934906, - "y": 4.4737308347828755, - "heading": -0.18233200563323024, - "angularVelocity": 0.29811169068567966, - "velocityX": -0.6919394027111793, - "velocityY": 0.26415622610265493, - "timestamp": 4.76057129867486 - }, - { - "x": 4.748258106026371, - "y": 4.4807570795019735, - "heading": -0.17419259626741354, - "angularVelocity": 0.24077011885273358, - "velocityX": -0.554833570401078, - "velocityY": 0.2078418347171693, - "timestamp": 4.794377027577602 - }, - { - "x": 4.734160598392618, - "y": 4.485942674770102, - "heading": -0.16803309485896994, - "angularVelocity": 0.18220288715454405, - "velocityX": -0.4170153430003218, - "velocityY": 0.15339397896277213, - "timestamp": 4.828182756480345 - }, - { - "x": 4.724743637814444, - "y": 4.489346290419544, - "heading": -0.16389187119456528, - "angularVelocity": 0.12250064704472823, - "velocityX": -0.2785610866509069, - "velocityY": 0.10068162290581124, - "timestamp": 4.861988485383088 - }, - { - "x": 4.72002649307251, - "y": 4.49102258682251, - "heading": -0.16180460559801732, - "angularVelocity": 0.061742954945680495, - "velocityX": -0.13953684464265562, - "velocityY": 0.04958616356973356, - "timestamp": 4.89579421428583 - }, - { - "x": 4.72002649307251, - "y": 4.49102258682251, - "heading": -0.16180460559801732, - "angularVelocity": 3.1683920940991345e-19, - "velocityX": -2.143213095252052e-16, - "velocityY": 1.1917993482771072e-16, - "timestamp": 4.929599943188573 - }, - { - "x": 4.727896749068562, - "y": 4.486722216875996, - "heading": -0.16398120210505002, - "angularVelocity": -0.04820958180663479, - "velocityX": 0.17431882714826363, - "velocityY": -0.09524918195241291, - "timestamp": 4.974748571852526 - }, - { - "x": 4.743634640773255, - "y": 4.478115890582503, - "heading": -0.16831439150065022, - "angularVelocity": -0.0959761021281911, - "velocityX": 0.3485796173751437, - "velocityY": -0.19062209746281752, - "timestamp": 5.019897200516479 - }, - { - "x": 4.767237240008193, - "y": 4.465197395276607, - "heading": -0.17478216172949257, - "angularVelocity": -0.14325507596214157, - "velocityX": 0.5227755511826151, - "velocityY": -0.28613261771580356, - "timestamp": 5.065045829180432 - }, - { - "x": 4.7987012551652635, - "y": 4.447959780759982, - "heading": -0.18336006472228875, - "angularVelocity": -0.1899925478720758, - "velocityX": 0.6968985789416005, - "velocityY": -0.38179707837699484, - "timestamp": 5.110194457844385 - }, - { - "x": 4.838022961120384, - "y": 4.426395219986269, - "heading": -0.19402068105401282, - "angularVelocity": -0.2361227051007613, - "velocityX": 0.8709390986777716, - "velocityY": -0.47763490081218446, - "timestamp": 5.1553430865083385 - }, - { - "x": 4.885198109514782, - "y": 4.400494832302089, - "heading": -0.2067329416955533, - "angularVelocity": -0.28156471232288355, - "velocityX": 1.0448855212309887, - "velocityY": -0.5736694214338179, - "timestamp": 5.200491715172292 - }, - { - "x": 4.940221812020733, - "y": 4.370248455773455, - "heading": -0.22146125661927976, - "angularVelocity": -0.32621843363946346, - "velocityX": 1.2187236718859935, - "velocityY": -0.6699290194119285, - "timestamp": 5.245640343836245 - }, - { - "x": 5.00308838560409, - "y": 4.335644348833906, - "heading": -0.23816437672379223, - "angularVelocity": -0.36995852584657585, - "velocityX": 1.39243594863715, - "velocityY": -0.7664486821318964, - "timestamp": 5.290788972500198 - }, - { - "x": 5.073791142966564, - "y": 4.296668791481402, - "heading": -0.25679387831743117, - "angularVelocity": -0.41262607846406313, - "velocityX": 1.5660001079705665, - "velocityY": -0.8632722300959411, - "timestamp": 5.335937601164151 - }, - { - "x": 5.152322101580536, - "y": 4.253305539809008, - "heading": -0.27729209830433066, - "angularVelocity": -0.45401644730936996, - "velocityX": 1.7393874617652028, - "velocityY": -0.9604555654425806, - "timestamp": 5.381086229828104 - }, - { - "x": 5.2386715676601066, - "y": 4.2055350595460474, - "heading": -0.29958924277694704, - "angularVelocity": -0.4938609462222111, - "velocityX": 1.9125601072466814, - "velocityY": -1.0580715666587264, - "timestamp": 5.426234858492057 - }, - { - "x": 5.332827520074029, - "y": 4.1533334140156875, - "heading": -0.32359920197621383, - "angularVelocity": -0.5317981943144963, - "velocityX": 2.0854664958871436, - "velocityY": -1.156217742933077, - "timestamp": 5.47138348715601 - }, - { - "x": 5.434774658180193, - "y": 4.096670587019706, - "heading": -0.34921324334652926, - "angularVelocity": -0.567327117750655, - "velocityX": 2.258033989580737, - "velocityY": -1.2550287499921766, - "timestamp": 5.516532115819963 - }, - { - "x": 5.544492849824494, - "y": 4.035507829901232, - "heading": -0.37629001845839, - "angularVelocity": -0.5997253053552725, - "velocityX": 2.4301555748447696, - "velocityY": -1.3546980036473875, - "timestamp": 5.561680744483916 - }, - { - "x": 5.661954423048125, - "y": 3.969793203956593, - "heading": -0.40463868775063905, - "angularVelocity": -0.6278965747388003, - "velocityX": 2.601664252039902, - "velocityY": -1.455517651128717, - "timestamp": 5.606829373147869 - }, - { - "x": 5.787118990955788, - "y": 3.8994534758169213, - "heading": -0.4339879303656175, - "angularVelocity": -0.6500583402749749, - "velocityX": 2.7722783971863314, - "velocityY": -1.557959349401715, - "timestamp": 5.651978001811822 - }, - { - "x": 5.919922222075735, - "y": 3.824377705576958, - "heading": -0.46392202683218775, - "angularVelocity": -0.6630123074030976, - "velocityX": 2.94146766025651, - "velocityY": -1.662858263066248, - "timestamp": 5.6971266304757755 - }, - { - "x": 6.060246312588923, - "y": 3.744378388826008, - "heading": -0.49372399738879086, - "angularVelocity": -0.6600858417744332, - "velocityX": 3.1080476786491, - "velocityY": -1.7719102244808969, - "timestamp": 5.742275259139729 - }, - { - "x": 6.207812080951999, - "y": 3.6590737752020033, - "heading": -0.5218572570950982, - "angularVelocity": -0.6231254533932935, - "velocityX": 3.2684440863404247, - "velocityY": -1.8894176002318588, - "timestamp": 5.787423887803682 - }, - { - "x": 6.361376108177618, - "y": 3.567382557087351, - "heading": -0.5427117306077919, - "angularVelocity": -0.4619071305114704, - "velocityX": 3.401299923606018, - "velocityY": -2.0308749308228555, - "timestamp": 5.832572516467635 - }, - { - "x": 6.507947929927135, - "y": 3.4760151577839284, - "heading": -0.5427831848165636, - "angularVelocity": -0.001582644055571518, - "velocityX": 3.2464290962294933, - "velocityY": -2.0237026462859204, - "timestamp": 5.877721145131588 - }, - { - "x": 6.6463211946378555, - "y": 3.3875812634188556, - "heading": -0.534698863978506, - "angularVelocity": 0.1790601636703647, - "velocityX": 3.0648387072983203, - "velocityY": -1.9587282489418958, - "timestamp": 5.922869773795541 - }, - { - "x": 6.776622768824947, - "y": 3.302862133616632, - "heading": -0.521700730901354, - "angularVelocity": 0.28789652004494365, - "velocityX": 2.886058293308162, - "velocityY": -1.876449679851817, - "timestamp": 5.968018402459494 - }, - { - "x": 6.89901686051039, - "y": 3.222359316821217, - "heading": -0.5061679462193499, - "angularVelocity": 0.3440366881930766, - "velocityX": 2.710914933794278, - "velocityY": -1.783062280686494, - "timestamp": 6.013167031123447 - }, - { - "x": 7.013622482346868, - "y": 3.1463301942253588, - "heading": -0.4893367943437813, - "angularVelocity": 0.3727943101183834, - "velocityX": 2.5384075934953327, - "velocityY": -1.6839741282454515, - "timestamp": 6.0583156597874 - }, - { - "x": 7.120523712990641, - "y": 3.0749298812320114, - "heading": -0.47196849852807987, - "angularVelocity": 0.38469154722231624, - "velocityX": 2.367762516984804, - "velocityY": -1.5814503143559333, - "timestamp": 6.103464288451353 - }, - { - "x": 7.219782107188408, - "y": 3.0082617105937137, - "heading": -0.45458039412660683, - "angularVelocity": 0.3851302889151981, - "velocityX": 2.1984808206813833, - "velocityY": -1.476637776409936, - "timestamp": 6.148612917115306 - }, - { - "x": 7.31144440157125, - "y": 2.9463993226261698, - "heading": -0.4375474095126961, - "angularVelocity": 0.37726471695717073, - "velocityX": 2.030234297149889, - "velocityY": -1.3701941741795467, - "timestamp": 6.193761545779259 - }, - { - "x": 7.395547190220955, - "y": 2.8893977980972454, - "heading": -0.4211538577801982, - "angularVelocity": 0.36310187524225607, - "velocityX": 1.8627982983867202, - "velocityY": -1.2625305843327836, - "timestamp": 6.2389101744432125 - }, - { - "x": 7.4721198593185285, - "y": 2.837299860832983, - "heading": -0.4056227341196367, - "angularVelocity": 0.3439998981178628, - "velocityX": 1.696013176114673, - "velocityY": -1.1539207016016817, - "timestamp": 6.284058803107166 - }, - { - "x": 7.5411865040845045, - "y": 2.7901396012655577, - "heading": -0.391133578181217, - "angularVelocity": 0.32092128525682667, - "velocityX": 1.5297617404959938, - "velocityY": -1.0445557476052048, - "timestamp": 6.329207431771119 - }, - { - "x": 7.602767227934594, - "y": 2.7479448444943095, - "heading": -0.3778340057729661, - "angularVelocity": 0.294573119977587, - "velocityX": 1.3639555767782687, - "velocityY": -0.9345744936199416, - "timestamp": 6.374356060435072 - }, - { - "x": 7.656879051829462, - "y": 2.710738727067788, - "heading": -0.3658474980091209, - "angularVelocity": 0.265489963229258, - "velocityX": 1.1985264114582415, - "velocityY": -0.8240807866713209, - "timestamp": 6.419504689099025 - }, - { - "x": 7.703536568811032, - "y": 2.678540786924175, - "heading": -0.3552788592258075, - "angularVelocity": 0.23408548822105368, - "velocityX": 1.0334204684011108, - "velocityY": -0.7131543326214073, - "timestamp": 6.464653317762978 - }, - { - "x": 7.742752426663906, - "y": 2.6513677405946736, - "heading": -0.3462181593402915, - "angularVelocity": 0.20068604858311379, - "velocityX": 0.8685946619721995, - "velocityY": -0.601857623002333, - "timestamp": 6.509801946426931 - }, - { - "x": 7.774537691405202, - "y": 2.6292340521386404, - "heading": -0.33874365509732585, - "angularVelocity": 0.16555329506458233, - "velocityX": 0.7040139574975169, - "velocityY": -0.49024054796386757, - "timestamp": 6.554950575090884 - }, - { - "x": 7.798902126117998, - "y": 2.6121523590781006, - "heading": -0.3329240021089049, - "angularVelocity": 0.12889988379794173, - "velocityX": 0.5396494962038237, - "velocityY": -0.3783435636036944, - "timestamp": 6.600099203754837 - }, - { - "x": 7.815854408347504, - "y": 2.6001337975364263, - "heading": -0.32881996124668966, - "angularVelocity": 0.09090067591556648, - "velocityX": 0.3754772344401177, - "velocityY": -0.2661999245011564, - "timestamp": 6.64524783241879 - }, - { - "x": 7.825402302057902, - "y": 2.59318825469596, - "heading": -0.32648573615978776, - "angularVelocity": 0.051700907778946925, - "velocityX": 0.21147693723907554, - "velocityY": -0.15383729353472045, - "timestamp": 6.690396461082743 - }, - { - "x": 7.827552795410156, - "y": 2.5913245677948, - "heading": -0.3259700361708536, - "angularVelocity": 0.011422273592663115, - "velocityX": 0.04763142128324741, - "velocityY": -0.041278925989795955, - "timestamp": 6.735545089746696 - }, - { - "x": 7.822069428752838, - "y": 2.594710598177058, - "heading": -0.32737861700103194, - "angularVelocity": -0.0306167622746833, - "velocityX": -0.11918587120830748, - "velocityY": 0.07359839424721457, - "timestamp": 6.781551941076702 - }, - { - "x": 7.808905622815491, - "y": 2.6033747350422494, - "heading": -0.3306772931109868, - "angularVelocity": -0.07169967112708499, - "velocityX": -0.28612707796328773, - "velocityY": 0.18832275225800538, - "timestamp": 6.827558792406708 - }, - { - "x": 7.788055061124846, - "y": 2.617309131719567, - "heading": -0.3358172750234352, - "angularVelocity": -0.11172209711937646, - "velocityX": -0.4532055789057263, - "velocityY": 0.30287655587135187, - "timestamp": 6.873565643736714 - }, - { - "x": 7.759510705118672, - "y": 2.636504983937001, - "heading": -0.342744063189181, - "angularVelocity": -0.15055992673915827, - "velocityX": -0.6204370692839906, - "velocityY": 0.4172389907699501, - "timestamp": 6.91957249506672 - }, - { - "x": 7.72326466197336, - "y": 2.6609523431666986, - "heading": -0.35139631351611395, - "angularVelocity": -0.1880643877336843, - "velocityX": -0.7878401172320942, - "velocityY": 0.5313851855311155, - "timestamp": 6.9655793463967255 - }, - { - "x": 7.679308018584539, - "y": 2.6906398782697627, - "heading": -0.36170440326754993, - "angularVelocity": -0.22405553636990902, - "velocityX": -0.955436899463533, - "velocityY": 0.6452850878691229, - "timestamp": 7.011586197726731 - }, - { - "x": 7.627630630163133, - "y": 2.725554566258506, - "heading": -0.37358859107991954, - "angularVelocity": -0.25831343525606093, - "velocityX": -1.1232541877453202, - "velocityY": 0.7589019239395776, - "timestamp": 7.057593049056737 - }, - { - "x": 7.568220846867137, - "y": 2.7656812838051232, - "heading": -0.38695661518800695, - "angularVelocity": -0.2905659422810307, - "velocityX": -1.2913246957469655, - "velocityY": 0.8721900409743265, - "timestamp": 7.103599900386743 - }, - { - "x": 7.501065154089181, - "y": 2.8110022563599633, - "heading": -0.4017004947693149, - "angularVelocity": -0.320471389696928, - "velocityX": -1.4596889558089734, - "velocityY": 0.9850918122988714, - "timestamp": 7.149606751716749 - }, - { - "x": 7.426147689609661, - "y": 2.861496297172548, - "heading": -0.4176921686551944, - "angularVelocity": -0.34759331324742404, - "velocityX": -1.6283979953798158, - "velocityY": 1.097533070680981, - "timestamp": 7.195613603046755 - }, - { - "x": 7.343449580448931, - "y": 2.917137725930469, - "heading": -0.43477738131331084, - "angularVelocity": -0.37136235504498266, - "velocityX": -1.7975172560177677, - "velocityY": 1.209416144539127, - "timestamp": 7.24162045437676 - }, - { - "x": 7.252948007596266, - "y": 2.977894779342196, - "heading": -0.45276682225529813, - "angularVelocity": -0.3910165643144865, - "velocityX": -1.9671325082323114, - "velocityY": 1.3206088148897153, - "timestamp": 7.287627305706766 - }, - { - "x": 7.154614845503922, - "y": 3.043727177088802, - "heading": -0.4714227562781165, - "angularVelocity": -0.405503386636895, - "velocityX": -2.137359094344513, - "velocityY": 1.4309259565361523, - "timestamp": 7.333634157036772 - }, - { - "x": 7.04841461019935, - "y": 3.114582199536899, - "heading": -0.4904378133051287, - "angularVelocity": -0.41330924584726264, - "velocityX": -2.308356956288976, - "velocityY": 1.5400971898697202, - "timestamp": 7.379641008366778 - }, - { - "x": 6.9343012328079725, - "y": 3.190387943549397, - "heading": -0.5093991137790973, - "angularVelocity": -0.4121407991596717, - "velocityX": -2.4803561663641203, - "velocityY": 1.6477055443056625, - "timestamp": 7.425647859696784 - }, - { - "x": 6.812212749615798, - "y": 3.2710406909413905, - "heading": -0.5277221905562313, - "angularVelocity": -0.39826843714438165, - "velocityX": -2.6537022130994847, - "velocityY": 1.7530594913673245, - "timestamp": 7.4716547110267895 - }, - { - "x": 6.682062235596833, - "y": 3.3563782923203362, - "heading": -0.5445137705863606, - "angularVelocity": -0.3649799876476428, - "velocityX": -2.8289376529030164, - "velocityY": 1.8548889765748082, - "timestamp": 7.517661562356795 - }, - { - "x": 6.543723163720848, - "y": 3.446113567100561, - "heading": -0.5582298280400101, - "angularVelocity": -0.2981307578575669, - "velocityX": -3.0069232707033753, - "velocityY": 1.9504763352865513, - "timestamp": 7.563668413686801 - }, - { - "x": 6.397030763296862, - "y": 3.539617888497486, - "heading": -0.5655190195287833, - "angularVelocity": -0.1584370866090424, - "velocityX": -3.188490326620382, - "velocityY": 2.032399929441372, - "timestamp": 7.609675265016807 - }, - { - "x": 6.2419287062745346, - "y": 3.6358937730872856, - "heading": -0.5619188995991661, - "angularVelocity": 0.0782518217512324, - "velocityX": -3.3712817230152363, - "velocityY": 2.092642330578406, - "timestamp": 7.655682116346813 - }, - { - "x": 6.090348773822902, - "y": 3.727107885633491, - "heading": -0.5308075361092083, - "angularVelocity": 0.6762332694060575, - "velocityX": -3.2947252000436302, - "velocityY": 1.9826201948038515, - "timestamp": 7.7016889676768185 - }, - { - "x": 5.946065659540226, - "y": 3.8125483414547894, - "heading": -0.49704527154413336, - "angularVelocity": 0.7338529716564365, - "velocityX": -3.1361223407299907, - "velocityY": 1.8571246097334149, - "timestamp": 7.747695819006824 - }, - { - "x": 5.809507545742696, - "y": 3.892749574489272, - "heading": -0.46310867406144995, - "angularVelocity": 0.737642253308334, - "velocityX": -2.9682125563864465, - "velocityY": 1.7432454235827397, - "timestamp": 7.79370267033683 - }, - { - "x": 5.680813178762363, - "y": 3.9679262919736207, - "heading": -0.4299153775561693, - "angularVelocity": 0.7214859427607476, - "velocityX": -2.7972869966086495, - "velocityY": 1.6340330909652954, - "timestamp": 7.839709521666836 - }, - { - "x": 5.56005020100016, - "y": 4.0381934710868315, - "heading": -0.3979447837375598, - "angularVelocity": 0.6949094079333238, - "velocityX": -2.6248911688385825, - "velocityY": 1.5273198900134695, - "timestamp": 7.885716372996842 - }, - { - "x": 5.4472584959154355, - "y": 4.103622654657881, - "heading": -0.3674912635645668, - "angularVelocity": 0.6619344574257268, - "velocityX": -2.451628438461739, - "velocityY": 1.422161736340723, - "timestamp": 7.931723224326848 - }, - { - "x": 5.342464329843252, - "y": 4.164262637278229, - "heading": -0.33875359215790146, - "angularVelocity": 0.6246389521536867, - "velocityX": -2.2777947858352126, - "velocityY": 1.3180641766892147, - "timestamp": 7.977730075656853 - }, - { - "x": 5.245686300801653, - "y": 4.2201488242062295, - "heading": -0.3118746980426991, - "angularVelocity": 0.5842367677457507, - "velocityX": -2.103556888677577, - "velocityY": 1.214736181946669, - "timestamp": 8.02373692698686 - }, - { - "x": 5.156938267783512, - "y": 4.271308077231094, - "heading": -0.28696206619637044, - "angularVelocity": 0.5414983013645119, - "velocityX": -1.929017753933078, - "velocityY": 1.1119920521815345, - "timestamp": 8.069743778316866 - }, - { - "x": 5.076230957803232, - "y": 4.317761473916184, - "heading": -0.26409931203674286, - "angularVelocity": 0.4969423792041868, - "velocityX": -1.7542454579508007, - "velocityY": 1.0097060620793163, - "timestamp": 8.115750629646872 - }, - { - "x": 5.0035729200740136, - "y": 4.35952599392547, - "heading": -0.24335324999230393, - "angularVelocity": 0.45093418577217526, - "velocityX": -1.5792873371847216, - "velocityY": 0.9077891401371835, - "timestamp": 8.161757480976878 - }, - { - "x": 4.938971127875511, - "y": 4.396615607729094, - "heading": -0.22477846264386359, - "angularVelocity": 0.40373959120137515, - "velocityX": -1.4041776459579138, - "velocityY": 0.8061758788398916, - "timestamp": 8.207764332306883 - }, - { - "x": 4.882431376803787, - "y": 4.429042010943445, - "heading": -0.2084203898669403, - "angularVelocity": 0.3555573203561781, - "velocityX": -1.2289419822749028, - "velocityY": 0.7048168322095503, - "timestamp": 8.25377118363689 - }, - { - "x": 4.8339585587253, - "y": 4.4568151376932645, - "heading": -0.1943174944577601, - "angularVelocity": 0.30653902628587343, - "velocityX": -1.0535999895057664, - "velocityY": 0.6036737126521039, - "timestamp": 8.299778034966895 - }, - { - "x": 4.79355685638677, - "y": 4.479943530335828, - "heading": -0.18250282611154175, - "angularVelocity": 0.2568023675750131, - "velocityX": -0.878167081001256, - "velocityY": 0.5027162688588249, - "timestamp": 8.3457848862969 - }, - { - "x": 4.761229885455668, - "y": 4.498434612513383, - "heading": -0.1730051789726765, - "angularVelocity": 0.20643984242124874, - "velocityX": -0.7026555827353059, - "velocityY": 0.4019201845594302, - "timestamp": 8.391791737626907 - }, - { - "x": 4.736980800614418, - "y": 4.5122948951946675, - "heading": -0.1658499663057309, - "angularVelocity": 0.15552493726685634, - "velocityX": -0.5270755146296048, - "velocityY": 0.30126562198020357, - "timestamp": 8.437798588956912 - }, - { - "x": 4.720812376397654, - "y": 4.521530135059827, - "heading": -0.161059893011452, - "angularVelocity": 0.10411652081815516, - "velocityX": -0.3514351395358153, - "velocityY": 0.20073618598487517, - "timestamp": 8.483805440286918 - }, - { - "x": 4.712727069854736, - "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": 0.05226205644152036, - "velocityX": -0.1757413582799351, - "velocityY": 0.10031817062425848, - "timestamp": 8.529812291616924 - }, - { - "x": 4.712727069854736, - "y": 4.5261454582214355, - "heading": -0.1586554803505463, - "angularVelocity": -6.6468410327424846e-18, - "velocityX": 2.2493473916040235e-16, - "velocityY": -1.5298106734453157e-16, - "timestamp": 8.57581914294693 - }, - { - "x": 4.72045077398223, - "y": 4.5244610183766945, - "heading": -0.15944941733113985, - "angularVelocity": -0.018748183968093766, - "velocityX": 0.18238906794481874, - "velocityY": -0.039776693697766305, - "timestamp": 8.618166550138191 - }, - { - "x": 4.735910354028739, - "y": 4.521143101658935, - "heading": -0.1608651057344522, - "angularVelocity": -0.03343034431644016, - "velocityX": 0.36506556296790393, - "velocityY": -0.07834993776064617, - "timestamp": 8.660513957329453 - }, - { - "x": 4.759118611641173, - "y": 4.516248549328272, - "heading": -0.16271126185472826, - "angularVelocity": -0.043595493625807065, - "velocityX": 0.5480443585982796, - "velocityY": -0.11558092113070528, - "timestamp": 8.702861364520714 - }, - { - "x": 4.790088948611765, - "y": 4.509841137187418, - "heading": -0.16477409739799392, - "angularVelocity": -0.048712204125010684, - "velocityX": 0.7313396267855219, - "velocityY": -0.15130589015557797, - "timestamp": 8.745208771711976 - }, - { - "x": 4.828835291057528, - "y": 4.501992894903998, - "heading": -0.1668130381713082, - "angularVelocity": -0.0481479483290547, - "velocityX": 0.9149637490382099, - "velocityY": -0.18532993644624973, - "timestamp": 8.787556178903237 - }, - { - "x": 4.87537193800865, - "y": 4.492785773476231, - "heading": -0.16855526112385683, - "angularVelocity": -0.04114119536716668, - "velocityX": 1.0989255314012358, - "velocityY": -0.21741877575132304, - "timestamp": 8.829903586094499 - }, - { - "x": 4.929713285634422, - "y": 4.482313779678824, - "heading": -0.16968860525240181, - "angularVelocity": -0.026763011095963223, - "velocityX": 1.2832272677366428, - "velocityY": -0.24728772059432708, - "timestamp": 8.87225099328576 - }, - { - "x": 4.9918733447523085, - "y": 4.470685744570694, - "heading": -0.16985220386816807, - "angularVelocity": -0.003863249880384675, - "velocityX": 1.4678598582704596, - "velocityY": -0.2745867074131203, - "timestamp": 8.914598400477022 - }, - { - "x": 5.061860239489897, - "y": 4.457956483078146, - "heading": -0.1690686039874579, - "angularVelocity": 0.018504081658909106, - "velocityX": 1.6526842935505748, - "velocityY": -0.3005912837840728, - "timestamp": 8.956945807668284 - }, - { - "x": 5.139683075397797, - "y": 4.44419088673204, - "heading": -0.16736460937165645, - "angularVelocity": 0.040238463906547915, - "velocityX": 1.837723749093182, - "velocityY": -0.3250634987859916, - "timestamp": 8.999293214859545 - }, - { - "x": 5.225352067128327, - "y": 4.4294669770268476, - "heading": -0.16477252227366854, - "angularVelocity": 0.061210054402641684, - "velocityX": 2.0230044154441034, - "velocityY": -0.34769329887639594, - "timestamp": 9.041640622050807 - }, - { - "x": 5.3188786380327295, - "y": 4.413880308876193, - "heading": -0.16133199095048778, - "angularVelocity": 0.08124538316222467, - "velocityX": 2.2085548350573423, - "velocityY": -0.36806664644798187, - "timestamp": 9.083988029242068 - }, - { - "x": 5.420275415204868, - "y": 4.397550565857798, - "heading": -0.15709279816979846, - "angularVelocity": 0.10010513185714313, - "velocityX": 2.3944034333479354, - "velocityY": -0.38561376248237317, - "timestamp": 9.12633543643333 - }, - { - "x": 5.529555919371687, - "y": 4.380631876724543, - "heading": -0.15211926050700314, - "angularVelocity": 0.11744609629421822, - "velocityX": 2.580571312743078, - "velocityY": -0.39952125184055653, - "timestamp": 9.168682843624591 - }, - { - "x": 5.646729800789407, - "y": 4.363258643636462, - "heading": -0.14652467158334573, - "angularVelocity": 0.13211172288281026, - "velocityX": 2.766967075186142, - "velocityY": -0.41025494216481784, - "timestamp": 9.211030250815853 - }, - { - "x": 5.77179808676162, - "y": 4.345449809762651, - "heading": -0.1403026499775959, - "angularVelocity": 0.1469280416070862, - "velocityX": 2.953387096578184, - "velocityY": -0.42054130476934337, - "timestamp": 9.253377658007114 - }, - { - "x": 5.904762237152584, - "y": 4.327233906223978, - "heading": -0.1334434929698247, - "angularVelocity": 0.16197348226756733, - "velocityX": 3.1398415914918836, - "velocityY": -0.43015392787571727, - "timestamp": 9.295725065198376 - }, - { - "x": 6.045624470448817, - "y": 4.308658885987565, - "heading": -0.12593086247063645, - "angularVelocity": 0.17740473378352586, - "velocityX": 3.3263484741824163, - "velocityY": -0.4386341801876725, - "timestamp": 9.338072472389637 - }, - { - "x": 6.194388388895311, - "y": 4.289822212771214, - "heading": -0.11773157256969978, - "angularVelocity": 0.19361964391124953, - "velocityX": 3.512940420994469, - "velocityY": -0.44481290510363836, - "timestamp": 9.380419879580899 - }, - { - "x": 6.351057428461075, - "y": 4.2710290386378755, - "heading": -0.10874250542369378, - "angularVelocity": 0.2122695990667645, - "velocityX": 3.6996135054543466, - "velocityY": -0.4437857092043332, - "timestamp": 9.42276728677216 - }, - { - "x": 6.50282301849669, - "y": 4.258424259056123, - "heading": -0.09819003283415813, - "angularVelocity": 0.24918816261585086, - "velocityX": 3.583822484105557, - "velocityY": -0.29765174346620943, - "timestamp": 9.465114693963422 - }, - { - "x": 6.6467532626709165, - "y": 4.246885318860448, - "heading": -0.08804674661411169, - "angularVelocity": 0.23952555523020602, - "velocityX": 3.398797086304931, - "velocityY": -0.2724828026320343, - "timestamp": 9.507462101154683 - }, - { - "x": 6.782818544949954, - "y": 4.236161923798197, - "heading": -0.07839991101805843, - "angularVelocity": 0.22780227258031485, - "velocityX": 3.2130723296588584, - "velocityY": -0.25322435949429833, - "timestamp": 9.549809508345945 - }, - { - "x": 6.911010452447608, - "y": 4.226166800512976, - "heading": -0.06927977063447056, - "angularVelocity": 0.21536478827137961, - "velocityX": 3.027148909464, - "velocityY": -0.23602680655460856, - "timestamp": 9.592156915537206 - }, - { - "x": 7.031325084937798, - "y": 4.216855572328386, - "heading": -0.06070166548684633, - "angularVelocity": 0.20256506163131557, - "velocityX": 2.8411333885635854, - "velocityY": -0.2198771731769983, - "timestamp": 9.634504322728468 - }, - { - "x": 7.143760204697017, - "y": 4.20820137385873, - "heading": -0.05267486689432953, - "angularVelocity": 0.18954640023801078, - "velocityX": 2.6550650256203054, - "velocityY": -0.20436194429969154, - "timestamp": 9.67685172991973 - }, - { - "x": 7.248314363621348, - "y": 4.200186194442648, - "heading": -0.04520558147012243, - "angularVelocity": 0.17638117466016837, - "velocityX": 2.4689624668663797, - "velocityY": -0.1892720227210261, - "timestamp": 9.71919913711099 - }, - { - "x": 7.344986549087882, - "y": 4.192797119904222, - "heading": -0.03829825329920174, - "angularVelocity": 0.16311100558586486, - "velocityX": 2.28283599583599, - "velocityY": -0.17448705903182293, - "timestamp": 9.761546544302252 - }, - { - "x": 7.4337760136412285, - "y": 4.186024437482048, - "heading": -0.03195622007710045, - "angularVelocity": 0.14976201951296883, - "velocityX": 2.0966918742469876, - "velocityY": -0.1599314544001519, - "timestamp": 9.803893951493514 - }, - { - "x": 7.514682183099923, - "y": 4.179860576682016, - "heading": -0.026182079762754926, - "angularVelocity": 0.13635168472692413, - "velocityX": 1.9105341938240663, - "velocityY": -0.1455546209049743, - "timestamp": 9.846241358684775 - }, - { - "x": 7.587704602665072, - "y": 4.174299470931403, - "heading": -0.020977911619601226, - "angularVelocity": 0.12289224980526404, - "velocityX": 1.724365773690579, - "velocityY": -0.1313210446508697, - "timestamp": 9.888588765876037 - }, - { - "x": 7.65284290325018, - "y": 4.169336149938423, - "heading": -0.01634541745734586, - "angularVelocity": 0.10939262801457487, - "velocityX": 1.5381886378760474, - "velocityY": -0.11720483784435133, - "timestamp": 9.930936173067298 - }, - { - "x": 7.710096779371271, - "y": 4.1649664671710225, - "heading": -0.012286016139425288, - "angularVelocity": 0.09585950090371237, - "velocityX": 1.3520042883028007, - "velocityY": -0.10318654806100733, - "timestamp": 9.97328358025856 - }, - { - "x": 7.759465974032818, - "y": 4.1611869107555135, - "heading": -0.008800909228165892, - "angularVelocity": 0.0822979998638166, - "velocityX": 1.1658138699867133, - "velocityY": -0.08925118835347742, - "timestamp": 10.015630987449821 - }, - { - "x": 7.800950268047764, - "y": 4.157994468145469, - "heading": -0.005891128011754195, - "angularVelocity": 0.06871214578190664, - "velocityX": 0.9796182757443157, - "velocityY": -0.07538696750965443, - "timestamp": 10.057978394641083 - }, - { - "x": 7.834549472277904, - "y": 4.155386526717799, - "heading": -0.0035575680752161012, - "angularVelocity": 0.055105143179099966, - "velocityX": 0.7934182151551894, - "velocityY": -0.061584441661107416, - "timestamp": 10.100325801832344 - }, - { - "x": 7.860263421861004, - "y": 4.153360799115914, - "heading": -0.00180101527509397, - "angularVelocity": 0.041479583205382524, - "velocityX": 0.6072142614768032, - "velocityY": -0.0478359299008707, - "timestamp": 10.142673209023606 - }, - { - "x": 7.878091971827404, - "y": 4.15191526609013, - "heading": -0.0006221656198723453, - "angularVelocity": 0.027837587550457944, - "velocityX": 0.4210068844564231, - "velocityY": -0.03413510109970771, - "timestamp": 10.185020616214867 - }, - { - "x": 7.888034993711997, - "y": 4.15104813199311, - "heading": -0.000021640726833140938, - "angularVelocity": 0.014180912902812362, - "velocityX": 0.23479647383571572, - "velocityY": -0.020476675067826088, - "timestamp": 10.227368023406129 - }, - { - "x": 7.890092372894287, - "y": 4.150757789611816, - "heading": 2.985655027033241e-20, - "angularVelocity": 0.0005110283785593034, - "velocityX": 0.04858335654407801, - "velocityY": -0.006856202080605727, - "timestamp": 10.26971543059739 - }, - { - "x": 7.884089030051463, - "y": 4.151053781998558, - "heading": -0.0005722470658998936, - "angularVelocity": -0.013344129953205615, - "velocityX": -0.13999090921038085, - "velocityY": 0.006902195064321608, - "timestamp": 10.312599235529342 - }, - { - "x": 7.869999121571473, - "y": 4.151942789637054, - "heading": -0.0017380736763802918, - "angularVelocity": -0.02718570827216285, - "velocityX": -0.32856012898921155, - "velocityY": 0.020730614736915356, - "timestamp": 10.355483040461294 - }, - { - "x": 7.847822889491656, - "y": 4.153428152761437, - "heading": -0.0034968349733739213, - "angularVelocity": -0.04101224925783549, - "velocityX": -0.517123704741362, - "velocityY": 0.03463692474910159, - "timestamp": 10.398366845393246 - }, - { - "x": 7.817560606321279, - "y": 4.155513609226344, - "heading": -0.005847811800684315, - "angularVelocity": -0.0548220203650515, - "velocityX": -0.7056809258972377, - "velocityY": 0.04863039714445159, - "timestamp": 10.441250650325198 - }, - { - "x": 7.779212581155167, - "y": 4.1582033699664045, - "heading": -0.008790195887586437, - "angularVelocity": -0.06861294354759484, - "velocityX": -0.8942309393246004, - "velocityY": 0.0627220635932188, - "timestamp": 10.48413445525715 - }, - { - "x": 7.73277916753519, - "y": 4.161502214843388, - "heading": -0.01232307102083907, - "angularVelocity": -0.08238250171267587, - "velocityX": -1.082772708570428, - "velocityY": 0.07692519080845843, - "timestamp": 10.527018260189102 - }, - { - "x": 7.67826077373009, - "y": 4.16541561626476, - "heading": -0.01644538877252159, - "angularVelocity": -0.09612761176914611, - "velocityX": -1.2713049574684336, - "velocityY": 0.0912559281430923, - "timestamp": 10.569902065121054 - }, - { - "x": 7.615657876437083, - "y": 4.169949901416868, - "heading": -0.02115593667818573, - "angularVelocity": -0.109844448577704, - "velocityX": -1.4598260903467988, - "velocityY": 0.10573420803734028, - "timestamp": 10.612785870053006 - }, - { - "x": 7.544971039451351, - "y": 4.175112469466258, - "heading": -0.026453295686826896, - "angularVelocity": -0.12352819478231832, - "velocityX": -1.648334076183228, - "velocityY": 0.12038502781135295, - "timestamp": 10.655669674984958 - }, - { - "x": 7.466200939766659, - "y": 4.18091208916203, - "heading": -0.03233578193407697, - "angularVelocity": -0.13717267524615265, - "velocityX": -1.8368262753196516, - "velocityY": 0.13524032452285012, - "timestamp": 10.69855347991691 - }, - { - "x": 7.379348405188472, - "y": 4.187359317831372, - "heading": -0.038801364852270294, - "angularVelocity": -0.15076980525522016, - "velocityX": -2.0252991710041326, - "velocityY": 0.15034180571364475, - "timestamp": 10.741437284848862 - }, - { - "x": 7.28441447054349, - "y": 4.194467110684315, - "heading": -0.04584754817004653, - "angularVelocity": -0.16430872514593886, - "velocityX": -2.213747935744538, - "velocityY": 0.16574538719740164, - "timestamp": 10.784321089780814 - }, - { - "x": 7.181400465488679, - "y": 4.202251742297978, - "heading": -0.05347118997708733, - "angularVelocity": -0.17777437937556867, - "velocityX": -2.4021656944451006, - "velocityY": 0.18152847271868103, - "timestamp": 10.827204894712766 - }, - { - "x": 7.070308159489152, - "y": 4.210734269536476, - "heading": -0.06166821693371768, - "angularVelocity": -0.19114504810469354, - "velocityX": -2.5905421912958992, - "velocityY": 0.19780257959754488, - "timestamp": 10.870088699644718 - }, - { - "x": 6.951140018808493, - "y": 4.219943001908025, - "heading": -0.07043314105169518, - "angularVelocity": -0.20438774338903917, - "velocityX": -2.778861177774566, - "velocityY": 0.2147368309822492, - "timestamp": 10.91297250457667 - }, - { - "x": 6.823899707275857, - "y": 4.229918026482712, - "heading": -0.07975817249047097, - "angularVelocity": -0.21744878873441, - "velocityX": -2.9670947280573183, - "velocityY": 0.23260586579281498, - "timestamp": 10.955856309508622 - }, - { - "x": 6.688593200567035, - "y": 4.2407204821859406, - "heading": -0.08963139398277363, - "angularVelocity": -0.23023193739383377, - "velocityX": -3.1551889325941507, - "velocityY": 0.2519005885874673, - "timestamp": 10.998740114440574 - }, - { - "x": 6.545231817237749, - "y": 4.2524550209975365, - "heading": -0.10003231048787421, - "angularVelocity": -0.24253716575767104, - "velocityX": -3.343019201695615, - "velocityY": 0.27363567272578576, - "timestamp": 11.041623919372526 - }, - { - "x": 6.393843872443514, - "y": 4.265341711205096, - "heading": -0.11091742862318123, - "angularVelocity": -0.2538281794859249, - "velocityX": -3.530189194602847, - "velocityY": 0.3005024910454526, - "timestamp": 11.084507724304478 - }, - { - "x": 6.2345739245631915, - "y": 4.2801353725847004, - "heading": -0.12213341695497802, - "angularVelocity": -0.26154368413890033, - "velocityX": -3.7139882557774366, - "velocityY": 0.34497082064147744, - "timestamp": 11.12739152923643 - }, - { - "x": 6.082279699737155, - "y": 4.29904771288146, - "heading": -0.131999926485477, - "angularVelocity": -0.23007542232213404, - "velocityX": -3.5513225812797105, - "velocityY": 0.441013579060209, - "timestamp": 11.170275334168382 - }, - { - "x": 5.9380829445000805, - "y": 4.318353665099193, - "heading": -0.14108905245486633, - "angularVelocity": -0.21194775006116728, - "velocityX": -3.3624990941425232, - "velocityY": 0.4501921470906458, - "timestamp": 11.213159139100334 - }, - { - "x": 5.801993742650727, - "y": 4.337633718669649, - "heading": -0.14947757080505192, - "angularVelocity": -0.1956104026565831, - "velocityX": -3.1734404646532055, - "velocityY": 0.4495882210323852, - "timestamp": 11.256042944032286 - }, - { - "x": 5.674010241786849, - "y": 4.356729470685759, - "heading": -0.15719498966904102, - "angularVelocity": -0.17996115028120813, - "velocityX": -2.9844250310102183, - "velocityY": 0.4452905250924069, - "timestamp": 11.298926748964238 - }, - { - "x": 5.554130228291056, - "y": 4.375557803560313, - "heading": -0.1642568809569973, - "angularVelocity": -0.16467501657471875, - "velocityX": -2.795461216326708, - "velocityY": 0.4390546245705114, - "timestamp": 11.34181055389619 - }, - { - "x": 5.442351912305196, - "y": 4.394067512382829, - "heading": -0.1706728113794374, - "angularVelocity": -0.14961196732941112, - "velocityX": -2.60653913903462, - "velocityY": 0.43162468563335016, - "timestamp": 11.384694358828142 - }, - { - "x": 5.338665287700869, - "y": 4.412086410331256, - "heading": -0.17624795050420117, - "angularVelocity": -0.1300057010708435, - "velocityX": -2.4178503929130177, - "velocityY": 0.4201795520947631, - "timestamp": 11.427578163760094 - }, - { - "x": 5.2430532520076225, - "y": 4.429401007948697, - "heading": -0.18083314773923911, - "angularVelocity": -0.10692141805778863, - "velocityX": -2.229560456329923, - "velocityY": 0.4037560949854083, - "timestamp": 11.470461968692046 - }, - { - "x": 5.155498932546095, - "y": 4.445849700284375, - "heading": -0.18431556778523087, - "angularVelocity": -0.08120594829487801, - "velocityX": -2.041663970826697, - "velocityY": 0.3835642000932039, - "timestamp": 11.513345773623998 - }, - { - "x": 5.075986755055919, - "y": 4.461306054969781, - "heading": -0.1866069605810815, - "angularVelocity": -0.05343259068281342, - "velocityX": -1.8541306587963866, - "velocityY": 0.3604240507560462, - "timestamp": 11.55622957855595 - }, - { - "x": 5.004502693639158, - "y": 4.475668530318664, - "heading": -0.1876364643459641, - "angularVelocity": -0.024006819509514086, - "velocityX": -1.666924414244258, - "velocityY": 0.33491606847089855, - "timestamp": 11.599113383487902 - }, - { - "x": 4.941034226763125, - "y": 4.488853822479007, - "heading": -0.18734595892691064, - "angularVelocity": 0.006774245417691704, - "velocityX": -1.4800101571384419, - "velocityY": 0.3074655381271679, - "timestamp": 11.641997188419854 - }, - { - "x": 4.885570195844111, - "y": 4.500792376748957, - "heading": -0.18568694748911416, - "angularVelocity": 0.03868619961379329, - "velocityX": -1.2933561051082938, - "velocityY": 0.2783930737697567, - "timestamp": 11.684880993351806 - }, - { - "x": 4.8380932102020315, - "y": 4.511348282473736, - "heading": -0.18310148046602473, - "angularVelocity": 0.06029005651881899, - "velocityX": -1.1071075833269828, - "velocityY": 0.24615133245590312, - "timestamp": 11.727764798283758 - }, - { - "x": 4.79858234023127, - "y": 4.5203886369650235, - "heading": -0.18006536822705313, - "angularVelocity": 0.0707985740488572, - "velocityX": -0.9213471153843916, - "velocityY": 0.21081045643298443, - "timestamp": 11.77064860321571 - }, - { - "x": 4.767015877665549, - "y": 4.527798628484294, - "heading": -0.1769910620286464, - "angularVelocity": 0.07168921235615648, - "velocityX": -0.7360928587332712, - "velocityY": 0.17279230541760152, - "timestamp": 11.813532408147662 - }, - { - "x": 4.743372122504489, - "y": 4.533478204796791, - "heading": -0.17423985797249714, - "angularVelocity": 0.06415484961082249, - "velocityX": -0.551344620622574, - "velocityY": 0.13244105371501808, - "timestamp": 11.856416213079614 - }, - { - "x": 4.727629840983246, - "y": 4.537339486129321, - "heading": -0.1721310867927095, - "angularVelocity": 0.049174068931938486, - "velocityX": -0.36709152898681663, - "velocityY": 0.09004054884254221, - "timestamp": 11.899300018011566 - }, - { - "x": 4.719768524169922, - "y": 4.539304733276367, - "heading": -0.170949175012647, - "angularVelocity": 0.02756079554829456, - "velocityX": -0.1833166815724163, - "velocityY": 0.04582725693684693, - "timestamp": 11.942183822943518 - }, - { - "x": 4.719768524169922, - "y": 4.539304733276367, - "heading": -0.170949175012647, - "angularVelocity": -1.0320000993069882e-19, - "velocityX": -1.034677306083588e-18, - "velocityY": -2.6376939008839734e-19, - "timestamp": 11.98506762787547 - } - ] + "samples": [ + { + "x": 0.7778744697570801, + "y": 4.333664894104004, + "heading": -1.051650156247713, + "angularVelocity": -5.636129343676144e-20, + "velocityX": -1.5582516804955846e-19, + "velocityY": -1.233474018766279e-19, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.7895452521522209, + "y": 4.326271706184473, + "heading": -1.0450525918907192, + "angularVelocity": 0.10860764414662394, + "velocityX": 0.19212183658965779, + "velocityY": -0.12170502313059048, + "moduleForcesX": [ + 65.06383099029837, + 60.906607266744466, + 56.3319330950316, + 52.01323971713489 + ], + "moduleForcesY": [ + -25.71732033864186, + -34.44361073075982, + -41.475415745609055, + -46.7975187530415 + ], + "timestamp": 0.06074677716134803 + }, + { + "x": 0.812891040884265, + "y": 4.311485642995027, + "heading": -1.0319614680992248, + "angularVelocity": 0.21550318227950277, + "velocityX": 0.38431320677368613, + "velocityY": -0.2434048994924028, + "moduleForcesX": [ + 64.97080534520987, + 60.951662581783964, + 56.28614472291954, + 52.19180297323933 + ], + "moduleForcesY": [ + -25.942901335843057, + -34.358458408204996, + -41.53202089319371, + -46.59420782929671 + ], + "timestamp": 0.12149355432269605 + }, + { + "x": 0.8479163410713284, + "y": 4.289307010011541, + "heading": -1.0124901254227336, + "angularVelocity": 0.3205329333731382, + "velocityX": 0.5765787392149813, + "velocityY": -0.3650997471780042, + "moduleForcesX": [ + 64.86126439569931, + 61.02328105292509, + 56.19999670140154, + 52.406323236350914 + ], + "moduleForcesY": [ + -26.205865141072746, + -34.224961707159885, + -41.642410823466925, + -46.348217721367696 + ], + "timestamp": 0.1822403314840441 + }, + { + "x": 0.89462603889228, + "y": 4.259736097975707, + "heading": -0.9867650702973968, + "angularVelocity": 0.42348016351565526, + "velocityX": 0.7689247068513118, + "velocityY": -0.4867898087381881, + "moduleForcesX": [ + 64.73067218370694, + 61.11706368178447, + 56.082381085599536, + 52.65884879811182 + ], + "moduleForcesY": [ + -26.515734115300113, + -34.05011315200466, + -41.79386284871882, + -46.055908023341814 + ], + "timestamp": 0.2429871086453921 + }, + { + "x": 0.953025517326669, + "y": 4.2227731651890155, + "heading": -0.9549309751434943, + "angularVelocity": 0.5240458282971734, + "velocityX": 0.9613592879055225, + "velocityY": -0.6084756181964223, + "moduleForcesX": [ + 64.57325982367182, + 61.227498456031874, + 55.944316274286756, + 52.95196588119314 + ], + "moduleForcesY": [ + -26.88414387827563, + -33.84283883946265, + -41.9708347598879, + -45.71261471367435 + ], + "timestamp": 0.30373388580674016 + }, + { + "x": 1.023120786856791, + "y": 4.178418402152836, + "heading": -0.9171572799850713, + "angularVelocity": 0.6218222089065436, + "velocityX": 1.1538928121889291, + "velocityY": -0.7301582916632786, + "moduleForcesX": [ + 64.38187670480939, + 61.34764033918663, + 55.799516599457185, + 53.28867992093736 + ], + "moduleForcesY": [ + -27.324742826425798, + -33.614752605263604, + -42.15445916906758, + -45.31265287311907 + ], + "timestamp": 0.3644806629680882 + }, + { + "x": 1.1049186274470617, + "y": 4.126671872057348, + "heading": -0.873646939244105, + "angularVelocity": 0.7162575987430515, + "velocityX": 1.346537946745875, + "velocityY": -0.8518399249073805, + "moduleForcesX": [ + 64.1478028196942, + 61.468621723586494, + 55.665083076725416, + 53.67232805267827 + ], + "moduleForcesY": [ + -27.853017238524256, + -33.3812445308963, + -42.3218302773256, + -44.84924675078015 + ], + "timestamp": 0.4252274401294362 + }, + { + "x": 1.1984267341731174, + "y": 4.067533424655495, + "heading": -0.824648035993807, + "angularVelocity": 0.8066090999388039, + "velocityX": 1.539309755934722, + "velocityY": -0.9735240314852686, + "moduleForcesX": [ + 63.8605162741697, + 61.57887433379153, + 55.56236960606459, + 54.1065703578737 + ], + "moduleForcesY": [ + -28.48601435609894, + -33.16309981350497, + -42.44492962580768, + -44.31431152916742 + ], + "timestamp": 0.4859742172907842 + }, + { + "x": 1.3036538534859086, + "y": 4.001002590651008, + "heading": -0.7704693310933457, + "angularVelocity": 0.8918778482117411, + "velocityX": 1.7322255472631922, + "velocityY": -1.095215863514464, + "moduleForcesX": [ + 63.50739782955684, + 61.66282895640172, + 55.518158163313615, + 54.59554910231365 + ], + "moduleForcesY": [ + -29.24196295284344, + -32.9890092589466, + -42.488870027426124, + -43.69793519935049 + ], + "timestamp": 0.5467209944521323 + }, + { + "x": 1.420609888323638, + "y": 3.9270784831952756, + "heading": -0.7115015548767949, + "angularVelocity": 0.9707144802090146, + "velocityX": 1.925304358568446, + "velocityY": -1.216922294649221, + "moduleForcesX": [ + 63.073315620909774, + 61.698608578825045, + 55.56643922813387, + 55.144393028054715 + ], + "moduleForcesY": [ + -30.139867136621483, + -32.89967785549446, + -42.40879677377493, + -42.98724103203216 + ], + "timestamp": 0.6074677716134803 + }, + { + "x": 1.549305929784203, + "y": 3.845759771334139, + "heading": -0.6482479021390049, + "angularVelocity": 1.0412676308700886, + "velocityX": 2.1185657490723906, + "velocityY": -1.338650635656737, + "moduleForcesX": [ + 62.539923460384564, + 61.65364147525013, + 55.75142545651446, + 55.76044328396493 + ], + "moduleForcesY": [ + -31.19933132427257, + -32.955006820356004, + -42.14405313430009, + -42.16391323535469 + ], + "timestamp": 0.6682145487748283 + }, + { + "x": 1.6897541099219289, + "y": 3.7570448709667494, + "heading": -0.5813709766950805, + "angularVelocity": 1.1009131441869606, + "velocityX": 2.312026854769351, + "velocityY": -1.4604050537817976, + "moduleForcesX": [ + 61.88420903341154, + 61.475608657814256, + 56.133115918467446, + 56.45607668593568 + ], + "moduleForcesY": [ + -32.44129101146052, + -33.24767092959366, + -41.606512702494356, + -41.1986340416764 + ], + "timestamp": 0.7289613259361764 + }, + { + "x": 1.8419669511597132, + "y": 3.6609326997604614, + "heading": -0.5117725030101681, + "angularVelocity": 1.145714668945378, + "velocityX": 2.5056941018203385, + "velocityY": -1.582177289027317, + "moduleForcesX": [ + 61.07501738915023, + 61.071790321814795, + 56.798209973922155, + 57.255406703969186 + ], + "moduleForcesY": [ + -33.891307938815935, + -33.931276678048704, + -40.65560929631092, + -40.03764488634434 + ], + "timestamp": 0.7897081030975244 + }, + { + "x": 2.0059550611467434, + "y": 3.557424966823023, + "heading": -0.4407458962436112, + "angularVelocity": 1.1692242796338779, + "velocityX": 2.6995359696443733, + "velocityY": -1.7039213893193699, + "moduleForcesX": [ + 60.06391562765075, + 60.2553534688524, + 57.88240967857871, + 58.211716579845955 + ], + "moduleForcesY": [ + -35.589653551995454, + -35.28568480691761, + -39.04000192025351, + -38.566184571815135 + ], + "timestamp": 0.8504548802588724 + }, + { + "x": 2.181718451496118, + "y": 3.446533493890028, + "heading": -0.37031453022930083, + "angularVelocity": 1.159425558120382, + "velocityX": 2.8933780286406527, + "velocityY": -1.8254708828166932, + "moduleForcesX": [ + 58.75896628533793, + 58.57779198874031, + 59.61638310709172, + 59.460487131227445 + ], + "moduleForcesY": [ + -37.62021543413481, + -37.8914092227543, + -36.24409731253385, + -36.48845656614379 + ], + "timestamp": 0.9112016574202204 + }, + { + "x": 2.3692072132515976, + "y": 3.3283109625607157, + "heading": -0.3041558144467885, + "angularVelocity": 1.0890901357085954, + "velocityX": 3.0863984974461345, + "velocityY": -1.9461531434878288, + "moduleForcesX": [ + 56.93835584644663, + 54.64324099612931, + 62.40530836687403, + 61.42469557396897 + ], + "moduleForcesY": [ + -40.19943588591799, + -43.18365028431357, + -31.01488653473848, + -32.78851143617189 + ], + "timestamp": 0.9719484345815684 + }, + { + "x": 2.56806447073906, + "y": 3.2031059904962547, + "heading": -0.2513338119549388, + "angularVelocity": 0.8695441134523151, + "velocityX": 3.273544157894707, + "velocityY": -2.0610965373834955, + "moduleForcesX": [ + 53.88336419615082, + 41.809191119167274, + 66.69854625720048, + 65.85546615427828 + ], + "moduleForcesY": [ + -44.010821811647745, + -55.34450268010527, + -19.634216069923124, + -21.19770757793386 + ], + "timestamp": 1.0326952117429165 + }, + { + "x": 2.776792495396947, + "y": 3.0728016301437586, + "heading": -0.23024910209459595, + "angularVelocity": 0.34709182685264595, + "velocityX": 3.4360345422686316, + "velocityY": -2.145041538687696, + "moduleForcesX": [ + 50.13974894181501, + 14.462070724025372, + 68.87486756491161, + 64.69981567644771 + ], + "moduleForcesY": [ + -47.70818593784217, + -67.04398929850127, + -5.497361173032204, + 17.868544087245013 + ], + "timestamp": 1.0934419889042646 + }, + { + "x": 2.991386265300539, + "y": 2.93826565209188, + "heading": -0.23011827872356835, + "angularVelocity": 0.0021535853775438334, + "velocityX": 3.532595142185318, + "velocityY": -2.214701492632949, + "moduleForcesX": [ + 35.48252383687913, + 9.774963698526314, + 47.16159141172256, + 25.3481482265981 + ], + "moduleForcesY": [ + -36.0500079299969, + -40.12544174173949, + -7.927697970329668, + -0.8555169505330844 + ], + "timestamp": 1.1541887660656127 + }, + { + "x": 3.205905990741616, + "y": 2.803602144884387, + "heading": -0.2300007247531307, + "angularVelocity": 0.0019351474420683024, + "velocityX": 3.5313762386323164, + "velocityY": -2.2168008493655034, + "moduleForcesX": [ + -0.3647413828336435, + -0.3828932952888559, + -0.360410692437786, + -0.3785536331016633 + ], + "moduleForcesY": [ + -0.6515095237983872, + -0.6472507026375742, + -0.6329625479827293, + -0.6286944294381447 + ], + "timestamp": 1.2149355432269608 + }, + { + "x": 3.4204616055120933, + "y": 2.668995655584455, + "heading": -0.22988334708765484, + "angularVelocity": 0.0019322451488097425, + "velocityX": 3.531967040829198, + "velocityY": -2.2158622331915043, + "moduleForcesX": [ + 0.1802303545562368, + 0.17998910216157288, + 0.18028797437995087, + 0.18004667269776484 + ], + "moduleForcesY": [ + 0.2860372087685171, + 0.28609395913281965, + 0.28628349383473545, + 0.2863402826996723 + ], + "timestamp": 1.275682320388309 + }, + { + "x": 3.6350877550593124, + "y": 2.5345014913633266, + "heading": -0.2297661360926154, + "angularVelocity": 0.0019295014569767248, + "velocityX": 3.533128168711827, + "velocityY": -2.214013162606174, + "moduleForcesX": [ + 0.3541204299468525, + 0.3538924274182181, + 0.35417489682972425, + 0.353946893366516 + ], + "moduleForcesY": [ + 0.5636476246937862, + 0.5637010038192122, + 0.5638806174778863, + 0.5639339973063658 + ], + "timestamp": 1.336429097549657 + }, + { + "x": 3.8498016257634333, + "y": 2.40014724328459, + "heading": -0.22964908843403078, + "angularVelocity": 0.0019268126484094804, + "velocityX": 3.534572214980632, + "velocityY": -2.2117098940390147, + "moduleForcesX": [ + 0.44038193061858183, + 0.44015848607666647, + 0.44043528163177037, + 0.4402118371108819 + ], + "moduleForcesY": [ + 0.7021377248705836, + 0.702189994834005, + 0.7023660705559374, + 0.7024183406169506 + ], + "timestamp": 1.3971758747110052 + }, + { + "x": 4.064620497965347, + "y": 2.2659607740855487, + "heading": -0.22953219618387868, + "angularVelocity": 0.0019242543491917005, + "velocityX": 3.536300726396375, + "velocityY": -2.2089479552574667, + "moduleForcesX": [ + 0.5271126607796838, + 0.5269000512450652, + 0.5271633904757267, + 0.5269507809884488 + ], + "moduleForcesY": [ + 0.841995373042479, + 0.842045083501318, + 0.8422126375834696, + 0.8422623480625643 + ], + "timestamp": 1.4579226518723534 + }, + { + "x": 4.279571980781838, + "y": 2.131986668853432, + "heading": -0.22941542627904893, + "angularVelocity": 0.0019222403275750088, + "velocityX": 3.5384837329816343, + "velocityY": -2.2054520666383897, + "moduleForcesX": [ + 0.6656732835619963, + 0.6655059081112186, + 0.6657132054858567, + 0.6655458299212555 + ], + "moduleForcesY": [ + 1.0658087339094262, + 1.0658478402812293, + 1.0659797867298646, + 1.0660188932106331 + ], + "timestamp": 1.5186694290337015 + }, + { + "x": 4.494714183162186, + "y": 1.9983189110767354, + "heading": -0.22929865369908023, + "angularVelocity": 0.0019222843651201956, + "velocityX": 3.5416233162281934, + "velocityY": -2.2004090426339027, + "moduleForcesX": [ + 0.9572730406663411, + 0.9572768008568153, + 0.9572722695664473, + 0.9572760277720431 + ], + "moduleForcesY": [ + 1.5376453830506829, + 1.5376444223111616, + 1.537641738873583, + 1.5376407812414081 + ], + "timestamp": 1.5794162061950496 + }, + { + "x": 4.71019887758486, + "y": 1.8652039603913078, + "heading": -0.22918153091443694, + "angularVelocity": 0.0019280493569589878, + "velocityX": 3.5472613444221155, + "velocityY": -2.1913088546551935, + "moduleForcesX": [ + 1.7188793874875354, + 1.719359415619067, + 1.7187662214033244, + 1.7192462384107166 + ], + "moduleForcesY": [ + 2.7749933426026514, + 2.7748805191802095, + 2.774504552189087, + 2.7743917462893752 + ], + "timestamp": 1.6401629833563978 + }, + { + "x": 4.92650138679515, + "y": 1.7334222858901553, + "heading": -0.22906346790995682, + "angularVelocity": 0.0019435270478060595, + "velocityX": 3.560724030441544, + "velocityY": -2.169360757215648, + "moduleForcesX": [ + 4.104337817632307, + 4.1056353424154866, + 4.104044418966293, + 4.105341913227292 + ], + "moduleForcesY": [ + 6.692892366388001, + 6.692579450907831, + 6.691588497617617, + 6.691275625669315 + ], + "timestamp": 1.700909760517746 + }, + { + "x": 5.145161278779899, + "y": 1.6055908082372623, + "heading": -0.2289442218006309, + "angularVelocity": 0.0019630030579103593, + "velocityX": 3.5995307438939776, + "velocityY": -2.104333491032175, + "moduleForcesX": [ + 11.831612713907242, + 11.8333544410758, + 11.831365177094387, + 11.833106828011122 + ], + "moduleForcesY": [ + 19.82816100572495, + 19.827647282843774, + 19.826625940767062, + 19.82611227641246 + ], + "timestamp": 1.761656537679094 + }, + { + "x": 5.368528361022339, + "y": 1.4861879944086693, + "heading": -0.22880566280067124, + "angularVelocity": 0.002280927588826869, + "velocityX": 3.677019468031377, + "velocityY": -1.9655826927484585, + "moduleForcesX": [ + 23.607169766202997, + 23.643051115735936, + 23.610334986161725, + 23.646232477923206 + ], + "moduleForcesY": [ + 42.32247409358339, + 42.306957963344956, + 42.30466302220125, + 42.28913671637425 + ], + "timestamp": 1.8224033148404422 + }, + { + "x": 5.594731686092125, + "y": 1.3785349172133332, + "heading": -0.22009594070269464, + "angularVelocity": 0.14337751737582632, + "velocityX": 3.7237090696840376, + "velocityY": -1.7721611289665864, + "moduleForcesX": [ + 5.632676306893634, + 23.272475780054876, + 2.133790943178929, + 25.90462328184544 + ], + "moduleForcesY": [ + 62.68657116371662, + 58.50764797880355, + 60.22050628743225, + 54.48605875998542 + ], + "timestamp": 1.8831500920017903 + }, + { + "x": 5.811700270843849, + "y": 1.2789932107204633, + "heading": -0.18966001704681176, + "angularVelocity": 0.501029438566638, + "velocityX": 3.571688818576141, + "velocityY": -1.6386335398251601, + "moduleForcesX": [ + -45.47229731946414, + -11.71237755344669, + -66.79574430311527, + -61.42650106553785 + ], + "moduleForcesY": [ + 52.14690830101219, + 67.76050075721076, + 17.18007794174655, + 25.765415094116992 + ], + "timestamp": 1.9438968691631384 + }, + { + "x": 6.017543917452549, + "y": 1.1876317750398822, + "heading": -0.15569629293190923, + "angularVelocity": 0.5591033088832403, + "velocityX": 3.388552549248239, + "velocityY": -1.503971732326116, + "moduleForcesX": [ + -54.81468001399278, + -51.658084594042855, + -59.56321925617317, + -57.32065074966512 + ], + "moduleForcesY": [ + 42.780122935166744, + 46.45495405516455, + 35.81946271588509, + 39.181677643796895 + ], + "timestamp": 2.0046436463244866 + }, + { + "x": 6.211942565175739, + "y": 1.1041217629558815, + "heading": -0.12304603883396573, + "angularVelocity": 0.5374812561861837, + "velocityX": 3.2001475108194115, + "velocityY": -1.3747233349053536, + "moduleForcesX": [ + -57.92715212818352, + -58.820452124508435, + -56.00745810672458, + -57.02746778710766 + ], + "moduleForcesY": [ + 38.72010778305741, + 37.37801384794724, + 41.46261932813739, + 40.07317384693905 + ], + "timestamp": 2.0653904234858347 + }, + { + "x": 6.394789020912434, + "y": 1.028283965831958, + "heading": -0.09386899293523893, + "angularVelocity": 0.480306071567062, + "velocityX": 3.0099778832882285, + "velocityY": -1.2484250303928455, + "moduleForcesX": [ + -59.327514413157495, + -61.42662504368416, + -54.103418987470455, + -57.077099649476985 + ], + "moduleForcesY": [ + 36.68618057244426, + 33.11752278725613, + 44.05739658506381, + 40.17482290590488 + ], + "timestamp": 2.126137200647183 + }, + { + "x": 6.566031739545335, + "y": 0.9600073380049856, + "heading": -0.06937584491116108, + "angularVelocity": 0.4032007814838012, + "velocityX": 2.818959731444955, + "velocityY": -1.1239547350079944, + "moduleForcesX": [ + -60.069861133004025, + -62.755626355458325, + -52.94386192768173, + -57.20018579637284 + ], + "moduleForcesY": [ + 35.55280016743487, + 30.641261053354217, + 45.52312125813877, + 40.08926410090019 + ], + "timestamp": 2.186883977808531 + }, + { + "x": 6.7256405364909, + "y": 0.8992162670770024, + "heading": -0.050336154380360036, + "angularVelocity": 0.31342717129223496, + "velocityX": 2.627444687668485, + "velocityY": -1.0007291541824086, + "moduleForcesX": [ + -60.514108020382636, + -63.55919989055135, + -52.17488419770267, + -57.32736238325528 + ], + "moduleForcesY": [ + 34.857620800360785, + 29.015458713004353, + 46.452879033269035, + 39.96240941319886 + ], + "timestamp": 2.247630754969879 + }, + { + "x": 6.8735954827732435, + "y": 0.8458557867676733, + "heading": -0.037281475042651085, + "angularVelocity": 0.21490324174786649, + "velocityX": 2.435601577502042, + "velocityY": -0.8784084160975282, + "moduleForcesX": [ + -60.81661226763178, + -64.09392641923661, + -51.633594168919544, + -57.431537926903395 + ], + "moduleForcesY": [ + 34.3760487823041, + 27.870213929210905, + 47.088629847300666, + 39.84991120720424 + ], + "timestamp": 2.308377532131227 + }, + { + "x": 7.009882359933434, + "y": 0.7998839582088394, + "heading": -0.030602705565700654, + "angularVelocity": 0.10994442485748854, + "velocityX": 2.243524406211743, + "velocityY": -0.7567780663775663, + "moduleForcesX": [ + -61.05696181241652, + -64.46983794382274, + -51.23488773203071, + -57.499448893944944 + ], + "moduleForcesY": [ + 33.98499540836244, + 27.031497080754345, + 47.547504312795716, + 39.778795590114406 + ], + "timestamp": 2.3691243092925753 + }, + { + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.030602705565700654, + "angularVelocity": 6.143954003131083e-21, + "velocityX": 2.051271455855403, + "velocityY": -0.6356948824992158, + "moduleForcesX": [ + -61.28015029894974, + -64.74142483243833, + -50.93042154844376, + -57.523523345616425 + ], + "moduleForcesY": [ + 33.61090134188054, + 26.407585160685315, + 47.892692401928606, + 39.76427915006603 + ], + "timestamp": 2.4298710864539235 + }, + { + "x": 7.158249428727272, + "y": 0.7540454598560935, + "heading": -0.030602705565700654, + "angularVelocity": -1.5754196961660743e-21, + "velocityX": 2.013749496696474, + "velocityY": -0.6121260766027945, + "moduleForcesX": [ + -58.90493187982339, + -58.90493187982338, + -58.90493187982338, + -58.90493187982338 + ], + "moduleForcesY": [ + 37.00017101817802, + 37.00017101817802, + 37.00017101817802, + 37.00017101817802 + ], + "timestamp": 2.441669445091148 + }, + { + "x": 7.181568383197075, + "y": 0.7471058631440713, + "heading": -0.030602705565700654, + "angularVelocity": -1.5755174275361838e-21, + "velocityX": 1.9764575045406818, + "velocityY": -0.5881832317020187, + "moduleForcesX": [ + -58.54391153445607, + -58.543911534456065, + -58.54391153445607, + -58.54391153445607 + ], + "moduleForcesY": [ + 37.58736695798949, + 37.587366957989495, + 37.58736695798948, + 37.58736695798949 + ], + "timestamp": 2.4534678037283726 + }, + { + "x": 7.204449987018278, + "y": 0.740452945344923, + "heading": -0.030602705565700654, + "angularVelocity": -1.5756212306779695e-21, + "velocityX": 1.9393887340405216, + "velocityY": -0.5638850287325661, + "moduleForcesX": [ + -58.193480567794914, + -58.193480567794914, + -58.193480567794914, + -58.193480567794914 + ], + "moduleForcesY": [ + 38.14523609109384, + 38.14523609109384, + 38.14523609109384, + 38.14523609109384 + ], + "timestamp": 2.465266162365597 + }, + { + "x": 7.226896796171415, + "y": 0.73409069354206, + "heading": -0.030602705565700654, + "angularVelocity": -1.5757234420744785e-21, + "velocityX": 1.902536602194502, + "velocityY": -0.5392488903320608, + "moduleForcesX": [ + -57.853384116257146, + -57.853384116257146, + -57.853384116257146, + -57.85338411625714 + ], + "moduleForcesY": [ + 38.675753793050916, + 38.67575379305091, + 38.675753793050916, + 38.67575379305091 + ], + "timestamp": 2.4770645210028217 + }, + { + "x": 7.248911291022215, + "y": 0.7280229029091462, + "heading": -0.030602705565700654, + "angularVelocity": -1.5758268601764534e-21, + "velocityX": 1.8658947000765984, + "velocityY": -0.514291082301043, + "moduleForcesX": [ + -57.52334890244216, + -57.52334890244216, + -57.52334890244216, + -57.52334890244216 + ], + "moduleForcesY": [ + 39.18073615798794, + 39.18073615798794, + 39.18073615798794, + 39.18073615798794 + ], + "timestamp": 2.4888628796400463 + }, + { + "x": 7.2704958784691165, + "y": 0.7222531892686241, + "heading": -0.030602705565700654, + "angularVelocity": -1.5759269373999168e-21, + "velocityX": 1.8294568007791379, + "velocityY": -0.4890268060099628, + "moduleForcesX": [ + -57.203089179579806, + -57.203089179579806, + -57.2030891795798, + -57.203089179579806 + ], + "moduleForcesY": [ + 39.6618542122412, + 39.661854212241195, + 39.6618542122412, + 39.6618542122412 + ], + "timestamp": 2.500661238277271 + }, + { + "x": 7.291652894148451, + "y": 0.7167850006571109, + "heading": -0.030602705565700654, + "angularVelocity": -1.5760248670098474e-21, + "velocityX": 1.793216864300368, + "velocityY": -0.46347028257481016, + "moduleForcesX": [ + -56.89231152800956, + -56.89231152800956, + -56.89231152800956, + -56.89231152800956 + ], + "moduleForcesY": [ + 40.12064683660121, + 40.1206468366012, + 40.12064683660121, + 40.12064683660121 + ], + "timestamp": 2.5124595969144954 + }, + { + "x": 7.312384604668349, + "y": 0.7116216279858261, + "heading": -0.030602705565700654, + "angularVelocity": -1.5761194603453946e-21, + "velocityX": 1.7571690399788238, + "velocityY": -0.43763482955961036, + "moduleForcesX": [ + -56.590718706411, + -56.590718706411, + -56.590718706411, + -56.590718706411 + ], + "moduleForcesY": [ + 40.5585324982308, + 40.5585324982308, + 40.558532498230804, + 40.5585324982308 + ], + "timestamp": 2.52425795555172 + }, + { + "x": 7.332693209848262, + "y": 0.7067662148760306, + "heading": -0.030602705565700654, + "angularVelocity": -1.5762226828302798e-21, + "velocityX": 1.7213076669697598, + "velocityY": -0.4115329309007796, + "moduleForcesX": [ + -56.29801272551998, + -56.29801272551998, + -56.29801272551998, + -56.29801272551998 + ], + "moduleForcesY": [ + 40.97681989152182, + 40.97681989152182, + 40.97681989152182, + 40.97681989152182 + ], + "timestamp": 2.5360563141889445 + }, + { + "x": 7.352580844945816, + "y": 0.7022217667419586, + "heading": -0.030602705565700654, + "angularVelocity": -1.576312506639031e-21, + "velocityX": 1.6856272731705788, + "velocityY": -0.3851763006876371, + "moduleForcesX": [ + -56.013897283022565, + -56.013897283022565, + -56.013897283022565, + -56.013897283022565 + ], + "moduleForcesY": [ + 41.37671758318597, + 41.37671758318597, + 41.37671758318597, + 41.37671758318597 + ], + "timestamp": 2.547854672826169 + }, + { + "x": 7.372049582856613, + "y": 0.6979911591869237, + "heading": -0.030602705565700654, + "angularVelocity": -1.576413633418625e-21, + "velocityX": 1.6501225729291613, + "velocityY": -0.3585759413760392, + "moduleForcesX": [ + -55.738079674247324, + -55.73807967424733, + -55.738079674247324, + -55.738079674247324 + ], + "moduleForcesY": [ + 41.7593427515796, + 41.7593427515796, + 41.7593427515796, + 41.7593427515796 + ], + "timestamp": 2.5596530314633936 + }, + { + "x": 7.391101436275881, + "y": 0.6940771457721053, + "heading": -0.030602705565700654, + "angularVelocity": -1.5764978279629491e-21, + "velocityX": 1.6147884638086976, + "velocityY": -0.3317421969586071, + "moduleForcesX": [ + -55.470272273345614, + -55.470272273345614, + -55.47027227334562, + -55.47027227334562 + ], + "moduleForcesY": [ + 42.125729104240484, + 42.12572910424049, + 42.125729104240484, + 42.125729104240484 + ], + "timestamp": 2.571451390100618 + }, + { + "x": 7.409738359813444, + "y": 0.6904823652119233, + "heading": -0.030602705565700654, + "angularVelocity": -1.5765938206984532e-21, + "velocityX": 1.5796200226328025, + "velocityY": -0.30468480156556027, + "moduleForcesX": [ + -55.21019366316019, + -55.21019366316018, + -55.21019366316019, + -55.21019366316018 + ], + "moduleForcesY": [ + 42.47683405128342, + 42.47683405128342, + 42.47683405128342, + 42.476834051283426 + ], + "timestamp": 2.5832497487378427 + }, + { + "x": 7.427962252055706, + "y": 0.6872093480448581, + "heading": -0.030602705565700654, + "angularVelocity": -1.5766828089201572e-21, + "velocityX": 1.5446125009935687, + "velocityY": -0.2774129239247552, + "moduleForcesX": [ + -54.957569478345526, + -54.957569478345526, + -54.95756947834553, + -54.957569478345526 + ], + "moduleForcesY": [ + 42.8135452059467, + 42.8135452059467, + 42.8135452059467, + 42.8135452059467 + ], + "timestamp": 2.5950481073750673 + }, + { + "x": 7.445774957570056, + "y": 0.6842605228240018, + "heading": -0.030602705565700654, + "angularVelocity": -1.5767705477238912e-21, + "velocityX": 1.5097613203712712, + "velocityY": -0.2499352080680578, + "moduleForcesX": [ + -54.71213301503008, + -54.71213301503008, + -54.71213301503008, + -54.71213301503008 + ], + "moduleForcesY": [ + 43.136686277393444, + 43.136686277393444, + 43.136686277393444, + 43.136686277393444 + ], + "timestamp": 2.606846466012292 + }, + { + "x": 7.4631782688485275, + "y": 0.6816382218675067, + "heading": -0.030602705565700654, + "angularVelocity": -1.5768581448893446e-21, + "velocityX": 1.4750620669864223, + "velocityY": -0.22225981063346714, + "moduleForcesX": [ + -54.473625650990456, + -54.473625650990456, + -54.473625650990456, + -54.473625650990456 + ], + "moduleForcesY": [ + 43.447022414970334, + 43.447022414970334, + 43.447022414970334, + 43.447022414970334 + ], + "timestamp": 2.6186448246495164 + }, + { + "x": 7.480173928188722, + "y": 0.6793446866053732, + "heading": -0.030602705565700654, + "angularVelocity": -1.576940734576661e-21, + "velocityX": 1.4405104864817824, + "velocityY": -0.1943944350782258, + "moduleForcesX": [ + -54.24179711260399, + -54.24179711260399, + -54.24179711260398, + -54.24179711260399 + ], + "moduleForcesY": [ + 43.74526505758359, + 43.74526505758358, + 43.74526505758358, + 43.74526505758359 + ], + "timestamp": 2.630443183286741 + }, + { + "x": 7.496763629510907, + "y": 0.6773820725556718, + "heading": -0.030602705565700654, + "angularVelocity": -1.5770284572624799e-21, + "velocityX": 1.4061024785128795, + "velocityY": -0.16634636308725223, + "moduleForcesX": [ + -54.01640561847668, + -54.016405618476675, + -54.01640561847668, + -54.01640561847668 + ], + "moduleForcesY": [ + 44.032076336704414, + 44.03207633670442, + 44.032076336704414, + 44.03207633670442 + ], + "timestamp": 2.6422415419239655 + }, + { + "x": 7.512949020110952, + "y": 0.6757524539602611, + "heading": -0.030602705565700654, + "angularVelocity": -1.577110462456636e-21, + "velocityX": 1.3718340913099074, + "velocityY": -0.1381224834333462, + "moduleForcesX": [ + -53.79721792437704, + -53.797217924377044, + -53.79721792437704, + -53.79721792437704 + ], + "moduleForcesY": [ + 44.30807307677664, + 44.30807307677664, + 44.30807307677664, + 44.30807307677664 + ], + "timestamp": 2.65403990056119 + }, + { + "x": 7.528731702349357, + "y": 0.674457828107338, + "heading": -0.030602705565700654, + "angularVelocity": -1.5771882714153699e-21, + "velocityX": 1.337701516260951, + "velocityY": -0.10972931852049746, + "moduleForcesX": [ + -53.584009289751286, + -53.584009289751286, + -53.58400928975128, + -53.58400928975128 + ], + "moduleForcesY": [ + 44.57383043246387, + 44.573830432463865, + 44.57383043246388, + 44.57383043246387 + ], + "timestamp": 2.6658382591984147 + }, + { + "x": 7.544113235277089, + "y": 0.6735001193656943, + "heading": -0.030602705565700654, + "angularVelocity": -1.577268471904353e-21, + "velocityX": 1.3037010825558761, + "velocityY": -0.08117304881901886, + "moduleForcesX": [ + -53.376563382492776, + -53.376563382492776, + -53.376563382492776, + -53.376563382492776 + ], + "moduleForcesY": [ + 44.82988519822965, + 44.82988519822965, + 44.82988519822965, + 44.82988519822965 + ], + "timestamp": 2.677636617835639 + }, + { + "x": 7.559095136199297, + "y": 0.6728811829533284, + "heading": -0.030602705565700657, + "angularVelocity": -1.5773476987646824e-21, + "velocityX": 1.2698292519214864, + "velocityY": -0.05245953538089433, + "moduleForcesX": [ + -53.174672135658575, + -53.17467213565857, + -53.174672135658575, + -53.174672135658575 + ], + "moduleForcesY": [ + 45.07673882216826, + 45.07673882216826, + 45.07673882216826, + 45.07673882216826 + ], + "timestamp": 2.689434976472864 + }, + { + "x": 7.57367888217827, + "y": 0.6726028084610565, + "heading": -0.030602705565700657, + "angularVelocity": -1.577425978280487e-21, + "velocityX": 1.2360826134714111, + "velocityY": -0.02359434060545585, + "moduleForcesX": [ + -52.978135567360255, + -52.978135567360255, + -52.97813556736026, + -52.978135567360255 + ], + "moduleForcesY": [ + 45.3148601527756, + 45.3148601527756, + 45.3148601527756, + 45.3148601527756 + ], + "timestamp": 2.7012333351100883 + }, + { + "x": 7.587865911477191, + "y": 0.6726667231499526, + "heading": -0.030602705565700657, + "angularVelocity": -1.577494341651009e-21, + "velocityX": 1.2024578786883242, + "velocityY": 0.005417252590915252, + "moduleForcesX": [ + -52.78676157301651, + -52.78676157301651, + -52.786761573016506, + -52.78676157301651 + ], + "moduleForcesY": [ + 45.54468794443817, + 45.54468794443816, + 45.54468794443817, + 45.54468794443817 + ], + "timestamp": 2.713031693747313 + }, + { + "x": 7.6016576249464, + "y": 0.6730745950398084, + "heading": -0.030602705565700657, + "angularVelocity": -1.5775749423343678e-21, + "velocityX": 1.1689518765513263, + "velocityY": 0.03457022306212233, + "moduleForcesX": [ + -52.600365697466685, + -52.60036569746668, + -52.600365697466685, + -52.600365697466685 + ], + "moduleForcesY": [ + 45.76663314480191, + 45.76663314480191, + 45.766633144801894, + 45.76663314480191 + ], + "timestamp": 2.7248300523845375 + }, + { + "x": 7.615055387353991, + "y": 0.6738280358043203, + "heading": -0.030602705565700657, + "angularVelocity": -1.5776450797515691e-21, + "velocityX": 1.1355615488174282, + "velocityY": 0.06385979505103799, + "moduleForcesX": [ + -52.41877089304865, + -52.418770893048645, + -52.41877089304865, + -52.41877089304865 + ], + "moduleForcesY": [ + 45.98108098483129, + 45.98108098483129, + 45.98108098483129, + 45.98108098483129 + ], + "timestamp": 2.736628411021762 + }, + { + "x": 7.628060528662616, + "y": 0.6749286034873688, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777155717091694e-21, + "velocityX": 1.102283945462927, + "velocityY": 0.0932814230257673, + "moduleForcesX": [ + -52.24180726858961, + -52.24180726858961, + -52.24180726858961, + -52.24180726858961 + ], + "moduleForcesY": [ + 46.18839289026055, + 46.18839289026055, + 46.18839289026055, + 46.18839289026055 + ], + "timestamp": 2.7484267696589866 + }, + { + "x": 7.640674345254447, + "y": 0.6763778050535418, + "heading": -0.030602705565700657, + "angularVelocity": -1.5777829083695195e-21, + "velocityX": 1.069116220287915, + "velocityY": 0.12283077763042712, + "moduleForcesX": [ + -52.06931183330361, + -52.06931183330361, + -52.06931183330361, + -52.06931183330361 + ], + "moduleForcesY": [ + 46.38890823124871, + 46.38890823124871, + 46.38890823124871, + 46.38890823124871 + ], + "timestamp": 2.760225128296211 + }, + { + "x": 7.652898101106192, + "y": 0.6781770987849446, + "heading": -0.030602705565700657, + "angularVelocity": -1.5778562176128796e-21, + "velocityX": 1.0360556266851288, + "velocityY": 0.1525037326570086, + "moduleForcesX": [ + -51.90112823880106, + -51.90112823880106, + -51.90112823880106, + -51.90112823880106 + ], + "moduleForcesY": [ + 46.582945925356675, + 46.582945925356675, + 46.582945925356675, + 46.582945925356675 + ], + "timestamp": 2.7720234869334357 + }, + { + "x": 7.664733028916149, + "y": 0.6803278965353486, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779144284673886e-21, + "velocityX": 1.0030995135727094, + "velocityY": 0.1822963529535544, + "moduleForcesX": [ + -51.73710652176443, + -51.73710652176444, + -51.73710652176443, + -51.73710652176443 + ], + "moduleForcesY": [ + 46.77080590744806, + 46.77080590744806, + 46.770805907448064, + 46.77080590744806 + ], + "timestamp": 2.7838218455706603 + }, + { + "x": 7.676180331185167, + "y": 0.6828315658518145, + "heading": -0.030602705565700657, + "angularVelocity": -1.5779786205887332e-21, + "velocityX": 0.9702453214891686, + "velocityY": 0.21220488319168138, + "moduleForcesX": [ + -51.57710284930733, + -51.57710284930733, + -51.57710284930733, + -51.57710284930733 + ], + "moduleForcesY": [ + 46.952770478757216, + 46.95277047875722, + 46.952770478757216, + 46.952770478757216 + ], + "timestamp": 2.795620204207885 + }, + { + "x": 7.687241181253433, + "y": 0.6856894319731031, + "heading": -0.030602705565700657, + "angularVelocity": -1.5780440132180937e-21, + "velocityX": 0.9374905788478461, + "velocityY": 0.24222573742350348, + "moduleForcesX": [ + -51.4209792685918, + -51.42097926859181, + -51.4209792685918, + -51.42097926859181 + ], + "moduleForcesY": [ + 47.12910554615218, + 47.12910554615218, + 47.12910554615219, + 47.12910554615218 + ], + "timestamp": 2.8074185628451094 + }, + { + "x": 7.6979167242948945, + "y": 0.6889027797134403, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781108916036061e-21, + "velocityX": 0.9048328983473743, + "velocityY": 0.2723554893643408, + "moduleForcesX": [ + -51.26860346191532, + -51.268603461915326, + -51.268603461915326, + -51.268603461915326 + ], + "moduleForcesY": [ + 47.300061761530905, + 47.300061761530905, + 47.300061761530905, + 47.300061761530905 + ], + "timestamp": 2.819216921482334 + }, + { + "x": 7.708208078271132, + "y": 0.692472855239512, + "heading": -0.030602705565700657, + "angularVelocity": -1.5781613742366569e-21, + "velocityX": 0.8722699735340855, + "velocityY": 0.3025908633433094, + "moduleForcesX": [ + -51.11984850818019, + -51.1198485081802, + -51.11984850818019, + -51.11984850818019 + ], + "moduleForcesY": [ + 47.465875570313855, + 47.465875570313855, + 47.465875570313855, + 47.465875570313855 + ], + "timestamp": 2.8310152801195585 + }, + { + "x": 7.71811633484641, + "y": 0.6964008677479491, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782194973535014e-21, + "velocityX": 0.839799575511869, + "velocityY": 0.3329287258690412, + "moduleForcesX": [ + -50.97459265141411, + -50.97459265141411, + -50.97459265141411, + -50.97459265141411 + ], + "moduleForcesY": [ + 47.626770177121884, + 47.626770177121884, + 47.62677017712189, + 47.626770177121884 + ], + "timestamp": 2.842813638756783 + }, + { + "x": 7.727642560265594, + "y": 0.7006879910499917, + "heading": -0.030602705565700657, + "angularVelocity": -1.5782856298877835e-21, + "velocityX": 0.8074195497946888, + "velocityY": 0.3633660777624322, + "moduleForcesX": [ + -50.832719076811216, + -50.832719076811216, + -50.832719076811216, + -50.832719076811216 + ], + "moduleForcesY": [ + 47.782956435944584, + 47.782956435944584, + 47.782956435944584, + 47.782956435944584 + ], + "timestamp": 2.8546119973940076 + }, + { + "x": 7.736787796196557, + "y": 0.7053353650695053, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783341743017235e-21, + "velocityX": 0.7751278132967745, + "velocityY": 0.3939000468125288, + "moduleForcesX": [ + -50.69411569460083, + -50.694115694600825, + -50.69411569460083, + -50.69411569460083 + ], + "moduleForcesY": [ + 47.934633671401876, + 47.93463367140188, + 47.934633671401876, + 47.934633671401876 + ], + "timestamp": 2.866410356031232 + }, + { + "x": 7.745553060538638, + "y": 0.7103440972600469, + "heading": -0.030602705565700657, + "angularVelocity": -1.5783871187142811e-21, + "velocityX": 0.7429223514553885, + "velocityY": 0.42452788091546173, + "moduleForcesX": [ + -50.55867493192016, + -50.55867493192016, + -50.55867493192016, + -50.55867493192016 + ], + "moduleForcesY": [ + 48.081990437070715, + 48.081990437070715, + 48.081990437070715, + 48.081990437070715 + ], + "timestamp": 2.8782087146684567 + }, + { + "x": 7.753939348198658, + "y": 0.7157152639462485, + "heading": -0.030602705565700657, + "angularVelocity": -1.5784278274945683e-21, + "velocityX": 0.7108012154810245, + "velocityY": 0.4552469416597822, + "moduleForcesX": [ + -50.42629353276154, + -50.42629353276154, + -50.42629353276154, + -50.426293532761534 + ], + "moduleForcesY": [ + 48.225205216283044, + 48.22520521628305, + 48.22520521628305, + 48.22520521628305 + ], + "timestamp": 2.8900070733056813 + }, + { + "x": 7.7619476318359375, + "y": 0.7214499115943909, + "heading": -0.030602705565700657, + "angularVelocity": -3.148277278674696e-20, + "velocityX": 0.6787625197299029, + "velocityY": 0.48605469832467524, + "moduleForcesX": [ + -50.29687236598059, + -50.2968723659806, + -50.29687236598059, + -50.29687236598059 + ], + "moduleForcesY": [ + 48.36444707029217, + 48.36444707029217, + 48.36444707029217, + 48.36444707029218 + ], + "timestamp": 2.901805431942906 + }, + { + "x": 7.775834761775601, + "y": 0.7336744213402673, + "heading": -0.029674491583620594, + "angularVelocity": 0.04133320302918859, + "velocityX": 0.6183914187572991, + "velocityY": 0.5443552381384222, + "moduleForcesX": [ + -49.79897589229874, + -39.780133893013954, + -58.67970592465287, + -50.912956484861766 + ], + "moduleForcesY": [ + 49.066656692872485, + 57.46661517646156, + 37.97090849647713, + 47.83655299084039 + ], + "timestamp": 2.924262292627634 + }, + { + "x": 7.788368140854988, + "y": 0.7472103329864517, + "heading": -0.027821691212613818, + "angularVelocity": 0.08250486998241903, + "velocityX": 0.5581091344575329, + "velocityY": 0.602751730805794, + "moduleForcesX": [ + -49.75032899008256, + -39.73852726591859, + -58.59664077334817, + -50.79325791310845 + ], + "moduleForcesY": [ + 49.11257903465919, + 57.49212916567131, + 38.09380959713609, + 47.95877595970304 + ], + "timestamp": 2.946719153312362 + }, + { + "x": 7.799549859955063, + "y": 0.7620598987689441, + "heading": -0.025048145025606164, + "angularVelocity": 0.12350551690841785, + "velocityX": 0.49791995671413297, + "velocityY": 0.6612485151404562, + "moduleForcesX": [ + -49.70596927556942, + -39.696671358920966, + -58.5105928092097, + -50.658351386971106 + ], + "moduleForcesY": [ + 49.15391150943782, + 57.517647464607066, + 38.220416414837736, + 48.096193054830735 + ], + "timestamp": 2.9691760139970897 + }, + { + "x": 7.809382113617076, + "y": 0.778225474828138, + "heading": -0.02135791261433199, + "angularVelocity": 0.1643253909387145, + "velocityX": 0.4378285015010667, + "velocityY": 0.719850217986502, + "moduleForcesX": [ + -49.665563165545585, + -39.654481167853724, + -58.42111050214514, + -50.50803121100085 + ], + "moduleForcesY": [ + 49.19100165402582, + 57.54321836484414, + 38.3513396035236, + 48.24874804210011 + ], + "timestamp": 2.9916328746818177 + }, + { + "x": 7.81786720812435, + "y": 0.7957095282800837, + "heading": -0.01675527875999234, + "angularVelocity": 0.2049544644265316, + "velocityX": 0.3778397446729998, + "velocityY": 0.7785617810701315, + "moduleForcesX": [ + -49.628741535619795, + -39.61187676370431, + -58.32768446388277, + -50.342068535680255 + ], + "moduleForcesY": [ + 49.22422721221882, + 57.56888528997424, + 38.48726080108666, + 48.41637695147274 + ], + "timestamp": 3.0140897353665457 + }, + { + "x": 7.8250075704347815, + "y": 0.81451464496476, + "heading": -0.011244759938855008, + "angularVelocity": 0.24538242003188007, + "velocityX": 0.317959059846983, + "velocityY": 0.8373884911467139, + "moduleForcesX": [ + -49.59509547736108, + -39.56877957973785, + -58.22974192747053, + -50.16021133553847 + ], + "moduleForcesY": [ + 49.25400056920583, + 57.5946892376497, + 38.62893751614043, + 48.59900718564385 + ], + "timestamp": 3.0365465960512736 + }, + { + "x": 7.830805758070983, + "y": 0.8346435379566366, + "heading": -0.004831111401089948, + "angularVelocity": 0.2855986251954946, + "velocityX": 0.2581922610467532, + "velocityY": 0.8963360139454165, + "moduleForcesX": [ + -49.56417134546266, + -39.52510815111938, + -58.126640306197565, + -49.962184350984025 + ], + "moduleForcesY": [ + 49.28077385511992, + 57.62067155211774, + 38.777208724372585, + 48.79655657624957 + ], + "timestamp": 3.0590034567360016 + }, + { + "x": 7.835264470093169, + "y": 0.8560990569362551, + "heading": 0.0024806648955283503, + "angularVelocity": 0.32559209407175743, + "velocityX": 0.1985456509163127, + "velocityY": 0.955410432510261, + "moduleForcesX": [ + -49.53546496259126, + -39.48077323259204, + -58.01765965971268, + -49.747688925918816 + ], + "moduleForcesY": [ + 49.305044830269836, + 57.64687706958707, + 38.933001272314584, + 49.008932453857526 + ], + "timestamp": 3.0814603174207296 + }, + { + "x": 7.838386559301684, + "y": 0.878884198537606, + "heading": 0.010685311162545508, + "angularVelocity": 0.3653514345661332, + "velocityX": 0.1390260754762802, + "velocityY": 1.0146182906520957, + "moduleForcesX": [ + -49.50841481822001, + -39.43567220213073, + -57.901993857247014, + -49.516402656611405 + ], + "moduleForcesY": [ + 49.32736368864197, + 57.67335768869287, + 39.097337204567204, + 49.23603080832736 + ], + "timestamp": 3.1039171781054575 + }, + { + "x": 7.840175045842622, + "y": 0.9030021178052353, + "heading": 0.019777303070195706, + "angularVelocity": 0.4048647776415743, + "velocityX": 0.0796409866029619, + "velocityY": 1.073966642364709, + "moduleForcesX": [ + -49.482394057840615, + -39.38968263604413, + -57.778740180587505, + -49.26797874619328 + ], + "moduleForcesY": [ + 49.34834094615229, + 57.700176430930014, + 39.27134215238068, + 49.47773562798201 + ], + "timestamp": 3.1263740387901855 + }, + { + "x": 7.840633132422212, + "y": 0.9284561409179296, + "heading": 0.029750836975156507, + "angularVelocity": 0.4441196855152338, + "velocityX": 0.02039851366680633, + "velocityY": 1.1334631082252957, + "moduleForcesX": [ + -49.456701007923556, + -39.34265491230689, + -57.646887050118416, + -49.0020449323803 + ], + "moduleForcesY": [ + 49.36865661744332, + 57.727412071922146, + 39.45625494779853, + 49.733918519651745 + ], + "timestamp": 3.1488308994749135 + }, + { + "x": 7.839764221375153, + "y": 0.9552497793632655, + "heading": 0.040599814522998705, + "angularVelocity": 0.4831030347541035, + "velocityX": -0.03869245391234698, + "velocityY": 1.193115940001228, + "moduleForcesX": [ + -49.43054791636629, + -39.294403662044424, + -57.505299482322464, + -48.71820182217676 + ], + "moduleForcesY": [ + 49.38907093181898, + 57.755164444721466, + 39.653438659319576, + 50.00443872739703 + ], + "timestamp": 3.1712877601596414 + }, + { + "x": 7.837571933880523, + "y": 0.9833867457802482, + "heading": 0.052317823956450675, + "angularVelocity": 0.5218008695855219, + "velocityX": -0.09762217103305225, + "velocityY": 1.2529340949297327, + "moduleForcesX": [ + -49.403047503230674, + -39.24469784148349, + -57.3527017919196, + -48.41602042450942 + ], + "moduleForcesY": [ + 49.41043689789232, + 57.78356054222038, + 39.86439328342178, + 50.289143686044106 + ], + "timestamp": 3.1937446208443694 + }, + { + "x": 7.834060131678907, + "y": 1.0128709717268876, + "heading": 0.06489811733773139, + "angularVelocity": 0.5601982199513789, + "velocityX": -0.1563799255344846, + "velocityY": 1.312927321435021, + "moduleForcesX": [ + -49.37319680587921, + -39.193249134826715, + -57.18765693004043, + -48.095038617489884 + ], + "moduleForcesY": [ + 49.43371510124639, + 57.81276157882566, + 40.0907703727958, + 50.587870267194894 + ], + "timestamp": 3.2162014815290974 + }, + { + "x": 7.829232941718723, + "y": 1.043706627677372, + "heading": 0.07833358275008254, + "angularVelocity": 0.5982788779327504, + "velocityX": -0.21495390775908638, + "velocityY": 1.3731062584119214, + "moduleForcesX": [ + -49.33985765728971, + -39.139698317625495, + -57.00854169301743, + -47.754756218008076 + ], + "moduleForcesY": [ + 49.4599912146078, + 57.84297121397121, + 40.33438993854238, + 50.90044690092914 + ], + "timestamp": 3.2386583422138253 + }, + { + "x": 7.8230947842527225, + "y": 1.0758981456113792, + "heading": 0.09261671037700737, + "angularVelocity": 0.6360251251252692, + "velocityX": -0.2733310569172195, + "velocityY": 1.4334825506531832, + "moduleForcesX": [ + -49.30173294398142, + -39.08359910371381, + -56.813516833027066, + -47.39462823316166 + ], + "moduleForcesY": [ + 49.49049682202346, + 57.874445194747054, + 40.597260032022504, + 51.22669678712463 + ], + "timestamp": 3.2611152028985533 + }, + { + "x": 7.815650405022353, + "y": 1.1094502446283658, + "heading": 0.10773955116341465, + "angularVelocity": 0.6734174023126805, + "velocityX": -0.33149687905543285, + "velocityY": 1.4940689835513845, + "moduleForcesX": [ + -49.25733753320973, + -39.02439885742062, + -56.60049083618665, + -47.01405575954595 + ], + "moduleForcesY": [ + 49.52663431580873, + 57.90750274586684, + 40.88159949499811, + 51.56644244771051 + ], + "timestamp": 3.2835720635832812 + }, + { + "x": 7.806904912315233, + "y": 1.144367960105452, + "heading": 0.12369366653532315, + "angularVelocity": 0.7104339113061457, + "velocityX": -0.3894352300571961, + "velocityY": 1.5548796408944348, + "moduleForcesX": [ + -49.20496241313145, + -38.9614153636149, + -56.36707578407902, + -46.61237384927613 + ], + "moduleForcesY": [ + 49.57000682908308, + 57.94254012781791, + 41.18986446694118, + 51.91951191732679 + ], + "timestamp": 3.306028924268009 + }, + { + "x": 7.796863819868833, + "y": 1.1806566770225755, + "heading": 0.14047006738650036, + "angularVelocity": 0.7470501370027279, + "velocityX": -0.44712805531312344, + "velocityY": 1.6159300904334366, + "moduleForcesX": [ + -49.14263011894376, + -38.89380859263485, + -56.11053325083579, + -46.18883546909183 + ], + "moduleForcesY": [ + 49.62245443314765, + 57.980046905846734, + 41.52477935881754, + 52.28574692763842 + ], + "timestamp": 3.328485784952737 + }, + { + "x": 7.785533096834175, + "y": 1.218322168207932, + "heading": 0.15805914022105402, + "angularVelocity": 0.7832382754422704, + "velocityX": -0.5045550753388937, + "velocityY": 1.6772376029821232, + "moduleForcesX": [ + -49.068038870856256, + -38.82054604855633, + -55.82770756749176, + -45.742590424489656 + ], + "moduleForcesY": [ + 49.686098179120734, + 58.0206256339081, + 41.889373145833744, + 52.66501351384023 + ], + "timestamp": 3.350942645637465 + }, + { + "x": 7.772919226324579, + "y": 1.2573706384167138, + "heading": 0.17645055795615344, + "angularVelocity": 0.8189665507257076, + "velocityX": -0.5616934034851275, + "velocityY": 1.7388214121725996, + "moduleForcesX": [ + -48.9784919500898, + -38.74035980842601, + -55.51494294841905, + -45.27265778097575 + ], + "moduleForcesY": [ + 49.763394026402025, + 58.06501587360676, + 42.287021998891454, + 53.057215566009084 + ], + "timestamp": 3.373399506322193 + }, + { + "x": 7.759029274480038, + "y": 1.297808775355126, + "heading": 0.19563317241838563, + "angularVelocity": 0.854198399835892, + "velocityX": -0.6185170776780676, + "velocityY": 1.800703023727281, + "moduleForcesX": [ + -48.87080757350123, + -38.6516926889675, + -55.16797983581464, + -44.7778898551695 + ], + "moduleForcesY": [ + 49.8571993169243, + 58.11412375947264, + 42.72149946406677, + 53.462311970183286 + ], + "timestamp": 3.395856367006921 + }, + { + "x": 7.743870972511518, + "y": 1.3396438090103795, + "heading": 0.2155948849817681, + "angularVelocity": 0.8888914992894649, + "velocityX": -0.6749964824258908, + "velocityY": 1.8629065853226803, + "moduleForcesX": [ + -48.74120272451824, + -38.55263002850805, + -54.781824254523436, + -44.256925219792585 + ], + "moduleForcesY": [ + 49.9708552791072, + 58.16905871875609, + 43.19703560298044, + 53.88033814429697 + ], + "timestamp": 3.418313227691649 + }, + { + "x": 7.727452814898921, + "y": 1.3828835809598985, + "heading": 0.23632249105346276, + "angularVelocity": 0.9229966005796477, + "velocityX": -0.7310976294991561, + "velocityY": 1.9254593309618246, + "moduleForcesX": [ + -48.58514179501422, + -38.440812211935494, + -54.35058180260293, + -43.708127294661715 + ], + "moduleForcesY": [ + 50.108290154756126, + 58.23117949997186, + 43.71838670288615, + 54.31143298588061 + ], + "timestamp": 3.440770088376377 + }, + { + "x": 7.7097841778700325, + "y": 1.427536625727524, + "heading": 0.25780149315423057, + "angularVelocity": 0.9564561317056592, + "velocityX": -0.7867812548218204, + "velocityY": 1.9883921174250394, + "moduleForcesX": [ + -48.39713708024115, + -38.313321087877355, + -53.867244872110646, + -43.129503869591225 + ], + "moduleForcesY": [ + 50.274149038644, + 58.302152423506804, + 44.29091730647611, + 54.755872530059335 + ], + "timestamp": 3.463226949061105 + }, + { + "x": 7.690875463585105, + "y": 1.4736122667546074, + "heading": 0.2800158760757638, + "angularVelocity": 0.9892025084628333, + "velocityX": -0.8420016738041606, + "velocityY": 2.0517400750683525, + "moduleForcesX": [ + -48.17048249894332, + -38.16653050165898, + -53.32341741513459, + -42.5186011550902 + ], + "moduleForcesY": [ + 50.473958540577556, + 58.384025833931425, + 44.920696301688466, + 55.21411199238551 + ], + "timestamp": 3.485683809745833 + }, + { + "x": 7.670738277239801, + "y": 1.521120730189357, + "heading": 0.30294783589408236, + "angularVelocity": 1.021156079661379, + "velocityX": -0.8967053154939767, + "velocityY": 2.115543401267043, + "moduleForcesX": [ + -47.896893339338796, + -37.99590676528767, + -52.70895547165714, + -41.872363420085726 + ], + "moduleForcesY": [ + 50.71433709651122, + 58.47932624716079, + 45.61460846262021, + 55.68683837373579 + ], + "timestamp": 3.508140670430561 + }, + { + "x": 7.649385646798962, + "y": 1.5700732805054096, + "heading": 0.3265774522777, + "angularVelocity": 1.0522226020526197, + "velocityX": -0.9508288242336721, + "velocityY": 2.1798483324672073, + "moduleForcesX": [ + -47.56601164581473, + -37.79573813409035, + -52.0114929081405, + -41.186945538092814 + ], + "moduleForcesY": [ + 51.0032653679841, + 58.59118385524638, + 46.380481780788394, + 56.175036474879285 + ], + "timestamp": 3.530597531115289 + }, + { + "x": 7.626832298622284, + "y": 1.6204823829829593, + "heading": 0.35088229024466194, + "angularVelocity": 1.0822900986998034, + "velocityX": -1.0042965708032452, + "velocityY": 2.2447083403706065, + "moduleForcesX": [ + -47.16471619560507, + -37.558761787751244, + -51.21580910922188, + -40.45746015836846 + ], + "moduleForcesY": [ + 51.350435851947076, + 58.7234981894725, + 47.227228477645056, + 56.680072054623324 + ], + "timestamp": 3.553054391800017 + }, + { + "x": 7.6030950073651296, + "y": 1.6723618993656917, + "heading": 0.375836912812464, + "angularVelocity": 1.1112248910540168, + "velocityX": -1.057017344962063, + "velocityY": 2.3101856092474122, + "moduleForcesX": [ + -46.67614297978617, + -37.27563987908989, + -50.30297683116611, + -39.67763265542965 + ], + "moduleForcesY": [ + 51.76770656382462, + 58.88115931128849, + 48.16499242151371, + 57.20379701479008 + ], + "timestamp": 3.5755112524847448 + }, + { + "x": 7.578193046065189, + "y": 1.7257273245703881, + "heading": 0.4014122790745336, + "angularVelocity": 1.1388664970194333, + "velocityX": -1.10887989419089, + "velocityY": 2.3763528640041924, + "moduleForcesX": [ + -46.07826818342605, + -36.93420840143655, + -49.24920129246935, + -38.839323662038076 + ], + "moduleForcesY": [ + 52.26968980950243, + 59.070346570031674, + 49.20528525631096, + 57.748682926949044 + ], + "timestamp": 3.5979681131694727 + }, + { + "x": 7.552148773603568, + "y": 1.7805960741932823, + "heading": 0.4275749900570293, + "angularVelocity": 1.1650208526380503, + "velocityX": -1.159746806432897, + "velocityY": 2.4432956321543324, + "moduleForcesX": [ + -45.34180640013154, + -36.51839082918256, + -48.02420310313897, + -37.93187093145587 + ], + "moduleForcesY": [ + 52.87451901489181, + 59.29892721665967, + 50.361091053125534, + 58.317982435667304 + ], + "timestamp": 3.6204249738542007 + }, + { + "x": 7.524988414016501, + "y": 1.8369878347061466, + "heading": 0.45428631835259325, + "angularVelocity": 1.1894506837159702, + "velocityX": -1.2094459670196709, + "velocityY": 2.5111150353804472, + "moduleForcesX": [ + -44.4269775716412, + -36.00663916505927, + -46.58886963506287, + -36.9412269147483 + ], + "moduleForcesY": [ + 53.60486651018973, + 59.57696012187995, + 51.646935760180504, + 58.9158854959938 + ], + "timestamp": 3.6428818345389287 + }, + { + "x": 7.496743109224862, + "y": 1.8949249888052249, + "heading": 0.481500952384238, + "angularVelocity": 1.2118627983541963, + "velocityX": -1.2577583834256283, + "velocityY": 2.5799311360772217, + "moduleForcesX": [ + -43.278633193079, + -35.36928663740671, + -44.892235317696205, + -35.84851657664941 + ], + "moduleForcesY": [ + 54.48907419495036, + 59.917534450420916, + 53.078442544005235, + 59.54782564244062 + ], + "timestamp": 3.6653386952236566 + }, + { + "x": 7.467450369985361, + "y": 1.9544331275730602, + "heading": 0.5091653333949206, + "angularVelocity": 1.2318899510961534, + "velocityX": -1.3044004525272892, + "velocityY": 2.649886803114222, + "moduleForcesX": [ + -41.818465391731856, + -34.564457353035344, + -42.86709744505302, + -34.62796798911171 + ], + "moduleForcesY": [ + 55.562390689691554, + 60.337854845478226, + 54.67139801139793, + 60.22080440221946 + ], + "timestamp": 3.6877955559083846 + }, + { + "x": 7.437156120844679, + "y": 2.0155416531017862, + "heading": 0.5372153899812724, + "angularVelocity": 1.2490640156763952, + "velocityX": -1.3489975097580846, + "velocityY": 2.7211517400686174, + "moduleForcesX": [ + -39.93234469142811, + -33.53127903658962, + -40.4238830177316, + -33.243732874386964 + ], + "moduleForcesY": [ + 56.86779162166139, + 60.86072421041837, + 56.439612520888, + 60.94376392477456 + ], + "timestamp": 3.7102524165931126 + }, + { + "x": 7.405917653809547, + "y": 2.0782844487886423, + "heading": 0.5655733460663879, + "angularVelocity": 1.2627747254272552, + "velocityX": -1.3910433641500093, + "velocityY": 2.7939254986573028, + "moduleForcesX": [ + -37.449289352668195, + -32.17813668055997, + -37.442222113525524, + -31.644855941643783 + ], + "moduleForcesY": [ + 58.454877482396405, + 61.51645302954368, + 58.39040701215156, + 61.72794502061664 + ], + "timestamp": 3.7327092772778405 + }, + { + "x": 7.373808007670266, + "y": 2.1427005198377986, + "heading": 0.5941430486703141, + "angularVelocity": 1.2722037601344431, + "velocityX": -1.429836814239926, + "velocityY": 2.8684361520291715, + "moduleForcesX": [ + -34.106110749108545, + -30.361346662205033, + -33.759909563001315, + -29.757050726905675 + ], + "moduleForcesY": [ + 60.372515002694854, + 62.34486305101686, + 60.5155148221152, + 62.587021626048845 + ], + "timestamp": 3.7551661379625685 + }, + { + "x": 7.340922631872824, + "y": 2.208834305294925, + "heading": 0.6228028699999932, + "angularVelocity": 1.2762167309150885, + "velocityX": -1.464379917528102, + "velocityY": 2.9449256681768263, + "moduleForcesX": [ + -29.488831211772425, + -27.84430586661935, + -29.16009260628951, + -27.468765179999345 + ], + "moduleForcesY": [ + 62.64310520696697, + 63.395555653457755, + 62.77337641474099, + 63.53639169197587 + ], + "timestamp": 3.7776229986472964 + }, + { + "x": 7.307389736175537, + "y": 2.2767348289489746, + "heading": 0.651394704983141, + "angularVelocity": 1.2731893110327712, + "velocityX": -1.493213863151001, + "velocityY": 3.023598204900744, + "moduleForcesX": [ + -22.944202270901513, + -24.21465545415547, + -23.3612496715893, + -24.60666611851974 + ], + "moduleForcesY": [ + 65.18578752501641, + 64.71869044359822, + 65.0561812863054, + 64.58982615822626 + ], + "timestamp": 3.8000798593320244 + }, + { + "x": 7.248815171773436, + "y": 2.397870052407272, + "heading": 0.6993520230288638, + "angularVelocity": 1.2519933750565044, + "velocityX": -1.5291715543461624, + "velocityY": 3.1624057273424606, + "moduleForcesX": [ + -13.554606899807544, + -18.754530599776615, + -16.190169658989934, + -21.04901831055568 + ], + "moduleForcesY": [ + 68.04712549812919, + 66.77563912336721, + 67.51443835673165, + 66.14028897039638 + ], + "timestamp": 3.8383846291504415 + }, + { + "x": 7.187776019291328, + "y": 2.523834781842295, + "heading": 0.7446295784287422, + "angularVelocity": 1.1820343945288145, + "velocityX": -1.5935130995816602, + "velocityY": 3.2884867872109775, + "moduleForcesX": [ + -19.591145750118297, + -37.98139754625814, + -26.463765463312498, + -40.411245587942055 + ], + "moduleForcesY": [ + 66.18854215090839, + 57.52115739971841, + 63.98330958934651, + 56.16932728301928 + ], + "timestamp": 3.8766893989688587 + }, + { + "x": 7.122504995376606, + "y": 2.652662187902979, + "heading": 0.7830476709398184, + "angularVelocity": 1.002958448600427, + "velocityX": -1.7039920674145068, + "velocityY": 3.363220994967132, + "moduleForcesX": [ + -38.50411283189515, + -67.8807832535497, + -43.99355925556282, + -63.30676628874828 + ], + "moduleForcesY": [ + 55.96568908330176, + 7.99605419113258, + 53.090860270334055, + 27.49613782164128 + ], + "timestamp": 3.914994168787276 + }, + { + "x": 7.0524861388736255, + "y": 2.780048017845025, + "heading": 0.8134204780925414, + "angularVelocity": 0.792924935894521, + "velocityX": -1.8279409283727237, + "velocityY": 3.3255866187400467, + "moduleForcesX": [ + -55.5893259131395, + -51.06230343897497, + -64.9362116867682, + -68.1504579709832 + ], + "moduleForcesY": [ + -37.26080138014056, + -46.28923212294061, + 22.38813791806543, + -11.629425539106574 + ], + "timestamp": 3.953298938605693 + }, + { + "x": 6.978860469690245, + "y": 2.903882716544858, + "heading": 0.835844024047788, + "angularVelocity": 0.5853982692376145, + "velocityX": -1.9221018565677512, + "velocityY": 3.2328793329621344, + "moduleForcesX": [ + -21.562244424212356, + -34.62932262467164, + -66.31709867690246, + -59.61467598265991 + ], + "moduleForcesY": [ + -65.27987145910213, + -60.08637080254228, + -18.48132537572579, + -35.46418098539796 + ], + "timestamp": 3.99160370842411 + }, + { + "x": 6.9023661445198625, + "y": 3.02334463342803, + "heading": 0.851960881681859, + "angularVelocity": 0.4207532824364303, + "velocityX": -1.99699216397858, + "velocityY": 3.118721700965125, + "moduleForcesX": [ + -11.511427027857293, + -26.49135484230802, + -55.305599066212615, + -51.54228386360239 + ], + "moduleForcesY": [ + -68.30321343557121, + -64.31033743337966, + -41.5191797357483, + -46.66765676782428 + ], + "timestamp": 4.029908478242527 + }, + { + "x": 6.823474133825397, + "y": 3.138064745532895, + "heading": 0.8627373559881912, + "angularVelocity": 0.28133504932722114, + "velocityX": -2.0595871237042025, + "velocityY": 2.9949302044808777, + "moduleForcesX": [ + -7.107740858591902, + -21.947560623725327, + -46.126941091656164, + -45.88711663756821 + ], + "moduleForcesY": [ + -69.12264633137997, + -66.11554740505598, + -51.817761294107726, + -52.377974168882666 + ], + "timestamp": 4.068213248060944 + }, + { + "x": 6.7424916283627505, + "y": 3.247851177841917, + "heading": 0.8687366550216334, + "angularVelocity": 0.15662015623332884, + "velocityX": -2.1141624358152225, + "velocityY": 2.8661295402494655, + "moduleForcesX": [ + -4.625678995394794, + -19.10670627605853, + -39.86325446905772, + -41.962349193643036 + ], + "moduleForcesY": [ + -69.45421465311335, + -67.06287370765313, + -56.94646827331556, + -55.658959825256574 + ], + "timestamp": 4.106518017879361 + }, + { + "x": 6.659632443969223, + "y": 3.352590465550665, + "heading": 0.8703097149954974, + "angularVelocity": 0.04106694757130892, + "velocityX": -2.1631557841573836, + "velocityY": 2.7343667173895567, + "moduleForcesX": [ + -2.9392890106582032, + -17.16795571043183, + -35.492858843917666, + -39.161412624374584 + ], + "moduleForcesY": [ + -69.62219293068152, + -67.63301269436307, + -59.87399729777828, + -57.72263501235083 + ], + "timestamp": 4.144822787697779 + }, + { + "x": 6.5751938599039885, + "y": 3.4522522211408053, + "heading": 0.8664613777008863, + "angularVelocity": -0.10046626863584004, + "velocityX": -2.2043882384756404, + "velocityY": 2.6018105855376312, + "moduleForcesX": [ + 6.6756971581081865, + -13.08693502719546, + -34.084950650164444, + -39.25443109792447 + ], + "moduleForcesY": [ + -69.40781429789399, + -68.57930943336413, + -60.69656313620983, + -57.70254635673895 + ], + "timestamp": 4.183127557516196 + }, + { + "x": 6.489404168527532, + "y": 3.546832897562644, + "heading": 0.8564669131203747, + "angularVelocity": -0.2609195833283948, + "velocityX": -2.2396607989850876, + "velocityY": 2.469161852954501, + "moduleForcesX": [ + 14.026153266530716, + -10.251554947705781, + -32.50426642239253, + -39.493497425222124 + ], + "moduleForcesY": [ + -68.34112513893986, + -69.08882381503473, + -61.56388871970546, + -57.57150120437821 + ], + "timestamp": 4.221432327334613 + }, + { + "x": 6.402442972218456, + "y": 3.636336592495899, + "heading": 0.8398385034983689, + "angularVelocity": -0.4341080680247503, + "velocityX": -2.270244586282927, + "velocityY": 2.3366200960753623, + "moduleForcesX": [ + 19.48001047635372, + -8.344868417288076, + -30.456586817451974, + -39.83283134694458 + ], + "moduleForcesY": [ + -67.0236130402517, + -69.36659570662582, + -62.606149903247946, + -57.362070917818706 + ], + "timestamp": 4.25973709715303 + }, + { + "x": 6.31445941990698, + "y": 3.7207657394524616, + "heading": 0.8162774785259399, + "angularVelocity": -0.6150937620593808, + "velocityX": -2.296934630558012, + "velocityY": 2.2041418694537835, + "moduleForcesX": [ + 23.474119088489243, + -7.151354060299332, + -27.6698892281525, + -40.2759868600396 + ], + "moduleForcesY": [ + -65.75920165789266, + -69.51658701398907, + -63.88855313243185, + -57.07120937842084 + ], + "timestamp": 4.298041866971447 + }, + { + "x": 6.225587665815649, + "y": 3.800117256204276, + "heading": 0.7856285399310245, + "angularVelocity": -0.8001337363520462, + "velocityX": -2.3201223897865924, + "velocityY": 2.0715831769249156, + "moduleForcesX": [ + 26.34170555398603, + -6.532944776404838, + -23.833447409831145, + -40.82440606884512 + ], + "moduleForcesY": [ + -64.68771288906095, + -69.59080461374796, + -65.41709903527536, + -56.69556947334269 + ], + "timestamp": 4.336346636789864 + }, + { + "x": 6.135960221505824, + "y": 3.874382936093195, + "heading": 0.7478257683688064, + "angularVelocity": -0.9868946280429624, + "velocityX": -2.3398507479538915, + "velocityY": 1.9388102380192702, + "moduleForcesX": [ + 28.321691997722123, + -6.397047507232297, + -18.60839442942816, + -41.474269366135964 + ], + "moduleForcesY": [ + -63.86599888942299, + -69.61428377619045, + -67.09117386647483, + -56.23411861967071 + ], + "timestamp": 4.374651406608281 + }, + { + "x": 6.045718631019193, + "y": 3.9435543482909154, + "heading": 0.7028182623204676, + "angularVelocity": -1.1749843756194254, + "velocityX": -2.355883899431284, + "velocityY": 1.8058172004589867, + "moduleForcesX": [ + 29.583070662051995, + -6.679021376282012, + -11.697921956867376, + -42.21698481676095 + ], + "moduleForcesY": [ + -63.30903879815944, + -69.59673749053458, + -68.63718808497758, + -55.6883192248564 + ], + "timestamp": 4.4129561764266985 + }, + { + "x": 5.95501883737919, + "y": 4.007632377025193, + "heading": 0.6504713977078268, + "angularVelocity": -1.3665886744859626, + "velocityX": -2.367845938507474, + "velocityY": 1.6728472469104376, + "moduleForcesX": [ + 30.242071008693404, + -7.332113448282208, + -3.0111849741770547, + -43.03540231115035 + ], + "moduleForcesY": [ + -63.01189016108501, + -69.53840485239049, + -69.57062224608904, + -55.06571791166298 + ], + "timestamp": 4.451260946245116 + }, + { + "x": 5.864217566192097, + "y": 4.066536080901696, + "heading": 0.5912501893260527, + "angularVelocity": -1.5460531067674, + "velocityX": -2.370495152889156, + "velocityY": 1.5377642041900992, + "moduleForcesX": [ + 28.718851603031748, + -6.0277349981215025, + 9.808427386683189, + -37.62357776380388 + ], + "moduleForcesY": [ + -63.72145888278574, + -69.65863600329807, + -69.01154866246023, + -58.88206753273683 + ], + "timestamp": 4.489565716063533 + }, + { + "x": 5.773769788281854, + "y": 4.12019402694026, + "heading": 0.5258898594376827, + "angularVelocity": -1.706323525717786, + "velocityX": -2.361266712709909, + "velocityY": 1.4008163028502212, + "moduleForcesX": [ + 28.077156525668332, + -2.6190516278265084, + 19.942493272564615, + -27.551216304503075 + ], + "moduleForcesY": [ + -63.9981552170959, + -69.85597400829346, + -66.83835206003178, + -64.18818535709728 + ], + "timestamp": 4.52787048588195 + }, + { + "x": 5.684194461783852, + "y": 4.168555317074818, + "heading": 0.45573902991462334, + "angularVelocity": -1.8313862700548158, + "velocityX": -2.338490139025271, + "velocityY": 1.2625396357637322, + "moduleForcesX": [ + 27.845525225997108, + 2.868459360903416, + 25.82031025671553, + -12.480505319333032 + ], + "moduleForcesY": [ + -64.08767338357436, + -69.82817676464734, + -64.83137059821148, + -68.70350614038631 + ], + "timestamp": 4.566175255700367 + }, + { + "x": 5.5961131688335195, + "y": 4.211653303342579, + "heading": 0.3826854671237098, + "angularVelocity": -1.9071662129082614, + "velocityX": -2.299486287683743, + "velocityY": 1.1251336706124553, + "moduleForcesX": [ + 28.294011106676425, + 11.561192169278678, + 29.038086584711337, + 6.546830388633117 + ], + "moduleForcesY": [ + -63.87491705908301, + -68.90120167625906, + -63.481890154187745, + -69.50863151776373 + ], + "timestamp": 4.604480025518784 + }, + { + "x": 5.510206520663812, + "y": 4.249670423359626, + "heading": 0.30879309467363136, + "angularVelocity": -1.9290645212166333, + "velocityX": -2.242714120903117, + "velocityY": 0.9924904965430058, + "moduleForcesX": [ + 29.832794858977373, + 24.543298275362353, + 30.589352809614525, + 24.841635701432633 + ], + "moduleForcesY": [ + -63.14804104041459, + -65.38436765439928, + -62.76769029208618, + -65.25448877489507 + ], + "timestamp": 4.642784795337201 + }, + { + "x": 5.4271434792221624, + "y": 4.282957361580848, + "heading": 0.23619985896600906, + "angularVelocity": -1.8951487256482313, + "velocityX": -2.168477759699574, + "velocityY": 0.8690024343970101, + "moduleForcesX": [ + 33.115845332538285, + 41.06903159965116, + 31.07377346669187, + 38.327170576261956 + ], + "moduleForcesY": [ + -61.45604854694082, + -56.46318260913099, + -62.54176805820284, + -58.38603607139395 + ], + "timestamp": 4.681089565155618 + }, + { + "x": 5.347511143727999, + "y": 4.3120174525598784, + "heading": 0.1670601797455945, + "angularVelocity": -1.8049887663643287, + "velocityX": -2.078914345958959, + "velocityY": 0.7586546301358631, + "moduleForcesX": [ + 39.16579087700257, + 56.36659180058669, + 30.868366411389054, + 46.830213242575915 + ], + "moduleForcesY": [ + -57.735869614603075, + -41.20039785214273, + -62.651260601832284, + -51.84400077749072 + ], + "timestamp": 4.7193943349740355 + }, + { + "x": 5.271779304478975, + "y": 4.3374502837126645, + "heading": 0.10314932974442041, + "angularVelocity": -1.6684828104735203, + "velocityX": -1.9770863944106347, + "velocityY": 0.6639599003818522, + "moduleForcesX": [ + 49.22620792579668, + 65.54865963112326, + 30.228696864449027, + 51.94911192539971 + ], + "moduleForcesY": [ + -49.3503107702457, + -24.09724293975179, + -62.96674981552025, + -46.74150170675748 + ], + "timestamp": 4.757699104792453 + }, + { + "x": 5.200324467048064, + "y": 4.359962453378589, + "heading": 0.04607642935674221, + "angularVelocity": -1.4899684989162125, + "velocityX": -1.8654292342609016, + "velocityY": 0.5877119161045277, + "moduleForcesX": [ + 62.39363001699385, + 69.12128728024234, + 29.366088309030605, + 55.08304149855396 + ], + "moduleForcesY": [ + -30.91815460039843, + -10.154582338579033, + -63.37541434311496, + -43.02849281340147 + ], + "timestamp": 4.79600387461087 + }, + { + "x": 5.133330444194313, + "y": 4.380374542428873, + "heading": -0.0017870639374282645, + "angularVelocity": -1.249543947687614, + "velocityX": -1.7489733829842906, + "velocityY": 0.5328863519359758, + "moduleForcesX": [ + 69.60009572755186, + 69.88371266759867, + 28.653171968770533, + 57.108556214362686 + ], + "moduleForcesY": [ + -1.4658789702280717, + -0.5530771011900537, + -63.70102779897246, + -40.32203534958156 + ], + "timestamp": 4.834308644429287 + }, + { + "x": 5.07094302964274, + "y": 4.398823700102076, + "heading": -0.04091035035913634, + "angularVelocity": -1.0213685294852566, + "velocityX": -1.6287113810452185, + "velocityY": 0.48164126192797413, + "moduleForcesX": [ + 69.69566051232286, + 69.88509820879884, + 34.807644921023055, + 58.218879373658325 + ], + "moduleForcesY": [ + 1.383085808214707, + -1.2313579146898874, + -60.559793675243064, + -38.708703958240854 + ], + "timestamp": 4.872613414247704 + }, + { + "x": 5.013318950558727, + "y": 4.415364484960623, + "heading": -0.0723458343336298, + "angularVelocity": -0.8206676119844227, + "velocityX": -1.504357795574233, + "velocityY": 0.43182050008285316, + "moduleForcesX": [ + 69.77111484855794, + 69.84251489276764, + 41.593033589218464, + 59.3144421166598 + ], + "moduleForcesY": [ + -0.3208241533424338, + -2.9052260806298764, + -56.12266163210595, + -37.01316357020556 + ], + "timestamp": 4.910918184066121 + }, + { + "x": 4.960599029118365, + "y": 4.43005799914098, + "heading": -0.09720378182806412, + "angularVelocity": -0.6489517522823597, + "velocityX": -1.3763278487321355, + "velocityY": 0.3835948956229701, + "moduleForcesX": [ + 69.76884244721613, + 69.76019830694995, + 47.6750246092614, + 60.427751830882144 + ], + "moduleForcesY": [ + -2.4869313128286294, + -4.551310418641529, + -51.067324322010194, + -35.17100214211091 + ], + "timestamp": 4.949222953884538 + }, + { + "x": 4.912900721322479, + "y": 4.442975990441067, + "heading": -0.11652232938514405, + "angularVelocity": -0.5043379100999429, + "velocityX": -1.2452315474547606, + "velocityY": 0.33724236854372874, + "moduleForcesX": [ + 69.69617308260153, + 69.65271281573908, + 52.68918433652125, + 61.524600948679 + ], + "moduleForcesY": [ + -4.513598219094905, + -6.030145333032946, + -45.890088615066844, + -33.219883977337616 + ], + "timestamp": 4.987527723702955 + }, + { + "x": 4.870318184119286, + "y": 4.454195003917222, + "heading": -0.13122808493679514, + "angularVelocity": -0.3839144738726619, + "velocityX": -1.111677146346366, + "velocityY": 0.2928881580372091, + "moduleForcesX": [ + 69.57851541352358, + 69.53114435701472, + 56.63462776067096, + 62.57276919270243 + ], + "moduleForcesY": [ + -6.305601724754026, + -7.339101739309379, + -40.9380240167547, + -31.20590259253996 + ], + "timestamp": 5.0258324935213725 + }, + { + "x": 4.832925374132051, + "y": 4.4637912524025305, + "heading": -0.14213213721808432, + "angularVelocity": -0.2846656521623697, + "velocityX": -0.9761920033587095, + "velocityY": 0.2505235909470129, + "moduleForcesX": [ + 69.43595580485315, + 69.40224850291139, + 59.663436468994355, + 63.54980100227099 + ], + "moduleForcesY": [ + -7.867209611667973, + -8.502161375414437, + -36.40067495895443, + -29.17027342419701 + ], + "timestamp": 5.06413726333979 + }, + { + "x": 4.800779895247548, + "y": 4.471837574357588, + "heading": -0.1499408638751895, + "angularVelocity": -0.2038578144216048, + "velocityX": -0.8392030297242103, + "velocityY": 0.21006057452377253, + "moduleForcesX": [ + 69.28209992859573, + 69.26974756314968, + 61.96548019624572, + 64.44277979789432 + ], + "moduleForcesY": [ + -9.223771777793552, + -9.546104016764458, + -32.34604334826703, + -27.146475970155986 + ], + "timestamp": 5.102442033158207 + }, + { + "x": 4.773926538928355, + "y": 4.478402019817687, + "heading": -0.1552712471148476, + "angularVelocity": -0.13915716671648543, + "velocityX": -0.7010447118332788, + "velocityY": 0.1713741001764953, + "moduleForcesX": [ + 69.12575007463612, + 69.13551364887181, + 63.71417376547562, + 65.24638180955493 + ], + "moduleForcesY": [ + -10.402976790280022, + -10.494490682190545, + -28.768694903223842, + -25.160096478201318 + ], + "timestamp": 5.140746802976624 + }, + { + "x": 4.75240017884568, + "y": 4.483547419009099, + "heading": -0.15866593035342794, + "angularVelocity": -0.08862299015691079, + "velocityX": -0.5619759676071341, + "velocityY": 0.13432789743429768, + "moduleForcesX": [ + 68.97242563858514, + 69.00038635862892, + 65.04918104371559, + 65.96074652174384 + ], + "moduleForcesY": [ + -11.430156295665528, + -11.366401538253799, + -25.627558210676778, + -23.229576950477114 + ], + "timestamp": 5.179051572795041 + }, + { + "x": 4.736228014670924, + "y": 4.487331465380528, + "heading": -0.16060625444196566, + "angularVelocity": -0.05065489487956186, + "velocityX": -0.4221971376259371, + "velocityY": 0.09878786347934124, + "moduleForcesX": [ + 68.82542589677142, + 68.8646902816725, + 66.07641921626355, + 66.58963148106368 + ], + "moduleForcesY": [ + -12.327431975036218, + -12.17661725774209, + -22.869195278315257, + -21.367260413645806 + ], + "timestamp": 5.217356342613458 + }, + { + "x": 4.725431273494634, + "y": 4.489807034168813, + "heading": -0.16152293513135146, + "angularVelocity": -0.0239312412979195, + "velocityX": -0.2818641445300823, + "velocityY": 0.0646282121004902, + "moduleForcesX": [ + 68.68653508436358, + 68.72854672705208, + 66.87396454700497, + 67.13896677277403 + ], + "moduleForcesY": [ + -13.113940323172452, + -12.93621979601385, + -20.43997158390438, + -19.580477199853668 + ], + "timestamp": 5.255661112431875 + }, + { + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "angularVelocity": -0.007353404497693264, + "velocityX": -0.14109941001462187, + "velocityY": 0.031733715134143824, + "moduleForcesX": [ + 68.55648929425, + 68.5920529641022, + 67.49873999487815, + 67.6157926344678 + ], + "moduleForcesY": [ + -13.806304540551215, + -13.6532628907263, + -18.29145939685996, + -17.87255703162447 + ], + "timestamp": 5.293965882250292 + }, + { + "x": 4.72002649307251, + "y": 4.49102258682251, + "heading": -0.16180460559801732, + "angularVelocity": -5.881465861824842e-19, + "velocityX": 4.7073218726955604e-18, + "velocityY": -4.8944121317771445e-18, + "moduleForcesX": [ + 68.43529033536115, + 68.45537842802776, + 67.99220764527054, + 68.02751814191386 + ], + "moduleForcesY": [ + -14.419101113518574, + -14.333392437385246, + -16.38222197550169, + -16.243717713798855 + ], + "timestamp": 5.3322706520687095 + }, + { + "x": 4.727887785907783, + "y": 4.4867414965294214, + "heading": -0.16393324128393727, + "angularVelocity": -0.043675380053083857, + "velocityX": 0.1612981284492419, + "velocityY": -0.08783947710216147, + "moduleForcesX": [ + 60.1117150997854, + 58.27226330642005, + 63.935474298105014, + 62.876004012259685 + ], + "moduleForcesY": [ + -35.787569098742956, + -38.698475042039036, + -28.39235873713487, + -30.649747218299385 + ], + "timestamp": 5.381008308920985 + }, + { + "x": 4.743608901300179, + "y": 4.478176373529895, + "heading": -0.16816273141664084, + "angularVelocity": -0.08678074421023493, + "velocityX": 0.3225660897085628, + "velocityY": -0.17573932668710152, + "moduleForcesX": [ + 60.10211452905184, + 58.30657944647576, + 63.88853984566503, + 62.852364595708245 + ], + "moduleForcesY": [ + -35.79793680883123, + -38.64090528767794, + -28.490428053821134, + -30.690654466956545 + ], + "timestamp": 5.429745965773261 + }, + { + "x": 4.767187803659241, + "y": 4.465323332405414, + "heading": -0.17446487838707617, + "angularVelocity": -0.1293075493870608, + "velocityX": 0.4837922846912751, + "velocityY": -0.2637188973495175, + "moduleForcesX": [ + 60.08319299546677, + 58.33917209907521, + 63.834689965991515, + 62.82905284121462 + ], + "moduleForcesY": [ + -35.82327503982619, + -38.58514372397829, + -28.602708531096198, + -30.729984382580668 + ], + "timestamp": 5.478483622625537 + }, + { + "x": 4.7986217955455785, + "y": 4.4481773888884435, + "heading": -0.18281105162428865, + "angularVelocity": -0.17124691206452064, + "velocityX": 0.6449631335707054, + "velocityY": -0.3518007352905859, + "moduleForcesX": [ + 60.05453059714415, + 58.36915057772371, + 63.77332474172923, + 62.80496825587504 + ], + "moduleForcesY": [ + -35.864122102837584, + -38.532431107189865, + -28.73017924455715, + -30.769839626172665 + ], + "timestamp": 5.527221279477812 + }, + { + "x": 4.837907405014235, + "y": 4.4267322808755205, + "heading": -0.19317216950054888, + "angularVelocity": -0.21258957745270352, + "velocityX": 0.8060627450296197, + "velocityY": -0.44001105916772637, + "moduleForcesX": [ + 60.01558913830737, + 58.39551232521596, + 63.70371110385574, + 62.77887087644854 + ], + "moduleForcesY": [ + -35.921152874938045, + -38.48415600762572, + -28.8740249473851, + -30.812554638417545 + ], + "timestamp": 5.575958936330088 + }, + { + "x": 4.885040256730086, + "y": 4.4009802654715, + "heading": -0.20551859769309883, + "angularVelocity": -0.2533242053464322, + "velocityX": 0.9670725832944921, + "velocityY": -0.5283802518876977, + "moduleForcesX": [ + 59.96575349834944, + 58.41725921204458, + 63.62488905730617, + 62.74931400892259 + ], + "moduleForcesY": [ + -35.9950935691336, + -38.44166713578121, + -29.035814258336888, + -30.860816111812138 + ], + "timestamp": 5.624696593182364 + }, + { + "x": 4.9400149224717165, + "y": 4.370911883732378, + "heading": -0.21981985541564256, + "angularVelocity": -0.29343342799369354, + "velocityX": 1.1279710452281166, + "velocityY": -0.6169435233675227, + "moduleForcesX": [ + 59.90436500356773, + 58.433508747517934, + 63.53552165026372, + 62.71451295261247 + ], + "moduleForcesY": [ + -36.086645020921544, + -38.40608643734777, + -29.217782893197505, + -30.917903272378997 + ], + "timestamp": 5.6734342500346395 + }, + { + "x": 5.002824737573276, + "y": 4.3365156704551024, + "heading": -0.2360440268028712, + "angularVelocity": -0.3328878004210195, + "velocityX": 1.288732761444332, + "velocityY": -0.7057420380616938, + "moduleForcesX": [ + 59.83069936510459, + 58.44350633346029, + 63.43369480407949, + 62.67213545405848 + ], + "moduleForcesY": [ + -36.196491254619396, + -38.37826447843325, + -29.423195161825817, + -30.988068940075383 + ], + "timestamp": 5.722171906886915 + }, + { + "x": 5.0734615573641815, + "y": 4.297777754538262, + "heading": -0.25415640753433766, + "angularVelocity": -0.37163010906259014, + "velocityX": 1.449327365183079, + "velocityY": -0.7948251602299122, + "moduleForcesX": [ + 59.744090092449774, + 58.44704036164283, + 63.316226848131265, + 62.61864458334687 + ], + "moduleForcesY": [ + -36.32505385759954, + -38.35811235281445, + -29.657702012263695, + -31.077794323353526 + ], + "timestamp": 5.770909563739191 + }, + { + "x": 5.151915411974696, + "y": 4.25468129645477, + "heading": -0.2741175815590431, + "angularVelocity": -0.40956367855778775, + "velocityX": 1.6097174069797553, + "velocityY": -0.8842537960763628, + "moduleForcesX": [ + 59.64360343119425, + 58.44373716788734, + 63.178621301416385, + 62.549077549891024 + ], + "moduleForcesY": [ + -36.47297266727465, + -38.34562203598795, + -29.929207127313692, + -31.196089277933915 + ], + "timestamp": 5.819647220591467 + }, + { + "x": 5.238174006915483, + "y": 4.207205685181185, + "heading": -0.2958807068394894, + "angularVelocity": -0.4465361424003276, + "velocityX": 1.769855190253369, + "velocityY": -0.9741053292218118, + "moduleForcesX": [ + 59.527894983854765, + 58.43285777534832, + 63.014466834783654, + 62.456352023467005 + ], + "moduleForcesY": [ + -36.64123940474272, + -38.34109648431631, + -30.248783905959737, + -31.35563367878393 + ], + "timestamp": 5.868384877443742 + }, + { + "x": 5.3322219822613, + "y": 4.1553253655006195, + "heading": -0.3193875115896396, + "angularVelocity": -0.4823129848322271, + "velocityX": 1.929677818342355, + "velocityY": -1.0644812047040957, + "moduleForcesX": [ + 59.39505944578591, + 58.4131658799856, + 62.81427204721697, + 62.32999478970495 + ], + "moduleForcesY": [ + -36.83127084396701, + -38.34521709617963, + -30.632496505982925, + -31.574841876515983 + ], + "timestamp": 5.917122534296018 + }, + { + "x": 5.434039775892651, + "y": 4.0990080736687124, + "heading": -0.3445620916805614, + "angularVelocity": -0.5165324251681986, + "velocityX": 2.0890990705598074, + "velocityY": -1.1555190681941212, + "moduleForcesX": [ + 59.2424099434238, + 58.382758773370185, + 62.56332386034091, + 62.15385276561653 + ], + "moduleForcesY": [ + -37.044966117412464, + -38.35906580341401, + -31.10465784805854, + -31.881449853609084 + ], + "timestamp": 5.965860191148294 + }, + { + "x": 5.5436017981735946, + "y": 4.038212076548804, + "heading": -0.3713007276185388, + "angularVelocity": -0.5486237473217479, + "velocityX": 2.2479952742296794, + "velocityY": -1.2474132128301114, + "moduleForcesX": [ + 59.06616982015972, + 58.33889944637506, + 62.23745010518373, + 61.90167958421586 + ], + "moduleForcesY": [ + -37.28464579302209, + -38.38394387493009, + -31.70407139850214, + -32.319144289431236 + ], + "timestamp": 6.0145978480005695 + }, + { + "x": 5.660873314983858, + "y": 3.972881619172404, + "heading": -0.3994539130426172, + "angularVelocity": -0.5776474956399826, + "velocityX": 2.4061788026805564, + "velocityY": -1.3404513387752193, + "moduleForcesX": [ + 58.861110925960276, + 58.27803525689294, + 61.793814588541615, + 61.52787331544831 + ], + "moduleForcesY": [ + -37.55251333725383, + -38.42047870406832, + -32.49705527835299, + -32.96076779572281 + ], + "timestamp": 6.063335504852845 + }, + { + "x": 5.7858046259197415, + "y": 3.90293883135293, + "heading": -0.4287917083501583, + "angularVelocity": -0.6019533396212233, + "velocityX": 2.5633425774766394, + "velocityY": -1.4350872064176459, + "moduleForcesX": [ + 58.620103986380464, + 58.19630530808812, + 61.14838745095298, + 60.94587079249968 + ], + "moduleForcesY": [ + -37.848875439167145, + -38.465986940872234, + -33.607640962188185, + -33.93710006076957 + ], + "timestamp": 6.112073161705121 + }, + { + "x": 5.91831853265109, + "y": 3.828267584191118, + "heading": -0.4589346798109314, + "angularVelocity": -0.6184739564344683, + "velocityX": 2.7189223957359974, + "velocityY": -1.5321058086182011, + "moduleForcesX": [ + 58.326947078741554, + 58.08282995269632, + 60.117188482682096, + 59.97586908627516 + ], + "moduleForcesY": [ + -38.17670449234116, + -38.5199273448512, + -35.2876571890444, + -35.497400347823046 + ], + "timestamp": 6.160810818557397 + }, + { + "x": 6.058277492034443, + "y": 3.7486755546886057, + "heading": -0.4891900682949278, + "angularVelocity": -0.6207805306623543, + "velocityX": 2.87168010164238, + "velocityY": -1.633070497085171, + "moduleForcesX": [ + 57.933552634875014, + 57.90517524723794, + 58.20021101686637, + 58.17389473273651 + ], + "moduleForcesY": [ + -38.55412830199519, + -38.59153171738365, + -38.14988944583118, + -38.184736629338815 + ], + "timestamp": 6.209548475409672 + }, + { + "x": 6.20536554248472, + "y": 3.663782159034563, + "heading": -0.518016053099789, + "angularVelocity": -0.5914520037808051, + "velocityX": 3.0179549028403776, + "velocityY": -1.7418440100917267, + "moduleForcesX": [ + 57.26128036749851, + 57.57168077306263, + 53.42821507620888, + 54.096745915940296 + ], + "moduleForcesY": [ + -39.05309394244987, + -38.69870267757176, + -44.16508041938489, + -43.433902022492006 + ], + "timestamp": 6.258286132261948 + }, + { + "x": 6.358234311905263, + "y": 3.5725799858680882, + "heading": -0.5396049169657727, + "angularVelocity": -0.44296064399271334, + "velocityX": 3.136563784424236, + "velocityY": -1.8712876050424425, + "moduleForcesX": [ + 54.85541073928391, + 56.78515120271811, + 28.549377465823277, + 40.11195975367502 + ], + "moduleForcesY": [ + -40.12663357622417, + -38.67670977163467, + -62.059281622052865, + -55.90953654319455 + ], + "timestamp": 6.307023789114224 + }, + { + "x": 6.504544380104363, + "y": 3.4811457430282524, + "heading": -0.5406451663450832, + "angularVelocity": -0.021343852915655923, + "velocityX": 3.0019922509317034, + "velocityY": -1.8760492142035687, + "moduleForcesX": [ + -58.02036871779219, + -39.887755710619075, + -66.89935656640188, + -39.75985610319602 + ], + "moduleForcesY": [ + 35.1518392779443, + 26.73240919500477, + -14.330998943432236, + -54.79155380612797 + ], + "timestamp": 6.3557614459664995 + }, + { + "x": 6.642773011917336, + "y": 3.39257986759636, + "heading": -0.5333993015698099, + "angularVelocity": 0.1486707659590033, + "velocityX": 2.8361772136880554, + "velocityY": -1.8171960071928712, + "moduleForcesX": [ + -58.17314064248429, + -56.782645504435905, + -68.11118457828722, + -68.99481187771686 + ], + "moduleForcesY": [ + 37.647653054144726, + 38.908551026570734, + 12.965655796644898, + -0.05684803276109096 + ], + "timestamp": 6.404499102818775 + }, + { + "x": 6.77299529233642, + "y": 3.307676673408179, + "heading": -0.5210932836678952, + "angularVelocity": 0.2524950663757857, + "velocityX": 2.671902771480973, + "velocityY": -1.7420450565673056, + "moduleForcesX": [ + -58.413079928509745, + -57.56454105897526, + -66.26689919731484, + -67.47534495610694 + ], + "moduleForcesY": [ + 37.79640277836911, + 38.802213146502545, + 21.22774198152598, + 16.413477598690807 + ], + "timestamp": 6.453236759671051 + }, + { + "x": 6.895353465257662, + "y": 3.2269459829895237, + "heading": -0.5061107351838688, + "angularVelocity": 0.3074121624155894, + "velocityX": 2.5105468917414324, + "velocityY": -1.6564335594415196, + "moduleForcesX": [ + -58.83420840430033, + -58.39335442877089, + -63.83039907872561, + -64.22528475086266 + ], + "moduleForcesY": [ + 37.3470242695362, + 37.928324954887835, + 27.9653516962451, + 26.900611565495222 + ], + "timestamp": 6.501974416523327 + }, + { + "x": 7.009958146403554, + "y": 3.1506562680745094, + "heading": -0.4897129728739464, + "angularVelocity": 0.33644954166804963, + "velocityX": 2.351460627113441, + "velocityY": -1.5653135551068555, + "moduleForcesX": [ + -59.06126363661514, + -58.80324446885711, + -61.97595959202741, + -61.992650193068634 + ], + "moduleForcesY": [ + 37.11122186754958, + 37.47562944624757, + 32.005736723275994, + 31.92241702626428 + ], + "timestamp": 6.550712073375602 + }, + { + "x": 7.116889883146181, + "y": 3.078971573845945, + "heading": -0.472681692827929, + "angularVelocity": 0.34944806841329223, + "velocityX": 2.194027034716434, + "velocityY": -1.470827669164331, + "moduleForcesX": [ + -59.188861157366865, + -59.0565950352466, + -60.57370363308788, + -60.50166777126641 + ], + "moduleForcesY": [ + 36.98973297515215, + 37.18470475795252, + 34.67434908895827, + 34.78282366024482 + ], + "timestamp": 6.599449730227878 + }, + { + "x": 7.216208739232633, + "y": 3.012002260537196, + "heading": -0.4555497886166887, + "angularVelocity": 0.3515126765976293, + "velocityX": 2.0378258312148474, + "velocityY": -1.374077410240163, + "moduleForcesX": [ + -59.259107003476444, + -59.23501809659255, + -59.48789026920808, + -59.46541071354874 + ], + "moduleForcesY": [ + 36.93564118541098, + 36.97212626602456, + 36.5658086949398, + 36.60019434577678 + ], + "timestamp": 6.648187387080154 + }, + { + "x": 7.3079609219599915, + "y": 2.9498276058266644, + "heading": -0.438704028359401, + "angularVelocity": 0.34564157050773253, + "velocityX": 1.8825727097521214, + "velocityY": -1.2757005306796523, + "moduleForcesX": [ + -59.29365289888744, + -59.37140823133768, + -58.62492523104296, + -58.71622393834828 + ], + "moduleForcesY": [ + 36.92389806309054, + 36.80401844208725, + 37.97737671126277, + 37.84116554349972 + ], + "timestamp": 6.6969250439324295 + }, + { + "x": 7.392182985105948, + "y": 2.8925073201188733, + "heading": -0.4224378414231501, + "angularVelocity": 0.3337498761081901, + "velocityX": 1.728069599267647, + "velocityY": -1.1760985121120737, + "moduleForcesX": [ + -59.30495245357254, + -59.48133869767553, + -57.923105668152786, + -58.15669309492114 + ], + "moduleForcesY": [ + 36.93965088536188, + 36.66440827409813, + 39.07225527259574, + 38.732525009343235 + ], + "timestamp": 6.745662700784705 + }, + { + "x": 7.46890453487858, + "y": 2.840088011691178, + "heading": -0.40698132304682416, + "angularVelocity": 0.31713708402466445, + "velocityX": 1.5741739494201379, + "velocityY": -1.0755401841860777, + "moduleForcesX": [ + -59.30080799327379, + -59.57303727441818, + -57.34124401091068, + -57.727576478538566 + ], + "moduleForcesY": [ + 36.97334710012922, + 36.54495061039499, + 39.94695345169072, + 39.39731072564969 + ], + "timestamp": 6.794400357636981 + }, + { + "x": 7.538150027938391, + "y": 2.792607090993914, + "heading": -0.39251959087248267, + "angularVelocity": 0.29672604528720975, + "velocityX": 1.420780101712605, + "velocityY": -0.9742142680592694, + "moduleForcesX": [ + -59.286449630610875, + -59.65121798176521, + -56.851137256943524, + -57.391052254666555 + ], + "moduleForcesY": [ + 37.01843632004217, + 36.44093999973721, + 40.6620287333005, + 39.907997028640885 + ], + "timestamp": 6.843138014489257 + }, + { + "x": 7.5999400053897395, + "y": 2.7500952658192523, + "heading": -0.3792046657912946, + "angularVelocity": 0.27319583954445975, + "velocityX": 1.2678077167031896, + "velocityY": -0.8722582889759101, + "moduleForcesX": [ + -59.265580390881944, + -59.71875961705106, + -56.43293506564941, + -57.121900476801805 + ], + "moduleForcesY": [ + 37.07019052901472, + 36.34955666898872, + 41.257357233208374, + 40.31008045851182 + ], + "timestamp": 6.891875671341532 + }, + { + "x": 7.654291965065082, + "y": 2.71257820969881, + "heading": -0.36716351236120826, + "angularVelocity": 0.2470605730304626, + "velocityX": 1.1151943524917802, + "velocityY": -0.769775539972234, + "moduleForcesX": [ + -59.240941630510214, + -59.77751503582541, + -56.072294897256576, + -56.902662734729276 + ], + "moduleForcesY": [ + 37.12505401285954, + 36.2690218055838, + 41.76026548249275, + 40.63360670016656 + ], + "timestamp": 6.940613328193808 + }, + { + "x": 7.701220994461928, + "y": 2.680077719478188, + "heading": -0.3565036811952784, + "angularVelocity": 0.2187185813679698, + "velocityX": 0.9628905537885815, + "velocityY": -0.6668455629521007, + "moduleForcesX": [ + -59.21463735536638, + -59.82873057685185, + -55.75860320218282, + -56.720860790156244 + ], + "moduleForcesY": [ + 37.18026407678206, + 36.19816241481154, + 42.190116668716456, + 40.8992532606469 + ], + "timestamp": 6.989350985046084 + }, + { + "x": 7.740740240676776, + "y": 2.6526125435648233, + "heading": -0.34731738943313023, + "angularVelocity": 0.1884844770028772, + "velocityX": 0.8108565074153987, + "velocityY": -0.5635309058170574, + "moduleForcesX": [ + -59.18832935144845, + -59.87327586160206, + -55.48383720612385, + -56.567328667141474 + ], + "moduleForcesY": [ + 37.233618935349305, + 36.136175651055495, + 42.56102415512728, + 41.12174464090146 + ], + "timestamp": 7.0380886418983595 + }, + { + "x": 7.772861266428678, + "y": 2.6301989901662406, + "heading": -0.339684547325653, + "angularVelocity": 0.15661077286934239, + "velocityX": 0.659059705091268, + "velocityY": -0.45988163662686266, + "moduleForcesX": [ + -59.16335937004299, + -59.91177524773766, + -55.241819195767484, + -56.4351735162662 + ], + "moduleForcesY": [ + 37.28332974340017, + 36.08249644731776, + 42.88352328450667, + 41.3118704953204 + ], + "timestamp": 7.086826298750635 + }, + { + "x": 7.797594324631981, + "y": 2.6128513840413476, + "heading": -0.3336750520304295, + "angularVelocity": 0.12330291777129779, + "velocityX": 0.5074732722229227, + "velocityY": -0.3559384518109465, + "moduleForcesX": [ + -59.14082827323915, + -59.944685575566105, + -55.02771684485968, + -56.319105977160326 + ], + "moduleForcesY": [ + 37.32792285618426, + 36.03672130026394, + 43.16563762979704, + 41.477730572889435 + ], + "timestamp": 7.135563955602911 + }, + { + "x": 7.8149485735286035, + "y": 2.600582416205699, + "heading": -0.3293505584933595, + "angularVelocity": 0.08873002553602183, + "velocityX": 0.35607474830441416, + "velocityY": -0.25173487254088156, + "moduleForcesX": [ + -59.12164880145011, + -59.972343330248414, + -54.837701353470806, + -56.214995601152715 + ], + "moduleForcesY": [ + 37.36617325186445, + 35.99856376882235, + 43.41357965125709, + 41.62553126027113 + ], + "timestamp": 7.184301612455187 + }, + { + "x": 7.82493224764851, + "y": 2.593403416275336, + "heading": -0.32676586862175916, + "angularVelocity": 0.05303270691556966, + "velocityX": 0.20484518059958043, + "velocityY": -0.1472988320329487, + "moduleForcesX": [ + -59.10658161435728, + -59.99499378510709, + -54.668709048931916, + -56.11956783284074 + ], + "moduleForcesY": [ + 37.39705799806443, + 35.96782840705723, + 43.63222325633478, + 41.760111492977 + ], + "timestamp": 7.233039269307462 + }, + { + "x": 7.827552795410156, + "y": 2.5913245677948, + "heading": -0.3259700361708536, + "angularVelocity": 0.016328902583798655, + "velocityX": 0.053768439660265316, + "velocityY": -0.042653845400011325, + "moduleForcesX": [ + -59.0962603822262, + -60.0128092363337, + -54.51827220961817, + -56.03019263926832 + ], + "moduleForcesY": [ + 37.41972307933626, + 35.94439562531672, + 43.82542988995558, + 41.885299559233914 + ], + "timestamp": 7.281776926159738 + }, + { + "x": 7.8225488196963315, + "y": 2.5945356796337284, + "heading": -0.32707092619343975, + "angularVelocity": -0.02210454265261678, + "velocityX": -0.1004737915048548, + "velocityY": 0.06447524925271463, + "moduleForcesX": [ + -59.09250521885778, + -60.026827078612236, + -54.38548873329238, + -55.94548073003525 + ], + "moduleForcesY": [ + 37.433896169898766, + 35.92898049068984, + 43.99696696032904, + 42.00509106493425 + ], + "timestamp": 7.331580717167083 + }, + { + "x": 7.809856922215013, + "y": 2.60307400937817, + "heading": -0.3300413576768632, + "angularVelocity": -0.05964267826485254, + "velocityX": -0.25483797969205607, + "velocityY": 0.17143935374683156, + "moduleForcesX": [ + -59.10198346880105, + -60.00321649731864, + -54.5146468504792, + -56.0118778613011 + ], + "moduleForcesY": [ + 37.41314866516896, + 35.96272632326936, + 43.83193044683158, + 41.91169036270763 + ], + "timestamp": 7.381384508174428 + }, + { + "x": 7.789470410605781, + "y": 2.6169304547356593, + "heading": -0.334831649814279, + "angularVelocity": -0.0961832832506018, + "velocityX": -0.40933654239741785, + "velocityY": 0.27822069519659187, + "moduleForcesX": [ + -59.11540183229754, + -59.97455979820384, + -54.65945494827689, + -56.08220324786315 + ], + "moduleForcesY": [ + 37.38554138626559, + 36.004195264752894, + 43.645740941732726, + 41.81214042336603 + ], + "timestamp": 7.431188299181772 + }, + { + "x": 7.761381868173273, + "y": 2.636094866963018, + "heading": -0.3413860707357006, + "angularVelocity": -0.1316048595668631, + "velocityX": -0.563984023392206, + "velocityY": 0.3847982621349621, + "moduleForcesX": [ + -59.131972833924586, + -59.94064899020477, + -54.82186417144312, + -56.15866425233194 + ], + "moduleForcesY": [ + 37.35219447077809, + 36.05357657441125, + 43.43541198535366, + 41.70330060547335 + ], + "timestamp": 7.480992090189117 + }, + { + "x": 7.725583023110576, + "y": 2.6605558484366756, + "heading": -0.3496416393051685, + "angularVelocity": -0.16576185070424912, + "velocityX": -0.7187975922840104, + "velocityY": 0.49114697855128736, + "moduleForcesX": [ + -59.150756809411774, + -59.90120442288028, + -55.00427759704956, + -56.243983298951186 + ], + "moduleForcesY": [ + 37.3144444527126, + 36.11113834559916, + 43.19721355292753, + 41.58124990297383 + ], + "timestamp": 7.530795881196462 + }, + { + "x": 7.682064585000808, + "y": 2.6903004949235343, + "heading": -0.3595266102822787, + "angularVelocity": -0.1984782840255993, + "velocityX": -0.8737977015313726, + "velocityY": 0.5972365935451077, + "moduleForcesX": [ + -59.170629797458076, + -59.8558574255911, + -55.209673101557854, + -56.34155870288089 + ], + "moduleForcesY": [ + 37.27389034561202, + 36.17724358338253, + 42.92644612942895, + 41.44102766101657 + ], + "timestamp": 7.580599672203807 + }, + { + "x": 7.6308160376172705, + "y": 2.7253140621435996, + "heading": -0.37095853036312976, + "angularVelocity": -0.2295391545427168, + "velocityX": -1.029008963915585, + "velocityY": 0.7030301611960068, + "moduleForcesX": [ + -59.19023797796851, + -59.80412241246641, + -55.44177713617866, + -56.45569230309805 + ], + "moduleForcesY": [ + 37.23245756719677, + 36.25237799504352, + 42.617115392340835, + 41.27625758458441 + ], + "timestamp": 7.6304034632111515 + }, + { + "x": 7.571825372339086, + "y": 2.7655795264940592, + "heading": -0.3838417000522769, + "angularVelocity": -0.2586784947202948, + "velocityX": -1.1844613449101156, + "velocityY": 0.8084819154534241, + "moduleForcesX": [ + -59.207931730270154, + -59.745351697481844, + -55.70531482882298, + -56.59191892795338 + ], + "moduleForcesY": [ + 37.192488473383165, + 36.33719734842945, + 42.26145357461246, + 41.07858851659918 + ], + "timestamp": 7.680207254218496 + }, + { + "x": 7.505078739279228, + "y": 2.8110769942076645, + "heading": -0.3980637925420557, + "angularVelocity": -0.2855624482015496, + "velocityX": -1.3401918149165175, + "velocityY": 0.9135342268803581, + "moduleForcesX": [ + -59.22166790895887, + -59.67866121626703, + -56.006376966810905, + -56.757495510878535 + ], + "moduleForcesY": [ + 37.15687384273474, + 36.43260813321918, + 41.849197803503095, + 40.83683812183261 + ], + "timestamp": 7.730011045225841 + }, + { + "x": 7.430559981843662, + "y": 2.861782887310645, + "heading": -0.4134912426202837, + "angularVelocity": -0.3097645734628845, + "velocityX": -1.4962466898267943, + "velocityY": 1.0181131210574481, + "moduleForcesX": [ + -59.22886099171272, + -59.60280573978956, + -56.352970221786904, + -56.96214845643797 + ], + "moduleForcesY": [ + 37.12924943036937, + 36.53990645107112, + 41.36647109661613, + 40.53563677691423 + ], + "timestamp": 7.779814836233186 + }, + { + "x": 7.348250001982471, + "y": 2.91766878994103, + "heading": -0.4299627816006446, + "angularVelocity": -0.3307286181874912, + "velocityX": -1.6526850305240866, + "velocityY": 1.122121459029986, + "moduleForcesX": [ + -59.22614908618427, + -59.51596296462916, + -56.75586225176142, + -57.21925371473785 + ], + "moduleForcesY": [ + 37.114299515953256, + 36.661022383077885, + 40.79399009249656, + 40.15319398603601 + ], + "timestamp": 7.829618627240531 + }, + { + "x": 7.258125872493671, + "y": 2.9786997573492804, + "heading": -0.447280068194293, + "angularVelocity": -0.3477102092708425, + "velocityX": -1.8095837217594097, + "velocityY": 1.2254281486172496, + "moduleForcesX": [ + -59.20901241250783, + -59.41534526777336, + -57.22991514323557, + -57.547771337008655 + ], + "moduleForcesY": [ + 37.11824324198438, + 36.79896415158689, + 40.104083590962425, + 39.65744486266393 + ], + "timestamp": 7.879422418247875 + }, + { + "x": 7.160159559273177, + "y": 3.0448317340581554, + "heading": -0.46519355516400246, + "angularVelocity": -0.35968119308557267, + "velocityX": -1.9670453039618014, + "velocityY": 1.3278502574055588, + "moduleForcesX": [ + -59.17112390867208, + -59.29646601900439, + -57.79625293055758, + -57.97555629434962 + ], + "moduleForcesY": [ + 37.14964738452766, + 36.95866246790645, + 39.25550533118841, + 38.99902079802723 + ], + "timestamp": 7.92922620925522 + }, + { + "x": 7.054316020955864, + "y": 3.116007407544827, + "heading": -0.4833800817095212, + "angularVelocity": -0.36516349815285365, + "velocityX": -2.1252104744737887, + "velocityY": 1.4291215999235103, + "moduleForcesX": [ + -59.10318516343768, + -59.15166124956973, + -58.48589886629264, + -58.54530982951959 + ], + "moduleForcesY": [ + 37.220853687067574, + 37.14867467754115, + 38.183909847840106, + 38.097521158007694 + ], + "timestamp": 7.979030000262565 + }, + { + "x": 6.940550279901206, + "y": 3.192149108226634, + "heading": -0.5014050172135768, + "angularVelocity": -0.36191894511392675, + "velocityX": -2.2842787417102173, + "velocityY": 1.5288334309847709, + "moduleForcesX": [ + -58.99070247540506, + -58.96685003246879, + -59.34607017274523, + -59.3258765315244 + ], + "moduleForcesY": [ + 37.35063999073293, + 37.384909035242416, + 36.783179852851674, + 36.81230571075599 + ], + "timestamp": 8.028833791269909 + }, + { + "x": 6.818802755518582, + "y": 3.2731455858489316, + "heading": -0.5186526774775305, + "angularVelocity": -0.3463121966238951, + "velocityX": -2.444543315280335, + "velocityY": 1.6263114912347423, + "moduleForcesX": [ + -58.809382829177125, + -58.71358784581223, + -60.4512809890871, + -60.43486942717274 + ], + "moduleForcesY": [ + 37.569561952863786, + 37.69968470053774, + 34.86573041395185, + 34.87310645465682 + ], + "timestamp": 8.078637582277253 + }, + { + "x": 6.688991799983728, + "y": 3.35882440148119, + "heading": -0.5341824527514003, + "angularVelocity": -0.31181913986381316, + "velocityX": -2.606447278595903, + "velocityY": 1.7203271859289457, + "moduleForcesX": [ + -58.514573361510955, + -58.326247673925316, + -61.92221481178771, + -62.08483673870747 + ], + "moduleForcesY": [ + 37.93169744721794, + 38.16730552805344, + 32.06925763597224, + 31.68921781658314 + ], + "timestamp": 8.128441373284597 + }, + { + "x": 6.551004047520405, + "y": 3.4488843576131765, + "heading": -0.5463754048886871, + "angularVelocity": -0.24481975951362644, + "velocityX": -2.7706274898425285, + "velocityY": 1.8082951982250848, + "moduleForcesX": [ + -58.013890485759816, + -57.619459348621795, + -63.94678027256177, + -64.65388238839292 + ], + "moduleForcesY": [ + 38.542972783926814, + 38.9933046455943, + 27.612043945894843, + 25.71264202077718 + ], + "timestamp": 8.17824516429194 + }, + { + "x": 6.404717612130589, + "y": 3.542710294965948, + "heading": -0.5519204101572946, + "angularVelocity": -0.11133701183087394, + "velocityX": -2.9372550247880405, + "velocityY": 1.8839115548239003, + "moduleForcesX": [ + -57.113795087275484, + -55.91549478193979, + -66.62431787614162, + -68.22103648212187 + ], + "moduleForcesY": [ + 39.58928122683748, + 40.86319114177037, + 19.820768581970626, + 12.213434771037093 + ], + "timestamp": 8.228048955299284 + }, + { + "x": 6.250198490608255, + "y": 3.6391908454722977, + "heading": -0.5457747691771236, + "angularVelocity": 0.12339705182812093, + "velocityX": -3.1025574237821614, + "velocityY": 1.9372129822832336, + "moduleForcesX": [ + -56.58713376605027, + -53.33974998974297, + -68.46034756437241, + -67.51614445752597 + ], + "moduleForcesY": [ + 39.43554791413637, + 42.167525568442166, + 9.068068374731828, + -11.380090875747735 + ], + "timestamp": 8.277852746306628 + }, + { + "x": 6.097987430266949, + "y": 3.7299874981785344, + "heading": -0.5156247233713832, + "angularVelocity": 0.6053765224677262, + "velocityX": -3.0562143415721175, + "velocityY": 1.823087176091579, + "moduleForcesX": [ + 22.770535880407387, + 58.3654915803712, + -30.83233763579671, + 18.63614667300695 + ], + "moduleForcesY": [ + -12.019228266912831, + -32.99460677689357, + -59.48353361867758, + -65.27585408960653 + ], + "timestamp": 8.327656537313972 + }, + { + "x": 5.953032577481204, + "y": 3.8150896134309042, + "heading": -0.4828524298115028, + "angularVelocity": 0.6580280917780463, + "velocityX": -2.9105184535926045, + "velocityY": 1.7087477384968195, + "moduleForcesX": [ + 57.082891428412225, + 57.825099594946586, + 49.9679036226657, + 51.86089144480903 + ], + "moduleForcesY": [ + -38.77081217035323, + -37.9156433224069, + -47.63722662252008, + -45.76733810078018 + ], + "timestamp": 8.377460328321316 + }, + { + "x": 5.815789695146364, + "y": 3.894979580011532, + "heading": -0.44998473779909615, + "angularVelocity": 0.6599435775392054, + "velocityX": -2.755671396874217, + "velocityY": 1.6040940853045649, + "moduleForcesX": [ + 57.68075958437658, + 57.713586141874465, + 57.46071621722, + 57.494976579834784 + ], + "moduleForcesY": [ + -38.779927142701034, + -38.73605436906477, + -39.10596886408706, + -39.06052467616949 + ], + "timestamp": 8.42726411932866 + }, + { + "x": 5.686415520199889, + "y": 3.9698630353258517, + "heading": -0.4179455425858959, + "angularVelocity": 0.6433083619773232, + "velocityX": -2.5976772516653965, + "velocityY": 1.5035693829667574, + "moduleForcesX": [ + 58.01158359477687, + 57.675293407211186, + 59.78776010886496, + 59.55700124631868 + ], + "moduleForcesY": [ + -38.58867363434644, + -39.06021693225093, + -35.77042339307668, + -36.12094561509619 + ], + "timestamp": 8.477067910336004 + }, + { + "x": 5.564989766174217, + "y": 4.0398541431914445, + "heading": -0.3871965150142558, + "angularVelocity": 0.6174033532327153, + "velocityX": -2.438082554955844, + "velocityY": 1.4053369522667516, + "moduleForcesX": [ + 58.264543307369664, + 57.66471107978457, + 60.91423954808589, + 60.569120254895154 + ], + "moduleForcesY": [ + -38.35971118959802, + -39.22137080293287, + -33.98916329487821, + -34.56003755765343 + ], + "timestamp": 8.526871701343348 + }, + { + "x": 5.451561131897515, + "y": 4.105025780253013, + "heading": -0.3580025479633264, + "angularVelocity": 0.5861796152549963, + "velocityX": -2.277510044566196, + "velocityY": 1.3085677966152507, + "moduleForcesX": [ + 58.47766695205898, + 57.66854534300818, + 61.579352674899695, + 61.14164205294212 + ], + "moduleForcesY": [ + -38.127103448665935, + -39.30725029783684, + -32.876324825656795, + -33.64284049749428 + ], + "timestamp": 8.576675492350692 + }, + { + "x": 5.346162560414555, + "y": 4.16542840894674, + "heading": -0.33052902928140854, + "angularVelocity": 0.5516350889405736, + "velocityX": -2.1162760776065714, + "velocityY": 1.2128118657637523, + "moduleForcesX": [ + 58.661727210334654, + 57.67772409889804, + 62.01899542035526, + 61.49274119424757 + ], + "moduleForcesY": [ + -37.905735457379194, + -39.35658788513511, + -32.11284317063428, + -33.07108224307744 + ], + "timestamp": 8.626479283358035 + }, + { + "x": 5.248817766939821, + "y": 4.221098858077944, + "heading": -0.3048871490385314, + "angularVelocity": 0.5148580002492649, + "velocityX": -1.9545659377692746, + "velocityY": 1.1177954128631216, + "moduleForcesX": [ + 58.8208023570056, + 57.68538470754296, + 62.33299687445542, + 61.720357395222756 + ], + "moduleForcesY": [ + -37.70327140036946, + -39.39107568442525, + -31.552626163888533, + -32.6992302236387 + ], + "timestamp": 8.67628307436538 + }, + { + "x": 5.159544554027955, + "y": 4.272065018175805, + "heading": -0.28115626660288606, + "angularVelocity": 0.4764874712477763, + "velocityX": -1.7924983441260611, + "velocityY": 1.0233389681187852, + "moduleForcesX": [ + 58.9585457477018, + 57.6894379002712, + 62.569640245165935, + 61.8736647000168 + ], + "moduleForcesY": [ + -37.52133016605668, + -39.41986754663425, + -31.12156557933056, + -32.45037364930155 + ], + "timestamp": 8.726086865372723 + }, + { + "x": 5.078356681449302, + "y": 4.3183485848473975, + "heading": -0.2593961592752149, + "angularVelocity": 0.4369166862108823, + "velocityX": -1.6301544709052616, + "velocityY": 0.9293181449734556, + "moduleForcesX": [ + 59.07778177346457, + 57.68928677569656, + 62.75519542143905, + 61.98001733167642 + ], + "moduleForcesY": [ + -37.35974156619956, + -39.44733709423662, + -30.77788520210788, + -32.28014363450484 + ], + "timestamp": 8.775890656380067 + }, + { + "x": 5.005264996022972, + "y": 4.359966758652077, + "heading": -0.23965430603515792, + "angularVelocity": 0.3963925805797229, + "velocityX": -1.4675928066510353, + "velocityY": 0.8356426882953809, + "moduleForcesX": [ + 59.180547247280245, + 57.68466994507898, + 62.905230571710455, + 62.05581885638494 + ], + "moduleForcesY": [ + -37.21797619330222, + -39.47601664455645, + -30.496124448133475, + -32.16122404253626 + ], + "timestamp": 8.825694447387411 + }, + { + "x": 4.940278147158268, + "y": 4.396933342317196, + "heading": -0.2219705257418124, + "angularVelocity": 0.3550689603274475, + "velocityX": -1.3048574726996405, + "velocityY": 0.7422443737197995, + "moduleForcesX": [ + 59.26824839062111, + 57.67528712819701, + 63.02959304817103, + 62.11148859806688 + ], + "moduleForcesY": [ + -37.095599533423275, + -39.507734267045606, + -30.259801971691886, + -32.07592975766271 + ], + "timestamp": 8.875498238394755 + }, + { + "x": 4.883403052764321, + "y": 4.4292594666928995, + "heading": -0.20638013151223242, + "angularVelocity": 0.3130362953149269, + "velocityX": -1.1419832354842123, + "velocityY": 0.6490695531779102, + "moduleForcesX": [ + 59.34178599112937, + 57.660654273155984, + 63.13485032267746, + 62.153958676237394 + ], + "moduleForcesY": [ + -36.99243502127153, + -39.544128531495524, + -30.05770263657676, + -32.0123302554238 + ], + "timestamp": 8.925302029402099 + }, + { + "x": 4.834645203593072, + "y": 4.456954073157951, + "heading": -0.1929162448283192, + "angularVelocity": 0.27033859093027734, + "velocityX": -0.9789987505983079, + "velocityY": 0.5560742647274852, + "moduleForcesX": [ + 59.40162494901575, + 57.64000635224589, + 63.22559418174835, + 62.18802789934803 + ], + "moduleForcesY": [ + -36.90865322133897, + -39.5869554564749, + -29.88183551914879, + -31.962080822223083 + ], + "timestamp": 8.975105820409443 + }, + { + "x": 4.794008855445192, + "y": 4.4800242215021635, + "heading": -0.18161152125726449, + "angularVelocity": 0.22698520217840887, + "velocityX": -0.8159288143725338, + "velocityY": 0.46322072833390676, + "moduleForcesX": [ + 59.447889487782945, + 57.612409258646025, + 63.305036757274024, + 62.21703504735025 + ], + "moduleForcesY": [ + -36.84473423422396, + -39.63801883320855, + -29.72655318331352, + -31.919348814258 + ], + "timestamp": 9.024909611416787 + }, + { + "x": 4.761497157111103, + "y": 4.498475280403011, + "heading": -0.17249897912503193, + "angularVelocity": 0.1829688453011065, + "velocityX": -0.6527956542363457, + "velocityY": 0.37047498850291793, + "moduleForcesX": [ + 59.480757698581165, + 57.57767468689901, + 63.374951973932546, + 62.24303789987529 + ], + "moduleForcesY": [ + -36.800895599030106, + -39.697897692680364, + -29.588906799338258, + -31.880597115876526 + ], + "timestamp": 9.07471340242413 + }, + { + "x": 4.737112254938999, + "y": 4.512311078655776, + "heading": -0.16561237931313252, + "angularVelocity": 0.13827461067939542, + "velocityX": -0.4896193980194903, + "velocityY": 0.2778061262590337, + "moduleForcesX": [ + 59.500470597686586, + 57.53609792945577, + 63.436424698904354, + 62.267538639534294 + ], + "moduleForcesY": [ + -36.77711729028737, + -39.76637187155159, + -29.467203351406376, + -31.843241815066424 + ], + "timestamp": 9.124517193431474 + }, + { + "x": 4.720855401096699, + "y": 4.521534060875144, + "heading": -0.16098621244650427, + "angularVelocity": 0.09288784594621478, + "velocityX": -0.3264179997844283, + "velocityY": 0.18518634892690253, + "moduleForcesX": [ + 59.507466752585735, + 57.488636239380334, + 63.49007468351741, + 62.2917553844448 + ], + "moduleForcesY": [ + -36.77294925308651, + -39.84219853146423, + -29.36060503198493, + -31.805162937494895 + ], + "timestamp": 9.174320984438818 + }, + { + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505464, + "angularVelocity": 0.046798286813425384, + "velocityX": -0.1632070787696637, + "velocityY": 0.09259129180770913, + "moduleForcesX": [ + 59.50231342981584, + 57.436685296484804, + 63.536291576598956, + 62.31680881686762 + ], + "moduleForcesY": [ + -36.787642839570296, + -39.9234662752398, + -29.26867023801951, + -31.764362683164634 + ], + "timestamp": 9.224124775446162 + }, + { + "x": 4.712727069854736, + "y": 4.5261454582214355, + "heading": -0.1586554803505464, + "angularVelocity": -3.703482635322546e-17, + "velocityX": -1.608736844570313e-17, + "velocityY": 1.0011637647817821e-16, + "moduleForcesX": [ + 59.48552826355599, + 57.381669314243325, + 63.57539718374113, + 62.34378864540863 + ], + "moduleForcesY": [ + -36.82045682240623, + -40.00820792112317, + -29.191027976211267, + -31.718848049662743 + ], + "timestamp": 9.273928566453506 + }, + { + "x": 4.720433772917796, + "y": 4.5244282577394825, + "heading": -0.15956596078127833, + "angularVelocity": -0.019907357206469346, + "velocityX": 0.16850454505338935, + "velocityY": -0.03754602760860841, + "moduleForcesX": [ + 67.80338732604696, + 67.69937940973914, + 68.74287662542525, + 68.71645582409998 + ], + "moduleForcesY": [ + -17.205761913299696, + -17.595184532357184, + -12.950838784825661, + -13.069378429332641 + ], + "timestamp": 9.319664442958311 + }, + { + "x": 4.735861027209657, + "y": 4.521051337004915, + "heading": -0.16118673422379018, + "angularVelocity": -0.0354376818894481, + "velocityX": 0.337311875727127, + "velocityY": -0.07383526877883675, + "moduleForcesX": [ + 68.02613313855062, + 67.96212869316278, + 68.74186892262527, + 68.72245370843046 + ], + "moduleForcesY": [ + -16.287231648135048, + -16.538801947492903, + -12.936871579222927, + -13.022378299421906 + ], + "timestamp": 9.365400319463117 + }, + { + "x": 4.759023077822673, + "y": 4.516077979049305, + "heading": -0.1632987479665863, + "angularVelocity": -0.04617849058987659, + "velocityX": 0.5064306706920069, + "velocityY": -0.10874084713532697, + "moduleForcesX": [ + 68.25981030819014, + 68.22753895407061, + 68.74107761326658, + 68.72870152523767 + ], + "moduleForcesY": [ + -15.259590110589476, + -15.392638956088646, + -12.919297488140257, + -12.972348498792236 + ], + "timestamp": 9.411136195967922 + }, + { + "x": 4.78993447579833, + "y": 4.509578180923221, + "heading": -0.16566136708376267, + "angularVelocity": -0.051657895239617876, + "velocityX": 0.675867619425838, + "velocityY": -0.14211596284596015, + "moduleForcesX": [ + 68.50350707535492, + 68.49303294719238, + 68.74084205863427, + 68.73512660567103 + ], + "moduleForcesY": [ + -14.1024699677952, + -14.147009556296766, + -12.895801465508455, + -12.91938321301856 + ], + "timestamp": 9.456872072472727 + }, + { + "x": 4.828609913892271, + "y": 4.501629650848665, + "heading": -0.16800970322453765, + "angularVelocity": -0.05134560262618672, + "velocityX": 0.8456258204623419, + "velocityY": -0.1737920136661285, + "moduleForcesX": [ + 68.75457398682809, + 68.75485128662268, + 68.74159589978248, + 68.74188714365835 + ], + "moduleForcesY": [ + -12.793858115950135, + -12.792786588056815, + -12.863414140851779, + -12.862274143154936 + ], + "timestamp": 9.502607948977532 + }, + { + "x": 4.875063947756925, + "y": 4.492318742649612, + "heading": -0.17005298860886134, + "angularVelocity": -0.04467576748223311, + "velocityX": 1.0157022760845753, + "velocityY": -0.20357996633285005, + "moduleForcesX": [ + 69.00742342025065, + 69.00736029957974, + 68.74406456004296, + 68.74960363715357 + ], + "moduleForcesY": [ + -11.31401004110338, + -11.325177975772071, + -12.817400536016985, + -12.797196457857895 + ], + "timestamp": 9.548343825482338 + }, + { + "x": 4.9293105256116565, + "y": 4.481740674632494, + "heading": -0.17147804969382133, + "angularVelocity": -0.031158495121688206, + "velocityX": 1.1860837049669444, + "velocityY": -0.23128600183283496, + "moduleForcesX": [ + 69.25096472000752, + 69.24135858676156, + 68.75005508065911, + 68.76010258534681 + ], + "moduleForcesY": [ + -9.66253175738912, + -9.758291225835647, + -12.7469457494496, + -12.713499056166762 + ], + "timestamp": 9.594079701987143 + }, + { + "x": 4.99136213724711, + "y": 4.469995647088225, + "heading": -0.17197892337322926, + "angularVelocity": -0.010951439388202797, + "velocityX": 1.3567382190419754, + "velocityY": -0.25680119070276025, + "moduleForcesX": [ + 69.46056476765253, + 69.43762452466495, + 68.76665753395334, + 68.78000742149132 + ], + "moduleForcesY": [ + -7.948349171027031, + -8.198320730792853, + -12.612316503986388, + -12.573308297801287 + ], + "timestamp": 9.639815578491948 + }, + { + "x": 5.0612286107095175, + "y": 4.457170122993223, + "heading": -0.1713870688770014, + "angularVelocity": 0.01294070522875632, + "velocityX": 1.5276076201374431, + "velocityY": -0.280425894836684, + "moduleForcesX": [ + 69.5829440880657, + 69.55296794704736, + 68.82252535637595, + 68.83451436407282 + ], + "moduleForcesY": [ + -6.702829405206909, + -7.084114834034775, + -12.252818475528827, + -12.230117964020415 + ], + "timestamp": 9.685551454996753 + }, + { + "x": 5.138919118525394, + "y": 4.443349454305337, + "heading": -0.16960777566677002, + "angularVelocity": 0.038903664829617456, + "velocityX": 1.6986775755289982, + "velocityY": -0.3021844062927848, + "moduleForcesX": [ + 69.66525770118565, + 69.63337275225871, + 68.9055727307415, + 68.91362836404538 + ], + "moduleForcesY": [ + -5.661274144167389, + -6.146253145235419, + -11.715620388599154, + -11.723669909749981 + ], + "timestamp": 9.731287331501559 + }, + { + "x": 5.224442763669037, + "y": 4.428624391886193, + "heading": -0.16659018438651174, + "angularVelocity": 0.06597864763655856, + "velocityX": 1.869946564479987, + "velocityY": -0.32195867980347986, + "moduleForcesX": [ + 69.72538826991125, + 69.69549667043765, + 69.00815784678507, + 69.01120509814007 + ], + "moduleForcesY": [ + -4.689930631400927, + -5.256840711468661, + -11.01863562374098, + -11.067124889621931 + ], + "timestamp": 9.777023208006364 + }, + { + "x": 5.317808601892205, + "y": 4.4130935274532925, + "heading": -0.16232439817107916, + "angularVelocity": 0.09327002216711049, + "velocityX": 2.041413554485087, + "velocityY": -0.33957727761635736, + "moduleForcesX": [ + 69.76711992547942, + 69.74253533511411, + 69.12674162054395, + 69.12459477608668 + ], + "moduleForcesY": [ + -3.76239623931587, + -4.38534192571988, + -10.148122116283043, + -10.244672213991086 + ], + "timestamp": 9.82275908451117 + }, + { + "x": 5.419025323818324, + "y": 4.396863147055441, + "heading": -0.15684869656376071, + "angularVelocity": 0.11972442698780004, + "velocityX": 2.213070562132601, + "velocityY": -0.3548719656908664, + "moduleForcesX": [ + 69.79031021328566, + 69.77346468438246, + 69.25574828757355, + 69.24927984015109 + ], + "moduleForcesY": [ + -2.903191986479613, + -3.5458507304156437, + -9.0892493470505, + -9.237717164047913 + ], + "timestamp": 9.868494961015974 + }, + { + "x": 5.52810038011568, + "y": 4.380040993090314, + "heading": -0.15026129478697, + "angularVelocity": 0.14403138805275345, + "velocityX": 2.3848904762084104, + "velocityY": -0.36781090143443995, + "moduleForcesX": [ + 69.79321775781901, + 69.78477344447799, + 69.38154578486166, + 69.37315969536866 + ], + "moduleForcesY": [ + -2.2047682021387933, + -2.8149216811202784, + -7.873452706812336, + -8.066761255092352 + ], + "timestamp": 9.91423083752078 + }, + { + "x": 5.6450382339964005, + "y": 4.362717739475332, + "heading": -0.14271348236770778, + "angularVelocity": 0.16503045302904903, + "velocityX": 2.556807976959482, + "velocityY": -0.3787672815925367, + "moduleForcesX": [ + 69.77437653034774, + 69.77249559151723, + 69.47528147773855, + 69.46862465706614 + ], + "moduleForcesY": [ + -1.816754129432896, + -2.33802275113559, + -6.691620793216761, + -6.901945710558553 + ], + "timestamp": 9.959966714025585 + }, + { + "x": 5.76983949771626, + "y": 4.344961578439053, + "heading": -0.13435862506865126, + "angularVelocity": 0.1826762257018425, + "velocityX": 2.728738864483024, + "velocityY": -0.38823266094861153, + "moduleForcesX": [ + 69.73639668950086, + 69.7391053202753, + 69.51978621763436, + 69.51717538803744 + ], + "moduleForcesY": [ + -1.640665678132772, + -2.059224524748982, + -5.717052653471247, + -5.916114289385076 + ], + "timestamp": 10.00570259053039 + }, + { + "x": 5.90250135638388, + "y": 4.3268393470894875, + "heading": -0.1253359217641428, + "angularVelocity": 0.1972784604569021, + "velocityX": 2.9006082053260513, + "velocityY": -0.396236668770543, + "moduleForcesX": [ + 69.67672125871212, + 69.6835335833093, + 69.52525139897396, + 69.52725732715663 + ], + "moduleForcesY": [ + -1.4360180064431145, + -1.7649582468139358, + -4.793003374678643, + -4.971788009241354 + ], + "timestamp": 10.051438467035196 + }, + { + "x": 6.043016008559749, + "y": 4.308439568160512, + "heading": -0.11577290468628006, + "angularVelocity": 0.20909224461597473, + "velocityX": 3.072306970242592, + "velocityY": -0.40230515593248406, + "moduleForcesX": [ + 69.57589103765577, + 69.5873088342188, + 69.48310184646131, + 69.49014430034282 + ], + "moduleForcesY": [ + -1.002002090125232, + -1.260557055513839, + -3.703627017166795, + -3.8642133322240917 + ], + "timestamp": 10.09717434354 + }, + { + "x": 6.191362857418773, + "y": 4.289914580062972, + "heading": -0.105752915248726, + "angularVelocity": 0.21908379598905597, + "velocityX": 3.243555392306428, + "velocityY": -0.40504281350317384, + "moduleForcesX": [ + 69.36045699823889, + 69.38057014838174, + 69.32542691570295, + 69.34047732879235 + ], + "moduleForcesY": [ + 0.12543001854848324, + -0.10638069419421153, + -2.1456983694633975, + -2.308108231675414 + ], + "timestamp": 10.142910220044806 + }, + { + "x": 6.347457488337232, + "y": 4.271711840804772, + "heading": -0.09534305108217463, + "angularVelocity": 0.2276082795846684, + "velocityX": 3.412958116196967, + "velocityY": -0.39799694789465945, + "moduleForcesX": [ + 68.54231106054455, + 68.59302457717509, + 68.61978401615185, + 68.66194788706716 + ], + "moduleForcesY": [ + 3.931080682823132, + 3.6553273468761067, + 2.0274226726044553, + 1.7998333413991716 + ], + "timestamp": 10.188646096549611 + }, + { + "x": 6.499010999842534, + "y": 4.258784375408368, + "heading": -0.08577261057892385, + "angularVelocity": 0.2092545553870149, + "velocityX": 3.313668023600167, + "velocityY": -0.28265480809243204, + "moduleForcesX": [ + -40.04923380584519, + -42.198054783013426, + -38.19723135728384, + -40.396435975493866 + ], + "moduleForcesY": [ + 46.43265273938118, + 44.97610338160631, + 48.41990947361969, + 47.015152742538085 + ], + "timestamp": 10.234381973054417 + }, + { + "x": 6.642879165645002, + "y": 4.247067561044222, + "heading": -0.07673890427764565, + "angularVelocity": 0.1975190373869014, + "velocityX": 3.1456304502516725, + "velocityY": -0.25618431873531655, + "moduleForcesX": [ + -68.22212964277608, + -68.2839709709935, + -67.80785808937634, + -67.89168862036061 + ], + "moduleForcesY": [ + 9.503576249034188, + 9.355342805866938, + 12.130749403028215, + 11.89012650006945 + ], + "timestamp": 10.280117849559222 + }, + { + "x": 6.778958301645864, + "y": 4.236239269388388, + "heading": -0.06821434435565671, + "angularVelocity": 0.18638671811811203, + "velocityX": 2.975325857952288, + "velocityY": -0.23675705995698562, + "moduleForcesX": [ + -69.0973456405106, + -69.12418778046829, + -68.80794303984331, + -68.84853620767575 + ], + "moduleForcesY": [ + 6.65757649455385, + 6.592820170893202, + 9.185459140800466, + 9.034543617513933 + ], + "timestamp": 10.325853726064027 + }, + { + "x": 6.907214685419985, + "y": 4.226183379980087, + "heading": -0.060190997961812966, + "angularVelocity": 0.17542784804829725, + "velocityX": 2.8042839358428697, + "velocityY": -0.21986873712249297, + "moduleForcesX": [ + -69.38030583284085, + -69.3979896083893, + -69.13244316110051, + -69.16168156820291 + ], + "moduleForcesY": [ + 5.635043587382622, + 5.586761254536832, + 8.134153364924495, + 8.001594974654777 + ], + "timestamp": 10.371589602568832 + }, + { + "x": 7.027631702570624, + "y": 4.21684016008354, + "heading": -0.052666254919128075, + "angularVelocity": 0.16452604864566778, + "velocityX": 2.6328787453758684, + "velocityY": -0.20428645104389276, + "moduleForcesX": [ + -69.51941322533438, + -69.53330766200058, + -69.29173058500854, + -69.31643053120393 + ], + "moduleForcesY": [ + 5.10993358619719, + 5.061801017876795, + 7.601001097809299, + 7.469156240990973 + ], + "timestamp": 10.417325479073638 + }, + { + "x": 7.140199482701059, + "y": 4.208173286094341, + "heading": -0.045639550306257375, + "angularVelocity": 0.1536366010637066, + "velocityX": 2.4612577419086894, + "velocityY": -0.18949836871036593, + "moduleForcesX": [ + -69.60196914892245, + -69.61399739298777, + -69.38594180046856, + -69.40857117227125 + ], + "moduleForcesY": [ + 4.7912087044330365, + 4.737258043152984, + 7.282249203024739, + 7.14463786732835 + ], + "timestamp": 10.463061355578443 + }, + { + "x": 7.244911494172856, + "y": 4.200158384931037, + "heading": -0.03911121865807897, + "angularVelocity": 0.1427398389859131, + "velocityX": 2.2894939263007865, + "velocityY": -0.17524319584127046, + "moduleForcesX": [ + -69.65656568433195, + -69.66760615916618, + -69.44798243820273, + -69.4696679644382 + ], + "moduleForcesY": [ + 4.577890596566229, + 4.515644929971001, + 7.072313004344936, + 6.926240227703344 + ], + "timestamp": 10.508797232083248 + }, + { + "x": 7.341763099388763, + "y": 4.192778002897551, + "heading": -0.033082005940698156, + "angularVelocity": 0.13182676660290013, + "velocityX": 2.117628711143873, + "velocityY": -0.1613696423356269, + "moduleForcesX": [ + -69.69531333342799, + -69.70582319577018, + -69.49181138037484, + -69.51313242079627 + ], + "moduleForcesY": [ + 4.425625424733099, + 4.354129622647004, + 6.9248631692526414, + 6.76928174173628 + ], + "timestamp": 10.554533108588053 + }, + { + "x": 7.430750837831655, + "y": 4.186019049322701, + "heading": -0.02755283837322766, + "angularVelocity": 0.12089344274154035, + "velocityX": 1.9456878329103668, + "velocityY": -0.14778231207923104, + "moduleForcesX": [ + -69.72421761463168, + -69.7344520135668, + -69.52435350812418, + -69.54562452426842 + ], + "moduleForcesY": [ + 4.311834168734011, + 4.230912530873534, + 6.816398499524391, + 6.651099022677878 + ], + "timestamp": 10.600268985092859 + }, + { + "x": 7.511872030080587, + "y": 4.179871360027244, + "heading": -0.022524706336496326, + "angularVelocity": 0.10993846452686935, + "velocityX": 1.7736883700131427, + "velocityY": -0.13441721828184217, + "moduleForcesX": [ + -69.74659497812961, + -69.7567000937077, + -69.54943144982829, + -69.57082298732065 + ], + "moduleForcesY": [ + 4.22378940668331, + 4.1337123312366195, + 6.733746342133302, + 6.558993209213771 + ], + "timestamp": 10.646004861597664 + }, + { + "x": 7.585124541352304, + "y": 4.174326828104019, + "heading": -0.01799860455362314, + "angularVelocity": 0.09896173701613159, + "velocityX": 1.6016422307773828, + "velocityY": -0.12122937936134792, + "moduleForcesX": [ + -69.76442640683265, + -69.77448438416424, + -69.5693262936985, + -69.59092386459363 + ], + "moduleForcesY": [ + 4.153759007224523, + 4.055073699251123, + 6.668962324200309, + 6.4853094144621135 + ], + "timestamp": 10.69174073810247 + }, + { + "x": 7.65050663163179, + "y": 4.169378847259442, + "heading": -0.013975501431084333, + "angularVelocity": 0.08796383561412432, + "velocityX": 1.4295580466816797, + "velocityY": -0.10818598489214333, + "moduleForcesX": [ + -69.77896823921817, + -69.78902105805807, + -69.58548265632585, + -69.60731822254213 + ], + "moduleForcesY": [ + 4.096767891084601, + 3.990204124201372, + 6.616978368836639, + 6.425167134270045 + ], + "timestamp": 10.737476614607274 + }, + { + "x": 7.708016856106649, + "y": 4.165021938922856, + "heading": -0.01045632411434323, + "angularVelocity": 0.07694566247941691, + "velocityX": 1.2574422722349434, + "velocityY": -0.0952623775807261, + "moduleForcesX": [ + -69.7910558326898, + -69.80111895098251, + -69.59885941607023, + -69.62092948349829 + ], + "moduleForcesY": [ + 4.049466064850303, + 3.935879874237554, + 6.5744140369827315, + 6.375313197496248 + ], + "timestamp": 10.78321249111208 + }, + { + "x": 7.757653996449329, + "y": 4.161251493157439, + "heading": -0.0074419522272495394, + "angularVelocity": 0.06590825665656777, + "velocityX": 1.0852998594541612, + "velocityY": -0.08243956503208126, + "moduleForcesX": [ + -69.80126632101882, + -69.81133694079466, + -69.61011774011624, + -69.63239436946087 + ], + "moduleForcesY": [ + 4.009513059359649, + 3.8898511599094165, + 6.538931335634244, + 6.333499233356207 + ], + "timestamp": 10.828948367616885 + }, + { + "x": 7.799417011869502, + "y": 4.158063583102698, + "heading": -0.00493321647260633, + "angularVelocity": 0.054852687788281486, + "velocityX": 0.9131346901329209, + "velocityY": -0.06970261200542623, + "moduleForcesX": [ + -69.81001126839654, + -69.82007358682415, + -69.61972811287079, + -69.64216593746447 + ], + "moduleForcesY": [ + 3.975223069720514, + 3.8504993321218803, + 6.508863836655236, + 6.298123901629999 + ], + "timestamp": 10.87468424412169 + }, + { + "x": 7.833305003310964, + "y": 4.155454828642314, + "heading": -0.0029308999552952564, + "angularVelocity": 0.043779996587561765, + "velocityX": 0.7409498632414073, + "velocityY": -0.05703956411790899, + "moduleForcesX": [ + -69.81759208868544, + -69.82762076790996, + -69.62803433000336, + -69.65057520214046 + ], + "moduleForcesY": [ + 3.945350323599107, + 3.8166296377146143, + 6.482993178390347, + 6.268017369637354 + ], + "timestamp": 10.920420120626495 + }, + { + "x": 7.859317186663494, + "y": 4.153422294030413, + "heading": -0.0014357410080319557, + "angularVelocity": 0.03269116198319357, + "velocityX": 0.5687478920360539, + "velocityY": -0.04444070535495125, + "moduleForcesX": [ + -69.82423459227853, + -69.83419712972186, + -69.63529336806604, + -69.65786953409446 + ], + "moduleForcesY": [ + 3.918953936384261, + 3.7873408005249147, + 6.460408949790593, + 6.242306255356992 + ], + "timestamp": 10.9661559971313 + }, + { + "x": 7.877452872324375, + "y": 4.151963409556538, + "heading": -0.0004484368166770001, + "angularVelocity": 0.02158708363772215, + "velocityX": 0.39653084289255985, + "velocityY": -0.03189803247177224, + "moduleForcesX": [ + -69.83011129092088, + -69.83996968506385, + -69.64170110698417, + -69.66423743516098 + ], + "moduleForcesY": [ + 3.895309854867698, + 3.7619401017620726, + 6.44041784331503, + 6.2203261064077635 + ], + "timestamp": 11.011891873636106 + }, + { + "x": 7.887711449336735, + "y": 4.1510759106131365, + "heading": 0.000030352559408697598, + "angularVelocity": 0.01046857330993503, + "velocityX": 0.2243004353766338, + "velocityY": -0.019404874492980072, + "moduleForcesX": [ + -69.83535624003318, + -69.84506819003062, + -69.6474094313267, + -69.66982501002556 + ], + "moduleForcesY": [ + 3.873851765520487, + 3.7398864374540004, + 6.42248302141526, + 6.201563022109505 + ], + "timestamp": 11.057627750140911 + }, + { + "x": 7.890092372894287, + "y": 4.150757789611816, + "heading": 4.255278213177281e-17, + "angularVelocity": -0.0006636487967228019, + "velocityX": 0.05205811584920244, + "velocityY": -0.006955611778583246, + "moduleForcesX": [ + -69.84007517814702, + -69.84959496618039, + -69.65253790055276, + -69.67474720613788 + ], + "moduleForcesY": [ + 3.8541304068260542, + 3.720751145016197, + 6.406182616934665, + 6.185613725606737 + ], + "timestamp": 11.103363626645717 + }, + { + "x": 7.884396417258817, + "y": 4.1510194176021615, + "heading": -0.0005556604870648964, + "angularVelocity": -0.0119730553372896, + "velocityX": -0.12273320419561777, + "velocityY": 0.005637410755500938, + "moduleForcesX": [ + -69.84526171242152, + -69.85450741619185, + -69.6580865944387, + -69.6799660562006 + ], + "moduleForcesY": [ + 3.8358141593988173, + 3.704254767607179, + 6.391245989183205, + 6.172255310447964 + ], + "timestamp": 11.149772874027477 + }, + { + "x": 7.87058912317916, + "y": 4.151868562531265, + "heading": -0.0016358270910557505, + "angularVelocity": -0.02327481407109726, + "velocityX": -0.29751169990061316, + "velocityY": 0.018296890749345013, + "moduleForcesX": [ + -69.84052693052642, + -69.84983916844774, + -69.65254097927807, + -69.67444185458244 + ], + "moduleForcesY": [ + 3.8623216111553433, + 3.7325571482227415, + 6.415935419469509, + 6.198849100966151 + ], + "timestamp": 11.196182121409237 + }, + { + "x": 7.84867115588573, + "y": 4.153308676549065, + "heading": -0.003240144063550548, + "angularVelocity": -0.03456890734075619, + "velocityX": -0.47227586160004714, + "velocityY": 0.031030755701638053, + "moduleForcesX": [ + -69.83527240234028, + -69.84460350357307, + -69.64637636140073, + -69.66821378044256 + ], + "moduleForcesY": [ + 3.8913779162053537, + 3.7645881681953437, + 6.443230217638321, + 6.2292155333288814 + ], + "timestamp": 11.242591368790997 + }, + { + "x": 7.818643263508358, + "y": 4.155343645575917, + "heading": -0.005368256245780929, + "angularVelocity": -0.045855347851786174, + "velocityX": -0.6470239030244018, + "velocityY": 0.0438483522500035, + "moduleForcesX": [ + -69.82939663417959, + -69.83870154038723, + -69.63947003124473, + -69.66116334641347 + ], + "moduleForcesY": [ + 3.9235625686422013, + 3.800903527686453, + 6.473707147215328, + 6.263908170932127 + ], + "timestamp": 11.289000616172757 + }, + { + "x": 7.78050629326201, + "y": 4.157977871963268, + "heading": -0.008019812097488225, + "angularVelocity": -0.05713421357377078, + "velocityX": -0.8217536891437839, + "velocityY": 0.05676080815707597, + "moduleForcesX": [ + -69.82277181100342, + -69.83200874861478, + -69.63166713132719, + -69.65314099231936 + ], + "moduleForcesY": [ + 3.9595996572438468, + 3.842198223950906, + 6.508092726488677, + 6.30362480718904 + ], + "timestamp": 11.335409863554517 + }, + { + "x": 7.734261212143908, + "y": 4.161216379632487, + "heading": -0.011194469041176991, + "angularVelocity": -0.06840569763122133, + "velocityX": -0.9964626389584227, + "velocityY": 0.06978151665721292, + "moduleForcesX": [ + -69.81523468704228, + -69.82436608085627, + -69.62276945269603, + -69.64395527152313 + ], + "moduleForcesY": [ + 4.000406016495486, + 3.889353029204672, + 6.547314528154094, + 6.349256874184525 + ], + "timestamp": 11.381819110936277 + }, + { + "x": 7.679909133824823, + "y": 4.165064949839472, + "heading": -0.01489190218850705, + "angularVelocity": -0.07967018117996913, + "velocityX": -1.1711475920302716, + "velocityY": 0.0829267963629735, + "moduleForcesX": [ + -69.80657340635271, + -69.81556714738767, + -69.61251921185455, + -69.63335719474814 + ], + "moduleForcesY": [ + 4.047160128801968, + 3.9435010446889462, + 6.592574924521756, + 6.401960505763682 + ], + "timestamp": 11.428228358318037 + }, + { + "x": 7.617451354230103, + "y": 4.169530299530098, + "heading": -0.019111818107833353, + "angularVelocity": -0.09092834203094423, + "velocityX": -1.3458046212416621, + "velocityY": 0.09621680898835733, + "moduleForcesX": [ + -69.79650796137848, + -69.80533920921064, + -69.60057497977996, + -69.62101700601912 + ], + "moduleForcesY": [ + 4.101403068108447, + 4.006125260419006, + 6.645459577321982, + 6.463261124449069 + ], + "timestamp": 11.474637605699797 + }, + { + "x": 7.546889399616104, + "y": 4.174620320330323, + "heading": -0.02385397626368427, + "angularVelocity": -0.10218131996073003, + "velocityX": -1.5204287635513867, + "velocityY": 0.10967686587018105, + "moduleForcesX": [ + -69.78466039505065, + -69.79331421219015, + -69.58647495658006, + -69.60648876241422 + ], + "moduleForcesY": [ + 4.165190398987298, + 4.079205429145182, + 6.708101314583558, + 6.535211470992664 + ], + "timestamp": 11.521046853081558 + }, + { + "x": 7.468225093135606, + "y": 4.180344406226608, + "heading": -0.029118222402481443, + "angularVelocity": -0.11343097412236461, + "velocityX": -1.695013621604547, + "velocityY": 0.12333933901574691, + "moduleForcesX": [ + -69.7705078691145, + -69.77898319801147, + -69.56957910482252, + -69.5891545516942 + ], + "moduleForcesY": [ + 4.241327909128236, + 4.165446073880933, + 6.783435324837567, + 6.620637739239637 + ], + "timestamp": 11.567456100463318 + }, + { + "x": 7.381460649693566, + "y": 4.186713915140715, + "heading": -0.034904541035931, + "angularVelocity": -0.12468029455107398, + "velocityX": -1.869550754148636, + "velocityY": 0.1372465461831737, + "moduleForcesX": [ + -69.75330589901576, + -69.76162179840142, + -69.54897447434095, + -69.56813328750238 + ], + "moduleForcesY": [ + 4.333750820449712, + 4.268643334562397, + 6.875610901168991, + 6.723536725391139 + ], + "timestamp": 11.613865347845078 + }, + { + "x": 7.286598815852057, + "y": 4.193742840360602, + "heading": -0.041213139417234076, + "angularVelocity": -0.13593408075358557, + "velocityX": -2.04402870533929, + "velocityY": 0.15145527274050752, + "moduleForcesX": [ + -69.73195703945562, + -69.7401629162167, + -69.52331324455598, + -69.54212482189106 + ], + "moduleForcesY": [ + 4.448160237686171, + 4.394300657319212, + 6.990684164675913, + 6.849743929305322 + ], + "timestamp": 11.660274595226838 + }, + { + "x": 7.18364308501984, + "y": 4.201448826076235, + "heading": -0.04804458543530527, + "angularVelocity": -0.1472001035026177, + "velocityX": -2.218431382549879, + "velocityY": 0.1660441862425419, + "moduleForcesX": [ + -69.70477380584327, + -69.71296714864722, + -69.49052039305114, + -69.50912888004027 + ], + "moduleForcesY": [ + 4.59314710805928, + 4.5507158370307845, + 7.13784349027266, + 7.008115076880458 + ], + "timestamp": 11.706683842608598 + }, + { + "x": 7.072598046196222, + "y": 4.209854779376856, + "heading": -0.05540004221521033, + "angularVelocity": -0.1584911886073516, + "velocityX": -2.3927351786200797, + "velocityY": 0.18112668864189005, + "moduleForcesX": [ + -69.6690212905443, + -69.67738056463489, + -69.44723006205231, + -69.46590391562414 + ], + "moduleForcesY": [ + 4.782304652878327, + 4.751023006124584, + 7.3317145188368364, + 7.212747356646025 + ], + "timestamp": 11.753093089990358 + }, + { + "x": 6.953469988311547, + "y": 4.2189915912243094, + "heading": -0.06328168681444274, + "angularVelocity": -0.1698291837055948, + "velocityX": -2.566903464405157, + "velocityY": 0.19687481187303227, + "moduleForcesX": [ + -69.61995772487455, + -69.62880889445651, + -69.38760454569054, + -69.40683530559905 + ], + "moduleForcesY": [ + 5.0385209067765535, + 5.017338367074698, + 7.597042900361163, + 7.487488106048717 + ], + "timestamp": 11.799502337372118 + }, + { + "x": 6.8262680450984625, + "y": 4.228903116920455, + "heading": -0.071693508420302, + "angularVelocity": -0.1812531355371302, + "velocityX": -2.7408749417272147, + "velocityY": 0.21356790414233462, + "moduleForcesX": [ + -69.54858957338627, + -69.55855685469528, + -69.30057574672517, + -69.32129818626035 + ], + "moduleForcesY": [ + 5.403628299226511, + 5.390066996590429, + 7.979205992586547, + 7.876042746068363 + ], + "timestamp": 11.845911584753878 + }, + { + "x": 6.691006652283192, + "y": 4.239656373774396, + "heading": -0.08064298208106964, + "angularVelocity": -0.19283815544675706, + "velocityX": -2.914535366251887, + "velocityY": 0.23170504717486504, + "moduleForcesX": [ + -69.43557192437106, + -69.44797784528673, + -69.16236953774111, + -69.18653466227909 + ], + "moduleForcesY": [ + 5.9632696087729125, + 5.951836292759237, + 8.57122701733304, + 8.467901672406025 + ], + "timestamp": 11.892320832135638 + }, + { + "x": 6.547711917103736, + "y": 4.251366204967392, + "heading": -0.09014514013957545, + "angularVelocity": -0.20474708370822672, + "velocityX": -3.087633246898443, + "velocityY": 0.25231676559351734, + "moduleForcesX": [ + -69.23056504764862, + -69.24877490404154, + -68.91130543084316, + -68.94376045543765 + ], + "moduleForcesY": [ + 6.924939250568172, + 6.902375785126476, + 9.598206634845097, + 9.479138636350383 + ], + "timestamp": 11.938730079517399 + }, + { + "x": 6.396444472585868, + "y": 4.264274074293088, + "heading": -0.100235428902828, + "angularVelocity": -0.21741978878160628, + "velocityX": -3.259424641678653, + "velocityY": 0.27813140815481985, + "moduleForcesX": [ + -68.75163556397735, + -68.78782008371181, + -68.32581616829665, + -68.38345282090013 + ], + "moduleForcesY": [ + 8.954635792979039, + 8.879838644232008, + 11.779158099029415, + 11.597004401958207 + ], + "timestamp": 11.985139326899159 + }, + { + "x": 6.237472491219683, + "y": 4.2792045976344, + "heading": -0.11104199693728996, + "angularVelocity": -0.2328537660947148, + "velocityX": -3.4254376085544243, + "velocityY": 0.32171440356475467, + "moduleForcesX": [ + -66.59485929897085, + -66.75642157750775, + -65.72559675335843, + -65.94713301467321 + ], + "moduleForcesY": [ + 15.962348943442482, + 15.588218338142795, + 19.270950670728798, + 18.754614905341313 + ], + "timestamp": 12.031548574280919 + }, + { + "x": 6.085065633665861, + "y": 4.298042412916954, + "heading": -0.12218174486998531, + "angularVelocity": -0.24003293656236976, + "velocityX": -3.283976064083342, + "velocityY": 0.4059065023742881, + "moduleForcesX": [ + 57.0053860804575, + 56.478728686864144, + 56.444295782149524, + 55.901574741657306 + ], + "moduleForcesY": [ + 32.6892348133087, + 33.44039865725631, + 33.76197013824198, + 34.513124594021534 + ], + "timestamp": 12.077957821662679 + }, + { + "x": 5.940673733394497, + "y": 4.317352125122351, + "heading": -0.1329879092907271, + "angularVelocity": -0.23284506925629764, + "velocityX": -3.111274334694664, + "velocityY": 0.4160746681918069, + "moduleForcesX": [ + 68.86038034489904, + 68.90317966132747, + 68.95196859689867, + 68.98645919449427 + ], + "moduleForcesY": [ + 4.991118465062357, + 4.6808848697736405, + 3.4192704644898573, + 3.141241868407977 + ], + "timestamp": 12.124367069044439 + }, + { + "x": 5.8043600786015475, + "y": 4.336679265248018, + "heading": -0.1433326051543543, + "angularVelocity": -0.22290160791723843, + "velocityX": -2.9372089073464576, + "velocityY": 0.41645019508037123, + "moduleForcesX": [ + 69.45738187875165, + 69.4797847449118, + 69.46459078715823, + 69.47724528715867 + ], + "moduleForcesY": [ + 1.4144428487594791, + 1.0690960643975045, + -0.801929440587436, + -1.08211628847879 + ], + "timestamp": 12.170776316426199 + }, + { + "x": 5.676141089669187, + "y": 4.355831010237803, + "heading": -0.15305098886667945, + "angularVelocity": -0.20940619080454775, + "velocityX": -2.7627896629660533, + "velocityY": 0.41267088070277785, + "moduleForcesX": [ + 69.6365925531376, + 69.65169350908516, + 69.57698575775873, + 69.57856632833895 + ], + "moduleForcesY": [ + 0.2016406531953778, + -0.2436583811633672, + -2.8338919340357136, + -3.1574085340705524 + ], + "timestamp": 12.21718556380796 + }, + { + "x": 5.556022292840179, + "y": 4.3746890926569275, + "heading": -0.16197186560864046, + "angularVelocity": -0.1922219653460994, + "velocityX": -2.5882513422576707, + "velocityY": 0.40634320707678606, + "moduleForcesX": [ + 69.72318800890363, + 69.73286828495876, + 69.59309782548499, + 69.58477813190655 + ], + "moduleForcesY": [ + -0.34534271820180595, + -0.9131953701791334, + -4.23685892754336, + -4.606135858097092 + ], + "timestamp": 12.26359481118972 + }, + { + "x": 5.444004100512943, + "y": 4.3931540179139255, + "heading": -0.16990603039507135, + "angularVelocity": -0.17096085875212255, + "velocityX": -2.413704135423311, + "velocityY": 0.3978716807257086, + "moduleForcesX": [ + 69.77444256589784, + 69.77868829559299, + 69.556641960503, + 69.53834528949733 + ], + "moduleForcesY": [ + -0.6782685787580125, + -1.390100473695053, + -5.524361841455879, + -5.931260226141385 + ], + "timestamp": 12.31000405857148 + }, + { + "x": 5.340081548641706, + "y": 4.411102191832692, + "heading": -0.1766387898963379, + "angularVelocity": -0.1450736627094774, + "velocityX": -2.2392638910167224, + "velocityY": 0.38673701754155815, + "moduleForcesX": [ + 69.80433340427273, + 69.79992601922777, + 69.45005958344015, + 69.42304369833387 + ], + "moduleForcesY": [ + -1.1566059509217277, + -2.0158282979165234, + -7.098734984802106, + -7.504268129899874 + ], + "timestamp": 12.35641330595324 + }, + { + "x": 5.244244566392908, + "y": 4.428381953152792, + "heading": -0.18200598017409053, + "angularVelocity": -0.11564915572967037, + "velocityX": -2.065040647189307, + "velocityY": 0.3723344439947396, + "moduleForcesX": [ + 69.81050045839473, + 69.7921252249223, + 69.27845232423293, + 69.24986378322077 + ], + "moduleForcesY": [ + -2.0369461565346274, + -2.9640971751421596, + -8.826388357062102, + -9.164915697214896 + ], + "timestamp": 12.402822553335 + }, + { + "x": 5.15648098422649, + "y": 4.444848439176671, + "heading": -0.18591814561174294, + "angularVelocity": -0.08429711013130145, + "velocityX": -1.8910796256720086, + "velocityY": 0.35481045164185604, + "moduleForcesX": [ + 69.79261035699513, + 69.76022856943331, + 69.09096901387028, + 69.06852071671656 + ], + "moduleForcesY": [ + -3.0780740994754163, + -3.9923265644123185, + -10.330588202948192, + -10.5744086172704 + ], + "timestamp": 12.44923180071676 + }, + { + "x": 5.076778119428936, + "y": 4.460372361523327, + "heading": -0.1883439069874921, + "angularVelocity": -0.05226892295396647, + "velocityX": -1.7173918840338522, + "velocityY": 0.3345006269754168, + "moduleForcesX": [ + 69.75319008904908, + 69.71029119110527, + 68.91211319407469, + 68.90046868520734 + ], + "moduleForcesY": [ + -4.150726145922235, + -4.998945027187704, + -11.562994310974698, + -11.710049981357619 + ], + "timestamp": 12.49564104809852 + }, + { + "x": 5.005123419271046, + "y": 4.474838998771846, + "heading": -0.1892978728238737, + "angularVelocity": -0.020555511890434683, + "velocityX": -1.5439746214469527, + "velocityY": 0.31171885054541326, + "moduleForcesX": [ + 69.69411921976389, + 69.64557438255135, + 68.7517062485026, + 68.75286906803288 + ], + "moduleForcesY": [ + -5.22559712764522, + -5.9720537993535885, + -12.55658898708507, + -12.614712901539457 + ], + "timestamp": 12.54205029548028 + }, + { + "x": 4.9415046158562514, + "y": 4.48814463537535, + "heading": -0.18883838264881078, + "angularVelocity": 0.009900832290652329, + "velocityX": -1.3708217005001222, + "velocityY": 0.28670227064991627, + "moduleForcesX": [ + 69.61413205900656, + 69.56540112809247, + 68.61441867501658, + 68.62832061302444 + ], + "moduleForcesY": [ + -6.323579127496874, + -6.940462265907679, + -13.345454573494814, + -13.32710935547324 + ], + "timestamp": 12.58845954286204 + }, + { + "x": 4.885909430268591, + "y": 4.500190661952772, + "heading": -0.18708408954546277, + "angularVelocity": 0.037800507491888895, + "velocityX": -1.1979333586329695, + "velocityY": 0.2595609120383236, + "moduleForcesX": [ + 69.50284138380154, + 69.46028595959244, + 68.50631450719705, + 68.53045513094503 + ], + "moduleForcesY": [ + -7.535693883084783, + -7.992656059461959, + -13.938188800014524, + -13.862074973306907 + ], + "timestamp": 12.6348687902438 + }, + { + "x": 4.838323190234018, + "y": 4.51086214786475, + "heading": -0.18433458081751503, + "angularVelocity": 0.059244846298185855, + "velocityX": -1.0253611665608888, + "velocityY": 0.22994309354331424, + "moduleForcesX": [ + 69.29040648482314, + 69.26571416662244, + 68.45718283202788, + 68.48189023161743 + ], + "moduleForcesY": [ + -9.352403419338149, + -9.577724011983078, + -14.220698662835838, + -14.131221759144733 + ], + "timestamp": 12.68127803762556 + }, + { + "x": 4.798726023855189, + "y": 4.520025470268991, + "heading": -0.18105327767746845, + "angularVelocity": 0.07070364906058164, + "velocityX": -0.8532171628017221, + "velocityY": 0.1974460462343598, + "moduleForcesX": [ + 68.94120879674408, + 68.93883560485864, + 68.45826692344116, + 68.47332021936111 + ], + "moduleForcesY": [ + -11.697567085386378, + -11.729504361683166, + -14.254527211566076, + -14.196865861359052 + ], + "timestamp": 12.72768728500732 + }, + { + "x": 4.767095608562261, + "y": 4.527557015615815, + "heading": -0.1776853855114291, + "angularVelocity": 0.07256942001955871, + "velocityX": -0.6815541530492494, + "velocityY": 0.16228544464145783, + "moduleForcesX": [ + 68.55162051438302, + 68.55379092058199, + 68.46782247341, + 68.47053616623668 + ], + "moduleForcesY": [ + -13.832938612988684, + -13.824496441700466, + -14.241971783342194, + -14.231170346327838 + ], + "timestamp": 12.77409653238908 + }, + { + "x": 4.74340845826846, + "y": 4.533345558511581, + "heading": -0.1746380830271375, + "angularVelocity": 0.06566153635769992, + "velocityX": -0.5103972081027701, + "velocityY": 0.1247282216871555, + "moduleForcesX": [ + 68.1535637279797, + 68.1342504645237, + 68.47947649206557, + 68.46859475877257 + ], + "moduleForcesY": [ + -15.70324086306387, + -15.77978923295082, + -14.214506886725266, + -14.259019684715405 + ], + "timestamp": 12.82050577977084 + }, + { + "x": 4.727640694796091, + "y": 4.537291353928148, + "heading": -0.1722808191793964, + "angularVelocity": 0.05079297727777901, + "velocityX": -0.3397547765139184, + "velocityY": 0.08502174974113795, + "moduleForcesX": [ + 67.76218605118999, + 67.69443534858641, + 68.49132060239295, + 68.46657149574686 + ], + "moduleForcesY": [ + -17.335082718388172, + -17.585042001903926, + -14.18216192963107, + -14.285342893208833 + ], + "timestamp": 12.8669150271526 + }, + { + "x": 4.719768524169922, + "y": 4.539304733276367, + "heading": -0.1709491750126471, + "angularVelocity": 0.028693509200761788, + "velocityX": -0.16962504393602973, + "velocityY": 0.043383150165256165, + "moduleForcesX": [ + 67.38458116003311, + 67.24444069958429, + 68.5023901227519, + 68.46462600308531 + ], + "moduleForcesY": [ + -18.766118515893627, + -19.24596546147227, + -14.150307555012077, + -14.309697153796881 + ], + "timestamp": 12.91332427453436 + }, + { + "x": 4.719768524169922, + "y": 4.539304733276367, + "heading": -0.17094917501264706, + "angularVelocity": 1.4917178471052147e-17, + "velocityX": -1.2639827414836993e-17, + "velocityY": -4.774641016852188e-17, + "moduleForcesX": [ + 67.02327146248648, + 66.79173222790882, + 68.5119889759832, + 68.46335760377693 + ], + "moduleForcesY": [ + -20.03211035825907, + -20.772617732478892, + -14.122904418171489, + -14.329466304300716 + ], + "timestamp": 12.959733521916121 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4.1.traj b/src/main/deploy/choreo/source 4.1.traj index 1801e408..3da614ba 100644 --- a/src/main/deploy/choreo/source 4.1.traj +++ b/src/main/deploy/choreo/source 4.1.traj @@ -1,1453 +1,3386 @@ { - "samples": [ - { - "x": 0.7040935158729553, - "y": 4.236670017242432, - "heading": -1.0390724511122948, - "angularVelocity": 8.929054960744042e-19, - "velocityX": 8.609354111590197e-18, - "velocityY": 5.261372443897991e-18, - "timestamp": 0 - }, - { - "x": 0.7161405463855183, - "y": 4.229331722141036, - "heading": -1.0300663664419025, - "angularVelocity": 0.1579868549191116, - "velocityX": 0.21133184191032803, - "velocityY": -0.1287300981467684, - "timestamp": 0.05700527854044238 - }, - { - "x": 0.74024355642588, - "y": 4.2146519650283585, - "heading": -1.01223394384172, - "angularVelocity": 0.3128205502501218, - "velocityX": 0.42282066955013653, - "velocityY": -0.2575157509714357, - "timestamp": 0.11401055708088476 - }, - { - "x": 0.7764122120765719, - "y": 4.192627448984981, - "heading": -0.9857704276701906, - "angularVelocity": 0.4642292231368554, - "velocityX": 0.6344790618825241, - "velocityY": -0.3863592391317233, - "timestamp": 0.17101583562132713 - }, - { - "x": 0.8246572790922619, - "y": 4.163254705395263, - "heading": -0.9508964602956907, - "angularVelocity": 0.6117673357171477, - "velocityX": 0.8463263096146952, - "velocityY": -0.5152635745631515, - "timestamp": 0.2280211141617695 - }, - { - "x": 0.8849910486472321, - "y": 4.126529972865192, - "heading": -0.9078713795305998, - "angularVelocity": 0.754756083413703, - "velocityX": 1.0583891720161793, - "velocityY": -0.6442338932528269, - "timestamp": 0.28502639270221186 - }, - { - "x": 0.957427781713813, - "y": 4.082448951896472, - "heading": -0.8570110099599281, - "angularVelocity": 0.892204561979106, - "velocityX": 1.2707022037475195, - "velocityY": -0.7732796347525094, - "timestamp": 0.3420316712426542 - }, - { - "x": 1.0419841250424062, - "y": 4.031006408833659, - "heading": -0.7987109894705948, - "angularVelocity": 1.0227126677045002, - "velocityX": 1.48330725668861, - "velocityY": -0.9024171862666567, - "timestamp": 0.39903694978309656 - }, - { - "x": 1.1386794300833858, - "y": 3.9721956488924164, - "heading": -0.7334767516521583, - "angularVelocity": 1.1443543385575554, - "velocityX": 1.696251777322337, - "velocityY": -1.0316721792617503, - "timestamp": 0.4560422283235389 - }, - { - "x": 1.2475358906249325, - "y": 3.9060079639237233, - "heading": -0.6619621142635164, - "angularVelocity": 1.2545265845496538, - "velocityX": 1.9095856266068247, - "velocityY": -1.1610799326545718, - "timestamp": 0.5130475068639813 - }, - { - "x": 1.3685783902865754, - "y": 3.8324322959302655, - "heading": -0.5850214646080069, - "angularVelocity": 1.3497109675716208, - "velocityX": 2.1233559901960604, - "velocityY": -1.2906816680363788, - "timestamp": 0.5700527854044236 - }, - { - "x": 1.5018338127510122, - "y": 3.751455569328003, - "heading": -0.5037890624780151, - "angularVelocity": 1.4249978986132357, - "velocityX": 2.3375979536684452, - "velocityY": -1.4205127783879297, - "timestamp": 0.627058063944866 - }, - { - "x": 1.6473288718602725, - "y": 3.6630646003799376, - "heading": -0.41982091767256663, - "angularVelocity": 1.472988939890508, - "velocityX": 2.5523085376390124, - "velocityY": -1.5505751609538212, - "timestamp": 0.6840633424853083 - }, - { - "x": 1.8050824146397977, - "y": 3.567252175256741, - "heading": -0.3353932348700992, - "angularVelocity": 1.481050263486933, - "velocityX": 2.767349740561443, - "velocityY": -1.6807640902100165, - "timestamp": 0.7410686210257507 - }, - { - "x": 1.9750736570569472, - "y": 3.4640393984752493, - "heading": -0.25423487558835517, - "angularVelocity": 1.4236990215593248, - "velocityX": 2.9820263450962745, - "velocityY": -1.8105827990694903, - "timestamp": 0.798073899566193 - }, - { - "x": 2.1570870248495084, - "y": 3.353614368878204, - "heading": -0.18375879433725764, - "angularVelocity": 1.236307988585624, - "velocityX": 3.1929212952346644, - "velocityY": -1.9371018338012853, - "timestamp": 0.8550791781066354 - }, - { - "x": 2.349619563126936, - "y": 3.2382914399772114, - "heading": -0.1461730910128464, - "angularVelocity": 0.6593372453701131, - "velocityX": 3.3774510572882535, - "velocityY": -2.023021935050713, - "timestamp": 0.9120844566470777 - }, - { - "x": 2.5526739746417553, - "y": 3.1179621396591326, - "heading": -0.14106347914371162, - "angularVelocity": 0.08963401284864882, - "velocityX": 3.5620282316621505, - "velocityY": -2.110844879614242, - "timestamp": 0.9690897351875201 - }, - { - "x": 2.755976846870316, - "y": 2.9945160563864084, - "heading": -0.14106343687633885, - "angularVelocity": 7.414641917811559e-7, - "velocityX": 3.5663867879240057, - "velocityY": -2.1655202190643497, - "timestamp": 1.0260950137279625 - }, - { - "x": 2.9592713283538066, - "y": 2.871056155480985, - "heading": -0.14106339461736297, - "angularVelocity": 7.413168914557164e-7, - "velocityX": 3.5662395955010413, - "velocityY": -2.1657626112261363, - "timestamp": 1.083100292268405 - }, - { - "x": 3.1625658082183112, - "y": 2.7475962519096617, - "heading": -0.14106335235838743, - "angularVelocity": 7.413168852358239e-7, - "velocityX": 3.566239567100414, - "velocityY": -2.1657626579919755, - "timestamp": 1.1401055708088474 - }, - { - "x": 3.3658602901525385, - "y": 2.6241363517464347, - "heading": -0.141063310099412, - "angularVelocity": 7.413168835719256e-7, - "velocityX": 3.5662396034079684, - "velocityY": -2.165762598206346, - "timestamp": 1.19711084934929 - }, - { - "x": 3.569154771290978, - "y": 2.500676450272834, - "heading": -0.14106326784043682, - "angularVelocity": 7.413168793171977e-7, - "velocityX": 3.5662395894480823, - "velocityY": -2.1657626211932337, - "timestamp": 1.2541161278897324 - }, - { - "x": 3.7724492481116925, - "y": 2.377216541689487, - "heading": -0.14106322558146206, - "angularVelocity": 7.413168714887869e-7, - "velocityX": 3.5662395137055287, - "velocityY": -2.165762745914082, - "timestamp": 1.3111214064301748 - }, - { - "x": 3.9757437153478112, - "y": 2.253756617323748, - "heading": -0.141063183322488, - "angularVelocity": 7.413168595985773e-7, - "velocityX": 3.5662393455702883, - "velocityY": -2.1657630227725164, - "timestamp": 1.3681266849706173 - }, - { - "x": 4.179038165990622, - "y": 2.1302966656347895, - "heading": -0.14106314106351509, - "angularVelocity": 7.413168390267369e-7, - "velocityX": 3.5662390544865947, - "velocityY": -2.165763502082876, - "timestamp": 1.4251319635110598 - }, - { - "x": 4.382332608455097, - "y": 2.006836700478998, - "heading": -0.14106309880454287, - "angularVelocity": 7.413168272703568e-7, - "velocityX": 3.5662389110202497, - "velocityY": -2.1657637383212465, - "timestamp": 1.4821372420515022 - }, - { - "x": 4.585627106271784, - "y": 1.8833768264681643, - "heading": -0.14106305654556767, - "angularVelocity": 7.413168792259443e-7, - "velocityX": 3.566239882021746, - "velocityY": -2.1657621394350306, - "timestamp": 1.5391425205919447 - }, - { - "x": 4.788921775371466, - "y": 1.759917234499251, - "heading": -0.141063014286583, - "angularVelocity": 7.413170455012489e-7, - "velocityX": 3.5662428867082965, - "velocityY": -2.1657571917893876, - "timestamp": 1.5961477991323871 - }, - { - "x": 4.992213145824937, - "y": 1.6364522109807111, - "heading": -0.14106297202778553, - "angularVelocity": 7.413137615262351e-7, - "velocityX": 3.5661850210808623, - "velocityY": -2.165852473310018, - "timestamp": 1.6531530776728296 - }, - { - "x": 5.195527020317167, - "y": 1.5130242489270982, - "heading": -0.14106292976770962, - "angularVelocity": 7.413361885013363e-7, - "velocityX": 3.5665797922193354, - "velocityY": -2.1652023323793768, - "timestamp": 1.710158356213272 - }, - { - "x": 5.398934826518299, - "y": 1.3897511467960901, - "heading": -0.1410628874999793, - "angularVelocity": 7.414704637749377e-7, - "velocityX": 3.5682275643443737, - "velocityY": -2.162485743202633, - "timestamp": 1.7671636347537145 - }, - { - "x": 5.608231721454858, - "y": 1.276765293609188, - "heading": -0.14106284462697327, - "angularVelocity": 7.520883524725524e-7, - "velocityX": 3.67153534366255, - "velocityY": -1.982024403349554, - "timestamp": 1.824168913294157 - }, - { - "x": 5.823946089773796, - "y": 1.176573960997718, - "heading": -0.14106279214343445, - "angularVelocity": 9.206785786091621e-7, - "velocityX": 3.7841121706984704, - "velocityY": -1.7575799149963773, - "timestamp": 1.8811741918345994 - }, - { - "x": 6.04280309102535, - "y": 1.09019011735396, - "heading": -0.13328849744739357, - "angularVelocity": 0.13637850555389583, - "velocityX": 3.8392409765403803, - "velocityY": -1.515365696923281, - "timestamp": 1.938179470375042 - }, - { - "x": 6.253367473131126, - "y": 1.014173776084073, - "heading": -0.10681705256968371, - "angularVelocity": 0.4643683103649658, - "velocityX": 3.6937699016135386, - "velocityY": -1.3334965325350956, - "timestamp": 1.9951847489154844 - }, - { - "x": 6.452846899676241, - "y": 0.9472350045455541, - "heading": -0.07930503725983559, - "angularVelocity": 0.482622241558399, - "velocityX": 3.499315004725375, - "velocityY": -1.174255669867861, - "timestamp": 2.052190027455927 - }, - { - "x": 6.640810423890953, - "y": 0.8887412003042477, - "heading": -0.05603896061571522, - "angularVelocity": 0.40813898712231356, - "velocityX": 3.2973003382724326, - "velocityY": -1.026112067846525, - "timestamp": 2.1091953059963693 - }, - { - "x": 6.817113337200576, - "y": 0.8383680431867968, - "heading": -0.039365467978320294, - "angularVelocity": 0.29249032833980043, - "velocityX": 3.0927471599765517, - "velocityY": -0.8836577665647045, - "timestamp": 2.1662005845368117 - }, - { - "x": 6.981686546836259, - "y": 0.795920332604909, - "heading": -0.03060270556570072, - "angularVelocity": 0.15371843866008422, - "velocityX": 2.8869819400834746, - "velocityY": -0.7446277199008795, - "timestamp": 2.223205863077254 - }, - { - "x": 7.134490489959717, - "y": 0.7612675428390502, - "heading": -0.03060270556570072, - "angularVelocity": -2.670760217287104e-19, - "velocityX": 2.6805226995786424, - "velocityY": -0.6078873861000724, - "timestamp": 2.2802111416176967 - }, - { - "x": 7.175090349758447, - "y": 0.7524391325487545, - "heading": -0.03060270556570072, - "angularVelocity": 1.7923567672159468e-20, - "velocityX": 2.623449081025543, - "velocityY": -0.5704671143657107, - "timestamp": 2.2956868983580763 - }, - { - "x": 7.214794495760281, - "y": 0.7441703699663706, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356766226229e-20, - "velocityX": 2.5655705674301967, - "velocityY": -0.5343042489690984, - "timestamp": 2.311162655098456 - }, - { - "x": 7.253591649597395, - "y": 0.7364427858105503, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356750446904e-20, - "velocityX": 2.5069632773354296, - "velocityY": -0.4993348167375442, - "timestamp": 2.3266384118388355 - }, - { - "x": 7.291471580180998, - "y": 0.7292388527666792, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567648646397e-20, - "velocityX": 2.447694882975314, - "velocityY": -0.4654979504223766, - "timestamp": 2.342114168579215 - }, - { - "x": 7.328424988624815, - "y": 0.7225419363008968, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567541669316e-20, - "velocityX": 2.387825620662093, - "velocityY": -0.4327359610349994, - "timestamp": 2.3575899253195947 - }, - { - "x": 7.364443406985551, - "y": 0.7163362455749804, - "heading": -0.03060270556570071, - "angularVelocity": 1.792356751598598e-20, - "velocityX": 2.3274091836007695, - "velocityY": -0.40099433132940576, - "timestamp": 2.3730656820599743 - }, - { - "x": 7.399519109158386, - "y": 0.7106067853228705, - "heading": -0.03060270556570071, - "angularVelocity": 1.7923567587901195e-20, - "velocityX": 2.2664935073133927, - "velocityY": -0.37022165366350684, - "timestamp": 2.388541438800354 - }, - { - "x": 7.433645032432678, - "y": 0.7053393092767213, - "heading": -0.030602705565700706, - "angularVelocity": 1.79235676291146e-20, - "velocityX": 2.2051214584710253, - "velocityY": -0.34036952987325714, - "timestamp": 2.4040171955407335 - }, - { - "x": 7.466814708378046, - "y": 0.7005202755254769, - "heading": -0.030602705565700706, - "angularVelocity": 1.7923567616980402e-20, - "velocityX": 2.1433314377976247, - "velocityY": -0.3113924463981841, - "timestamp": 2.419492952281113 - }, - { - "x": 7.499022201887237, - "y": 0.6961368040368999, - "heading": -0.030602705565700702, - "angularVelocity": 1.792356757628162e-20, - "velocityX": 2.0811579071381505, - "velocityY": -0.2832476344852548, - "timestamp": 2.4349687090214926 - }, - { - "x": 7.5302620573459125, - "y": 0.6921766364624907, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567747459206e-20, - "velocityX": 2.0186318499800056, - "velocityY": -0.2558949226747777, - "timestamp": 2.4504444657618722 - }, - { - "x": 7.560529251029311, - "y": 0.6886280982642193, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567399671936e-20, - "velocityX": 1.9557811738163342, - "velocityY": -0.22929658677145445, - "timestamp": 2.465920222502252 - }, - { - "x": 7.589819148941405, - "y": 0.6854800631449017, - "heading": -0.0306027055657007, - "angularVelocity": 1.792356758527676e-20, - "velocityX": 1.8926310618251385, - "velocityY": -0.20341720098934202, - "timestamp": 2.4813959792426314 - }, - { - "x": 7.618127469414256, - "y": 0.6827219197245772, - "heading": -0.0306027055657007, - "angularVelocity": 1.7923567585280224e-20, - "velocityX": 1.8292042804592215, - "velocityY": -0.17822349282147837, - "timestamp": 2.496871735983011 - }, - { - "x": 7.645450249874661, - "y": 0.6803435403789087, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567585275012e-20, - "velocityX": 1.765521448725803, - "velocityY": -0.15368420333615584, - "timestamp": 2.5123474927233906 - }, - { - "x": 7.671783817263209, - "y": 0.6783352521389968, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567589112204e-20, - "velocityX": 1.7016012741939854, - "velocityY": -0.12976995397401495, - "timestamp": 2.5278232494637702 - }, - { - "x": 7.697124761658539, - "y": 0.6766878095424995, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758144195e-20, - "velocityX": 1.6374607601067594, - "velocityY": -0.10645312046023236, - "timestamp": 2.54329900620415 - }, - { - "x": 7.721469912718339, - "y": 0.67539236932159, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758527721e-20, - "velocityX": 1.5731153873901929, - "velocityY": -0.08370771411315475, - "timestamp": 2.5587747629445294 - }, - { - "x": 7.744816318599359, - "y": 0.6744404668126073, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567764407182e-20, - "velocityX": 1.5085792748409654, - "velocityY": -0.06150927059336406, - "timestamp": 2.574250519684909 - }, - { - "x": 7.76716122706263, - "y": 0.6738239939741378, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567519461745e-20, - "velocityX": 1.4438653203282448, - "velocityY": -0.03983474597134639, - "timestamp": 2.5897262764252886 - }, - { - "x": 7.788502068508005, - "y": 0.6735351789038949, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567471963432e-20, - "velocityX": 1.3789853254600457, - "velocityY": -0.018662419879390112, - "timestamp": 2.6052020331656682 - }, - { - "x": 7.808836440714841, - "y": 0.6735665667495215, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567705237493e-20, - "velocityX": 1.3139501058308753, - "velocityY": 0.0020281945598015784, - "timestamp": 2.620677789906048 - }, - { - "x": 7.828162095094039, - "y": 0.6739110019138839, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567977064163e-20, - "velocityX": 1.2487695886800632, - "velocityY": 0.022256434379527068, - "timestamp": 2.6361535466464274 - }, - { - "x": 7.846476924281061, - "y": 0.6745616114612287, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567040839747e-20, - "velocityX": 1.1834528995427378, - "velocityY": 0.0420405643654978, - "timestamp": 2.651629303386807 - }, - { - "x": 7.863778950920781, - "y": 0.6755117896365047, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567617966664e-20, - "velocityX": 1.1180084392625638, - "velocityY": 0.061397848985369465, - "timestamp": 2.6671050601271866 - }, - { - "x": 7.880066317513365, - "y": 0.6767551834160388, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567585276968e-20, - "velocityX": 1.0524439525522904, - "velocityY": 0.08034461903205982, - "timestamp": 2.682580816867566 - }, - { - "x": 7.895337277206289, - "y": 0.6782856790135012, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567407933884e-20, - "velocityX": 0.9867665891307364, - "velocityY": 0.09889633335175817, - "timestamp": 2.698056573607946 - }, - { - "x": 7.909590185431431, - "y": 0.6800973892706034, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567766451006e-20, - "velocityX": 0.9209829583294081, - "velocityY": 0.11706763601292104, - "timestamp": 2.7135323303483254 - }, - { - "x": 7.922823492298213, - "y": 0.6821846418672157, - "heading": -0.030602705565700675, - "angularVelocity": 1.792356747092008e-20, - "velocityX": 0.8550991779453485, - "velocityY": 0.13487240925489652, - "timestamp": 2.729008087088705 - }, - { - "x": 7.935035735664182, - "y": 0.6845419682905334, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567840335288e-20, - "velocityX": 0.7891209180163922, - "velocityY": 0.15232382253544213, - "timestamp": 2.7444838438290846 - }, - { - "x": 7.946225534813595, - "y": 0.6871640935075455, - "heading": -0.03060270556570067, - "angularVelocity": 1.792356744457655e-20, - "velocityX": 0.7230534401083837, - "velocityY": 0.16943437797625108, - "timestamp": 2.759959600569464 - }, - { - "x": 7.956391584682524, - "y": 0.6900459262893809, - "heading": -0.03060270556570067, - "angularVelocity": 1.7923567585279932e-20, - "velocityX": 0.6569016326291687, - "velocityY": 0.18621595248535178, - "timestamp": 2.775435357309844 - }, - { - "x": 7.965532650575936, - "y": 0.6931825501401092, - "heading": -0.030602705565700668, - "angularVelocity": 1.792356796267937e-20, - "velocityX": 0.5906700426195519, - "velocityY": 0.20267983681536816, - "timestamp": 2.7909111140502234 - }, - { - "x": 7.973647563328351, - "y": 0.69656921478629, - "heading": -0.030602705565700668, - "angularVelocity": 1.7923567293620474e-20, - "velocityX": 0.5243629044155164, - "velocityY": 0.21883677179743705, - "timestamp": 2.806386870790603 - }, - { - "x": 7.980735214865002, - "y": 0.7002013281869879, - "heading": -0.030602705565700664, - "angularVelocity": 1.7923567761188273e-20, - "velocityX": 0.45798416552756027, - "velocityY": 0.2346969819722822, - "timestamp": 2.8218626275309826 - }, - { - "x": 7.986794554125132, - "y": 0.7040744490271335, - "heading": -0.030602705565700664, - "angularVelocity": 1.792356699059153e-20, - "velocityX": 0.3915375100409843, - "velocityY": 0.25027020682266105, - "timestamp": 2.837338384271362 - }, - { - "x": 7.9918245833131945, - "y": 0.7081842796600186, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567910993222e-20, - "velocityX": 0.3250263798044515, - "velocityY": 0.2655657297951926, - "timestamp": 2.852814141011742 - }, - { - "x": 7.995824354447386, - "y": 0.7125266594673922, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567594457527e-20, - "velocityX": 0.25845399364237626, - "velocityY": 0.2805924052844643, - "timestamp": 2.8682898977521214 - }, - { - "x": 7.998792966178139, - "y": 0.7170975586080781, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567588685966e-20, - "velocityX": 0.19182336479902082, - "velocityY": 0.29535868373828633, - "timestamp": 2.883765654492501 - }, - { - "x": 8.00072956085205, - "y": 0.7218930721282959, - "heading": -0.030602705565700657, - "angularVelocity": 4.247054487876987e-19, - "velocityX": 0.1251373167980271, - "velocityY": 0.3098726350299896, - "timestamp": 2.8992414112328806 - }, - { - "x": 8.000836792297617, - "y": 0.7313604194249149, - "heading": -0.031401844473511506, - "angularVelocity": -0.028345670785064538, - "velocityX": 0.0038035280527493978, - "velocityY": 0.3358093405975338, - "timestamp": 2.927434037679088 - }, - { - "x": 7.99752315338653, - "y": 0.7415587459291768, - "heading": -0.03299463021217043, - "angularVelocity": -0.05649653613143545, - "velocityX": -0.11753565838955778, - "velocityY": 0.36173736858874744, - "timestamp": 2.9556266641252957 - }, - { - "x": 7.990788483408073, - "y": 0.7524877916801813, - "heading": -0.03537524415686278, - "angularVelocity": -0.0844410132994739, - "velocityX": -0.23888054528391775, - "velocityY": 0.3876561756972951, - "timestamp": 2.9838192905715033 - }, - { - "x": 7.980632612288473, - "y": 0.7641472797958517, - "heading": -0.03853750569824085, - "angularVelocity": -0.11216626260098167, - "velocityX": -0.3602314647404652, - "velocityY": 0.41356516172453955, - "timestamp": 3.012011917017711 - }, - { - "x": 7.967055359662201, - "y": 0.776536914651206, - "heading": -0.0424748319675395, - "angularVelocity": -0.13965801578684073, - "velocityX": -0.48158878181062026, - "velocityY": 0.439463661854599, - "timestamp": 3.0402045434639184 - }, - { - "x": 7.950056533827013, - "y": 0.7896563797995924, - "heading": -0.04718019193654591, - "angularVelocity": -0.1669003765215836, - "velocityX": -0.602952898610576, - "velocityY": 0.4653509375372892, - "timestamp": 3.068397169910126 - }, - { - "x": 7.929635930564739, - "y": 0.803505335589102, - "heading": -0.05264605393411769, - "angularVelocity": -0.19387558686660494, - "velocityX": -0.7243242590836724, - "velocityY": 0.49122616567594546, - "timestamp": 3.0965897963563336 - }, - { - "x": 7.905793331806294, - "y": 0.818083416415575, - "heading": -0.05886432540493543, - "angularVelocity": -0.22056375211014007, - "velocityX": -0.8457033545255729, - "velocityY": 0.5170884257372611, - "timestamp": 3.124782422802541 - }, - { - "x": 7.8785285041151285, - "y": 0.8333902275398567, - "heading": -0.06582628346140383, - "angularVelocity": -0.24694251419778537, - "velocityX": -0.9670907300242603, - "velocityY": 0.5429366842951929, - "timestamp": 3.1529750492487487 - }, - { - "x": 7.847841196958048, - "y": 0.8494253413792734, - "heading": -0.0735224944267603, - "angularVelocity": -0.2729866612476805, - "velocityX": -1.0884869920023605, - "velocityY": 0.5687697763813397, - "timestamp": 3.1811676756949563 - }, - { - "x": 7.813731140725758, - "y": 0.8661882931603111, - "heading": -0.0819427201097795, - "angularVelocity": -0.29866765691666797, - "velocityX": -1.2098928170942707, - "velocityY": 0.5945863828266345, - "timestamp": 3.209360302141164 - }, - { - "x": 7.776198044457343, - "y": 0.8836785757893147, - "heading": -0.09107580795155264, - "angularVelocity": -0.32395306833847515, - "velocityX": -1.3313089626476837, - "velocityY": 0.620385002524377, - "timestamp": 3.2375529285873714 - }, - { - "x": 7.73524159321267, - "y": 0.9018956337579842, - "heading": -0.10090956138959419, - "angularVelocity": -0.3488058644270217, - "velocityX": -1.452736279211764, - "velocityY": 0.6461639181941399, - "timestamp": 3.265745555033579 - }, - { - "x": 7.690861445023903, - "y": 0.920838855846614, - "heading": -0.11143058571764346, - "angularVelocity": -0.37318354670216597, - "velocityX": -1.5741757254665243, - "velocityY": 0.6719211537374832, - "timestamp": 3.2939381814797866 - }, - { - "x": 7.643057227341174, - "y": 0.9405075663147252, - "heading": -0.12262410326948683, - "angularVelocity": -0.39703706120451326, - "velocityX": -1.6956283861647499, - "velocityY": 0.6976544205853176, - "timestamp": 3.322130807925994 - }, - { - "x": 7.591828532867268, - "y": 0.9609010141674288, - "heading": -0.13447372975632432, - "angularVelocity": -0.4203094206012444, - "velocityX": -1.8170954938040442, - "velocityY": 0.7233610494435864, - "timestamp": 3.3503234343722017 - }, - { - "x": 7.537174914650874, - "y": 0.9820183599436099, - "heading": -0.14696120078910727, - "angularVelocity": -0.44293393723371366, - "velocityX": -1.9385784549259353, - "velocityY": 0.7490379023916084, - "timestamp": 3.3785160608184093 - }, - { - "x": 7.479095880276698, - "y": 1.0038586592687424, - "heading": -0.1600660336330768, - "angularVelocity": -0.46483192578630295, - "velocityX": -2.0600788821500093, - "velocityY": 0.7746812581226169, - "timestamp": 3.406708687264617 - }, - { - "x": 7.417590884953132, - "y": 1.0264208421189347, - "heading": -0.17376510346066087, - "angularVelocity": -0.4859096705203083, - "velocityX": -2.181598633278069, - "velocityY": 0.8002866598200189, - "timestamp": 3.4349013137108244 - }, - { - "x": 7.352659323255117, - "y": 1.0497036863017477, - "heading": -0.18803210480203966, - "angularVelocity": -0.5060543532045627, - "velocityX": -2.303139858994872, - "velocityY": 0.8258487100247436, - "timestamp": 3.463093940157032 - }, - { - "x": 7.284300519236286, - "y": 1.0737057829863865, - "heading": -0.2028368558934496, - "angularVelocity": -0.5251284806561911, - "velocityX": -2.424705060710146, - "velocityY": 0.8513607886243854, - "timestamp": 3.4912865666032395 - }, - { - "x": 7.212513714595073, - "y": 1.098425491060514, - "heading": -0.21814438336173808, - "angularVelocity": -0.5429620932086706, - "velocityX": -2.5462971595847224, - "velocityY": 0.8768146565305259, - "timestamp": 3.519479193049447 - }, - { - "x": 7.137298054603031, - "y": 1.123860875383102, - "heading": -0.23391369211820187, - "angularVelocity": -0.559341599000952, - "velocityX": -2.667919575905979, - "velocityY": 0.9021998844668512, - "timestamp": 3.5476718194956547 - }, - { - "x": 7.058652571679064, - "y": 1.1500096211373223, - "heading": -0.25009607110497895, - "angularVelocity": -0.5739933105433805, - "velocityX": -2.789576312587432, - "velocityY": 0.9275030052312088, - "timestamp": 3.5758644459418623 - }, - { - "x": 6.976576167074778, - "y": 1.1768689114733186, - "heading": -0.26663269141122165, - "angularVelocity": -0.586558344884599, - "velocityX": -2.911272022168284, - "velocityY": 0.9527062115778089, - "timestamp": 3.60405707238807 - }, - { - "x": 6.891067592794993, - "y": 1.2044352464101018, - "heading": -0.28345108168062233, - "angularVelocity": -0.5965528008355451, - "velocityX": -3.0330119984719017, - "velocityY": 0.9777852726626759, - "timestamp": 3.6322496988342774 - }, - { - "x": 6.802125440484526, - "y": 1.2327041629723492, - "heading": -0.30045973382410457, - "angularVelocity": -0.6033014403936493, - "velocityX": -3.1548019295105467, - "velocityY": 1.0027060308192581, - "timestamp": 3.660442325280485 - }, - { - "x": 6.709748157186162, - "y": 1.2616697787893774, - "heading": -0.317539401468184, - "angularVelocity": -0.6058203791925227, - "velocityX": -3.2766469443569495, - "velocityY": 1.0274181397144868, - "timestamp": 3.6886349517266925 - }, - { - "x": 6.613934148323293, - "y": 1.2913239947326909, - "heading": -0.33452807751595487, - "angularVelocity": -0.6025928829363054, - "velocityX": -3.398548519262127, - "velocityY": 1.0518429703559293, - "timestamp": 3.7168275781729 - }, - { - "x": 6.5146821677518725, - "y": 1.3216549691282402, - "heading": -0.3511925749767564, - "angularVelocity": -0.5910941817568552, - "velocityX": -3.5204942952298057, - "velocityY": 1.0758477736518657, - "timestamp": 3.7450202046191077 - }, - { - "x": 6.411992770045106, - "y": 1.3526438100851401, - "heading": -0.3671672391606795, - "angularVelocity": -0.5666256109341365, - "velocityX": -3.6424204003376657, - "velocityY": 1.0991824765255644, - "timestamp": 3.7732128310653152 - }, - { - "x": 6.305874763332563, - "y": 1.38425603700076, - "heading": -0.3817915434379015, - "angularVelocity": -0.5187279838976322, - "velocityX": -3.7640340787339714, - "velocityY": 1.121294143202345, - "timestamp": 3.801405457511523 - }, - { - "x": 6.1963901366896375, - "y": 1.4164152687090246, - "heading": -0.3934801142712389, - "angularVelocity": -0.41459673349836484, - "velocityX": -3.883448988047407, - "velocityY": 1.1406965494907793, - "timestamp": 3.8295980839577304 - }, - { - "x": 6.084237706006591, - "y": 1.4490690923928802, - "heading": -0.39621413544226647, - "angularVelocity": -0.09697646213418698, - "velocityX": -3.978076710839108, - "velocityY": 1.1582398591408594, - "timestamp": 3.857790710403938 - }, - { - "x": 5.970420479017151, - "y": 1.4787743825435127, - "heading": -0.39621415119854686, - "angularVelocity": -5.588794787661949e-7, - "velocityX": -4.037127481066913, - "velocityY": 1.0536545861491486, - "timestamp": 3.8859833368501455 - }, - { - "x": 5.855820749944305, - "y": 1.5053011183456995, - "heading": -0.39621416429109446, - "angularVelocity": -4.6439616623023326e-7, - "velocityX": -4.064883039240961, - "velocityY": 0.9409104133239552, - "timestamp": 3.914175963296353 - }, - { - "x": 5.7417182380261576, - "y": 1.5338910183669168, - "heading": -0.3962141774061041, - "angularVelocity": -4.6519289906735043e-7, - "velocityX": -4.047246613786003, - "velocityY": 1.0140913999541454, - "timestamp": 3.9423685897425607 - }, - { - "x": 5.6284963397746095, - "y": 1.5657903496675747, - "heading": -0.39621419060143825, - "angularVelocity": -4.680420311339554e-7, - "velocityX": -4.016011011516715, - "velocityY": 1.1314778125240532, - "timestamp": 3.9705612161887682 - }, - { - "x": 5.516268975080697, - "y": 1.6010293074865514, - "heading": -0.3962142039246179, - "angularVelocity": -4.7257674515618076e-7, - "velocityX": -3.9807346402450565, - "velocityY": 1.249935258292678, - "timestamp": 3.998753842634976 - }, - { - "x": 5.405139446258545, - "y": 1.639590859413147, - "heading": -0.396214217438475, - "angularVelocity": -4.793401248617666e-7, - "velocityX": -3.94179410826376, - "velocityY": 1.3677885598988515, - "timestamp": 4.026946469081183 - }, - { - "x": 5.2831041606978335, - "y": 1.6865195370449537, - "heading": -0.3962142301776993, - "angularVelocity": -4.065288079817647e-7, - "velocityX": -3.8943390892658107, - "velocityY": 1.497568370241175, - "timestamp": 4.058283053483165 - }, - { - "x": 5.162687264566997, - "y": 1.7374575671054318, - "heading": -0.3962142427483874, - "angularVelocity": -4.011505511078391e-7, - "velocityX": -3.8426937213752916, - "velocityY": 1.62551315124339, - "timestamp": 4.089619637885146 - }, - { - "x": 5.044010718771141, - "y": 1.7923282269070129, - "heading": -0.39621425520676196, - "angularVelocity": -3.975664483146289e-7, - "velocityX": -3.7871563879934516, - "velocityY": 1.7510095898678, - "timestamp": 4.120956222287128 - }, - { - "x": 4.927146213788622, - "y": 1.8509592709758207, - "heading": -0.39621426760702844, - "angularVelocity": -3.9571212890119454e-7, - "velocityX": -3.7293312979934936, - "velocityY": 1.8710094028336495, - "timestamp": 4.152292806689109 - }, - { - "x": 4.811333837210935, - "y": 1.9116420963028011, - "heading": -0.3962142799939237, - "angularVelocity": -3.952854309112773e-7, - "velocityX": -3.695756215548805, - "velocityY": 1.936484989829761, - "timestamp": 4.183629391091091 - }, - { - "x": 4.695603190282652, - "y": 1.9724806467411247, - "heading": -0.3962142923808563, - "angularVelocity": -3.9528662340989123e-7, - "velocityX": -3.693148093094744, - "velocityY": 1.9414544245760534, - "timestamp": 4.214965975493072 - }, - { - "x": 4.579840125232427, - "y": 2.0332574896208038, - "heading": -0.3962143047678723, - "angularVelocity": -3.952892826307121e-7, - "velocityX": -3.6941826066688908, - "velocityY": 1.9394852387251018, - "timestamp": 4.246302559895054 - }, - { - "x": 4.464055932965466, - "y": 2.093994073993839, - "heading": -0.3962143171549412, - "angularVelocity": -3.952909731006536e-7, - "velocityX": -3.6948568095898167, - "velocityY": 1.9382005260669504, - "timestamp": 4.277639144297035 - }, - { - "x": 4.34826787969624, - "y": 2.154723297438567, - "heading": -0.3962143295217223, - "angularVelocity": -3.9464355515735635e-7, - "velocityX": -3.694980020282657, - "velocityY": 1.9379656271949364, - "timestamp": 4.308975728699017 - }, - { - "x": 4.233986914266696, - "y": 2.2145236738983907, - "heading": -0.4022492278817095, - "angularVelocity": -0.19258315719962768, - "velocityX": -3.6468864622756754, - "velocityY": 1.908324649959019, - "timestamp": 4.340312313100998 - }, - { - "x": 4.122928074154352, - "y": 2.2727140288595966, - "heading": -0.4179001666600075, - "angularVelocity": -0.4994462248190942, - "velocityX": -3.544063344227204, - "velocityY": 1.8569463159975188, - "timestamp": 4.37164889750298 - }, - { - "x": 4.015666546955586, - "y": 2.3289253228999796, - "heading": -0.4358805513580875, - "angularVelocity": -0.5737825305855736, - "velocityX": -3.4228850797148276, - "velocityY": 1.7937913500498697, - "timestamp": 4.402985481904961 - }, - { - "x": 3.912235682567056, - "y": 2.3831349353266873, - "heading": -0.4548230598324097, - "angularVelocity": -0.6044854228951096, - "velocityX": -3.300642567222193, - "velocityY": 1.7299145219948986, - "timestamp": 4.434322066306943 - }, - { - "x": 3.8126409215439327, - "y": 2.4353379258954524, - "heading": -0.47413685987390475, - "angularVelocity": -0.6163339243913278, - "velocityX": -3.17822643800409, - "velocityY": 1.6658800429271865, - "timestamp": 4.465658650708924 - }, - { - "x": 3.7168828760991257, - "y": 2.4855327987305764, - "heading": -0.4934889199200676, - "angularVelocity": -0.6175548616886856, - "velocityX": -3.0557907721031965, - "velocityY": 1.6017978280986271, - "timestamp": 4.496995235110906 - }, - { - "x": 3.6249609989418206, - "y": 2.533719082273904, - "heading": -0.5126647406955078, - "angularVelocity": -0.6119307876523589, - "velocityX": -2.933372571118294, - "velocityY": 1.5377005651030662, - "timestamp": 4.528331819512887 - }, - { - "x": 3.536874468787536, - "y": 2.5798966739523617, - "heading": -0.5315144307979932, - "angularVelocity": -0.6015234417600595, - "velocityX": -2.810980578620935, - "velocityY": 1.4736000288383975, - "timestamp": 4.559668403914869 - }, - { - "x": 3.4526224464254103, - "y": 2.6240656158883477, - "heading": -0.5499272847860958, - "angularVelocity": -0.5875833100348224, - "velocityX": -2.6886153666702253, - "velocityY": 1.4095008367661377, - "timestamp": 4.59100498831685 - }, - { - "x": 3.372204151404791, - "y": 2.6662260068510726, - "heading": -0.5678181902197778, - "angularVelocity": -0.5709271056532322, - "velocityX": -2.56627506013498, - "velocityY": 1.3454047965756646, - "timestamp": 4.622341572718832 - }, - { - "x": 3.2956188808304545, - "y": 2.7063779647594086, - "heading": -0.5851196869108704, - "angularVelocity": -0.5521181399080031, - "velocityX": -2.4439571840986845, - "velocityY": 1.2813125193630295, - "timestamp": 4.6536781571208135 - }, - { - "x": 3.2228660085968706, - "y": 2.7445216100718945, - "heading": -0.6017770112444207, - "angularVelocity": -0.5315615805434397, - "velocityX": -2.3216592880806797, - "velocityY": 1.2172240861730093, - "timestamp": 4.685014741522795 - }, - { - "x": 3.1539449783642857, - "y": 2.780657058466311, - "heading": -0.6177448402314428, - "angularVelocity": -0.5095586928743979, - "velocityX": -2.1993791457446576, - "velocityY": 1.1531393444440179, - "timestamp": 4.7163513259247765 - }, - { - "x": 3.0888552951151427, - "y": 2.8147844178545376, - "heading": -0.6329850621580034, - "angularVelocity": -0.48633960010002625, - "velocityX": -2.0771148002022657, - "velocityY": 1.0890580463539068, - "timestamp": 4.747687910326758 - }, - { - "x": 3.0275965170355854, - "y": 2.846903787472418, - "heading": -0.6474651974657756, - "angularVelocity": -0.46208403321889974, - "velocityX": -1.9548645536392328, - "velocityY": 1.024979915036587, - "timestamp": 4.7790244947287395 - }, - { - "x": 2.970168248283819, - "y": 2.8770152579622867, - "heading": -0.6611572479748201, - "angularVelocity": -0.436935000107376, - "velocityX": -1.83262693901431, - "velocityY": 0.9609046762596005, - "timestamp": 4.810361079130721 - }, - { - "x": 2.9165701327502678, - "y": 2.9051189119121528, - "heading": -0.6740368377609592, - "angularVelocity": -0.41100809267919886, - "velocityX": -1.7104006884095218, - "velocityY": 0.8968320729967146, - "timestamp": 4.8416976635327025 - }, - { - "x": 2.8668018487455478, - "y": 2.931214824580909, - "heading": -0.6860825583100362, - "angularVelocity": -0.38439800568422167, - "velocityX": -1.5881847034220211, - "velocityY": 0.832761871364192, - "timestamp": 4.873034247934684 - }, - { - "x": 2.8208631044996584, - "y": 2.9553030646725276, - "heading": -0.6972754602941236, - "angularVelocity": -0.3571832156468132, - "velocityX": -1.4659780292770215, - "velocityY": 0.7686938621841268, - "timestamp": 4.9043708323366655 - }, - { - "x": 2.7787536343494574, - "y": 2.977383695091263, - "heading": -0.707598652866933, - "angularVelocity": -0.32942941197372216, - "velocityX": -1.3437798328633062, - "velocityY": 0.704627860378377, - "timestamp": 4.935707416738647 - }, - { - "x": 2.740473195502348, - "y": 2.9974567736461792, - "heading": -0.717036983311505, - "angularVelocity": -0.3011920611225013, - "velocityX": -1.2215893843455776, - "velocityY": 0.6405637033513777, - "timestamp": 4.9670440011406285 - }, - { - "x": 2.706021565279902, - "y": 3.0155223536925164, - "heading": -0.725576777759095, - "angularVelocity": -0.2725183554800622, - "velocityX": -1.0994060418488962, - "velocityY": 0.5765012489744855, - "timestamp": 4.99838058554261 - }, - { - "x": 2.6753985387610393, - "y": 3.0315804847074745, - "heading": -0.7332056290323161, - "angularVelocity": -0.24344871717221478, - "velocityX": -0.9772292387081735, - "velocityY": 0.5124403734933711, - "timestamp": 5.0297171699445915 - }, - { - "x": 2.6486039267585593, - "y": 3.0456312128031495, - "heading": -0.739912221350421, - "angularVelocity": -0.214017974392925, - "velocityX": -0.8550584728304266, - "velocityY": 0.448380969522216, - "timestamp": 5.061053754346573 - }, - { - "x": 2.6256375540748116, - "y": 3.057674581181762, - "heading": -0.745686184228836, - "angularVelocity": -0.18425629303907573, - "velocityX": -0.7328932977869624, - "velocityY": 0.38432294420225194, - "timestamp": 5.0923903387485545 - }, - { - "x": 2.606499257992194, - "y": 3.06771063053928, - "heading": -0.750517969763229, - "angularVelocity": -0.15418992294794098, - "velocityX": -0.6107333153196863, - "velocityY": 0.320266217555073, - "timestamp": 5.123726923150536 - }, - { - "x": 2.591188886962225, - "y": 3.075739399423708, - "heading": -0.7543987488405535, - "angularVelocity": -0.12384180188696901, - "velocityX": -0.488578169004329, - "velocityY": 0.2562107210357085, - "timestamp": 5.1550635075525175 - }, - { - "x": 2.579706299463457, - "y": 3.0817609245540263, - "heading": -0.7573203228179342, - "angularVelocity": -0.09323204915708858, - "velocityX": -0.3664275388622744, - "velocityY": 0.1921563962771172, - "timestamp": 5.186400091954499 - }, - { - "x": 2.5720513630038004, - "y": 3.0857752411053228, - "heading": -0.7592750479575843, - "angularVelocity": -0.0623783726578274, - "velocityX": -0.2442811367524958, - "velocityY": 0.12810319401122075, - "timestamp": 5.2177366763564805 - }, - { - "x": 2.5682239532470703, - "y": 3.087782382965088, - "heading": -0.7602557704725093, - "angularVelocity": -0.031296407494333975, - "velocityX": -0.12213870240714839, - "velocityY": 0.06405107314881801, - "timestamp": 5.249073260758462 - }, - { - "x": 2.5682239532470703, - "y": 3.087782382965088, - "heading": -0.7602557704725093, - "angularVelocity": 5.277493860165363e-19, - "velocityX": 7.388438155863791e-18, - "velocityY": 5.876478883573141e-18, - "timestamp": 5.2804098451604435 - } - ] + "samples": [ + { + "x": 0.7040935158729553, + "y": 4.236670017242432, + "heading": -1.0390724511122948, + "angularVelocity": 7.29755488304114e-23, + "velocityX": 6.956890646208746e-21, + "velocityY": 6.752920700606897e-21, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.715433807582365, + "y": 4.229595142004885, + "heading": -1.032270890195898, + "angularVelocity": 0.11376381797078292, + "velocityX": 0.18967923651977003, + "velocityY": -0.11833530987716402, + "moduleForcesX": [ + 65.54772190692509, + 61.26838468482335, + 56.33796486576706, + 51.8974658730056 + ], + "moduleForcesY": [ + -24.455711399147777, + -33.79574008552189, + -41.46478634469826, + -46.925519157100595 + ], + "timestamp": 0.059786679435667754 + }, + { + "x": 0.738118051226565, + "y": 4.2154438577652265, + "heading": -1.018777355432788, + "angularVelocity": 0.22569466795073123, + "velocityX": 0.37941969445900675, + "velocityY": -0.2366962737057032, + "moduleForcesX": [ + 65.44680562579664, + 61.3117606334281, + 56.28226247099849, + 52.08657451491899 + ], + "moduleForcesY": [ + -24.71555488320743, + -33.711587460428035, + -41.534893455512545, + -46.711511702824325 + ], + "timestamp": 0.11957335887133551 + }, + { + "x": 0.7721501664105168, + "y": 4.194214566047879, + "heading": -0.9987104548413567, + "angularVelocity": 0.3356416643447112, + "velocityX": 0.569225712235318, + "velocityY": -0.3550839738505436, + "moduleForcesX": [ + 65.32874096768309, + 61.383275986110924, + 56.18208017428399, + 52.31454822228494 + ], + "moduleForcesY": [ + -25.015809842064858, + -33.57502583171514, + -41.66427696154145, + -46.45156665463389 + ], + "timestamp": 0.17936003830700326 + }, + { + "x": 0.8175344403053058, + "y": 4.165905584453313, + "heading": -0.9722018476017761, + "angularVelocity": 0.44338651167447146, + "velocityX": 0.7591034378088153, + "velocityY": -0.4734998140351508, + "moduleForcesX": [ + 65.18866556438779, + 61.47819785655304, + 56.04739384964031, + 52.58324877047411 + ], + "moduleForcesY": [ + -25.367064064013647, + -33.39378225189223, + -41.83859990529744, + -46.142104358457196 + ], + "timestamp": 0.23914671774267102 + }, + { + "x": 0.8742756510494156, + "y": 4.1305151118577195, + "heading": -0.9394014826163761, + "angularVelocity": 0.5486232935999428, + "velocityX": 0.9490610831659384, + "velocityY": -0.5919457800574721, + "moduleForcesX": [ + 65.020403958279, + 61.59062585961838, + 55.890482716510874, + 52.895030535417675 + ], + "moduleForcesY": [ + -25.782161069196288, + -33.17766320071793, + -42.04051589284145, + -45.77854251818276 + ], + "timestamp": 0.2989333971783388 + }, + { + "x": 0.9423792036142611, + "y": 4.0880411675121096, + "heading": -0.9004844684798459, + "angularVelocity": 0.6509311857402303, + "velocityX": 1.139109132798163, + "velocityY": -0.7104248763524927, + "moduleForcesX": [ + 64.81632247355392, + 61.71317278886842, + 55.726505846609875, + 53.25257142819196 + ], + "moduleForcesY": [ + -26.276007269178876, + -32.93935748727244, + -42.2492161613132, + -45.35535697655966 + ], + "timestamp": 0.3587200766140065 + }, + { + "x": 1.0218512713966623, + "y": 4.038481494472945, + "heading": -0.8556600736346998, + "angularVelocity": 0.7497388259098504, + "velocityX": 1.3292604394916392, + "velocityY": -0.8289417225870636, + "moduleForcesX": [ + 64.5671642558988, + 61.83647882993179, + 55.574165864564975, + 53.658720296444 + ], + "moduleForcesY": [ + -26.86524352336682, + -32.695579450559244, + -42.43979933572092, + -44.86609551424779 + ], + "timestamp": 0.41850675604967424 + }, + { + "x": 1.1126989315207665, + "y": 3.981833422121306, + "heading": -0.8051834735323969, + "angularVelocity": 0.8442783673346016, + "velocityX": 1.519530119110542, + "velocityY": -0.9475032379511233, + "moduleForcesX": [ + 64.26188004838505, + 61.9484456320135, + 55.456492177760616, + 54.11639975905939 + ], + "moduleForcesY": [ + -27.56771823657009, + -32.46874002113115, + -42.58232674754677, + -44.303287045868665 + ], + "timestamp": 0.478293435485342 + }, + { + "x": 1.2149302753185753, + "y": 3.9180936926219325, + "heading": -0.7493711118546663, + "angularVelocity": 0.9335250293969989, + "velocityX": 1.7099351354311807, + "velocityY": -1.0661192443035492, + "moduleForcesX": [ + 63.887475633512466, + 62.03296933013225, + 55.40184701466258, + 54.62863561278071 + ], + "moduleForcesY": [ + -28.401712831303943, + -32.28948380126497, + -42.64027055454573, + -43.658130391946486 + ], + "timestamp": 0.5380801149210097 + }, + { + "x": 1.3285544663332673, + "y": 3.8472582753725564, + "heading": -0.6886211329064718, + "angularVelocity": 1.0161122765408537, + "velocityX": 1.900493422401139, + "velocityY": -1.1848026670489025, + "moduleForcesX": [ + 63.42888913505149, + 62.067721094553924, + 55.44540149688528, + 55.198849683454945 + ], + "moduleForcesY": [ + -29.38492659731237, + -32.20073803571778, + -42.567755661759435, + -42.91972004356158 + ], + "timestamp": 0.5978667943566774 + }, + { + "x": 1.453581699073713, + "y": 3.769322227601833, + "heading": -0.6234417288531531, + "angularVelocity": 1.0901994335285599, + "velocityX": 2.0912222240905414, + "velocityY": -1.3035687632490642, + "moduleForcesX": [ + 62.86885947349876, + 62.01999544057191, + 55.63161174105422, + 55.83169751878265 + ], + "moduleForcesY": [ + -30.533371291562247, + -32.2645855847761, + -42.30435993060173, + -42.07327292442682 + ], + "timestamp": 0.6576534737923452 + }, + { + "x": 1.5900229546038354, + "y": 3.6842797232824167, + "heading": -0.5544934479072021, + "angularVelocity": 1.1532381727294532, + "velocityX": 2.2821346965244524, + "velocityY": -1.4224323063622528, + "moduleForcesX": [ + 62.1875724135222, + 61.83833379276979, + 56.01878101689776, + 56.53508273220183 + ], + "moduleForcesY": [ + -31.860643822951015, + -32.57481447567777, + -41.76480863993979, + -41.09607953526188 + ], + "timestamp": 0.7174401532280129 + }, + { + "x": 1.7378892550547027, + "y": 3.5921245178283687, + "heading": -0.48265898883673286, + "angularVelocity": 1.2015127742253222, + "velocityX": 2.473231526597427, + "velocityY": -1.5414002972553322, + "moduleForcesX": [ + 61.361367872462075, + 61.434015184200874, + 56.68790855051713, + 57.32493533314934 + ], + "moduleForcesY": [ + -33.37873739561856, + -33.28185355224547, + -40.8173810709515, + -39.94780670961778 + ], + "timestamp": 0.7772268326636806 + }, + { + "x": 1.8971894226275083, + "y": 3.4928515473842303, + "heading": -0.4091725613216626, + "angularVelocity": 1.2291438194714246, + "velocityX": 2.6644759179880113, + "velocityY": -1.6604529868724265, + "moduleForcesX": [ + 60.35836913352838, + 60.63513349367374, + 57.760246893909404, + 58.237336203294035 + ], + "moduleForcesY": [ + -35.1031828607357, + -34.647456227604984, + -39.23520372459329, + -38.544895033085695 + ], + "timestamp": 0.8370135120993484 + }, + { + "x": 2.067922596548823, + "y": 3.386462043001343, + "heading": -0.33589299190944444, + "angularVelocity": 1.2256838831644614, + "velocityX": 2.8557059119670423, + "velocityY": -1.7794850857600122, + "moduleForcesX": [ + 59.12452238741171, + 59.05338377748442, + 59.43158657433183, + 59.36375163479457 + ], + "moduleForcesY": [ + -37.06983571694618, + -37.17955017577845, + -36.57470562189395, + -36.68113018786039 + ], + "timestamp": 0.8968001915350161 + }, + { + "x": 2.2500487614425344, + "y": 3.272983577125707, + "heading": -0.2659841778203613, + "angularVelocity": 1.1693041786056557, + "velocityX": 3.0462666034109573, + "velocityY": -1.8980560042265389, + "moduleForcesX": [ + 57.53761001377698, + 55.601477549970554, + 62.02674796964957, + 60.97800551370017 + ], + "moduleForcesY": [ + -39.3860706683815, + -42.012027837027354, + -31.829260299987943, + -33.70636562123062 + ], + "timestamp": 0.9565868709706838 + }, + { + "x": 2.4433389004049477, + "y": 3.1526004381169717, + "heading": -0.20613271065820918, + "angularVelocity": 1.0010836481821022, + "velocityX": 3.2329967274800615, + "velocityY": -2.0135444909308355, + "moduleForcesX": [ + 55.2320119981847, + 46.08348130369955, + 65.92635531860081, + 64.15513258671815 + ], + "moduleForcesY": [ + -42.405324596705626, + -52.012838522679054, + -22.296704522496253, + -26.399090648387688 + ], + "timestamp": 1.0163735504063516 + }, + { + "x": 2.64640527789121, + "y": 3.0272578079737107, + "heading": -0.17589176396054093, + "angularVelocity": 0.5058141208562758, + "velocityX": 3.39651540113995, + "velocityY": -2.0964976032518132, + "moduleForcesX": [ + 51.43642800904045, + 15.961479301081786, + 69.21234911422556, + 66.02296970632854 + ], + "moduleForcesY": [ + -46.647203964182566, + -67.15407592237315, + -4.195869077646205, + 15.201202844053483 + ], + "timestamp": 1.0761602298420194 + }, + { + "x": 2.858759471121971, + "y": 2.896949290346968, + "heading": -0.1753865369061489, + "angularVelocity": 0.008450495313687719, + "velocityX": 3.5518646500389677, + "velocityY": -2.1795577017612344, + "moduleForcesX": [ + 49.877682755228676, + 13.479400255307931, + 67.80475151953434, + 61.34779618562412 + ], + "moduleForcesY": [ + -46.623113391603226, + -65.70740130826005, + -4.554556286293708, + 13.956547001777377 + ], + "timestamp": 1.1359469092776873 + }, + { + "x": 3.070577911300113, + "y": 2.765527166034974, + "heading": -0.17525943928538615, + "angularVelocity": 0.002125851811179994, + "velocityX": 3.5429035727944265, + "velocityY": -2.198184036185012, + "moduleForcesX": [ + -2.551941748310873, + -3.095020466787963, + -2.456887187650738, + -3.0007660581388347 + ], + "moduleForcesY": [ + -6.094065921638279, + -5.995375018481519, + -5.545518916946394, + -5.446894654115088 + ], + "timestamp": 1.1957335887133551 + }, + { + "x": 3.2822297601147885, + "y": 2.6338368148019735, + "heading": -0.1751324935852271, + "angularVelocity": 0.0021233107668347066, + "velocityX": 3.54011714335832, + "velocityY": -2.2026704355558717, + "moduleForcesX": [ + -0.863150676578567, + -0.8633676894084603, + -0.8631115358110056, + -0.8633285486733171 + ], + "moduleForcesY": [ + -1.3900226870877253, + -1.3899842033985372, + -1.389800997519401, + -1.3897625138369318 + ], + "timestamp": 1.255520268149023 + }, + { + "x": 3.4938391602812775, + "y": 2.502078264150958, + "heading": -0.17500555381086283, + "angularVelocity": 0.002123211651198114, + "velocityX": 3.5394071415889115, + "velocityY": -2.2038111481469853, + "moduleForcesX": [ + -0.21995604309338784, + -0.21996450538675114, + -0.219954513871351, + -0.21996297616472688 + ], + "moduleForcesY": [ + -0.35339937867368737, + -0.3533978822055434, + -0.353390728696392, + -0.35338923222825075 + ], + "timestamp": 1.3153069475846908 + }, + { + "x": 3.7054381506632414, + "y": 2.370302996259321, + "heading": -0.17487861636238372, + "angularVelocity": 0.002123172748132153, + "velocityX": 3.539233026140049, + "velocityY": -2.204090762950474, + "moduleForcesX": [ + -0.05393984104598162, + -0.053943162517911016, + -0.05393924116247466, + -0.05394256263440453 + ], + "moduleForcesY": [ + -0.08662703583199362, + -0.08662644897786774, + -0.0866236405582286, + -0.08662305370410282 + ], + "timestamp": 1.3750936270203586 + }, + { + "x": 3.9170361141832633, + "y": 2.23852607941541, + "heading": -0.1747516802251719, + "angularVelocity": 0.0021231508156993647, + "velocityX": 3.5392158507098253, + "velocityY": -2.2041183435468636, + "moduleForcesX": [ + -0.005320204225578223, + -0.005322076815743466, + -0.005319866268152617, + -0.005321738858317875 + ], + "moduleForcesY": [ + -0.008545628517439988, + -0.008545297906851504, + -0.008543714314207394, + -0.008543383703618915 + ], + "timestamp": 1.4348803064560265 + }, + { + "x": 4.128640197873898, + "y": 2.1067589904201007, + "heading": -0.17462474462871136, + "angularVelocity": 0.0021231417710216183, + "velocityX": 3.539318217502375, + "velocityY": -2.2039539616361186, + "moduleForcesX": [ + 0.031713687445732365, + 0.03171291519389732, + 0.03171382671474273, + 0.03171305446290771 + ], + "moduleForcesY": [ + 0.0509252757232426, + 0.050925411965595295, + 0.05092606513553456, + 0.05092620137788729 + ], + "timestamp": 1.4946669858916943 + }, + { + "x": 4.340270871800093, + "y": 1.975034612444512, + "heading": -0.17449780733111298, + "angularVelocity": 0.002123170224480436, + "velocityX": 3.5397629693403023, + "velocityY": -2.2032395714053457, + "moduleForcesX": [ + 0.13778372581008266, + 0.13778615529467875, + 0.13778328802854692, + 0.1377857175131436 + ], + "moduleForcesY": [ + 0.2213205167784022, + 0.22132008845864243, + 0.2213180333465503, + 0.22131760502679068 + ], + "timestamp": 1.5544536653273622 + }, + { + "x": 4.552006410372516, + "y": 1.8434788635952937, + "heading": -0.174370859246241, + "angularVelocity": 0.002123350653862275, + "velocityX": 3.5415169494445053, + "velocityY": -2.2004190580742207, + "moduleForcesX": [ + 0.5433790931423936, + 0.5433945012799418, + 0.5433763216746417, + 0.5433917298122928 + ], + "moduleForcesY": [ + 0.8738080810129659, + 0.8738053643437571, + 0.8737923345560961, + 0.8737896178869093 + ], + "timestamp": 1.61424034476303 + }, + { + "x": 4.764150877802991, + "y": 1.712583587714677, + "heading": -0.1742438576507746, + "angularVelocity": 0.002124245679224473, + "velocityX": 3.5483567482410368, + "velocityY": -2.189371898826826, + "moduleForcesX": [ + 2.1189474099970877, + 2.119023990511858, + 2.118933868378057, + 2.1190104489027095 + ], + "moduleForcesY": [ + 3.4224707099041685, + 3.4224570500226936, + 3.4223927392271776, + 3.4223790793476985 + ], + "timestamp": 1.6740270241986979 + }, + { + "x": 4.9778090324806294, + "y": 1.5841741090079462, + "heading": -0.17411657485486168, + "angularVelocity": 0.0021289490755190005, + "velocityX": 3.5736748836760577, + "velocityY": -2.1477941226841577, + "moduleForcesX": [ + 7.843414380489208, + 7.843827776043005, + 7.843357509344098, + 7.843770905905391 + ], + "moduleForcesY": [ + 12.881093794607638, + 12.881008034632004, + 12.880694670449412, + 12.880608910580017 + ], + "timestamp": 1.7338137036343657 + }, + { + "x": 5.195373986991736, + "y": 1.4625022489151542, + "heading": -0.173988188752645, + "angularVelocity": 0.0021474031243842464, + "velocityX": 3.639020540440172, + "velocityY": -2.0350998122201154, + "moduleForcesX": [ + 20.243141987202804, + 20.245068496376028, + 20.24327739317644, + 20.24520394305148 + ], + "moduleForcesY": [ + 34.91382994128647, + 34.91314041643893, + 34.91255957167897, + 34.911870028730796 + ], + "timestamp": 1.7936003830700336 + }, + { + "x": 5.418218497456287, + "y": 1.3507991828949582, + "heading": -0.17385302732875219, + "angularVelocity": 0.0022607280613107334, + "velocityX": 3.727327099748674, + "velocityY": -1.8683604286870024, + "moduleForcesX": [ + 27.348514036152682, + 27.363141872471164, + 27.35184014579624, + 27.366470570676757 + ], + "moduleForcesY": [ + 51.66197417486234, + 51.65527835345624, + 51.65689637264107, + 51.650198350230426 + ], + "timestamp": 1.8533870625057014 + }, + { + "x": 5.6460424658453325, + "y": 1.250564968244399, + "heading": -0.1725147447977409, + "angularVelocity": 0.022384292682642293, + "velocityX": 3.8106141792703365, + "velocityY": -1.6765308860883457, + "moduleForcesX": [ + 24.039815506108365, + 26.94185766408972, + 24.604667262673804, + 27.623459651364477 + ], + "moduleForcesY": [ + 60.29214549563695, + 59.1132938283946, + 59.786637936660526, + 58.52413101034513 + ], + "timestamp": 1.9131737419413692 + }, + { + "x": 5.869126369156722, + "y": 1.1607805254370478, + "heading": -0.1481104946013902, + "angularVelocity": 0.40818875419583034, + "velocityX": 3.7313312165368653, + "velocityY": -1.5017466040066891, + "moduleForcesX": [ + -35.7927128446837, + 6.816626369174684, + -63.47701349417779, + -5.794776901530241 + ], + "moduleForcesY": [ + 58.98539887002796, + 68.35565002906118, + 25.6725325852162, + 63.580047625029124 + ], + "timestamp": 1.972960421377037 + }, + { + "x": 6.082381320378522, + "y": 1.080013610345603, + "heading": -0.1195257126254579, + "angularVelocity": 0.4781128881173335, + "velocityX": 3.5669308487230578, + "velocityY": -1.3509182288397712, + "moduleForcesX": [ + -50.26698255144312, + -44.923006005486656, + -56.35778491399044, + -52.17805283116371 + ], + "moduleForcesY": [ + 47.927782965039306, + 52.87136753605047, + 40.50203248416087, + 45.60615651341666 + ], + "timestamp": 2.032747100812705 + }, + { + "x": 6.285071545390591, + "y": 1.007546366293734, + "heading": -0.09230135976084126, + "angularVelocity": 0.45535816876919627, + "velocityX": 3.3902238245254965, + "velocityY": -1.212096820494046, + "moduleForcesX": [ + -55.1466717380985, + -56.39687205758126, + -53.02404074942157, + -54.40871700917589 + ], + "moduleForcesY": [ + 42.51144819658585, + 40.86904226746777, + 45.15003536594513, + 43.49771534572805 + ], + "timestamp": 2.0925337802483726 + }, + { + "x": 6.4769473741081, + "y": 0.9430279969520655, + "heading": -0.06875601529710462, + "angularVelocity": 0.3938225819862123, + "velocityX": 3.209340785081957, + "velocityY": -1.0791428784917227, + "moduleForcesX": [ + -57.296919569530765, + -60.163242669698086, + -51.4150422151276, + -55.27603781295309 + ], + "moduleForcesY": [ + 39.7285253661544, + 35.31134050693661, + 47.13177275409373, + 42.58560647350289 + ], + "timestamp": 2.15232045968404 + }, + { + "x": 6.657887212115584, + "y": 0.8862550288071935, + "heading": -0.05014390101060943, + "angularVelocity": 0.31130871395061127, + "velocityX": 3.026423941175402, + "velocityY": -0.9495922617004271, + "moduleForcesX": [ + -58.44809457824092, + -61.958349119855626, + -50.48416125180224, + -55.780938824485276 + ], + "moduleForcesY": [ + 38.11844917242925, + 32.187030759517405, + 48.2137308405799, + 42.02061529186922 + ], + "timestamp": 2.212107139119708 + }, + { + "x": 6.827819787550746, + "y": 0.8370951717881533, + "heading": -0.037247534183898354, + "angularVelocity": 0.21570635714244593, + "velocityX": 2.8423149945635444, + "velocityY": -0.8222543463370615, + "moduleForcesX": [ + -59.15909372601742, + -62.99431456467617, + -49.88328359247133, + -56.112112020889846 + ], + "moduleForcesY": [ + 37.077260305216, + 30.19466541434311, + 48.889154482664, + 41.636754267145434 + ], + "timestamp": 2.2718938185553754 + }, + { + "x": 6.986698469234805, + "y": 0.7954556067043951, + "heading": -0.030602705565700657, + "angularVelocity": 0.11114229257953236, + "velocityX": 2.657426088615901, + "velocityY": -0.6964689371746117, + "moduleForcesX": [ + -59.66152451837595, + -63.65972937776729, + -49.46522350250985, + -56.32885633911261 + ], + "moduleForcesY": [ + 36.316079804723124, + 28.826227285985233, + 49.34889930306191, + 41.382753981965564 + ], + "timestamp": 2.331680497991043 + }, + { + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.030602705565700657, + "angularVelocity": 6.952767776164286e-23, + "velocityX": 2.471989113962082, + "velocityY": -0.5718341307470027, + "moduleForcesX": [ + -60.06849692819989, + -64.1138454479408, + -49.1573239255958, + -56.45483714544508 + ], + "moduleForcesY": [ + 35.67948764603912, + 27.847404869484926, + 49.6821541062048, + 41.23908061252403 + ], + "timestamp": 2.3914671774267107 + }, + { + "x": 7.175154057016087, + "y": 0.7522460645019807, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106227504416056e-23, + "velocityX": 2.4194193703465614, + "velocityY": -0.5367640130442598, + "moduleForcesX": [ + -57.93343567440759, + -57.93343567440759, + -57.93343567440759, + -57.93343567440759 + ], + "moduleForcesY": [ + 38.648322557652996, + 38.648322557653, + 38.648322557652996, + 38.648322557652996 + ], + "timestamp": 2.4082743368446944 + }, + { + "x": 7.2149221710298415, + "y": 0.7437960323086669, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102393573996173e-23, + "velocityX": 2.3661412987608386, + "velocityY": -0.5027638509970567, + "moduleForcesX": [ + -58.71403436247123, + -58.71403436247124, + -58.71403436247124, + -58.71403436247124 + ], + "moduleForcesY": [ + 37.46919930382793, + 37.46919930382793, + 37.46919930382793, + 37.46919930382793 + ], + "timestamp": 2.425081496262678 + }, + { + "x": 7.253783855819226, + "y": 0.7359001350300469, + "heading": -0.030602705565700657, + "angularVelocity": -2.6108155558853765e-23, + "velocityX": 2.312210161331774, + "velocityY": -0.46979368031664626, + "moduleForcesX": [ + -59.43373252769463, + -59.43373252769463, + -59.43373252769463, + -59.43373252769463 + ], + "moduleForcesY": [ + 36.334117895980555, + 36.334117895980555, + 36.334117895980555, + 36.33411789598055 + ], + "timestamp": 2.441888655680662 + }, + { + "x": 7.291728983802097, + "y": 0.728541718285939, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103800557615184e-23, + "velocityX": 2.2576764484231755, + "velocityY": -0.4378144195009311, + "moduleForcesX": [ + -60.097788796218225, + -60.097788796218225, + -60.097788796218225, + -60.097788796218225 + ], + "moduleForcesY": [ + 35.242105476720646, + 35.24210547672064, + 35.24210547672065, + 35.24210547672064 + ], + "timestamp": 2.4586958150986455 + }, + { + "x": 7.328748202616984, + "y": 0.7217047668190897, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503298681258e-23, + "velocityX": 2.20258628446577, + "velocityY": -0.40678804174310895, + "moduleForcesX": [ + -60.71101455736677, + -60.71101455736677, + -60.71101455736677, + -60.71101455736677 + ], + "moduleForcesY": [ + 34.19199974016953, + 34.19199974016952, + 34.19199974016953, + 34.19199974016953 + ], + "timestamp": 2.4755029745166293 + }, + { + "x": 7.364832868142423, + "y": 0.7153738846987937, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105004786612072e-23, + "velocityX": 2.146981808647478, + "velocityY": -0.37667769804564344, + "moduleForcesX": [ + -61.2778016683558, + -61.2778016683558, + -61.2778016683558, + -61.2778016683558 + ], + "moduleForcesY": [ + 33.182502705156985, + 33.182502705156985, + 33.182502705156985, + 33.182502705156985 + ], + "timestamp": 2.492310133934613 + }, + { + "x": 7.3999749834664375, + "y": 0.7095342741241564, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103293610627807e-23, + "velocityX": 2.0909015289283817, + "velocityY": -0.3474478006319229, + "moduleForcesX": [ + -61.802151851275966, + -61.802151851275966, + -61.802151851275966, + -61.802151851275966 + ], + "moduleForcesY": [ + 32.21222446836054, + 32.21222446836054, + 32.21222446836054, + 32.21222446836054 + ], + "timestamp": 2.5091172933525967 + }, + { + "x": 7.434167143351112, + "y": 0.7041717133615514, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107866836484678e-23, + "velocityX": 2.0343806490042833, + "velocityY": -0.31906407437829004, + "moduleForcesX": [ + -62.28770650456309, + -62.28770650456308, + -62.28770650456309, + -62.28770650456309 + ], + "moduleForcesY": [ + 31.27971844681688, + 31.27971844681688, + 31.279718446816876, + 31.27971844681688 + ], + "timestamp": 2.5259244527705804 + }, + { + "x": 7.46740248374545, + "y": 0.6992725342467925, + "heading": -0.030602705565700657, + "angularVelocity": -2.610416473895468e-23, + "velocityX": 1.9774513686580328, + "velocityY": -0.29149358275713594, + "moduleForcesX": [ + -62.73777603047089, + -62.73777603047089, + -62.73777603047089, + -62.73777603047089 + ], + "moduleForcesY": [ + 30.383509467494363, + 30.38350946749436, + 30.383509467494367, + 30.383509467494367 + ], + "timestamp": 2.542731612188564 + }, + { + "x": 7.499674635915529, + "y": 0.6948235995888864, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104813945997216e-23, + "velocityX": 1.9201431584890207, + "velocityY": -0.26470473369720016, + "moduleForcesX": [ + -63.15536807110638, + -63.15536807110638, + -63.15536807110638, + -63.15536807110638 + ], + "moduleForcesY": [ + 29.522115899134906, + 29.522115899134903, + 29.522115899134906, + 29.522115899134906 + ], + "timestamp": 2.559538771606548 + }, + { + "x": 7.530977684783995, + "y": 0.6908122807369957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610518776998646e-23, + "velocityX": 1.8624830103633245, + "velocityY": -0.23866726982809133, + "moduleForcesX": [ + -63.54321426499422, + -63.54321426499422, + -63.54321426499422, + -63.54321426499422 + ], + "moduleForcesY": [ + 28.69406686131105, + 28.69406686131105, + 28.69406686131105, + 28.69406686131105 + ], + "timestamp": 2.5763459310245316 + }, + { + "x": 7.561306131096924, + "y": 0.6872264355133129, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104881848473154e-23, + "velocityX": 1.8044956651317128, + "velocityY": -0.21335224677336537, + "moduleForcesX": [ + -63.9037952985834, + -63.9037952985834, + -63.9037952985834, + -63.9037952985834 + ], + "moduleForcesY": [ + 27.897915395275348, + 27.897915395275348, + 27.897915395275348, + 27.897915395275348 + ], + "timestamp": 2.5931530904425153 + }, + { + "x": 7.590654857063528, + "y": 0.6840543866604047, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104104274275742e-23, + "velocityX": 1.7462038192603886, + "velocityY": -0.1887320024776123, + "moduleForcesX": [ + -64.23936414504035, + -64.23936414504035, + -64.23936414504035, + -64.23936414504035 + ], + "moduleForcesY": [ + 27.132248344751325, + 27.132248344751325, + 27.132248344751325, + 27.132248344751325 + ], + "timestamp": 2.609960249860499 + }, + { + "x": 7.619019095142299, + "y": 0.6812849009149007, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105965339706085e-23, + "velocityX": 1.6876283120411266, + "velocityY": -0.16478011998378084, + "moduleForcesX": [ + -64.55196746633982, + -64.55196746633982, + -64.55196746633982, + -64.55196746633983 + ], + "moduleForcesY": [ + 26.395693573968227, + 26.39569357396823, + 26.395693573968224, + 26.395693573968227 + ], + "timestamp": 2.6267674092784827 + }, + { + "x": 7.6463943996748, + "y": 0.6789071687839809, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503480741823e-23, + "velocityX": 1.6287882950169017, + "velocityY": -0.14147138560315756, + "moduleForcesX": [ + -64.84346521232759, + -64.84346521232759, + -64.84346521232759, + -64.84346521232759 + ], + "moduleForcesY": [ + 25.6869250450941, + 25.6869250450941, + 25.6869250450941, + 25.6869250450941 + ], + "timestamp": 2.6435745686964665 + }, + { + "x": 7.672776621094379, + "y": 0.6769107850761876, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104834611189408e-23, + "velocityX": 1.569701385193888, + "velocityY": -0.11878174402849069, + "moduleForcesX": [ + -65.11554848862656, + -65.11554848862656, + -65.11554848862656, + -65.11554848862656 + ], + "moduleForcesY": [ + 25.004666186982114, + 25.004666186982114, + 25.004666186982114, + 25.004666186982114 + ], + "timestamp": 2.66038172811445 + }, + { + "x": 7.69816188246255, + "y": 0.6752857302174082, + "heading": -0.030602705565700657, + "angularVelocity": -2.610521964462056e-23, + "velocityX": 1.5103838035238641, + "velocityY": -0.0966882516183401, + "moduleForcesX": [ + -65.36975578909144, + -65.36975578909143, + -65.36975578909143, + -65.36975578909143 + ], + "moduleForcesY": [ + 24.34769191053426, + 24.34769191053426, + 24.347691910534262, + 24.347691910534262 + ], + "timestamp": 2.677188887532434 + }, + { + "x": 7.722546558108417, + "y": 0.6740223523667375, + "heading": -0.030602705565700657, + "angularVelocity": -2.610485191447829e-23, + "velocityX": 1.4508505000420613, + "velocityY": -0.07516902881683414, + "moduleForcesX": [ + -65.60748770191346, + -65.60748770191346, + -65.60748770191346, + -65.60748770191346 + ], + "moduleForcesY": [ + 23.714829561508882, + 23.714829561508882, + 23.714829561508882, + 23.714829561508882 + ], + "timestamp": 2.6939960469504176 + }, + { + "x": 7.745927254168686, + "y": 0.6731113503339988, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104138196847447e-23, + "velocityX": 1.3911152669410813, + "velocityY": -0.05420321245800671, + "moduleForcesX": [ + -65.8300202044289, + -65.8300202044289, + -65.8300202044289, + -65.8300202044289 + ], + "moduleForcesY": [ + 23.10495904771672, + 23.10495904771672, + 23.10495904771672, + 23.10495904771672 + ], + "timestamp": 2.7108032063684013 + }, + { + "x": 7.7683007908450445, + "y": 0.6725437572906171, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106824135894263e-23, + "velocityX": 1.3311908407564366, + "velocityY": -0.033770908529498926, + "moduleForcesX": [ + -66.038516662443, + -66.038516662443, + -66.038516662443, + -66.038516662443 + ], + "moduleForcesY": [ + 22.517012332787438, + 22.51701233278744, + 22.51701233278744, + 22.51701233278744 + ], + "timestamp": 2.727610365786385 + }, + { + "x": 7.789664186214021, + "y": 0.6723109252602374, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105152980818502e-23, + "velocityX": 1.2710889947366621, + "velocityY": -0.013853145829595697, + "moduleForcesX": [ + -66.23403864712321, + -66.23403864712321, + -66.23403864712321, + -66.23403864712321 + ], + "moduleForcesY": [ + 21.94997245168763, + 21.94997245168763, + 21.94997245168763, + 21.94997245168763 + ], + "timestamp": 2.7444175252043688 + }, + { + "x": 7.810014641440835, + "y": 0.6724045103670285, + "heading": -0.030602705565700657, + "angularVelocity": -2.610422355624129e-23, + "velocityX": 1.210820622372946, + "velocityY": 0.005568169161610403, + "moduleForcesX": [ + -66.41755567747809, + -66.41755567747809, + -66.41755567747809, + -66.41755567747809 + ], + "moduleForcesY": [ + 21.402872172716116, + 21.402872172716116, + 21.40287217271612, + 21.402872172716116 + ], + "timestamp": 2.7612246846223525 + }, + { + "x": 7.829349527263214, + "y": 0.6728164588187181, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105088065183055e-23, + "velocityX": 1.150395812971026, + "velocityY": 0.024510295966654817, + "moduleForcesX": [ + -66.58995399001628, + -66.58995399001628, + -66.58995399001628, + -66.58995399001628 + ], + "moduleForcesY": [ + 20.87479240573133, + 20.87479240573133, + 20.87479240573133, + 20.87479240573133 + ], + "timestamp": 2.778031844040336 + }, + { + "x": 7.8476663716252375, + "y": 0.6735389935968507, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104949696722127e-23, + "velocityX": 1.0898239200624162, + "velocityY": 0.04298970219246499, + "moduleForcesX": [ + -66.75204443002121, + -66.75204443002121, + -66.7520444300212, + -66.7520444300212 + ], + "moduleForcesY": [ + 20.364860435958946, + 20.364860435958946, + 20.364860435958953, + 20.364860435958953 + ], + "timestamp": 2.79483900345832 + }, + { + "x": 7.864962848352485, + "y": 0.6745646018252035, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105034811402497e-23, + "velocityX": 1.029113623373087, + "velocityY": 0.06102210390810046, + "moduleForcesX": [ + -66.90456955143009, + -66.90456955143009, + -66.90456955143009, + -66.90456955143009 + ], + "moduleForcesY": [ + 19.872248046106407, + 19.872248046106407, + 19.872248046106407, + 19.872248046106407 + ], + "timestamp": 2.8116461628763036 + }, + { + "x": 7.8812367667714325, + "y": 0.6758860227881692, + "heading": -0.030602705565700657, + "angularVelocity": -2.610709601255135e-23, + "velocityX": 0.9682729849955253, + "velocityY": 0.07862250426178659, + "moduleForcesX": [ + -67.04821000488467, + -67.04821000488467, + -67.04821000488467, + -67.04821000488467 + ], + "moduleForcesY": [ + 19.396169576011697, + 19.396169576011697, + 19.396169576011697, + 19.396169576011697 + ], + "timestamp": 2.8284533222942874 + }, + { + "x": 7.896486062185169, + "y": 0.6774962365671245, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102973667152836e-23, + "velocityX": 0.9073095003444197, + "velocityY": 0.09580523031531188, + "moduleForcesX": [ + -67.18359028633023, + -67.18359028633023, + -67.18359028633022, + -67.18359028633023 + ], + "moduleForcesY": [ + 18.935879958124406, + 18.935879958124403, + 18.93587995812441, + 18.935879958124406 + ], + "timestamp": 2.845260481712271 + }, + { + "x": 7.910708787126688, + "y": 0.6793884532669677, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503486874706e-23, + "velocityX": 0.8462301444167443, + "velocityY": 0.11258396810060553, + "moduleForcesX": [ + -67.31128391171234, + -67.31128391171234, + -67.31128391171234, + -67.31128391171234 + ], + "moduleForcesY": [ + 18.490672758295048, + 18.490672758295048, + 18.490672758295048, + 18.490672758295048 + ], + "timestamp": 2.862067641130255 + }, + { + "x": 7.923903103318538, + "y": 0.6815561028014752, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105533911754057e-23, + "velocityX": 0.7850414138233215, + "velocityY": 0.12897179592361852, + "moduleForcesX": [ + -67.43181807693149, + -67.43181807693149, + -67.43181807693149, + -67.43181807693149 + ], + "moduleForcesY": [ + 18.05987824425093, + 18.05987824425093, + 18.05987824425093, + 18.05987824425093 + ], + "timestamp": 2.8788748005482385 + }, + { + "x": 7.936067274274929, + "y": 0.6839928252106487, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105318115576945e-23, + "velocityX": 0.7237493650106344, + "velocityY": 0.14498121595577446, + "moduleForcesX": [ + -67.54567785630422, + -67.54567785630422, + -67.54567785630422, + -67.54567785630422 + ], + "moduleForcesY": [ + 17.64286149844661, + 17.64286149844661, + 17.642861498446614, + 17.642861498446614 + ], + "timestamp": 2.8956819599662222 + }, + { + "x": 7.947199658488528, + "y": 0.6866924614802244, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104481655421482e-23, + "velocityX": 0.662359649048256, + "velocityY": 0.16062418416427637, + "moduleForcesX": [ + -67.65330998735523, + -67.65330998735523, + -67.65330998735523, + -67.65330998735523 + ], + "moduleForcesY": [ + 17.239020587433266, + 17.239020587433266, + 17.239020587433263, + 17.239020587433263 + ], + "timestamp": 2.912489119384206 + }, + { + "x": 7.957298703149762, + "y": 0.6896490448379501, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102003630226072e-23, + "velocityX": 0.6008775433183554, + "velocityY": 0.17591213864029795, + "moduleForcesX": [ + -67.7551262848221, + -67.7551262848221, + -67.7551262848221, + -67.7551262848221 + ], + "moduleForcesY": [ + 16.847784796279296, + 16.847784796279296, + 16.8477847962793, + 16.8477847962793 + ], + "timestamp": 2.9292962788021897 + }, + { + "x": 7.966362938351887, + "y": 0.6928567924993456, + "heading": -0.030602705565700657, + "angularVelocity": -2.6110553944474674e-23, + "velocityX": 0.5393079804088939, + "velocityY": 0.19085602638923885, + "moduleForcesX": [ + -67.85150672227324, + -67.85150672227324, + -67.85150672227324, + -67.85150672227324 + ], + "moduleForcesY": [ + 16.468612933718617, + 16.46861293371862, + 16.468612933718614, + 16.468612933718614 + ], + "timestamp": 2.9461034382201734 + }, + { + "x": 7.9743909717390755, + "y": 0.6963100978400371, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102300305060826e-23, + "velocityX": 0.4776555744809489, + "velocityY": 0.2054663286503377, + "moduleForcesX": [ + -67.94280221569424, + -67.94280221569424, + -67.94280221569424, + -67.94280221569424 + ], + "moduleForcesY": [ + 16.10099171145902, + 16.100991711459017, + 16.100991711459024, + 16.100991711459024 + ], + "timestamp": 2.962910597638157 + }, + { + "x": 7.9813814835593915, + "y": 0.7000035229690781, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503682698448e-23, + "velocityX": 0.41592464535273316, + "velocityY": 0.21975308481446476, + "moduleForcesX": [ + -68.02933713975817, + -68.02933713975817, + -68.02933713975817, + -68.02933713975817 + ], + "moduleForcesY": [ + 15.74443419933357, + 15.744434199333568, + 15.74443419933357, + 15.744434199333568 + ], + "timestamp": 2.979717757056141 + }, + { + "x": 7.987333222087751, + "y": 0.7039317916827953, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104419680741246e-23, + "velocityX": 0.3541192405179691, + "velocityY": 0.2337259150092153, + "moduleForcesX": [ + -68.11141160422919, + -68.11141160422919, + -68.11141160422919, + -68.11141160422919 + ], + "moduleForcesY": [ + 15.398478356626523, + 15.398478356626523, + 15.398478356626523, + 15.398478356626523 + ], + "timestamp": 2.9965249164741246 + }, + { + "x": 7.992244999387589, + "y": 0.7080897827759957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610530978329382e-23, + "velocityX": 0.29224315529402184, + "velocityY": 0.24739404141979207, + "moduleForcesX": [ + -68.18930351502362, + -68.18930351502362, + -68.18930351502362, + -68.18930351502362 + ], + "moduleForcesY": [ + 15.062685638874601, + 15.062685638874601, + 15.062685638874603, + 15.062685638874603 + ], + "timestamp": 3.0133320758921083 + }, + { + "x": 7.996115687382627, + "y": 0.7124725236922808, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105940510641316e-23, + "velocityX": 0.23029995127531677, + "velocityY": 0.26076630841282683, + "moduleForcesX": [ + -68.26327044183775, + -68.26327044183775, + -68.26327044183775, + -68.26327044183775 + ], + "moduleForcesY": [ + 14.73663967866983, + 14.73663967866983, + 14.736639678669833, + 14.736639678669833 + ], + "timestamp": 3.030139235310092 + }, + { + "x": 7.998944214212964, + "y": 0.7170751844931835, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107299893613786e-23, + "velocityX": 0.1682929732498038, + "velocityY": 0.2738512015284369, + "moduleForcesX": [ + -68.33355131191627, + -68.33355131191627, + -68.33355131191627, + -68.33355131191627 + ], + "moduleForcesY": [ + 14.41994503842108, + 14.41994503842108, + 14.419945038421076, + 14.419945038421076 + ], + "timestamp": 3.0469463947280757 + }, + { + "x": 8.00072956085205, + "y": 0.7218930721282959, + "heading": -0.030602705565700657, + "angularVelocity": -7.615561258735062e-20, + "velocityX": 0.10622536472036007, + "velocityY": 0.2866568654035918, + "moduleForcesX": [ + -68.4003679474523, + -68.4003679474523, + -68.40036794745228, + -68.40036794745228 + ], + "moduleForcesY": [ + 14.11222603262499, + 14.112226032624994, + 14.112226032624992, + 14.112226032624994 + ], + "timestamp": 3.0637535541460594 + }, + { + "x": 8.000574380202075, + "y": 0.7312115392499664, + "heading": -0.03128457300923975, + "angularVelocity": -0.02261976651780906, + "velocityX": -0.005147848168841318, + "velocityY": 0.30912393984053255, + "moduleForcesX": [ + -69.12203989443066, + -69.25621961896836, + -67.46142310275, + -67.88669327730796 + ], + "moduleForcesY": [ + 10.479671842235648, + 9.628129269363173, + 18.355441830280547, + 16.754979672120477 + ], + "timestamp": 3.0938983146148398 + }, + { + "x": 7.997061977462841, + "y": 0.7412074347255824, + "heading": -0.03264392524361486, + "angularVelocity": -0.04509414615461716, + "velocityX": -0.11651785201179243, + "velocityY": 0.3315964472824551, + "moduleForcesX": [ + -69.11614201349055, + -69.24900795331958, + -67.46697003546936, + -67.88636889054806 + ], + "moduleForcesY": [ + 10.49999420038065, + 9.661350959227432, + 18.324532051738284, + 16.74569831512937 + ], + "timestamp": 3.12404307508362 + }, + { + "x": 7.990192455682806, + "y": 0.751880932010523, + "heading": -0.03467613990569071, + "angularVelocity": -0.06741518693374675, + "velocityX": -0.22788443740118064, + "velocityY": 0.35407470880324193, + "moduleForcesX": [ + -69.11029114226862, + -69.24111041911144, + -67.47324406843092, + -67.88544159370429 + ], + "moduleForcesY": [ + 10.518933835764273, + 9.698295617502417, + 18.290264483107524, + 16.738223618631356 + ], + "timestamp": 3.1541878355524005 + }, + { + "x": 7.979965924806406, + "y": 0.7632322150803192, + "heading": -0.03737633158353689, + "angularVelocity": -0.08957416266892047, + "velocityX": -0.3392473755765638, + "velocityY": 0.376559073394397, + "moduleForcesX": [ + -69.10443760173371, + -69.23249360159326, + -67.48025213333065, + -67.88393998390649 + ], + "moduleForcesY": [ + 10.536732736161232, + 9.739060699900426, + 18.252539336709578, + 16.73238454106662 + ], + "timestamp": 3.184332596021181 + }, + { + "x": 7.966382502335012, + "y": 0.7752614793764745, + "heading": -0.04073932558476386, + "angularVelocity": -0.1115614769840309, + "velocityX": -0.4506064158469822, + "velocityY": 0.39904992141544376, + "moduleForcesX": [ + -69.09852514808313, + -69.22311921955266, + -67.48800304144862, + -67.8818958753837 + ], + "moduleForcesY": [ + 10.553662638011145, + 9.783759788007238, + 18.211240443578745, + 16.72798902780506 + ], + "timestamp": 3.214477356489961 + }, + { + "x": 7.949442314079394, + "y": 0.787968932872205, + "heading": -0.044759628383748286, + "angularVelocity": -0.1333665531410697, + "velocityX": -0.5619612825629627, + "velocityY": 0.42154766858722614, + "moduleForcesX": [ + -69.09249018337064, + -69.21294350593362, + -67.4965073888384, + -67.87934469555397 + ], + "moduleForcesY": [ + 10.570028430624657, + 9.83252419126897, + 18.166234181903416, + 16.724821410825644 + ], + "timestamp": 3.2446221169587415 + }, + { + "x": 7.929145495019882, + "y": 0.80135479727848, + "heading": -0.04943139423604341, + "angularVelocity": -0.1549777068931584, + "velocityX": -0.6733116715430445, + "velocityY": 0.4440527706354719, + "moduleForcesX": [ + -69.08626080014787, + -69.20191645854325, + -67.5057774536366, + -67.87632595172016 + ], + "moduleForcesY": [ + 10.586172225945964, + 9.885504901825648, + 18.117368162482542, + 16.722639296839404 + ], + "timestamp": 3.274766877427522 + }, + { + "x": 7.905492190294086, + "y": 0.81541930941368, + "heading": -0.05474838734472739, + "angularVelocity": -0.17638199892782516, + "velocityX": -0.7846572458358432, + "velocityY": 0.466565728717729, + "moduleForcesX": [ + -69.07975561904044, + -69.1899809286292, + -67.51582708612807, + -67.87288378178002 + ], + "moduleForcesY": [ + 10.602478242171442, + 9.942874995451355, + 18.064469608827935, + 16.72116982795607 + ], + "timestamp": 3.304911637896302 + }, + { + "x": 7.878482556336993, + "y": 0.8301627227648708, + "heading": -0.06070393883472223, + "angularVelocity": -0.19756506263046061, + "velocityX": -0.8959976306673977, + "velocityY": 0.489087095799731, + "moduleForcesX": [ + -69.07288236630032, + -69.17707150564772, + -67.5266715924171, + -67.86906760586902 + ], + "moduleForcesY": [ + 10.619378690905886, + 10.004832598678524, + 18.007343351791643, + 16.720105166224865 + ], + "timestamp": 3.3350563983650825 + }, + { + "x": 7.848116762204032, + "y": 0.8455853092774811, + "heading": -0.06729089762988012, + "angularVelocity": -0.2185109018192302, + "velocityX": -1.0073324073826122, + "velocityY": 0.5116174841897279, + "moduleForcesX": [ + -69.06553612249192, + -69.16311314385187, + -67.53832761284622, + -67.86493290041689 + ], + "moduleForcesY": [ + 10.637360912285077, + 10.071604577996107, + 17.945769335018188, + 16.71909700984046 + ], + "timestamp": 3.365201158833863 + }, + { + "x": 7.81439499111385, + "y": 0.8616873614131683, + "heading": -0.07450157412405574, + "angularVelocity": -0.23920165169809163, + "velocityX": -1.1186611061355556, + "velocityY": 0.5341575744945605, + "moduleForcesX": [ + -69.0575971520419, + -69.14801945914438, + -67.55081299668441, + -67.86054212207266 + ], + "moduleForcesY": [ + 10.656976075530913, + 10.143451155274636, + 17.879499495958843, + 16.717749890422564 + ], + "timestamp": 3.395345919302643 + }, + { + "x": 7.777317442259305, + "y": 0.8784691945324811, + "heading": -0.08232767527817983, + "angularVelocity": -0.2596172944293003, + "velocityX": -1.229983197011282, + "velocityY": 0.5567081263337244, + "moduleForcesX": [ + -69.04892819418495, + -69.13169060112651, + -67.56414667508916, + -67.85596581683656 + ], + "moduleForcesY": [ + 10.678849860731578, + 10.220671719260663, + 17.808253844577948, + 16.715612921716243 + ], + "timestamp": 3.4254906797714235 + }, + { + "x": 7.736884332945643, + "y": 0.895931149665311, + "heading": -0.09076022944238173, + "angularVelocity": -0.2797353182797759, + "velocityX": -1.3412980791646558, + "velocityY": 0.5792699912436499, + "moduleForcesX": [ + -69.03937105562531, + -69.11401057274503, + -67.57834853494117, + -67.85128396022695 + ], + "moduleForcesY": [ + 10.70369567130861, + 10.303612193341971, + 17.73171550383382, + 16.71216956186201 + ], + "timestamp": 3.455635440240204 + }, + { + "x": 7.693095901132275, + "y": 0.9140735967534939, + "heading": -0.099789498770429, + "angularVelocity": -0.2995303060178064, + "velocityX": -1.452605067429164, + "velocityY": 0.6018441283328443, + "moduleForcesX": [ + -69.02874228920794, + -69.09484382439364, + -67.59343929685735, + -67.84658758838525 + ], + "moduleForcesY": [ + 10.732331110283823, + 10.392674445513046, + 17.64952439612414, + 16.70682480161854 + ], + "timestamp": 3.485780200708984 + }, + { + "x": 7.645952408476503, + "y": 0.9328969384706367, + "heading": -0.10940487652816229, + "angularVelocity": -0.31897343379760784, + "velocityX": -1.5639033756658416, + "velocityY": 0.6244316234222428, + "moduleForcesX": [ + -69.01682766385254, + -69.07403088472786, + -67.60944040148684, + -67.84198079907456 + ], + "moduleForcesY": [ + 10.765698708679986, + 10.48832840359184, + 17.56126914870603, + 16.698888981062296 + ], + "timestamp": 3.5159249611777645 + }, + { + "x": 7.595454144007461, + "y": 0.9524016147534482, + "heading": -0.11959476584865797, + "angularVelocity": -0.3380318556867914, + "velocityX": -1.675192095866705, + "velocityY": 0.647033712642867, + "moduleForcesX": [ + -69.00337501797965, + -69.05138269754632, + -67.62637390901693, + -67.83758322755337 + ], + "moduleForcesY": [ + 10.804892253470749, + 10.591127791615781, + 17.466476634521936, + 16.687557139319505 + ], + "timestamp": 3.546069721646545 + }, + { + "x": 7.541601428597949, + "y": 0.9725881082174599, + "heading": -0.13034643548343197, + "angularVelocity": -0.35666794055003465, + "velocityX": -1.7864701716643163, + "velocityY": 0.6696518117924862, + "moduleForcesX": [ + -68.98808492465874, + -69.02667319842443, + -67.64426241750506, + -67.83353313818695 + ], + "moduleForcesY": [ + 10.851190574516279, + 10.701730769668796, + 17.36459834143407, + 16.671882372696256 + ], + "timestamp": 3.576214482115325 + }, + { + "x": 7.484394620460974, + "y": 0.9934569506846619, + "heading": -0.1416458467374406, + "angularVelocity": -0.3748383161216658, + "velocityX": -1.8977363643764111, + "velocityY": 0.6922875532162684, + "moduleForcesX": [ + -68.97059835493368, + -68.999629463383, + -67.66312900585731, + -67.8299913226013 + ], + "moduleForcesY": [ + 10.906101390682505, + 10.820927298486001, + 17.254992439505784, + 16.650741048684562 + ], + "timestamp": 3.6063592425841056 + }, + { + "x": 7.423834121972809, + "y": 1.0150087311234057, + "heading": -0.1534774439023072, + "angularVelocity": -0.3924926581227959, + "velocityX": -2.008989208948542, + "velocityY": 0.7149428326375568, + "moduleForcesX": [ + -68.95048016313063, + -68.96991845742099, + -67.6829972062801, + -67.82714606534914 + ], + "moduleForcesY": [ + 10.97141890410599, + 10.949675857330911, + 17.13689994064538, + 16.622786788995217 + ], + "timestamp": 3.636504003052886 + }, + { + "x": 7.359920388244358, + "y": 1.0372441054012265, + "heading": -0.165823897885228, + "angularVelocity": -0.409572137609368, + "velocityX": -2.1202269560141604, + "velocityY": 0.7376198693241082, + "moduleForcesX": [ + -68.92719666361737, + -68.93712894129654, + -67.70389100737714, + -67.82521953753351 + ], + "moduleForcesY": [ + 11.049300459649274, + 11.089153375141052, + 17.00941263431447, + 16.58638871834261 + ], + "timestamp": 3.6666487635216662 + }, + { + "x": 7.2926539380224575, + "y": 1.0601638083985603, + "heading": -0.17866578901331856, + "angularVelocity": -0.42600740322320096, + "velocityX": -2.231447494549044, + "velocityY": 0.7603212843922263, + "moduleForcesX": [ + -68.90008470338896, + -68.90074635506473, + -67.72583487979779, + -67.82447612100752 + ], + "moduleForcesY": [ + 11.142370067558609, + 11.240824153308658, + 16.87142940072456, + 16.539547284037408 + ], + "timestamp": 3.6967935239904466 + }, + { + "x": 7.222035367757647, + "y": 1.0837686692387452, + "heading": -0.1919812096125956, + "angularVelocity": -0.4417159198550349, + "velocityX": -2.3426482468810854, + "velocityY": 0.7830502041871262, + "moduleForcesX": [ + -68.86830825357389, + -68.8601173021492, + -67.74885379546649, + -67.8252333702231 + ], + "moduleForcesY": [ + 11.253860447377857, + 11.406536616238109, + 16.72159582056552, + 16.479777482633693 + ], + "timestamp": 3.726938284459227 + }, + { + "x": 7.148065370047914, + "y": 1.1080596306989396, + "heading": -0.20574525901022436, + "angularVelocity": -0.45659839997347396, + "velocityX": -2.453826023475313, + "velocityY": 0.805810398969394, + "moduleForcesX": [ + -68.83079628093364, + -68.81439827560449, + -67.77297316655974, + -67.82787661348416 + ], + "moduleForcesY": [ + 11.387811396252282, + 11.588661725698186, + 16.558219325422215, + 16.403943700057525 + ], + "timestamp": 3.7570830449280073 + }, + { + "x": 7.070744758268056, + "y": 1.1330377743304505, + "heading": -0.21992939158351985, + "angularVelocity": -0.47053392870662725, + "velocityX": -2.5649768177766195, + "velocityY": 0.8286064723369595, + "moduleForcesX": [ + -68.78615185006745, + -68.76247987843362, + -67.79821853555629, + -67.83287861782009 + ], + "moduleForcesY": [ + 11.549352320145095, + 11.790295307311037, + 16.379147772081584, + 16.308020974276808 + ], + "timestamp": 3.7872278053967876 + }, + { + "x": 6.990074500149328, + "y": 1.1587043535388948, + "heading": -0.23450055980541587, + "angularVelocity": -0.4833731632064801, + "velocityX": -2.6760955092782, + "velocityY": 0.8514441252570306, + "moduleForcesX": [ + -68.732515782208, + -68.70287179032712, + -67.82461464681992, + -67.84082633454543 + ], + "moduleForcesY": [ + 11.74511362814754, + 12.015561153892026, + 16.181592012245993, + 16.18674129981258 + ], + "timestamp": 3.817372565865568 + }, + { + "x": 6.906055764678748, + "y": 1.1850608380187753, + "heading": -0.24942006435255065, + "angularVelocity": -0.4949286149606735, + "velocityX": -2.787175421663135, + "velocityY": 0.8743305327369058, + "moduleForcesX": [ + -68.66735625938301, + -68.63352269146671, + -67.85218309855843, + -67.85245752682552 + ], + "moduleForcesY": [ + 11.983840942136116, + 12.270078110772166, + 15.961860378151497, + 16.033054684190592 + ], + "timestamp": 3.8475173263343483 + }, + { + "x": 6.818689989469182, + "y": 1.2121089748259173, + "heading": -0.2646419738347046, + "angularVelocity": -0.504960372729405, + "velocityX": -2.8982076437499757, + "velocityY": 0.8972748957532076, + "moduleForcesX": [ + -68.58713336059995, + -68.55152809727315, + -67.88093682323061, + -67.86871095232084 + ], + "moduleForcesY": [ + 12.277338691875098, + 12.561703844975987, + 15.714950320983123, + 15.837280884840713 + ], + "timestamp": 3.8776620868031286 + }, + { + "x": 6.72797898079997, + "y": 1.2398508746003705, + "heading": -0.2801108913115199, + "angularVelocity": -0.5131544333495599, + "velocityX": -3.009179945653795, + "velocityY": 0.9202892755852286, + "moduleForcesX": [ + -68.48674346344362, + -68.45263593634111, + -67.91086747633537, + -67.89079413978638 + ], + "moduleForcesY": [ + 12.641968303148339, + 12.901765627434532, + 15.433900077836705, + 15.585722847610917 + ], + "timestamp": 3.907806847271909 + }, + { + "x": 6.633925068213073, + "y": 1.2682891372342353, + "heading": -0.2957586902916007, + "angularVelocity": -0.5190885161050309, + "velocityX": -3.120074969059103, + "velocityY": 0.9433899023099828, + "moduleForcesX": [ + -68.35855698169841, + -68.3303666548069, + -67.94191664254808, + -67.92027029682014 + ], + "moduleForcesY": [ + 13.101120091407797, + 13.307192271711736, + 15.108720338454093, + 15.258296573744573 + ], + "timestamp": 3.9379516077406893 + }, + { + "x": 6.536531355318747, + "y": 1.2974270421888014, + "heading": -0.3114995470523193, + "angularVelocity": -0.5221755461291749, + "velocityX": -3.230867035587883, + "velocityY": 0.96659931946559, + "moduleForcesX": [ + -68.19066049608848, + -68.17434841964861, + -67.97390871841081, + -67.95915173052063 + ], + "moduleForcesY": [ + 13.689480799581691, + 13.804416624695728, + 14.724554535437715, + 14.824255885339374 + ], + "timestamp": 3.9680963682094696 + }, + { + "x": 6.435802152177128, + "y": 1.327268850645929, + "heading": -0.32722198839688826, + "angularVelocity": -0.5215646467269837, + "velocityX": -3.341516123373161, + "velocityY": 0.9899500939178202, + "moduleForcesX": [ + -67.96343090892789, + -67.96691798925671, + -68.00638798357106, + -68.00992793712221 + ], + "moduleForcesY": [ + 14.460811619631277, + 14.437021660856235, + 14.25833876144099, + 14.233955254419095 + ], + "timestamp": 3.99824112867825 + }, + { + "x": 6.3317437812579875, + "y": 1.3578203146255394, + "heading": -0.34277531084194424, + "angularVelocity": -0.5159544213716283, + "velocityX": -3.451955474216577, + "velocityY": 1.0134916816203354, + "moduleForcesX": [ + -67.64230271856893, + -67.6754703371486, + -68.03819770735676, + -68.07521523017216 + ], + "moduleForcesY": [ + 15.503088860731753, + 15.282064499373016, + 13.67233405625696, + 13.401609196018617 + ], + "timestamp": 4.028385889147031 + }, + { + "x": 6.224366244956237, + "y": 1.3890896041439755, + "heading": -0.35794429879192546, + "angularVelocity": -0.5032047929420784, + "velocityX": -3.5620630130041935, + "velocityY": 1.0373042954136273, + "moduleForcesX": [ + -67.16086787067447, + -67.23286276076914, + -68.06629175854317, + -68.15565591379305 + ], + "moduleForcesY": [ + 16.970466392547678, + 16.489054739312063, + 12.900562199644087, + 12.165124885959399 + ], + "timestamp": 4.058530649615811 + }, + { + "x": 6.113687222353567, + "y": 1.4210891853250653, + "heading": -0.37239608695984594, + "angularVelocity": -0.4794129375447373, + "velocityX": -3.6715840790085346, + "velocityY": 1.061530451177152, + "moduleForcesX": [ + -66.37579951944889, + -66.47727613620222, + -68.08192932954661, + -68.23927582845215 + ], + "moduleForcesY": [ + 19.15790170896385, + 18.3883113663449, + 11.817371336637569, + 10.178002357011051 + ], + "timestamp": 4.0886754100845915 + }, + { + "x": 5.999744065876152, + "y": 1.4538402728178517, + "heading": -0.3855457450952182, + "angularVelocity": -0.43621703841338505, + "velocityX": -3.7798660432351996, + "velocityY": 1.0864603660302525, + "moduleForcesX": [ + -64.92325622560975, + -64.90983148768785, + -68.05605090489365, + -68.23975246333495 + ], + "moduleForcesY": [ + 22.697912251349997, + 21.865343345227068, + 10.155160689865104, + 6.552827193446533 + ], + "timestamp": 4.118820170553372 + }, + { + "x": 5.88264706731115, + "y": 1.4873864659205107, + "heading": -0.39608876793911596, + "angularVelocity": -0.3497464461466412, + "velocityX": -3.884489269247599, + "velocityY": 1.1128366117693484, + "moduleForcesX": [ + -61.64070652926448, + -60.14830694375659, + -67.86491977284592, + -67.48273137695078 + ], + "moduleForcesY": [ + 29.13525554331286, + 30.135076199520967, + 7.2672708280886305, + -1.7116541355426234 + ], + "timestamp": 4.148964931022152 + }, + { + "x": 5.762993352367877, + "y": 1.5218262821800728, + "heading": -0.3997450312645121, + "angularVelocity": -0.12129017675170528, + "velocityX": -3.9693038883893137, + "velocityY": 1.1424810057865147, + "moduleForcesX": [ + -52.324352759429004, + -31.17289885891116, + -66.68180109178446, + -58.273210793681734 + ], + "moduleForcesY": [ + 41.25496151783105, + 54.21945101059288, + 2.5571211195100325, + -25.173327178222863 + ], + "timestamp": 4.1791096914909325 + }, + { + "x": 5.642850828839381, + "y": 1.5584186127178183, + "heading": -0.39982683457504137, + "angularVelocity": -0.0027136825523610387, + "velocityX": -3.9855192630523657, + "velocityY": 1.2138869232550504, + "moduleForcesX": [ + -14.367028679766902, + 8.375599408244193, + -30.10275078440756, + -3.7589913227877885 + ], + "moduleForcesY": [ + 51.70697130590288, + 49.72035693036095, + 37.746373464513134, + 36.323462284735726 + ], + "timestamp": 4.209254451959713 + }, + { + "x": 5.523516888247606, + "y": 1.5976051352976728, + "heading": -0.3998730211895948, + "angularVelocity": -0.0015321606088479775, + "velocityX": -3.958695930439442, + "velocityY": 1.2999447323681093, + "moduleForcesX": [ + 16.35122648652218, + 16.666370703308466, + 16.29525799204969, + 16.611916449020793 + ], + "moduleForcesY": [ + 52.962450800745465, + 52.85630869400004, + 52.89773833729471, + 52.79120312010268 + ], + "timestamp": 4.239399212428493 + }, + { + "x": 5.405139446258545, + "y": 1.639590859413147, + "heading": -0.3999189845188175, + "angularVelocity": -0.001524753506347292, + "velocityX": -3.926965752859421, + "velocityY": 1.392803374866944, + "moduleForcesX": [ + 19.49520174299239, + 19.497322344260255, + 19.49493747448784, + 19.49705814566393 + ], + "moduleForcesY": [ + 57.05610475298283, + 57.05535518343315, + 57.055834681964754, + 57.05508509224902 + ], + "timestamp": 4.2695439728972735 + }, + { + "x": 5.27540394109048, + "y": 1.6896699116367906, + "heading": -0.39996327704440576, + "angularVelocity": -0.0013272934874623507, + "velocityX": -3.887723466096177, + "velocityY": 1.500695636385729, + "moduleForcesX": [ + 21.756630771223424, + 21.810119228779946, + 21.7519340883962, + 21.805467540140064 + ], + "moduleForcesY": [ + 59.89645340161834, + 59.87670621979155, + 59.89233743760866, + 59.87257595952734 + ], + "timestamp": 4.302914531863056 + }, + { + "x": 5.1470396615556915, + "y": 1.7431696678709514, + "heading": -0.4000067217274352, + "angularVelocity": -0.0013018865843375115, + "velocityX": -3.846632586121535, + "velocityY": 1.603202280457238, + "moduleForcesX": [ + 22.804035459801014, + 22.810609232357493, + 22.803552506343504, + 22.810126957520787 + ], + "moduleForcesY": [ + 56.8970315954111, + 56.8943774833183, + 56.89619319826358, + 56.8935388246979 + ], + "timestamp": 4.336285090828839 + }, + { + "x": 5.020045245572433, + "y": 1.799846345355898, + "heading": -0.4000497606412708, + "angularVelocity": -0.0012897270878730863, + "velocityX": -3.8055825230038587, + "velocityY": 1.6984036001079217, + "moduleForcesX": [ + 22.783065600019647, + 22.78601701572479, + 22.78283501991507, + 22.785786571103895 + ], + "moduleForcesY": [ + 52.841468654424865, + 52.84020080612245, + 52.84087559040121, + 52.8396076830262 + ], + "timestamp": 4.3696556497946215 + }, + { + "x": 4.894351098841492, + "y": 1.8593522409837384, + "heading": -0.4000925313442969, + "angularVelocity": -0.0012816897394469986, + "velocityX": -3.766617959863925, + "velocityY": 1.783185462628379, + "moduleForcesX": [ + 21.626092939822914, + 21.627875842229006, + 21.62590452146695, + 21.627687472044382 + ], + "moduleForcesY": [ + 47.05800140020116, + 47.05720133605649, + 47.05744456924907, + 47.05664448237265 + ], + "timestamp": 4.403026208760404 + }, + { + "x": 4.769802030123894, + "y": 1.9212196191025006, + "heading": -0.40013522248105965, + "angularVelocity": -0.0012793054142890665, + "velocityX": -3.7323039402820863, + "velocityY": 1.8539509087111694, + "moduleForcesX": [ + 19.04545558197175, + 19.045926843390106, + 19.045378372145834, + 19.04584963672767 + ], + "moduleForcesY": [ + 39.27787005416294, + 39.27765456719447, + 39.27764843839696, + 39.27743294990948 + ], + "timestamp": 4.436396767726187 + }, + { + "x": 4.64619440965808, + "y": 1.9849284514643886, + "heading": -0.4002000950415023, + "angularVelocity": -0.001944005807908139, + "velocityX": -3.7040919989583445, + "velocityY": 1.9091329104616779, + "moduleForcesX": [ + 15.70327856716408, + 15.586173309979236, + 15.73125075935168, + 15.614318315631506 + ], + "moduleForcesY": [ + 30.563575374214757, + 30.617043440221956, + 30.63942997013454, + 30.692818946182395 + ], + "timestamp": 4.4697673266919695 + }, + { + "x": 4.5245719642086595, + "y": 2.049025122024317, + "heading": -0.405631649438634, + "angularVelocity": -0.16276486116702724, + "velocityX": -3.644603183727537, + "velocityY": 1.9207550771150002, + "moduleForcesX": [ + 40.14382541322239, + 19.634433687647423, + 45.008786153052014, + 27.287637081500314 + ], + "moduleForcesY": [ + -12.706998833809141, + -1.8944106658558213, + 12.525927808319366, + 27.87855009725288 + ], + "timestamp": 4.503137885657752 + }, + { + "x": 4.406143503537595, + "y": 2.111641332223559, + "heading": -0.4184078034247618, + "angularVelocity": -0.38285705670163295, + "velocityX": -3.5488905292933453, + "velocityY": 1.876390810940954, + "moduleForcesX": [ + 50.63714057212275, + 31.738363917247266, + 66.63545830538258, + 63.48643492329071 + ], + "moduleForcesY": [ + -44.35461340235443, + -56.37263472811973, + -9.419454920992239, + 11.650938103925284 + ], + "timestamp": 4.536508444623535 + }, + { + "x": 4.291334312268304, + "y": 2.172430162268381, + "heading": -0.43362216869997017, + "angularVelocity": -0.45592179893686535, + "velocityX": -3.4404335686169425, + "velocityY": 1.8216305608558392, + "moduleForcesX": [ + 56.675099205458764, + 53.943625967062154, + 64.93231136120757, + 65.24075891260544 + ], + "moduleForcesY": [ + -38.614926998647775, + -41.54469621949282, + -22.032511350239634, + -19.384377025253993 + ], + "timestamp": 4.5698790035893175 + }, + { + "x": 4.1801992597503315, + "y": 2.2313240616295036, + "heading": -0.449993328464714, + "angularVelocity": -0.490586920690493, + "velocityX": -3.330332363682305, + "velocityY": 1.7648460555126868, + "moduleForcesX": [ + 59.03359002922508, + 58.350037016714204, + 63.49997502241792, + 63.55867855314202 + ], + "moduleForcesY": [ + -35.80289369635891, + -36.61803422218417, + -27.094390123660958, + -26.555363911587683 + ], + "timestamp": 4.6032495625551 + }, + { + "x": 4.072754556471353, + "y": 2.288296570343991, + "heading": -0.4669393810537681, + "angularVelocity": -0.50781446623145, + "velocityX": -3.2197453866242385, + "velocityY": 1.7072686367890495, + "moduleForcesX": [ + 60.24898628835015, + 60.06885084668952, + 62.5992322640746, + 62.603703013494794 + ], + "moduleForcesY": [ + -34.20303296874243, + -34.40526422160578, + -29.682154718746844, + -29.5406245397077 + ], + "timestamp": 4.636620121520883 + }, + { + "x": 3.9690069481662964, + "y": 2.3433338461526554, + "heading": -0.48412636046972807, + "angularVelocity": -0.5150342082547402, + "velocityX": -3.1089562632519567, + "velocityY": 1.6492764135348694, + "moduleForcesX": [ + 60.992029520123026, + 60.96099988674297, + 62.007812815018376, + 62.008727332366504 + ], + "moduleForcesY": [ + -33.16444788250027, + -33.18256020283584, + -31.224096451084847, + -31.18090429925417 + ], + "timestamp": 4.6699906804866655 + }, + { + "x": 3.868959805187604, + "y": 2.396427451467222, + "heading": -0.5013371682567699, + "angularVelocity": -0.5157482619541758, + "velocityX": -2.9980661421215586, + "velocityY": 1.5910313450001217, + "moduleForcesX": [ + 61.4970606349353, + 61.49734110306997, + 61.5994067858737, + 61.59999220337635 + ], + "moduleForcesY": [ + -32.427772552868916, + -32.42399390257782, + -32.23299201074593, + -32.228607323414224 + ], + "timestamp": 4.703361239452448 + }, + { + "x": 3.772615014549368, + "y": 2.447571730660445, + "heading": -0.5184192387497278, + "angularVelocity": -0.511890451414781, + "velocityX": -2.887119473689192, + "velocityY": 1.5326167969082285, + "moduleForcesX": [ + 61.865661229014776, + 61.84921289347603, + 61.306139275118255, + 61.298331382178525 + ], + "moduleForcesY": [ + -31.87189737742408, + -31.91893670938938, + -32.934798043905886, + -32.96400537627657 + ], + "timestamp": 4.736731798418231 + }, + { + "x": 3.679973717720683, + "y": 2.496762638821245, + "heading": -0.5352594552522935, + "angularVelocity": -0.5046429255150667, + "velocityX": -2.7761385994059813, + "velocityY": 1.4740810368583768, + "moduleForcesX": [ + 62.14868761889979, + 62.09348385066889, + 61.08941198638789, + 61.06370378236987 + ], + "moduleForcesY": [ + -31.43316723448848, + -31.567015978608183, + -33.444023240321265, + -33.514540982571404 + ], + "timestamp": 4.770102357384014 + }, + { + "x": 3.591036644530126, + "y": 2.5439971434715534, + "heading": -0.5517705992448493, + "angularVelocity": -0.4947817628552755, + "velocityX": -2.665135854683131, + "velocityY": 1.4154544039415793, + "moduleForcesX": [ + 62.37433439863179, + 62.26970234744134, + 60.92588331551031, + 60.87392304992238 + ], + "moduleForcesY": [ + -31.07505461225336, + -31.31435869714685, + -33.82479922222685, + -33.94628719995224 + ], + "timestamp": 4.803472916349796 + }, + { + "x": 3.5058042811853367, + "y": 2.5892728883720153, + "heading": -0.5678833794082447, + "angularVelocity": -0.4828441795031706, + "velocityX": -2.554118540003054, + "velocityY": 1.3567571627134747, + "moduleForcesX": [ + 62.55946732577067, + 62.40028987633621, + 60.80065892881482, + 60.715774615429446 + ], + "moduleForcesY": [ + -30.775138782832904, + -31.129435933269043, + -34.115839575322084, + -34.29684718183656 + ], + "timestamp": 4.836843475315579 + }, + { + "x": 3.424276961819647, + "y": 2.632587990619364, + "heading": -0.583541433010462, + "angularVelocity": -0.46921760040857263, + "velocityX": -2.4430912125061814, + "velocityY": 1.2980034973876715, + "moduleForcesX": [ + 62.71478883875526, + 62.4989161010104, + 60.70379384757495, + 60.58092201338877 + ], + "moduleForcesY": [ + -30.518903471024604, + -30.992537889847096, + -34.341919415720206, + -34.58917121602012 + ], + "timestamp": 4.870214034281362 + }, + { + "x": 3.34645492156299, + "y": 2.673940911184614, + "heading": -0.5986980304895372, + "angularVelocity": -0.4541906982923604, + "velocityX": -2.3320568389817615, + "velocityY": 1.2392037126996218, + "moduleForcesX": [ + 62.84741956072775, + 62.57440043549832, + 60.62838878861003, + 60.46385532373951 + ], + "moduleForcesY": [ + -30.29653203951866, + -30.890685234934953, + -34.51965494734024, + -34.83805212969463 + ], + "timestamp": 4.903584593247144 + }, + { + "x": 3.2723383288737526, + "y": 2.7133303685518384, + "heading": -0.6133138136278495, + "angularVelocity": -0.4379843667976608, + "velocityX": -2.221017417330355, + "velocityY": 1.1803655254196237, + "moduleForcesX": [ + 62.9622852732665, + 62.63269779539014, + 60.56949905854744, + 60.36078963049908 + ], + "moduleForcesY": [ + -30.101140074878764, + -30.81496242974686, + -34.66062864862747, + -35.053453093104224 + ], + "timestamp": 4.936955152212927 + }, + { + "x": 3.201927306054589, + "y": 2.750755278965317, + "heading": -0.6273551907762446, + "angularVelocity": -0.42077140999623847, + "velocityX": -2.1099743307098677, + "velocityY": 1.121494861741119, + "moduleForcesX": [ + 63.06290692919477, + 62.67798232548579, + 60.52348035967596, + 60.269038960751665 + ], + "moduleForcesY": [ + -29.92774741233331, + -30.759027482140507, + -34.77317977223898, + -35.24233237744797 + ], + "timestamp": 4.97032571117871 + }, + { + "x": 3.135221942713334, + "y": 2.7862147138092115, + "heading": -0.6407931661198537, + "angularVelocity": -0.4026895491138777, + "velocityX": -1.9989285588472958, + "velocityY": 1.0625963706574053, + "moduleForcesX": [ + 63.15187283356435, + 62.71327325283767, + 60.48758096428788, + 60.186643191226906 + ], + "moduleForcesY": [ + -29.772653202568215, + -30.71823417658401, + -34.86348040964523, + -35.40970054465129 + ], + "timestamp": 5.003696270144492 + }, + { + "x": 3.072222304853021, + "y": 2.819707868410318, + "heading": -0.6536024650991504, + "angularVelocity": -0.38385029727644315, + "velocityX": -1.8878808090916104, + "velocityY": 1.0036737663111281, + "moduleForcesX": [ + 63.231132484137554, + 62.74081363203757, + 60.45967872101635, + 60.11213664371166 + ], + "moduleForcesY": [ + -29.63304156226972, + -30.689091884942144, + -34.93620872701228, + -35.55926145793252 + ], + "timestamp": 5.037066829110275 + }, + { + "x": 3.0129284411591986, + "y": 2.8512340386920547, + "heading": -0.6657608675741488, + "angularVelocity": -0.3643451848518741, + "velocityX": -1.7768316004101603, + "velocityY": 0.9447300632281633, + "moduleForcesX": [ + 63.30218581497032, + 62.76230876082445, + 60.43810636315337, + 60.04439959044147 + ], + "moduleForcesY": [ + -29.506724678841497, + -30.668920539666114, + -34.994984877360324, + -35.69381610551596 + ], + "timestamp": 5.070437388076058 + }, + { + "x": 2.9573403874370814, + "y": 2.8807926033622375, + "heading": -0.6772486902487636, + "angularVelocity": -0.3442502322599411, + "velocityX": -1.6657813187716588, + "velocityY": 0.885767742173273, + "moduleForcesX": [ + 63.36620873032893, + 62.7790813979113, + 60.42153240427307, + 59.98256013310029 + ], + "moduleForcesY": [ + -29.391970797913185, + -30.65562310659923, + -35.042661742046086, + -35.815525429595354 + ], + "timestamp": 5.10380794704184 + }, + { + "x": 2.905458169800852, + "y": 2.9083830100922707, + "heading": -0.6880483786106688, + "angularVelocity": -0.32362923177220093, + "velocityX": -1.5547302545718684, + "velocityY": 0.8267888697458748, + "moduleForcesX": [ + 63.42413854440674, + 62.792175801110716, + 60.408878029952845, + 59.92592770134008 + ], + "moduleForcesY": [ + -29.28738625944427, + -30.64753131532271, + -35.08152393499005, + -35.92608626000167 + ], + "timestamp": 5.137178506007623 + }, + { + "x": 2.8572818070018196, + "y": 2.934004764631732, + "heading": -0.6981441807294081, + "angularVelocity": -0.30253620052008307, + "velocityX": -1.4436786284733993, + "velocityY": 0.7677951863385567, + "moduleForcesX": [ + 63.47673345868158, + 62.80242925847597, + 60.39925789203199, + 59.87394697253745 + ], + "moduleForcesY": [ + -29.191832884041784, + -30.643298474749017, + -35.11342716225157, + -36.026851992479834 + ], + "timestamp": 5.170549064973406 + }, + { + "x": 2.8128113121475025, + "y": 2.9576574221187517, + "heading": -0.7075218832596375, + "angularVelocity": -0.28101724456713717, + "velocityX": -1.3326266095854744, + "velocityY": 0.708788171970145, + "moduleForcesX": [ + 63.52461480023366, + 62.810522385822566, + 60.39193713564785, + 59.826165315423985 + ], + "moduleForcesY": [ + -29.104369033010983, + -30.641823373149993, + -35.13989781613681, + -36.11891715653109 + ], + "timestamp": 5.203919623939188 + }, + { + "x": 2.772046693988172, + "y": 2.9793405800620847, + "heading": -0.7161685954209692, + "angularVelocity": -0.25911199660149375, + "velocityX": -1.221574328467927, + "velocityY": 0.649769096335725, + "moduleForcesX": [ + 63.56829755539599, + 62.81701520666869, + 60.386299675836156, + 59.782209390920286 + ], + "moduleForcesY": [ + -29.02420685873507, + -30.642195192712514, + -35.16220545803263, + -36.203177808536466 + ], + "timestamp": 5.237290182904971 + }, + { + "x": 2.734987957889624, + "y": 2.999053872610452, + "heading": -0.7240725704791158, + "angularVelocity": -0.2368547397198539, + "velocityX": -1.1105218865692998, + "velocityY": 0.59073905739689, + "moduleForcesX": [ + 63.60821279657132, + 62.82237350000312, + 60.3818244148623, + 59.741768077091116 + ], + "moduleForcesY": [ + -28.95068083699544, + -30.643652936236034, + -35.181416442887645, + -36.280375390779376 + ], + "timestamp": 5.270660741870754 + }, + { + "x": 2.7016351065715485, + "y": 3.016796965826179, + "heading": -0.7312230568986043, + "angularVelocity": -0.21427529658165007, + "velocityX": -0.9994693631647813, + "velocityY": 0.5316990115178981, + "moduleForcesX": [ + 63.644724392715034, + 62.82698835293674, + 60.37806715970836, + 59.704579839279944 + ], + "moduleForcesY": [ + -28.883224294317774, + -30.645555069689703, + -35.19843418599757, + -36.35112906419579 + ], + "timestamp": 5.304031300836536 + }, + { + "x": 2.671988140676245, + "y": 3.0325695537564017, + "heading": -0.7376101732337847, + "angularVelocity": -0.1913997407633974, + "velocityX": -0.8884168205132447, + "velocityY": 0.47264979727482637, + "moduleForcesX": [ + 63.67814162329361, + 62.8311908831734, + 60.37464669529509, + 59.670423274335725 + ], + "moduleForcesY": [ + -28.82135168773556, + -30.64735648277995, + -35.21402981072538, + -36.41595986727854 + ], + "timestamp": 5.337401859802319 + }, + { + "x": 2.646047059207535, + "y": 3.046371355134701, + "heading": -0.7432248022052907, + "angularVelocity": -0.16825097168025074, + "velocityX": -0.7773643077273787, + "velocityY": 0.41359215446743564, + "moduleForcesX": [ + 63.70872881297905, + 62.83526347157346, + 60.37123393151569, + 59.63910995346491 + ], + "moduleForcesY": [ + -28.764645080782493, + -30.648590776132195, + -35.228865763523395, + -36.47530898863427 + ], + "timestamp": 5.370772418768102 + }, + { + "x": 2.623811859870229, + "y": 3.0582021105986237, + "heading": -0.7480585004281598, + "angularVelocity": -0.14484918361197985, + "velocityX": -0.666311863701621, + "velocityY": 0.35452673945002117, + "moduleForcesX": [ + 63.73671277025273, + 62.83944843518747, + 60.36754335487679, + 59.61047895078101 + ], + "moduleForcesY": [ + -28.712743719116784, + -30.64885648323509, + -35.243514214469236, + -36.52955174131436 + ], + "timestamp": 5.404142977733884 + }, + { + "x": 2.6052825393386176, + "y": 3.068061580319501, + "heading": -0.7521034210198824, + "angularVelocity": -0.12121225166980552, + "velocityX": -0.5552595193419528, + "velocityY": 0.2954541376067526, + "moduleForcesX": [ + 63.76228858706055, + 62.84395479699966, + 60.363326230422054, + 59.58439262195973 + ], + "moduleForcesY": [ + -28.665335922115908, + -30.64780623920137, + -35.25847154038577, + -36.5790083590335 + ], + "timestamp": 5.437513536699667 + }, + { + "x": 2.590459093465324, + "y": 3.0759495419763163, + "heading": -0.7553522468934274, + "angularVelocity": -0.09735605198810814, + "velocityX": -0.44420729927265734, + "velocityY": 0.23637487358944362, + "moduleForcesX": [ + 63.78562420126108, + 62.84896362206827, + 60.358365149464255, + 59.56073331914644 + ], + "moduleForcesY": [ + -28.622152723147323, + -30.645138185113925, + -35.274169828352676, + -36.62395241580333 + ], + "timestamp": 5.47088409566545 + }, + { + "x": 2.5793415174464807, + "y": 3.0818657890133747, + "heading": -0.7577981329817525, + "angularVelocity": -0.07329472937007261, + "velocityX": -0.33315522314719126, + "velocityY": 0.17728941978551727, + "moduleForcesX": [ + 63.80686401518755, + 62.85463226076621, + 60.352469624585574, + 59.53940081308226 + ], + "moduleForcesY": [ + -28.582962842926698, + -30.640589089247726, + -35.290986086092005, + -36.66461745021543 + ], + "timestamp": 5.504254654631232 + }, + { + "x": 2.571929805955234, + "y": 3.0858101291286, + "heading": -0.7594346559817723, + "angularVelocity": -0.04904092261977967, + "velocityX": -0.22210330665653, + "velocityY": 0.11819820337390106, + "moduleForcesX": [ + 63.82613178697077, + 62.86109774933579, + 60.345472509198466, + 59.520310253323636 + ], + "moduleForcesY": [ + -28.547568688110537, + -30.633928802316536, + -35.30924966751608, + -36.701202221076564 + ], + "timestamp": 5.537625213597015 + }, + { + "x": 2.568223953247088, + "y": 3.0877823829650395, + "heading": -0.7602557704725093, + "angularVelocity": -0.02460595555438477, + "velocityX": -0.11105156230422518, + "velocityY": 0.05910161224502662, + "moduleForcesX": [ + 63.84353295637071, + 62.86847955362884, + 60.33722707387728, + 59.50339054027483 + ], + "moduleForcesY": [ + -28.51580314467307, + -30.624955761032357, + -35.32924829381258, + -36.73387491125588 + ], + "timestamp": 5.570995772562798 + }, + { + "x": 2.5682239532470703, + "y": 3.087782382965088, + "heading": -0.7602557704725093, + "angularVelocity": -2.0005751555101546e-20, + "velocityX": -2.4725272207623272e-19, + "velocityY": 2.4421055757121167e-19, + "moduleForcesX": [ + 63.85915652710484, + 62.876881795583046, + 60.327604611867116, + 59.488583013749455 + ], + "moduleForcesY": [ + -28.487526991816065, + -30.613493324566843, + -35.351232957578254, + -36.76277651756912 + ], + "timestamp": 5.60436633152858 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4.2.traj b/src/main/deploy/choreo/source 4.2.traj index 0007feeb..70aabea5 100644 --- a/src/main/deploy/choreo/source 4.2.traj +++ b/src/main/deploy/choreo/source 4.2.traj @@ -1,1453 +1,3386 @@ { - "samples": [ - { - "x": 2.5682239532470703, - "y": 3.087782382965088, - "heading": -0.7602557704725093, - "angularVelocity": 5.277493860165363e-19, - "velocityX": 7.388438155863791e-18, - "velocityY": 5.876478883573141e-18, - "timestamp": 0 - }, - { - "x": 2.571372983748656, - "y": 3.0847101271952413, - "heading": -0.7592473817932608, - "angularVelocity": 0.031893423444808965, - "velocityX": 0.09959786865373063, - "velocityY": -0.09716962934521069, - "timestamp": 0.03161744868792393 - }, - { - "x": 2.577693309160809, - "y": 3.0785884921274382, - "heading": -0.7572349292359899, - "angularVelocity": 0.06365006162054636, - "velocityX": 0.1998999183816771, - "velocityY": -0.19361571922598592, - "timestamp": 0.06323489737584786 - }, - { - "x": 2.587208589540726, - "y": 3.0694421554601674, - "heading": -0.7542231093315008, - "angularVelocity": 0.0952581574249357, - "velocityX": 0.3009502908927446, - "velocityY": -0.2892813002576082, - "timestamp": 0.0948523460637718 - }, - { - "x": 2.5999440085853194, - "y": 3.057297810078407, - "heading": -0.7502170348952221, - "angularVelocity": 0.12670454456398847, - "velocityX": 0.40279717602443854, - "velocityY": -0.3841026359093425, - "timestamp": 0.12646979475169573 - }, - { - "x": 2.6159264164542595, - "y": 3.042184412149164, - "heading": -0.7452222876203011, - "angularVelocity": 0.15797439332379762, - "velocityX": 0.5054932808365591, - "velocityY": -0.47800814285865806, - "timestamp": 0.15808724343961966 - }, - { - "x": 2.635184489302285, - "y": 3.024133470203135, - "heading": -0.739244980307614, - "angularVelocity": 0.18905090577311734, - "velocityX": 0.6090963580935834, - "velocityY": -0.5709170946776445, - "timestamp": 0.1897046921275436 - }, - { - "x": 2.657748907577731, - "y": 3.003179383706628, - "heading": -0.7322918307451779, - "angularVelocity": 0.21991494731489233, - "velocityX": 0.7136697998046996, - "velocityY": -0.6627380565500872, - "timestamp": 0.22132214081546753 - }, - { - "x": 2.683652555288641, - "y": 2.979359841745378, - "heading": -0.7243702497867013, - "angularVelocity": 0.25054459759437514, - "velocityX": 0.8192833003886288, - "velocityY": -0.7533669840459989, - "timestamp": 0.25293958950339146 - }, - { - "x": 2.7129307425037954, - "y": 2.9527162951695773, - "heading": -0.7154884468811245, - "angularVelocity": 0.28091459855738415, - "velocityX": 0.926013591550072, - "velocityY": -0.8426848996825199, - "timestamp": 0.2845570381913154 - }, - { - "x": 2.745621453269739, - "y": 2.9232945190833064, - "heading": -0.7056555572281451, - "angularVelocity": 0.31099567046138704, - "velocityX": 1.0339452461396574, - "velocityY": -0.9305550355019219, - "timestamp": 0.3161744868792393 - }, - { - "x": 2.781765620762856, - "y": 2.891145287164399, - "heading": -0.6948817959555957, - "angularVelocity": 0.3407536572254923, - "velocityX": 1.1431715395468387, - "velocityY": -1.0168192960865703, - "timestamp": 0.34779193556716326 - }, - { - "x": 2.8214074306522394, - "y": 2.8563251853240765, - "heading": -0.6831786463377802, - "angularVelocity": 0.37014844977942385, - "velocityX": 1.2537953419538501, - "velocityY": -1.1012938515061652, - "timestamp": 0.3794093842550872 - }, - { - "x": 2.864594651983719, - "y": 2.818897600125482, - "heading": -0.6705590912415943, - "angularVelocity": 0.399132618850612, - "velocityX": 1.3659299887778211, - "velocityY": -1.1837636100249405, - "timestamp": 0.4110268329430111 - }, - { - "x": 2.911378991842898, - "y": 2.7789339277850242, - "heading": -0.6570378998904542, - "angularVelocity": 0.4276496653667196, - "velocityX": 1.4797000327559169, - "velocityY": -1.2639752414849752, - "timestamp": 0.44264428163093505 - }, - { - "x": 2.961816464678134, - "y": 2.736515063249988, - "heading": -0.6426319859260753, - "angularVelocity": 0.4556317654397341, - "velocityX": 1.595241707611291, - "velocityY": -1.3416283190249283, - "timestamp": 0.474261730318859 - }, - { - "x": 3.015967757907504, - "y": 2.691733246695512, - "heading": -0.6273608579426229, - "angularVelocity": 0.4829968456400199, - "velocityX": 1.7127028105228863, - "velocityY": -1.4163640145822418, - "timestamp": 0.5058791790067829 - }, - { - "x": 3.0738985597184256, - "y": 2.644694367762688, - "heading": -0.6112471905367273, - "angularVelocity": 0.5096447713078827, - "velocityX": 1.8322415063505086, - "velocityY": -1.4877506214089435, - "timestamp": 0.5374966276947069 - }, - { - "x": 3.1356797885403274, - "y": 2.595520856597587, - "heading": -0.59431755281478, - "angularVelocity": 0.5354523664780527, - "velocityX": 1.954023217739865, - "velocityY": -1.555264994669952, - "timestamp": 0.5691140763826308 - }, - { - "x": 3.2013876195939144, - "y": 2.54435532465843, - "heading": -0.5766033423665365, - "angularVelocity": 0.5602669153697192, - "velocityX": 2.0782142070395424, - "velocityY": -1.6182688376971983, - "timestamp": 0.6007315250705547 - }, - { - "x": 3.271103131170227, - "y": 2.491365153410621, - "heading": -0.5581419853873452, - "angularVelocity": 0.5838977446096899, - "velocityX": 2.204969549074994, - "velocityY": -1.6759787220924072, - "timestamp": 0.6323489737584786 - }, - { - "x": 3.3449112752300927, - "y": 2.436748253524411, - "heading": -0.5389784755311614, - "angularVelocity": 0.6061055098194305, - "velocityX": 2.3344117606825243, - "velocityY": -1.727429066946542, - "timestamp": 0.6639664224464026 - }, - { - "x": 3.4228986910980606, - "y": 2.3807402015786545, - "heading": -0.5191673286737849, - "angularVelocity": 0.6265890411626823, - "velocityX": 2.466594209979853, - "velocityY": -1.771428570931737, - "timestamp": 0.6955838711343265 - }, - { - "x": 3.505149605180989, - "y": 2.323622840626081, - "heading": -0.4987750128606717, - "angularVelocity": 0.6449703141576387, - "velocityX": 2.601440580951875, - "velocityY": -1.8065139131352208, - "timestamp": 0.7272013198222504 - }, - { - "x": 3.591738696750634, - "y": 2.2657340769573677, - "heading": -0.4778828407128138, - "angularVelocity": 0.6607798230044298, - "velocityX": 2.7386489158031626, - "velocityY": -1.8309119195573786, - "timestamp": 0.7588187685101744 - }, - { - "x": 3.682719459901477, - "y": 2.2074778020091377, - "heading": -0.4565901274793926, - "angularVelocity": 0.6734481786809655, - "velocityX": 2.8775491675137266, - "velocityY": -1.8425356050464758, - "timestamp": 0.7904362171980983 - }, - { - "x": 3.778106605323893, - "y": 2.149331359958236, - "heading": -0.43501703616408194, - "angularVelocity": 0.6823160062105331, - "velocityX": 3.0169146904901596, - "velocityY": -1.8390617985919466, - "timestamp": 0.8220536658860222 - }, - { - "x": 3.8778522165545284, - "y": 2.0918457812032254, - "heading": -0.413305893357822, - "angularVelocity": 0.6866823133187359, - "velocityX": 3.154764706512607, - "velocityY": -1.8181599446057561, - "timestamp": 0.8536711145739462 - }, - { - "x": 3.981818783887099, - "y": 2.035632191350449, - "heading": -0.3916190654271325, - "angularVelocity": 0.6859132798710829, - "velocityX": 3.2882655510493417, - "velocityY": -1.7779293455213814, - "timestamp": 0.8852885632618701 - }, - { - "x": 4.089757803671026, - "y": 1.9813293355714388, - "heading": -0.3701316156638578, - "angularVelocity": 0.6796073261749849, - "velocityX": 3.4139066959300552, - "velocityY": -1.7174964468195972, - "timestamp": 0.916906011949794 - }, - { - "x": 4.2013064173160215, - "y": 1.929555107096061, - "heading": -0.3490191567373932, - "angularVelocity": 0.6677470764593488, - "velocityX": 3.528071311066947, - "velocityY": -1.637520755909459, - "timestamp": 0.948523460637718 - }, - { - "x": 4.3160097311363765, - "y": 1.8808564047363088, - "heading": -0.32844469339357507, - "angularVelocity": 0.6507312954595367, - "velocityX": 3.627848500760458, - "velocityY": -1.5402476917232315, - "timestamp": 0.9801409093256419 - }, - { - "x": 4.433362841399141, - "y": 1.8356755918349883, - "heading": -0.3085490477139514, - "angularVelocity": 0.6292615788200117, - "velocityX": 3.711656541964673, - "velocityY": -1.428983513099749, - "timestamp": 1.0117583580135658 - }, - { - "x": 4.552856085647447, - "y": 1.794342244133677, - "heading": -0.28944673448577246, - "angularVelocity": 0.6041699764179587, - "velocityX": 3.7793449252578375, - "velocityY": -1.3072954781800117, - "timestamp": 1.0433758067014898 - }, - { - "x": 4.674019418261911, - "y": 1.7570816464541883, - "heading": -0.2711874910830117, - "angularVelocity": 0.5775052751088929, - "velocityX": 3.8321666561521712, - "velocityY": -1.1784821111679475, - "timestamp": 1.0749932553894137 - }, - { - "x": 4.796574894189664, - "y": 1.7240027480190696, - "heading": -0.2532745675444995, - "angularVelocity": 0.5665518339357334, - "velocityX": 3.876197511615244, - "velocityY": -1.0462228866604604, - "timestamp": 1.1066107040773376 - }, - { - "x": 4.920241208679963, - "y": 1.6951900122845294, - "heading": -0.23542993767815854, - "angularVelocity": 0.5643918344732444, - "velocityX": 3.9113312307685693, - "velocityY": -0.9112922430564439, - "timestamp": 1.1382281527652616 - }, - { - "x": 5.044741463909335, - "y": 1.6707061113111519, - "heading": -0.21753299540013793, - "angularVelocity": 0.5660463769442688, - "velocityX": 3.937707196372383, - "velocityY": -0.774379400913809, - "timestamp": 1.1698456014531855 - }, - { - "x": 5.169864900055923, - "y": 1.6505857266155057, - "heading": -0.19936833732506817, - "angularVelocity": 0.5745137203941351, - "velocityX": 3.9574172281135827, - "velocityY": -0.6363696481092369, - "timestamp": 1.2014630501411094 - }, - { - "x": 5.295416224127893, - "y": 1.6348513537049933, - "heading": -0.180785409839133, - "angularVelocity": 0.5877427894121283, - "velocityX": 3.9709505125226503, - "velocityY": -0.49764840502523344, - "timestamp": 1.2330804988290334 - }, - { - "x": 5.4212141036987305, - "y": 1.623516082763672, - "heading": -0.1616883163601714, - "angularVelocity": 0.6040048856394814, - "velocityX": 3.9787485958310715, - "velocityY": -0.3585131442199735, - "timestamp": 1.2646979475169573 - }, - { - "x": 5.536219270874131, - "y": 1.616836870888589, - "heading": -0.14383006422562247, - "angularVelocity": 0.6180837254644039, - "velocityX": 3.9803907818005526, - "velocityY": -0.2311711206569211, - "timestamp": 1.2935908812714105 - }, - { - "x": 5.651075756473543, - "y": 1.613834585343175, - "heading": -0.12560463618498777, - "angularVelocity": 0.6307918813479918, - "velocityX": 3.9752448323703953, - "velocityY": -0.10391071986420597, - "timestamp": 1.3224838150258638 - }, - { - "x": 5.76556273957954, - "y": 1.6144939873393616, - "heading": -0.10705811521023599, - "angularVelocity": 0.6419050807498203, - "velocityX": 3.962456152046145, - "velocityY": 0.02282225826530591, - "timestamp": 1.351376748780317 - }, - { - "x": 5.879432701797089, - "y": 1.618781934930576, - "heading": -0.08824387909090471, - "angularVelocity": 0.6511708461045846, - "velocityX": 3.941100726747672, - "velocityY": 0.1484081757725181, - "timestamp": 1.3802696825347702 - }, - { - "x": 5.992410419759247, - "y": 1.6266410646994975, - "heading": -0.06922350413690066, - "angularVelocity": 0.6583054222062932, - "velocityX": 3.9102196724741902, - "velocityY": 0.27200871450826675, - "timestamp": 1.4091626162892235 - }, - { - "x": 6.104193842039215, - "y": 1.637982300868101, - "heading": -0.050067488562884864, - "angularVelocity": 0.6630000171257457, - "velocityX": 3.8688844556236117, - "velocityY": 0.39252629258720284, - "timestamp": 1.4380555500436767 - }, - { - "x": 6.214457911870185, - "y": 1.65267677677448, - "heading": -0.030855523758157588, - "angularVelocity": 0.664936450136909, - "velocityX": 3.8162988489866705, - "velocityY": 0.5085837260854176, - "timestamp": 1.46694848379813 - }, - { - "x": 6.322862327305413, - "y": 1.670548437267453, - "heading": -0.01167596014104182, - "angularVelocity": 0.6638150275812467, - "velocityX": 3.751935208674285, - "velocityY": 0.618547795971673, - "timestamp": 1.4958414175525832 - }, - { - "x": 6.4290636229050175, - "y": 1.6913693092481683, - "heading": 0.007375887923614184, - "angularVelocity": 0.6593947235184903, - "velocityX": 3.6756840444848926, - "velocityY": 0.7206215941122979, - "timestamp": 1.5247343513070364 - }, - { - "x": 6.532730680746564, - "y": 1.7148597135811356, - "heading": 0.02620075345255325, - "angularVelocity": 0.6515387356964868, - "velocityX": 3.587972710648236, - "velocityY": 0.813015546728492, - "timestamp": 1.5536272850614896 - }, - { - "x": 6.633561183589668, - "y": 1.74069497477234, - "heading": 0.044699461573759244, - "angularVelocity": 0.6402502521349035, - "velocityX": 3.489798014283024, - "velocityY": 0.894172305615109, - "timestamp": 1.5825202188159428 - }, - { - "x": 6.731295526198675, - "y": 1.7685183492103391, - "heading": 0.0627772528573156, - "angularVelocity": 0.6256820936631189, - "velocityX": 3.3826382408792974, - "velocityY": 0.9629819759549457, - "timestamp": 1.611413152570396 - }, - { - "x": 6.8257251800468195, - "y": 1.7979577429769262, - "heading": 0.08034747565895894, - "angularVelocity": 0.6081148751097328, - "velocityX": 3.268261182843319, - "velocityY": 1.018913275362667, - "timestamp": 1.6403060863248493 - }, - { - "x": 6.916694376371671, - "y": 1.8286426249814156, - "heading": 0.09733402013627411, - "angularVelocity": 0.5879134539148977, - "velocityX": 3.148492884037099, - "velocityY": 1.062020294140586, - "timestamp": 1.6691990200793025 - }, - { - "x": 7.004096101368918, - "y": 1.860218005009012, - "heading": 0.11367234010506241, - "angularVelocity": 0.5654780545180834, - "velocityX": 3.025020779822156, - "velocityY": 1.0928409103741226, - "timestamp": 1.6980919538337558 - }, - { - "x": 7.087864629051777, - "y": 1.8923538970139027, - "heading": 0.12930927832335287, - "angularVelocity": 0.541202854344279, - "velocityX": 2.8992738638022804, - "velocityY": 1.112240531819904, - "timestamp": 1.726984887588209 - }, - { - "x": 7.167966866206853, - "y": 1.9247502674825525, - "heading": 0.14420207863824444, - "angularVelocity": 0.5154478406885892, - "velocityX": 2.772381573841675, - "velocityY": 1.1212558317535446, - "timestamp": 1.7558778213426622 - }, - { - "x": 7.244394118542315, - "y": 1.9571384104588545, - "heading": 0.1583169762871775, - "angularVelocity": 0.4885242104138131, - "velocityX": 2.6451883697577867, - "velocityY": 1.1209710738117566, - "timestamp": 1.7847707550971155 - }, - { - "x": 7.317155096829953, - "y": 1.9892799489523474, - "heading": 0.17162767550280295, - "angularVelocity": 0.46069046946725084, - "velocityX": 2.5182966501773545, - "velocityY": 1.1124359598318216, - "timestamp": 1.8136636888515687 - }, - { - "x": 7.386270392158917, - "y": 2.02096450763866, - "heading": 0.18411391239423633, - "angularVelocity": 0.43215538434233075, - "velocityX": 2.392117599283615, - "velocityY": 1.0966196425597954, - "timestamp": 1.842556622606022 - }, - { - "x": 7.451768320522363, - "y": 2.052006806165229, - "heading": 0.1957602021911398, - "angularVelocity": 0.4030843629753674, - "velocityX": 2.266918580164973, - "velocityY": 1.0743906724869623, - "timestamp": 1.8714495563604752 - }, - { - "x": 7.513681903854896, - "y": 2.0822436421675694, - "heading": 0.20655480093979395, - "angularVelocity": 0.3736068770444695, - "velocityX": 2.1428624679897674, - "velocityY": 1.04651318067275, - "timestamp": 1.9003424901149284 - }, - { - "x": 7.572046733374875, - "y": 2.1115310235359535, - "heading": 0.21648887239414402, - "angularVelocity": 0.3438235638780995, - "velocityX": 2.0200381870526463, - "velocityY": 1.0136520443816062, - "timestamp": 1.9292354238693816 - }, - { - "x": 7.626899490187302, - "y": 2.139741572344654, - "heading": 0.22555583311677932, - "angularVelocity": 0.31381239439687214, - "velocityX": 1.8984834589174147, - "velocityY": 0.9763822894707564, - "timestamp": 1.9581283576238349 - }, - { - "x": 7.678276942576416, - "y": 2.166762241379356, - "heading": 0.23375084402376597, - "angularVelocity": 0.2836337416141918, - "velocityX": 1.7782013009044082, - "velocityY": 0.9351999095812524, - "timestamp": 1.987021291378288 - }, - { - "x": 7.7262152828340716, - "y": 2.1924923399421448, - "heading": 0.24107041834248952, - "angularVelocity": 0.25333440975322497, - "velocityX": 1.659171777606876, - "velocityY": 0.8905325704013267, - "timestamp": 2.0159142251327413 - }, - { - "x": 7.770749702805597, - "y": 2.2168418441757844, - "heading": 0.24751212028340128, - "angularVelocity": 0.2229507739039764, - "velocityX": 1.5413602630318362, - "velocityY": 0.8427494570324149, - "timestamp": 2.0448071588871946 - }, - { - "x": 7.811914135528815, - "y": 2.2397299587889994, - "heading": 0.25307433359041953, - "angularVelocity": 0.19251119856116655, - "velocityX": 1.4247231891732903, - "velocityY": 0.7921699751132822, - "timestamp": 2.073700092641648 - }, - { - "x": 7.849741111313135, - "y": 2.2610838957168293, - "heading": 0.2577560835990588, - "angularVelocity": 0.16203788955552695, - "velocityX": 1.3092120068454196, - "velocityY": 0.7390712590596011, - "timestamp": 2.102593026396101 - }, - { - "x": 7.884261691820809, - "y": 2.280837837348004, - "heading": 0.2615569001729947, - "angularVelocity": 0.13154830887846627, - "velocityX": 1.1947758853790162, - "velocityY": 0.6836945600281833, - "timestamp": 2.1314859601505542 - }, - { - "x": 7.915505456587897, - "y": 2.298932055495642, - "heading": 0.26447671187634125, - "angularVelocity": 0.10105625576691307, - "velocityX": 1.0813635275881868, - "velocityY": 0.6262506362770877, - "timestamp": 2.1603788939050075 - }, - { - "x": 7.943500524127807, - "y": 2.3153121612137157, - "heading": 0.2665157640568601, - "angularVelocity": 0.07057269427354385, - "velocityX": 0.968924366692081, - "velocityY": 0.5669242818081367, - "timestamp": 2.1892718276594607 - }, - { - "x": 7.968273595191997, - "y": 2.3299284643409512, - "heading": 0.26767455528517325, - "angularVelocity": 0.04010638857795132, - "velocityX": 0.8574093331858625, - "velocityY": 0.5058781240926391, - "timestamp": 2.218164761413914 - }, - { - "x": 7.98985000958088, - "y": 2.342735425053857, - "heading": 0.2679537879340485, - "angularVelocity": 0.009664392382175604, - "velocityX": 0.7467713238208664, - "velocityY": 0.44325580855670654, - "timestamp": 2.247057695168367 - }, - { - "x": 8.008253810578585, - "y": 2.353691182656637, - "heading": 0.26735432969017925, - "angularVelocity": -0.020747572709776455, - "velocityX": 0.6369654654702158, - "velocityY": 0.3791846717916401, - "timestamp": 2.2759506289228204 - }, - { - "x": 8.023507812965436, - "y": 2.3627571493321846, - "heading": 0.2658771835489915, - "angularVelocity": -0.05112482358978361, - "velocityX": 0.5279492389553335, - "velocityY": 0.31377798989173, - "timestamp": 2.3048435626772736 - }, - { - "x": 8.03563367187979, - "y": 2.3698976586651876, - "heading": 0.26352346441317476, - "angularVelocity": -0.08146348708718121, - "velocityX": 0.419682508443294, - "velocityY": 0.24713687414668828, - "timestamp": 2.333736496431727 - }, - { - "x": 8.044651950723434, - "y": 2.375079660478679, - "heading": 0.26029438084514434, - "angularVelocity": -0.11176032158841295, - "velocityX": 0.3121274883432041, - "velocityY": 0.1793518739748044, - "timestamp": 2.36262943018618 - }, - { - "x": 8.050582186949077, - "y": 2.3782724549533256, - "heading": 0.25619122084800267, - "angularVelocity": -0.14201257760850033, - "velocityX": 0.20524867000492122, - "velocityY": 0.11050433651980293, - "timestamp": 2.3915223639406333 - }, - { - "x": 8.05344295501709, - "y": 2.3794474601745605, - "heading": 0.2512153407952589, - "angularVelocity": -0.17221788881085034, - "velocityX": 0.09901272374503113, - "velocityY": 0.04066756360640621, - "timestamp": 2.4204152976950866 - }, - { - "x": 8.053201486914846, - "y": 2.378532849164182, - "heading": 0.24526494310021624, - "angularVelocity": -0.20283641617714182, - "velocityX": -0.008231134621651358, - "velocityY": -0.031177146310045013, - "timestamp": 2.449751241443206 - }, - { - "x": 8.049794234093804, - "y": 2.37554000161886, - "heading": 0.23842485469133798, - "angularVelocity": -0.23316408251965104, - "velocityX": -0.1161460101742684, - "velocityY": -0.10201981470304258, - "timestamp": 2.479087185191325 - }, - { - "x": 8.043200547405869, - "y": 2.370500405039261, - "heading": 0.23070428043187602, - "angularVelocity": -0.2631779746290589, - "velocityX": -0.22476477131771752, - "velocityY": -0.17178914109153176, - "timestamp": 2.5084231289394445 - }, - { - "x": 8.03339875534113, - "y": 2.363447857471025, - "heading": 0.22211316414509835, - "angularVelocity": -0.29285290292829047, - "velocityX": -0.3341222681942042, - "velocityY": -0.24040636390600464, - "timestamp": 2.537759072687564 - }, - { - "x": 8.020366103869247, - "y": 2.354418716183534, - "heading": 0.21266226519054782, - "angularVelocity": -0.32216106751829054, - "velocityX": -0.44425540162550775, - "velocityY": -0.3077842446459585, - "timestamp": 2.567095016435683 - }, - { - "x": 8.004078695016561, - "y": 2.343452181045789, - "heading": 0.20236324653250398, - "angularVelocity": -0.35107166643323756, - "velocityX": -0.5552031662089848, - "velocityY": -0.37382588512933795, - "timestamp": 2.5964309601838025 - }, - { - "x": 7.984511425341185, - "y": 2.330590618405318, - "heading": 0.19122877633701627, - "angularVelocity": -0.3795504344802838, - "velocityX": -0.6670066537958826, - "velocityY": -0.4384233468301387, - "timestamp": 2.625766903931922 - }, - { - "x": 7.961637926033051, - "y": 2.3158799323612453, - "heading": 0.17927264554794067, - "angularVelocity": -0.4075590985492754, - "velocityX": -0.7797089980989933, - "velocityY": -0.5014560353121725, - "timestamp": 2.655102847680041 - }, - { - "x": 7.9354305071535265, - "y": 2.2993699916123123, - "heading": 0.16650990439381655, - "angularVelocity": -0.43505473230062586, - "velocityX": -0.8933552335845568, - "velocityY": -0.5627888057970439, - "timestamp": 2.6844387914281604 - }, - { - "x": 7.905860109625242, - "y": 2.281115121583125, - "heading": 0.15295702138182785, - "angularVelocity": -0.46198898962838814, - "velocityX": -1.0079920312835096, - "velocityY": -0.6222697379680402, - "timestamp": 2.7137747351762798 - }, - { - "x": 7.872896270106578, - "y": 2.2611746733102267, - "heading": 0.1386320690582762, - "angularVelocity": -0.488307192246718, - "velocityX": -1.1236672595807649, - "velocityY": -0.679727519390858, - "timestamp": 2.743110678924399 - }, - { - "x": 7.836507106001029, - "y": 2.2396136826122013, - "heading": 0.12355494167017039, - "angularVelocity": -0.5139472422486004, - "velocityX": -1.2404292978602893, - "velocityY": -0.7349683679226364, - "timestamp": 2.7724466226725184 - }, - { - "x": 7.796659330785332, - "y": 2.2165036353523067, - "heading": 0.10774761085514142, - "angularVelocity": -0.538838325801008, - "velocityX": -1.3583260030028035, - "velocityY": -0.7877724152432086, - "timestamp": 2.8017825664206377 - }, - { - "x": 7.753318313899226, - "y": 2.19192335704536, - "heading": 0.09123442660497559, - "angularVelocity": -0.5628993698634518, - "velocityX": -1.4774031903740834, - "velocityY": -0.837889468223523, - "timestamp": 2.831118510168757 - }, - { - "x": 7.706448205035719, - "y": 2.165960047470827, - "heading": 0.07404247194524972, - "angularVelocity": -0.5860372111201712, - "velocityX": -1.597702438549027, - "velocityY": -0.8850340659723267, - "timestamp": 2.8604544539168764 - }, - { - "x": 7.656012150340925, - "y": 2.13871048294784, - "heading": 0.05620198093999, - "angularVelocity": -0.6081444373646121, - "velocityX": -1.7192579563092565, - "velocityY": -0.9288797645971092, - "timestamp": 2.8897903976649957 - }, - { - "x": 7.601972638448196, - "y": 2.110282409797265, - "heading": 0.03774683054458116, - "angularVelocity": -0.6290968701694555, - "velocityX": -1.8420921568679616, - "velocityY": -0.9690526200438835, - "timestamp": 2.919126341413115 - }, - { - "x": 7.544292028206603, - "y": 2.0807961510189434, - "heading": 0.018715117083510376, - "angularVelocity": -0.6487506802057834, - "velocityX": -1.9662094642955352, - "velocityY": -1.0051239200447475, - "timestamp": 2.9484622851612343 - }, - { - "x": 7.482933328173649, - "y": 2.0503864422590894, - "heading": -0.0008501729877124486, - "angularVelocity": -0.6669391732958091, - "velocityX": -2.0915877314118396, - "velocityY": -1.0366023681035916, - "timestamp": 2.9777982289093536 - }, - { - "x": 7.41786132084397, - "y": 2.0192044993602596, - "heading": -0.02090039203042629, - "angularVelocity": -0.6834693717327389, - "velocityX": -2.2181664884686616, - "velocityY": -1.0629261893382604, - "timestamp": 3.007134172657473 - }, - { - "x": 7.3490441515677425, - "y": 1.9874202929960394, - "heading": -0.04138036186599847, - "angularVelocity": -0.6981186632826621, - "velocityX": -2.345831102864731, - "velocityY": -1.0834560714024546, - "timestamp": 3.0364701164055923 - }, - { - "x": 7.276455530186579, - "y": 1.9552249586913195, - "heading": -0.06222742301165628, - "angularVelocity": -0.7106320261810062, - "velocityX": -2.4743918929084145, - "velocityY": -1.0974705494785508, - "timestamp": 3.0658060601537116 - }, - { - "x": 7.200077714880021, - "y": 1.9228331935090521, - "heading": -0.0833704445528194, - "angularVelocity": -0.7207206873144767, - "velocityX": -2.603557463920192, - "velocityY": -1.1041664607890576, - "timestamp": 3.095142003901831 - }, - { - "x": 7.119905446690237, - "y": 1.8904853745024954, - "heading": -0.1047288756073305, - "angularVelocity": -0.7280635400005023, - "velocityX": -2.7329023016321106, - "velocityY": -1.1026684290199806, - "timestamp": 3.1244779476499502 - }, - { - "x": 7.035950951819603, - "y": 1.858448975489641, - "heading": -0.12621197438167323, - "angularVelocity": -0.7323131977208069, - "velocityX": -2.861830374078803, - "velocityY": -1.0920527830269176, - "timestamp": 3.1538138913980696 - }, - { - "x": 6.948249986460849, - "y": 1.827018673538932, - "heading": -0.14771842049448264, - "angularVelocity": -0.7331090588891795, - "velocityX": -2.9895395938771663, - "velocityY": -1.0713922217935838, - "timestamp": 3.183149835146189 - }, - { - "x": 6.856868622354137, - "y": 1.796514379361426, - "heading": -0.1691365903833373, - "angularVelocity": -0.7300999099518662, - "velocityX": -3.1149965684186123, - "velocityY": -1.0398265840505705, - "timestamp": 3.212485778894308 - }, - { - "x": 6.761910047279678, - "y": 1.7672764079562453, - "heading": -0.190345826853445, - "angularVelocity": -0.7229778135727319, - "velocityX": -3.236936090748653, - "velocityY": -0.9966603309653319, - "timestamp": 3.2418217226424275 - }, - { - "x": 6.663520159769647, - "y": 1.7396572829238472, - "heading": -0.21121900488152695, - "angularVelocity": -0.7115222952191661, - "velocityX": -3.3539022420691365, - "velocityY": -0.9414772972548079, - "timestamp": 3.271157666390547 - }, - { - "x": 6.561890392232876, - "y": 1.7140103541420042, - "heading": -0.23162649788257045, - "angularVelocity": -0.6956480819660698, - "velocityX": -3.46434286925873, - "velocityY": -0.8742493168806783, - "timestamp": 3.300493610138666 - }, - { - "x": 6.457256326311364, - "y": 1.690676415605696, - "heading": -0.251441221462823, - "angularVelocity": -0.6754418317127812, - "velocityX": -3.566753018750983, - "velocityY": -0.795404393213168, - "timestamp": 3.3298295538867855 - }, - { - "x": 6.349891479461714, - "y": 1.6699704349328945, - "heading": -0.2705438916622724, - "angularVelocity": -0.6511694446739671, - "velocityX": -3.659839539218306, - "velocityY": -0.70582289257795, - "timestamp": 3.359165497634905 - }, - { - "x": 6.240096949262869, - "y": 1.652170787455905, - "heading": -0.2888273442062909, - "angularVelocity": -0.6232440551768809, - "velocityX": -3.7426622828824416, - "velocityY": -0.6067521682554001, - "timestamp": 3.388501441383024 - }, - { - "x": 6.128188785135105, - "y": 1.637512745555746, - "heading": -0.3061990457526471, - "angularVelocity": -0.592164400624407, - "velocityX": -3.8147115732364534, - "velocityY": -0.4996615082853321, - "timestamp": 3.4178373851311434 - }, - { - "x": 6.01448540165434, - "y": 1.62618671242758, - "heading": -0.3225816489838405, - "angularVelocity": -0.5584481403378723, - "velocityX": -3.875906787149342, - "velocityY": -0.38608040789184983, - "timestamp": 3.4471733288792628 - }, - { - "x": 5.899296924996467, - "y": 1.618340474674124, - "heading": -0.3379120799301292, - "angularVelocity": -0.5225818224195251, - "velocityX": -3.9265304585695633, - "velocityY": -0.2674615761751068, - "timestamp": 3.476509272627382 - }, - { - "x": 5.782917455846742, - "y": 1.6140840838512494, - "heading": -0.3521398508200335, - "angularVelocity": -0.4849944836295429, - "velocityX": -3.9671288624279253, - "velocityY": -0.145091320716326, - "timestamp": 3.5058452163755014 - }, - { - "x": 5.665620346429971, - "y": 1.6134959319977653, - "heading": -0.36522514583336435, - "angularVelocity": -0.44604990811553147, - "velocityX": -3.998409269662326, - "velocityY": -0.02004884719352881, - "timestamp": 3.5351811601236207 - }, - { - "x": 5.547656023202967, - "y": 1.6166289232762017, - "heading": -0.3771369873639767, - "angularVelocity": -0.40604937181801554, - "velocityX": -4.0211531709992325, - "velocityY": 0.1067970168383347, - "timestamp": 3.56451710387174 - }, - { - "x": 5.429251670837402, - "y": 1.623516082763672, - "heading": -0.3878516165667576, - "angularVelocity": -0.3652389469647756, - "velocityX": -4.036152829518446, - "velocityY": 0.23476863558930072, - "timestamp": 3.5938530476198594 - }, - { - "x": 5.28166942454766, - "y": 1.6379106281633093, - "heading": -0.3992952694439263, - "angularVelocity": -0.3137397217228285, - "velocityX": -4.046121756677184, - "velocityY": 0.39464152893163784, - "timestamp": 3.630328036551221 - }, - { - "x": 5.133990461136637, - "y": 1.6581404469064542, - "heading": -0.4086216953491614, - "angularVelocity": -0.25569372818139613, - "velocityX": -4.048773357791124, - "velocityY": 0.5546216554366408, - "timestamp": 3.666803025482583 - }, - { - "x": 4.986461258734076, - "y": 1.6842044771610802, - "heading": -0.4158331072145773, - "angularVelocity": -0.19770840449016422, - "velocityX": -4.044667502988965, - "velocityY": 0.7145726707052081, - "timestamp": 3.7032780144139448 - }, - { - "x": 4.839354609871338, - "y": 1.7160914260220312, - "heading": -0.42100270171868664, - "angularVelocity": -0.141729844355469, - "velocityX": -4.033082755407079, - "velocityY": 0.8742140791586156, - "timestamp": 3.7397530033453066 - }, - { - "x": 4.69297397680971, - "y": 1.7537757566746883, - "heading": -0.4242945116209559, - "angularVelocity": -0.09024841401497721, - "velocityX": -4.013178272297363, - "velocityY": 1.033155369109805, - "timestamp": 3.7762279922766684 - }, - { - "x": 4.547657487500722, - "y": 1.7972119023572823, - "heading": -0.42599043766028544, - "angularVelocity": -0.04649558749753, - "velocityX": -3.984003657477275, - "velocityY": 1.1908473985922738, - "timestamp": 3.81270298120803 - }, - { - "x": 4.40378061167311, - "y": 1.8463261031158624, - "heading": -0.426524692586918, - "angularVelocity": -0.014647158019372136, - "velocityX": -3.944535147038911, - "velocityY": 1.3465172217324786, - "timestamp": 3.849177970139392 - }, - { - "x": 4.261756050665852, - "y": 1.901005232985828, - "heading": -0.4265250578642489, - "angularVelocity": -0.000010014460362764898, - "velocityX": -3.893751997417132, - "velocityY": 1.4990855781439762, - "timestamp": 3.885652959070754 - }, - { - "x": 4.121944543093645, - "y": 1.9611180728132611, - "heading": -0.42652509664371824, - "angularVelocity": -0.000001063179742675399, - "velocityX": -3.8330788210876046, - "velocityY": 1.6480564241034594, - "timestamp": 3.9221279480021156 - }, - { - "x": 3.984554163318766, - "y": 2.026575156264786, - "heading": -0.4265259393741178, - "angularVelocity": -0.00002310433599211775, - "velocityX": -3.7667010683243385, - "velocityY": 1.7945744568888309, - "timestamp": 3.9586029369334774 - }, - { - "x": 3.8500595820713692, - "y": 2.0971253635059206, - "heading": -0.42761822880267025, - "angularVelocity": -0.02994625798537889, - "velocityX": -3.687309720655095, - "velocityY": 1.9342077765642451, - "timestamp": 3.9950779258648392 - }, - { - "x": 3.7190431189754127, - "y": 2.172337984854449, - "heading": -0.4314101127647658, - "angularVelocity": -0.10395846779367438, - "velocityX": -3.5919534709798544, - "velocityY": 2.0620327394769875, - "timestamp": 4.031552914796201 - }, - { - "x": 3.5922483948362354, - "y": 2.25148003661394, - "heading": -0.43900310615015503, - "angularVelocity": -0.20816986126240192, - "velocityX": -3.4762100785768117, - "velocityY": 2.169762187136501, - "timestamp": 4.068027903727563 - }, - { - "x": 3.470567911392992, - "y": 2.3333432050922864, - "heading": -0.4498620663017611, - "angularVelocity": -0.29770975865243954, - "velocityX": -3.3359978168114206, - "velocityY": 2.2443644501824505, - "timestamp": 4.104502892658925 - }, - { - "x": 3.3545346151593747, - "y": 2.416606687866783, - "heading": -0.4633914527531019, - "angularVelocity": -0.37092229080042205, - "velocityX": -3.181174268536939, - "velocityY": 2.2827555323232898, - "timestamp": 4.1409778815902865 - }, - { - "x": 3.244336606053026, - "y": 2.500076559897779, - "heading": -0.47896193127691433, - "angularVelocity": -0.42688096638254736, - "velocityX": -3.0211937641356994, - "velocityY": 2.2884139098182863, - "timestamp": 4.177452870521648 - }, - { - "x": 3.1399427519677694, - "y": 2.5827917275598824, - "heading": -0.4959810103022867, - "angularVelocity": -0.466595865385969, - "velocityX": -2.8620667790113443, - "velocityY": 2.2677228995944536, - "timestamp": 4.21392785945301 - }, - { - "x": 3.041217966291494, - "y": 2.664019047357684, - "heading": -0.5139498705420977, - "angularVelocity": -0.49263511151777506, - "velocityX": -2.7066433347534335, - "velocityY": 2.2269319930611804, - "timestamp": 4.250402848384372 - }, - { - "x": 2.947992283956892, - "y": 2.7432070212506883, - "heading": -0.5324691102108114, - "angularVelocity": -0.5077243396444386, - "velocityX": -2.5558796607185563, - "velocityY": 2.171021190493549, - "timestamp": 4.286877837315734 - }, - { - "x": 2.860094021718404, - "y": 2.8199379353731744, - "heading": -0.5512221364570433, - "angularVelocity": -0.5141338433719892, - "velocityX": -2.409822862561904, - "velocityY": 2.1036583250752305, - "timestamp": 4.3233528262470955 - }, - { - "x": 2.7773632497167173, - "y": 2.8938903865748173, - "heading": -0.5699562298231092, - "angularVelocity": -0.5136147786451595, - "velocityX": -2.2681507088972284, - "velocityY": 2.0274838558774007, - "timestamp": 4.359827815178457 - }, - { - "x": 2.699656002010812, - "y": 2.964812467635368, - "heading": -0.5884670531619616, - "angularVelocity": -0.5074935971518967, - "velocityX": -2.1304255321950656, - "velocityY": 1.9444030865646396, - "timestamp": 4.396302804109819 - }, - { - "x": 2.6268445155885694, - "y": 3.032503077472955, - "heading": -0.6065870402981504, - "angularVelocity": -0.49677841356680774, - "velocityX": -1.9962031121999513, - "velocityY": 1.855808920599437, - "timestamp": 4.432777793041181 - }, - { - "x": 2.558815940395181, - "y": 3.096798896376675, - "heading": -0.6241768823786928, - "angularVelocity": -0.4822439319623353, - "velocityX": -1.8650745945777731, - "velocityY": 1.762737173812756, - "timestamp": 4.469252781972543 - }, - { - "x": 2.4954705931851175, - "y": 3.1575652085854595, - "heading": -0.6411192815459567, - "angularVelocity": -0.4644936068149557, - "velocityX": -1.7366789974704604, - "velocityY": 1.6659720534291127, - "timestamp": 4.5057277709039045 - }, - { - "x": 2.436720202627274, - "y": 3.214689334448749, - "heading": -0.6573143259438626, - "angularVelocity": -0.4440040935552224, - "velocityX": -1.6107034512991794, - "velocityY": 1.56611770248334, - "timestamp": 4.542202759835266 - }, - { - "x": 2.382486314530016, - "y": 3.2680758496640516, - "heading": -0.672676022724654, - "angularVelocity": -0.4211569963653407, - "velocityX": -1.4868788089097045, - "velocityY": 1.4636471944039517, - "timestamp": 4.578677748766628 - }, - { - "x": 2.332698904953966, - "y": 3.3176430458830053, - "heading": -0.6871296643520235, - "angularVelocity": -0.3962617138710635, - "velocityX": -1.3649739461124906, - "velocityY": 1.3589365664299138, - "timestamp": 4.61515273769799 - }, - { - "x": 2.2872951987213446, - "y": 3.3633202674966705, - "heading": -0.7006098012006035, - "angularVelocity": -0.3695720613910734, - "velocityX": -1.244790130520998, - "velocityY": 1.2522888409814164, - "timestamp": 4.651627726629352 - }, - { - "x": 2.246218672153212, - "y": 3.4050458769764704, - "heading": -0.7130586607872357, - "angularVelocity": -0.34129851581472304, - "velocityX": -1.1261559707510682, - "velocityY": 1.143951258170871, - "timestamp": 4.688102715560714 - }, - { - "x": 2.2094182139699368, - "y": 3.4427656783231586, - "heading": -0.7244249002306428, - "angularVelocity": -0.31161735140744984, - "velocityX": -1.0089230802105635, - "velocityY": 1.0341278353139134, - "timestamp": 4.724577704492075 - }, - { - "x": 2.1768474191047806, - "y": 3.476431679464217, - "heading": -0.7346626104834151, - "angularVelocity": -0.2806775424123502, - "velocityX": -0.8929624331469239, - "velocityY": 0.9229886595554746, - "timestamp": 4.761052693423437 - }, - { - "x": 2.1484639930748917, - "y": 3.5060011090106364, - "heading": -0.7437305131405969, - "angularVelocity": -0.24860604273919715, - "velocityX": -0.7781613336004206, - "velocityY": 0.8106768613984435, - "timestamp": 4.797527682354799 - }, - { - "x": 2.1242292479352325, - "y": 3.531435626433545, - "heading": -0.7515913063052757, - "angularVelocity": -0.2155118725182116, - "velocityX": -0.664420904561861, - "velocityY": 0.6973139175112839, - "timestamp": 4.834002671286161 - }, - { - "x": 2.104107674051709, - "y": 3.552700681139875, - "heading": -0.7582111271556379, - "angularVelocity": -0.1814893175929183, - "velocityX": -0.551654009309999, - "velocityY": 0.5830037329509881, - "timestamp": 4.870477660217523 - }, - { - "x": 2.0880665747371085, - "y": 3.5697649874893598, - "heading": -0.7635591068989225, - "angularVelocity": -0.14662046240365967, - "velocityX": -0.4397835279617555, - "velocityY": 0.46783581981605, - "timestamp": 4.906952649148884 - }, - { - "x": 2.0760757531517053, - "y": 3.582600091051076, - "heading": -0.7676069996535306, - "angularVelocity": -0.1109772168053408, - "velocityX": -0.3287409245816974, - "velocityY": 0.3518877986740305, - "timestamp": 4.943427638080246 - }, - { - "x": 2.0681072428102594, - "y": 3.5911800073696245, - "heading": -0.7703288711104815, - "angularVelocity": -0.07462295498081772, - "velocityX": -0.218465051667085, - "velocityY": 0.23522738648925653, - "timestamp": 4.979902627011608 - }, - { - "x": 2.0641350746154785, - "y": 3.5954809188842773, - "heading": -0.771700836029523, - "angularVelocity": -0.037613854294055886, - "velocityX": -0.10890114873662438, - "velocityY": 0.11791399094722152, - "timestamp": 5.01637761594297 - }, - { - "x": 2.0641350746154785, - "y": 3.5954809188842773, - "heading": -0.771700836029523, - "angularVelocity": 1.522374269118897e-24, - "velocityX": 6.728193443953296e-24, - "velocityY": 1.735769868556535e-24, - "timestamp": 5.052852604874332 - } - ] + "samples": [ + { + "x": 2.5682239532470703, + "y": 3.087782382965088, + "heading": -0.7602557704725093, + "angularVelocity": -2.0005751555101546e-20, + "velocityX": -2.4725272207623272e-19, + "velocityY": 2.4421055757121167e-19, + "moduleForcesX": [ + 63.85915652710484, + 62.876881795583046, + 60.327604611867116, + 59.488583013749455 + ], + "moduleForcesY": [ + -28.487526991816065, + -30.613493324566843, + -35.351232957578254, + -36.76277651756912 + ], + "timestamp": 0 + }, + { + "x": 2.5713462305138015, + "y": 3.084676180365677, + "heading": -0.7596248198241236, + "angularVelocity": 0.018465893169765258, + "velocityX": 0.09137899866077405, + "velocityY": -0.09090854492523227, + "moduleForcesX": [ + 51.53373413173904, + 51.47657244684686, + 47.435743335638016, + 47.692535844932586 + ], + "moduleForcesY": [ + -47.26297911356611, + -47.334916589724294, + -51.37498996465999, + -51.14560751860742 + ], + "timestamp": 0.034168433803066556 + }, + { + "x": 2.5776148652815403, + "y": 3.0784884837836146, + "heading": -0.7583593579280601, + "angularVelocity": 0.03703599361203135, + "velocityX": 0.18346274821576125, + "velocityY": -0.18109394822501076, + "moduleForcesX": [ + 51.923627670505425, + 51.84188069219013, + 47.83489281155974, + 48.06630754026729 + ], + "moduleForcesY": [ + -46.82986481730001, + -46.930497199900984, + -50.99941737137623, + -50.79071391758251 + ], + "timestamp": 0.06833686760613311 + }, + { + "x": 2.587055422517619, + "y": 3.069245953631751, + "heading": -0.7564556185969107, + "angularVelocity": 0.05571631822874338, + "velocityX": 0.27629470201913264, + "velocityY": -0.27049908711454895, + "moduleForcesX": [ + 52.33593755577237, + 52.230130490283294, + 48.25827723287149, + 48.46470701351286 + ], + "moduleForcesY": [ + -46.363830867188376, + -46.493656674553, + -50.59451961970578, + -50.40662599053063 + ], + "timestamp": 0.10250530140919967 + }, + { + "x": 2.59969508430954, + "y": 3.0569774334733504, + "heading": -0.7539096126665635, + "angularVelocity": 0.07451339282981055, + "velocityX": 0.3699221879694872, + "velocityY": -0.35906006781322475, + "moduleForcesX": [ + 52.772712714386586, + 52.64321061845116, + 48.708227880397644, + 48.88986651808356 + ], + "moduleForcesY": [ + -45.86087987735177, + -46.020702448082574, + -50.15667886453669, + -49.98996987240398 + ], + "timestamp": 0.13667373521226622 + }, + { + "x": 2.6155627967819672, + "y": 3.04171421798388, + "heading": -0.7507171090860787, + "angularVelocity": 0.09343429666355428, + "velocityX": 0.4643968337525495, + "velocityY": -0.4467051541619171, + "moduleForcesX": [ + 53.236210550351444, + 53.083202226496525, + 49.18735049330459, + 49.34416506015187 + ], + "moduleForcesY": [ + -45.316387265266094, + -45.50737260295631, + -49.68168811978987, + -49.536834291052045 + ], + "timestamp": 0.17084216901533278 + }, + { + "x": 2.6346894331627193, + "y": 3.0234903647541915, + "heading": -0.7468736144075268, + "angularVelocity": 0.112486709244687, + "velocityX": 0.5597750394703556, + "velocityY": -0.5333534845267905, + "moduleForcesX": [ + 53.728915980215184, + 53.55239734196252, + 49.698559598807726, + 49.830259277194564 + ], + "moduleForcesY": [ + -44.72497839062071, + -44.94872585751261, + -49.16463196417819, + -49.04266367281856 + ], + "timestamp": 0.20501060281839933 + }, + { + "x": 2.657107974686689, + "y": 3.0023430588739934, + "heading": -0.7423743506376039, + "angularVelocity": 0.1316789582997814, + "velocityX": 0.6561184997000761, + "velocityY": -0.618913527090018, + "moduleForcesX": [ + 54.253559302174644, + 54.053316928389904, + 50.245115943922, + 50.351117257974 + ], + "moduleForcesY": [ + -44.08037724005756, + -44.33900633935362, + -48.59973826119371, + -48.502125704520466 + ], + "timestamp": 0.2391790366214659 + }, + { + "x": 2.6828537110181117, + "y": 2.9783130414007175, + "heading": -0.7372142314829354, + "angularVelocity": 0.151020066778869, + "velocityX": 0.753494774733042, + "velocityY": -0.7032812101302554, + "moduleForcesX": [ + 54.81313081747117, + 54.588726927051184, + 50.83066625382606, + 50.91005475928908 + ], + "moduleForcesY": [ + -43.375219185350794, + -43.671476543849764, + -47.98019276737953, + -47.908946283422 + ], + "timestamp": 0.27334747042453245 + }, + { + "x": 2.711964461723663, + "y": 2.951445115583653, + "heading": -0.731387837137063, + "angularVelocity": 0.1705197955356491, + "velocityX": 0.851977906664805, + "velocityY": -0.7863376463761932, + "moduleForcesX": [ + 55.41088882433598, + 55.161649701453676, + 51.459283659928914, + 51.5107725906929 + ], + "moduleForcesY": [ + -42.60081822704514, + -42.9382099914992, + -47.29790597021043, + -47.25570260033681 + ], + "timestamp": 0.307515904227599 + }, + { + "x": 2.7444808199432176, + "y": 2.921788748256515, + "heading": -0.7248893879440267, + "angularVelocity": 0.19018867620596364, + "velocityX": 0.951649069049111, + "velocityY": -0.8679463477332875, + "moduleForcesX": [ + 56.050355580161536, + 55.7753667229935, + 52.13550565805577, + 52.157392785670766 + ], + "moduleForcesY": [ + -41.74687643129026, + -42.12983266512844, + -46.543218130019525, + -46.5335621914448 + ], + "timestamp": 0.34168433803066556 + }, + { + "x": 2.7804464186239333, + "y": 2.889398788367351, + "heading": -0.7177127175692773, + "angularVelocity": 0.2100380256266015, + "velocityX": 1.052597227253886, + "velocityY": -0.9479497970508951, + "moduleForcesX": [ + 56.735292671765045, + 56.43340586636138, + 52.86436399025212, + 52.85448925951119 + ], + "moduleForcesY": [ + -40.80111985741291, + -41.235199196168956, + -45.70452403793014, + -45.73195192664766 + ], + "timestamp": 0.3758527718337321 + }, + { + "x": 2.8199082182540893, + "y": 2.8543363304840415, + "heading": -0.7098512467719768, + "angularVelocity": 0.23007992823466705, + "velocityX": 1.1549197676896172, + "velocityY": -1.0261652051538297, + "moduleForcesX": [ + 57.469642313027, + 57.13950282342473, + 53.65139676410954, + 53.6071054839671 + ], + "moduleForcesY": [ + -39.74884107586763, + -40.24098585087374, + -44.76779313233833, + -44.838135784361164 + ], + "timestamp": 0.41002120563679867 + }, + { + "x": 2.862916812551413, + "y": 2.8166697586754594, + "heading": -0.7012979595937695, + "angularVelocity": 0.25032716534521415, + "velocityX": 1.2587230232795505, + "velocityY": -1.102379231827753, + "moduleForcesX": [ + 58.25741341454022, + 57.897520106804286, + 54.50262639813848, + 54.42074648807602 + ], + "moduleForcesY": [ + -38.57232342865605, + -39.131177569485374, + -43.7159530145672, + -43.8366735603344 + ], + "timestamp": 0.4441896394398652 + }, + { + "x": 2.9095267443793853, + "y": 2.776476015881321, + "heading": -0.692045384896891, + "angularVelocity": 0.2707930585933991, + "velocityX": 1.3641225727996096, + "velocityY": -1.1763413864913854, + "moduleForcesX": [ + 59.10247930569402, + 58.71129766491037, + 55.42447591176224, + 55.301323909049415 + ], + "moduleForcesY": [ + -37.25011682753379, + -37.88642073150134, + -42.528094840423755, + -42.708724055834644 + ], + "timestamp": 0.4783580732429318 + }, + { + "x": 2.959796817248875, + "y": 2.733842156261503, + "heading": -0.6820855879126938, + "angularVelocity": 0.2914911769617992, + "velocityX": 1.4712431116751472, + "velocityY": -1.2477557462991284, + "moduleForcesX": [ + 60.00823538333521, + 59.584394348335685, + 56.42357787924733, + 56.255018706084925 + ], + "moduleForcesY": [ + -35.756130140837094, + -36.48320747554508, + -41.178447685827656, + -41.431145662010096 + ], + "timestamp": 0.5125265070459983 + }, + { + "x": 3.0137903764593044, + "y": 2.688867253538867, + "heading": -0.6714101791264567, + "angularVelocity": 0.31243482940323736, + "velocityX": 1.580217563427883, + "velocityY": -1.3162705373577737, + "moduleForcesX": [ + 60.97703619791107, + 60.51965641112562, + 57.50640051445945, + 57.28800297750822 + ], + "moduleForcesY": [ + -34.05850355314508, + -34.89285274841904, + -39.63505697041632, + -39.97533508269442 + ], + "timestamp": 0.5466949408490649 + }, + { + "x": 3.0715755156229743, + "y": 2.6416647572369745, + "heading": -0.6600103519159627, + "angularVelocity": 0.3336362233106194, + "velocityX": 1.6911848958814022, + "velocityY": -1.3814650262856296, + "moduleForcesX": [ + 62.00928756213586, + 61.51851352579118, + 58.67856664085614, + 58.40592437378586 + ], + "moduleForcesY": [ + -32.118231099628794, + -33.08022523572466, + -37.85809303871182, + -38.30573325949829 + ], + "timestamp": 0.5808633746521314 + }, + { + "x": 3.1332251348953113, + "y": 2.592365410391571, + "heading": -0.6478769665956584, + "angularVelocity": 0.35510510637497567, + "velocityX": 1.8042857810709343, + "velocityY": -1.4428330876839475, + "moduleForcesX": [ + 63.10200371622007, + 62.57984830589853, + 59.94366269027511, + 59.61299487944232 + ], + "moduleForcesY": [ + -29.88753006966929, + -31.002205420592897, + -35.79771931366242, + -36.37792208188484 + ], + "timestamp": 0.615031808455198 + }, + { + "x": 3.19881673043804, + "y": 2.541120864270663, + "heading": -0.6350007078837432, + "angularVelocity": 0.3768466177328717, + "velocityX": 1.9196547292970214, + "velocityY": -1.4997628049404181, + "moduleForcesX": [ + 64.24654589972957, + 63.69820448478167, + 61.301210780825286, + 60.910426812800196 + ], + "moduleForcesY": [ + -27.308022270645733, + -28.605883659717094, + -33.391486365194496, + -34.13624998748405 + ], + "timestamp": 0.6492002422582646 + }, + { + "x": 3.268431721358979, + "y": 2.488108141074567, + "heading": -0.6213723565216426, + "angularVelocity": 0.39885794709377376, + "velocityX": 2.0374065525558422, + "velocityY": -1.5515116525867114, + "moduleForcesX": [ + 65.42513572759495, + 64.86098519902234, + 62.743289285951334, + 62.29380489156187 + ], + "moduleForcesY": [ + -24.308943903487034, + -25.826608745132567, + -30.561334790912035, + -31.510990055016563 + ], + "timestamp": 0.6833686760613311 + }, + { + "x": 3.342154008598091, + "y": 2.4335350888665777, + "heading": -0.6069832349323607, + "angularVelocity": 0.4211232411826373, + "velocityX": 2.1576138860803047, + "velocityY": -1.5971774569044388, + "moduleForcesX": [ + 66.60560432481131, + 66.04414965423646, + 64.2490274420948, + 63.74875697917061 + ], + "moduleForcesY": [ + -20.805909233710622, + -22.586209640320767, + -27.210579545297183, + -28.415216174574137 + ], + "timestamp": 0.7175371098643977 + }, + { + "x": 3.420067297624659, + "y": 2.3776469114863374, + "heading": -0.5918259112812426, + "angularVelocity": 0.4436060411337268, + "velocityX": 2.2802710090731573, + "velocityY": -1.6356669346437573, + "moduleForcesX": [ + 67.73377497905216, + 67.2057813005179, + 65.77590803801338, + 65.24399288013711 + ], + "moduleForcesY": [ + -16.701332332285766, + -18.79213746299829, + -23.221886697576096, + -24.742011147904137 + ], + "timestamp": 0.7517055436674642 + }, + { + "x": 3.502250500747592, + "y": 2.3207336777932146, + "heading": -0.5758952720225582, + "angularVelocity": 0.4662384980974613, + "velocityX": 2.4052376411691534, + "velocityY": -1.6656670311887374, + "moduleForcesX": [ + 68.72310032781829, + 68.27690243996902, + 67.24668703937274, + 66.7205139647331 + ], + "moduleForcesY": [ + -11.888595120381519, + -14.33905498254572, + -18.458524951078495, + -20.363527713334292 + ], + "timestamp": 0.7858739774705308 + }, + { + "x": 3.588770300148411, + "y": 2.2631383147034487, + "heading": -0.5591900865496179, + "angularVelocity": 0.4889069709551924, + "velocityX": 2.53215584593326, + "velocityY": -1.6856307614718984, + "moduleForcesX": [ + 69.44216838681157, + 69.14938252668055, + 68.53137507535627, + 68.07590489794727 + ], + "moduleForcesY": [ + -6.263462776035729, + -9.115675502702574, + -12.773397325428995, + -15.135149123776095 + ], + "timestamp": 0.8200424112735973 + }, + { + "x": 3.679669831986611, + "y": 2.2052638276213377, + "heading": -0.5417151585197252, + "angularVelocity": 0.5114348562363528, + "velocityX": 2.6603365071430773, + "velocityY": -1.6937998216621983, + "moduleForcesX": [ + 69.70328866377196, + 69.6624249788706, + 69.42648709748474, + 69.14403522225213 + ], + "moduleForcesY": [ + 0.2524068885217795, + -3.021319013024658, + -6.033412219540055, + -8.910783227820744 + ], + "timestamp": 0.8542108450766639 + }, + { + "x": 3.7749527682503836, + "y": 2.1475772842346603, + "heading": -0.5234840364106981, + "angularVelocity": 0.5335662212117743, + "velocityX": 2.788624635619692, + "velocityY": -1.6882993150684031, + "moduleForcesX": [ + 69.26036679399016, + 69.59296768807461, + 69.64081928338513, + 69.67510523910077 + ], + "moduleForcesY": [ + 7.671603169637777, + 4.002289439883698, + 1.8313895959265214, + -1.5784432881226038 + ], + "timestamp": 0.8883792788797304 + }, + { + "x": 3.8745633770469943, + "y": 2.0906066861358146, + "heading": -0.5045219905887643, + "angularVelocity": 0.554958003964229, + "velocityX": 2.915281671109856, + "velocityY": -1.6673459025719994, + "moduleForcesX": [ + 67.8305883988781, + 68.66187474411034, + 68.80910715787444, + 69.33096295364174 + ], + "moduleForcesY": [ + 15.887025146936306, + 11.921034777253118, + 10.75038365579351, + 6.875185368807596 + ], + "timestamp": 0.922547712682797 + }, + { + "x": 3.978365891860758, + "y": 2.0349262711946334, + "heading": -0.4848685675910937, + "angularVelocity": 0.5751923869541453, + "velocityX": 3.0379652579933896, + "velocityY": -1.6295863972607165, + "moduleForcesX": [ + 65.15533939884588, + 66.57381889530069, + 66.56379476345103, + 67.72388622955428 + ], + "moduleForcesY": [ + 24.62260054435077, + 20.548772255335, + 20.427154417351495, + 16.27602920174046 + ], + "timestamp": 0.9567161464858636 + }, + { + "x": 4.086130035224754, + "y": 1.9811279297178361, + "heading": -0.4645786636735655, + "angularVelocity": 0.5938201333567447, + "velocityX": 3.153909365149887, + "velocityY": -1.5745041691658956, + "moduleForcesX": [ + 61.09826288224113, + 63.10302916074845, + 62.675471232916664, + 64.52675127100943 + ], + "moduleForcesY": [ + 33.42809708173886, + 29.508928546665715, + 30.308221493835482, + 26.190454024877432 + ], + "timestamp": 0.9908845802889301 + }, + { + "x": 4.197530917652326, + "y": 1.9297823597358752, + "heading": -0.4437210662503031, + "angularVelocity": 0.6104346937140096, + "velocityX": 3.2603450035094728, + "velocityY": -1.5027194479529378, + "moduleForcesX": [ + 55.7388417198492, + 58.205422501296546, + 57.204341093964885, + 59.63753994820108 + ], + "moduleForcesY": [ + 41.75616002979977, + 38.26574649152543, + 39.68062573115415, + 35.94945943821575 + ], + "timestamp": 1.0250530140919967 + }, + { + "x": 4.312167306700382, + "y": 1.8814004643996105, + "heading": -0.4223741842177217, + "angularVelocity": 0.6247544782302967, + "velocityX": 3.355037860639863, + "velocityY": -1.4159822371466773, + "moduleForcesX": [ + 49.392365486347515, + 52.0915381191988, + 50.54255591262576, + 53.29762006559202 + ], + "moduleForcesY": [ + 49.109791930306656, + 46.24945503958258, + 47.89258810473513, + 44.821885733433 + ], + "timestamp": 1.0592214478950632 + }, + { + "x": 4.429593578239291, + "y": 1.8364070200040916, + "heading": -0.40062007149836965, + "angularVelocity": 0.6366728087314188, + "velocityX": 3.4366887348629156, + "velocityY": -1.3168131923998434, + "moduleForcesX": [ + 42.523585075944766, + 45.191492037946404, + 43.28437765299203, + 46.045478769897436 + ], + "moduleForcesY": [ + 55.18117244566633, + 53.024771526730866, + 54.562713205825034, + 52.261213636710586 + ], + "timestamp": 1.0933898816981298 + }, + { + "x": 4.549354454673265, + "y": 1.7951323714385965, + "heading": -0.3785387282996815, + "angularVelocity": 0.6462497908436838, + "velocityX": 3.5050151003182846, + "velocityY": -1.2079760167933338, + "moduleForcesX": [ + 35.6040422363982, + 38.01882389662282, + 36.01344442303065, + 38.516871463895654 + ], + "moduleForcesY": [ + 59.899916276316794, + 58.399935819381504, + 59.637829980151885, + 58.05575589943177 + ], + "timestamp": 1.1275583155011963 + }, + { + "x": 4.671012802519467, + "y": 1.7578193403447113, + "heading": -0.35620418267373377, + "angularVelocity": 0.6536602103179556, + "velocityX": 3.5605479767492914, + "velocityY": -1.0920322338724264, + "moduleForcesX": [ + 28.999492629906143, + 31.02140748167046, + 29.152634218283094, + 31.23931501668187 + ], + "moduleForcesY": [ + 63.38313071022713, + 62.41944882326231, + 63.30123874354049, + 62.29899322452282 + ], + "timestamp": 1.161726749304263 + }, + { + "x": 4.794166587294435, + "y": 1.7246382291991504, + "heading": -0.33368265529607405, + "angularVelocity": 0.6591325639174692, + "velocityX": 3.6043145988129734, + "velocityY": -0.9711042460068131, + "moduleForcesX": [ + 22.930478583379813, + 24.499979097098482, + 22.930465825208792, + 24.538962969825917 + ], + "moduleForcesY": [ + 65.84387419877342, + 65.2762329211252, + 65.83619480572648, + 65.25384313562176 + ], + "timestamp": 1.1958951831073295 + }, + { + "x": 4.918456120801094, + "y": 1.6957035604333717, + "heading": -0.3110322832436323, + "angularVelocity": 0.662903432536285, + "velocityX": 3.6375543059133113, + "velocityY": -0.8468245554521687, + "moduleForcesX": [ + 17.490611097493122, + 18.60483454362221, + 17.42262001188406, + 18.556137965262714 + ], + "moduleForcesY": [ + 67.51343581836238, + 67.21469298581312, + 67.52623119541767, + 67.2233371296637 + ], + "timestamp": 1.230063616910396 + }, + { + "x": 5.043564748685862, + "y": 1.671088965540357, + "heading": -0.2883037018548584, + "angularVelocity": 0.6651923678964162, + "velocityX": 3.6615265600362172, + "velocityY": -0.7203899082668976, + "moduleForcesX": [ + 12.68710446013482, + 13.374644511721932, + 12.611491253266191, + 13.306192675039183 + ], + "moduleForcesY": [ + 68.59757981027002, + 68.46659082989441, + 68.60888092796368, + 68.47727346712918 + ], + "timestamp": 1.2642320507134626 + }, + { + "x": 5.169215962021964, + "y": 1.6508389978996472, + "heading": -0.2655409583813488, + "angularVelocity": 0.6661921820796661, + "velocityX": 3.6774062885148684, + "velocityY": -0.5926513271700529, + "moduleForcesX": [ + 8.47893974500229, + 8.78161800791056, + 8.433845042784862, + 8.73787364759863 + ], + "moduleForcesY": [ + 69.2611212186712, + 69.22324893067494, + 69.2655706651322, + 69.22772556779559 + ], + "timestamp": 1.2984004845165291 + }, + { + "x": 5.295168996031128, + "y": 1.6349779307764578, + "heading": -0.24278246290167624, + "angularVelocity": 0.6660678569829528, + "velocityX": 3.686239607443185, + "velocityY": -0.46420234578519154, + "moduleForcesX": [ + 4.803827737586382, + 4.766096380891718, + 4.810608762843148, + 4.772897837629256 + ], + "moduleForcesY": [ + 69.62837588707588, + 69.6309896321228, + 69.62802874719466, + 69.63064474474946 + ], + "timestamp": 1.3325689183195957 + }, + { + "x": 5.4212141036987305, + "y": 1.623516082763672, + "heading": -0.22006184902110862, + "angularVelocity": 0.66495918459477, + "velocityX": 3.6889343068539855, + "velocityY": -0.33545137242307327, + "moduleForcesX": [ + 1.5942522219554287, + 1.2580049742054955, + 1.6626838710692602, + 1.3280199864810305 + ], + "moduleForcesY": [ + 69.78990251224585, + 69.7969719350377, + 69.78930629514267, + 69.79667244003888 + ], + "timestamp": 1.3667373521226622 + }, + { + "x": 5.536357785458245, + "y": 1.6167143979603533, + "heading": -0.19934896427865403, + "angularVelocity": 0.6631539859968727, + "velocityX": 3.686497195857454, + "velocityY": -0.21776611248987246, + "moduleForcesX": [ + -1.2146561524736412, + -1.8117141925487679, + -1.0811855550234346, + -1.6733625308609834 + ], + "moduleForcesY": [ + 69.79241376304972, + 69.7798691512506, + 69.79642505414063, + 69.78512998236425 + ], + "timestamp": 1.3979712513072062 + }, + { + "x": 5.651239422339737, + "y": 1.6135792207379007, + "heading": -0.1787216476227477, + "angularVelocity": 0.6604143957189293, + "velocityX": 3.6781074371380926, + "velocityY": -0.1003773881681756, + "moduleForcesX": [ + -4.64242159716927, + -5.54093969812048, + -4.414821973225449, + -5.302638187971505 + ], + "moduleForcesY": [ + 69.63531698740574, + 69.57032535393479, + 69.6530252963811, + 69.59177675226383 + ], + "timestamp": 1.4292051504917502 + }, + { + "x": 5.765650955748667, + "y": 1.614088941937518, + "heading": -0.1582127955026744, + "angularVelocity": 0.6566215764127933, + "velocityX": 3.663056371314279, + "velocityY": 0.016319486613104308, + "moduleForcesX": [ + -8.495381910885518, + -9.720991746346044, + -8.139380629166084, + -9.345936752502817 + ], + "moduleForcesY": [ + 69.2566673401028, + 69.09654835377745, + 69.30366180089668, + 69.15247391039875 + ], + "timestamp": 1.4604390496762942 + }, + { + "x": 5.879360442462263, + "y": 1.6182052122659747, + "heading": -0.13785937150128283, + "angularVelocity": 0.6516453127140659, + "velocityX": 3.6405792962880157, + "velocityY": 0.13178855141127085, + "moduleForcesX": [ + -12.815759963796953, + -14.38582840970941, + -12.287082896204227, + -13.82779132765308 + ], + "moduleForcesY": [ + 68.57337287263584, + 68.26329235357656, + 68.67597146618569, + 68.38430351315112 + ], + "timestamp": 1.4916729488608382 + }, + { + "x": 5.992111138965502, + "y": 1.6258674711672139, + "heading": -0.1177026425185552, + "angularVelocity": 0.6453478274881025, + "velocityX": 3.6098821936082115, + "velocityY": 0.24531867942478447, + "moduleForcesX": [ + -17.633417522588225, + -19.54929006553443, + -16.877905000394545, + -18.754063029323415 + ], + "moduleForcesY": [ + 67.47888705157717, + 66.9521732214197, + 67.67970174145589, + 67.18694762231418 + ], + "timestamp": 1.5229068480453822 + }, + { + "x": 6.103622094303421, + "y": 1.6369864826656304, + "heading": -0.09778817877787521, + "angularVelocity": 0.6375913433995722, + "velocityX": 3.570190025877452, + "velocityY": 0.35599178420602007, + "moduleForcesX": [ + -22.95270651706555, + -25.189384558789264, + -21.909323670365872, + -24.099891584902497 + ], + "moduleForcesY": [ + 65.8425483604852, + 65.02468494055434, + 66.2073102650262, + 65.44620011202704 + ], + "timestamp": 1.5541407472299262 + }, + { + "x": 6.213591094688311, + "y": 1.6514373028633496, + "heading": -0.07816546619344794, + "angularVelocity": 0.6282504937500009, + "velocityX": 3.5208220317016474, + "velocityY": 0.46266462321394247, + "moduleForcesX": [ + -28.73432913364853, + -31.229222799354233, + -27.343129834412316, + -29.79604676401847 + ], + "moduleForcesY": [ + 63.515063622119015, + 62.33379580320614, + 64.1392749362458, + 63.0438292936246 + ], + "timestamp": 1.5853746464144702 + }, + { + "x": 6.321700797472736, + "y": 1.6690526185831787, + "heading": -0.05888697487856026, + "angularVelocity": 0.6172297349422137, + "velocityX": 3.4612938380080243, + "velocityY": 0.563980680598025, + "moduleForcesX": [ + -34.87458167203667, + -37.5196633003651, + -33.091371158814944, + -35.71748564453722 + ], + "moduleForcesY": [ + 60.34477532824868, + 58.74798811422034, + 61.3568453809975, + 59.87586847814465 + ], + "timestamp": 1.6166085455990142 + }, + { + "x": 6.427628513667544, + "y": 1.6896179792262178, + "heading": -0.04000658924248226, + "angularVelocity": 0.6044837861748985, + "velocityX": 3.391434273669794, + "velocityY": 0.6584307812972656, + "moduleForcesX": [ + -41.18913369217403, + -43.83350941131175, + -39.00628386706853, + -41.6805723640044 + ], + "moduleForcesY": [ + 56.208414687533576, + 54.187993451166136, + 57.763966849524245, + 55.8787962724648 + ], + "timestamp": 1.6478424447835582 + }, + { + "x": 6.531059208850954, + "y": 1.7128707904510865, + "heading": -0.021577456321905813, + "angularVelocity": 0.5900362555340599, + "velocityX": 3.3114884111105116, + "velocityY": 0.7444735313859107, + "moduleForcesX": [ + -47.41368101992876, + -49.88314982436999, + -44.88166931460831, + -47.45607578015907 + ], + "moduleForcesY": [ + 51.05430582696234, + 48.667941232155606, + 53.316479334237805, + 51.05789478690704 + ], + "timestamp": 1.6790763439681022 + }, + { + "x": 6.631700041051098, + "y": 1.7385046149678465, + "heading": -0.0036495170367904796, + "angularVelocity": 0.5739897916423812, + "velocityX": 3.222166774808133, + "velocityY": 0.8207052332884839, + "moduleForcesX": [ + -53.233856471220975, + -55.366920133259136, + -50.47268633446656, + -52.80079896953701 + ], + "moduleForcesY": [ + 44.94484889182346, + 42.3225552386226, + 48.05054044297984, + 45.50650337956311 + ], + "timestamp": 1.7103102431526462 + }, + { + "x": 6.72929372228774, + "y": 1.7661790988703765, + "heading": 0.013732849804307366, + "angularVelocity": 0.5565224738158746, + "velocityX": 3.1246076789841535, + "velocityY": 0.8860399958076671, + "moduleForcesX": [ + -58.345154148617716, + -60.032892839175005, + -55.534549150010925, + -57.50122783414151 + ], + "moduleForcesY": [ + 38.07509978285241, + 35.40036370079169, + 42.096980565679324, + 39.40405614438595 + ], + "timestamp": 1.7415441423371902 + }, + { + "x": 6.823627923724794, + "y": 1.7955340878015844, + "heading": 0.03053262068354859, + "angularVelocity": 0.5378697926884116, + "velocityX": 3.020250557885375, + "velocityY": 0.9398438778893922, + "moduleForcesX": [ + -62.52280949699515, + -63.733209112944245, + -59.86948697257805, + -61.41348858511489 + ], + "moduleForcesY": [ + 30.74833028275093, + 28.217735233831334, + 35.67005856779505, + 32.988696460620076 + ], + "timestamp": 1.7727780415217342 + }, + { + "x": 6.914539095039677, + "y": 1.826205151562114, + "heading": 0.04672105244914021, + "angularVelocity": 0.5182968565641849, + "velocityX": 2.910657128581352, + "velocityY": 0.9819799820480816, + "moduleForcesX": [ + -65.66886185868087, + -66.44387693060419, + -63.36345877637226, + -64.48351550098701 + ], + "moduleForcesY": [ + 23.312424890902264, + 21.092079231055997, + 29.03045680610677, + 26.513454012510213 + ], + "timestamp": 1.8040119407062782 + }, + { + "x": 7.00191083120258, + "y": 1.857837576619506, + "heading": 0.06227767543874758, + "angularVelocity": 0.49806855358314345, + "velocityX": 2.79733681813701, + "velocityY": 1.0127594019079642, + "moduleForcesX": [ + -67.81507590740986, + -68.24558015233966, + -65.99778416604235, + -66.74157428979274 + ], + "moduleForcesY": [ + 16.085982437977822, + 14.284102786197604, + 22.4364892472493, + 20.20336057619677 + ], + "timestamp": 1.8352458398908222 + }, + { + "x": 7.08566831037846, + "y": 1.8900968604507642, + "heading": 0.07718952403877516, + "angularVelocity": 0.4774251370897311, + "velocityX": 2.6816209747302024, + "velocityY": 1.0328292231673046, + "moduleForcesX": [ + -69.08767711971997, + -69.28207477377534, + -67.83442411791442, + -68.27813228327408 + ], + "moduleForcesY": [ + 9.306535141937632, + 7.968982188459777, + 16.102873795798732, + 14.227975505543432 + ], + "timestamp": 1.8664797390753662 + }, + { + "x": 7.1657707948107, + "y": 1.9226751165288511, + "heading": 0.09144990908697578, + "angularVelocity": 0.4565675570617681, + "velocityX": 2.564600851112415, + "velocityY": 1.043041596747184, + "moduleForcesX": [ + -69.65804252062547, + -69.7179283552588, + -68.98608228045565, + -69.21405657842858 + ], + "moduleForcesY": [ + 3.114399524195191, + 2.2368519856293423, + 10.179374408258008, + 8.693506152738143 + ], + "timestamp": 1.8977136382599102 + }, + { + "x": 7.242203870360159, + "y": 1.9552938604539736, + "heading": 0.10505704283738766, + "angularVelocity": 0.4356527396728449, + "velocityX": 2.447119237270337, + "velocityY": 1.044337875729075, + "moduleForcesX": [ + -69.70124713709963, + -69.70873063061384, + -69.58522857590717, + -69.67557546274664 + ], + "moduleForcesY": [ + -2.4353583188896692, + -2.8892583286760494, + 4.749677317665599, + 3.6497615553449627 + ], + "timestamp": 1.9289475374444542 + }, + { + "x": 7.3149724616768, + "y": 1.987704135802272, + "heading": 0.11801274372818554, + "angularVelocity": 0.41479614230198736, + "velocityX": 2.32979529346279, + "velocityY": 1.0376634424285054, + "moduleForcesX": [ + -69.37141122156042, + -69.38604200660654, + -69.7610306536193, + -69.77829870586658 + ], + "moduleForcesY": [ + -7.348497686293659, + -7.430752962744582, + -0.15686993449782277, + -0.8958848269824288 + ], + "timestamp": 1.9601814366289982 + }, + { + "x": 7.3840950705541335, + "y": 2.01968496914902, + "heading": 0.13032134082026842, + "angularVelocity": 0.3940781462909334, + "velocityX": 2.2130637122482435, + "velocityY": 1.0239142144178408, + "moduleForcesX": [ + -68.79219077575826, + -68.85332870657157, + -69.62642212152763, + -69.6197347590349 + ], + "moduleForcesY": [ + -11.667068533835018, + -11.433757323364393, + -4.549064061804949, + -4.963793138808663 + ], + "timestamp": 1.9914153358135422 + }, + { + "x": 7.449599293707183, + "y": 2.0510409472448057, + "heading": 0.14198881228607477, + "angularVelocity": 0.3735515504122556, + "velocityX": 2.0972156811425053, + "velocityY": 1.003908538941006, + "moduleForcesX": [ + -68.05680084331767, + -68.18801561271576, + -69.27335776520708, + -69.27768823908052 + ], + "moduleForcesY": [ + -15.450503678991277, + -14.954992971304073, + -8.458810783576647, + -8.589903002733429 + ], + "timestamp": 2.0226492349980862 + }, + { + "x": 7.511518476753402, + "y": 2.0815994613089015, + "heading": 0.15302214212648052, + "angularVelocity": 0.35324855776782776, + "velocityX": 1.9824352598557686, + "velocityY": 0.978376535172337, + "moduleForcesX": [ + -67.23245647252043, + -67.44599597043188, + -68.77312382535915, + -68.81187577309025 + ], + "moduleForcesY": [ + -18.763253771827205, + -18.052948010263595, + -11.929621279344378, + -11.817044766226097 + ], + "timestamp": 2.0538831341826302 + }, + { + "x": 7.569889291685235, + "y": 2.1112079507084967, + "heading": 0.1634288580592393, + "angularVelocity": 0.3331865762667458, + "velocityX": 1.8688289472586428, + "velocityY": 0.9479600745540926, + "moduleForcesX": [ + -66.36599817672449, + -66.66650495076355, + -68.1790661942923, + -68.26685299659269 + ], + "moduleForcesY": [ + -21.667717031661414, + -20.783010411658314, + -15.00888168089956, + -14.689373027682677 + ], + "timestamp": 2.0851170333671742 + }, + { + "x": 7.624750025615848, + "y": 2.1397313253202217, + "heading": 0.17321670979706713, + "angularVelocity": 0.31337271340977585, + "velocityX": 1.7564484538568614, + "velocityY": 0.9132185015772918, + "moduleForcesX": [ + -65.48911817943964, + -65.8764163847384, + -67.53005004444259, + -67.67514873316857 + ], + "moduleForcesY": [ + -24.220769448656526, + -23.19519477875434, + -17.743193755479325, + -17.249152441259174 + ], + "timestamp": 2.1163509325517182 + }, + { + "x": 7.676139398666215, + "y": 2.167049647381559, + "heading": 0.18239345143214958, + "angularVelocity": 0.29380710941218785, + "velocityX": 1.6453076430430722, + "velocityY": 0.8746369417384802, + "moduleForcesX": [ + -64.62262418422353, + -65.09367960500755, + -66.85377291643147, + -67.06008317369616 + ], + "moduleForcesY": [ + -26.472478084929353, + -25.333408368209028, + -20.175883511456462, + -19.53513291046512 + ], + "timestamp": 2.1475848317362622 + }, + { + "x": 7.724095766413283, + "y": 2.1930560955088714, + "heading": 0.19096669877689867, + "angularVelocity": 0.2744853370402009, + "velocityX": 1.5353948433950122, + "velocityY": 0.8326353355261491, + "moduleForcesX": [ + -63.779684683796546, + -64.32992215357561, + -66.16957438762687, + -66.43809024204428 + ], + "moduleForcesY": [ + -28.46601496062642, + -27.235550523161542, + -22.345900161553452, + -21.581915136293887 + ], + "timestamp": 2.1788187309208062 + }, + { + "x": 7.768656597241674, + "y": 2.217655202136618, + "heading": 0.19894383955374845, + "angularVelocity": 0.25540009365200633, + "velocityX": 1.426681650123334, + "velocityY": 0.7875771924089373, + "moduleForcesX": [ + -62.96820003508607, + -63.59235678392136, + -65.4906660749518, + -65.82053738343055 + ], + "moduleForcesY": [ + -30.238160149893314, + -28.934012760113923, + -24.28753872025629, + -23.41988900320413 + ], + "timestamp": 2.2100526301053502 + }, + { + "x": 7.809858143739942, + "y": 2.240761340593307, + "heading": 0.2063319802459021, + "angularVelocity": 0.2365423749529722, + "velocityX": 1.319129137698469, + "velocityY": 0.7397775833291825, + "moduleForcesX": [ + -62.192491370699265, + -62.885150110640076, + -64.8258325077587, + -65.2151079105758 + ], + "moduleForcesY": [ + -31.820042199476994, + -30.456331807941545, + -26.030611192563033, + -25.075475226545603 + ], + "timestamp": 2.2412865292898942 + }, + { + "x": 7.847735249580043, + "y": 2.2622974324312044, + "heading": 0.21313791801578313, + "angularVelocity": 0.217902277575673, + "velocityX": 1.2126921975481308, + "velocityY": 0.6895101924563837, + "moduleForcesX": [ + -61.454484090542756, + -62.21039188972919, + -64.18069629035503, + -64.62683047184072 + ], + "moduleForcesY": [ + -33.237927405482246, + -31.825863211028654, + -27.600834442333337, + -26.571506074994993 + ], + "timestamp": 2.2725204284744382 + }, + { + "x": 7.882321249962839, + "y": 2.2821938451244197, + "heading": 0.21936812950882995, + "angularVelocity": 0.1994695396894249, + "velocityX": 1.1073225337139871, + "velocityY": 0.637013412115413, + "moduleForcesX": [ + -60.754528061162546, + -61.56877537888105, + -63.55864401483371, + -64.05883594980067 + ], + "moduleForcesY": [ + -34.513965623161624, + -33.0624108948651, + -29.020299370428145, + -27.927650442306465 + ], + "timestamp": 2.3037543276589822 + }, + { + "x": 7.913647935863992, + "y": 2.300387452263222, + "heading": 0.22502877082562428, + "angularVelocity": 0.18123389857119004, + "velocityX": 1.002970705516502, + "velocityY": 0.5824955453466213, + "moduleForcesX": [ + -60.091961418068394, + -60.960071840288485, + -62.961496654810844, + -63.512909294644885 + ], + "moduleForcesY": [ + -35.666853845865, + -34.18278602027018, + -30.30794709351955, + -29.160831965852342 + ], + "timestamp": 2.3349882268435262 + }, + { + "x": 7.941745561065733, + "y": 2.316820831436958, + "heading": 0.2301256846984274, + "angularVelocity": 0.1631853212654717, + "velocityX": 0.8995874974087535, + "velocityY": 0.5261392142121014, + "moduleForcesX": [ + -59.46549542470903, + -60.38345971520857, + -62.3899914052322, + -62.98988958374127 + ], + "moduleForcesY": [ + -36.71240702530568, + -35.20128858003332, + -31.48001463468641, + -30.285614918939583 + ], + "timestamp": 2.3662221260280702 + }, + { + "x": 7.9666428772096785, + "y": 2.331441578323094, + "heading": 0.2346644121423072, + "angularVelocity": 0.14531414784503832, + "velocityX": 0.7971248161122004, + "velocityY": 0.4681050803087552, + "moduleForcesX": [ + -58.87347529996987, + -59.8377517665426, + -61.844126151672015, + -62.48995888715656 + ], + "moduleForcesY": [ + -37.66403944016118, + -36.13011512199216, + -32.55043391976653, + -31.314547593962313 + ], + "timestamp": 2.3974560252126134 + }, + { + "x": 7.988367186546548, + "y": 2.344201718687528, + "heading": 0.23865020671437684, + "angularVelocity": 0.12761117491350757, + "velocityX": 0.6955362572092908, + "velocityY": 0.40853497954390167, + "moduleForcesX": [ + -58.31405544897825, + -59.32155082219064, + -61.323404651518366, + -62.01285017304729 + ], + "moduleForcesY": [ + -38.53316588525538, + -36.979700281918525, + -33.53117961919153, + -32.258461129657604 + ], + "timestamp": 2.4286899243971574 + }, + { + "x": 8.006944405204333, + "y": 2.3550572028737315, + "heading": 0.24208805011618234, + "angularVelocity": 0.11006769860827156, + "velocityX": 0.5947774419076537, + "velocityY": 0.3475545631387403, + "moduleForcesX": [ + -57.78531580177261, + -58.83335565875275, + -60.82701030078735, + -61.55799648007071 + ], + "moduleForcesY": [ + -39.32953380525751, + -37.75900112867809, + -34.43256746210096, + -33.12672596412863 + ], + "timestamp": 2.4599238235817014 + }, + { + "x": 8.022399132020638, + "y": 2.363967469857361, + "heading": 0.2449826682921487, + "angularVelocity": 0.09267553048255991, + "velocityX": 0.49480619518526986, + "velocityY": 0.2852755248707073, + "moduleForcesX": [ + -57.285337740479896, + -58.37163212315705, + -60.353928685994944, + -61.12463756696233 + ], + "moduleForcesY": [ + -40.06149732856369, + -38.4757331585573, + -35.263507483650535, + -33.927470016147225 + ], + "timestamp": 2.4911577227662454 + }, + { + "x": 8.034754719555226, + "y": 2.3708950700715006, + "heading": 0.24733854746652198, + "angularVelocity": 0.07542699553628232, + "velocityX": 0.39558261559293284, + "velocityY": 0.22179748270327265, + "moduleForcesX": [ + -56.81225237983397, + -57.93486006066267, + -59.903033473759216, + -60.711895807367256 + ], + "moduleForcesY": [ + -40.73624310045663, + -39.13656594554345, + -36.031717696214486, + -34.667763336428486 + ], + "timestamp": 2.5223916219507894 + }, + { + "x": 8.044033345005866, + "y": 2.3758053379970425, + "heading": 0.24915994976122946, + "angularVelocity": 0.05831491879850911, + "velocityX": 0.2970690721584117, + "velocityY": 0.15720957209121228, + "moduleForcesX": [ + -56.36427001125167, + -57.5215634457959, + -59.473146089415536, + -60.31882985370642 + ], + "moduleForcesY": [ + -41.359976459056796, + -39.74728539389969, + -36.74390375174633, + -35.35377393330024 + ], + "timestamp": 2.5536255211353334 + }, + { + "x": 8.050256079529502, + "y": 2.3786661070048227, + "heading": 0.2504509281746412, + "angularVelocity": 0.04133260486576112, + "velocityX": 0.1992301533301652, + "velocityY": 0.09159179873372657, + "moduleForcesX": [ + -55.939696789825724, + -57.1303288947117, + -59.06307667969438, + -59.944472239120515 + ], + "moduleForcesY": [ + -41.9380751333949, + -40.312928466883, + -37.40590977404323, + -35.99089911235205 + ], + "timestamp": 2.5848594203198774 + }, + { + "x": 8.05344295501709, + "y": 2.3794474601745605, + "heading": 0.2512153407952589, + "angularVelocity": 0.02447381340706803, + "velocityX": 0.10203258545331097, + "velocityY": 0.02501619042570311, + "moduleForcesX": [ + -55.536942858301344, + -56.75981618632852, + -58.671651732638004, + -59.58785538307145 + ], + "moduleForcesY": [ + -42.475216399919304, + -40.83789528114259, + -38.02284495821976, + -36.583876172772996 + ], + "timestamp": 2.6160933195044214 + }, + { + "x": 8.053554456589268, + "y": 2.3780515330467744, + "heading": 0.2514509916470031, + "angularVelocity": 0.007395922560774328, + "velocityX": 0.003499486579928764, + "velocityY": -0.04381129480829212, + "moduleForcesX": [ + -55.155942723339066, + -56.410130778556855, + -58.299270340258424, + -59.249495938873906 + ], + "moduleForcesY": [ + -42.97659794260327, + -41.327019683328054, + -38.600234192193255, + -37.1377832489104 + ], + "timestamp": 2.647955585477029 + }, + { + "x": 8.050503676116843, + "y": 2.374495944778674, + "heading": 0.25113884834054667, + "angularVelocity": -0.009796644931806814, + "velocityX": -0.09574901154386109, + "velocityY": -0.11159244829469711, + "moduleForcesX": [ + -55.59846208009159, + -56.81482043080866, + -58.727470358931996, + -59.63757447538233 + ], + "moduleForcesY": [ + -42.39779477546787, + -40.76437641615547, + -37.940204764892066, + -36.50626823285514 + ], + "timestamp": 2.679817851449637 + }, + { + "x": 8.044266726896662, + "y": 2.368816459252477, + "heading": 0.2502751014217515, + "angularVelocity": -0.02710877247518084, + "velocityX": -0.1957471959321019, + "velocityY": -0.17825114921456037, + "moduleForcesX": [ + -56.06323763398831, + -57.24062461714162, + -59.174271034811625, + -60.04340776441032 + ], + "moduleForcesY": [ + -41.776147814794186, + -40.15942738553945, + -37.23368956145045, + -35.82938803499372 + ], + "timestamp": 2.7116801174222447 + }, + { + "x": 8.034818569991312, + "y": 2.361051521762493, + "heading": 0.24885577752335578, + "angularVelocity": -0.04454560449705487, + "velocityX": -0.29653122955764694, + "velocityY": -0.24370324121516418, + "moduleForcesX": [ + -56.55168152063322, + -57.688723661216756, + -59.640647271005136, + -60.46779053111777 + ], + "moduleForcesY": [ + -41.106989124664864, + -39.50779873218757, + -36.475681088423705, + -35.10250725779455 + ], + "timestamp": 2.7435423833948525 + }, + { + "x": 8.02213295415441, + "y": 2.351242549668039, + "heading": 0.24687673127300086, + "angularVelocity": -0.06211253939240583, + "velocityX": -0.39813916084336615, + "velocityY": -0.3078554457767266, + "moduleForcesX": [ + -57.06526215403646, + -58.160330207335605, + -60.127545301084076, + -60.911479640655365 + ], + "moduleForcesY": [ + -40.38499332803157, + -38.80452163499535, + -35.66049995910362, + -34.32038809756697 + ], + "timestamp": 2.7754046493674602 + }, + { + "x": 8.00618235687956, + "y": 2.3394342631876905, + "heading": 0.2443336377254407, + "angularVelocity": -0.07981521307199141, + "velocityX": -0.500610888395779, + "velocityY": -0.37060410237302155, + "moduleForcesX": [ + -57.60548590811172, + -58.65667055972254, + -60.63584750323129, + -61.37516219034661 + ], + "moduleForcesY": [ + -39.60406793333535, + -38.043936016754444, + -34.781689948525035, + -33.47709850836389 + ], + "timestamp": 2.807266915340068 + }, + { + "x": 7.986937928616644, + "y": 2.325675062806478, + "heading": 0.24122198573830955, + "angularVelocity": -0.09765946934867298, + "velocityX": -0.6039880615979971, + "velocityY": -0.4318337055199071, + "moduleForcesX": [ + -58.173868533617096, + -59.17895682769587, + -61.166323423685455, + -61.859411780502434 + ], + "moduleForcesY": [ + -38.75722338336922, + -37.219577007130056, + -33.8318958041082, + -32.565905591557595 + ], + "timestamp": 2.8391291813126758 + }, + { + "x": 7.964369443043094, + "y": 2.3100174608729738, + "heading": 0.237537072874333, + "angularVelocity": -0.11565131202986337, + "velocityX": -0.7083138905736533, + "velocityY": -0.4914152040211259, + "moduleForcesX": [ + -58.771892135272395, + -59.72834634110857, + -61.71956218457966, + -62.36462897822015 + ], + "moduleForcesY": [ + -37.83641912694608, + -36.32404111721714, + -32.80272145388071, + -31.579152188787862 + ], + "timestamp": 2.8709914472852835 + }, + { + "x": 7.938445257428918, + "y": 2.292518576229884, + "heading": 0.23327400263538245, + "angularVelocity": -0.13379683173241844, + "velocityX": -0.8136328293933358, + "velocityY": -0.549204022655952, + "moduleForcesX": [ + -59.400941916783964, + -60.305883487526756, + -62.29587980716988, + -62.89096066811758 + ], + "moduleForcesY": [ + -36.8323815695949, + -35.3488287266875, + -31.684566356440335, + -30.50811469994054 + ], + "timestamp": 2.9028537132578913 + }, + { + "x": 7.909132288701435, + "y": 2.2732407021467766, + "heading": 0.22842768513620898, + "angularVelocity": -0.15210209792799723, + "velocityX": -0.9199900833381958, + "velocityY": -0.6050377615854724, + "moduleForcesX": [ + -60.062214669067124, + -60.9124173278346, + -62.89519280456947, + -63.438191243373915 + ], + "moduleForcesY": [ + -35.7343894615374, + -34.28415924509893, + -30.46643819561915, + -29.34284045199572 + ], + "timestamp": 2.934715979230499 + }, + { + "x": 7.876396012944544, + "y": 2.2522519593808092, + "heading": 0.222992842736002, + "angularVelocity": -0.17057300334129924, + "velocityX": -1.0274308734047577, + "velocityY": -0.6587335246027822, + "moduleForcesX": [ + -60.75658790899585, + -61.54848590334146, + -63.51684654752578, + -64.00559631735058 + ], + "moduleForcesY": [ + -34.53002232366402, + -33.118755329123275, + -29.135741201635682, + -28.071963701150157 + ], + "timestamp": 2.966578245203107 + }, + { + "x": 7.840200498951033, + "y": 2.229627047813913, + "heading": 0.2169640227009756, + "angularVelocity": -0.18921504328064614, + "velocityX": -1.135999367547437, + "velocityY": -0.7100848253023461, + "moduleForcesX": [ + -61.48443439213766, + -62.21415484311441, + -64.15938323723294, + -64.59174671002124 + ], + "moduleForcesY": [ + -33.20486823491243, + -31.83959306917933, + -27.678041498772867, + -26.682500864449135 + ], + "timestamp": 2.9984405111757146 + }, + { + "x": 7.8005084903360755, + "y": 2.205448111665637, + "heading": 0.21033561971861534, + "angularVelocity": -0.20803300644275413, + "velocityX": -1.2457371565814348, + "velocityY": -0.758858022497941, + "moduleForcesX": [ + -62.24536108740322, + -62.90879346089582, + -64.82022971982403, + -65.19424677998418 + ], + "moduleForcesY": [ + -31.74218928632124, + -30.43161652659153, + -26.076814692163644, + -25.159628323461547 + ], + "timestamp": 3.0303027771483224 + }, + { + "x": 7.757281555934284, + "y": 2.1798057345060355, + "heading": 0.20310191208344186, + "angularVelocity": -0.22703054583099605, + "velocityX": -1.3566811110972, + "velocityY": -0.8047882464368966, + "moduleForcesX": [ + -63.037844258778556, + -63.630765722593274, + -65.49527985664463, + -65.80938669738626 + ], + "moduleForcesY": [ + -30.122547211728936, + -28.877418105303608, + -24.313187412643863, + -23.48645084722208 + ], + "timestamp": 3.06216504312093 + }, + { + "x": 7.710480335128053, + "y": 2.152800080750204, + "heading": 0.19525711669504744, + "angularVelocity": -0.24620958833055565, + "velocityX": -1.4688604020337492, + "velocityY": -0.8475748014610333, + "moduleForcesX": [ + -63.858722777905655, + -64.37700604141725, + -66.17834002138444, + -66.43168313046118 + ], + "moduleForcesY": [ + -28.323399698743053, + -27.15689210810165, + -22.365695219623007, + -21.643776425856053 + ], + "timestamp": 3.094027309093538 + }, + { + "x": 7.660064913825694, + "y": 2.1245421992659654, + "heading": 0.18679546972514044, + "angularVelocity": -0.2655695290843895, + "velocityX": -1.582292400223543, + "velocityY": -0.8868760780709051, + "moduleForcesX": [ + -64.70250024975486, + -65.14244079804038, + -66.86040043910882, + -67.05327758071519 + ], + "moduleForcesY": [ + -26.31869214055846, + -25.246879229454986, + -20.210096219032405, + -19.60992564426652 + ], + "timestamp": 3.1258895750661457 + }, + { + "x": 7.605995378440203, + "y": 2.0951555009769316, + "heading": 0.17771134197961377, + "angularVelocity": -0.28510614258685696, + "velocityX": -1.6969770898270695, + "velocityY": -0.9223040920660796, + "moduleForcesX": [ + -65.56039388146615, + -65.91920630968728, + -67.52869160054091, + -67.66315754143089 + ], + "moduleForcesY": [ + -24.07849387211095, + -23.120837372643603, + -17.81930577270531, + -17.36062277518201 + ], + "timestamp": 3.1577518410387535 + }, + { + "x": 7.548232609655312, + "y": 2.0647774140415374, + "heading": 0.16799940060618798, + "angularVelocity": -0.30481012812381947, + "velocityX": -1.8128895425877953, + "velocityY": -0.9534189113075265, + "moduleForcesX": [ + -66.41905704332382, + -66.69560440794528, + -68.16548807657564, + -68.2461654521247 + ], + "moduleForcesY": [ + -21.568767643175345, + -20.748602955852512, + -15.163556020718632, + -14.869044170074863 + ], + "timestamp": 3.1896141070113613 + }, + { + "x": 7.486739394752166, + "y": 2.0335612045764715, + "heading": 0.1576548317430363, + "angularVelocity": -0.3246651971345981, + "velocityX": -1.9299699197794449, + "velocityY": -0.9797234600923485, + "moduleForcesX": [ + -67.25889966899966, + -67.45473195905362, + -68.7466394205906, + -68.7817691234393 + ], + "moduleForcesY": [ + -18.75142323536141, + -18.096352020337484, + -12.210937453724249, + -12.106140007644772 + ], + "timestamp": 3.221476372983969 + }, + { + "x": 7.421481955464313, + "y": 2.00167792410089, + "heading": 0.146673641554283, + "angularVelocity": -0.34464561303310726, + "velocityX": -2.0481104308135385, + "velocityY": -1.0006595420109778, + "moduleForcesX": [ + -68.05194930848488, + -68.17272913340136, + -69.23985238410089, + -69.242593650103 + ], + "moduleForcesY": [ + -15.584898132580264, + -15.126937981287806, + -8.928548506686878, + -9.041399564404534 + ], + "timestamp": 3.253338638956577 + }, + { + "x": 7.352432004290334, + "y": 1.9693184019592849, + "heading": 0.13505305493463604, + "angularVelocity": -0.36471312585355, + "velocityX": -2.167138747549916, + "velocityY": -1.0156064282880854, + "moduleForcesX": [ + -68.75926013725697, + -68.81662900385922, + -69.60283971893979, + -69.59277259758998 + ], + "moduleForcesY": [ + -12.025633528562048, + -11.800877294533851, + -5.284555242845572, + -5.644295267059884 + ], + "timestamp": 3.2852009049291846 + }, + { + "x": 7.2795694488826355, + "y": 1.9366951366174912, + "heading": 0.12279203026765104, + "angularVelocity": -0.384813329897061, + "velocityX": -2.286797664370093, + "velocityY": -1.0238840316580133, + "moduleForcesX": [ + -69.32802707356645, + -69.34188503849983, + -69.78161252555464, + -69.78628447519435 + ], + "moduleForcesY": [ + -8.030961796508763, + -8.078372707664565, + -1.2515216495305865, + -1.8867042250580757 + ], + "timestamp": 3.3170631709017924 + }, + { + "x": 7.2028858490976635, + "y": 1.9040438503848256, + "heading": 0.10989190221914645, + "angularVelocity": -0.40487164533730713, + "velocityX": -2.4067214758327977, + "velocityY": -1.0247634697650227, + "moduleForcesX": [ + -69.68885065138771, + -69.68984244468864, + -69.70944468694478, + -69.76561961798723 + ], + "moduleForcesY": [ + -3.5640453862085724, + -3.922882942163212, + 3.1886436635102147, + 2.25336449804837 + ], + "timestamp": 3.3489254368744 + }, + { + "x": 7.122388675485475, + "y": 1.8716243607382543, + "heading": 0.09635714894183342, + "angularVelocity": -0.42478941356364897, + "velocityX": -2.5264108234296327, + "velocityY": -1.0174885136682612, + "moduleForcesX": [ + -69.75407213911326, + -69.78574765293385, + -69.30736777430482, + -69.46138094201778 + ], + "moduleForcesY": [ + 1.3985082704886809, + 0.6931980154340661, + 8.037964379859298, + 6.786476492701418 + ], + "timestamp": 3.380787702847008 + }, + { + "x": 7.038106297573928, + "y": 1.839720305418933, + "heading": 0.0821962517664176, + "angularVelocity": -0.4444409944851408, + "velocityX": -2.6452097909170735, + "velocityY": -1.001311562295961, + "moduleForcesX": [ + -69.41873489476157, + -69.53837348398156, + -68.48737136681783, + -68.79372562148293 + ], + "moduleForcesY": [ + 6.856101124136169, + 5.780335403290546, + 13.274225415126049, + 11.704917636171876 + ], + "timestamp": 3.4126499688196157 + }, + { + "x": 6.950093425676927, + "y": 1.8086371795514506, + "heading": 0.06742257400265232, + "angularVelocity": -0.4636731667630397, + "velocityX": -2.762291670425017, + "velocityY": -0.9755466197603421, + "moduleForcesX": [ + -68.56630992900028, + -68.84288908373507, + -67.1595557017082, + -67.67677873006109 + ], + "moduleForcesY": [ + 12.77142847001483, + 11.321268739371908, + 18.842571431102375, + 16.974860529419566 + ], + "timestamp": 3.4445122347922235 + }, + { + "x": 6.858436446358618, + "y": 1.778698171875461, + "heading": 0.05205513775127689, + "angularVelocity": -0.482308328748086, + "velocityX": -2.876662300073326, + "velocityY": -0.9396383704074417, + "moduleForcesX": [ + -67.08129334308633, + -67.5889167156388, + -65.24393294119024, + -66.02703602664178 + ], + "moduleForcesY": [ + 19.058188665083183, + 17.259397166138246, + 24.64928439705406, + 22.529060493227927 + ], + "timestamp": 3.4763745007648312 + }, + { + "x": 6.763257788803866, + "y": 1.750237508019536, + "heading": 0.036119140815217256, + "angularVelocity": -0.5001526554878413, + "velocityX": -2.98719047906314, + "velocityY": -0.8932404205147519, + "moduleForcesX": [ + -64.8692825372033, + -65.67518981311005, + -62.68604977079485, + -63.77596920097708 + ], + "moduleForcesY": [ + 25.574083741943742, + 23.48930797221283, + 30.561131557544318, + 28.26266364700371 + ], + "timestamp": 3.508236766737439 + }, + { + "x": 6.664718269641598, + "y": 1.723591468587136, + "heading": 0.019646053669972845, + "angularVelocity": -0.5170092786058117, + "velocityX": -3.092671414110467, + "velocityY": -0.8362882745159307, + "moduleForcesX": [ + -61.88161057544811, + -63.0301647992314, + -59.47323037560655, + -60.88534309337532 + ], + "moduleForcesY": [ + 32.12523200020213, + 29.85438048831274, + 36.41348006292414, + 34.03531937208608 + ], + "timestamp": 3.540099032710047 + }, + { + "x": 6.563016459695792, + "y": 1.699087881602493, + "heading": 0.0026731863520187828, + "angularVelocity": -0.5326949229708206, + "velocityX": -3.191920186506502, + "velocityY": -0.7690472173482268, + "moduleForcesX": [ + -58.137045034275594, + -59.63430359480836, + -55.646092317191496, + -57.361524152568215 + ], + "moduleForcesY": [ + 38.48613916191405, + 36.15651587891575, + 42.0281047879362, + 39.682021275606665 + ], + "timestamp": 3.5719612986826546 + }, + { + "x": 6.458384601642263, + "y": 1.677035470124936, + "heading": -0.014757286946715591, + "angularVelocity": -0.5470569266391636, + "velocityX": -3.2838800022409687, + "velocityY": -0.6921168600034845, + "moduleForcesX": [ + -53.730662127693826, + -55.53615199985499, + -51.299894713738475, + -53.263554178959374 + ], + "moduleForcesY": [ + 44.433145058743726, + 42.17981406324676, + 47.23754469037861, + 45.032396440140325 + ], + "timestamp": 3.6038235646552623 + }, + { + "x": 6.351081388535306, + "y": 1.6577146683011743, + "heading": -0.032599740394290776, + "angularVelocity": -0.5599869595876987, + "velocityX": -3.3677207138753307, + "velocityY": -0.6063850524746727, + "moduleForcesX": [ + -48.82332886065438, + -50.85394452342238, + -46.5733908438592, + -48.700590049761075 + ], + "moduleForcesY": [ + 49.78150026950302, + 47.72364342786967, + 51.90910448383027, + 49.93429125063565 + ], + "timestamp": 3.63568583062787 + }, + { + "x": 6.2413826826973215, + "y": 1.6413712268764853, + "heading": -0.050806745243930196, + "angularVelocity": -0.5714284371768209, + "velocityX": -3.442903462430879, + "velocityY": -0.5129403363445508, + "moduleForcesX": [ + -43.613902206817116, + -45.759403362312135, + -41.62800075333897, + -43.81795326193903 + ], + "moduleForcesY": [ + 54.41276674158155, + 52.634604612735096, + 55.96093888579725, + 54.27472875217863 + ], + "timestamp": 3.667548096600478 + }, + { + "x": 6.129571667351389, + "y": 1.62821321651678, + "heading": -0.06933071522458183, + "angularVelocity": -0.5813764154933881, + "velocityX": -3.509198480800383, + "velocityY": -0.41296530419454264, + "moduleForcesX": [ + -38.30456932688041, + -40.44857465703879, + -36.62410362739982, + -38.7757495610089 + ], + "moduleForcesY": [ + 58.28365138227556, + 56.826224029341006, + 59.36598701453037, + 57.99184370564566 + ], + "timestamp": 3.6994103625730856 + }, + { + "x": 6.015929832274464, + "y": 1.618411233506336, + "heading": -0.08812533991101343, + "angularVelocity": -0.5898709370698717, + "velocityX": -3.566658917938336, + "velocityY": -0.30763609276473625, + "moduleForcesX": [ + -33.071613201919334, + -35.11032280570003, + -31.70154782669377, + -33.72683593780012 + ], + "moduleForcesY": [ + 61.41659551746967, + 60.28104668659328, + 62.14468942164123, + 61.07522071894561 + ], + "timestamp": 3.7312726285456934 + }, + { + "x": 5.90072972722706, + "y": 1.6121010418767716, + "heading": -0.10714667898184034, + "angularVelocity": -0.5969863878225026, + "velocityX": -3.6155653570415596, + "velocityY": -0.19804591534668362, + "moduleForcesX": [ + -28.048905593814567, + -29.90254338149525, + -26.968434607851435, + -28.800187007480794 + ], + "moduleForcesY": [ + 63.879659102920506, + 63.03790759516178, + 64.35113863792533, + 63.556690676118386 + ], + "timestamp": 3.763134894518301 + }, + { + "x": 5.784229841749146, + "y": 1.6093876812886168, + "heading": -0.12635388390817304, + "angularVelocity": -0.6028198039287378, + "velocityX": -3.6563590793595777, + "velocityY": -0.08515905901003872, + "moduleForcesX": [ + -23.32443314220732, + -24.940691709753096, + -22.49833666783056, + -24.09245248099522 + ], + "moduleForcesY": [ + 65.76464705413574, + 65.17204461261959, + 66.05798366239593, + 65.49634848600743 + ], + "timestamp": 3.794997160490909 + }, + { + "x": 5.6666715090374655, + "y": 1.6103501646337832, + "heading": -0.14570958534477702, + "angularVelocity": -0.6074803798714206, + "velocityX": -3.689578538222811, + "velocityY": 0.03020762383924362, + "moduleForcesX": [ + -18.945730486511177, + -20.297419949634005, + -18.33356708742474, + -19.667082601325525 + ], + "moduleForcesY": [ + 67.16942965387467, + 66.77554428954697, + 67.34378685006313, + 66.96849853668374 + ], + "timestamp": 3.8268594264635167 + }, + { + "x": 5.548277472212234, + "y": 1.6150461315311258, + "heading": -0.16518002122604175, + "angularVelocity": -0.6110813304365624, + "velocityX": -3.7158071848065024, + "velocityY": 0.14738333115980162, + "moduleForcesX": [ + -14.929271128360394, + -16.009118767543267, + -14.49148104463666, + -15.558489604355715 + ], + "moduleForcesY": [ + 68.1864773332497, + 67.94245344747473, + 68.28431543980496, + 68.05046106099095 + ], + "timestamp": 3.8587216924361245 + }, + { + "x": 5.429251670837402, + "y": 1.623516082763672, + "heading": -0.18473498772682212, + "angularVelocity": -0.6137343313119025, + "velocityX": -3.7356351703660797, + "velocityY": 0.2658301590925125, + "moduleForcesX": [ + -11.270190208871119, + -12.085091549684629, + -10.971415071134748, + -11.778477843651748 + ], + "moduleForcesY": [ + 68.89698257046604, + 68.75960296279779, + 68.94761698227846, + 68.81518766569093 + ], + "timestamp": 3.8905839584087323 + }, + { + "x": 5.282004916153968, + "y": 1.6397127699591316, + "heading": -0.20890280222534363, + "angularVelocity": -0.6159657654294863, + "velocityX": -3.7528821632232336, + "velocityY": 0.4128054204646195, + "moduleForcesX": [ + -7.9562699415162434, + -8.521676520710562, + -7.763894343312731, + -8.325351331688259 + ], + "moduleForcesY": [ + 69.4040147095233, + 69.33728987507355, + 69.42707879106572, + 69.36240800164377 + ], + "timestamp": 3.9298196040483413 + }, + { + "x": 5.134274022827432, + "y": 1.661694557200844, + "heading": -0.23311910712289566, + "angularVelocity": -0.6172016415885259, + "velocityX": -3.765221418388025, + "velocityY": 0.5602504274715377, + "moduleForcesX": [ + -5.720209319157245, + -6.03490445450174, + -5.615719636680334, + -5.9291642826123905 + ], + "moduleForcesY": [ + 69.61283706461302, + 69.58650687264662, + 69.62210542945645, + 69.59635440000946 + ], + "timestamp": 3.9690552496879503 + }, + { + "x": 4.986282225836536, + "y": 1.6894747322410733, + "heading": -0.25734085246164684, + "angularVelocity": -0.6173403022658371, + "velocityX": -3.7718710773933957, + "velocityY": 0.7080340997927944, + "moduleForcesX": [ + -3.127013349871348, + -3.1625137035552573, + -3.115711331500387, + -3.1511953231743526 + ], + "moduleForcesY": [ + 69.76481035554984, + 69.76323825833272, + 69.76540826223969, + 69.76384262493916 + ], + "timestamp": 4.008290895327559 + }, + { + "x": 4.838289991579301, + "y": 1.7230579102362122, + "heading": -0.28152121054847273, + "angularVelocity": -0.616285464216136, + "velocityX": -3.7718822220128496, + "velocityY": 0.8559353987343824, + "moduleForcesX": [ + -0.10080750277873628, + 0.17072692716911367, + -0.18174401949255473, + 0.09078040693159432 + ], + "moduleForcesY": [ + 69.82041443295189, + 69.82006331575957, + 69.81948711797912, + 69.8194469049861 + ], + "timestamp": 4.047526540967168 + }, + { + "x": 4.690602926619398, + "y": 1.7624345930750287, + "heading": -0.30561052035609654, + "angularVelocity": -0.6139649141724732, + "velocityX": -3.764104363579332, + "velocityY": 1.003594619048795, + "moduleForcesX": [ + 3.451355615397646, + 4.051364010493661, + 3.2895197761904598, + 3.8945533691842145 + ], + "moduleForcesY": [ + 69.71868600011885, + 69.68593196145633, + 69.72466597613085, + 69.69301503588242 + ], + "timestamp": 4.086762186606777 + }, + { + "x": 4.543580980383167, + "y": 1.807572841508932, + "heading": -0.32955856309289416, + "angularVelocity": -0.6103644363793018, + "velocityX": -3.7471524640290994, + "velocityY": 1.1504398028392895, + "moduleForcesX": [ + 7.640996749455507, + 8.573559011361908, + 7.425094452945457, + 8.370322441523202 + ], + "moduleForcesY": [ + 69.36568328827549, + 69.25593606152904, + 69.38595746863503, + 69.27759135787154 + ], + "timestamp": 4.125997832246386 + }, + { + "x": 4.3976484856872196, + "y": 1.8584056861180858, + "heading": -0.35331878240151826, + "angularVelocity": -0.6055773754016716, + "velocityX": -3.7193855820898922, + "velocityY": 1.2955781351495828, + "moduleForcesX": [ + 12.596434796205346, + 13.831571863740269, + 12.372684189217882, + 13.631022125703714 + ], + "moduleForcesY": [ + 68.6171822426943, + 68.37816061418692, + 68.65316289156726, + 68.41364491021022 + ], + "timestamp": 4.165233477885995 + }, + { + "x": 4.2533040307330126, + "y": 1.9148124127162343, + "heading": -0.37685369830254906, + "angularVelocity": -0.5998350611381872, + "velocityX": -3.6789111686871667, + "velocityY": 1.437639821611747, + "moduleForcesX": [ + 18.45253857678641, + 19.913211641736343, + 18.28347404620761, + 19.77789603649953 + ], + "moduleForcesY": [ + 67.2540564403096, + 66.83551987504791, + 67.29380436124504, + 66.86919394151975 + ], + "timestamp": 4.204469123525604 + }, + { + "x": 4.1111285385438014, + "y": 1.976591138110253, + "heading": -0.4001357692707538, + "angularVelocity": -0.5933907952492427, + "velocityX": -3.6236307539102786, + "velocityY": 1.5745561054729562, + "moduleForcesX": [ + 25.318154078477736, + 26.904262300677498, + 25.267809375046117, + 26.89480555969558 + ], + "moduleForcesY": [ + 64.95286144875357, + 64.31195261944565, + 64.96421851734725, + 64.30756913709315 + ], + "timestamp": 4.243704769165213 + }, + { + "x": 3.9717870049636006, + "y": 2.0434199231356556, + "heading": -0.4231339348218591, + "angularVelocity": -0.5861548899271496, + "velocityX": -3.551401571420431, + "velocityY": 1.7032671168265077, + "moduleForcesX": [ + 33.18996384014008, + 34.85670349431968, + 33.31533220864405, + 35.0270906330446 + ], + "moduleForcesY": [ + 61.27361866433201, + 60.34193256478347, + 61.194814408840315, + 60.23236486270143 + ], + "timestamp": 4.2829404148048225 + }, + { + "x": 3.8360093396065436, + "y": 2.1148100108492702, + "heading": -0.44579213538275786, + "angularVelocity": -0.5774901926941988, + "velocityX": -3.460569162139369, + "velocityY": 1.819521166271989, + "moduleForcesX": [ + 41.798461635648394, + 43.564390721084465, + 42.171134771793916, + 43.98324777985427 + ], + "moduleForcesY": [ + 55.72575382876732, + 54.35949549135577, + 55.42920019196059, + 54.00601973025938 + ], + "timestamp": 4.3221760604444315 + }, + { + "x": 3.7045318112727834, + "y": 2.1900719989769737, + "heading": -0.4680231365839806, + "angularVelocity": -0.566602150641825, + "velocityX": -3.3509714493147835, + "velocityY": 1.9182044006363004, + "moduleForcesX": [ + 50.48322513754993, + 52.286207287927716, + 51.17427642172647, + 53.00771746352633 + ], + "moduleForcesY": [ + 47.97134042740949, + 46.00762411199697, + 47.210917612098406, + 45.151927164693085 + ], + "timestamp": 4.3614117060840405 + }, + { + "x": 3.578004390003908, + "y": 2.2683279656739623, + "heading": -0.489721889190992, + "angularVelocity": -0.553036715804837, + "velocityX": -3.224807931824784, + "velocityY": 1.9945120163382564, + "moduleForcesX": [ + 58.26795647580332, + 59.88981216151858, + 59.23821952460391, + 60.83635464912876 + ], + "moduleForcesY": [ + 38.124427202913225, + 35.54091142317926, + 36.56417307116691, + 33.86081191347489 + ], + "timestamp": 4.4006473517236495 + }, + { + "x": 3.456904167212323, + "y": 2.3485863569708254, + "heading": -0.5107859181293829, + "angularVelocity": -0.536859495874505, + "velocityX": -3.086484772136231, + "velocityY": 2.045547868233416, + "moduleForcesX": [ + 64.22175367303383, + 65.41246326791402, + 65.23779317379322, + 66.32117039597011 + ], + "moduleForcesY": [ + 26.922119439195097, + 23.924630755505696, + 24.302487904066567, + 21.22086005821814 + ], + "timestamp": 4.4398829973632585 + }, + { + "x": 3.341501156228977, + "y": 2.429852159265464, + "heading": -0.5311309038951663, + "angularVelocity": -0.5185332223829922, + "velocityX": -2.9412797751146593, + "velocityY": 2.071223780566531, + "moduleForcesX": [ + 67.90607774929535, + 68.55322032956057, + 68.62642283945783, + 69.10231153776672 + ], + "moduleForcesY": [ + 15.498644700226322, + 12.42359147128196, + 11.806220918241268, + 8.754914891489593 + ], + "timestamp": 4.4791186430028676 + }, + { + "x": 3.231884403891318, + "y": 2.5112193292469573, + "heading": -0.550696423578611, + "angularVelocity": -0.49866694849780363, + "velocityX": -2.7938052388514896, + "velocityY": 2.073807341642243, + "moduleForcesX": [ + 69.50457450947509, + 69.66606772980774, + 69.65997404544898, + 69.64294705526974 + ], + "moduleForcesY": [ + 4.880819924137277, + 2.0193581070127946, + 0.3390395514668374, + -2.3607248130164185 + ], + "timestamp": 4.518354288642477 + }, + { + "x": 3.1280178116049857, + "y": 2.591916055277671, + "heading": -0.5694439277085109, + "angularVelocity": -0.4778181631596325, + "velocityX": -2.6472507484744763, + "velocityY": 2.056719717879459, + "moduleForcesX": [ + 69.5664529884934, + 69.38596965788871, + 69.04962017687987, + 68.73421411221496 + ], + "moduleForcesY": [ + -4.351553954786704, + -6.842745490901919, + -9.430845709494417, + -11.641113134615345 + ], + "timestamp": 4.557589934282086 + }, + { + "x": 3.0297938291017803, + "y": 2.6713093646314494, + "heading": -0.587351477757221, + "angularVelocity": -0.4564102299525365, + "velocityX": -2.5034373947971407, + "velocityY": 2.0234995005060017, + "moduleForcesX": [ + 68.67844481390058, + 68.30003898352149, + 67.51348767467297, + 67.06824542485609 + ], + "moduleForcesY": [ + -12.059309957564174, + -14.142309008297968, + -17.402608329334218, + -19.124922708081787 + ], + "timestamp": 4.596825579921695 + }, + { + "x": 2.937071738470876, + "y": 2.74888871924267, + "heading": -0.6044084254504786, + "angularVelocity": -0.4347309038809006, + "velocityX": -2.3632105224566873, + "velocityY": 1.9772671851461499, + "moduleForcesX": [ + 67.2930620056548, + 66.82411992389879, + 65.56788024867049, + 65.1028653253109 + ], + "moduleForcesY": [ + -18.365399907633943, + -20.069478774771078, + -23.78209141872774, + -25.082694816897252 + ], + "timestamp": 4.636061225561304 + }, + { + "x": 2.8497007610312877, + "y": 2.824243594666069, + "heading": -0.6206112771454525, + "angularVelocity": -0.4129625352365075, + "velocityX": -2.2268265505840747, + "velocityY": 1.9205718217448704, + "moduleForcesX": [ + 65.70337318898908, + 65.21204905116011, + 63.520444297620365, + 63.09557985413157 + ], + "moduleForcesY": [ + -23.49160747089517, + -24.871801577389842, + -28.866583152264337, + -29.826861621567442 + ], + "timestamp": 4.675296871200913 + }, + { + "x": 2.7675324959856002, + "y": 2.897042340985707, + "heading": -0.6359608530628466, + "angularVelocity": -0.39121507158018054, + "velocityX": -2.094224873994124, + "velocityY": 1.8554236876415218, + "moduleForcesX": [ + 64.07907619800967, + 63.60398482485612, + 61.53194031437886, + 61.17440364428484 + ], + "moduleForcesY": [ + -27.666633539104943, + -28.781121737991672, + -32.937989811532645, + -33.63232642669451 + ], + "timestamp": 4.714532516840522 + }, + { + "x": 2.69042690684893, + "y": 2.967014703794722, + "heading": -0.6504604577736467, + "angularVelocity": -0.369551831617185, + "velocityX": -1.9651923112189673, + "velocityY": 1.7833875718965568, + "moduleForcesX": [ + 62.509783681444084, + 62.07042707463779, + 59.67567360423862, + 59.39402601314928 + ], + "moduleForcesY": [ + -31.089187104720065, + -31.98983874511308, + -36.22814447448392, + -36.71735532583091 + ], + "timestamp": 4.753768162480131 + }, + { + "x": 2.618254718426181, + "y": 3.0339381645438475, + "heading": -0.6641147424098486, + "angularVelocity": -0.34800713518571263, + "velocityX": -1.8394545889641494, + "velocityY": 1.7056801196503342, + "moduleForcesX": [ + 61.03771978344021, + 60.64226174478103, + 57.977551598481135, + 57.770788058662305 + ], + "moduleForcesY": [ + -33.919649115722756, + -34.64939142537486, + -38.916588143969165, + -39.24798155977403 + ], + "timestamp": 4.79300380811974 + }, + { + "x": 2.5508979331700266, + "y": 3.097627513998535, + "heading": -0.6769290115879192, + "angularVelocity": -0.3265976376627928, + "velocityX": -1.716724273504942, + "velocityY": 1.62325223445267, + "moduleForcesX": [ + 59.67866653680671, + 59.32897631920496, + 56.439546391966516, + 56.302298777389 + ], + "moduleForcesY": [ + -36.28323619089457, + -36.87633394355796, + -41.138998099805335, + -41.348552219217844 + ], + "timestamp": 4.832239453759349 + }, + { + "x": 2.488249423527035, + "y": 3.1579269499893177, + "heading": -0.6889088079469348, + "angularVelocity": -0.30532940553734683, + "velocityX": -1.5967243210023245, + "velocityY": 1.536853414995417, + "moduleForcesX": [ + 58.434370162851714, + 58.12907413569491, + 55.05250259787777, + 54.977844959290884 + ], + "moduleForcesY": [ + -38.27642505927525, + -38.75974244655446, + -42.99718903447841, + -43.112008973477096 + ], + "timestamp": 4.871475099398958 + }, + { + "x": 2.4302121156109835, + "y": 3.2147040792930905, + "heading": -0.7000596677035822, + "angularVelocity": -0.2842022751217482, + "velocityX": -1.4791984933583653, + "velocityY": 1.4470802857505853, + "moduleForcesX": [ + 57.29957934881899, + 57.03583072349723, + 53.802827725312426, + 53.78370776518406 + ], + "moduleForcesY": [ + -39.97335396351011, + -40.36777060820265, + -44.56772292269054, + -44.6081676218809 + ], + "timestamp": 4.910710745038567 + }, + { + "x": 2.3766980331656016, + "y": 3.2678453371041845, + "heading": -0.7103869809633866, + "angularVelocity": -0.2632125224767273, + "velocityX": -1.3639149190235145, + "velocityY": 1.3544127271209676, + "moduleForcesX": [ + 56.26592417989728, + 56.0403948368725, + 52.67585049934157, + 52.705768707399926 + ], + "moduleForcesY": [ + -41.43117548735834, + -41.752852888132324, + -45.908564958490956, + -45.88992169192114 + ], + "timestamp": 4.949946390678176 + }, + { + "x": 2.327627336743151, + "y": 3.317252459517004, + "heading": -0.7198959160037642, + "angularVelocity": -0.24235449386305924, + "velocityX": -1.2506662149306924, + "velocityY": 1.2592407135755719, + "moduleForcesX": [ + 55.323996057065756, + 55.13341096546665, + 51.65741605852093, + 51.73070558762422 + ], + "moduleForcesY": [ + -42.69422687811337, + -42.95564666268285, + -47.06400466515368, + -46.99775482427474 + ], + "timestamp": 4.989182036317785 + }, + { + "x": 2.2829274213521695, + "y": 3.362839741023064, + "heading": -0.7285913824694656, + "angularVelocity": -0.22162159750274052, + "velocityX": -1.1392679962900025, + "velocityY": 1.161884321333549, + "moduleForcesX": [ + 54.46442208625441, + 54.30583012889813, + 50.734568002205684, + 50.846469440155815 + ], + "moduleForcesY": [ + -43.79717786313908, + -44.007959736236224, + -48.06822977012528, + -47.96298939098342 + ], + "timestamp": 5.028417681957394 + }, + { + "x": 2.242532098167923, + "y": 3.4045318811902456, + "heading": -0.7364780180532563, + "angularVelocity": -0.20100690214790462, + "velocityX": -1.029556734080285, + "velocityY": 1.0626087448677908, + "moduleForcesX": [ + 53.678385073729196, + 53.54928061113336, + 49.89576908543828, + 50.04240483979626 + ], + "moduleForcesY": [ + -44.76737534187731, + -44.93490962676545, + -48.947909301931084, + -48.81012417869793 + ], + "timestamp": 5.067653327597003 + }, + { + "x": 2.206380866620649, + "y": 3.442262277265571, + "heading": -0.7435601891364074, + "angularVelocity": -0.1805034928748971, + "velocityX": -0.9213874515876248, + "velocityY": 0.9616356621703374, + "moduleForcesX": [ + 52.95784248144665, + 52.85620421475691, + 49.13089798809376, + 49.309201847879855 + ], + "moduleForcesY": [ + -45.62658357381347, + -45.756516691584324, + -49.724064642561366, + -49.55852459118997 + ], + "timestamp": 5.106888973236612 + }, + { + "x": 2.1744182737600815, + "y": 3.4759716573759465, + "heading": -0.7498419994947588, + "angularVelocity": -0.16010467665173053, + "velocityX": -0.8146314999924769, + "velocityY": 0.8591519155822318, + "moduleForcesX": [ + 52.295585677575474, + 52.219871224622835, + 48.43114555042892, + 48.63877629643647 + ], + "moduleForcesY": [ + -46.392278005310985, + -46.48888455357906, + -50.41343290999502, + -50.2236539860267 + ], + "timestamp": 5.146124618876221 + }, + { + "x": 2.146593353615838, + "y": 3.505606976334104, + "heading": -0.7553273034234013, + "angularVelocity": -0.13980409495555912, + "velocityX": -0.7091745195127888, + "velocityY": 0.7553162048196497, + "moduleForcesX": [ + 51.685217879860026, + 51.63433604703579, + 47.788873521114894, + 48.02412707550416 + ], + "moduleForcesY": [ + -47.078611888281834, + -47.14508041844737, + -51.02946838813396, + -50.81797884340958 + ], + "timestamp": 5.18536026451583 + }, + { + "x": 2.1228591378262855, + "y": 3.5311205158162435, + "heading": -0.7600197210323122, + "angularVelocity": -0.11959577910383509, + "velocityX": -0.6049146229823469, + "velocityY": 0.6502642958010434, + "moduleForcesX": [ + 51.12109391768532, + 51.0943670962465, + 47.1974670478797, + 47.45919397342084 + ], + "moduleForcesY": [ + -47.69714319658899, + -47.73579663926801, + -51.58308476290898, + -51.35164063583827 + ], + "timestamp": 5.224595910155439 + }, + { + "x": 2.103172228738649, + "y": 3.5524691450465413, + "heading": -0.7639226543411958, + "angularVelocity": -0.09947417062365312, + "velocityX": -0.5017608036443868, + "velocityY": 0.5441131114902891, + "moduleForcesX": [ + 50.598245185167, + 50.59536875864486, + 46.65119546985961, + 46.93872658546109 + ], + "moduleForcesY": [ + -48.25738539490232, + -48.2698520116438, + -52.08321047759322, + -51.832959478243616 + ], + "timestamp": 5.263831555795048 + }, + { + "x": 2.08749242676235, + "y": 3.569613708649635, + "heading": -0.7670393033521364, + "angularVelocity": -0.07943412068627369, + "velocityX": -0.3996315523981209, + "velocityY": 0.4369639730303379, + "moduleForcesX": [ + 50.112302109939414, + 50.13330455474297, + 46.14508734512011, + 46.458168149302516 + ], + "moduleForcesY": [ + -48.76722807122546, + -48.75457485942355, + -52.53720824087119, + -52.26881539310968 + ], + "timestamp": 5.303067201434657 + }, + { + "x": 2.0757824045995883, + "y": 3.58251851610603, + "heading": -0.7693726816249532, + "angularVelocity": -0.059470877432464715, + "velocityX": -0.29845366303697823, + "velocityY": 0.328905189299791, + "moduleForcesX": [ + 49.65942030969909, + 49.704625829148746, + 45.67482129401601, + 46.01355487371417 + ], + "moduleForcesY": [ + -49.233260788048526, + -49.19609827287923, + -52.95119490901263, + -52.664939700461204 + ], + "timestamp": 5.342302847074266 + }, + { + "x": 2.068007421882397, + "y": 3.591150913035611, + "heading": -0.7709256310975927, + "angularVelocity": -0.03958006673074539, + "velocityX": -0.19816120240779567, + "velocityY": 0.2200141424681118, + "moduleForcesX": [ + 49.2362132148721, + 49.306207700378565, + 45.2366321472445, + 45.601429800702924 + ], + "moduleForcesY": [ + -49.661024429931615, + -49.599589541130314, + -53.33028763865073, + -53.026139781951954 + ], + "timestamp": 5.381538492713875 + }, + { + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "angularVelocity": -0.019757669825311273, + "velocityX": -0.09869462331490479, + "velocityY": 0.11035898041384858, + "moduleForcesX": [ + 48.839692098741054, + 48.93529262948927, + 44.827230980151526, + 45.218769629782855 + ], + "moduleForcesY": [ + -50.05520781841816, + -49.96942988931665, + -53.678794976745614, + -53.3564739924534 + ], + "timestamp": 5.420774138353484 + }, + { + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "angularVelocity": -6.053538185867415e-24, + "velocityX": -2.9084748636196847e-24, + "velocityY": -8.183602971756971e-24, + "moduleForcesX": [ + 48.46721349618117, + 48.58944127653395, + 44.44373731536623, + 44.86292278246395 + ], + "moduleForcesY": [ + -50.41980268814413, + -50.30935638313135, + -54.00036645895573, + -53.65938893004021 + ], + "timestamp": 5.460009783993093 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4.3.traj b/src/main/deploy/choreo/source 4.3.traj index 0f5a2543..f525b8a5 100644 --- a/src/main/deploy/choreo/source 4.3.traj +++ b/src/main/deploy/choreo/source 4.3.traj @@ -1,733 +1,1706 @@ { - "samples": [ - { - "x": 2.0641350746154785, - "y": 3.5954809188842773, - "heading": -0.771700836029523, - "angularVelocity": 1.522374269118897e-24, - "velocityX": 6.728193443953296e-24, - "velocityY": 1.735769868556535e-24, - "timestamp": 0 - }, - { - "x": 2.063291226236175, - "y": 3.596620834264452, - "heading": -0.7716026464774829, - "angularVelocity": 0.005474717737889853, - "velocityX": -0.04705013511395001, - "velocityY": 0.0635578309695214, - "timestamp": 0.01793508939474897 - }, - { - "x": 2.0616105588960303, - "y": 3.598905821761016, - "heading": -0.7714042835444569, - "angularVelocity": 0.011060047076439332, - "velocityX": -0.0937083335997902, - "velocityY": 0.1274031841309373, - "timestamp": 0.03587017878949794 - }, - { - "x": 2.0591008669796556, - "y": 3.6023415218566175, - "heading": -0.7711035632808647, - "angularVelocity": 0.01676714606620457, - "velocityX": -0.13993194352904548, - "velocityY": 0.1915630315513047, - "timestamp": 0.05380526818424691 - }, - { - "x": 2.055770840275505, - "y": 3.6069341284276217, - "heading": -0.7706980701166114, - "angularVelocity": 0.022608929084683708, - "velocityX": -0.18567104020822742, - "velocityY": 0.25606822859490513, - "timestamp": 0.07174035757899588 - }, - { - "x": 2.051630225446013, - "y": 3.612690471939128, - "heading": -0.7701851184944544, - "angularVelocity": 0.028600449703206465, - "velocityX": -0.23086669591426456, - "velocityY": 0.3209542692991594, - "timestamp": 0.08967544697374485 - }, - { - "x": 2.0466900282030593, - "y": 3.6196181194601995, - "heading": -0.7695617056966235, - "angularVelocity": 0.03475939172142534, - "velocityX": -0.27544871030305, - "velocityY": 0.38626222421282774, - "timestamp": 0.10761053636849383 - }, - { - "x": 2.040962769658941, - "y": 3.627725495671383, - "heading": -0.7688244532456674, - "angularVelocity": 0.041106706229852664, - "velocityX": -0.31933258976649015, - "velocityY": 0.4520399108552946, - "timestamp": 0.1255456257632428 - }, - { - "x": 2.0344628159471405, - "y": 3.6370220301724463, - "heading": -0.7679695332976048, - "angularVelocity": 0.04766744838823975, - "velocityX": -0.3624154621556472, - "velocityY": 0.5183433601276373, - "timestamp": 0.14348071515799177 - }, - { - "x": 2.027206808713074, - "y": 3.6475183377820812, - "heading": -0.7669925750622906, - "angularVelocity": 0.054471891040598686, - "velocityX": -0.40457045261181673, - "velocityY": 0.5852386558334284, - "timestamp": 0.16141580455274074 - }, - { - "x": 2.019214237235835, - "y": 3.659226440075313, - "heading": -0.7658885442748775, - "angularVelocity": 0.06155702729512871, - "velocityX": -0.445638786700417, - "velocityY": 0.6528042339537887, - "timestamp": 0.1793508939474897 - }, - { - "x": 2.0105082138160526, - "y": 3.6721600377959946, - "heading": -0.7646515857894011, - "angularVelocity": 0.06896862670997553, - "velocityX": -0.4854184569791821, - "velocityY": 0.721133719270397, - "timestamp": 0.19728598334223868 - }, - { - "x": 2.0011165480677486, - "y": 3.6863348439982775, - "heading": -0.7632748150087604, - "angularVelocity": 0.07676408800302885, - "velocityX": -0.5236475571208352, - "velocityY": 0.7903393114078343, - "timestamp": 0.21522107273698765 - }, - { - "x": 1.9910732727241378, - "y": 3.701768984006825, - "heading": -0.7617500374764165, - "angularVelocity": 0.08501644451186409, - "velocityX": -0.5599791070208943, - "velocityY": 0.8605555104212048, - "timestamp": 0.23315616213173662 - }, - { - "x": 1.9804208717917025, - "y": 3.718483452963548, - "heading": -0.7600673668746977, - "angularVelocity": 0.0938200286981305, - "velocityX": -0.5939418922302394, - "velocityY": 0.9319423276260479, - "timestamp": 0.2510912515264856 - }, - { - "x": 1.969213635718414, - "y": 3.7365025742560802, - "heading": -0.7582146999833204, - "angularVelocity": 0.10329844756278656, - "velocityX": -0.6248776254536054, - "velocityY": 1.0046853347610583, - "timestamp": 0.26902634092123456 - }, - { - "x": 1.9575228810266878, - "y": 3.755854265275658, - "heading": -0.7561769967865833, - "angularVelocity": 0.11361544689784184, - "velocityX": -0.6518369902939769, - "velocityY": 1.0789849213266094, - "timestamp": 0.28696143031598353 - }, - { - "x": 1.9454453277251464, - "y": 3.7765695274547184, - "heading": -0.7539353239742204, - "angularVelocity": 0.12498810365669889, - "velocityX": -0.6734035741733236, - "velocityY": 1.1550130430420986, - "timestamp": 0.3048965197107325 - }, - { - "x": 1.933116814568198, - "y": 3.798679464769351, - "heading": -0.7514657228056935, - "angularVelocity": 0.13769661885544046, - "velocityX": -0.6873962479695469, - "velocityY": 1.2327754173952807, - "timestamp": 0.3228316091054815 - }, - { - "x": 1.9207342732225798, - "y": 3.8222050262738194, - "heading": -0.7487383954424982, - "angularVelocity": 0.15206656087222495, - "velocityX": -0.6904086772628084, - "velocityY": 1.311705840248422, - "timestamp": 0.34076669850023045 - }, - { - "x": 1.9085854129383217, - "y": 3.847127275683962, - "heading": -0.7457191299442537, - "angularVelocity": 0.168344045116864, - "velocityX": -0.6773794106549377, - "velocityY": 1.389580439863345, - "timestamp": 0.3587017878949794 - }, - { - "x": 1.8970613203450215, - "y": 3.8733197613175734, - "heading": -0.7423786854693779, - "angularVelocity": 0.18625189991268803, - "velocityX": -0.6425444746695689, - "velocityY": 1.4604045208317213, - "timestamp": 0.3766368772897284 - }, - { - "x": 1.886576399186915, - "y": 3.900473473695822, - "heading": -0.7387173605508901, - "angularVelocity": 0.2041431095157979, - "velocityX": -0.5846037857595875, - "velocityY": 1.5139992770930824, - "timestamp": 0.39457196668447736 - }, - { - "x": 1.8774051581109974, - "y": 3.9281564813640126, - "heading": -0.7347769294773565, - "angularVelocity": 0.21970512590182578, - "velocityX": -0.5113574219821415, - "velocityY": 1.5435109945031722, - "timestamp": 0.41250705607922633 - }, - { - "x": 1.8696441264401253, - "y": 3.9559793941023407, - "heading": -0.7306141997371357, - "angularVelocity": 0.23209974863241142, - "velocityX": -0.4327289092378232, - "velocityY": 1.5513116286153077, - "timestamp": 0.4304421454739753 - }, - { - "x": 1.863293845098013, - "y": 3.983662037901905, - "heading": -0.726279902543493, - "angularVelocity": 0.24166577028112832, - "velocityX": -0.3540702364144211, - "velocityY": 1.5434907064176955, - "timestamp": 0.4483772348687243 - }, - { - "x": 1.8583226144288878, - "y": 4.011014415056099, - "heading": -0.7218135836126378, - "angularVelocity": 0.2490268563792626, - "velocityX": -0.2771790293156227, - "velocityY": 1.5250761539111266, - "timestamp": 0.46631232426347324 - }, - { - "x": 1.854692677615889, - "y": 4.037905984525095, - "heading": -0.7172450217748045, - "angularVelocity": 0.2547275754962751, - "velocityX": -0.20239301478262423, - "velocityY": 1.4993830739906615, - "timestamp": 0.4842474136582222 - }, - { - "x": 1.8523686052071113, - "y": 4.064243968759062, - "heading": -0.7125967603276678, - "angularVelocity": 0.25917135648612044, - "velocityX": -0.12958242680731455, - "velocityY": 1.4685170312939513, - "timestamp": 0.5021825030529712 - }, - { - "x": 1.8513193424864507, - "y": 4.089960025153014, - "heading": -0.7078861837229194, - "angularVelocity": 0.26264583917422296, - "velocityX": -0.0585033448993053, - "velocityY": 1.4338404358041936, - "timestamp": 0.5201175924477202 - }, - { - "x": 1.851518231242687, - "y": 4.115002158627203, - "heading": -0.7031269857553186, - "angularVelocity": 0.2653568021241317, - "velocityX": 0.011089365202416091, - "velocityY": 1.3962647703067042, - "timestamp": 0.5380526818424691 - }, - { - "x": 1.8529424712372697, - "y": 4.139329698709649, - "heading": -0.6983301740429444, - "angularVelocity": 0.26745401747363784, - "velocityX": 0.07941081102165848, - "velocityY": 1.3564214566764423, - "timestamp": 0.5559877712372181 - }, - { - "x": 1.8555724993026026, - "y": 4.162910076280178, - "heading": -0.6935047598011007, - "angularVelocity": 0.26904879789763936, - "velocityX": 0.14664148070000266, - "velocityY": 1.3147621989235003, - "timestamp": 0.5739228606319671 - }, - { - "x": 1.8593914295004998, - "y": 4.1857166851235394, - "heading": -0.6886582392631672, - "angularVelocity": 0.2702256136706393, - "velocityX": 0.21293064750574775, - "velocityY": 1.2716194684839366, - "timestamp": 0.591857950026716 - }, - { - "x": 1.8643845856758514, - "y": 4.2077274184649704, - "heading": -0.6837969364863069, - "angularVelocity": 0.27104982137885447, - "velocityX": 0.2784015214785556, - "velocityY": 1.2272441389600999, - "timestamp": 0.609793039421465 - }, - { - "x": 1.8705391220179286, - "y": 4.228923639012959, - "heading": -0.6789262524896215, - "angularVelocity": 0.2715728865065857, - "velocityX": 0.34315615643818564, - "velocityY": 1.1818296570183644, - "timestamp": 0.627728128816214 - }, - { - "x": 1.8778437178266378, - "y": 4.2492894358076985, - "heading": -0.6740508498749014, - "angularVelocity": 0.27183598070872844, - "velocityX": 0.40727958740189696, - "velocityY": 1.1355280337048719, - "timestamp": 0.645663218210963 - }, - { - "x": 1.8862883320518224, - "y": 4.268811076024548, - "heading": -0.669174792123114, - "angularVelocity": 0.27187250893855136, - "velocityX": 0.47084316332748555, - "velocityY": 1.088460714478838, - "timestamp": 0.6635983076057119 - }, - { - "x": 1.895864005137384, - "y": 4.287476592574389, - "heading": -0.6643016504371507, - "angularVelocity": 0.2717099189586604, - "velocityX": 0.5339071846703922, - "velocityY": 1.0407261507883774, - "timestamp": 0.6815333970004609 - }, - { - "x": 1.9065626981106043, - "y": 4.305275468394773, - "heading": -0.6594345869267304, - "angularVelocity": 0.27137102042243033, - "velocityX": 0.5965229800501064, - "velocityY": 0.9924051912222442, - "timestamp": 0.6994684863952099 - }, - { - "x": 1.918377161026001, - "y": 4.322198390960693, - "heading": -0.6545764202589854, - "angularVelocity": 0.2708749625283474, - "velocityX": 0.6587345429600263, - "velocityY": 0.943564996719548, - "timestamp": 0.7174035757899588 - }, - { - "x": 1.9295004708011239, - "y": 4.336257831190096, - "heading": -0.6503566415245581, - "angularVelocity": 0.2703205383982234, - "velocityX": 0.7125632115849363, - "velocityY": 0.9006527810054531, - "timestamp": 0.7330138537193811 - }, - { - "x": 1.941457359006927, - "y": 4.349639081038832, - "heading": -0.6461480716252801, - "angularVelocity": 0.2696024964004939, - "velocityX": 0.7659625446685151, - "velocityY": 0.8572076621079832, - "timestamp": 0.7486241316488034 - }, - { - "x": 1.9542402449484766, - "y": 4.362332932032077, - "heading": -0.6419535605526983, - "angularVelocity": 0.2687018829226605, - "velocityX": 0.8188762557171557, - "velocityY": 0.8131726450122045, - "timestamp": 0.7642344095782256 - }, - { - "x": 1.9678404903848246, - "y": 4.374329140613766, - "heading": -0.6377763073272026, - "angularVelocity": 0.2675963390518734, - "velocityX": 0.8712365979540867, - "velocityY": 0.7684814220430845, - "timestamp": 0.7798446875076479 - }, - { - "x": 1.98224817022165, - "y": 4.385616251012893, - "heading": -0.6336199262881519, - "angularVelocity": 0.2662592593061164, - "velocityX": 0.9229611350909738, - "velocityY": 0.7230563382764723, - "timestamp": 0.7954549654370702 - }, - { - "x": 1.9974517743481024, - "y": 4.396181377943262, - "heading": -0.6294885306647823, - "angularVelocity": 0.2646586846210294, - "velocityX": 0.9739483304007286, - "velocityY": 0.6768058184573429, - "timestamp": 0.8110652433664924 - }, - { - "x": 2.0134378137647806, - "y": 4.406009938375307, - "heading": -0.6253868391581952, - "angularVelocity": 0.26275582825185867, - "velocityX": 1.0240714155734, - "velocityY": 0.6296211045365373, - "timestamp": 0.8266755212959147 - }, - { - "x": 2.0301902911265537, - "y": 4.415085318840891, - "heading": -0.6213203135283274, - "angularVelocity": 0.2605030895832479, - "velocityX": 1.0731697050824138, - "velocityY": 0.581372125891353, - "timestamp": 0.842285799225337 - }, - { - "x": 2.047689975224621, - "y": 4.423388461920246, - "heading": -0.6172953384165001, - "angularVelocity": 0.25784134850290147, - "velocityX": 1.1210360364618268, - "velocityY": 0.5319023221043848, - "timestamp": 0.8578960771547592 - }, - { - "x": 2.0659133856763727, - "y": 4.430897354022375, - "heading": -0.613319459199103, - "angularVelocity": 0.25469624790620676, - "velocityX": 1.1673982061141626, - "velocityY": 0.4810223197868642, - "timestamp": 0.8735063550841815 - }, - { - "x": 2.084831339415711, - "y": 4.437586400045198, - "heading": -0.6094016998370902, - "angularVelocity": 0.250973069135979, - "velocityX": 1.2118908980910377, - "velocityY": 0.4285026860550951, - "timestamp": 0.8891166330136038 - }, - { - "x": 2.1044068196032866, - "y": 4.443425689074363, - "heading": -0.6055529900818638, - "angularVelocity": 0.24654972657291577, - "velocityX": 1.2540122780696283, - "velocityY": 0.37406694842755106, - "timestamp": 0.904726910943026 - }, - { - "x": 2.124591776739188, - "y": 4.448380215564208, - "heading": -0.6017867370608403, - "angularVelocity": 0.24126751862148324, - "velocityX": 1.2930555898596048, - "velocityY": 0.31738874299640374, - "timestamp": 0.9203371888724483 - }, - { - "x": 2.1453222321318695, - "y": 4.452409291701021, - "heading": -0.5981195687389935, - "angularVelocity": 0.23492011727317683, - "velocityX": 1.3280004037345323, - "velocityY": 0.25810406163362676, - "timestamp": 0.9359474668018706 - }, - { - "x": 2.166510730463348, - "y": 4.455466843158549, - "heading": -0.5945722198659328, - "angularVelocity": 0.22724444043207317, - "velocityX": 1.3573427985892672, - "velocityY": 0.19586784241453092, - "timestamp": 0.9515577447312928 - }, - { - "x": 2.188035017984716, - "y": 4.457504414106686, - "heading": -0.5911703297085827, - "angularVelocity": 0.21792630296082013, - "velocityX": 1.378853574464475, - "velocityY": 0.1305275253489674, - "timestamp": 0.9671680226607151 - }, - { - "x": 2.209723010848071, - "y": 4.4584810825037255, - "heading": -0.5879444018293817, - "angularVelocity": 0.20665409634512977, - "velocityX": 1.389340597355868, - "velocityY": 0.06256572762225363, - "timestamp": 0.9827783005901374 - }, - { - "x": 2.231340396523973, - "y": 4.458387104834711, - "heading": -0.5849272732995832, - "angularVelocity": 0.19327833517376095, - "velocityX": 1.3848174756169542, - "velocityY": -0.006020243165398874, - "timestamp": 0.9983885785195596 - }, - { - "x": 2.2526018421157583, - "y": 4.457281422415155, - "heading": -0.5821467343507716, - "angularVelocity": 0.17812232180509294, - "velocityX": 1.3620158262340167, - "velocityY": -0.07083041215246684, - "timestamp": 1.013998856448982 - }, - { - "x": 2.273226708534977, - "y": 4.4553128610755115, - "heading": -0.5796139836111671, - "angularVelocity": 0.16224892029825883, - "velocityX": 1.321236336243861, - "velocityY": -0.1261067450909332, - "timestamp": 1.0296091343784042 - }, - { - "x": 2.2930046199345107, - "y": 4.452686403577795, - "heading": -0.577320064081297, - "angularVelocity": 0.14694930738845954, - "velocityX": 1.2669800940735099, - "velocityY": -0.1682518088140708, - "timestamp": 1.0452194123078264 - }, - { - "x": 2.3118111806915933, - "y": 4.44960454179237, - "heading": -0.5752453059077974, - "angularVelocity": 0.13290975233625504, - "velocityX": 1.2047550237165083, - "velocityY": -0.19742517073424024, - "timestamp": 1.0608296902372487 - }, - { - "x": 2.3295837089238307, - "y": 4.446235561009604, - "heading": -0.5733682364875802, - "angularVelocity": 0.12024573993517862, - "velocityX": 1.138514529503654, - "velocityY": -0.21581811662787959, - "timestamp": 1.076439968166671 - }, - { - "x": 2.3462942819537207, - "y": 4.442710003094703, - "heading": -0.5716693379675314, - "angularVelocity": 0.1088320482011814, - "velocityX": 1.0704852985604882, - "velocityY": -0.22584850384094388, - "timestamp": 1.0920502460960932 - }, - { - "x": 2.361932710234688, - "y": 4.439127599519703, - "heading": -0.570131998444952, - "angularVelocity": 0.09848252090898803, - "velocityX": 1.0018033216110414, - "velocityY": -0.22949005720437765, - "timestamp": 1.1076605240255155 - }, - { - "x": 2.376497511969503, - "y": 4.435565143031837, - "heading": -0.5687423978042991, - "angularVelocity": 0.0890183151725747, - "velocityX": 0.9330264201999029, - "velocityY": -0.22821223965218895, - "timestamp": 1.1232708019549378 - }, - { - "x": 2.3899913669695643, - "y": 4.43208272841001, - "heading": -0.56748908417522, - "angularVelocity": 0.08028772035614773, - "velocityX": 0.8644211884676433, - "velocityY": -0.22308472902089735, - "timestamp": 1.13888107988436 - }, - { - "x": 2.4024188411865652, - "y": 4.428728245556412, - "heading": -0.5663625252914164, - "angularVelocity": 0.07216776593581338, - "velocityX": 0.796108453237543, - "velocityY": -0.21488937408830755, - "timestamp": 1.1544913578137823 - }, - { - "x": 2.4137852414509506, - "y": 4.425540536252587, - "heading": -0.5653547221703813, - "angularVelocity": 0.0645602292023053, - "velocityX": 0.7281356754681111, - "velocityY": -0.20420580070625552, - "timestamp": 1.1701016357432046 - }, - { - "x": 2.4240960382867756, - "y": 4.422551616527037, - "heading": -0.564458899406459, - "angularVelocity": 0.057386727383877435, - "velocityX": 0.6605133414307027, - "velocityY": -0.19147126906156764, - "timestamp": 1.1857119136726268 - }, - { - "x": 2.4333565793001064, - "y": 4.419788260781509, - "heading": -0.5636692633247001, - "angularVelocity": 0.050584370459576755, - "velocityX": 0.593233576954846, - "velocityY": -0.17702155964302693, - "timestamp": 1.2013221916020491 - }, - { - "x": 2.44157195361988, - "y": 4.417273149474497, - "heading": -0.5629808144555088, - "angularVelocity": 0.04410228134975417, - "velocityX": 0.5262798239030234, - "velocityY": -0.16111893192318538, - "timestamp": 1.2169324695314714 - }, - { - "x": 2.44874693563304, - "y": 4.4150257150163865, - "heading": -0.5623892018465247, - "angularVelocity": 0.03789891580783127, - "velocityX": 0.4596319197902289, - "velocityY": -0.14397145702789166, - "timestamp": 1.2325427474608937 - }, - { - "x": 2.454885970298794, - "y": 4.413062775808062, - "heading": -0.5618906091651886, - "angularVelocity": 0.031940025897701944, - "velocityX": 0.3932687613577477, - "velocityY": -0.12574658934324356, - "timestamp": 1.248153025390316 - }, - { - "x": 2.4599931798618555, - "y": 4.411399019100761, - "heading": -0.5614816649136146, - "angularVelocity": 0.02619711535073342, - "velocityX": 0.3271696753992591, - "velocityY": -0.1065808510792109, - "timestamp": 1.2637633033197382 - }, - { - "x": 2.4640723810342107, - "y": 4.410047374199178, - "heading": -0.5611593710042633, - "angularVelocity": 0.020646263366255697, - "velocityX": 0.2613150893788369, - "velocityY": -0.08658685692172037, - "timestamp": 1.2793735812491605 - }, - { - "x": 2.46712710669782, - "y": 4.409019304866325, - "heading": -0.5609210454129525, - "angularVelocity": 0.015267222812314366, - "velocityX": 0.19568682104315818, - "velocityY": -0.06585848999620345, - "timestamp": 1.2949838591785827 - }, - { - "x": 2.4691606289115664, - "y": 4.408325041305459, - "heading": -0.5607642757144292, - "angularVelocity": 0.010042723084892041, - "velocityX": 0.1302681619725483, - "velocityY": -0.044474772582873814, - "timestamp": 1.310594137108005 - }, - { - "x": 2.4701759815216064, - "y": 4.407973766326904, - "heading": -0.5606868811052523, - "angularVelocity": 0.004957926407641578, - "velocityX": 0.06504385217425471, - "velocityY": -0.022502801048308187, - "timestamp": 1.3262044150374273 - }, - { - "x": 2.4701759815216064, - "y": 4.407973766326904, - "heading": -0.5606868811052523, - "angularVelocity": -1.1447905727402234e-25, - "velocityX": 1.8614769693128743e-24, - "velocityY": 1.7294508609659608e-24, - "timestamp": 1.3418146929668495 - } - ] + "samples": [ + { + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "angularVelocity": -6.053538185867415e-24, + "velocityX": -2.9084748636196847e-24, + "velocityY": -8.183602971756971e-24, + "moduleForcesX": [ + 48.46721349618117, + 48.58944127653395, + 44.44373731536623, + 44.86292278246395 + ], + "moduleForcesY": [ + -50.41980268814413, + -50.30935638313135, + -54.00036645895573, + -53.65938893004021 + ], + "timestamp": 0 + }, + { + "x": 2.063291063879915, + "y": 3.596624507232765, + "heading": -0.7716023938040096, + "angularVelocity": 0.005070854530597703, + "velocityX": -0.043475811725988835, + "velocityY": 0.05890734517457243, + "moduleForcesX": [ + -40.602823395342234, + -40.20918869084971, + -42.706333277003736, + -42.40028894465274 + ], + "moduleForcesY": [ + 56.859351367273085, + 57.13174076486137, + 55.295767030026134, + 55.52380851822029 + ], + "timestamp": 0.019413340477292707 + }, + { + "x": 2.0616102104692997, + "y": 3.5989167438477243, + "heading": -0.771403529062637, + "angularVelocity": 0.01024371573790692, + "velocityX": -0.08658238970163287, + "velocityY": 0.11807533163293742, + "moduleForcesX": [ + -40.23738527715029, + -39.81936340738055, + -42.38967071313312, + -42.06309206312429 + ], + "moduleForcesY": [ + 57.10996898738801, + 57.39513474967195, + 55.529953067439116, + 55.770307562022204 + ], + "timestamp": 0.03882668095458541 + }, + { + "x": 2.059100460355995, + "y": 3.602363160729981, + "heading": -0.7711020616823895, + "angularVelocity": 0.01552887719659019, + "velocityX": -0.1292796629328244, + "velocityY": 0.17752827682013697, + "moduleForcesX": [ + -39.83286938785652, + -39.38692725346365, + -42.03892392455064, + -41.68874336735662 + ], + "moduleForcesY": [ + 57.383446119679846, + 57.682891181529506, + 55.78614874017144, + 56.0403787361809 + ], + "timestamp": 0.05824002143187812 + }, + { + "x": 2.055770669666509, + "y": 3.6069698294308403, + "heading": -0.7706955802677001, + "angularVelocity": 0.020938251980112843, + "velocityX": -0.17152074849666904, + "velocityY": 0.23729397350484902, + "moduleForcesX": [ + -39.382713355301085, + -38.90461877021222, + -41.64831571274666, + -41.27084722631647 + ], + "moduleForcesY": [ + 57.68298097517582, + 57.9984198757853, + 56.067559666957266, + 56.33747142457774 + ], + "timestamp": 0.07765336190917083 + }, + { + "x": 2.0516307682828856, + "y": 3.6127434415080173, + "heading": -0.7701814038614015, + "angularVelocity": 0.026485725468008856, + "velocityX": -0.21325033620388828, + "velocityY": 0.29740435881861815, + "moduleForcesX": [ + -38.878821621842945, + -38.36345199919345, + -41.21070215455073, + -40.80146773541368 + ], + "moduleForcesY": [ + 58.01236951674466, + 58.34576553334942, + 56.37802617083991, + 56.66572095294688 + ], + "timestamp": 0.09706670238646353 + }, + { + "x": 2.0466919645432444, + "y": 3.6196914050570004, + "heading": -0.769556534873447, + "angularVelocity": 0.032187607727035265, + "velocityX": -0.2544025715418649, + "velocityY": 0.35789634231726236, + "moduleForcesX": [ + -38.31109710510367, + -37.75218128490594, + -40.71714824827335, + -40.27064187369805 + ], + "moduleForcesY": [ + 58.376141683349154, + 58.72974945865532, + 56.722181637410195, + 57.03011917167929 + ], + "timestamp": 0.11648004286375624 + }, + { + "x": 2.040967004590246, + "y": 3.6278219612284515, + "heading": -0.7688176006186518, + "angularVelocity": 0.03806322027162254, + "velocityX": -0.29489824070690884, + "velocityY": 0.41881283548088916, + "moduleForcesX": [ + -37.66679312064409, + -37.056557584724324, + -40.15633724605906, + -39.66569847157228 + ], + "moduleForcesY": [ + 58.779731370199116, + 59.15614390788848, + 57.10565734803557, + 57.436734053150964 + ], + "timestamp": 0.13589338334104895 + }, + { + "x": 2.0344705055492645, + "y": 3.6371443256641944, + "heading": -0.7679607798970632, + "angularVelocity": 0.04413566653254177, + "velocityX": -0.3346409675645684, + "velocityY": 0.4802040352945231, + "moduleForcesX": [ + -36.92960128907233, + -36.258277199430665, + -39.51373356088872, + -38.970287844105776 + ], + "moduleForcesY": [ + 59.2296866765058, + 59.63188294539416, + 57.5353482790216, + 57.89299244730674 + ], + "timestamp": 0.15530672381834165 + }, + { + "x": 2.027219390223364, + "y": 3.647668860994583, + "heading": -0.7669817096758487, + "angularVelocity": 0.05043285684706021, + "velocityX": -0.3735119844202865, + "velocityY": 0.5421290242500124, + "moduleForcesX": [ + -36.078343901109285, + -35.33346767280096, + -38.770372633788455, + -38.16297082945934 + ], + "moduleForcesY": [ + 59.73392476277649, + 60.16530841856197, + 58.01975781046607, + 58.40804211293954 + ], + "timestamp": 0.17472006429563436 + }, + { + "x": 2.019233464127259, + "y": 3.6594072878240635, + "heading": -0.7658753649344333, + "angularVelocity": 0.05698889084592769, + "velocityX": -0.4113628000006165, + "velocityY": 0.6046577529101955, + "moduleForcesX": [ + -35.08506089064344, + -34.25046226319691, + -37.901072627457744, + -37.2151206836631 + ], + "moduleForcesY": [ + 60.30202757311062, + 60.76643496296282, + 58.56944128573651, + 58.99320741979744 + ], + "timestamp": 0.19413340477292707 + }, + { + "x": 2.0105361964691277, + "y": 3.672372942594943, + "heading": -0.7646359018050912, + "angularVelocity": 0.0638459481402387, + "velocityX": -0.44800469390130027, + "velocityY": 0.6678734546506742, + "moduleForcesX": [ + -33.912148677480715, + -32.9664558091714, + -36.87172651535803, + -36.087724990405334 + ], + "moduleForcesY": [ + 60.94555192240552, + 61.44718081627147, + 59.19756409317997, + 59.66253970397261 + ], + "timestamp": 0.21354674525021977 + }, + { + "x": 2.001155800459354, + "y": 3.6865810902424863, + "heading": -0.76325644982448, + "angularVelocity": 0.0710569096660428, + "velocityX": -0.4831932979666945, + "velocityY": 0.731875468014455, + "moduleForcesX": [ + -32.507977360184356, + -31.422359712793405, + -35.63508948003746, + -34.72637612860624 + ], + "moduleForcesY": [ + 61.67826878847402, + 62.221420518172394, + 59.92056588129605, + 60.43341665145688 + ], + "timestamp": 0.23296008572751248 + }, + { + "x": 1.9911267647234503, + "y": 3.7020492946499766, + "heading": -0.7617288327927848, + "angularVelocity": 0.07868903517568326, + "velocityX": -0.5166053594760848, + "velocityY": 0.7967822140441202, + "moduleForcesX": [ + -30.800003176803294, + -29.53468826107361, + -34.124027454539174, + -33.05318703788708 + ], + "moduleForcesY": [ + 62.51609946515333, + 63.10449486939348, + 60.7588411511737, + 61.32700704105159 + ], + "timestamp": 0.2523734262048052 + }, + { + "x": 1.9804920844336347, + "y": 3.718797832701683, + "heading": -0.7600431887809308, + "angularVelocity": 0.08682915821858032, + "velocityX": -0.547802697956812, + "velocityY": 0.8627334420521742, + "moduleForcesX": [ + -28.683654372064414, + -27.18244520906737, + -32.24033977557545, + -30.953322595195168 + ], + "moduleForcesY": [ + 63.47614641042527, + 64.11126953469874, + 61.73710239934388, + 62.3680262591476 + ], + "timestamp": 0.2717867666820979 + }, + { + "x": 1.9693066112337394, + "y": 3.736850087182896, + "heading": -0.7581874483541441, + "angularVelocity": 0.09559098955469619, + "velocityX": -0.5761745750546187, + "velocityY": 0.929889140013156, + "moduleForcesX": [ + -26.00393306094652, + -24.185470258216412, + -29.83560776287756, + -28.251819503372385 + ], + "moduleForcesY": [ + 64.57327117456323, + 65.25046261735072, + 62.88338052932985, + 63.58210143630377 + ], + "timestamp": 0.2912001071593906 + }, + { + "x": 1.9576422454728677, + "y": 3.7562327123292563, + "heading": -0.7561466200856488, + "angularVelocity": 0.10512504382655279, + "velocityX": -0.6008427954228075, + "velocityY": 0.9984178235080415, + "moduleForcesX": [ + -22.524345405851697, + -20.268285098450278, + -26.677252950047443, + -24.672520604509963 + ], + "moduleForcesY": [ + 65.81019247964247, + 66.5094191328966, + 64.22352353966645, + 64.98586511231055 + ], + "timestamp": 0.3106134476366833 + }, + { + "x": 1.9455962290968358, + "y": 3.7769749716683765, + "heading": -0.7539018430429526, + "angularVelocity": 0.11563064302724045, + "velocityX": -0.6205019888319242, + "velocityY": 1.0684538996975426, + "moduleForcesX": [ + -17.87430204727145, + -15.000837635366615, + -22.38678974406999, + -19.764306830651165 + ], + "moduleForcesY": [ + 67.15041594147246, + 67.8142174770323, + 65.76172198042546, + 66.55537327540978 + ], + "timestamp": 0.330026788113976 + }, + { + "x": 1.9333046316742337, + "y": 3.7991055422792397, + "heading": -0.7514292692633723, + "angularVelocity": 0.12736467391957912, + "velocityX": -0.6331521067679473, + "velocityY": 1.1399671600437673, + "moduleForcesX": [ + -11.46441533203664, + -7.7116120379852795, + -16.32777624201954, + -12.773392567909713 + ], + "moduleForcesY": [ + 68.4453419158152, + 68.92621107979555, + 67.41790857052277, + 68.12970935884171 + ], + "timestamp": 0.3494401285912687 + }, + { + "x": 1.9209637452674597, + "y": 3.822642051446584, + "heading": -0.7486992733536658, + "angularVelocity": 0.14062473755609267, + "velocityX": -0.6356910301556985, + "velocityY": 1.2123884189263257, + "moduleForcesX": [ + -2.380032918411333, + 2.583336096355642, + -7.423091783866675, + -2.469615326612163 + ], + "moduleForcesY": [ + 69.24190677224236, + 69.18473741226738, + 68.8324229172443, + 69.12533819426791 + ], + "timestamp": 0.3688534690685614 + }, + { + "x": 1.9088585047936426, + "y": 3.8475616073152192, + "heading": -0.7456779206273736, + "angularVelocity": 0.15563280981066036, + "velocityX": -0.623552679559492, + "velocityY": 1.2836304961416556, + "moduleForcesX": [ + 10.591859256794436, + 16.95653829081823, + 5.985092984817861, + 12.790625653501785 + ], + "moduleForcesY": [ + 68.32331611036247, + 66.97532486057348, + 68.7951854838602, + 67.79041647368874 + ], + "timestamp": 0.38826680954585413 + }, + { + "x": 1.897373536975051, + "y": 3.873735345554567, + "heading": -0.7423364027497029, + "angularVelocity": 0.17212482733608056, + "velocityX": -0.5916018333900218, + "velocityY": 1.3482346466833663, + "moduleForcesX": [ + 28.098109068504147, + 35.17491264960864, + 25.30147397389004, + 33.36091047891173 + ], + "moduleForcesY": [ + 63.00944503236396, + 59.312295207853445, + 64.04389740473846, + 60.18599653860359 + ], + "timestamp": 0.40768015002314684 + }, + { + "x": 1.8869151397673376, + "y": 3.9008576828288146, + "heading": -0.7386752337145183, + "angularVelocity": 0.1885903685389393, + "velocityX": -0.538722185393388, + "velocityY": 1.3970979031646167, + "moduleForcesX": [ + 47.45366432564693, + 53.06778096330309, + 47.494210782541465, + 53.791248272895835 + ], + "moduleForcesY": [ + 49.96035054678647, + 43.96760977093699, + 49.70963633861263, + 42.84137777433118 + ], + "timestamp": 0.42709349050043954 + }, + { + "x": 1.8777548530008725, + "y": 3.9285046657236244, + "heading": -0.7347358213073358, + "angularVelocity": 0.20292295454200832, + "velocityX": -0.4718552573257226, + "velocityY": 1.4241229080150726, + "moduleForcesX": [ + 61.88542946636817, + 64.55301339413991, + 63.091468013813895, + 65.65725975914002 + ], + "moduleForcesY": [ + 30.401639377276158, + 24.35558392893809, + 27.516854316179977, + 20.8626257291439 + ], + "timestamp": 0.44650683097773225 + }, + { + "x": 1.8699917304445708, + "y": 3.956292718574739, + "heading": -0.7305746148685935, + "angularVelocity": 0.214347780260146, + "velocityX": -0.39988597353359845, + "velocityY": 1.43138955830999, + "moduleForcesX": [ + 68.17350507810156, + 68.80060614741706, + 68.65481730732454, + 69.03058453531935 + ], + "moduleForcesY": [ + 11.198823397609834, + 6.80702985490626, + 7.096162995608971, + 2.6300178430217747 + ], + "timestamp": 0.46592017145502496 + }, + { + "x": 1.8636300192842972, + "y": 3.983943937963699, + "heading": -0.7262421188661539, + "angularVelocity": 0.22317107184655025, + "velocityX": -0.32769791307757956, + "velocityY": 1.4243411339383634, + "moduleForcesX": [ + 69.15153313305028, + 68.99751168763625, + 68.81743753609643, + 68.52795762477763 + ], + "moduleForcesY": [ + -3.4376816859740824, + -6.205142071474585, + -7.29952742442652, + -9.956857811234014 + ], + "timestamp": 0.48533351193231766 + }, + { + "x": 1.8586410304513583, + "y": 4.011268693479653, + "heading": -0.7217777485271456, + "angularVelocity": 0.22996404684860525, + "velocityX": -0.2569876543799337, + "velocityY": 1.4075246631517708, + "moduleForcesX": [ + 68.00755364977871, + 67.67631302264084, + 67.27547593706154, + 66.89529814136311 + ], + "moduleForcesY": [ + -13.644063041227575, + -15.328928741205358, + -16.81858806255964, + -18.38585022519496 + ], + "timestamp": 0.5047468524096104 + }, + { + "x": 1.8549891682362407, + "y": 4.038136077943053, + "heading": -0.717211213233882, + "angularVelocity": 0.23522666274795387, + "velocityX": -0.18811096520915757, + "velocityY": 1.3839650365595153, + "moduleForcesX": [ + 66.2940367415492, + 65.98313558985876, + 65.45062558085554, + 65.12931157397512 + ], + "moduleForcesY": [ + -20.734221686880456, + -21.76543802698407, + -23.233694776367557, + -24.17827484579287 + ], + "timestamp": 0.5241601928869031 + }, + { + "x": 1.8526405320723487, + "y": 4.0644527252644, + "heading": -0.7125650203703617, + "angularVelocity": 0.23932990146413785, + "velocityX": -0.12098052710913958, + "velocityY": 1.355596032126881, + "moduleForcesX": [ + 64.57741101382622, + 64.33280379597771, + 63.76194658183983, + 63.520654058064906 + ], + "moduleForcesY": [ + -25.789311043043956, + -26.42923541985152, + -27.732378939756952, + -28.31494210551599 + ], + "timestamp": 0.5435735333641958 + }, + { + "x": 1.8515651676700786, + "y": 4.090149676474314, + "heading": -0.7078565360194697, + "angularVelocity": 0.24253859640483524, + "velocityX": -0.05539306352391964, + "velocityY": 1.3236748842874495, + "moduleForcesX": [ + 63.0284786479002, + 62.84952282438234, + 62.29925518934182, + 62.12703792778096 + ], + "moduleForcesY": [ + -29.512028474211878, + -29.91332103604826, + -31.015870368857055, + -31.380847261066457 + ], + "timestamp": 0.5629868738414885 + }, + { + "x": 1.851737229293389, + "y": 4.115174360071379, + "heading": -0.7030994448048052, + "angularVelocity": 0.2450423831091049, + "velocityX": 0.008863061126008018, + "velocityY": 1.2890457274127403, + "moduleForcesX": [ + 61.67853400536588, + 61.5531320400509, + 61.05540121569605, + 60.93638054993286 + ], + "moduleForcesY": [ + -32.3393804496482, + -32.59168324981953, + -33.4978666542829, + -33.72782964181684 + ], + "timestamp": 0.5824002143187812 + }, + { + "x": 1.8531345323504183, + "y": 4.139485588244426, + "heading": -0.698304750084788, + "angularVelocity": 0.24697937614730656, + "velocityX": 0.07197643592888199, + "velocityY": 1.2522949464304298, + "moduleForcesX": [ + 60.51396658342827, + 60.42924324277002, + 59.99946227192702, + 59.91964968786428 + ], + "moduleForcesY": [ + -34.54584513519722, + -34.7032296487274, + -35.43024227080809, + -35.57428945094621 + ], + "timestamp": 0.6018135547960739 + }, + { + "x": 1.8557379914904524, + "y": 4.1630503346393555, + "heading": -0.6934814614875531, + "angularVelocity": 0.24845227450043436, + "velocityX": 0.13410670580259407, + "velocityY": 1.2138429459109081, + "moduleForcesX": [ + 59.509612253624326, + 59.45468179724434, + 59.09887040802473, + 59.0472911571001 + ], + "moduleForcesY": [ + -36.308420210702714, + -36.40451858116458, + -36.9723238219478, + -37.06078212512554 + ], + "timestamp": 0.6212268952733666 + }, + { + "x": 1.8595310996278773, + "y": 4.185841590699631, + "heading": -0.688637075129362, + "angularVelocity": 0.2495390406332783, + "velocityX": 0.19538667968355838, + "velocityY": 1.173999708444483, + "moduleForcesX": [ + 58.64002448823177, + 58.60632939296109, + 58.325360877184394, + 58.29371921746113 + ], + "moduleForcesY": [ + -37.7447322740269, + -37.80109079564338, + -38.22870315840949, + -38.280956680380875 + ], + "timestamp": 0.6406402357506593 + }, + { + "x": 1.8644994866965217, + "y": 4.207836895374668, + "heading": -0.6837779157555899, + "angularVelocity": 0.2503000129965071, + "velocityX": 0.2559264375162739, + "velocityY": 1.1329994804738897, + "moduleForcesX": [ + 57.882851709415604, + 57.86384127416289, + 57.65586616544789, + 57.63795607446646 + ], + "moduleForcesY": [ + -38.93528208773494, + -38.96607799171289, + -39.270391227190174, + -39.29920486701738 + ], + "timestamp": 0.660053576227952 + }, + { + "x": 1.870630558303109, + "y": 4.229017298464473, + "heading": -0.6789093855015307, + "angularVelocity": 0.2507827161303632, + "velocityX": 0.3158174459340805, + "velocityY": 1.0910231093190053, + "moduleForcesX": [ + 57.21943999253799, + 57.21014195866552, + 57.071953082729515, + 57.06312953476081 + ], + "moduleForcesY": [ + -39.93667613126504, + -39.95145912877808, + -40.147060171738694, + -40.16105850163185 + ], + "timestamp": 0.6794669167052447 + }, + { + "x": 1.8779132032779835, + "y": 4.24936661148856, + "heading": -0.6740361482940231, + "angularVelocity": 0.25102517586849293, + "velocityX": 0.37513610722443425, + "velocityY": 1.0482128538304925, + "moduleForcesX": [ + 56.6345259775404, + 56.63116801147316, + 56.55896436214915, + 56.55573294080623 + ], + "moduleForcesY": [ + -40.78970462715683, + -40.79503859962258, + -40.894380251711155, + -40.89951956540919 + ], + "timestamp": 0.6988802571825374 + }, + { + "x": 1.8863375574439454, + "y": 4.268870854358429, + "heading": -0.6691622690183583, + "angularVelocity": 0.25105824942211524, + "velocityX": 0.4339466551784482, + "velocityY": 1.0046824704218733, + "moduleForcesX": [ + 56.11569712600201, + 56.115408410893174, + 56.10521847232125, + 56.10493222138901 + ], + "moduleForcesY": [ + -41.52441115473471, + -41.52488566429384, + -41.53856541491321, + -41.53903636373698 + ], + "timestamp": 0.7182935976598301 + }, + { + "x": 1.8958948122554808, + "y": 4.287517838651164, + "heading": -0.6642913202833717, + "angularVelocity": 0.25090729442899234, + "velocityX": 0.49230346640826617, + "velocityY": 0.9605242495254703, + "moduleForcesX": [ + 55.652855282704536, + 55.65344120512149, + 55.701352637553356, + 55.701991877696884 + ], + "moduleForcesY": [ + -42.16336061152959, + -42.16223081931641, + -42.09927671848439, + -42.098074004633915 + ], + "timestamp": 0.7377069381371228 + }, + { + "x": 1.9065770589809687, + "y": 4.3052968482771306, + "heading": -0.6594264655594324, + "angularVelocity": 0.250593386008424, + "velocityX": 0.5502528912003736, + "velocityY": 0.9158140324567956, + "moduleForcesX": [ + 55.23775487372007, + 55.23752967802466, + 55.33980847988511, + 55.33982136147598 + ], + "moduleForcesY": [ + -42.72379936659345, + -42.72340075525379, + -42.59152885556614, + -42.590820216431425 + ], + "timestamp": 0.7571202786144156 + }, + { + "x": 1.918377161026001, + "y": 4.322198390960693, + "heading": -0.6545705248006215, + "angularVelocity": 0.25013421901761407, + "velocityX": 0.6078347030916116, + "velocityY": 0.870614859062085, + "moduleForcesX": [ + 54.86362710083431, + 54.8612901358657, + 55.01443670059011, + 55.012623327220155 + ], + "moduleForcesY": [ + -43.21911660315328, + -43.22113970024562, + -43.02697370998198, + -43.02834450883221 + ], + "timestamp": 0.7765336190917083 + }, + { + "x": 1.92949101022194, + "y": 4.336240054669241, + "heading": -0.6503521079983314, + "angularVelocity": 0.24962112703624756, + "velocityX": 0.6576523117618639, + "velocityY": 0.8309031763975517, + "moduleForcesX": [ + 54.50609958933593, + 54.50068318190435, + 54.701347529318234, + 54.696813473214824 + ], + "moduleForcesY": [ + -43.6449408780058, + -43.650398789827186, + -43.39995061629887, + -43.40435140919503 + ], + "timestamp": 0.7934328970189224 + }, + { + "x": 1.9414398764858016, + "y": 4.349602350166723, + "heading": -0.6461449178799247, + "angularVelocity": 0.2489567978304854, + "velocityX": 0.7070637168833745, + "velocityY": 0.7907021563307972, + "moduleForcesX": [ + 54.03327194566706, + 54.02240218111822, + 54.28889337860404, + 54.27954283234234 + ], + "moduleForcesY": [ + -44.21306763661465, + -44.224589512989375, + -43.89874793713713, + -43.90853644476067 + ], + "timestamp": 0.8103321749461365 + }, + { + "x": 1.9542159992135733, + "y": 4.362276127300997, + "heading": -0.6419518063271455, + "angularVelocity": 0.24812371101528058, + "velocityX": 0.7560158950458375, + "velocityY": 0.7499596840089624, + "moduleForcesX": [ + 53.49939750736049, + 53.48039303468656, + 53.82378826237624, + 53.807238626495455 + ], + "moduleForcesY": [ + -44.84017303633507, + -44.860539594007484, + -44.450147047889075, + -44.46785796343512 + ], + "timestamp": 0.8272314528733506 + }, + { + "x": 1.9678105400995975, + "y": 4.374251212145572, + "heading": -0.637775974473225, + "angularVelocity": 0.24710119993918378, + "velocityX": 0.8044450741964254, + "velocityY": 0.7086151784799669, + "moduleForcesX": [ + 52.8922636364938, + 52.861546092175665, + 53.29552428980751, + 53.268608004904166 + ], + "moduleForcesY": [ + -45.535563283720116, + -45.568275987265146, + -45.0627061046215, + -45.09154079998919 + ], + "timestamp": 0.8441307308005648 + }, + { + "x": 1.9822133505382364, + "y": 4.38551623292512, + "heading": -0.6336210389994424, + "angularVelocity": 0.2458646749096575, + "velocityX": 0.8522737184790887, + "velocityY": 0.6665977580856509, + "moduleForcesX": [ + 52.19629238447616, + 52.14902987293808, + 52.690683542979166, + 52.64913654503848 + ], + "moduleForcesY": [ + -46.31048058142593, + -46.35997590012653, + -45.7468582943555, + -45.790891593085306 + ], + "timestamp": 0.8610300087277789 + }, + { + "x": 1.9974126695150844, + "y": 4.396058406840472, + "heading": -0.6294911157005773, + "angularVelocity": 0.24438460132159248, + "velocityX": 0.8994064150143928, + "velocityY": 0.6238239267238552, + "moduleForcesX": [ + 51.39134319986762, + 51.32092386232151, + 51.9918883228816, + 51.92988850965913 + ], + "moduleForcesY": [ + -47.17857637406724, + -47.25050992705384, + -46.51541707778997, + -46.57987771688901 + ], + "timestamp": 0.877929286654993 + }, + { + "x": 2.013394725020626, + "y": 4.40586327749225, + "heading": -0.6253909260378425, + "angularVelocity": 0.2426251393931875, + "velocityX": 0.9457241649244735, + "velocityY": 0.5801946505647506, + "moduleForcesX": [ + 50.45098913661692, + 50.34822916450028, + 51.17627794671154, + 51.08574725339689 + ], + "moduleForcesY": [ + -48.156495641748066, + -48.258117220223525, + -47.38423191793656, + -47.47588439250302 + ], + "timestamp": 0.8948285645822072 + }, + { + "x": 2.030143199019127, + "y": 4.414914390062327, + "heading": -0.621325934651704, + "angularVelocity": 0.24054231214176175, + "velocityX": 0.9910763093332637, + "velocityY": 0.5355916749260439, + "moduleForcesX": [ + 49.339990472108006, + 49.1919186958684, + 50.21325327356883, + 50.08277840131826 + ], + "moduleForcesY": [ + -49.26457409098901, + -49.40521501241419, + -48.37303189591521, + -48.50069557119244 + ], + "timestamp": 0.9117278425094213 + }, + { + "x": 2.047638495498651, + "y": 4.4231928889788845, + "heading": -0.6173025290254516, + "angularVelocity": 0.2380815111498428, + "velocityX": 1.0352688768642184, + "velocityY": 0.48987293730617476, + "moduleForcesX": [ + 48.010523473980065, + 47.79847710386321, + 49.06106340776075, + 48.87418597837039 + ], + "moduleForcesY": [ + -50.52760909752887, + -50.719292141228394, + -49.5064856264647, + -49.68173207772905 + ], + "timestamp": 0.9286271204366354 + }, + { + "x": 2.0658567181308984, + "y": 4.430677021860469, + "heading": -0.6133282570210099, + "angularVelocity": 0.23517407202597101, + "velocityX": 1.0780474000553897, + "velocityY": 0.4428670215271044, + "moduleForcesX": [ + 46.396447575676866, + 46.09302595299126, + 47.661519942870946, + 47.393957032515864 + ], + "moduleForcesY": [ + -51.97555652008002, + -52.23369267538677, + -50.815459167372566, + -51.053517123984044 + ], + "timestamp": 0.9455263983638496 + }, + { + "x": 2.0847682100441074, + "y": 4.437341537983441, + "heading": -0.6094121441125747, + "angularVelocity": 0.23173255835556264, + "velocityX": 1.1190710037825848, + "velocityY": 0.3943669162479081, + "moduleForcesX": [ + 44.40444505484776, + 43.96854171822575, + 45.93161606484857, + 45.54662054658651 + ], + "moduleForcesY": [ + -53.643732861588404, + -53.9877263196962, + -52.33830120690189, + -52.65912825716858 + ], + "timestamp": 0.9624256762910637 + }, + { + "x": 2.1043354188112007, + "y": 4.443156989608688, + "heading": -0.6055651194174421, + "angularVelocity": 0.22764432372211033, + "velocityX": 1.157872475461341, + "velocityY": 0.34412426674646285, + "moduleForcesX": [ + 41.90016272268252, + 41.268746860765695, + 43.74993390713509, + 43.190350156817765 + ], + "moduleForcesY": [ + -55.57143381654411, + -56.02461262649197, + -54.12154482728592, + -54.550770305231 + ], + "timestamp": 0.9793249542182778 + }, + { + "x": 2.124509702662004, + "y": 4.448089006938382, + "heading": -0.6018005850656859, + "angularVelocity": 0.22276302975606474, + "velocityX": 1.1937956129069005, + "velocityY": 0.29184781450047914, + "moduleForcesX": [ + 38.68651900699023, + 37.761016139639786, + 40.93419544484739, + 40.10858304254363 + ], + "moduleForcesY": [ + -57.79625936892281, + -58.38345388529488, + -56.21819740484658, + -56.78682779455254 + ], + "timestamp": 0.9962242321454919 + }, + { + "x": 2.145226463104995, + "y": 4.452097790817057, + "heading": -0.5981351555699459, + "angularVelocity": 0.216898586527011, + "velocityX": 1.2258961910809663, + "velocityY": 0.23721628201755715, + "moduleForcesX": [ + 34.47060640024352, + 33.09498145302169, + 37.20398474259022, + 35.9622922678011 + ], + "moduleForcesY": [ + -60.33756994854637, + -61.075800672167986, + -58.678472416185144, + -59.417782147749314 + ], + "timestamp": 1.013123510072706 + }, + { + "x": 2.166397685702493, + "y": 4.455138521510558, + "heading": -0.5945895365770223, + "angularVelocity": 0.20980890474697245, + "velocityX": 1.2527885918370314, + "velocityY": 0.17993258094204928, + "moduleForcesX": [ + 28.817790907872606, + 26.74710430554785, + 32.12058915868509, + 30.213255287338697 + ], + "moduleForcesY": [ + -63.15372163985154, + -64.02452910015843, + -61.51893737804095, + -62.439786267085964 + ], + "timestamp": 1.0300227879999202 + }, + { + "x": 2.1879008405021447, + "y": 4.457164490991264, + "heading": -0.5911893111208631, + "angularVelocity": 0.20120536929470692, + "velocityX": 1.2724303897637337, + "velocityY": 0.11988497315871872, + "moduleForcesX": [ + 21.107180389630262, + 17.979436226523696, + 25.001831123087328, + 22.02298727949427 + ], + "moduleForcesY": [ + -66.04065481441144, + -66.91917458919546, + -64.63368990175655, + -65.66067437694193 + ], + "timestamp": 1.0469220659271343 + }, + { + "x": 2.2095643291934977, + "y": 4.458137038510174, + "heading": -0.5879648827426647, + "angularVelocity": 0.1908027308673283, + "velocityX": 1.2819180076603152, + "velocityY": 0.05754964934590115, + "moduleForcesX": [ + 10.563349599114456, + 5.9431020803346035, + 14.859638801717251, + 10.228492409506318 + ], + "moduleForcesY": [ + -68.42238117043242, + -68.93142377706826, + -67.56626958656321, + -68.36367504478591 + ], + "timestamp": 1.0638213438543485 + }, + { + "x": 2.2311558382345025, + "y": 4.458048724355527, + "heading": -0.5849489168243499, + "angularVelocity": 0.1784671470168458, + "velocityX": 1.2776586747670418, + "velocityY": -0.005225912907505727, + "moduleForcesX": [ + -3.4065036622505853, + -9.727399450140839, + 0.6146384591459884, + -6.154039543802912 + ], + "moduleForcesY": [ + -69.04961017690735, + -68.4014909821104, + -69.04682092261058, + -68.71587300583637 + ], + "timestamp": 1.0807206217815626 + }, + { + "x": 2.2523938607564395, + "y": 4.456959391400087, + "heading": -0.5821689475868451, + "angularVelocity": 0.16450224971020536, + "velocityX": 1.2567414189771662, + "velocityY": -0.06446032547261737, + "moduleForcesX": [ + -20.25465057286389, + -27.616685387992277, + -17.74816658427065, + -26.083656169862635 + ], + "moduleForcesY": [ + -66.02381038495457, + -63.27102243502757, + -66.61739157563655, + -63.776847221358366 + ], + "timestamp": 1.0976198997087767 + }, + { + "x": 2.2730018436094053, + "y": 4.4550159241436935, + "heading": -0.5796360271578783, + "angularVelocity": 0.14988335240571307, + "velocityX": 1.2194593722716707, + "velocityY": -0.11500297614865834, + "moduleForcesX": [ + -37.32051055092115, + -44.098138175122536, + -37.175571556110235, + -44.85367558899315 + ], + "moduleForcesY": [ + -58.09290209858474, + -53.139433564825524, + -58.02374052905129, + -52.32751791669901 + ], + "timestamp": 1.1145191776359908 + }, + { + "x": 2.2927713717115594, + "y": 4.4524194842892, + "heading": -0.5773413251596294, + "angularVelocity": 0.1357869849902553, + "velocityX": 1.1698445452700192, + "velocityY": -0.15364205889011393, + "moduleForcesX": [ + -51.095437825197784, + -56.01661565437589, + -52.60551102714432, + -57.79836592194909 + ], + "moduleForcesY": [ + -46.52248001757658, + -40.51747760103842, + -44.620650849814645, + -37.73665725494407 + ], + "timestamp": 1.131418455563205 + }, + { + "x": 2.31157767337301, + "y": 4.449369106042973, + "heading": -0.5752653653006934, + "angularVelocity": 0.12284311009483324, + "velocityX": 1.1128464625796242, + "velocityY": -0.18050346644186008, + "moduleForcesX": [ + -60.10429149510086, + -63.10967738037021, + -61.926565254948855, + -64.744263183066 + ], + "moduleForcesY": [ + -34.28573488259858, + -28.481385134369937, + -30.66968594313058, + -24.326056662544207 + ], + "timestamp": 1.148317733490419 + }, + { + "x": 2.3293566103225256, + "y": 4.446030878136759, + "heading": -0.5733868247426258, + "angularVelocity": 0.11116099552646169, + "velocityX": 1.0520530537511565, + "velocityY": -0.19753671846759996, + "moduleForcesX": [ + -65.18774386603658, + -66.83185271970557, + -66.59076765483135, + -67.91348930051325 + ], + "moduleForcesY": [ + -23.507264138622386, + -18.481364136294967, + -18.948283356975356, + -13.738420048321832 + ], + "timestamp": 1.1652170114176332 + }, + { + "x": 2.3460786436924534, + "y": 4.4425341883089216, + "heading": -0.5716862955514761, + "angularVelocity": 0.10062732848550442, + "velocityX": 0.9895117082487012, + "velocityY": -0.20691356417105713, + "moduleForcesX": [ + -67.79266688215901, + -68.61034511878412, + -68.63234219919543, + -69.15161327179342 + ], + "moduleForcesY": [ + -14.794144578801722, + -10.61925261923264, + -9.918509838563343, + -5.777040448105858 + ], + "timestamp": 1.1821162893448474 + }, + { + "x": 2.3617321548318846, + "y": 4.438978248522893, + "heading": -0.5701472466641888, + "angularVelocity": 0.09107187265135988, + "velocityX": 0.926282839234376, + "velocityY": -0.21041962865777147, + "moduleForcesX": [ + -69.0082298040482, + -69.3523695322926, + -69.36609311406146, + -69.47444085487885 + ], + "moduleForcesY": [ + -7.954943328652353, + -4.513695246461878, + -3.101470690231107, + 0.19920252117402037 + ], + "timestamp": 1.1990155672720615 + }, + { + "x": 2.3763144862051493, + "y": 4.435439678045831, + "heading": -0.568755917083735, + "angularVelocity": 0.08233071178817626, + "velocityX": 0.8628967128696934, + "velocityY": -0.20939181498184378, + "moduleForcesX": [ + -69.48020396671491, + -69.55718579769201, + -69.47600764658827, + -69.37716647274252 + ], + "moduleForcesY": [ + -2.596397637250716, + 0.2599107981516438, + 2.085800031498784, + 4.756715781948582 + ], + "timestamp": 1.2159148451992756 + }, + { + "x": 2.3898273698821835, + "y": 4.431978577963891, + "heading": -0.5675008982352386, + "angularVelocity": 0.07426464337125495, + "velocityX": 0.7996130802294479, + "velocityY": -0.20480757206592765, + "moduleForcesX": [ + -69.56136958741054, + -69.48797712472773, + -69.29674115165308, + -69.09513417636217 + ], + "moduleForcesY": [ + 1.644410532056864, + 4.0449689163109195, + 6.103355596273612, + 8.305004349538747 + ], + "timestamp": 1.2328141231264897 + }, + { + "x": 2.4022746080155293, + "y": 4.428642934303255, + "heading": -0.566372689897359, + "angularVelocity": 0.0667607422482067, + "velocityX": 0.7365544366425708, + "velocityY": -0.1973837979943286, + "moduleForcesX": [ + -69.44050658018318, + -69.28288294375687, + -68.99083415529013, + -68.74062581390056 + ], + "moduleForcesY": [ + 5.048984540721862, + 7.094726611074952, + 9.277350069749245, + 11.12544195223972 + ], + "timestamp": 1.2497134010537039 + }, + { + "x": 2.413660886989307, + "y": 4.425471726889298, + "heading": -0.5653633171976891, + "angularVelocity": 0.059728747229160085, + "velocityX": 0.6737731057397033, + "velocityY": -0.18765342682777003, + "moduleForcesX": [ + -69.21888915632945, + -69.01498093983149, + -68.63774414819501, + -68.36747112890812 + ], + "moduleForcesY": [ + 7.823946444890907, + 9.591105511292442, + 11.833250031562018, + 13.410533397084546 + ], + "timestamp": 1.266612678980918 + }, + { + "x": 2.423991167797027, + "y": 4.422497126306251, + "heading": -0.5644660232207238, + "angularVelocity": 0.053096586779028135, + "velocityX": 0.6112853372914824, + "velocityY": -0.17601938945906928, + "moduleForcesX": [ + -68.95130590451717, + -68.72321284424079, + -68.2763622243668, + -68.0011998025162 + ], + "moduleForcesY": [ + 10.11888468036067, + 11.664670863093715, + 13.92747860675396, + 15.29364763192488 + ], + "timestamp": 1.2835119569081321 + }, + { + "x": 2.433270374692251, + "y": 4.419746064626124, + "heading": -0.5636750287564173, + "angularVelocity": 0.046806406031862674, + "velocityX": 0.5490889572436001, + "velocityY": -0.16279167026991967, + "moduleForcesX": [ + -68.6675538198197, + -68.42830601532881, + -67.92538197418004, + -67.65336562122417 + ], + "moduleForcesY": [ + 12.042456853083085, + 13.41003178565977, + 15.670134446187609, + 16.868905269713295 + ], + "timestamp": 1.3004112348353463 + }, + { + "x": 2.441503241016658, + "y": 4.41724137616694, + "heading": -0.5629853458745747, + "angularVelocity": 0.040811381694116466, + "velocityX": 0.48717266855226443, + "velocityY": -0.14821275027084765, + "moduleForcesX": [ + -68.3837677091056, + -68.14109785421863, + -67.59326490170413, + -67.32853089161736 + ], + "moduleForcesY": [ + 13.674429888313005, + 14.89669491036882, + 17.140127101241422, + 18.20406414335748 + ], + "timestamp": 1.3173105127625604 + }, + { + "x": 2.448694238924008, + "y": 4.415002639984029, + "heading": -0.5623926330018707, + "angularVelocity": 0.035073266163017404, + "velocityX": 0.4255210156505601, + "velocityY": -0.1324752567863117, + "moduleForcesX": [ + -68.10849378834256, + -67.86698005078715, + -67.28323982523308, + -67.02776023452024 + ], + "moduleForcesY": [ + 15.074156858680315, + 16.176503129018716, + 18.395084629541017, + 19.348863341183208 + ], + "timestamp": 1.3342097906897745 + }, + { + "x": 2.4548475540752275, + "y": 4.413046812430891, + "heading": -0.5618930815635623, + "angularVelocity": 0.02956051971332602, + "velocityX": 0.36411704557568414, + "velocityY": -0.11573438590463961, + "moduleForcesX": [ + -67.84601198356005, + -67.60832225626525, + -66.99587003822965, + -66.7504054994641 + ], + "moduleForcesY": [ + 16.28643802352499, + 17.288713890440796, + 19.477864129041183, + 20.34049001299271 + ], + "timestamp": 1.3511090686169887 + }, + { + "x": 2.4599670842255215, + "y": 4.411388709591404, + "heading": -0.5614833265837947, + "angularVelocity": 0.024246892768575896, + "velocityX": 0.30294372175805695, + "velocityY": -0.09811678620993573, + "moduleForcesX": [ + -67.59818948619956, + -67.36581934897681, + -66.73039615380225, + -66.49503054331515 + ], + "moduleForcesY": [ + 17.345571000413525, + 18.26348895969543, + 20.420884380353108, + 21.20722085988748 + ], + "timestamp": 1.3680083465442028 + }, + { + "x": 2.4640564501207205, + "y": 4.4100413806177245, + "heading": -0.5611603755409807, + "angularVelocity": 0.01911034567304776, + "velocityX": 0.24198465241012473, + "velocityY": -0.07972701434239542, + "moduleForcesX": [ + -67.3655330868273, + -67.13925210288296, + -66.48544672391564, + -66.25989246632558 + ], + "moduleForcesY": [ + 18.278170485082168, + 19.12431986388855, + 21.24905601044498, + 21.97089213071172 + ], + "timestamp": 1.384907624471417 + }, + { + "x": 2.4671190122847557, + "y": 4.40901640055844, + "heading": -0.5609215512268385, + "angularVelocity": 0.014132220037500282, + "velocityX": 0.18122443912845296, + "velocityY": -0.06065229909224309, + "moduleForcesX": [ + -67.14779507444372, + -66.92792139056203, + -66.25941512106093, + -66.043189647769 + ], + "moduleForcesY": [ + 19.105153308133264, + 19.88973623588373, + 21.981797505846483, + 22.64860575143298 + ], + "timestamp": 1.401806902398631 + }, + { + "x": 2.4691578901413758, + "y": 4.4083241028977636, + "heading": -0.5607644454359351, + "angularVelocity": 0.009296597853473296, + "velocityX": 0.1206488150204778, + "velocityY": -0.04096610894609547, + "moduleForcesX": [ + -66.9443254941844, + -66.7308973018787, + -66.05065714903044, + -65.8431855019118 + ], + "moduleForcesY": [ + 19.843153738551198, + 20.57452597344013, + 22.63444617148174, + 23.253928677443323 + ], + "timestamp": 1.4187061803258452 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": 0.004589801470616027, + "velocityX": 0.06024466753050299, + "velocityY": -0.020730860357953493, + "moduleForcesX": [ + -66.75427781459665, + -66.54716169925689, + -65.85759120185365, + -65.65826558555733 + ], + "moduleForcesY": [ + 20.505545912235668, + 21.1906188817808, + 23.219261991520145, + 23.797750103270644 + ], + "timestamp": 1.4356054582530593 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": -3.239932620489562e-27, + "velocityX": -4.217146509044396e-28, + "velocityY": 4.052244323363519e-26, + "moduleForcesX": [ + -66.57672865678684, + -66.37568868221064, + -65.67874517756027, + -65.486959085013 + ], + "moduleForcesY": [ + 21.10319211877351, + 21.747735247073603, + 23.74615304005815, + 24.28890372131809 + ], + "timestamp": 1.4525047361802734 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/source 4.traj b/src/main/deploy/choreo/source 4.traj index f77a8d3c..a32dce7c 100644 --- a/src/main/deploy/choreo/source 4.traj +++ b/src/main/deploy/choreo/source 4.traj @@ -1,3613 +1,8426 @@ { - "samples": [ - { - "x": 0.7040935158729553, - "y": 4.236670017242432, - "heading": -1.0390724511122948, - "angularVelocity": 8.929054960744042e-19, - "velocityX": 8.609354111590197e-18, - "velocityY": 5.261372443897991e-18, - "timestamp": 0 - }, - { - "x": 0.7161405463855183, - "y": 4.229331722141036, - "heading": -1.0300663664419025, - "angularVelocity": 0.1579868549191116, - "velocityX": 0.21133184191032803, - "velocityY": -0.1287300981467684, - "timestamp": 0.05700527854044238 - }, - { - "x": 0.74024355642588, - "y": 4.2146519650283585, - "heading": -1.01223394384172, - "angularVelocity": 0.3128205502501218, - "velocityX": 0.42282066955013653, - "velocityY": -0.2575157509714357, - "timestamp": 0.11401055708088476 - }, - { - "x": 0.7764122120765719, - "y": 4.192627448984981, - "heading": -0.9857704276701906, - "angularVelocity": 0.4642292231368554, - "velocityX": 0.6344790618825241, - "velocityY": -0.3863592391317233, - "timestamp": 0.17101583562132713 - }, - { - "x": 0.8246572790922619, - "y": 4.163254705395263, - "heading": -0.9508964602956907, - "angularVelocity": 0.6117673357171477, - "velocityX": 0.8463263096146952, - "velocityY": -0.5152635745631515, - "timestamp": 0.2280211141617695 - }, - { - "x": 0.8849910486472321, - "y": 4.126529972865192, - "heading": -0.9078713795305998, - "angularVelocity": 0.754756083413703, - "velocityX": 1.0583891720161793, - "velocityY": -0.6442338932528269, - "timestamp": 0.28502639270221186 - }, - { - "x": 0.957427781713813, - "y": 4.082448951896472, - "heading": -0.8570110099599281, - "angularVelocity": 0.892204561979106, - "velocityX": 1.2707022037475195, - "velocityY": -0.7732796347525094, - "timestamp": 0.3420316712426542 - }, - { - "x": 1.0419841250424062, - "y": 4.031006408833659, - "heading": -0.7987109894705948, - "angularVelocity": 1.0227126677045002, - "velocityX": 1.48330725668861, - "velocityY": -0.9024171862666567, - "timestamp": 0.39903694978309656 - }, - { - "x": 1.1386794300833858, - "y": 3.9721956488924164, - "heading": -0.7334767516521583, - "angularVelocity": 1.1443543385575554, - "velocityX": 1.696251777322337, - "velocityY": -1.0316721792617503, - "timestamp": 0.4560422283235389 - }, - { - "x": 1.2475358906249325, - "y": 3.9060079639237233, - "heading": -0.6619621142635164, - "angularVelocity": 1.2545265845496538, - "velocityX": 1.9095856266068247, - "velocityY": -1.1610799326545718, - "timestamp": 0.5130475068639813 - }, - { - "x": 1.3685783902865754, - "y": 3.8324322959302655, - "heading": -0.5850214646080069, - "angularVelocity": 1.3497109675716208, - "velocityX": 2.1233559901960604, - "velocityY": -1.2906816680363788, - "timestamp": 0.5700527854044236 - }, - { - "x": 1.5018338127510122, - "y": 3.751455569328003, - "heading": -0.5037890624780151, - "angularVelocity": 1.4249978986132357, - "velocityX": 2.3375979536684452, - "velocityY": -1.4205127783879297, - "timestamp": 0.627058063944866 - }, - { - "x": 1.6473288718602725, - "y": 3.6630646003799376, - "heading": -0.41982091767256663, - "angularVelocity": 1.472988939890508, - "velocityX": 2.5523085376390124, - "velocityY": -1.5505751609538212, - "timestamp": 0.6840633424853083 - }, - { - "x": 1.8050824146397977, - "y": 3.567252175256741, - "heading": -0.3353932348700992, - "angularVelocity": 1.481050263486933, - "velocityX": 2.767349740561443, - "velocityY": -1.6807640902100165, - "timestamp": 0.7410686210257507 - }, - { - "x": 1.9750736570569472, - "y": 3.4640393984752493, - "heading": -0.25423487558835517, - "angularVelocity": 1.4236990215593248, - "velocityX": 2.9820263450962745, - "velocityY": -1.8105827990694903, - "timestamp": 0.798073899566193 - }, - { - "x": 2.1570870248495084, - "y": 3.353614368878204, - "heading": -0.18375879433725764, - "angularVelocity": 1.236307988585624, - "velocityX": 3.1929212952346644, - "velocityY": -1.9371018338012853, - "timestamp": 0.8550791781066354 - }, - { - "x": 2.349619563126936, - "y": 3.2382914399772114, - "heading": -0.1461730910128464, - "angularVelocity": 0.6593372453701131, - "velocityX": 3.3774510572882535, - "velocityY": -2.023021935050713, - "timestamp": 0.9120844566470777 - }, - { - "x": 2.5526739746417553, - "y": 3.1179621396591326, - "heading": -0.14106347914371162, - "angularVelocity": 0.08963401284864882, - "velocityX": 3.5620282316621505, - "velocityY": -2.110844879614242, - "timestamp": 0.9690897351875201 - }, - { - "x": 2.755976846870316, - "y": 2.9945160563864084, - "heading": -0.14106343687633885, - "angularVelocity": 7.414641917811559e-7, - "velocityX": 3.5663867879240057, - "velocityY": -2.1655202190643497, - "timestamp": 1.0260950137279625 - }, - { - "x": 2.9592713283538066, - "y": 2.871056155480985, - "heading": -0.14106339461736297, - "angularVelocity": 7.413168914557164e-7, - "velocityX": 3.5662395955010413, - "velocityY": -2.1657626112261363, - "timestamp": 1.083100292268405 - }, - { - "x": 3.1625658082183112, - "y": 2.7475962519096617, - "heading": -0.14106335235838743, - "angularVelocity": 7.413168852358239e-7, - "velocityX": 3.566239567100414, - "velocityY": -2.1657626579919755, - "timestamp": 1.1401055708088474 - }, - { - "x": 3.3658602901525385, - "y": 2.6241363517464347, - "heading": -0.141063310099412, - "angularVelocity": 7.413168835719256e-7, - "velocityX": 3.5662396034079684, - "velocityY": -2.165762598206346, - "timestamp": 1.19711084934929 - }, - { - "x": 3.569154771290978, - "y": 2.500676450272834, - "heading": -0.14106326784043682, - "angularVelocity": 7.413168793171977e-7, - "velocityX": 3.5662395894480823, - "velocityY": -2.1657626211932337, - "timestamp": 1.2541161278897324 - }, - { - "x": 3.7724492481116925, - "y": 2.377216541689487, - "heading": -0.14106322558146206, - "angularVelocity": 7.413168714887869e-7, - "velocityX": 3.5662395137055287, - "velocityY": -2.165762745914082, - "timestamp": 1.3111214064301748 - }, - { - "x": 3.9757437153478112, - "y": 2.253756617323748, - "heading": -0.141063183322488, - "angularVelocity": 7.413168595985773e-7, - "velocityX": 3.5662393455702883, - "velocityY": -2.1657630227725164, - "timestamp": 1.3681266849706173 - }, - { - "x": 4.179038165990622, - "y": 2.1302966656347895, - "heading": -0.14106314106351509, - "angularVelocity": 7.413168390267369e-7, - "velocityX": 3.5662390544865947, - "velocityY": -2.165763502082876, - "timestamp": 1.4251319635110598 - }, - { - "x": 4.382332608455097, - "y": 2.006836700478998, - "heading": -0.14106309880454287, - "angularVelocity": 7.413168272703568e-7, - "velocityX": 3.5662389110202497, - "velocityY": -2.1657637383212465, - "timestamp": 1.4821372420515022 - }, - { - "x": 4.585627106271784, - "y": 1.8833768264681643, - "heading": -0.14106305654556767, - "angularVelocity": 7.413168792259443e-7, - "velocityX": 3.566239882021746, - "velocityY": -2.1657621394350306, - "timestamp": 1.5391425205919447 - }, - { - "x": 4.788921775371466, - "y": 1.759917234499251, - "heading": -0.141063014286583, - "angularVelocity": 7.413170455012489e-7, - "velocityX": 3.5662428867082965, - "velocityY": -2.1657571917893876, - "timestamp": 1.5961477991323871 - }, - { - "x": 4.992213145824937, - "y": 1.6364522109807111, - "heading": -0.14106297202778553, - "angularVelocity": 7.413137615262351e-7, - "velocityX": 3.5661850210808623, - "velocityY": -2.165852473310018, - "timestamp": 1.6531530776728296 - }, - { - "x": 5.195527020317167, - "y": 1.5130242489270982, - "heading": -0.14106292976770962, - "angularVelocity": 7.413361885013363e-7, - "velocityX": 3.5665797922193354, - "velocityY": -2.1652023323793768, - "timestamp": 1.710158356213272 - }, - { - "x": 5.398934826518299, - "y": 1.3897511467960901, - "heading": -0.1410628874999793, - "angularVelocity": 7.414704637749377e-7, - "velocityX": 3.5682275643443737, - "velocityY": -2.162485743202633, - "timestamp": 1.7671636347537145 - }, - { - "x": 5.608231721454858, - "y": 1.276765293609188, - "heading": -0.14106284462697327, - "angularVelocity": 7.520883524725524e-7, - "velocityX": 3.67153534366255, - "velocityY": -1.982024403349554, - "timestamp": 1.824168913294157 - }, - { - "x": 5.823946089773796, - "y": 1.176573960997718, - "heading": -0.14106279214343445, - "angularVelocity": 9.206785786091621e-7, - "velocityX": 3.7841121706984704, - "velocityY": -1.7575799149963773, - "timestamp": 1.8811741918345994 - }, - { - "x": 6.04280309102535, - "y": 1.09019011735396, - "heading": -0.13328849744739357, - "angularVelocity": 0.13637850555389583, - "velocityX": 3.8392409765403803, - "velocityY": -1.515365696923281, - "timestamp": 1.938179470375042 - }, - { - "x": 6.253367473131126, - "y": 1.014173776084073, - "heading": -0.10681705256968371, - "angularVelocity": 0.4643683103649658, - "velocityX": 3.6937699016135386, - "velocityY": -1.3334965325350956, - "timestamp": 1.9951847489154844 - }, - { - "x": 6.452846899676241, - "y": 0.9472350045455541, - "heading": -0.07930503725983559, - "angularVelocity": 0.482622241558399, - "velocityX": 3.499315004725375, - "velocityY": -1.174255669867861, - "timestamp": 2.052190027455927 - }, - { - "x": 6.640810423890953, - "y": 0.8887412003042477, - "heading": -0.05603896061571522, - "angularVelocity": 0.40813898712231356, - "velocityX": 3.2973003382724326, - "velocityY": -1.026112067846525, - "timestamp": 2.1091953059963693 - }, - { - "x": 6.817113337200576, - "y": 0.8383680431867968, - "heading": -0.039365467978320294, - "angularVelocity": 0.29249032833980043, - "velocityX": 3.0927471599765517, - "velocityY": -0.8836577665647045, - "timestamp": 2.1662005845368117 - }, - { - "x": 6.981686546836259, - "y": 0.795920332604909, - "heading": -0.03060270556570072, - "angularVelocity": 0.15371843866008422, - "velocityX": 2.8869819400834746, - "velocityY": -0.7446277199008795, - "timestamp": 2.223205863077254 - }, - { - "x": 7.134490489959717, - "y": 0.7612675428390502, - "heading": -0.03060270556570072, - "angularVelocity": -2.670760217287104e-19, - "velocityX": 2.6805226995786424, - "velocityY": -0.6078873861000724, - "timestamp": 2.2802111416176967 - }, - { - "x": 7.175090349758447, - "y": 0.7524391325487545, - "heading": -0.03060270556570072, - "angularVelocity": 1.7923567672159468e-20, - "velocityX": 2.623449081025543, - "velocityY": -0.5704671143657107, - "timestamp": 2.2956868983580763 - }, - { - "x": 7.214794495760281, - "y": 0.7441703699663706, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356766226229e-20, - "velocityX": 2.5655705674301967, - "velocityY": -0.5343042489690984, - "timestamp": 2.311162655098456 - }, - { - "x": 7.253591649597395, - "y": 0.7364427858105503, - "heading": -0.030602705565700716, - "angularVelocity": 1.792356750446904e-20, - "velocityX": 2.5069632773354296, - "velocityY": -0.4993348167375442, - "timestamp": 2.3266384118388355 - }, - { - "x": 7.291471580180998, - "y": 0.7292388527666792, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567648646397e-20, - "velocityX": 2.447694882975314, - "velocityY": -0.4654979504223766, - "timestamp": 2.342114168579215 - }, - { - "x": 7.328424988624815, - "y": 0.7225419363008968, - "heading": -0.030602705565700713, - "angularVelocity": 1.7923567541669316e-20, - "velocityX": 2.387825620662093, - "velocityY": -0.4327359610349994, - "timestamp": 2.3575899253195947 - }, - { - "x": 7.364443406985551, - "y": 0.7163362455749804, - "heading": -0.03060270556570071, - "angularVelocity": 1.792356751598598e-20, - "velocityX": 2.3274091836007695, - "velocityY": -0.40099433132940576, - "timestamp": 2.3730656820599743 - }, - { - "x": 7.399519109158386, - "y": 0.7106067853228705, - "heading": -0.03060270556570071, - "angularVelocity": 1.7923567587901195e-20, - "velocityX": 2.2664935073133927, - "velocityY": -0.37022165366350684, - "timestamp": 2.388541438800354 - }, - { - "x": 7.433645032432678, - "y": 0.7053393092767213, - "heading": -0.030602705565700706, - "angularVelocity": 1.79235676291146e-20, - "velocityX": 2.2051214584710253, - "velocityY": -0.34036952987325714, - "timestamp": 2.4040171955407335 - }, - { - "x": 7.466814708378046, - "y": 0.7005202755254769, - "heading": -0.030602705565700706, - "angularVelocity": 1.7923567616980402e-20, - "velocityX": 2.1433314377976247, - "velocityY": -0.3113924463981841, - "timestamp": 2.419492952281113 - }, - { - "x": 7.499022201887237, - "y": 0.6961368040368999, - "heading": -0.030602705565700702, - "angularVelocity": 1.792356757628162e-20, - "velocityX": 2.0811579071381505, - "velocityY": -0.2832476344852548, - "timestamp": 2.4349687090214926 - }, - { - "x": 7.5302620573459125, - "y": 0.6921766364624907, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567747459206e-20, - "velocityX": 2.0186318499800056, - "velocityY": -0.2558949226747777, - "timestamp": 2.4504444657618722 - }, - { - "x": 7.560529251029311, - "y": 0.6886280982642193, - "heading": -0.030602705565700702, - "angularVelocity": 1.7923567399671936e-20, - "velocityX": 1.9557811738163342, - "velocityY": -0.22929658677145445, - "timestamp": 2.465920222502252 - }, - { - "x": 7.589819148941405, - "y": 0.6854800631449017, - "heading": -0.0306027055657007, - "angularVelocity": 1.792356758527676e-20, - "velocityX": 1.8926310618251385, - "velocityY": -0.20341720098934202, - "timestamp": 2.4813959792426314 - }, - { - "x": 7.618127469414256, - "y": 0.6827219197245772, - "heading": -0.0306027055657007, - "angularVelocity": 1.7923567585280224e-20, - "velocityX": 1.8292042804592215, - "velocityY": -0.17822349282147837, - "timestamp": 2.496871735983011 - }, - { - "x": 7.645450249874661, - "y": 0.6803435403789087, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567585275012e-20, - "velocityX": 1.765521448725803, - "velocityY": -0.15368420333615584, - "timestamp": 2.5123474927233906 - }, - { - "x": 7.671783817263209, - "y": 0.6783352521389968, - "heading": -0.030602705565700696, - "angularVelocity": 1.7923567589112204e-20, - "velocityX": 1.7016012741939854, - "velocityY": -0.12976995397401495, - "timestamp": 2.5278232494637702 - }, - { - "x": 7.697124761658539, - "y": 0.6766878095424995, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758144195e-20, - "velocityX": 1.6374607601067594, - "velocityY": -0.10645312046023236, - "timestamp": 2.54329900620415 - }, - { - "x": 7.721469912718339, - "y": 0.67539236932159, - "heading": -0.030602705565700692, - "angularVelocity": 1.792356758527721e-20, - "velocityX": 1.5731153873901929, - "velocityY": -0.08370771411315475, - "timestamp": 2.5587747629445294 - }, - { - "x": 7.744816318599359, - "y": 0.6744404668126073, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567764407182e-20, - "velocityX": 1.5085792748409654, - "velocityY": -0.06150927059336406, - "timestamp": 2.574250519684909 - }, - { - "x": 7.76716122706263, - "y": 0.6738239939741378, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567519461745e-20, - "velocityX": 1.4438653203282448, - "velocityY": -0.03983474597134639, - "timestamp": 2.5897262764252886 - }, - { - "x": 7.788502068508005, - "y": 0.6735351789038949, - "heading": -0.03060270556570069, - "angularVelocity": 1.7923567471963432e-20, - "velocityX": 1.3789853254600457, - "velocityY": -0.018662419879390112, - "timestamp": 2.6052020331656682 - }, - { - "x": 7.808836440714841, - "y": 0.6735665667495215, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567705237493e-20, - "velocityX": 1.3139501058308753, - "velocityY": 0.0020281945598015784, - "timestamp": 2.620677789906048 - }, - { - "x": 7.828162095094039, - "y": 0.6739110019138839, - "heading": -0.030602705565700685, - "angularVelocity": 1.7923567977064163e-20, - "velocityX": 1.2487695886800632, - "velocityY": 0.022256434379527068, - "timestamp": 2.6361535466464274 - }, - { - "x": 7.846476924281061, - "y": 0.6745616114612287, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567040839747e-20, - "velocityX": 1.1834528995427378, - "velocityY": 0.0420405643654978, - "timestamp": 2.651629303386807 - }, - { - "x": 7.863778950920781, - "y": 0.6755117896365047, - "heading": -0.03060270556570068, - "angularVelocity": 1.7923567617966664e-20, - "velocityX": 1.1180084392625638, - "velocityY": 0.061397848985369465, - "timestamp": 2.6671050601271866 - }, - { - "x": 7.880066317513365, - "y": 0.6767551834160388, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567585276968e-20, - "velocityX": 1.0524439525522904, - "velocityY": 0.08034461903205982, - "timestamp": 2.682580816867566 - }, - { - "x": 7.895337277206289, - "y": 0.6782856790135012, - "heading": -0.030602705565700678, - "angularVelocity": 1.7923567407933884e-20, - "velocityX": 0.9867665891307364, - "velocityY": 0.09889633335175817, - "timestamp": 2.698056573607946 - }, - { - "x": 7.909590185431431, - "y": 0.6800973892706034, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567766451006e-20, - "velocityX": 0.9209829583294081, - "velocityY": 0.11706763601292104, - "timestamp": 2.7135323303483254 - }, - { - "x": 7.922823492298213, - "y": 0.6821846418672157, - "heading": -0.030602705565700675, - "angularVelocity": 1.792356747092008e-20, - "velocityX": 0.8550991779453485, - "velocityY": 0.13487240925489652, - "timestamp": 2.729008087088705 - }, - { - "x": 7.935035735664182, - "y": 0.6845419682905334, - "heading": -0.030602705565700675, - "angularVelocity": 1.7923567840335288e-20, - "velocityX": 0.7891209180163922, - "velocityY": 0.15232382253544213, - "timestamp": 2.7444838438290846 - }, - { - "x": 7.946225534813595, - "y": 0.6871640935075455, - "heading": -0.03060270556570067, - "angularVelocity": 1.792356744457655e-20, - "velocityX": 0.7230534401083837, - "velocityY": 0.16943437797625108, - "timestamp": 2.759959600569464 - }, - { - "x": 7.956391584682524, - "y": 0.6900459262893809, - "heading": -0.03060270556570067, - "angularVelocity": 1.7923567585279932e-20, - "velocityX": 0.6569016326291687, - "velocityY": 0.18621595248535178, - "timestamp": 2.775435357309844 - }, - { - "x": 7.965532650575936, - "y": 0.6931825501401092, - "heading": -0.030602705565700668, - "angularVelocity": 1.792356796267937e-20, - "velocityX": 0.5906700426195519, - "velocityY": 0.20267983681536816, - "timestamp": 2.7909111140502234 - }, - { - "x": 7.973647563328351, - "y": 0.69656921478629, - "heading": -0.030602705565700668, - "angularVelocity": 1.7923567293620474e-20, - "velocityX": 0.5243629044155164, - "velocityY": 0.21883677179743705, - "timestamp": 2.806386870790603 - }, - { - "x": 7.980735214865002, - "y": 0.7002013281869879, - "heading": -0.030602705565700664, - "angularVelocity": 1.7923567761188273e-20, - "velocityX": 0.45798416552756027, - "velocityY": 0.2346969819722822, - "timestamp": 2.8218626275309826 - }, - { - "x": 7.986794554125132, - "y": 0.7040744490271335, - "heading": -0.030602705565700664, - "angularVelocity": 1.792356699059153e-20, - "velocityX": 0.3915375100409843, - "velocityY": 0.25027020682266105, - "timestamp": 2.837338384271362 - }, - { - "x": 7.9918245833131945, - "y": 0.7081842796600186, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567910993222e-20, - "velocityX": 0.3250263798044515, - "velocityY": 0.2655657297951926, - "timestamp": 2.852814141011742 - }, - { - "x": 7.995824354447386, - "y": 0.7125266594673922, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567594457527e-20, - "velocityX": 0.25845399364237626, - "velocityY": 0.2805924052844643, - "timestamp": 2.8682898977521214 - }, - { - "x": 7.998792966178139, - "y": 0.7170975586080781, - "heading": -0.03060270556570066, - "angularVelocity": 1.7923567588685966e-20, - "velocityX": 0.19182336479902082, - "velocityY": 0.29535868373828633, - "timestamp": 2.883765654492501 - }, - { - "x": 8.00072956085205, - "y": 0.7218930721282959, - "heading": -0.030602705565700657, - "angularVelocity": 4.247054487876987e-19, - "velocityX": 0.1251373167980271, - "velocityY": 0.3098726350299896, - "timestamp": 2.8992414112328806 - }, - { - "x": 8.000836792297617, - "y": 0.7313604194249149, - "heading": -0.031401844473511506, - "angularVelocity": -0.028345670785064538, - "velocityX": 0.0038035280527493978, - "velocityY": 0.3358093405975338, - "timestamp": 2.927434037679088 - }, - { - "x": 7.99752315338653, - "y": 0.7415587459291768, - "heading": -0.03299463021217043, - "angularVelocity": -0.05649653613143545, - "velocityX": -0.11753565838955778, - "velocityY": 0.36173736858874744, - "timestamp": 2.9556266641252957 - }, - { - "x": 7.990788483408073, - "y": 0.7524877916801813, - "heading": -0.03537524415686278, - "angularVelocity": -0.0844410132994739, - "velocityX": -0.23888054528391775, - "velocityY": 0.3876561756972951, - "timestamp": 2.9838192905715033 - }, - { - "x": 7.980632612288473, - "y": 0.7641472797958517, - "heading": -0.03853750569824085, - "angularVelocity": -0.11216626260098167, - "velocityX": -0.3602314647404652, - "velocityY": 0.41356516172453955, - "timestamp": 3.012011917017711 - }, - { - "x": 7.967055359662201, - "y": 0.776536914651206, - "heading": -0.0424748319675395, - "angularVelocity": -0.13965801578684073, - "velocityX": -0.48158878181062026, - "velocityY": 0.439463661854599, - "timestamp": 3.0402045434639184 - }, - { - "x": 7.950056533827013, - "y": 0.7896563797995924, - "heading": -0.04718019193654591, - "angularVelocity": -0.1669003765215836, - "velocityX": -0.602952898610576, - "velocityY": 0.4653509375372892, - "timestamp": 3.068397169910126 - }, - { - "x": 7.929635930564739, - "y": 0.803505335589102, - "heading": -0.05264605393411769, - "angularVelocity": -0.19387558686660494, - "velocityX": -0.7243242590836724, - "velocityY": 0.49122616567594546, - "timestamp": 3.0965897963563336 - }, - { - "x": 7.905793331806294, - "y": 0.818083416415575, - "heading": -0.05886432540493543, - "angularVelocity": -0.22056375211014007, - "velocityX": -0.8457033545255729, - "velocityY": 0.5170884257372611, - "timestamp": 3.124782422802541 - }, - { - "x": 7.8785285041151285, - "y": 0.8333902275398567, - "heading": -0.06582628346140383, - "angularVelocity": -0.24694251419778537, - "velocityX": -0.9670907300242603, - "velocityY": 0.5429366842951929, - "timestamp": 3.1529750492487487 - }, - { - "x": 7.847841196958048, - "y": 0.8494253413792734, - "heading": -0.0735224944267603, - "angularVelocity": -0.2729866612476805, - "velocityX": -1.0884869920023605, - "velocityY": 0.5687697763813397, - "timestamp": 3.1811676756949563 - }, - { - "x": 7.813731140725758, - "y": 0.8661882931603111, - "heading": -0.0819427201097795, - "angularVelocity": -0.29866765691666797, - "velocityX": -1.2098928170942707, - "velocityY": 0.5945863828266345, - "timestamp": 3.209360302141164 - }, - { - "x": 7.776198044457343, - "y": 0.8836785757893147, - "heading": -0.09107580795155264, - "angularVelocity": -0.32395306833847515, - "velocityX": -1.3313089626476837, - "velocityY": 0.620385002524377, - "timestamp": 3.2375529285873714 - }, - { - "x": 7.73524159321267, - "y": 0.9018956337579842, - "heading": -0.10090956138959419, - "angularVelocity": -0.3488058644270217, - "velocityX": -1.452736279211764, - "velocityY": 0.6461639181941399, - "timestamp": 3.265745555033579 - }, - { - "x": 7.690861445023903, - "y": 0.920838855846614, - "heading": -0.11143058571764346, - "angularVelocity": -0.37318354670216597, - "velocityX": -1.5741757254665243, - "velocityY": 0.6719211537374832, - "timestamp": 3.2939381814797866 - }, - { - "x": 7.643057227341174, - "y": 0.9405075663147252, - "heading": -0.12262410326948683, - "angularVelocity": -0.39703706120451326, - "velocityX": -1.6956283861647499, - "velocityY": 0.6976544205853176, - "timestamp": 3.322130807925994 - }, - { - "x": 7.591828532867268, - "y": 0.9609010141674288, - "heading": -0.13447372975632432, - "angularVelocity": -0.4203094206012444, - "velocityX": -1.8170954938040442, - "velocityY": 0.7233610494435864, - "timestamp": 3.3503234343722017 - }, - { - "x": 7.537174914650874, - "y": 0.9820183599436099, - "heading": -0.14696120078910727, - "angularVelocity": -0.44293393723371366, - "velocityX": -1.9385784549259353, - "velocityY": 0.7490379023916084, - "timestamp": 3.3785160608184093 - }, - { - "x": 7.479095880276698, - "y": 1.0038586592687424, - "heading": -0.1600660336330768, - "angularVelocity": -0.46483192578630295, - "velocityX": -2.0600788821500093, - "velocityY": 0.7746812581226169, - "timestamp": 3.406708687264617 - }, - { - "x": 7.417590884953132, - "y": 1.0264208421189347, - "heading": -0.17376510346066087, - "angularVelocity": -0.4859096705203083, - "velocityX": -2.181598633278069, - "velocityY": 0.8002866598200189, - "timestamp": 3.4349013137108244 - }, - { - "x": 7.352659323255117, - "y": 1.0497036863017477, - "heading": -0.18803210480203966, - "angularVelocity": -0.5060543532045627, - "velocityX": -2.303139858994872, - "velocityY": 0.8258487100247436, - "timestamp": 3.463093940157032 - }, - { - "x": 7.284300519236286, - "y": 1.0737057829863865, - "heading": -0.2028368558934496, - "angularVelocity": -0.5251284806561911, - "velocityX": -2.424705060710146, - "velocityY": 0.8513607886243854, - "timestamp": 3.4912865666032395 - }, - { - "x": 7.212513714595073, - "y": 1.098425491060514, - "heading": -0.21814438336173808, - "angularVelocity": -0.5429620932086706, - "velocityX": -2.5462971595847224, - "velocityY": 0.8768146565305259, - "timestamp": 3.519479193049447 - }, - { - "x": 7.137298054603031, - "y": 1.123860875383102, - "heading": -0.23391369211820187, - "angularVelocity": -0.559341599000952, - "velocityX": -2.667919575905979, - "velocityY": 0.9021998844668512, - "timestamp": 3.5476718194956547 - }, - { - "x": 7.058652571679064, - "y": 1.1500096211373223, - "heading": -0.25009607110497895, - "angularVelocity": -0.5739933105433805, - "velocityX": -2.789576312587432, - "velocityY": 0.9275030052312088, - "timestamp": 3.5758644459418623 - }, - { - "x": 6.976576167074778, - "y": 1.1768689114733186, - "heading": -0.26663269141122165, - "angularVelocity": -0.586558344884599, - "velocityX": -2.911272022168284, - "velocityY": 0.9527062115778089, - "timestamp": 3.60405707238807 - }, - { - "x": 6.891067592794993, - "y": 1.2044352464101018, - "heading": -0.28345108168062233, - "angularVelocity": -0.5965528008355451, - "velocityX": -3.0330119984719017, - "velocityY": 0.9777852726626759, - "timestamp": 3.6322496988342774 - }, - { - "x": 6.802125440484526, - "y": 1.2327041629723492, - "heading": -0.30045973382410457, - "angularVelocity": -0.6033014403936493, - "velocityX": -3.1548019295105467, - "velocityY": 1.0027060308192581, - "timestamp": 3.660442325280485 - }, - { - "x": 6.709748157186162, - "y": 1.2616697787893774, - "heading": -0.317539401468184, - "angularVelocity": -0.6058203791925227, - "velocityX": -3.2766469443569495, - "velocityY": 1.0274181397144868, - "timestamp": 3.6886349517266925 - }, - { - "x": 6.613934148323293, - "y": 1.2913239947326909, - "heading": -0.33452807751595487, - "angularVelocity": -0.6025928829363054, - "velocityX": -3.398548519262127, - "velocityY": 1.0518429703559293, - "timestamp": 3.7168275781729 - }, - { - "x": 6.5146821677518725, - "y": 1.3216549691282402, - "heading": -0.3511925749767564, - "angularVelocity": -0.5910941817568552, - "velocityX": -3.5204942952298057, - "velocityY": 1.0758477736518657, - "timestamp": 3.7450202046191077 - }, - { - "x": 6.411992770045106, - "y": 1.3526438100851401, - "heading": -0.3671672391606795, - "angularVelocity": -0.5666256109341365, - "velocityX": -3.6424204003376657, - "velocityY": 1.0991824765255644, - "timestamp": 3.7732128310653152 - }, - { - "x": 6.305874763332563, - "y": 1.38425603700076, - "heading": -0.3817915434379015, - "angularVelocity": -0.5187279838976322, - "velocityX": -3.7640340787339714, - "velocityY": 1.121294143202345, - "timestamp": 3.801405457511523 - }, - { - "x": 6.1963901366896375, - "y": 1.4164152687090246, - "heading": -0.3934801142712389, - "angularVelocity": -0.41459673349836484, - "velocityX": -3.883448988047407, - "velocityY": 1.1406965494907793, - "timestamp": 3.8295980839577304 - }, - { - "x": 6.084237706006591, - "y": 1.4490690923928802, - "heading": -0.39621413544226647, - "angularVelocity": -0.09697646213418698, - "velocityX": -3.978076710839108, - "velocityY": 1.1582398591408594, - "timestamp": 3.857790710403938 - }, - { - "x": 5.970420479017151, - "y": 1.4787743825435127, - "heading": -0.39621415119854686, - "angularVelocity": -5.588794787661949e-7, - "velocityX": -4.037127481066913, - "velocityY": 1.0536545861491486, - "timestamp": 3.8859833368501455 - }, - { - "x": 5.855820749944305, - "y": 1.5053011183456995, - "heading": -0.39621416429109446, - "angularVelocity": -4.6439616623023326e-7, - "velocityX": -4.064883039240961, - "velocityY": 0.9409104133239552, - "timestamp": 3.914175963296353 - }, - { - "x": 5.7417182380261576, - "y": 1.5338910183669168, - "heading": -0.3962141774061041, - "angularVelocity": -4.6519289906735043e-7, - "velocityX": -4.047246613786003, - "velocityY": 1.0140913999541454, - "timestamp": 3.9423685897425607 - }, - { - "x": 5.6284963397746095, - "y": 1.5657903496675747, - "heading": -0.39621419060143825, - "angularVelocity": -4.680420311339554e-7, - "velocityX": -4.016011011516715, - "velocityY": 1.1314778125240532, - "timestamp": 3.9705612161887682 - }, - { - "x": 5.516268975080697, - "y": 1.6010293074865514, - "heading": -0.3962142039246179, - "angularVelocity": -4.7257674515618076e-7, - "velocityX": -3.9807346402450565, - "velocityY": 1.249935258292678, - "timestamp": 3.998753842634976 - }, - { - "x": 5.405139446258545, - "y": 1.639590859413147, - "heading": -0.396214217438475, - "angularVelocity": -4.793401248617666e-7, - "velocityX": -3.94179410826376, - "velocityY": 1.3677885598988515, - "timestamp": 4.026946469081183 - }, - { - "x": 5.2831041606978335, - "y": 1.6865195370449537, - "heading": -0.3962142301776993, - "angularVelocity": -4.065288079817647e-7, - "velocityX": -3.8943390892658107, - "velocityY": 1.497568370241175, - "timestamp": 4.058283053483165 - }, - { - "x": 5.162687264566997, - "y": 1.7374575671054318, - "heading": -0.3962142427483874, - "angularVelocity": -4.011505511078391e-7, - "velocityX": -3.8426937213752916, - "velocityY": 1.62551315124339, - "timestamp": 4.089619637885146 - }, - { - "x": 5.044010718771141, - "y": 1.7923282269070129, - "heading": -0.39621425520676196, - "angularVelocity": -3.975664483146289e-7, - "velocityX": -3.7871563879934516, - "velocityY": 1.7510095898678, - "timestamp": 4.120956222287128 - }, - { - "x": 4.927146213788622, - "y": 1.8509592709758207, - "heading": -0.39621426760702844, - "angularVelocity": -3.9571212890119454e-7, - "velocityX": -3.7293312979934936, - "velocityY": 1.8710094028336495, - "timestamp": 4.152292806689109 - }, - { - "x": 4.811333837210935, - "y": 1.9116420963028011, - "heading": -0.3962142799939237, - "angularVelocity": -3.952854309112773e-7, - "velocityX": -3.695756215548805, - "velocityY": 1.936484989829761, - "timestamp": 4.183629391091091 - }, - { - "x": 4.695603190282652, - "y": 1.9724806467411247, - "heading": -0.3962142923808563, - "angularVelocity": -3.9528662340989123e-7, - "velocityX": -3.693148093094744, - "velocityY": 1.9414544245760534, - "timestamp": 4.214965975493072 - }, - { - "x": 4.579840125232427, - "y": 2.0332574896208038, - "heading": -0.3962143047678723, - "angularVelocity": -3.952892826307121e-7, - "velocityX": -3.6941826066688908, - "velocityY": 1.9394852387251018, - "timestamp": 4.246302559895054 - }, - { - "x": 4.464055932965466, - "y": 2.093994073993839, - "heading": -0.3962143171549412, - "angularVelocity": -3.952909731006536e-7, - "velocityX": -3.6948568095898167, - "velocityY": 1.9382005260669504, - "timestamp": 4.277639144297035 - }, - { - "x": 4.34826787969624, - "y": 2.154723297438567, - "heading": -0.3962143295217223, - "angularVelocity": -3.9464355515735635e-7, - "velocityX": -3.694980020282657, - "velocityY": 1.9379656271949364, - "timestamp": 4.308975728699017 - }, - { - "x": 4.233986914266696, - "y": 2.2145236738983907, - "heading": -0.4022492278817095, - "angularVelocity": -0.19258315719962768, - "velocityX": -3.6468864622756754, - "velocityY": 1.908324649959019, - "timestamp": 4.340312313100998 - }, - { - "x": 4.122928074154352, - "y": 2.2727140288595966, - "heading": -0.4179001666600075, - "angularVelocity": -0.4994462248190942, - "velocityX": -3.544063344227204, - "velocityY": 1.8569463159975188, - "timestamp": 4.37164889750298 - }, - { - "x": 4.015666546955586, - "y": 2.3289253228999796, - "heading": -0.4358805513580875, - "angularVelocity": -0.5737825305855736, - "velocityX": -3.4228850797148276, - "velocityY": 1.7937913500498697, - "timestamp": 4.402985481904961 - }, - { - "x": 3.912235682567056, - "y": 2.3831349353266873, - "heading": -0.4548230598324097, - "angularVelocity": -0.6044854228951096, - "velocityX": -3.300642567222193, - "velocityY": 1.7299145219948986, - "timestamp": 4.434322066306943 - }, - { - "x": 3.8126409215439327, - "y": 2.4353379258954524, - "heading": -0.47413685987390475, - "angularVelocity": -0.6163339243913278, - "velocityX": -3.17822643800409, - "velocityY": 1.6658800429271865, - "timestamp": 4.465658650708924 - }, - { - "x": 3.7168828760991257, - "y": 2.4855327987305764, - "heading": -0.4934889199200676, - "angularVelocity": -0.6175548616886856, - "velocityX": -3.0557907721031965, - "velocityY": 1.6017978280986271, - "timestamp": 4.496995235110906 - }, - { - "x": 3.6249609989418206, - "y": 2.533719082273904, - "heading": -0.5126647406955078, - "angularVelocity": -0.6119307876523589, - "velocityX": -2.933372571118294, - "velocityY": 1.5377005651030662, - "timestamp": 4.528331819512887 - }, - { - "x": 3.536874468787536, - "y": 2.5798966739523617, - "heading": -0.5315144307979932, - "angularVelocity": -0.6015234417600595, - "velocityX": -2.810980578620935, - "velocityY": 1.4736000288383975, - "timestamp": 4.559668403914869 - }, - { - "x": 3.4526224464254103, - "y": 2.6240656158883477, - "heading": -0.5499272847860958, - "angularVelocity": -0.5875833100348224, - "velocityX": -2.6886153666702253, - "velocityY": 1.4095008367661377, - "timestamp": 4.59100498831685 - }, - { - "x": 3.372204151404791, - "y": 2.6662260068510726, - "heading": -0.5678181902197778, - "angularVelocity": -0.5709271056532322, - "velocityX": -2.56627506013498, - "velocityY": 1.3454047965756646, - "timestamp": 4.622341572718832 - }, - { - "x": 3.2956188808304545, - "y": 2.7063779647594086, - "heading": -0.5851196869108704, - "angularVelocity": -0.5521181399080031, - "velocityX": -2.4439571840986845, - "velocityY": 1.2813125193630295, - "timestamp": 4.6536781571208135 - }, - { - "x": 3.2228660085968706, - "y": 2.7445216100718945, - "heading": -0.6017770112444207, - "angularVelocity": -0.5315615805434397, - "velocityX": -2.3216592880806797, - "velocityY": 1.2172240861730093, - "timestamp": 4.685014741522795 - }, - { - "x": 3.1539449783642857, - "y": 2.780657058466311, - "heading": -0.6177448402314428, - "angularVelocity": -0.5095586928743979, - "velocityX": -2.1993791457446576, - "velocityY": 1.1531393444440179, - "timestamp": 4.7163513259247765 - }, - { - "x": 3.0888552951151427, - "y": 2.8147844178545376, - "heading": -0.6329850621580034, - "angularVelocity": -0.48633960010002625, - "velocityX": -2.0771148002022657, - "velocityY": 1.0890580463539068, - "timestamp": 4.747687910326758 - }, - { - "x": 3.0275965170355854, - "y": 2.846903787472418, - "heading": -0.6474651974657756, - "angularVelocity": -0.46208403321889974, - "velocityX": -1.9548645536392328, - "velocityY": 1.024979915036587, - "timestamp": 4.7790244947287395 - }, - { - "x": 2.970168248283819, - "y": 2.8770152579622867, - "heading": -0.6611572479748201, - "angularVelocity": -0.436935000107376, - "velocityX": -1.83262693901431, - "velocityY": 0.9609046762596005, - "timestamp": 4.810361079130721 - }, - { - "x": 2.9165701327502678, - "y": 2.9051189119121528, - "heading": -0.6740368377609592, - "angularVelocity": -0.41100809267919886, - "velocityX": -1.7104006884095218, - "velocityY": 0.8968320729967146, - "timestamp": 4.8416976635327025 - }, - { - "x": 2.8668018487455478, - "y": 2.931214824580909, - "heading": -0.6860825583100362, - "angularVelocity": -0.38439800568422167, - "velocityX": -1.5881847034220211, - "velocityY": 0.832761871364192, - "timestamp": 4.873034247934684 - }, - { - "x": 2.8208631044996584, - "y": 2.9553030646725276, - "heading": -0.6972754602941236, - "angularVelocity": -0.3571832156468132, - "velocityX": -1.4659780292770215, - "velocityY": 0.7686938621841268, - "timestamp": 4.9043708323366655 - }, - { - "x": 2.7787536343494574, - "y": 2.977383695091263, - "heading": -0.707598652866933, - "angularVelocity": -0.32942941197372216, - "velocityX": -1.3437798328633062, - "velocityY": 0.704627860378377, - "timestamp": 4.935707416738647 - }, - { - "x": 2.740473195502348, - "y": 2.9974567736461792, - "heading": -0.717036983311505, - "angularVelocity": -0.3011920611225013, - "velocityX": -1.2215893843455776, - "velocityY": 0.6405637033513777, - "timestamp": 4.9670440011406285 - }, - { - "x": 2.706021565279902, - "y": 3.0155223536925164, - "heading": -0.725576777759095, - "angularVelocity": -0.2725183554800622, - "velocityX": -1.0994060418488962, - "velocityY": 0.5765012489744855, - "timestamp": 4.99838058554261 - }, - { - "x": 2.6753985387610393, - "y": 3.0315804847074745, - "heading": -0.7332056290323161, - "angularVelocity": -0.24344871717221478, - "velocityX": -0.9772292387081735, - "velocityY": 0.5124403734933711, - "timestamp": 5.0297171699445915 - }, - { - "x": 2.6486039267585593, - "y": 3.0456312128031495, - "heading": -0.739912221350421, - "angularVelocity": -0.214017974392925, - "velocityX": -0.8550584728304266, - "velocityY": 0.448380969522216, - "timestamp": 5.061053754346573 - }, - { - "x": 2.6256375540748116, - "y": 3.057674581181762, - "heading": -0.745686184228836, - "angularVelocity": -0.18425629303907573, - "velocityX": -0.7328932977869624, - "velocityY": 0.38432294420225194, - "timestamp": 5.0923903387485545 - }, - { - "x": 2.606499257992194, - "y": 3.06771063053928, - "heading": -0.750517969763229, - "angularVelocity": -0.15418992294794098, - "velocityX": -0.6107333153196863, - "velocityY": 0.320266217555073, - "timestamp": 5.123726923150536 - }, - { - "x": 2.591188886962225, - "y": 3.075739399423708, - "heading": -0.7543987488405535, - "angularVelocity": -0.12384180188696901, - "velocityX": -0.488578169004329, - "velocityY": 0.2562107210357085, - "timestamp": 5.1550635075525175 - }, - { - "x": 2.579706299463457, - "y": 3.0817609245540263, - "heading": -0.7573203228179342, - "angularVelocity": -0.09323204915708858, - "velocityX": -0.3664275388622744, - "velocityY": 0.1921563962771172, - "timestamp": 5.186400091954499 - }, - { - "x": 2.5720513630038004, - "y": 3.0857752411053228, - "heading": -0.7592750479575843, - "angularVelocity": -0.0623783726578274, - "velocityX": -0.2442811367524958, - "velocityY": 0.12810319401122075, - "timestamp": 5.2177366763564805 - }, - { - "x": 2.5682239532470703, - "y": 3.087782382965088, - "heading": -0.7602557704725093, - "angularVelocity": -0.031296407494333975, - "velocityX": -0.12213870240714839, - "velocityY": 0.06405107314881801, - "timestamp": 5.249073260758462 - }, - { - "x": 2.5682239532470703, - "y": 3.087782382965088, - "heading": -0.7602557704725093, - "angularVelocity": 5.277493860165363e-19, - "velocityX": 7.388438155863791e-18, - "velocityY": 5.876478883573141e-18, - "timestamp": 5.2804098451604435 - }, - { - "x": 2.571372983748656, - "y": 3.0847101271952413, - "heading": -0.7592473817932608, - "angularVelocity": 0.031893423444808965, - "velocityX": 0.09959786865373063, - "velocityY": -0.09716962934521069, - "timestamp": 5.3120272938483675 - }, - { - "x": 2.577693309160809, - "y": 3.0785884921274382, - "heading": -0.7572349292359899, - "angularVelocity": 0.06365006162054636, - "velocityX": 0.1998999183816771, - "velocityY": -0.19361571922598592, - "timestamp": 5.343644742536291 - }, - { - "x": 2.587208589540726, - "y": 3.0694421554601674, - "heading": -0.7542231093315008, - "angularVelocity": 0.0952581574249357, - "velocityX": 0.3009502908927446, - "velocityY": -0.2892813002576082, - "timestamp": 5.375262191224215 - }, - { - "x": 2.5999440085853194, - "y": 3.057297810078407, - "heading": -0.7502170348952221, - "angularVelocity": 0.12670454456398847, - "velocityX": 0.40279717602443854, - "velocityY": -0.3841026359093425, - "timestamp": 5.406879639912139 - }, - { - "x": 2.6159264164542595, - "y": 3.042184412149164, - "heading": -0.7452222876203011, - "angularVelocity": 0.15797439332379762, - "velocityX": 0.5054932808365591, - "velocityY": -0.47800814285865806, - "timestamp": 5.438497088600063 - }, - { - "x": 2.635184489302285, - "y": 3.024133470203135, - "heading": -0.739244980307614, - "angularVelocity": 0.18905090577311734, - "velocityX": 0.6090963580935834, - "velocityY": -0.5709170946776445, - "timestamp": 5.470114537287987 - }, - { - "x": 2.657748907577731, - "y": 3.003179383706628, - "heading": -0.7322918307451779, - "angularVelocity": 0.21991494731489233, - "velocityX": 0.7136697998046996, - "velocityY": -0.6627380565500872, - "timestamp": 5.501731985975911 - }, - { - "x": 2.683652555288641, - "y": 2.979359841745378, - "heading": -0.7243702497867013, - "angularVelocity": 0.25054459759437514, - "velocityX": 0.8192833003886288, - "velocityY": -0.7533669840459989, - "timestamp": 5.533349434663835 - }, - { - "x": 2.7129307425037954, - "y": 2.9527162951695773, - "heading": -0.7154884468811245, - "angularVelocity": 0.28091459855738415, - "velocityX": 0.926013591550072, - "velocityY": -0.8426848996825199, - "timestamp": 5.564966883351759 - }, - { - "x": 2.745621453269739, - "y": 2.9232945190833064, - "heading": -0.7056555572281451, - "angularVelocity": 0.31099567046138704, - "velocityX": 1.0339452461396574, - "velocityY": -0.9305550355019219, - "timestamp": 5.596584332039683 - }, - { - "x": 2.781765620762856, - "y": 2.891145287164399, - "heading": -0.6948817959555957, - "angularVelocity": 0.3407536572254923, - "velocityX": 1.1431715395468387, - "velocityY": -1.0168192960865703, - "timestamp": 5.628201780727607 - }, - { - "x": 2.8214074306522394, - "y": 2.8563251853240765, - "heading": -0.6831786463377802, - "angularVelocity": 0.37014844977942385, - "velocityX": 1.2537953419538501, - "velocityY": -1.1012938515061652, - "timestamp": 5.659819229415531 - }, - { - "x": 2.864594651983719, - "y": 2.818897600125482, - "heading": -0.6705590912415943, - "angularVelocity": 0.399132618850612, - "velocityX": 1.3659299887778211, - "velocityY": -1.1837636100249405, - "timestamp": 5.691436678103455 - }, - { - "x": 2.911378991842898, - "y": 2.7789339277850242, - "heading": -0.6570378998904542, - "angularVelocity": 0.4276496653667196, - "velocityX": 1.4797000327559169, - "velocityY": -1.2639752414849752, - "timestamp": 5.723054126791379 - }, - { - "x": 2.961816464678134, - "y": 2.736515063249988, - "heading": -0.6426319859260753, - "angularVelocity": 0.4556317654397341, - "velocityX": 1.595241707611291, - "velocityY": -1.3416283190249283, - "timestamp": 5.7546715754793025 - }, - { - "x": 3.015967757907504, - "y": 2.691733246695512, - "heading": -0.6273608579426229, - "angularVelocity": 0.4829968456400199, - "velocityX": 1.7127028105228863, - "velocityY": -1.4163640145822418, - "timestamp": 5.7862890241672265 - }, - { - "x": 3.0738985597184256, - "y": 2.644694367762688, - "heading": -0.6112471905367273, - "angularVelocity": 0.5096447713078827, - "velocityX": 1.8322415063505086, - "velocityY": -1.4877506214089435, - "timestamp": 5.81790647285515 - }, - { - "x": 3.1356797885403274, - "y": 2.595520856597587, - "heading": -0.59431755281478, - "angularVelocity": 0.5354523664780527, - "velocityX": 1.954023217739865, - "velocityY": -1.555264994669952, - "timestamp": 5.849523921543074 - }, - { - "x": 3.2013876195939144, - "y": 2.54435532465843, - "heading": -0.5766033423665365, - "angularVelocity": 0.5602669153697192, - "velocityX": 2.0782142070395424, - "velocityY": -1.6182688376971983, - "timestamp": 5.881141370230998 - }, - { - "x": 3.271103131170227, - "y": 2.491365153410621, - "heading": -0.5581419853873452, - "angularVelocity": 0.5838977446096899, - "velocityX": 2.204969549074994, - "velocityY": -1.6759787220924072, - "timestamp": 5.912758818918922 - }, - { - "x": 3.3449112752300927, - "y": 2.436748253524411, - "heading": -0.5389784755311614, - "angularVelocity": 0.6061055098194305, - "velocityX": 2.3344117606825243, - "velocityY": -1.727429066946542, - "timestamp": 5.944376267606846 - }, - { - "x": 3.4228986910980606, - "y": 2.3807402015786545, - "heading": -0.5191673286737849, - "angularVelocity": 0.6265890411626823, - "velocityX": 2.466594209979853, - "velocityY": -1.771428570931737, - "timestamp": 5.97599371629477 - }, - { - "x": 3.505149605180989, - "y": 2.323622840626081, - "heading": -0.4987750128606717, - "angularVelocity": 0.6449703141576387, - "velocityX": 2.601440580951875, - "velocityY": -1.8065139131352208, - "timestamp": 6.007611164982694 - }, - { - "x": 3.591738696750634, - "y": 2.2657340769573677, - "heading": -0.4778828407128138, - "angularVelocity": 0.6607798230044298, - "velocityX": 2.7386489158031626, - "velocityY": -1.8309119195573786, - "timestamp": 6.039228613670618 - }, - { - "x": 3.682719459901477, - "y": 2.2074778020091377, - "heading": -0.4565901274793926, - "angularVelocity": 0.6734481786809655, - "velocityX": 2.8775491675137266, - "velocityY": -1.8425356050464758, - "timestamp": 6.070846062358542 - }, - { - "x": 3.778106605323893, - "y": 2.149331359958236, - "heading": -0.43501703616408194, - "angularVelocity": 0.6823160062105331, - "velocityX": 3.0169146904901596, - "velocityY": -1.8390617985919466, - "timestamp": 6.102463511046466 - }, - { - "x": 3.8778522165545284, - "y": 2.0918457812032254, - "heading": -0.413305893357822, - "angularVelocity": 0.6866823133187359, - "velocityX": 3.154764706512607, - "velocityY": -1.8181599446057561, - "timestamp": 6.13408095973439 - }, - { - "x": 3.981818783887099, - "y": 2.035632191350449, - "heading": -0.3916190654271325, - "angularVelocity": 0.6859132798710829, - "velocityX": 3.2882655510493417, - "velocityY": -1.7779293455213814, - "timestamp": 6.165698408422314 - }, - { - "x": 4.089757803671026, - "y": 1.9813293355714388, - "heading": -0.3701316156638578, - "angularVelocity": 0.6796073261749849, - "velocityX": 3.4139066959300552, - "velocityY": -1.7174964468195972, - "timestamp": 6.197315857110238 - }, - { - "x": 4.2013064173160215, - "y": 1.929555107096061, - "heading": -0.3490191567373932, - "angularVelocity": 0.6677470764593488, - "velocityX": 3.528071311066947, - "velocityY": -1.637520755909459, - "timestamp": 6.2289333057981615 - }, - { - "x": 4.3160097311363765, - "y": 1.8808564047363088, - "heading": -0.32844469339357507, - "angularVelocity": 0.6507312954595367, - "velocityX": 3.627848500760458, - "velocityY": -1.5402476917232315, - "timestamp": 6.2605507544860854 - }, - { - "x": 4.433362841399141, - "y": 1.8356755918349883, - "heading": -0.3085490477139514, - "angularVelocity": 0.6292615788200117, - "velocityX": 3.711656541964673, - "velocityY": -1.428983513099749, - "timestamp": 6.292168203174009 - }, - { - "x": 4.552856085647447, - "y": 1.794342244133677, - "heading": -0.28944673448577246, - "angularVelocity": 0.6041699764179587, - "velocityX": 3.7793449252578375, - "velocityY": -1.3072954781800117, - "timestamp": 6.323785651861933 - }, - { - "x": 4.674019418261911, - "y": 1.7570816464541883, - "heading": -0.2711874910830117, - "angularVelocity": 0.5775052751088929, - "velocityX": 3.8321666561521712, - "velocityY": -1.1784821111679475, - "timestamp": 6.355403100549857 - }, - { - "x": 4.796574894189664, - "y": 1.7240027480190696, - "heading": -0.2532745675444995, - "angularVelocity": 0.5665518339357334, - "velocityX": 3.876197511615244, - "velocityY": -1.0462228866604604, - "timestamp": 6.387020549237781 - }, - { - "x": 4.920241208679963, - "y": 1.6951900122845294, - "heading": -0.23542993767815854, - "angularVelocity": 0.5643918344732444, - "velocityX": 3.9113312307685693, - "velocityY": -0.9112922430564439, - "timestamp": 6.418637997925705 - }, - { - "x": 5.044741463909335, - "y": 1.6707061113111519, - "heading": -0.21753299540013793, - "angularVelocity": 0.5660463769442688, - "velocityX": 3.937707196372383, - "velocityY": -0.774379400913809, - "timestamp": 6.450255446613629 - }, - { - "x": 5.169864900055923, - "y": 1.6505857266155057, - "heading": -0.19936833732506817, - "angularVelocity": 0.5745137203941351, - "velocityX": 3.9574172281135827, - "velocityY": -0.6363696481092369, - "timestamp": 6.481872895301553 - }, - { - "x": 5.295416224127893, - "y": 1.6348513537049933, - "heading": -0.180785409839133, - "angularVelocity": 0.5877427894121283, - "velocityX": 3.9709505125226503, - "velocityY": -0.49764840502523344, - "timestamp": 6.513490343989477 - }, - { - "x": 5.4212141036987305, - "y": 1.623516082763672, - "heading": -0.1616883163601714, - "angularVelocity": 0.6040048856394814, - "velocityX": 3.9787485958310715, - "velocityY": -0.3585131442199735, - "timestamp": 6.545107792677401 - }, - { - "x": 5.536219270874131, - "y": 1.616836870888589, - "heading": -0.14383006422562247, - "angularVelocity": 0.6180837254644039, - "velocityX": 3.9803907818005526, - "velocityY": -0.2311711206569211, - "timestamp": 6.574000726431854 - }, - { - "x": 5.651075756473543, - "y": 1.613834585343175, - "heading": -0.12560463618498777, - "angularVelocity": 0.6307918813479918, - "velocityX": 3.9752448323703953, - "velocityY": -0.10391071986420597, - "timestamp": 6.602893660186307 - }, - { - "x": 5.76556273957954, - "y": 1.6144939873393616, - "heading": -0.10705811521023599, - "angularVelocity": 0.6419050807498203, - "velocityX": 3.962456152046145, - "velocityY": 0.02282225826530591, - "timestamp": 6.6317865939407605 - }, - { - "x": 5.879432701797089, - "y": 1.618781934930576, - "heading": -0.08824387909090471, - "angularVelocity": 0.6511708461045846, - "velocityX": 3.941100726747672, - "velocityY": 0.1484081757725181, - "timestamp": 6.660679527695214 - }, - { - "x": 5.992410419759247, - "y": 1.6266410646994975, - "heading": -0.06922350413690066, - "angularVelocity": 0.6583054222062932, - "velocityX": 3.9102196724741902, - "velocityY": 0.27200871450826675, - "timestamp": 6.689572461449667 - }, - { - "x": 6.104193842039215, - "y": 1.637982300868101, - "heading": -0.050067488562884864, - "angularVelocity": 0.6630000171257457, - "velocityX": 3.8688844556236117, - "velocityY": 0.39252629258720284, - "timestamp": 6.71846539520412 - }, - { - "x": 6.214457911870185, - "y": 1.65267677677448, - "heading": -0.030855523758157588, - "angularVelocity": 0.664936450136909, - "velocityX": 3.8162988489866705, - "velocityY": 0.5085837260854176, - "timestamp": 6.7473583289585735 - }, - { - "x": 6.322862327305413, - "y": 1.670548437267453, - "heading": -0.01167596014104182, - "angularVelocity": 0.6638150275812467, - "velocityX": 3.751935208674285, - "velocityY": 0.618547795971673, - "timestamp": 6.776251262713027 - }, - { - "x": 6.4290636229050175, - "y": 1.6913693092481683, - "heading": 0.007375887923614184, - "angularVelocity": 0.6593947235184903, - "velocityX": 3.6756840444848926, - "velocityY": 0.7206215941122979, - "timestamp": 6.80514419646748 - }, - { - "x": 6.532730680746564, - "y": 1.7148597135811356, - "heading": 0.02620075345255325, - "angularVelocity": 0.6515387356964868, - "velocityX": 3.587972710648236, - "velocityY": 0.813015546728492, - "timestamp": 6.834037130221933 - }, - { - "x": 6.633561183589668, - "y": 1.74069497477234, - "heading": 0.044699461573759244, - "angularVelocity": 0.6402502521349035, - "velocityX": 3.489798014283024, - "velocityY": 0.894172305615109, - "timestamp": 6.862930063976386 - }, - { - "x": 6.731295526198675, - "y": 1.7685183492103391, - "heading": 0.0627772528573156, - "angularVelocity": 0.6256820936631189, - "velocityX": 3.3826382408792974, - "velocityY": 0.9629819759549457, - "timestamp": 6.89182299773084 - }, - { - "x": 6.8257251800468195, - "y": 1.7979577429769262, - "heading": 0.08034747565895894, - "angularVelocity": 0.6081148751097328, - "velocityX": 3.268261182843319, - "velocityY": 1.018913275362667, - "timestamp": 6.920715931485293 - }, - { - "x": 6.916694376371671, - "y": 1.8286426249814156, - "heading": 0.09733402013627411, - "angularVelocity": 0.5879134539148977, - "velocityX": 3.148492884037099, - "velocityY": 1.062020294140586, - "timestamp": 6.949608865239746 - }, - { - "x": 7.004096101368918, - "y": 1.860218005009012, - "heading": 0.11367234010506241, - "angularVelocity": 0.5654780545180834, - "velocityX": 3.025020779822156, - "velocityY": 1.0928409103741226, - "timestamp": 6.978501798994199 - }, - { - "x": 7.087864629051777, - "y": 1.8923538970139027, - "heading": 0.12930927832335287, - "angularVelocity": 0.541202854344279, - "velocityX": 2.8992738638022804, - "velocityY": 1.112240531819904, - "timestamp": 7.0073947327486525 - }, - { - "x": 7.167966866206853, - "y": 1.9247502674825525, - "heading": 0.14420207863824444, - "angularVelocity": 0.5154478406885892, - "velocityX": 2.772381573841675, - "velocityY": 1.1212558317535446, - "timestamp": 7.036287666503106 - }, - { - "x": 7.244394118542315, - "y": 1.9571384104588545, - "heading": 0.1583169762871775, - "angularVelocity": 0.4885242104138131, - "velocityX": 2.6451883697577867, - "velocityY": 1.1209710738117566, - "timestamp": 7.065180600257559 - }, - { - "x": 7.317155096829953, - "y": 1.9892799489523474, - "heading": 0.17162767550280295, - "angularVelocity": 0.46069046946725084, - "velocityX": 2.5182966501773545, - "velocityY": 1.1124359598318216, - "timestamp": 7.094073534012012 - }, - { - "x": 7.386270392158917, - "y": 2.02096450763866, - "heading": 0.18411391239423633, - "angularVelocity": 0.43215538434233075, - "velocityX": 2.392117599283615, - "velocityY": 1.0966196425597954, - "timestamp": 7.1229664677664655 - }, - { - "x": 7.451768320522363, - "y": 2.052006806165229, - "heading": 0.1957602021911398, - "angularVelocity": 0.4030843629753674, - "velocityX": 2.266918580164973, - "velocityY": 1.0743906724869623, - "timestamp": 7.151859401520919 - }, - { - "x": 7.513681903854896, - "y": 2.0822436421675694, - "heading": 0.20655480093979395, - "angularVelocity": 0.3736068770444695, - "velocityX": 2.1428624679897674, - "velocityY": 1.04651318067275, - "timestamp": 7.180752335275372 - }, - { - "x": 7.572046733374875, - "y": 2.1115310235359535, - "heading": 0.21648887239414402, - "angularVelocity": 0.3438235638780995, - "velocityX": 2.0200381870526463, - "velocityY": 1.0136520443816062, - "timestamp": 7.209645269029825 - }, - { - "x": 7.626899490187302, - "y": 2.139741572344654, - "heading": 0.22555583311677932, - "angularVelocity": 0.31381239439687214, - "velocityX": 1.8984834589174147, - "velocityY": 0.9763822894707564, - "timestamp": 7.238538202784278 - }, - { - "x": 7.678276942576416, - "y": 2.166762241379356, - "heading": 0.23375084402376597, - "angularVelocity": 0.2836337416141918, - "velocityX": 1.7782013009044082, - "velocityY": 0.9351999095812524, - "timestamp": 7.267431136538732 - }, - { - "x": 7.7262152828340716, - "y": 2.1924923399421448, - "heading": 0.24107041834248952, - "angularVelocity": 0.25333440975322497, - "velocityX": 1.659171777606876, - "velocityY": 0.8905325704013267, - "timestamp": 7.296324070293185 - }, - { - "x": 7.770749702805597, - "y": 2.2168418441757844, - "heading": 0.24751212028340128, - "angularVelocity": 0.2229507739039764, - "velocityX": 1.5413602630318362, - "velocityY": 0.8427494570324149, - "timestamp": 7.325217004047638 - }, - { - "x": 7.811914135528815, - "y": 2.2397299587889994, - "heading": 0.25307433359041953, - "angularVelocity": 0.19251119856116655, - "velocityX": 1.4247231891732903, - "velocityY": 0.7921699751132822, - "timestamp": 7.354109937802091 - }, - { - "x": 7.849741111313135, - "y": 2.2610838957168293, - "heading": 0.2577560835990588, - "angularVelocity": 0.16203788955552695, - "velocityX": 1.3092120068454196, - "velocityY": 0.7390712590596011, - "timestamp": 7.3830028715565446 - }, - { - "x": 7.884261691820809, - "y": 2.280837837348004, - "heading": 0.2615569001729947, - "angularVelocity": 0.13154830887846627, - "velocityX": 1.1947758853790162, - "velocityY": 0.6836945600281833, - "timestamp": 7.411895805310998 - }, - { - "x": 7.915505456587897, - "y": 2.298932055495642, - "heading": 0.26447671187634125, - "angularVelocity": 0.10105625576691307, - "velocityX": 1.0813635275881868, - "velocityY": 0.6262506362770877, - "timestamp": 7.440788739065451 - }, - { - "x": 7.943500524127807, - "y": 2.3153121612137157, - "heading": 0.2665157640568601, - "angularVelocity": 0.07057269427354385, - "velocityX": 0.968924366692081, - "velocityY": 0.5669242818081367, - "timestamp": 7.469681672819904 - }, - { - "x": 7.968273595191997, - "y": 2.3299284643409512, - "heading": 0.26767455528517325, - "angularVelocity": 0.04010638857795132, - "velocityX": 0.8574093331858625, - "velocityY": 0.5058781240926391, - "timestamp": 7.4985746065743575 - }, - { - "x": 7.98985000958088, - "y": 2.342735425053857, - "heading": 0.2679537879340485, - "angularVelocity": 0.009664392382175604, - "velocityX": 0.7467713238208664, - "velocityY": 0.44325580855670654, - "timestamp": 7.527467540328811 - }, - { - "x": 8.008253810578585, - "y": 2.353691182656637, - "heading": 0.26735432969017925, - "angularVelocity": -0.020747572709776455, - "velocityX": 0.6369654654702158, - "velocityY": 0.3791846717916401, - "timestamp": 7.556360474083264 - }, - { - "x": 8.023507812965436, - "y": 2.3627571493321846, - "heading": 0.2658771835489915, - "angularVelocity": -0.05112482358978361, - "velocityX": 0.5279492389553335, - "velocityY": 0.31377798989173, - "timestamp": 7.585253407837717 - }, - { - "x": 8.03563367187979, - "y": 2.3698976586651876, - "heading": 0.26352346441317476, - "angularVelocity": -0.08146348708718121, - "velocityX": 0.419682508443294, - "velocityY": 0.24713687414668828, - "timestamp": 7.61414634159217 - }, - { - "x": 8.044651950723434, - "y": 2.375079660478679, - "heading": 0.26029438084514434, - "angularVelocity": -0.11176032158841295, - "velocityX": 0.3121274883432041, - "velocityY": 0.1793518739748044, - "timestamp": 7.643039275346624 - }, - { - "x": 8.050582186949077, - "y": 2.3782724549533256, - "heading": 0.25619122084800267, - "angularVelocity": -0.14201257760850033, - "velocityX": 0.20524867000492122, - "velocityY": 0.11050433651980293, - "timestamp": 7.671932209101077 - }, - { - "x": 8.05344295501709, - "y": 2.3794474601745605, - "heading": 0.2512153407952589, - "angularVelocity": -0.17221788881085034, - "velocityX": 0.09901272374503113, - "velocityY": 0.04066756360640621, - "timestamp": 7.70082514285553 - }, - { - "x": 8.053201486914846, - "y": 2.378532849164182, - "heading": 0.24526494310021624, - "angularVelocity": -0.20283641617714182, - "velocityX": -0.008231134621651358, - "velocityY": -0.031177146310045013, - "timestamp": 7.730161086603649 - }, - { - "x": 8.049794234093804, - "y": 2.37554000161886, - "heading": 0.23842485469133798, - "angularVelocity": -0.23316408251965104, - "velocityX": -0.1161460101742684, - "velocityY": -0.10201981470304258, - "timestamp": 7.759497030351769 - }, - { - "x": 8.043200547405869, - "y": 2.370500405039261, - "heading": 0.23070428043187602, - "angularVelocity": -0.2631779746290589, - "velocityX": -0.22476477131771752, - "velocityY": -0.17178914109153176, - "timestamp": 7.788832974099888 - }, - { - "x": 8.03339875534113, - "y": 2.363447857471025, - "heading": 0.22211316414509835, - "angularVelocity": -0.29285290292829047, - "velocityX": -0.3341222681942042, - "velocityY": -0.24040636390600464, - "timestamp": 7.818168917848007 - }, - { - "x": 8.020366103869247, - "y": 2.354418716183534, - "heading": 0.21266226519054782, - "angularVelocity": -0.32216106751829054, - "velocityX": -0.44425540162550775, - "velocityY": -0.3077842446459585, - "timestamp": 7.847504861596127 - }, - { - "x": 8.004078695016561, - "y": 2.343452181045789, - "heading": 0.20236324653250398, - "angularVelocity": -0.35107166643323756, - "velocityX": -0.5552031662089848, - "velocityY": -0.37382588512933795, - "timestamp": 7.876840805344246 - }, - { - "x": 7.984511425341185, - "y": 2.330590618405318, - "heading": 0.19122877633701627, - "angularVelocity": -0.3795504344802838, - "velocityX": -0.6670066537958826, - "velocityY": -0.4384233468301387, - "timestamp": 7.906176749092365 - }, - { - "x": 7.961637926033051, - "y": 2.3158799323612453, - "heading": 0.17927264554794067, - "angularVelocity": -0.4075590985492754, - "velocityX": -0.7797089980989933, - "velocityY": -0.5014560353121725, - "timestamp": 7.935512692840485 - }, - { - "x": 7.9354305071535265, - "y": 2.2993699916123123, - "heading": 0.16650990439381655, - "angularVelocity": -0.43505473230062586, - "velocityX": -0.8933552335845568, - "velocityY": -0.5627888057970439, - "timestamp": 7.964848636588604 - }, - { - "x": 7.905860109625242, - "y": 2.281115121583125, - "heading": 0.15295702138182785, - "angularVelocity": -0.46198898962838814, - "velocityX": -1.0079920312835096, - "velocityY": -0.6222697379680402, - "timestamp": 7.994184580336723 - }, - { - "x": 7.872896270106578, - "y": 2.2611746733102267, - "heading": 0.1386320690582762, - "angularVelocity": -0.488307192246718, - "velocityX": -1.1236672595807649, - "velocityY": -0.679727519390858, - "timestamp": 8.023520524084843 - }, - { - "x": 7.836507106001029, - "y": 2.2396136826122013, - "heading": 0.12355494167017039, - "angularVelocity": -0.5139472422486004, - "velocityX": -1.2404292978602893, - "velocityY": -0.7349683679226364, - "timestamp": 8.052856467832962 - }, - { - "x": 7.796659330785332, - "y": 2.2165036353523067, - "heading": 0.10774761085514142, - "angularVelocity": -0.538838325801008, - "velocityX": -1.3583260030028035, - "velocityY": -0.7877724152432086, - "timestamp": 8.082192411581081 - }, - { - "x": 7.753318313899226, - "y": 2.19192335704536, - "heading": 0.09123442660497559, - "angularVelocity": -0.5628993698634518, - "velocityX": -1.4774031903740834, - "velocityY": -0.837889468223523, - "timestamp": 8.1115283553292 - }, - { - "x": 7.706448205035719, - "y": 2.165960047470827, - "heading": 0.07404247194524972, - "angularVelocity": -0.5860372111201712, - "velocityX": -1.597702438549027, - "velocityY": -0.8850340659723267, - "timestamp": 8.14086429907732 - }, - { - "x": 7.656012150340925, - "y": 2.13871048294784, - "heading": 0.05620198093999, - "angularVelocity": -0.6081444373646121, - "velocityX": -1.7192579563092565, - "velocityY": -0.9288797645971092, - "timestamp": 8.17020024282544 - }, - { - "x": 7.601972638448196, - "y": 2.110282409797265, - "heading": 0.03774683054458116, - "angularVelocity": -0.6290968701694555, - "velocityX": -1.8420921568679616, - "velocityY": -0.9690526200438835, - "timestamp": 8.199536186573559 - }, - { - "x": 7.544292028206603, - "y": 2.0807961510189434, - "heading": 0.018715117083510376, - "angularVelocity": -0.6487506802057834, - "velocityX": -1.9662094642955352, - "velocityY": -1.0051239200447475, - "timestamp": 8.228872130321678 - }, - { - "x": 7.482933328173649, - "y": 2.0503864422590894, - "heading": -0.0008501729877124486, - "angularVelocity": -0.6669391732958091, - "velocityX": -2.0915877314118396, - "velocityY": -1.0366023681035916, - "timestamp": 8.258208074069797 - }, - { - "x": 7.41786132084397, - "y": 2.0192044993602596, - "heading": -0.02090039203042629, - "angularVelocity": -0.6834693717327389, - "velocityX": -2.2181664884686616, - "velocityY": -1.0629261893382604, - "timestamp": 8.287544017817916 - }, - { - "x": 7.3490441515677425, - "y": 1.9874202929960394, - "heading": -0.04138036186599847, - "angularVelocity": -0.6981186632826621, - "velocityX": -2.345831102864731, - "velocityY": -1.0834560714024546, - "timestamp": 8.316879961566036 - }, - { - "x": 7.276455530186579, - "y": 1.9552249586913195, - "heading": -0.06222742301165628, - "angularVelocity": -0.7106320261810062, - "velocityX": -2.4743918929084145, - "velocityY": -1.0974705494785508, - "timestamp": 8.346215905314155 - }, - { - "x": 7.200077714880021, - "y": 1.9228331935090521, - "heading": -0.0833704445528194, - "angularVelocity": -0.7207206873144767, - "velocityX": -2.603557463920192, - "velocityY": -1.1041664607890576, - "timestamp": 8.375551849062274 - }, - { - "x": 7.119905446690237, - "y": 1.8904853745024954, - "heading": -0.1047288756073305, - "angularVelocity": -0.7280635400005023, - "velocityX": -2.7329023016321106, - "velocityY": -1.1026684290199806, - "timestamp": 8.404887792810394 - }, - { - "x": 7.035950951819603, - "y": 1.858448975489641, - "heading": -0.12621197438167323, - "angularVelocity": -0.7323131977208069, - "velocityX": -2.861830374078803, - "velocityY": -1.0920527830269176, - "timestamp": 8.434223736558513 - }, - { - "x": 6.948249986460849, - "y": 1.827018673538932, - "heading": -0.14771842049448264, - "angularVelocity": -0.7331090588891795, - "velocityX": -2.9895395938771663, - "velocityY": -1.0713922217935838, - "timestamp": 8.463559680306632 - }, - { - "x": 6.856868622354137, - "y": 1.796514379361426, - "heading": -0.1691365903833373, - "angularVelocity": -0.7300999099518662, - "velocityX": -3.1149965684186123, - "velocityY": -1.0398265840505705, - "timestamp": 8.492895624054752 - }, - { - "x": 6.761910047279678, - "y": 1.7672764079562453, - "heading": -0.190345826853445, - "angularVelocity": -0.7229778135727319, - "velocityX": -3.236936090748653, - "velocityY": -0.9966603309653319, - "timestamp": 8.522231567802871 - }, - { - "x": 6.663520159769647, - "y": 1.7396572829238472, - "heading": -0.21121900488152695, - "angularVelocity": -0.7115222952191661, - "velocityX": -3.3539022420691365, - "velocityY": -0.9414772972548079, - "timestamp": 8.55156751155099 - }, - { - "x": 6.561890392232876, - "y": 1.7140103541420042, - "heading": -0.23162649788257045, - "angularVelocity": -0.6956480819660698, - "velocityX": -3.46434286925873, - "velocityY": -0.8742493168806783, - "timestamp": 8.58090345529911 - }, - { - "x": 6.457256326311364, - "y": 1.690676415605696, - "heading": -0.251441221462823, - "angularVelocity": -0.6754418317127812, - "velocityX": -3.566753018750983, - "velocityY": -0.795404393213168, - "timestamp": 8.610239399047229 - }, - { - "x": 6.349891479461714, - "y": 1.6699704349328945, - "heading": -0.2705438916622724, - "angularVelocity": -0.6511694446739671, - "velocityX": -3.659839539218306, - "velocityY": -0.70582289257795, - "timestamp": 8.639575342795348 - }, - { - "x": 6.240096949262869, - "y": 1.652170787455905, - "heading": -0.2888273442062909, - "angularVelocity": -0.6232440551768809, - "velocityX": -3.7426622828824416, - "velocityY": -0.6067521682554001, - "timestamp": 8.668911286543468 - }, - { - "x": 6.128188785135105, - "y": 1.637512745555746, - "heading": -0.3061990457526471, - "angularVelocity": -0.592164400624407, - "velocityX": -3.8147115732364534, - "velocityY": -0.4996615082853321, - "timestamp": 8.698247230291587 - }, - { - "x": 6.01448540165434, - "y": 1.62618671242758, - "heading": -0.3225816489838405, - "angularVelocity": -0.5584481403378723, - "velocityX": -3.875906787149342, - "velocityY": -0.38608040789184983, - "timestamp": 8.727583174039706 - }, - { - "x": 5.899296924996467, - "y": 1.618340474674124, - "heading": -0.3379120799301292, - "angularVelocity": -0.5225818224195251, - "velocityX": -3.9265304585695633, - "velocityY": -0.2674615761751068, - "timestamp": 8.756919117787826 - }, - { - "x": 5.782917455846742, - "y": 1.6140840838512494, - "heading": -0.3521398508200335, - "angularVelocity": -0.4849944836295429, - "velocityX": -3.9671288624279253, - "velocityY": -0.145091320716326, - "timestamp": 8.786255061535945 - }, - { - "x": 5.665620346429971, - "y": 1.6134959319977653, - "heading": -0.36522514583336435, - "angularVelocity": -0.44604990811553147, - "velocityX": -3.998409269662326, - "velocityY": -0.02004884719352881, - "timestamp": 8.815591005284064 - }, - { - "x": 5.547656023202967, - "y": 1.6166289232762017, - "heading": -0.3771369873639767, - "angularVelocity": -0.40604937181801554, - "velocityX": -4.0211531709992325, - "velocityY": 0.1067970168383347, - "timestamp": 8.844926949032184 - }, - { - "x": 5.429251670837402, - "y": 1.623516082763672, - "heading": -0.3878516165667576, - "angularVelocity": -0.3652389469647756, - "velocityX": -4.036152829518446, - "velocityY": 0.23476863558930072, - "timestamp": 8.874262892780303 - }, - { - "x": 5.28166942454766, - "y": 1.6379106281633093, - "heading": -0.3992952694439263, - "angularVelocity": -0.3137397217228285, - "velocityX": -4.046121756677184, - "velocityY": 0.39464152893163784, - "timestamp": 8.910737881711665 - }, - { - "x": 5.133990461136637, - "y": 1.6581404469064542, - "heading": -0.4086216953491614, - "angularVelocity": -0.25569372818139613, - "velocityX": -4.048773357791124, - "velocityY": 0.5546216554366408, - "timestamp": 8.947212870643027 - }, - { - "x": 4.986461258734076, - "y": 1.6842044771610802, - "heading": -0.4158331072145773, - "angularVelocity": -0.19770840449016422, - "velocityX": -4.044667502988965, - "velocityY": 0.7145726707052081, - "timestamp": 8.983687859574388 - }, - { - "x": 4.839354609871338, - "y": 1.7160914260220312, - "heading": -0.42100270171868664, - "angularVelocity": -0.141729844355469, - "velocityX": -4.033082755407079, - "velocityY": 0.8742140791586156, - "timestamp": 9.02016284850575 - }, - { - "x": 4.69297397680971, - "y": 1.7537757566746883, - "heading": -0.4242945116209559, - "angularVelocity": -0.09024841401497721, - "velocityX": -4.013178272297363, - "velocityY": 1.033155369109805, - "timestamp": 9.056637837437112 - }, - { - "x": 4.547657487500722, - "y": 1.7972119023572823, - "heading": -0.42599043766028544, - "angularVelocity": -0.04649558749753, - "velocityX": -3.984003657477275, - "velocityY": 1.1908473985922738, - "timestamp": 9.093112826368474 - }, - { - "x": 4.40378061167311, - "y": 1.8463261031158624, - "heading": -0.426524692586918, - "angularVelocity": -0.014647158019372136, - "velocityX": -3.944535147038911, - "velocityY": 1.3465172217324786, - "timestamp": 9.129587815299836 - }, - { - "x": 4.261756050665852, - "y": 1.901005232985828, - "heading": -0.4265250578642489, - "angularVelocity": -0.000010014460362764898, - "velocityX": -3.893751997417132, - "velocityY": 1.4990855781439762, - "timestamp": 9.166062804231197 - }, - { - "x": 4.121944543093645, - "y": 1.9611180728132611, - "heading": -0.42652509664371824, - "angularVelocity": -0.000001063179742675399, - "velocityX": -3.8330788210876046, - "velocityY": 1.6480564241034594, - "timestamp": 9.20253779316256 - }, - { - "x": 3.984554163318766, - "y": 2.026575156264786, - "heading": -0.4265259393741178, - "angularVelocity": -0.00002310433599211775, - "velocityX": -3.7667010683243385, - "velocityY": 1.7945744568888309, - "timestamp": 9.239012782093921 - }, - { - "x": 3.8500595820713692, - "y": 2.0971253635059206, - "heading": -0.42761822880267025, - "angularVelocity": -0.02994625798537889, - "velocityX": -3.687309720655095, - "velocityY": 1.9342077765642451, - "timestamp": 9.275487771025283 - }, - { - "x": 3.7190431189754127, - "y": 2.172337984854449, - "heading": -0.4314101127647658, - "angularVelocity": -0.10395846779367438, - "velocityX": -3.5919534709798544, - "velocityY": 2.0620327394769875, - "timestamp": 9.311962759956645 - }, - { - "x": 3.5922483948362354, - "y": 2.25148003661394, - "heading": -0.43900310615015503, - "angularVelocity": -0.20816986126240192, - "velocityX": -3.4762100785768117, - "velocityY": 2.169762187136501, - "timestamp": 9.348437748888006 - }, - { - "x": 3.470567911392992, - "y": 2.3333432050922864, - "heading": -0.4498620663017611, - "angularVelocity": -0.29770975865243954, - "velocityX": -3.3359978168114206, - "velocityY": 2.2443644501824505, - "timestamp": 9.384912737819368 - }, - { - "x": 3.3545346151593747, - "y": 2.416606687866783, - "heading": -0.4633914527531019, - "angularVelocity": -0.37092229080042205, - "velocityX": -3.181174268536939, - "velocityY": 2.2827555323232898, - "timestamp": 9.42138772675073 - }, - { - "x": 3.244336606053026, - "y": 2.500076559897779, - "heading": -0.47896193127691433, - "angularVelocity": -0.42688096638254736, - "velocityX": -3.0211937641356994, - "velocityY": 2.2884139098182863, - "timestamp": 9.457862715682092 - }, - { - "x": 3.1399427519677694, - "y": 2.5827917275598824, - "heading": -0.4959810103022867, - "angularVelocity": -0.466595865385969, - "velocityX": -2.8620667790113443, - "velocityY": 2.2677228995944536, - "timestamp": 9.494337704613454 - }, - { - "x": 3.041217966291494, - "y": 2.664019047357684, - "heading": -0.5139498705420977, - "angularVelocity": -0.49263511151777506, - "velocityX": -2.7066433347534335, - "velocityY": 2.2269319930611804, - "timestamp": 9.530812693544815 - }, - { - "x": 2.947992283956892, - "y": 2.7432070212506883, - "heading": -0.5324691102108114, - "angularVelocity": -0.5077243396444386, - "velocityX": -2.5558796607185563, - "velocityY": 2.171021190493549, - "timestamp": 9.567287682476177 - }, - { - "x": 2.860094021718404, - "y": 2.8199379353731744, - "heading": -0.5512221364570433, - "angularVelocity": -0.5141338433719892, - "velocityX": -2.409822862561904, - "velocityY": 2.1036583250752305, - "timestamp": 9.603762671407539 - }, - { - "x": 2.7773632497167173, - "y": 2.8938903865748173, - "heading": -0.5699562298231092, - "angularVelocity": -0.5136147786451595, - "velocityX": -2.2681507088972284, - "velocityY": 2.0274838558774007, - "timestamp": 9.6402376603389 - }, - { - "x": 2.699656002010812, - "y": 2.964812467635368, - "heading": -0.5884670531619616, - "angularVelocity": -0.5074935971518967, - "velocityX": -2.1304255321950656, - "velocityY": 1.9444030865646396, - "timestamp": 9.676712649270263 - }, - { - "x": 2.6268445155885694, - "y": 3.032503077472955, - "heading": -0.6065870402981504, - "angularVelocity": -0.49677841356680774, - "velocityX": -1.9962031121999513, - "velocityY": 1.855808920599437, - "timestamp": 9.713187638201624 - }, - { - "x": 2.558815940395181, - "y": 3.096798896376675, - "heading": -0.6241768823786928, - "angularVelocity": -0.4822439319623353, - "velocityX": -1.8650745945777731, - "velocityY": 1.762737173812756, - "timestamp": 9.749662627132986 - }, - { - "x": 2.4954705931851175, - "y": 3.1575652085854595, - "heading": -0.6411192815459567, - "angularVelocity": -0.4644936068149557, - "velocityX": -1.7366789974704604, - "velocityY": 1.6659720534291127, - "timestamp": 9.786137616064348 - }, - { - "x": 2.436720202627274, - "y": 3.214689334448749, - "heading": -0.6573143259438626, - "angularVelocity": -0.4440040935552224, - "velocityX": -1.6107034512991794, - "velocityY": 1.56611770248334, - "timestamp": 9.82261260499571 - }, - { - "x": 2.382486314530016, - "y": 3.2680758496640516, - "heading": -0.672676022724654, - "angularVelocity": -0.4211569963653407, - "velocityX": -1.4868788089097045, - "velocityY": 1.4636471944039517, - "timestamp": 9.859087593927072 - }, - { - "x": 2.332698904953966, - "y": 3.3176430458830053, - "heading": -0.6871296643520235, - "angularVelocity": -0.3962617138710635, - "velocityX": -1.3649739461124906, - "velocityY": 1.3589365664299138, - "timestamp": 9.895562582858433 - }, - { - "x": 2.2872951987213446, - "y": 3.3633202674966705, - "heading": -0.7006098012006035, - "angularVelocity": -0.3695720613910734, - "velocityX": -1.244790130520998, - "velocityY": 1.2522888409814164, - "timestamp": 9.932037571789795 - }, - { - "x": 2.246218672153212, - "y": 3.4050458769764704, - "heading": -0.7130586607872357, - "angularVelocity": -0.34129851581472304, - "velocityX": -1.1261559707510682, - "velocityY": 1.143951258170871, - "timestamp": 9.968512560721157 - }, - { - "x": 2.2094182139699368, - "y": 3.4427656783231586, - "heading": -0.7244249002306428, - "angularVelocity": -0.31161735140744984, - "velocityX": -1.0089230802105635, - "velocityY": 1.0341278353139134, - "timestamp": 10.004987549652519 - }, - { - "x": 2.1768474191047806, - "y": 3.476431679464217, - "heading": -0.7346626104834151, - "angularVelocity": -0.2806775424123502, - "velocityX": -0.8929624331469239, - "velocityY": 0.9229886595554746, - "timestamp": 10.04146253858388 - }, - { - "x": 2.1484639930748917, - "y": 3.5060011090106364, - "heading": -0.7437305131405969, - "angularVelocity": -0.24860604273919715, - "velocityX": -0.7781613336004206, - "velocityY": 0.8106768613984435, - "timestamp": 10.077937527515243 - }, - { - "x": 2.1242292479352325, - "y": 3.531435626433545, - "heading": -0.7515913063052757, - "angularVelocity": -0.2155118725182116, - "velocityX": -0.664420904561861, - "velocityY": 0.6973139175112839, - "timestamp": 10.114412516446604 - }, - { - "x": 2.104107674051709, - "y": 3.552700681139875, - "heading": -0.7582111271556379, - "angularVelocity": -0.1814893175929183, - "velocityX": -0.551654009309999, - "velocityY": 0.5830037329509881, - "timestamp": 10.150887505377966 - }, - { - "x": 2.0880665747371085, - "y": 3.5697649874893598, - "heading": -0.7635591068989225, - "angularVelocity": -0.14662046240365967, - "velocityX": -0.4397835279617555, - "velocityY": 0.46783581981605, - "timestamp": 10.187362494309328 - }, - { - "x": 2.0760757531517053, - "y": 3.582600091051076, - "heading": -0.7676069996535306, - "angularVelocity": -0.1109772168053408, - "velocityX": -0.3287409245816974, - "velocityY": 0.3518877986740305, - "timestamp": 10.22383748324069 - }, - { - "x": 2.0681072428102594, - "y": 3.5911800073696245, - "heading": -0.7703288711104815, - "angularVelocity": -0.07462295498081772, - "velocityX": -0.218465051667085, - "velocityY": 0.23522738648925653, - "timestamp": 10.260312472172052 - }, - { - "x": 2.0641350746154785, - "y": 3.5954809188842773, - "heading": -0.771700836029523, - "angularVelocity": -0.037613854294055886, - "velocityX": -0.10890114873662438, - "velocityY": 0.11791399094722152, - "timestamp": 10.296787461103413 - }, - { - "x": 2.0641350746154785, - "y": 3.5954809188842773, - "heading": -0.771700836029523, - "angularVelocity": 1.522374269118897e-24, - "velocityX": 6.728193443953296e-24, - "velocityY": 1.735769868556535e-24, - "timestamp": 10.333262450034775 - }, - { - "x": 2.063291226236175, - "y": 3.596620834264452, - "heading": -0.7716026464774829, - "angularVelocity": 0.005474717737889853, - "velocityX": -0.04705013511395001, - "velocityY": 0.0635578309695214, - "timestamp": 10.351197539429524 - }, - { - "x": 2.0616105588960303, - "y": 3.598905821761016, - "heading": -0.7714042835444569, - "angularVelocity": 0.011060047076439332, - "velocityX": -0.0937083335997902, - "velocityY": 0.1274031841309373, - "timestamp": 10.369132628824273 - }, - { - "x": 2.0591008669796556, - "y": 3.6023415218566175, - "heading": -0.7711035632808647, - "angularVelocity": 0.01676714606620457, - "velocityX": -0.13993194352904548, - "velocityY": 0.1915630315513047, - "timestamp": 10.387067718219022 - }, - { - "x": 2.055770840275505, - "y": 3.6069341284276217, - "heading": -0.7706980701166114, - "angularVelocity": 0.022608929084683708, - "velocityX": -0.18567104020822742, - "velocityY": 0.25606822859490513, - "timestamp": 10.405002807613771 - }, - { - "x": 2.051630225446013, - "y": 3.612690471939128, - "heading": -0.7701851184944544, - "angularVelocity": 0.028600449703206465, - "velocityX": -0.23086669591426456, - "velocityY": 0.3209542692991594, - "timestamp": 10.42293789700852 - }, - { - "x": 2.0466900282030593, - "y": 3.6196181194601995, - "heading": -0.7695617056966235, - "angularVelocity": 0.03475939172142534, - "velocityX": -0.27544871030305, - "velocityY": 0.38626222421282774, - "timestamp": 10.440872986403269 - }, - { - "x": 2.040962769658941, - "y": 3.627725495671383, - "heading": -0.7688244532456674, - "angularVelocity": 0.041106706229852664, - "velocityX": -0.31933258976649015, - "velocityY": 0.4520399108552946, - "timestamp": 10.458808075798018 - }, - { - "x": 2.0344628159471405, - "y": 3.6370220301724463, - "heading": -0.7679695332976048, - "angularVelocity": 0.04766744838823975, - "velocityX": -0.3624154621556472, - "velocityY": 0.5183433601276373, - "timestamp": 10.476743165192767 - }, - { - "x": 2.027206808713074, - "y": 3.6475183377820812, - "heading": -0.7669925750622906, - "angularVelocity": 0.054471891040598686, - "velocityX": -0.40457045261181673, - "velocityY": 0.5852386558334284, - "timestamp": 10.494678254587516 - }, - { - "x": 2.019214237235835, - "y": 3.659226440075313, - "heading": -0.7658885442748775, - "angularVelocity": 0.06155702729512871, - "velocityX": -0.445638786700417, - "velocityY": 0.6528042339537887, - "timestamp": 10.512613343982265 - }, - { - "x": 2.0105082138160526, - "y": 3.6721600377959946, - "heading": -0.7646515857894011, - "angularVelocity": 0.06896862670997553, - "velocityX": -0.4854184569791821, - "velocityY": 0.721133719270397, - "timestamp": 10.530548433377014 - }, - { - "x": 2.0011165480677486, - "y": 3.6863348439982775, - "heading": -0.7632748150087604, - "angularVelocity": 0.07676408800302885, - "velocityX": -0.5236475571208352, - "velocityY": 0.7903393114078343, - "timestamp": 10.548483522771763 - }, - { - "x": 1.9910732727241378, - "y": 3.701768984006825, - "heading": -0.7617500374764165, - "angularVelocity": 0.08501644451186409, - "velocityX": -0.5599791070208943, - "velocityY": 0.8605555104212048, - "timestamp": 10.566418612166512 - }, - { - "x": 1.9804208717917025, - "y": 3.718483452963548, - "heading": -0.7600673668746977, - "angularVelocity": 0.0938200286981305, - "velocityX": -0.5939418922302394, - "velocityY": 0.9319423276260479, - "timestamp": 10.58435370156126 - }, - { - "x": 1.969213635718414, - "y": 3.7365025742560802, - "heading": -0.7582146999833204, - "angularVelocity": 0.10329844756278656, - "velocityX": -0.6248776254536054, - "velocityY": 1.0046853347610583, - "timestamp": 10.60228879095601 - }, - { - "x": 1.9575228810266878, - "y": 3.755854265275658, - "heading": -0.7561769967865833, - "angularVelocity": 0.11361544689784184, - "velocityX": -0.6518369902939769, - "velocityY": 1.0789849213266094, - "timestamp": 10.620223880350759 - }, - { - "x": 1.9454453277251464, - "y": 3.7765695274547184, - "heading": -0.7539353239742204, - "angularVelocity": 0.12498810365669889, - "velocityX": -0.6734035741733236, - "velocityY": 1.1550130430420986, - "timestamp": 10.638158969745508 - }, - { - "x": 1.933116814568198, - "y": 3.798679464769351, - "heading": -0.7514657228056935, - "angularVelocity": 0.13769661885544046, - "velocityX": -0.6873962479695469, - "velocityY": 1.2327754173952807, - "timestamp": 10.656094059140257 - }, - { - "x": 1.9207342732225798, - "y": 3.8222050262738194, - "heading": -0.7487383954424982, - "angularVelocity": 0.15206656087222495, - "velocityX": -0.6904086772628084, - "velocityY": 1.311705840248422, - "timestamp": 10.674029148535006 - }, - { - "x": 1.9085854129383217, - "y": 3.847127275683962, - "heading": -0.7457191299442537, - "angularVelocity": 0.168344045116864, - "velocityX": -0.6773794106549377, - "velocityY": 1.389580439863345, - "timestamp": 10.691964237929755 - }, - { - "x": 1.8970613203450215, - "y": 3.8733197613175734, - "heading": -0.7423786854693779, - "angularVelocity": 0.18625189991268803, - "velocityX": -0.6425444746695689, - "velocityY": 1.4604045208317213, - "timestamp": 10.709899327324504 - }, - { - "x": 1.886576399186915, - "y": 3.900473473695822, - "heading": -0.7387173605508901, - "angularVelocity": 0.2041431095157979, - "velocityX": -0.5846037857595875, - "velocityY": 1.5139992770930824, - "timestamp": 10.727834416719253 - }, - { - "x": 1.8774051581109974, - "y": 3.9281564813640126, - "heading": -0.7347769294773565, - "angularVelocity": 0.21970512590182578, - "velocityX": -0.5113574219821415, - "velocityY": 1.5435109945031722, - "timestamp": 10.745769506114002 - }, - { - "x": 1.8696441264401253, - "y": 3.9559793941023407, - "heading": -0.7306141997371357, - "angularVelocity": 0.23209974863241142, - "velocityX": -0.4327289092378232, - "velocityY": 1.5513116286153077, - "timestamp": 10.76370459550875 - }, - { - "x": 1.863293845098013, - "y": 3.983662037901905, - "heading": -0.726279902543493, - "angularVelocity": 0.24166577028112832, - "velocityX": -0.3540702364144211, - "velocityY": 1.5434907064176955, - "timestamp": 10.7816396849035 - }, - { - "x": 1.8583226144288878, - "y": 4.011014415056099, - "heading": -0.7218135836126378, - "angularVelocity": 0.2490268563792626, - "velocityX": -0.2771790293156227, - "velocityY": 1.5250761539111266, - "timestamp": 10.799574774298248 - }, - { - "x": 1.854692677615889, - "y": 4.037905984525095, - "heading": -0.7172450217748045, - "angularVelocity": 0.2547275754962751, - "velocityX": -0.20239301478262423, - "velocityY": 1.4993830739906615, - "timestamp": 10.817509863692997 - }, - { - "x": 1.8523686052071113, - "y": 4.064243968759062, - "heading": -0.7125967603276678, - "angularVelocity": 0.25917135648612044, - "velocityX": -0.12958242680731455, - "velocityY": 1.4685170312939513, - "timestamp": 10.835444953087746 - }, - { - "x": 1.8513193424864507, - "y": 4.089960025153014, - "heading": -0.7078861837229194, - "angularVelocity": 0.26264583917422296, - "velocityX": -0.0585033448993053, - "velocityY": 1.4338404358041936, - "timestamp": 10.853380042482495 - }, - { - "x": 1.851518231242687, - "y": 4.115002158627203, - "heading": -0.7031269857553186, - "angularVelocity": 0.2653568021241317, - "velocityX": 0.011089365202416091, - "velocityY": 1.3962647703067042, - "timestamp": 10.871315131877244 - }, - { - "x": 1.8529424712372697, - "y": 4.139329698709649, - "heading": -0.6983301740429444, - "angularVelocity": 0.26745401747363784, - "velocityX": 0.07941081102165848, - "velocityY": 1.3564214566764423, - "timestamp": 10.889250221271993 - }, - { - "x": 1.8555724993026026, - "y": 4.162910076280178, - "heading": -0.6935047598011007, - "angularVelocity": 0.26904879789763936, - "velocityX": 0.14664148070000266, - "velocityY": 1.3147621989235003, - "timestamp": 10.907185310666742 - }, - { - "x": 1.8593914295004998, - "y": 4.1857166851235394, - "heading": -0.6886582392631672, - "angularVelocity": 0.2702256136706393, - "velocityX": 0.21293064750574775, - "velocityY": 1.2716194684839366, - "timestamp": 10.925120400061491 - }, - { - "x": 1.8643845856758514, - "y": 4.2077274184649704, - "heading": -0.6837969364863069, - "angularVelocity": 0.27104982137885447, - "velocityX": 0.2784015214785556, - "velocityY": 1.2272441389600999, - "timestamp": 10.94305548945624 - }, - { - "x": 1.8705391220179286, - "y": 4.228923639012959, - "heading": -0.6789262524896215, - "angularVelocity": 0.2715728865065857, - "velocityX": 0.34315615643818564, - "velocityY": 1.1818296570183644, - "timestamp": 10.96099057885099 - }, - { - "x": 1.8778437178266378, - "y": 4.2492894358076985, - "heading": -0.6740508498749014, - "angularVelocity": 0.27183598070872844, - "velocityX": 0.40727958740189696, - "velocityY": 1.1355280337048719, - "timestamp": 10.978925668245738 - }, - { - "x": 1.8862883320518224, - "y": 4.268811076024548, - "heading": -0.669174792123114, - "angularVelocity": 0.27187250893855136, - "velocityX": 0.47084316332748555, - "velocityY": 1.088460714478838, - "timestamp": 10.996860757640487 - }, - { - "x": 1.895864005137384, - "y": 4.287476592574389, - "heading": -0.6643016504371507, - "angularVelocity": 0.2717099189586604, - "velocityX": 0.5339071846703922, - "velocityY": 1.0407261507883774, - "timestamp": 11.014795847035236 - }, - { - "x": 1.9065626981106043, - "y": 4.305275468394773, - "heading": -0.6594345869267304, - "angularVelocity": 0.27137102042243033, - "velocityX": 0.5965229800501064, - "velocityY": 0.9924051912222442, - "timestamp": 11.032730936429985 - }, - { - "x": 1.918377161026001, - "y": 4.322198390960693, - "heading": -0.6545764202589854, - "angularVelocity": 0.2708749625283474, - "velocityX": 0.6587345429600263, - "velocityY": 0.943564996719548, - "timestamp": 11.050666025824734 - }, - { - "x": 1.9295004708011239, - "y": 4.336257831190096, - "heading": -0.6503566415245581, - "angularVelocity": 0.2703205383982234, - "velocityX": 0.7125632115849363, - "velocityY": 0.9006527810054531, - "timestamp": 11.066276303754156 - }, - { - "x": 1.941457359006927, - "y": 4.349639081038832, - "heading": -0.6461480716252801, - "angularVelocity": 0.2696024964004939, - "velocityX": 0.7659625446685151, - "velocityY": 0.8572076621079832, - "timestamp": 11.081886581683579 - }, - { - "x": 1.9542402449484766, - "y": 4.362332932032077, - "heading": -0.6419535605526983, - "angularVelocity": 0.2687018829226605, - "velocityX": 0.8188762557171557, - "velocityY": 0.8131726450122045, - "timestamp": 11.097496859613 - }, - { - "x": 1.9678404903848246, - "y": 4.374329140613766, - "heading": -0.6377763073272026, - "angularVelocity": 0.2675963390518734, - "velocityX": 0.8712365979540867, - "velocityY": 0.7684814220430845, - "timestamp": 11.113107137542423 - }, - { - "x": 1.98224817022165, - "y": 4.385616251012893, - "heading": -0.6336199262881519, - "angularVelocity": 0.2662592593061164, - "velocityX": 0.9229611350909738, - "velocityY": 0.7230563382764723, - "timestamp": 11.128717415471845 - }, - { - "x": 1.9974517743481024, - "y": 4.396181377943262, - "heading": -0.6294885306647823, - "angularVelocity": 0.2646586846210294, - "velocityX": 0.9739483304007286, - "velocityY": 0.6768058184573429, - "timestamp": 11.144327693401268 - }, - { - "x": 2.0134378137647806, - "y": 4.406009938375307, - "heading": -0.6253868391581952, - "angularVelocity": 0.26275582825185867, - "velocityX": 1.0240714155734, - "velocityY": 0.6296211045365373, - "timestamp": 11.15993797133069 - }, - { - "x": 2.0301902911265537, - "y": 4.415085318840891, - "heading": -0.6213203135283274, - "angularVelocity": 0.2605030895832479, - "velocityX": 1.0731697050824138, - "velocityY": 0.581372125891353, - "timestamp": 11.175548249260112 - }, - { - "x": 2.047689975224621, - "y": 4.423388461920246, - "heading": -0.6172953384165001, - "angularVelocity": 0.25784134850290147, - "velocityX": 1.1210360364618268, - "velocityY": 0.5319023221043848, - "timestamp": 11.191158527189534 - }, - { - "x": 2.0659133856763727, - "y": 4.430897354022375, - "heading": -0.613319459199103, - "angularVelocity": 0.25469624790620676, - "velocityX": 1.1673982061141626, - "velocityY": 0.4810223197868642, - "timestamp": 11.206768805118957 - }, - { - "x": 2.084831339415711, - "y": 4.437586400045198, - "heading": -0.6094016998370902, - "angularVelocity": 0.250973069135979, - "velocityX": 1.2118908980910377, - "velocityY": 0.4285026860550951, - "timestamp": 11.222379083048379 - }, - { - "x": 2.1044068196032866, - "y": 4.443425689074363, - "heading": -0.6055529900818638, - "angularVelocity": 0.24654972657291577, - "velocityX": 1.2540122780696283, - "velocityY": 0.37406694842755106, - "timestamp": 11.237989360977801 - }, - { - "x": 2.124591776739188, - "y": 4.448380215564208, - "heading": -0.6017867370608403, - "angularVelocity": 0.24126751862148324, - "velocityX": 1.2930555898596048, - "velocityY": 0.31738874299640374, - "timestamp": 11.253599638907223 - }, - { - "x": 2.1453222321318695, - "y": 4.452409291701021, - "heading": -0.5981195687389935, - "angularVelocity": 0.23492011727317683, - "velocityX": 1.3280004037345323, - "velocityY": 0.25810406163362676, - "timestamp": 11.269209916836646 - }, - { - "x": 2.166510730463348, - "y": 4.455466843158549, - "heading": -0.5945722198659328, - "angularVelocity": 0.22724444043207317, - "velocityX": 1.3573427985892672, - "velocityY": 0.19586784241453092, - "timestamp": 11.284820194766068 - }, - { - "x": 2.188035017984716, - "y": 4.457504414106686, - "heading": -0.5911703297085827, - "angularVelocity": 0.21792630296082013, - "velocityX": 1.378853574464475, - "velocityY": 0.1305275253489674, - "timestamp": 11.30043047269549 - }, - { - "x": 2.209723010848071, - "y": 4.4584810825037255, - "heading": -0.5879444018293817, - "angularVelocity": 0.20665409634512977, - "velocityX": 1.389340597355868, - "velocityY": 0.06256572762225363, - "timestamp": 11.316040750624913 - }, - { - "x": 2.231340396523973, - "y": 4.458387104834711, - "heading": -0.5849272732995832, - "angularVelocity": 0.19327833517376095, - "velocityX": 1.3848174756169542, - "velocityY": -0.006020243165398874, - "timestamp": 11.331651028554335 - }, - { - "x": 2.2526018421157583, - "y": 4.457281422415155, - "heading": -0.5821467343507716, - "angularVelocity": 0.17812232180509294, - "velocityX": 1.3620158262340167, - "velocityY": -0.07083041215246684, - "timestamp": 11.347261306483757 - }, - { - "x": 2.273226708534977, - "y": 4.4553128610755115, - "heading": -0.5796139836111671, - "angularVelocity": 0.16224892029825883, - "velocityX": 1.321236336243861, - "velocityY": -0.1261067450909332, - "timestamp": 11.36287158441318 - }, - { - "x": 2.2930046199345107, - "y": 4.452686403577795, - "heading": -0.577320064081297, - "angularVelocity": 0.14694930738845954, - "velocityX": 1.2669800940735099, - "velocityY": -0.1682518088140708, - "timestamp": 11.378481862342602 - }, - { - "x": 2.3118111806915933, - "y": 4.44960454179237, - "heading": -0.5752453059077974, - "angularVelocity": 0.13290975233625504, - "velocityX": 1.2047550237165083, - "velocityY": -0.19742517073424024, - "timestamp": 11.394092140272024 - }, - { - "x": 2.3295837089238307, - "y": 4.446235561009604, - "heading": -0.5733682364875802, - "angularVelocity": 0.12024573993517862, - "velocityX": 1.138514529503654, - "velocityY": -0.21581811662787959, - "timestamp": 11.409702418201446 - }, - { - "x": 2.3462942819537207, - "y": 4.442710003094703, - "heading": -0.5716693379675314, - "angularVelocity": 0.1088320482011814, - "velocityX": 1.0704852985604882, - "velocityY": -0.22584850384094388, - "timestamp": 11.425312696130868 - }, - { - "x": 2.361932710234688, - "y": 4.439127599519703, - "heading": -0.570131998444952, - "angularVelocity": 0.09848252090898803, - "velocityX": 1.0018033216110414, - "velocityY": -0.22949005720437765, - "timestamp": 11.44092297406029 - }, - { - "x": 2.376497511969503, - "y": 4.435565143031837, - "heading": -0.5687423978042991, - "angularVelocity": 0.0890183151725747, - "velocityX": 0.9330264201999029, - "velocityY": -0.22821223965218895, - "timestamp": 11.456533251989713 - }, - { - "x": 2.3899913669695643, - "y": 4.43208272841001, - "heading": -0.56748908417522, - "angularVelocity": 0.08028772035614773, - "velocityX": 0.8644211884676433, - "velocityY": -0.22308472902089735, - "timestamp": 11.472143529919135 - }, - { - "x": 2.4024188411865652, - "y": 4.428728245556412, - "heading": -0.5663625252914164, - "angularVelocity": 0.07216776593581338, - "velocityX": 0.796108453237543, - "velocityY": -0.21488937408830755, - "timestamp": 11.487753807848557 - }, - { - "x": 2.4137852414509506, - "y": 4.425540536252587, - "heading": -0.5653547221703813, - "angularVelocity": 0.0645602292023053, - "velocityX": 0.7281356754681111, - "velocityY": -0.20420580070625552, - "timestamp": 11.50336408577798 - }, - { - "x": 2.4240960382867756, - "y": 4.422551616527037, - "heading": -0.564458899406459, - "angularVelocity": 0.057386727383877435, - "velocityX": 0.6605133414307027, - "velocityY": -0.19147126906156764, - "timestamp": 11.518974363707402 - }, - { - "x": 2.4333565793001064, - "y": 4.419788260781509, - "heading": -0.5636692633247001, - "angularVelocity": 0.050584370459576755, - "velocityX": 0.593233576954846, - "velocityY": -0.17702155964302693, - "timestamp": 11.534584641636824 - }, - { - "x": 2.44157195361988, - "y": 4.417273149474497, - "heading": -0.5629808144555088, - "angularVelocity": 0.04410228134975417, - "velocityX": 0.5262798239030234, - "velocityY": -0.16111893192318538, - "timestamp": 11.550194919566247 - }, - { - "x": 2.44874693563304, - "y": 4.4150257150163865, - "heading": -0.5623892018465247, - "angularVelocity": 0.03789891580783127, - "velocityX": 0.4596319197902289, - "velocityY": -0.14397145702789166, - "timestamp": 11.565805197495669 - }, - { - "x": 2.454885970298794, - "y": 4.413062775808062, - "heading": -0.5618906091651886, - "angularVelocity": 0.031940025897701944, - "velocityX": 0.3932687613577477, - "velocityY": -0.12574658934324356, - "timestamp": 11.581415475425091 - }, - { - "x": 2.4599931798618555, - "y": 4.411399019100761, - "heading": -0.5614816649136146, - "angularVelocity": 0.02619711535073342, - "velocityX": 0.3271696753992591, - "velocityY": -0.1065808510792109, - "timestamp": 11.597025753354513 - }, - { - "x": 2.4640723810342107, - "y": 4.410047374199178, - "heading": -0.5611593710042633, - "angularVelocity": 0.020646263366255697, - "velocityX": 0.2613150893788369, - "velocityY": -0.08658685692172037, - "timestamp": 11.612636031283936 - }, - { - "x": 2.46712710669782, - "y": 4.409019304866325, - "heading": -0.5609210454129525, - "angularVelocity": 0.015267222812314366, - "velocityX": 0.19568682104315818, - "velocityY": -0.06585848999620345, - "timestamp": 11.628246309213358 - }, - { - "x": 2.4691606289115664, - "y": 4.408325041305459, - "heading": -0.5607642757144292, - "angularVelocity": 0.010042723084892041, - "velocityX": 0.1302681619725483, - "velocityY": -0.044474772582873814, - "timestamp": 11.64385658714278 - }, - { - "x": 2.4701759815216064, - "y": 4.407973766326904, - "heading": -0.5606868811052523, - "angularVelocity": 0.004957926407641578, - "velocityX": 0.06504385217425471, - "velocityY": -0.022502801048308187, - "timestamp": 11.659466865072202 - }, - { - "x": 2.4701759815216064, - "y": 4.407973766326904, - "heading": -0.5606868811052523, - "angularVelocity": -1.1447905727402234e-25, - "velocityX": 1.8614769693128743e-24, - "velocityY": 1.7294508609659608e-24, - "timestamp": 11.675077143001625 - } - ] + "samples": [ + { + "x": 0.7040935158729553, + "y": 4.236670017242432, + "heading": -1.0390724511122948, + "angularVelocity": 7.29755488304114e-23, + "velocityX": 6.956890646208746e-21, + "velocityY": 6.752920700606897e-21, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.715433807582365, + "y": 4.229595142004885, + "heading": -1.032270890195898, + "angularVelocity": 0.11376381797078292, + "velocityX": 0.18967923651977003, + "velocityY": -0.11833530987716402, + "moduleForcesX": [ + 65.54772190692509, + 61.26838468482335, + 56.33796486576706, + 51.8974658730056 + ], + "moduleForcesY": [ + -24.455711399147777, + -33.79574008552189, + -41.46478634469826, + -46.925519157100595 + ], + "timestamp": 0.059786679435667754 + }, + { + "x": 0.738118051226565, + "y": 4.2154438577652265, + "heading": -1.018777355432788, + "angularVelocity": 0.22569466795073123, + "velocityX": 0.37941969445900675, + "velocityY": -0.2366962737057032, + "moduleForcesX": [ + 65.44680562579664, + 61.3117606334281, + 56.28226247099849, + 52.08657451491899 + ], + "moduleForcesY": [ + -24.71555488320743, + -33.711587460428035, + -41.534893455512545, + -46.711511702824325 + ], + "timestamp": 0.11957335887133551 + }, + { + "x": 0.7721501664105168, + "y": 4.194214566047879, + "heading": -0.9987104548413567, + "angularVelocity": 0.3356416643447112, + "velocityX": 0.569225712235318, + "velocityY": -0.3550839738505436, + "moduleForcesX": [ + 65.32874096768309, + 61.383275986110924, + 56.18208017428399, + 52.31454822228494 + ], + "moduleForcesY": [ + -25.015809842064858, + -33.57502583171514, + -41.66427696154145, + -46.45156665463389 + ], + "timestamp": 0.17936003830700326 + }, + { + "x": 0.8175344403053058, + "y": 4.165905584453313, + "heading": -0.9722018476017761, + "angularVelocity": 0.44338651167447146, + "velocityX": 0.7591034378088153, + "velocityY": -0.4734998140351508, + "moduleForcesX": [ + 65.18866556438779, + 61.47819785655304, + 56.04739384964031, + 52.58324877047411 + ], + "moduleForcesY": [ + -25.367064064013647, + -33.39378225189223, + -41.83859990529744, + -46.142104358457196 + ], + "timestamp": 0.23914671774267102 + }, + { + "x": 0.8742756510494156, + "y": 4.1305151118577195, + "heading": -0.9394014826163761, + "angularVelocity": 0.5486232935999428, + "velocityX": 0.9490610831659384, + "velocityY": -0.5919457800574721, + "moduleForcesX": [ + 65.020403958279, + 61.59062585961838, + 55.890482716510874, + 52.895030535417675 + ], + "moduleForcesY": [ + -25.782161069196288, + -33.17766320071793, + -42.04051589284145, + -45.77854251818276 + ], + "timestamp": 0.2989333971783388 + }, + { + "x": 0.9423792036142611, + "y": 4.0880411675121096, + "heading": -0.9004844684798459, + "angularVelocity": 0.6509311857402303, + "velocityX": 1.139109132798163, + "velocityY": -0.7104248763524927, + "moduleForcesX": [ + 64.81632247355392, + 61.71317278886842, + 55.726505846609875, + 53.25257142819196 + ], + "moduleForcesY": [ + -26.276007269178876, + -32.93935748727244, + -42.2492161613132, + -45.35535697655966 + ], + "timestamp": 0.3587200766140065 + }, + { + "x": 1.0218512713966623, + "y": 4.038481494472945, + "heading": -0.8556600736346998, + "angularVelocity": 0.7497388259098504, + "velocityX": 1.3292604394916392, + "velocityY": -0.8289417225870636, + "moduleForcesX": [ + 64.5671642558988, + 61.83647882993179, + 55.574165864564975, + 53.658720296444 + ], + "moduleForcesY": [ + -26.86524352336682, + -32.695579450559244, + -42.43979933572092, + -44.86609551424779 + ], + "timestamp": 0.41850675604967424 + }, + { + "x": 1.1126989315207665, + "y": 3.981833422121306, + "heading": -0.8051834735323969, + "angularVelocity": 0.8442783673346016, + "velocityX": 1.519530119110542, + "velocityY": -0.9475032379511233, + "moduleForcesX": [ + 64.26188004838505, + 61.9484456320135, + 55.456492177760616, + 54.11639975905939 + ], + "moduleForcesY": [ + -27.56771823657009, + -32.46874002113115, + -42.58232674754677, + -44.303287045868665 + ], + "timestamp": 0.478293435485342 + }, + { + "x": 1.2149302753185753, + "y": 3.9180936926219325, + "heading": -0.7493711118546663, + "angularVelocity": 0.9335250293969989, + "velocityX": 1.7099351354311807, + "velocityY": -1.0661192443035492, + "moduleForcesX": [ + 63.887475633512466, + 62.03296933013225, + 55.40184701466258, + 54.62863561278071 + ], + "moduleForcesY": [ + -28.401712831303943, + -32.28948380126497, + -42.64027055454573, + -43.658130391946486 + ], + "timestamp": 0.5380801149210097 + }, + { + "x": 1.3285544663332673, + "y": 3.8472582753725564, + "heading": -0.6886211329064718, + "angularVelocity": 1.0161122765408537, + "velocityX": 1.900493422401139, + "velocityY": -1.1848026670489025, + "moduleForcesX": [ + 63.42888913505149, + 62.067721094553924, + 55.44540149688528, + 55.198849683454945 + ], + "moduleForcesY": [ + -29.38492659731237, + -32.20073803571778, + -42.567755661759435, + -42.91972004356158 + ], + "timestamp": 0.5978667943566774 + }, + { + "x": 1.453581699073713, + "y": 3.769322227601833, + "heading": -0.6234417288531531, + "angularVelocity": 1.0901994335285599, + "velocityX": 2.0912222240905414, + "velocityY": -1.3035687632490642, + "moduleForcesX": [ + 62.86885947349876, + 62.01999544057191, + 55.63161174105422, + 55.83169751878265 + ], + "moduleForcesY": [ + -30.533371291562247, + -32.2645855847761, + -42.30435993060173, + -42.07327292442682 + ], + "timestamp": 0.6576534737923452 + }, + { + "x": 1.5900229546038354, + "y": 3.6842797232824167, + "heading": -0.5544934479072021, + "angularVelocity": 1.1532381727294532, + "velocityX": 2.2821346965244524, + "velocityY": -1.4224323063622528, + "moduleForcesX": [ + 62.1875724135222, + 61.83833379276979, + 56.01878101689776, + 56.53508273220183 + ], + "moduleForcesY": [ + -31.860643822951015, + -32.57481447567777, + -41.76480863993979, + -41.09607953526188 + ], + "timestamp": 0.7174401532280129 + }, + { + "x": 1.7378892550547027, + "y": 3.5921245178283687, + "heading": -0.48265898883673286, + "angularVelocity": 1.2015127742253222, + "velocityX": 2.473231526597427, + "velocityY": -1.5414002972553322, + "moduleForcesX": [ + 61.361367872462075, + 61.434015184200874, + 56.68790855051713, + 57.32493533314934 + ], + "moduleForcesY": [ + -33.37873739561856, + -33.28185355224547, + -40.8173810709515, + -39.94780670961778 + ], + "timestamp": 0.7772268326636806 + }, + { + "x": 1.8971894226275083, + "y": 3.4928515473842303, + "heading": -0.4091725613216626, + "angularVelocity": 1.2291438194714246, + "velocityX": 2.6644759179880113, + "velocityY": -1.6604529868724265, + "moduleForcesX": [ + 60.35836913352838, + 60.63513349367374, + 57.760246893909404, + 58.237336203294035 + ], + "moduleForcesY": [ + -35.1031828607357, + -34.647456227604984, + -39.23520372459329, + -38.544895033085695 + ], + "timestamp": 0.8370135120993484 + }, + { + "x": 2.067922596548823, + "y": 3.386462043001343, + "heading": -0.33589299190944444, + "angularVelocity": 1.2256838831644614, + "velocityX": 2.8557059119670423, + "velocityY": -1.7794850857600122, + "moduleForcesX": [ + 59.12452238741171, + 59.05338377748442, + 59.43158657433183, + 59.36375163479457 + ], + "moduleForcesY": [ + -37.06983571694618, + -37.17955017577845, + -36.57470562189395, + -36.68113018786039 + ], + "timestamp": 0.8968001915350161 + }, + { + "x": 2.2500487614425344, + "y": 3.272983577125707, + "heading": -0.2659841778203613, + "angularVelocity": 1.1693041786056557, + "velocityX": 3.0462666034109573, + "velocityY": -1.8980560042265389, + "moduleForcesX": [ + 57.53761001377698, + 55.601477549970554, + 62.02674796964957, + 60.97800551370017 + ], + "moduleForcesY": [ + -39.3860706683815, + -42.012027837027354, + -31.829260299987943, + -33.70636562123062 + ], + "timestamp": 0.9565868709706838 + }, + { + "x": 2.4433389004049477, + "y": 3.1526004381169717, + "heading": -0.20613271065820918, + "angularVelocity": 1.0010836481821022, + "velocityX": 3.2329967274800615, + "velocityY": -2.0135444909308355, + "moduleForcesX": [ + 55.2320119981847, + 46.08348130369955, + 65.92635531860081, + 64.15513258671815 + ], + "moduleForcesY": [ + -42.405324596705626, + -52.012838522679054, + -22.296704522496253, + -26.399090648387688 + ], + "timestamp": 1.0163735504063516 + }, + { + "x": 2.64640527789121, + "y": 3.0272578079737107, + "heading": -0.17589176396054093, + "angularVelocity": 0.5058141208562758, + "velocityX": 3.39651540113995, + "velocityY": -2.0964976032518132, + "moduleForcesX": [ + 51.43642800904045, + 15.961479301081786, + 69.21234911422556, + 66.02296970632854 + ], + "moduleForcesY": [ + -46.647203964182566, + -67.15407592237315, + -4.195869077646205, + 15.201202844053483 + ], + "timestamp": 1.0761602298420194 + }, + { + "x": 2.858759471121971, + "y": 2.896949290346968, + "heading": -0.1753865369061489, + "angularVelocity": 0.008450495313687719, + "velocityX": 3.5518646500389677, + "velocityY": -2.1795577017612344, + "moduleForcesX": [ + 49.877682755228676, + 13.479400255307931, + 67.80475151953434, + 61.34779618562412 + ], + "moduleForcesY": [ + -46.623113391603226, + -65.70740130826005, + -4.554556286293708, + 13.956547001777377 + ], + "timestamp": 1.1359469092776873 + }, + { + "x": 3.070577911300113, + "y": 2.765527166034974, + "heading": -0.17525943928538615, + "angularVelocity": 0.002125851811179994, + "velocityX": 3.5429035727944265, + "velocityY": -2.198184036185012, + "moduleForcesX": [ + -2.551941748310873, + -3.095020466787963, + -2.456887187650738, + -3.0007660581388347 + ], + "moduleForcesY": [ + -6.094065921638279, + -5.995375018481519, + -5.545518916946394, + -5.446894654115088 + ], + "timestamp": 1.1957335887133551 + }, + { + "x": 3.2822297601147885, + "y": 2.6338368148019735, + "heading": -0.1751324935852271, + "angularVelocity": 0.0021233107668347066, + "velocityX": 3.54011714335832, + "velocityY": -2.2026704355558717, + "moduleForcesX": [ + -0.863150676578567, + -0.8633676894084603, + -0.8631115358110056, + -0.8633285486733171 + ], + "moduleForcesY": [ + -1.3900226870877253, + -1.3899842033985372, + -1.389800997519401, + -1.3897625138369318 + ], + "timestamp": 1.255520268149023 + }, + { + "x": 3.4938391602812775, + "y": 2.502078264150958, + "heading": -0.17500555381086283, + "angularVelocity": 0.002123211651198114, + "velocityX": 3.5394071415889115, + "velocityY": -2.2038111481469853, + "moduleForcesX": [ + -0.21995604309338784, + -0.21996450538675114, + -0.219954513871351, + -0.21996297616472688 + ], + "moduleForcesY": [ + -0.35339937867368737, + -0.3533978822055434, + -0.353390728696392, + -0.35338923222825075 + ], + "timestamp": 1.3153069475846908 + }, + { + "x": 3.7054381506632414, + "y": 2.370302996259321, + "heading": -0.17487861636238372, + "angularVelocity": 0.002123172748132153, + "velocityX": 3.539233026140049, + "velocityY": -2.204090762950474, + "moduleForcesX": [ + -0.05393984104598162, + -0.053943162517911016, + -0.05393924116247466, + -0.05394256263440453 + ], + "moduleForcesY": [ + -0.08662703583199362, + -0.08662644897786774, + -0.0866236405582286, + -0.08662305370410282 + ], + "timestamp": 1.3750936270203586 + }, + { + "x": 3.9170361141832633, + "y": 2.23852607941541, + "heading": -0.1747516802251719, + "angularVelocity": 0.0021231508156993647, + "velocityX": 3.5392158507098253, + "velocityY": -2.2041183435468636, + "moduleForcesX": [ + -0.005320204225578223, + -0.005322076815743466, + -0.005319866268152617, + -0.005321738858317875 + ], + "moduleForcesY": [ + -0.008545628517439988, + -0.008545297906851504, + -0.008543714314207394, + -0.008543383703618915 + ], + "timestamp": 1.4348803064560265 + }, + { + "x": 4.128640197873898, + "y": 2.1067589904201007, + "heading": -0.17462474462871136, + "angularVelocity": 0.0021231417710216183, + "velocityX": 3.539318217502375, + "velocityY": -2.2039539616361186, + "moduleForcesX": [ + 0.031713687445732365, + 0.03171291519389732, + 0.03171382671474273, + 0.03171305446290771 + ], + "moduleForcesY": [ + 0.0509252757232426, + 0.050925411965595295, + 0.05092606513553456, + 0.05092620137788729 + ], + "timestamp": 1.4946669858916943 + }, + { + "x": 4.340270871800093, + "y": 1.975034612444512, + "heading": -0.17449780733111298, + "angularVelocity": 0.002123170224480436, + "velocityX": 3.5397629693403023, + "velocityY": -2.2032395714053457, + "moduleForcesX": [ + 0.13778372581008266, + 0.13778615529467875, + 0.13778328802854692, + 0.1377857175131436 + ], + "moduleForcesY": [ + 0.2213205167784022, + 0.22132008845864243, + 0.2213180333465503, + 0.22131760502679068 + ], + "timestamp": 1.5544536653273622 + }, + { + "x": 4.552006410372516, + "y": 1.8434788635952937, + "heading": -0.174370859246241, + "angularVelocity": 0.002123350653862275, + "velocityX": 3.5415169494445053, + "velocityY": -2.2004190580742207, + "moduleForcesX": [ + 0.5433790931423936, + 0.5433945012799418, + 0.5433763216746417, + 0.5433917298122928 + ], + "moduleForcesY": [ + 0.8738080810129659, + 0.8738053643437571, + 0.8737923345560961, + 0.8737896178869093 + ], + "timestamp": 1.61424034476303 + }, + { + "x": 4.764150877802991, + "y": 1.712583587714677, + "heading": -0.1742438576507746, + "angularVelocity": 0.002124245679224473, + "velocityX": 3.5483567482410368, + "velocityY": -2.189371898826826, + "moduleForcesX": [ + 2.1189474099970877, + 2.119023990511858, + 2.118933868378057, + 2.1190104489027095 + ], + "moduleForcesY": [ + 3.4224707099041685, + 3.4224570500226936, + 3.4223927392271776, + 3.4223790793476985 + ], + "timestamp": 1.6740270241986979 + }, + { + "x": 4.9778090324806294, + "y": 1.5841741090079462, + "heading": -0.17411657485486168, + "angularVelocity": 0.0021289490755190005, + "velocityX": 3.5736748836760577, + "velocityY": -2.1477941226841577, + "moduleForcesX": [ + 7.843414380489208, + 7.843827776043005, + 7.843357509344098, + 7.843770905905391 + ], + "moduleForcesY": [ + 12.881093794607638, + 12.881008034632004, + 12.880694670449412, + 12.880608910580017 + ], + "timestamp": 1.7338137036343657 + }, + { + "x": 5.195373986991736, + "y": 1.4625022489151542, + "heading": -0.173988188752645, + "angularVelocity": 0.0021474031243842464, + "velocityX": 3.639020540440172, + "velocityY": -2.0350998122201154, + "moduleForcesX": [ + 20.243141987202804, + 20.245068496376028, + 20.24327739317644, + 20.24520394305148 + ], + "moduleForcesY": [ + 34.91382994128647, + 34.91314041643893, + 34.91255957167897, + 34.911870028730796 + ], + "timestamp": 1.7936003830700336 + }, + { + "x": 5.418218497456287, + "y": 1.3507991828949582, + "heading": -0.17385302732875219, + "angularVelocity": 0.0022607280613107334, + "velocityX": 3.727327099748674, + "velocityY": -1.8683604286870024, + "moduleForcesX": [ + 27.348514036152682, + 27.363141872471164, + 27.35184014579624, + 27.366470570676757 + ], + "moduleForcesY": [ + 51.66197417486234, + 51.65527835345624, + 51.65689637264107, + 51.650198350230426 + ], + "timestamp": 1.8533870625057014 + }, + { + "x": 5.6460424658453325, + "y": 1.250564968244399, + "heading": -0.1725147447977409, + "angularVelocity": 0.022384292682642293, + "velocityX": 3.8106141792703365, + "velocityY": -1.6765308860883457, + "moduleForcesX": [ + 24.039815506108365, + 26.94185766408972, + 24.604667262673804, + 27.623459651364477 + ], + "moduleForcesY": [ + 60.29214549563695, + 59.1132938283946, + 59.786637936660526, + 58.52413101034513 + ], + "timestamp": 1.9131737419413692 + }, + { + "x": 5.869126369156722, + "y": 1.1607805254370478, + "heading": -0.1481104946013902, + "angularVelocity": 0.40818875419583034, + "velocityX": 3.7313312165368653, + "velocityY": -1.5017466040066891, + "moduleForcesX": [ + -35.7927128446837, + 6.816626369174684, + -63.47701349417779, + -5.794776901530241 + ], + "moduleForcesY": [ + 58.98539887002796, + 68.35565002906118, + 25.6725325852162, + 63.580047625029124 + ], + "timestamp": 1.972960421377037 + }, + { + "x": 6.082381320378522, + "y": 1.080013610345603, + "heading": -0.1195257126254579, + "angularVelocity": 0.4781128881173335, + "velocityX": 3.5669308487230578, + "velocityY": -1.3509182288397712, + "moduleForcesX": [ + -50.26698255144312, + -44.923006005486656, + -56.35778491399044, + -52.17805283116371 + ], + "moduleForcesY": [ + 47.927782965039306, + 52.87136753605047, + 40.50203248416087, + 45.60615651341666 + ], + "timestamp": 2.032747100812705 + }, + { + "x": 6.285071545390591, + "y": 1.007546366293734, + "heading": -0.09230135976084126, + "angularVelocity": 0.45535816876919627, + "velocityX": 3.3902238245254965, + "velocityY": -1.212096820494046, + "moduleForcesX": [ + -55.1466717380985, + -56.39687205758126, + -53.02404074942157, + -54.40871700917589 + ], + "moduleForcesY": [ + 42.51144819658585, + 40.86904226746777, + 45.15003536594513, + 43.49771534572805 + ], + "timestamp": 2.0925337802483726 + }, + { + "x": 6.4769473741081, + "y": 0.9430279969520655, + "heading": -0.06875601529710462, + "angularVelocity": 0.3938225819862123, + "velocityX": 3.209340785081957, + "velocityY": -1.0791428784917227, + "moduleForcesX": [ + -57.296919569530765, + -60.163242669698086, + -51.4150422151276, + -55.27603781295309 + ], + "moduleForcesY": [ + 39.7285253661544, + 35.31134050693661, + 47.13177275409373, + 42.58560647350289 + ], + "timestamp": 2.15232045968404 + }, + { + "x": 6.657887212115584, + "y": 0.8862550288071935, + "heading": -0.05014390101060943, + "angularVelocity": 0.31130871395061127, + "velocityX": 3.026423941175402, + "velocityY": -0.9495922617004271, + "moduleForcesX": [ + -58.44809457824092, + -61.958349119855626, + -50.48416125180224, + -55.780938824485276 + ], + "moduleForcesY": [ + 38.11844917242925, + 32.187030759517405, + 48.2137308405799, + 42.02061529186922 + ], + "timestamp": 2.212107139119708 + }, + { + "x": 6.827819787550746, + "y": 0.8370951717881533, + "heading": -0.037247534183898354, + "angularVelocity": 0.21570635714244593, + "velocityX": 2.8423149945635444, + "velocityY": -0.8222543463370615, + "moduleForcesX": [ + -59.15909372601742, + -62.99431456467617, + -49.88328359247133, + -56.112112020889846 + ], + "moduleForcesY": [ + 37.077260305216, + 30.19466541434311, + 48.889154482664, + 41.636754267145434 + ], + "timestamp": 2.2718938185553754 + }, + { + "x": 6.986698469234805, + "y": 0.7954556067043951, + "heading": -0.030602705565700657, + "angularVelocity": 0.11114229257953236, + "velocityX": 2.657426088615901, + "velocityY": -0.6964689371746117, + "moduleForcesX": [ + -59.66152451837595, + -63.65972937776729, + -49.46522350250985, + -56.32885633911261 + ], + "moduleForcesY": [ + 36.316079804723124, + 28.826227285985233, + 49.34889930306191, + 41.382753981965564 + ], + "timestamp": 2.331680497991043 + }, + { + "x": 7.134490489959717, + "y": 0.7612675428390503, + "heading": -0.030602705565700657, + "angularVelocity": 6.952767776164286e-23, + "velocityX": 2.471989113962082, + "velocityY": -0.5718341307470027, + "moduleForcesX": [ + -60.06849692819989, + -64.1138454479408, + -49.1573239255958, + -56.45483714544508 + ], + "moduleForcesY": [ + 35.67948764603912, + 27.847404869484926, + 49.6821541062048, + 41.23908061252403 + ], + "timestamp": 2.3914671774267107 + }, + { + "x": 7.175154057016087, + "y": 0.7522460645019807, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106227504416056e-23, + "velocityX": 2.4194193703465614, + "velocityY": -0.5367640130442598, + "moduleForcesX": [ + -57.93343567440759, + -57.93343567440759, + -57.93343567440759, + -57.93343567440759 + ], + "moduleForcesY": [ + 38.648322557652996, + 38.648322557653, + 38.648322557652996, + 38.648322557652996 + ], + "timestamp": 2.4082743368446944 + }, + { + "x": 7.2149221710298415, + "y": 0.7437960323086669, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102393573996173e-23, + "velocityX": 2.3661412987608386, + "velocityY": -0.5027638509970567, + "moduleForcesX": [ + -58.71403436247123, + -58.71403436247124, + -58.71403436247124, + -58.71403436247124 + ], + "moduleForcesY": [ + 37.46919930382793, + 37.46919930382793, + 37.46919930382793, + 37.46919930382793 + ], + "timestamp": 2.425081496262678 + }, + { + "x": 7.253783855819226, + "y": 0.7359001350300469, + "heading": -0.030602705565700657, + "angularVelocity": -2.6108155558853765e-23, + "velocityX": 2.312210161331774, + "velocityY": -0.46979368031664626, + "moduleForcesX": [ + -59.43373252769463, + -59.43373252769463, + -59.43373252769463, + -59.43373252769463 + ], + "moduleForcesY": [ + 36.334117895980555, + 36.334117895980555, + 36.334117895980555, + 36.33411789598055 + ], + "timestamp": 2.441888655680662 + }, + { + "x": 7.291728983802097, + "y": 0.728541718285939, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103800557615184e-23, + "velocityX": 2.2576764484231755, + "velocityY": -0.4378144195009311, + "moduleForcesX": [ + -60.097788796218225, + -60.097788796218225, + -60.097788796218225, + -60.097788796218225 + ], + "moduleForcesY": [ + 35.242105476720646, + 35.24210547672064, + 35.24210547672065, + 35.24210547672064 + ], + "timestamp": 2.4586958150986455 + }, + { + "x": 7.328748202616984, + "y": 0.7217047668190897, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503298681258e-23, + "velocityX": 2.20258628446577, + "velocityY": -0.40678804174310895, + "moduleForcesX": [ + -60.71101455736677, + -60.71101455736677, + -60.71101455736677, + -60.71101455736677 + ], + "moduleForcesY": [ + 34.19199974016953, + 34.19199974016952, + 34.19199974016953, + 34.19199974016953 + ], + "timestamp": 2.4755029745166293 + }, + { + "x": 7.364832868142423, + "y": 0.7153738846987937, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105004786612072e-23, + "velocityX": 2.146981808647478, + "velocityY": -0.37667769804564344, + "moduleForcesX": [ + -61.2778016683558, + -61.2778016683558, + -61.2778016683558, + -61.2778016683558 + ], + "moduleForcesY": [ + 33.182502705156985, + 33.182502705156985, + 33.182502705156985, + 33.182502705156985 + ], + "timestamp": 2.492310133934613 + }, + { + "x": 7.3999749834664375, + "y": 0.7095342741241564, + "heading": -0.030602705565700657, + "angularVelocity": -2.6103293610627807e-23, + "velocityX": 2.0909015289283817, + "velocityY": -0.3474478006319229, + "moduleForcesX": [ + -61.802151851275966, + -61.802151851275966, + -61.802151851275966, + -61.802151851275966 + ], + "moduleForcesY": [ + 32.21222446836054, + 32.21222446836054, + 32.21222446836054, + 32.21222446836054 + ], + "timestamp": 2.5091172933525967 + }, + { + "x": 7.434167143351112, + "y": 0.7041717133615514, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107866836484678e-23, + "velocityX": 2.0343806490042833, + "velocityY": -0.31906407437829004, + "moduleForcesX": [ + -62.28770650456309, + -62.28770650456308, + -62.28770650456309, + -62.28770650456309 + ], + "moduleForcesY": [ + 31.27971844681688, + 31.27971844681688, + 31.279718446816876, + 31.27971844681688 + ], + "timestamp": 2.5259244527705804 + }, + { + "x": 7.46740248374545, + "y": 0.6992725342467925, + "heading": -0.030602705565700657, + "angularVelocity": -2.610416473895468e-23, + "velocityX": 1.9774513686580328, + "velocityY": -0.29149358275713594, + "moduleForcesX": [ + -62.73777603047089, + -62.73777603047089, + -62.73777603047089, + -62.73777603047089 + ], + "moduleForcesY": [ + 30.383509467494363, + 30.38350946749436, + 30.383509467494367, + 30.383509467494367 + ], + "timestamp": 2.542731612188564 + }, + { + "x": 7.499674635915529, + "y": 0.6948235995888864, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104813945997216e-23, + "velocityX": 1.9201431584890207, + "velocityY": -0.26470473369720016, + "moduleForcesX": [ + -63.15536807110638, + -63.15536807110638, + -63.15536807110638, + -63.15536807110638 + ], + "moduleForcesY": [ + 29.522115899134906, + 29.522115899134903, + 29.522115899134906, + 29.522115899134906 + ], + "timestamp": 2.559538771606548 + }, + { + "x": 7.530977684783995, + "y": 0.6908122807369957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610518776998646e-23, + "velocityX": 1.8624830103633245, + "velocityY": -0.23866726982809133, + "moduleForcesX": [ + -63.54321426499422, + -63.54321426499422, + -63.54321426499422, + -63.54321426499422 + ], + "moduleForcesY": [ + 28.69406686131105, + 28.69406686131105, + 28.69406686131105, + 28.69406686131105 + ], + "timestamp": 2.5763459310245316 + }, + { + "x": 7.561306131096924, + "y": 0.6872264355133129, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104881848473154e-23, + "velocityX": 1.8044956651317128, + "velocityY": -0.21335224677336537, + "moduleForcesX": [ + -63.9037952985834, + -63.9037952985834, + -63.9037952985834, + -63.9037952985834 + ], + "moduleForcesY": [ + 27.897915395275348, + 27.897915395275348, + 27.897915395275348, + 27.897915395275348 + ], + "timestamp": 2.5931530904425153 + }, + { + "x": 7.590654857063528, + "y": 0.6840543866604047, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104104274275742e-23, + "velocityX": 1.7462038192603886, + "velocityY": -0.1887320024776123, + "moduleForcesX": [ + -64.23936414504035, + -64.23936414504035, + -64.23936414504035, + -64.23936414504035 + ], + "moduleForcesY": [ + 27.132248344751325, + 27.132248344751325, + 27.132248344751325, + 27.132248344751325 + ], + "timestamp": 2.609960249860499 + }, + { + "x": 7.619019095142299, + "y": 0.6812849009149007, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105965339706085e-23, + "velocityX": 1.6876283120411266, + "velocityY": -0.16478011998378084, + "moduleForcesX": [ + -64.55196746633982, + -64.55196746633982, + -64.55196746633982, + -64.55196746633983 + ], + "moduleForcesY": [ + 26.395693573968227, + 26.39569357396823, + 26.395693573968224, + 26.395693573968227 + ], + "timestamp": 2.6267674092784827 + }, + { + "x": 7.6463943996748, + "y": 0.6789071687839809, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503480741823e-23, + "velocityX": 1.6287882950169017, + "velocityY": -0.14147138560315756, + "moduleForcesX": [ + -64.84346521232759, + -64.84346521232759, + -64.84346521232759, + -64.84346521232759 + ], + "moduleForcesY": [ + 25.6869250450941, + 25.6869250450941, + 25.6869250450941, + 25.6869250450941 + ], + "timestamp": 2.6435745686964665 + }, + { + "x": 7.672776621094379, + "y": 0.6769107850761876, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104834611189408e-23, + "velocityX": 1.569701385193888, + "velocityY": -0.11878174402849069, + "moduleForcesX": [ + -65.11554848862656, + -65.11554848862656, + -65.11554848862656, + -65.11554848862656 + ], + "moduleForcesY": [ + 25.004666186982114, + 25.004666186982114, + 25.004666186982114, + 25.004666186982114 + ], + "timestamp": 2.66038172811445 + }, + { + "x": 7.69816188246255, + "y": 0.6752857302174082, + "heading": -0.030602705565700657, + "angularVelocity": -2.610521964462056e-23, + "velocityX": 1.5103838035238641, + "velocityY": -0.0966882516183401, + "moduleForcesX": [ + -65.36975578909144, + -65.36975578909143, + -65.36975578909143, + -65.36975578909143 + ], + "moduleForcesY": [ + 24.34769191053426, + 24.34769191053426, + 24.347691910534262, + 24.347691910534262 + ], + "timestamp": 2.677188887532434 + }, + { + "x": 7.722546558108417, + "y": 0.6740223523667375, + "heading": -0.030602705565700657, + "angularVelocity": -2.610485191447829e-23, + "velocityX": 1.4508505000420613, + "velocityY": -0.07516902881683414, + "moduleForcesX": [ + -65.60748770191346, + -65.60748770191346, + -65.60748770191346, + -65.60748770191346 + ], + "moduleForcesY": [ + 23.714829561508882, + 23.714829561508882, + 23.714829561508882, + 23.714829561508882 + ], + "timestamp": 2.6939960469504176 + }, + { + "x": 7.745927254168686, + "y": 0.6731113503339988, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104138196847447e-23, + "velocityX": 1.3911152669410813, + "velocityY": -0.05420321245800671, + "moduleForcesX": [ + -65.8300202044289, + -65.8300202044289, + -65.8300202044289, + -65.8300202044289 + ], + "moduleForcesY": [ + 23.10495904771672, + 23.10495904771672, + 23.10495904771672, + 23.10495904771672 + ], + "timestamp": 2.7108032063684013 + }, + { + "x": 7.7683007908450445, + "y": 0.6725437572906171, + "heading": -0.030602705565700657, + "angularVelocity": -2.6106824135894263e-23, + "velocityX": 1.3311908407564366, + "velocityY": -0.033770908529498926, + "moduleForcesX": [ + -66.038516662443, + -66.038516662443, + -66.038516662443, + -66.038516662443 + ], + "moduleForcesY": [ + 22.517012332787438, + 22.51701233278744, + 22.51701233278744, + 22.51701233278744 + ], + "timestamp": 2.727610365786385 + }, + { + "x": 7.789664186214021, + "y": 0.6723109252602374, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105152980818502e-23, + "velocityX": 1.2710889947366621, + "velocityY": -0.013853145829595697, + "moduleForcesX": [ + -66.23403864712321, + -66.23403864712321, + -66.23403864712321, + -66.23403864712321 + ], + "moduleForcesY": [ + 21.94997245168763, + 21.94997245168763, + 21.94997245168763, + 21.94997245168763 + ], + "timestamp": 2.7444175252043688 + }, + { + "x": 7.810014641440835, + "y": 0.6724045103670285, + "heading": -0.030602705565700657, + "angularVelocity": -2.610422355624129e-23, + "velocityX": 1.210820622372946, + "velocityY": 0.005568169161610403, + "moduleForcesX": [ + -66.41755567747809, + -66.41755567747809, + -66.41755567747809, + -66.41755567747809 + ], + "moduleForcesY": [ + 21.402872172716116, + 21.402872172716116, + 21.40287217271612, + 21.402872172716116 + ], + "timestamp": 2.7612246846223525 + }, + { + "x": 7.829349527263214, + "y": 0.6728164588187181, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105088065183055e-23, + "velocityX": 1.150395812971026, + "velocityY": 0.024510295966654817, + "moduleForcesX": [ + -66.58995399001628, + -66.58995399001628, + -66.58995399001628, + -66.58995399001628 + ], + "moduleForcesY": [ + 20.87479240573133, + 20.87479240573133, + 20.87479240573133, + 20.87479240573133 + ], + "timestamp": 2.778031844040336 + }, + { + "x": 7.8476663716252375, + "y": 0.6735389935968507, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104949696722127e-23, + "velocityX": 1.0898239200624162, + "velocityY": 0.04298970219246499, + "moduleForcesX": [ + -66.75204443002121, + -66.75204443002121, + -66.7520444300212, + -66.7520444300212 + ], + "moduleForcesY": [ + 20.364860435958946, + 20.364860435958946, + 20.364860435958953, + 20.364860435958953 + ], + "timestamp": 2.79483900345832 + }, + { + "x": 7.864962848352485, + "y": 0.6745646018252035, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105034811402497e-23, + "velocityX": 1.029113623373087, + "velocityY": 0.06102210390810046, + "moduleForcesX": [ + -66.90456955143009, + -66.90456955143009, + -66.90456955143009, + -66.90456955143009 + ], + "moduleForcesY": [ + 19.872248046106407, + 19.872248046106407, + 19.872248046106407, + 19.872248046106407 + ], + "timestamp": 2.8116461628763036 + }, + { + "x": 7.8812367667714325, + "y": 0.6758860227881692, + "heading": -0.030602705565700657, + "angularVelocity": -2.610709601255135e-23, + "velocityX": 0.9682729849955253, + "velocityY": 0.07862250426178659, + "moduleForcesX": [ + -67.04821000488467, + -67.04821000488467, + -67.04821000488467, + -67.04821000488467 + ], + "moduleForcesY": [ + 19.396169576011697, + 19.396169576011697, + 19.396169576011697, + 19.396169576011697 + ], + "timestamp": 2.8284533222942874 + }, + { + "x": 7.896486062185169, + "y": 0.6774962365671245, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102973667152836e-23, + "velocityX": 0.9073095003444197, + "velocityY": 0.09580523031531188, + "moduleForcesX": [ + -67.18359028633023, + -67.18359028633023, + -67.18359028633022, + -67.18359028633023 + ], + "moduleForcesY": [ + 18.935879958124406, + 18.935879958124403, + 18.93587995812441, + 18.935879958124406 + ], + "timestamp": 2.845260481712271 + }, + { + "x": 7.910708787126688, + "y": 0.6793884532669677, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503486874706e-23, + "velocityX": 0.8462301444167443, + "velocityY": 0.11258396810060553, + "moduleForcesX": [ + -67.31128391171234, + -67.31128391171234, + -67.31128391171234, + -67.31128391171234 + ], + "moduleForcesY": [ + 18.490672758295048, + 18.490672758295048, + 18.490672758295048, + 18.490672758295048 + ], + "timestamp": 2.862067641130255 + }, + { + "x": 7.923903103318538, + "y": 0.6815561028014752, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105533911754057e-23, + "velocityX": 0.7850414138233215, + "velocityY": 0.12897179592361852, + "moduleForcesX": [ + -67.43181807693149, + -67.43181807693149, + -67.43181807693149, + -67.43181807693149 + ], + "moduleForcesY": [ + 18.05987824425093, + 18.05987824425093, + 18.05987824425093, + 18.05987824425093 + ], + "timestamp": 2.8788748005482385 + }, + { + "x": 7.936067274274929, + "y": 0.6839928252106487, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105318115576945e-23, + "velocityX": 0.7237493650106344, + "velocityY": 0.14498121595577446, + "moduleForcesX": [ + -67.54567785630422, + -67.54567785630422, + -67.54567785630422, + -67.54567785630422 + ], + "moduleForcesY": [ + 17.64286149844661, + 17.64286149844661, + 17.642861498446614, + 17.642861498446614 + ], + "timestamp": 2.8956819599662222 + }, + { + "x": 7.947199658488528, + "y": 0.6866924614802244, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104481655421482e-23, + "velocityX": 0.662359649048256, + "velocityY": 0.16062418416427637, + "moduleForcesX": [ + -67.65330998735523, + -67.65330998735523, + -67.65330998735523, + -67.65330998735523 + ], + "moduleForcesY": [ + 17.239020587433266, + 17.239020587433266, + 17.239020587433263, + 17.239020587433263 + ], + "timestamp": 2.912489119384206 + }, + { + "x": 7.957298703149762, + "y": 0.6896490448379501, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102003630226072e-23, + "velocityX": 0.6008775433183554, + "velocityY": 0.17591213864029795, + "moduleForcesX": [ + -67.7551262848221, + -67.7551262848221, + -67.7551262848221, + -67.7551262848221 + ], + "moduleForcesY": [ + 16.847784796279296, + 16.847784796279296, + 16.8477847962793, + 16.8477847962793 + ], + "timestamp": 2.9292962788021897 + }, + { + "x": 7.966362938351887, + "y": 0.6928567924993456, + "heading": -0.030602705565700657, + "angularVelocity": -2.6110553944474674e-23, + "velocityX": 0.5393079804088939, + "velocityY": 0.19085602638923885, + "moduleForcesX": [ + -67.85150672227324, + -67.85150672227324, + -67.85150672227324, + -67.85150672227324 + ], + "moduleForcesY": [ + 16.468612933718617, + 16.46861293371862, + 16.468612933718614, + 16.468612933718614 + ], + "timestamp": 2.9461034382201734 + }, + { + "x": 7.9743909717390755, + "y": 0.6963100978400371, + "heading": -0.030602705565700657, + "angularVelocity": -2.6102300305060826e-23, + "velocityX": 0.4776555744809489, + "velocityY": 0.2054663286503377, + "moduleForcesX": [ + -67.94280221569424, + -67.94280221569424, + -67.94280221569424, + -67.94280221569424 + ], + "moduleForcesY": [ + 16.10099171145902, + 16.100991711459017, + 16.100991711459024, + 16.100991711459024 + ], + "timestamp": 2.962910597638157 + }, + { + "x": 7.9813814835593915, + "y": 0.7000035229690781, + "heading": -0.030602705565700657, + "angularVelocity": -2.610503682698448e-23, + "velocityX": 0.41592464535273316, + "velocityY": 0.21975308481446476, + "moduleForcesX": [ + -68.02933713975817, + -68.02933713975817, + -68.02933713975817, + -68.02933713975817 + ], + "moduleForcesY": [ + 15.74443419933357, + 15.744434199333568, + 15.74443419933357, + 15.744434199333568 + ], + "timestamp": 2.979717757056141 + }, + { + "x": 7.987333222087751, + "y": 0.7039317916827953, + "heading": -0.030602705565700657, + "angularVelocity": -2.6104419680741246e-23, + "velocityX": 0.3541192405179691, + "velocityY": 0.2337259150092153, + "moduleForcesX": [ + -68.11141160422919, + -68.11141160422919, + -68.11141160422919, + -68.11141160422919 + ], + "moduleForcesY": [ + 15.398478356626523, + 15.398478356626523, + 15.398478356626523, + 15.398478356626523 + ], + "timestamp": 2.9965249164741246 + }, + { + "x": 7.992244999387589, + "y": 0.7080897827759957, + "heading": -0.030602705565700657, + "angularVelocity": -2.610530978329382e-23, + "velocityX": 0.29224315529402184, + "velocityY": 0.24739404141979207, + "moduleForcesX": [ + -68.18930351502362, + -68.18930351502362, + -68.18930351502362, + -68.18930351502362 + ], + "moduleForcesY": [ + 15.062685638874601, + 15.062685638874601, + 15.062685638874603, + 15.062685638874603 + ], + "timestamp": 3.0133320758921083 + }, + { + "x": 7.996115687382627, + "y": 0.7124725236922808, + "heading": -0.030602705565700657, + "angularVelocity": -2.6105940510641316e-23, + "velocityX": 0.23029995127531677, + "velocityY": 0.26076630841282683, + "moduleForcesX": [ + -68.26327044183775, + -68.26327044183775, + -68.26327044183775, + -68.26327044183775 + ], + "moduleForcesY": [ + 14.73663967866983, + 14.73663967866983, + 14.736639678669833, + 14.736639678669833 + ], + "timestamp": 3.030139235310092 + }, + { + "x": 7.998944214212964, + "y": 0.7170751844931835, + "heading": -0.030602705565700657, + "angularVelocity": -2.6107299893613786e-23, + "velocityX": 0.1682929732498038, + "velocityY": 0.2738512015284369, + "moduleForcesX": [ + -68.33355131191627, + -68.33355131191627, + -68.33355131191627, + -68.33355131191627 + ], + "moduleForcesY": [ + 14.41994503842108, + 14.41994503842108, + 14.419945038421076, + 14.419945038421076 + ], + "timestamp": 3.0469463947280757 + }, + { + "x": 8.00072956085205, + "y": 0.7218930721282959, + "heading": -0.030602705565700657, + "angularVelocity": -7.615561258735062e-20, + "velocityX": 0.10622536472036007, + "velocityY": 0.2866568654035918, + "moduleForcesX": [ + -68.4003679474523, + -68.4003679474523, + -68.40036794745228, + -68.40036794745228 + ], + "moduleForcesY": [ + 14.11222603262499, + 14.112226032624994, + 14.112226032624992, + 14.112226032624994 + ], + "timestamp": 3.0637535541460594 + }, + { + "x": 8.000574380202075, + "y": 0.7312115392499664, + "heading": -0.03128457300923975, + "angularVelocity": -0.02261976651780906, + "velocityX": -0.005147848168841318, + "velocityY": 0.30912393984053255, + "moduleForcesX": [ + -69.12203989443066, + -69.25621961896836, + -67.46142310275, + -67.88669327730796 + ], + "moduleForcesY": [ + 10.479671842235648, + 9.628129269363173, + 18.355441830280547, + 16.754979672120477 + ], + "timestamp": 3.0938983146148398 + }, + { + "x": 7.997061977462841, + "y": 0.7412074347255824, + "heading": -0.03264392524361486, + "angularVelocity": -0.04509414615461716, + "velocityX": -0.11651785201179243, + "velocityY": 0.3315964472824551, + "moduleForcesX": [ + -69.11614201349055, + -69.24900795331958, + -67.46697003546936, + -67.88636889054806 + ], + "moduleForcesY": [ + 10.49999420038065, + 9.661350959227432, + 18.324532051738284, + 16.74569831512937 + ], + "timestamp": 3.12404307508362 + }, + { + "x": 7.990192455682806, + "y": 0.751880932010523, + "heading": -0.03467613990569071, + "angularVelocity": -0.06741518693374675, + "velocityX": -0.22788443740118064, + "velocityY": 0.35407470880324193, + "moduleForcesX": [ + -69.11029114226862, + -69.24111041911144, + -67.47324406843092, + -67.88544159370429 + ], + "moduleForcesY": [ + 10.518933835764273, + 9.698295617502417, + 18.290264483107524, + 16.738223618631356 + ], + "timestamp": 3.1541878355524005 + }, + { + "x": 7.979965924806406, + "y": 0.7632322150803192, + "heading": -0.03737633158353689, + "angularVelocity": -0.08957416266892047, + "velocityX": -0.3392473755765638, + "velocityY": 0.376559073394397, + "moduleForcesX": [ + -69.10443760173371, + -69.23249360159326, + -67.48025213333065, + -67.88393998390649 + ], + "moduleForcesY": [ + 10.536732736161232, + 9.739060699900426, + 18.252539336709578, + 16.73238454106662 + ], + "timestamp": 3.184332596021181 + }, + { + "x": 7.966382502335012, + "y": 0.7752614793764745, + "heading": -0.04073932558476386, + "angularVelocity": -0.1115614769840309, + "velocityX": -0.4506064158469822, + "velocityY": 0.39904992141544376, + "moduleForcesX": [ + -69.09852514808313, + -69.22311921955266, + -67.48800304144862, + -67.8818958753837 + ], + "moduleForcesY": [ + 10.553662638011145, + 9.783759788007238, + 18.211240443578745, + 16.72798902780506 + ], + "timestamp": 3.214477356489961 + }, + { + "x": 7.949442314079394, + "y": 0.787968932872205, + "heading": -0.044759628383748286, + "angularVelocity": -0.1333665531410697, + "velocityX": -0.5619612825629627, + "velocityY": 0.42154766858722614, + "moduleForcesX": [ + -69.09249018337064, + -69.21294350593362, + -67.4965073888384, + -67.87934469555397 + ], + "moduleForcesY": [ + 10.570028430624657, + 9.83252419126897, + 18.166234181903416, + 16.724821410825644 + ], + "timestamp": 3.2446221169587415 + }, + { + "x": 7.929145495019882, + "y": 0.80135479727848, + "heading": -0.04943139423604341, + "angularVelocity": -0.1549777068931584, + "velocityX": -0.6733116715430445, + "velocityY": 0.4440527706354719, + "moduleForcesX": [ + -69.08626080014787, + -69.20191645854325, + -67.5057774536366, + -67.87632595172016 + ], + "moduleForcesY": [ + 10.586172225945964, + 9.885504901825648, + 18.117368162482542, + 16.722639296839404 + ], + "timestamp": 3.274766877427522 + }, + { + "x": 7.905492190294086, + "y": 0.81541930941368, + "heading": -0.05474838734472739, + "angularVelocity": -0.17638199892782516, + "velocityX": -0.7846572458358432, + "velocityY": 0.466565728717729, + "moduleForcesX": [ + -69.07975561904044, + -69.1899809286292, + -67.51582708612807, + -67.87288378178002 + ], + "moduleForcesY": [ + 10.602478242171442, + 9.942874995451355, + 18.064469608827935, + 16.72116982795607 + ], + "timestamp": 3.304911637896302 + }, + { + "x": 7.878482556336993, + "y": 0.8301627227648708, + "heading": -0.06070393883472223, + "angularVelocity": -0.19756506263046061, + "velocityX": -0.8959976306673977, + "velocityY": 0.489087095799731, + "moduleForcesX": [ + -69.07288236630032, + -69.17707150564772, + -67.5266715924171, + -67.86906760586902 + ], + "moduleForcesY": [ + 10.619378690905886, + 10.004832598678524, + 18.007343351791643, + 16.720105166224865 + ], + "timestamp": 3.3350563983650825 + }, + { + "x": 7.848116762204032, + "y": 0.8455853092774811, + "heading": -0.06729089762988012, + "angularVelocity": -0.2185109018192302, + "velocityX": -1.0073324073826122, + "velocityY": 0.5116174841897279, + "moduleForcesX": [ + -69.06553612249192, + -69.16311314385187, + -67.53832761284622, + -67.86493290041689 + ], + "moduleForcesY": [ + 10.637360912285077, + 10.071604577996107, + 17.945769335018188, + 16.71909700984046 + ], + "timestamp": 3.365201158833863 + }, + { + "x": 7.81439499111385, + "y": 0.8616873614131683, + "heading": -0.07450157412405574, + "angularVelocity": -0.23920165169809163, + "velocityX": -1.1186611061355556, + "velocityY": 0.5341575744945605, + "moduleForcesX": [ + -69.0575971520419, + -69.14801945914438, + -67.55081299668441, + -67.86054212207266 + ], + "moduleForcesY": [ + 10.656976075530913, + 10.143451155274636, + 17.879499495958843, + 16.717749890422564 + ], + "timestamp": 3.395345919302643 + }, + { + "x": 7.777317442259305, + "y": 0.8784691945324811, + "heading": -0.08232767527817983, + "angularVelocity": -0.2596172944293003, + "velocityX": -1.229983197011282, + "velocityY": 0.5567081263337244, + "moduleForcesX": [ + -69.04892819418495, + -69.13169060112651, + -67.56414667508916, + -67.85596581683656 + ], + "moduleForcesY": [ + 10.678849860731578, + 10.220671719260663, + 17.808253844577948, + 16.715612921716243 + ], + "timestamp": 3.4254906797714235 + }, + { + "x": 7.736884332945643, + "y": 0.895931149665311, + "heading": -0.09076022944238173, + "angularVelocity": -0.2797353182797759, + "velocityX": -1.3412980791646558, + "velocityY": 0.5792699912436499, + "moduleForcesX": [ + -69.03937105562531, + -69.11401057274503, + -67.57834853494117, + -67.85128396022695 + ], + "moduleForcesY": [ + 10.70369567130861, + 10.303612193341971, + 17.73171550383382, + 16.71216956186201 + ], + "timestamp": 3.455635440240204 + }, + { + "x": 7.693095901132275, + "y": 0.9140735967534939, + "heading": -0.099789498770429, + "angularVelocity": -0.2995303060178064, + "velocityX": -1.452605067429164, + "velocityY": 0.6018441283328443, + "moduleForcesX": [ + -69.02874228920794, + -69.09484382439364, + -67.59343929685735, + -67.84658758838525 + ], + "moduleForcesY": [ + 10.732331110283823, + 10.392674445513046, + 17.64952439612414, + 16.70682480161854 + ], + "timestamp": 3.485780200708984 + }, + { + "x": 7.645952408476503, + "y": 0.9328969384706367, + "heading": -0.10940487652816229, + "angularVelocity": -0.31897343379760784, + "velocityX": -1.5639033756658416, + "velocityY": 0.6244316234222428, + "moduleForcesX": [ + -69.01682766385254, + -69.07403088472786, + -67.60944040148684, + -67.84198079907456 + ], + "moduleForcesY": [ + 10.765698708679986, + 10.48832840359184, + 17.56126914870603, + 16.698888981062296 + ], + "timestamp": 3.5159249611777645 + }, + { + "x": 7.595454144007461, + "y": 0.9524016147534482, + "heading": -0.11959476584865797, + "angularVelocity": -0.3380318556867914, + "velocityX": -1.675192095866705, + "velocityY": 0.647033712642867, + "moduleForcesX": [ + -69.00337501797965, + -69.05138269754632, + -67.62637390901693, + -67.83758322755337 + ], + "moduleForcesY": [ + 10.804892253470749, + 10.591127791615781, + 17.466476634521936, + 16.687557139319505 + ], + "timestamp": 3.546069721646545 + }, + { + "x": 7.541601428597949, + "y": 0.9725881082174599, + "heading": -0.13034643548343197, + "angularVelocity": -0.35666794055003465, + "velocityX": -1.7864701716643163, + "velocityY": 0.6696518117924862, + "moduleForcesX": [ + -68.98808492465874, + -69.02667319842443, + -67.64426241750506, + -67.83353313818695 + ], + "moduleForcesY": [ + 10.851190574516279, + 10.701730769668796, + 17.36459834143407, + 16.671882372696256 + ], + "timestamp": 3.576214482115325 + }, + { + "x": 7.484394620460974, + "y": 0.9934569506846619, + "heading": -0.1416458467374406, + "angularVelocity": -0.3748383161216658, + "velocityX": -1.8977363643764111, + "velocityY": 0.6922875532162684, + "moduleForcesX": [ + -68.97059835493368, + -68.999629463383, + -67.66312900585731, + -67.8299913226013 + ], + "moduleForcesY": [ + 10.906101390682505, + 10.820927298486001, + 17.254992439505784, + 16.650741048684562 + ], + "timestamp": 3.6063592425841056 + }, + { + "x": 7.423834121972809, + "y": 1.0150087311234057, + "heading": -0.1534774439023072, + "angularVelocity": -0.3924926581227959, + "velocityX": -2.008989208948542, + "velocityY": 0.7149428326375568, + "moduleForcesX": [ + -68.95048016313063, + -68.96991845742099, + -67.6829972062801, + -67.82714606534914 + ], + "moduleForcesY": [ + 10.97141890410599, + 10.949675857330911, + 17.13689994064538, + 16.622786788995217 + ], + "timestamp": 3.636504003052886 + }, + { + "x": 7.359920388244358, + "y": 1.0372441054012265, + "heading": -0.165823897885228, + "angularVelocity": -0.409572137609368, + "velocityX": -2.1202269560141604, + "velocityY": 0.7376198693241082, + "moduleForcesX": [ + -68.92719666361737, + -68.93712894129654, + -67.70389100737714, + -67.82521953753351 + ], + "moduleForcesY": [ + 11.049300459649274, + 11.089153375141052, + 17.00941263431447, + 16.58638871834261 + ], + "timestamp": 3.6666487635216662 + }, + { + "x": 7.2926539380224575, + "y": 1.0601638083985603, + "heading": -0.17866578901331856, + "angularVelocity": -0.42600740322320096, + "velocityX": -2.231447494549044, + "velocityY": 0.7603212843922263, + "moduleForcesX": [ + -68.90008470338896, + -68.90074635506473, + -67.72583487979779, + -67.82447612100752 + ], + "moduleForcesY": [ + 11.142370067558609, + 11.240824153308658, + 16.87142940072456, + 16.539547284037408 + ], + "timestamp": 3.6967935239904466 + }, + { + "x": 7.222035367757647, + "y": 1.0837686692387452, + "heading": -0.1919812096125956, + "angularVelocity": -0.4417159198550349, + "velocityX": -2.3426482468810854, + "velocityY": 0.7830502041871262, + "moduleForcesX": [ + -68.86830825357389, + -68.8601173021492, + -67.74885379546649, + -67.8252333702231 + ], + "moduleForcesY": [ + 11.253860447377857, + 11.406536616238109, + 16.72159582056552, + 16.479777482633693 + ], + "timestamp": 3.726938284459227 + }, + { + "x": 7.148065370047914, + "y": 1.1080596306989396, + "heading": -0.20574525901022436, + "angularVelocity": -0.45659839997347396, + "velocityX": -2.453826023475313, + "velocityY": 0.805810398969394, + "moduleForcesX": [ + -68.83079628093364, + -68.81439827560449, + -67.77297316655974, + -67.82787661348416 + ], + "moduleForcesY": [ + 11.387811396252282, + 11.588661725698186, + 16.558219325422215, + 16.403943700057525 + ], + "timestamp": 3.7570830449280073 + }, + { + "x": 7.070744758268056, + "y": 1.1330377743304505, + "heading": -0.21992939158351985, + "angularVelocity": -0.47053392870662725, + "velocityX": -2.5649768177766195, + "velocityY": 0.8286064723369595, + "moduleForcesX": [ + -68.78615185006745, + -68.76247987843362, + -67.79821853555629, + -67.83287861782009 + ], + "moduleForcesY": [ + 11.549352320145095, + 11.790295307311037, + 16.379147772081584, + 16.308020974276808 + ], + "timestamp": 3.7872278053967876 + }, + { + "x": 6.990074500149328, + "y": 1.1587043535388948, + "heading": -0.23450055980541587, + "angularVelocity": -0.4833731632064801, + "velocityX": -2.6760955092782, + "velocityY": 0.8514441252570306, + "moduleForcesX": [ + -68.732515782208, + -68.70287179032712, + -67.82461464681992, + -67.84082633454543 + ], + "moduleForcesY": [ + 11.74511362814754, + 12.015561153892026, + 16.181592012245993, + 16.18674129981258 + ], + "timestamp": 3.817372565865568 + }, + { + "x": 6.906055764678748, + "y": 1.1850608380187753, + "heading": -0.24942006435255065, + "angularVelocity": -0.4949286149606735, + "velocityX": -2.787175421663135, + "velocityY": 0.8743305327369058, + "moduleForcesX": [ + -68.66735625938301, + -68.63352269146671, + -67.85218309855843, + -67.85245752682552 + ], + "moduleForcesY": [ + 11.983840942136116, + 12.270078110772166, + 15.961860378151497, + 16.033054684190592 + ], + "timestamp": 3.8475173263343483 + }, + { + "x": 6.818689989469182, + "y": 1.2121089748259173, + "heading": -0.2646419738347046, + "angularVelocity": -0.504960372729405, + "velocityX": -2.8982076437499757, + "velocityY": 0.8972748957532076, + "moduleForcesX": [ + -68.58713336059995, + -68.55152809727315, + -67.88093682323061, + -67.86871095232084 + ], + "moduleForcesY": [ + 12.277338691875098, + 12.561703844975987, + 15.714950320983123, + 15.837280884840713 + ], + "timestamp": 3.8776620868031286 + }, + { + "x": 6.72797898079997, + "y": 1.2398508746003705, + "heading": -0.2801108913115199, + "angularVelocity": -0.5131544333495599, + "velocityX": -3.009179945653795, + "velocityY": 0.9202892755852286, + "moduleForcesX": [ + -68.48674346344362, + -68.45263593634111, + -67.91086747633537, + -67.89079413978638 + ], + "moduleForcesY": [ + 12.641968303148339, + 12.901765627434532, + 15.433900077836705, + 15.585722847610917 + ], + "timestamp": 3.907806847271909 + }, + { + "x": 6.633925068213073, + "y": 1.2682891372342353, + "heading": -0.2957586902916007, + "angularVelocity": -0.5190885161050309, + "velocityX": -3.120074969059103, + "velocityY": 0.9433899023099828, + "moduleForcesX": [ + -68.35855698169841, + -68.3303666548069, + -67.94191664254808, + -67.92027029682014 + ], + "moduleForcesY": [ + 13.101120091407797, + 13.307192271711736, + 15.108720338454093, + 15.258296573744573 + ], + "timestamp": 3.9379516077406893 + }, + { + "x": 6.536531355318747, + "y": 1.2974270421888014, + "heading": -0.3114995470523193, + "angularVelocity": -0.5221755461291749, + "velocityX": -3.230867035587883, + "velocityY": 0.96659931946559, + "moduleForcesX": [ + -68.19066049608848, + -68.17434841964861, + -67.97390871841081, + -67.95915173052063 + ], + "moduleForcesY": [ + 13.689480799581691, + 13.804416624695728, + 14.724554535437715, + 14.824255885339374 + ], + "timestamp": 3.9680963682094696 + }, + { + "x": 6.435802152177128, + "y": 1.327268850645929, + "heading": -0.32722198839688826, + "angularVelocity": -0.5215646467269837, + "velocityX": -3.341516123373161, + "velocityY": 0.9899500939178202, + "moduleForcesX": [ + -67.96343090892789, + -67.96691798925671, + -68.00638798357106, + -68.00992793712221 + ], + "moduleForcesY": [ + 14.460811619631277, + 14.437021660856235, + 14.25833876144099, + 14.233955254419095 + ], + "timestamp": 3.99824112867825 + }, + { + "x": 6.3317437812579875, + "y": 1.3578203146255394, + "heading": -0.34277531084194424, + "angularVelocity": -0.5159544213716283, + "velocityX": -3.451955474216577, + "velocityY": 1.0134916816203354, + "moduleForcesX": [ + -67.64230271856893, + -67.6754703371486, + -68.03819770735676, + -68.07521523017216 + ], + "moduleForcesY": [ + 15.503088860731753, + 15.282064499373016, + 13.67233405625696, + 13.401609196018617 + ], + "timestamp": 4.028385889147031 + }, + { + "x": 6.224366244956237, + "y": 1.3890896041439755, + "heading": -0.35794429879192546, + "angularVelocity": -0.5032047929420784, + "velocityX": -3.5620630130041935, + "velocityY": 1.0373042954136273, + "moduleForcesX": [ + -67.16086787067447, + -67.23286276076914, + -68.06629175854317, + -68.15565591379305 + ], + "moduleForcesY": [ + 16.970466392547678, + 16.489054739312063, + 12.900562199644087, + 12.165124885959399 + ], + "timestamp": 4.058530649615811 + }, + { + "x": 6.113687222353567, + "y": 1.4210891853250653, + "heading": -0.37239608695984594, + "angularVelocity": -0.4794129375447373, + "velocityX": -3.6715840790085346, + "velocityY": 1.061530451177152, + "moduleForcesX": [ + -66.37579951944889, + -66.47727613620222, + -68.08192932954661, + -68.23927582845215 + ], + "moduleForcesY": [ + 19.15790170896385, + 18.3883113663449, + 11.817371336637569, + 10.178002357011051 + ], + "timestamp": 4.0886754100845915 + }, + { + "x": 5.999744065876152, + "y": 1.4538402728178517, + "heading": -0.3855457450952182, + "angularVelocity": -0.43621703841338505, + "velocityX": -3.7798660432351996, + "velocityY": 1.0864603660302525, + "moduleForcesX": [ + -64.92325622560975, + -64.90983148768785, + -68.05605090489365, + -68.23975246333495 + ], + "moduleForcesY": [ + 22.697912251349997, + 21.865343345227068, + 10.155160689865104, + 6.552827193446533 + ], + "timestamp": 4.118820170553372 + }, + { + "x": 5.88264706731115, + "y": 1.4873864659205107, + "heading": -0.39608876793911596, + "angularVelocity": -0.3497464461466412, + "velocityX": -3.884489269247599, + "velocityY": 1.1128366117693484, + "moduleForcesX": [ + -61.64070652926448, + -60.14830694375659, + -67.86491977284592, + -67.48273137695078 + ], + "moduleForcesY": [ + 29.13525554331286, + 30.135076199520967, + 7.2672708280886305, + -1.7116541355426234 + ], + "timestamp": 4.148964931022152 + }, + { + "x": 5.762993352367877, + "y": 1.5218262821800728, + "heading": -0.3997450312645121, + "angularVelocity": -0.12129017675170528, + "velocityX": -3.9693038883893137, + "velocityY": 1.1424810057865147, + "moduleForcesX": [ + -52.324352759429004, + -31.17289885891116, + -66.68180109178446, + -58.273210793681734 + ], + "moduleForcesY": [ + 41.25496151783105, + 54.21945101059288, + 2.5571211195100325, + -25.173327178222863 + ], + "timestamp": 4.1791096914909325 + }, + { + "x": 5.642850828839381, + "y": 1.5584186127178183, + "heading": -0.39982683457504137, + "angularVelocity": -0.0027136825523610387, + "velocityX": -3.9855192630523657, + "velocityY": 1.2138869232550504, + "moduleForcesX": [ + -14.367028679766902, + 8.375599408244193, + -30.10275078440756, + -3.7589913227877885 + ], + "moduleForcesY": [ + 51.70697130590288, + 49.72035693036095, + 37.746373464513134, + 36.323462284735726 + ], + "timestamp": 4.209254451959713 + }, + { + "x": 5.523516888247606, + "y": 1.5976051352976728, + "heading": -0.3998730211895948, + "angularVelocity": -0.0015321606088479775, + "velocityX": -3.958695930439442, + "velocityY": 1.2999447323681093, + "moduleForcesX": [ + 16.35122648652218, + 16.666370703308466, + 16.29525799204969, + 16.611916449020793 + ], + "moduleForcesY": [ + 52.962450800745465, + 52.85630869400004, + 52.89773833729471, + 52.79120312010268 + ], + "timestamp": 4.239399212428493 + }, + { + "x": 5.405139446258545, + "y": 1.639590859413147, + "heading": -0.3999189845188175, + "angularVelocity": -0.001524753506347292, + "velocityX": -3.926965752859421, + "velocityY": 1.392803374866944, + "moduleForcesX": [ + 19.49520174299239, + 19.497322344260255, + 19.49493747448784, + 19.49705814566393 + ], + "moduleForcesY": [ + 57.05610475298283, + 57.05535518343315, + 57.055834681964754, + 57.05508509224902 + ], + "timestamp": 4.2695439728972735 + }, + { + "x": 5.27540394109048, + "y": 1.6896699116367906, + "heading": -0.39996327704440576, + "angularVelocity": -0.0013272934874623507, + "velocityX": -3.887723466096177, + "velocityY": 1.500695636385729, + "moduleForcesX": [ + 21.756630771223424, + 21.810119228779946, + 21.7519340883962, + 21.805467540140064 + ], + "moduleForcesY": [ + 59.89645340161834, + 59.87670621979155, + 59.89233743760866, + 59.87257595952734 + ], + "timestamp": 4.302914531863056 + }, + { + "x": 5.1470396615556915, + "y": 1.7431696678709514, + "heading": -0.4000067217274352, + "angularVelocity": -0.0013018865843375115, + "velocityX": -3.846632586121535, + "velocityY": 1.603202280457238, + "moduleForcesX": [ + 22.804035459801014, + 22.810609232357493, + 22.803552506343504, + 22.810126957520787 + ], + "moduleForcesY": [ + 56.8970315954111, + 56.8943774833183, + 56.89619319826358, + 56.8935388246979 + ], + "timestamp": 4.336285090828839 + }, + { + "x": 5.020045245572433, + "y": 1.799846345355898, + "heading": -0.4000497606412708, + "angularVelocity": -0.0012897270878730863, + "velocityX": -3.8055825230038587, + "velocityY": 1.6984036001079217, + "moduleForcesX": [ + 22.783065600019647, + 22.78601701572479, + 22.78283501991507, + 22.785786571103895 + ], + "moduleForcesY": [ + 52.841468654424865, + 52.84020080612245, + 52.84087559040121, + 52.8396076830262 + ], + "timestamp": 4.3696556497946215 + }, + { + "x": 4.894351098841492, + "y": 1.8593522409837384, + "heading": -0.4000925313442969, + "angularVelocity": -0.0012816897394469986, + "velocityX": -3.766617959863925, + "velocityY": 1.783185462628379, + "moduleForcesX": [ + 21.626092939822914, + 21.627875842229006, + 21.62590452146695, + 21.627687472044382 + ], + "moduleForcesY": [ + 47.05800140020116, + 47.05720133605649, + 47.05744456924907, + 47.05664448237265 + ], + "timestamp": 4.403026208760404 + }, + { + "x": 4.769802030123894, + "y": 1.9212196191025006, + "heading": -0.40013522248105965, + "angularVelocity": -0.0012793054142890665, + "velocityX": -3.7323039402820863, + "velocityY": 1.8539509087111694, + "moduleForcesX": [ + 19.04545558197175, + 19.045926843390106, + 19.045378372145834, + 19.04584963672767 + ], + "moduleForcesY": [ + 39.27787005416294, + 39.27765456719447, + 39.27764843839696, + 39.27743294990948 + ], + "timestamp": 4.436396767726187 + }, + { + "x": 4.64619440965808, + "y": 1.9849284514643886, + "heading": -0.4002000950415023, + "angularVelocity": -0.001944005807908139, + "velocityX": -3.7040919989583445, + "velocityY": 1.9091329104616779, + "moduleForcesX": [ + 15.70327856716408, + 15.586173309979236, + 15.73125075935168, + 15.614318315631506 + ], + "moduleForcesY": [ + 30.563575374214757, + 30.617043440221956, + 30.63942997013454, + 30.692818946182395 + ], + "timestamp": 4.4697673266919695 + }, + { + "x": 4.5245719642086595, + "y": 2.049025122024317, + "heading": -0.405631649438634, + "angularVelocity": -0.16276486116702724, + "velocityX": -3.644603183727537, + "velocityY": 1.9207550771150002, + "moduleForcesX": [ + 40.14382541322239, + 19.634433687647423, + 45.008786153052014, + 27.287637081500314 + ], + "moduleForcesY": [ + -12.706998833809141, + -1.8944106658558213, + 12.525927808319366, + 27.87855009725288 + ], + "timestamp": 4.503137885657752 + }, + { + "x": 4.406143503537595, + "y": 2.111641332223559, + "heading": -0.4184078034247618, + "angularVelocity": -0.38285705670163295, + "velocityX": -3.5488905292933453, + "velocityY": 1.876390810940954, + "moduleForcesX": [ + 50.63714057212275, + 31.738363917247266, + 66.63545830538258, + 63.48643492329071 + ], + "moduleForcesY": [ + -44.35461340235443, + -56.37263472811973, + -9.419454920992239, + 11.650938103925284 + ], + "timestamp": 4.536508444623535 + }, + { + "x": 4.291334312268304, + "y": 2.172430162268381, + "heading": -0.43362216869997017, + "angularVelocity": -0.45592179893686535, + "velocityX": -3.4404335686169425, + "velocityY": 1.8216305608558392, + "moduleForcesX": [ + 56.675099205458764, + 53.943625967062154, + 64.93231136120757, + 65.24075891260544 + ], + "moduleForcesY": [ + -38.614926998647775, + -41.54469621949282, + -22.032511350239634, + -19.384377025253993 + ], + "timestamp": 4.5698790035893175 + }, + { + "x": 4.1801992597503315, + "y": 2.2313240616295036, + "heading": -0.449993328464714, + "angularVelocity": -0.490586920690493, + "velocityX": -3.330332363682305, + "velocityY": 1.7648460555126868, + "moduleForcesX": [ + 59.03359002922508, + 58.350037016714204, + 63.49997502241792, + 63.55867855314202 + ], + "moduleForcesY": [ + -35.80289369635891, + -36.61803422218417, + -27.094390123660958, + -26.555363911587683 + ], + "timestamp": 4.6032495625551 + }, + { + "x": 4.072754556471353, + "y": 2.288296570343991, + "heading": -0.4669393810537681, + "angularVelocity": -0.50781446623145, + "velocityX": -3.2197453866242385, + "velocityY": 1.7072686367890495, + "moduleForcesX": [ + 60.24898628835015, + 60.06885084668952, + 62.5992322640746, + 62.603703013494794 + ], + "moduleForcesY": [ + -34.20303296874243, + -34.40526422160578, + -29.682154718746844, + -29.5406245397077 + ], + "timestamp": 4.636620121520883 + }, + { + "x": 3.9690069481662964, + "y": 2.3433338461526554, + "heading": -0.48412636046972807, + "angularVelocity": -0.5150342082547402, + "velocityX": -3.1089562632519567, + "velocityY": 1.6492764135348694, + "moduleForcesX": [ + 60.992029520123026, + 60.96099988674297, + 62.007812815018376, + 62.008727332366504 + ], + "moduleForcesY": [ + -33.16444788250027, + -33.18256020283584, + -31.224096451084847, + -31.18090429925417 + ], + "timestamp": 4.6699906804866655 + }, + { + "x": 3.868959805187604, + "y": 2.396427451467222, + "heading": -0.5013371682567699, + "angularVelocity": -0.5157482619541758, + "velocityX": -2.9980661421215586, + "velocityY": 1.5910313450001217, + "moduleForcesX": [ + 61.4970606349353, + 61.49734110306997, + 61.5994067858737, + 61.59999220337635 + ], + "moduleForcesY": [ + -32.427772552868916, + -32.42399390257782, + -32.23299201074593, + -32.228607323414224 + ], + "timestamp": 4.703361239452448 + }, + { + "x": 3.772615014549368, + "y": 2.447571730660445, + "heading": -0.5184192387497278, + "angularVelocity": -0.511890451414781, + "velocityX": -2.887119473689192, + "velocityY": 1.5326167969082285, + "moduleForcesX": [ + 61.865661229014776, + 61.84921289347603, + 61.306139275118255, + 61.298331382178525 + ], + "moduleForcesY": [ + -31.87189737742408, + -31.91893670938938, + -32.934798043905886, + -32.96400537627657 + ], + "timestamp": 4.736731798418231 + }, + { + "x": 3.679973717720683, + "y": 2.496762638821245, + "heading": -0.5352594552522935, + "angularVelocity": -0.5046429255150667, + "velocityX": -2.7761385994059813, + "velocityY": 1.4740810368583768, + "moduleForcesX": [ + 62.14868761889979, + 62.09348385066889, + 61.08941198638789, + 61.06370378236987 + ], + "moduleForcesY": [ + -31.43316723448848, + -31.567015978608183, + -33.444023240321265, + -33.514540982571404 + ], + "timestamp": 4.770102357384014 + }, + { + "x": 3.591036644530126, + "y": 2.5439971434715534, + "heading": -0.5517705992448493, + "angularVelocity": -0.4947817628552755, + "velocityX": -2.665135854683131, + "velocityY": 1.4154544039415793, + "moduleForcesX": [ + 62.37433439863179, + 62.26970234744134, + 60.92588331551031, + 60.87392304992238 + ], + "moduleForcesY": [ + -31.07505461225336, + -31.31435869714685, + -33.82479922222685, + -33.94628719995224 + ], + "timestamp": 4.803472916349796 + }, + { + "x": 3.5058042811853367, + "y": 2.5892728883720153, + "heading": -0.5678833794082447, + "angularVelocity": -0.4828441795031706, + "velocityX": -2.554118540003054, + "velocityY": 1.3567571627134747, + "moduleForcesX": [ + 62.55946732577067, + 62.40028987633621, + 60.80065892881482, + 60.715774615429446 + ], + "moduleForcesY": [ + -30.775138782832904, + -31.129435933269043, + -34.115839575322084, + -34.29684718183656 + ], + "timestamp": 4.836843475315579 + }, + { + "x": 3.424276961819647, + "y": 2.632587990619364, + "heading": -0.583541433010462, + "angularVelocity": -0.46921760040857263, + "velocityX": -2.4430912125061814, + "velocityY": 1.2980034973876715, + "moduleForcesX": [ + 62.71478883875526, + 62.4989161010104, + 60.70379384757495, + 60.58092201338877 + ], + "moduleForcesY": [ + -30.518903471024604, + -30.992537889847096, + -34.341919415720206, + -34.58917121602012 + ], + "timestamp": 4.870214034281362 + }, + { + "x": 3.34645492156299, + "y": 2.673940911184614, + "heading": -0.5986980304895372, + "angularVelocity": -0.4541906982923604, + "velocityX": -2.3320568389817615, + "velocityY": 1.2392037126996218, + "moduleForcesX": [ + 62.84741956072775, + 62.57440043549832, + 60.62838878861003, + 60.46385532373951 + ], + "moduleForcesY": [ + -30.29653203951866, + -30.890685234934953, + -34.51965494734024, + -34.83805212969463 + ], + "timestamp": 4.903584593247144 + }, + { + "x": 3.2723383288737526, + "y": 2.7133303685518384, + "heading": -0.6133138136278495, + "angularVelocity": -0.4379843667976608, + "velocityX": -2.221017417330355, + "velocityY": 1.1803655254196237, + "moduleForcesX": [ + 62.9622852732665, + 62.63269779539014, + 60.56949905854744, + 60.36078963049908 + ], + "moduleForcesY": [ + -30.101140074878764, + -30.81496242974686, + -34.66062864862747, + -35.053453093104224 + ], + "timestamp": 4.936955152212927 + }, + { + "x": 3.201927306054589, + "y": 2.750755278965317, + "heading": -0.6273551907762446, + "angularVelocity": -0.42077140999623847, + "velocityX": -2.1099743307098677, + "velocityY": 1.121494861741119, + "moduleForcesX": [ + 63.06290692919477, + 62.67798232548579, + 60.52348035967596, + 60.269038960751665 + ], + "moduleForcesY": [ + -29.92774741233331, + -30.759027482140507, + -34.77317977223898, + -35.24233237744797 + ], + "timestamp": 4.97032571117871 + }, + { + "x": 3.135221942713334, + "y": 2.7862147138092115, + "heading": -0.6407931661198537, + "angularVelocity": -0.4026895491138777, + "velocityX": -1.9989285588472958, + "velocityY": 1.0625963706574053, + "moduleForcesX": [ + 63.15187283356435, + 62.71327325283767, + 60.48758096428788, + 60.186643191226906 + ], + "moduleForcesY": [ + -29.772653202568215, + -30.71823417658401, + -34.86348040964523, + -35.40970054465129 + ], + "timestamp": 5.003696270144492 + }, + { + "x": 3.072222304853021, + "y": 2.819707868410318, + "heading": -0.6536024650991504, + "angularVelocity": -0.38385029727644315, + "velocityX": -1.8878808090916104, + "velocityY": 1.0036737663111281, + "moduleForcesX": [ + 63.231132484137554, + 62.74081363203757, + 60.45967872101635, + 60.11213664371166 + ], + "moduleForcesY": [ + -29.63304156226972, + -30.689091884942144, + -34.93620872701228, + -35.55926145793252 + ], + "timestamp": 5.037066829110275 + }, + { + "x": 3.0129284411591986, + "y": 2.8512340386920547, + "heading": -0.6657608675741488, + "angularVelocity": -0.3643451848518741, + "velocityX": -1.7768316004101603, + "velocityY": 0.9447300632281633, + "moduleForcesX": [ + 63.30218581497032, + 62.76230876082445, + 60.43810636315337, + 60.04439959044147 + ], + "moduleForcesY": [ + -29.506724678841497, + -30.668920539666114, + -34.994984877360324, + -35.69381610551596 + ], + "timestamp": 5.070437388076058 + }, + { + "x": 2.9573403874370814, + "y": 2.8807926033622375, + "heading": -0.6772486902487636, + "angularVelocity": -0.3442502322599411, + "velocityX": -1.6657813187716588, + "velocityY": 0.885767742173273, + "moduleForcesX": [ + 63.36620873032893, + 62.7790813979113, + 60.42153240427307, + 59.98256013310029 + ], + "moduleForcesY": [ + -29.391970797913185, + -30.65562310659923, + -35.042661742046086, + -35.815525429595354 + ], + "timestamp": 5.10380794704184 + }, + { + "x": 2.905458169800852, + "y": 2.9083830100922707, + "heading": -0.6880483786106688, + "angularVelocity": -0.32362923177220093, + "velocityX": -1.5547302545718684, + "velocityY": 0.8267888697458748, + "moduleForcesX": [ + 63.42413854440674, + 62.792175801110716, + 60.408878029952845, + 59.92592770134008 + ], + "moduleForcesY": [ + -29.28738625944427, + -30.64753131532271, + -35.08152393499005, + -35.92608626000167 + ], + "timestamp": 5.137178506007623 + }, + { + "x": 2.8572818070018196, + "y": 2.934004764631732, + "heading": -0.6981441807294081, + "angularVelocity": -0.30253620052008307, + "velocityX": -1.4436786284733993, + "velocityY": 0.7677951863385567, + "moduleForcesX": [ + 63.47673345868158, + 62.80242925847597, + 60.39925789203199, + 59.87394697253745 + ], + "moduleForcesY": [ + -29.191832884041784, + -30.643298474749017, + -35.11342716225157, + -36.026851992479834 + ], + "timestamp": 5.170549064973406 + }, + { + "x": 2.8128113121475025, + "y": 2.9576574221187517, + "heading": -0.7075218832596375, + "angularVelocity": -0.28101724456713717, + "velocityX": -1.3326266095854744, + "velocityY": 0.708788171970145, + "moduleForcesX": [ + 63.52461480023366, + 62.810522385822566, + 60.39193713564785, + 59.826165315423985 + ], + "moduleForcesY": [ + -29.104369033010983, + -30.641823373149993, + -35.13989781613681, + -36.11891715653109 + ], + "timestamp": 5.203919623939188 + }, + { + "x": 2.772046693988172, + "y": 2.9793405800620847, + "heading": -0.7161685954209692, + "angularVelocity": -0.25911199660149375, + "velocityX": -1.221574328467927, + "velocityY": 0.649769096335725, + "moduleForcesX": [ + 63.56829755539599, + 62.81701520666869, + 60.386299675836156, + 59.782209390920286 + ], + "moduleForcesY": [ + -29.02420685873507, + -30.642195192712514, + -35.16220545803263, + -36.203177808536466 + ], + "timestamp": 5.237290182904971 + }, + { + "x": 2.734987957889624, + "y": 2.999053872610452, + "heading": -0.7240725704791158, + "angularVelocity": -0.2368547397198539, + "velocityX": -1.1105218865692998, + "velocityY": 0.59073905739689, + "moduleForcesX": [ + 63.60821279657132, + 62.82237350000312, + 60.3818244148623, + 59.741768077091116 + ], + "moduleForcesY": [ + -28.95068083699544, + -30.643652936236034, + -35.181416442887645, + -36.280375390779376 + ], + "timestamp": 5.270660741870754 + }, + { + "x": 2.7016351065715485, + "y": 3.016796965826179, + "heading": -0.7312230568986043, + "angularVelocity": -0.21427529658165007, + "velocityX": -0.9994693631647813, + "velocityY": 0.5316990115178981, + "moduleForcesX": [ + 63.644724392715034, + 62.82698835293674, + 60.37806715970836, + 59.704579839279944 + ], + "moduleForcesY": [ + -28.883224294317774, + -30.645555069689703, + -35.19843418599757, + -36.35112906419579 + ], + "timestamp": 5.304031300836536 + }, + { + "x": 2.671988140676245, + "y": 3.0325695537564017, + "heading": -0.7376101732337847, + "angularVelocity": -0.1913997407633974, + "velocityX": -0.8884168205132447, + "velocityY": 0.47264979727482637, + "moduleForcesX": [ + 63.67814162329361, + 62.8311908831734, + 60.37464669529509, + 59.670423274335725 + ], + "moduleForcesY": [ + -28.82135168773556, + -30.64735648277995, + -35.21402981072538, + -36.41595986727854 + ], + "timestamp": 5.337401859802319 + }, + { + "x": 2.646047059207535, + "y": 3.046371355134701, + "heading": -0.7432248022052907, + "angularVelocity": -0.16825097168025074, + "velocityX": -0.7773643077273787, + "velocityY": 0.41359215446743564, + "moduleForcesX": [ + 63.70872881297905, + 62.83526347157346, + 60.37123393151569, + 59.63910995346491 + ], + "moduleForcesY": [ + -28.764645080782493, + -30.648590776132195, + -35.228865763523395, + -36.47530898863427 + ], + "timestamp": 5.370772418768102 + }, + { + "x": 2.623811859870229, + "y": 3.0582021105986237, + "heading": -0.7480585004281598, + "angularVelocity": -0.14484918361197985, + "velocityX": -0.666311863701621, + "velocityY": 0.35452673945002117, + "moduleForcesX": [ + 63.73671277025273, + 62.83944843518747, + 60.36754335487679, + 59.61047895078101 + ], + "moduleForcesY": [ + -28.712743719116784, + -30.64885648323509, + -35.243514214469236, + -36.52955174131436 + ], + "timestamp": 5.404142977733884 + }, + { + "x": 2.6052825393386176, + "y": 3.068061580319501, + "heading": -0.7521034210198824, + "angularVelocity": -0.12121225166980552, + "velocityX": -0.5552595193419528, + "velocityY": 0.2954541376067526, + "moduleForcesX": [ + 63.76228858706055, + 62.84395479699966, + 60.363326230422054, + 59.58439262195973 + ], + "moduleForcesY": [ + -28.665335922115908, + -30.64780623920137, + -35.25847154038577, + -36.5790083590335 + ], + "timestamp": 5.437513536699667 + }, + { + "x": 2.590459093465324, + "y": 3.0759495419763163, + "heading": -0.7553522468934274, + "angularVelocity": -0.09735605198810814, + "velocityX": -0.44420729927265734, + "velocityY": 0.23637487358944362, + "moduleForcesX": [ + 63.78562420126108, + 62.84896362206827, + 60.358365149464255, + 59.56073331914644 + ], + "moduleForcesY": [ + -28.622152723147323, + -30.645138185113925, + -35.274169828352676, + -36.62395241580333 + ], + "timestamp": 5.47088409566545 + }, + { + "x": 2.5793415174464807, + "y": 3.0818657890133747, + "heading": -0.7577981329817525, + "angularVelocity": -0.07329472937007261, + "velocityX": -0.33315522314719126, + "velocityY": 0.17728941978551727, + "moduleForcesX": [ + 63.80686401518755, + 62.85463226076621, + 60.352469624585574, + 59.53940081308226 + ], + "moduleForcesY": [ + -28.582962842926698, + -30.640589089247726, + -35.290986086092005, + -36.66461745021543 + ], + "timestamp": 5.504254654631232 + }, + { + "x": 2.571929805955234, + "y": 3.0858101291286, + "heading": -0.7594346559817723, + "angularVelocity": -0.04904092261977967, + "velocityX": -0.22210330665653, + "velocityY": 0.11819820337390106, + "moduleForcesX": [ + 63.82613178697077, + 62.86109774933579, + 60.345472509198466, + 59.520310253323636 + ], + "moduleForcesY": [ + -28.547568688110537, + -30.633928802316536, + -35.30924966751608, + -36.701202221076564 + ], + "timestamp": 5.537625213597015 + }, + { + "x": 2.568223953247088, + "y": 3.0877823829650395, + "heading": -0.7602557704725093, + "angularVelocity": -0.02460595555438477, + "velocityX": -0.11105156230422518, + "velocityY": 0.05910161224502662, + "moduleForcesX": [ + 63.84353295637071, + 62.86847955362884, + 60.33722707387728, + 59.50339054027483 + ], + "moduleForcesY": [ + -28.51580314467307, + -30.624955761032357, + -35.32924829381258, + -36.73387491125588 + ], + "timestamp": 5.570995772562798 + }, + { + "x": 2.5682239532470703, + "y": 3.087782382965088, + "heading": -0.7602557704725093, + "angularVelocity": -2.0005751555101546e-20, + "velocityX": -2.4725272207623272e-19, + "velocityY": 2.4421055757121167e-19, + "moduleForcesX": [ + 63.85915652710484, + 62.876881795583046, + 60.327604611867116, + 59.488583013749455 + ], + "moduleForcesY": [ + -28.487526991816065, + -30.613493324566843, + -35.351232957578254, + -36.76277651756912 + ], + "timestamp": 5.60436633152858 + }, + { + "x": 2.5713462305138015, + "y": 3.084676180365677, + "heading": -0.7596248198241236, + "angularVelocity": 0.018465893169765258, + "velocityX": 0.09137899866077405, + "velocityY": -0.09090854492523227, + "moduleForcesX": [ + 51.53373413173904, + 51.47657244684686, + 47.435743335638016, + 47.692535844932586 + ], + "moduleForcesY": [ + -47.26297911356611, + -47.334916589724294, + -51.37498996465999, + -51.14560751860742 + ], + "timestamp": 5.638534765331647 + }, + { + "x": 2.5776148652815403, + "y": 3.0784884837836146, + "heading": -0.7583593579280601, + "angularVelocity": 0.03703599361203135, + "velocityX": 0.18346274821576125, + "velocityY": -0.18109394822501076, + "moduleForcesX": [ + 51.923627670505425, + 51.84188069219013, + 47.83489281155974, + 48.06630754026729 + ], + "moduleForcesY": [ + -46.82986481730001, + -46.930497199900984, + -50.99941737137623, + -50.79071391758251 + ], + "timestamp": 5.672703199134713 + }, + { + "x": 2.587055422517619, + "y": 3.069245953631751, + "heading": -0.7564556185969107, + "angularVelocity": 0.05571631822874338, + "velocityX": 0.27629470201913264, + "velocityY": -0.27049908711454895, + "moduleForcesX": [ + 52.33593755577237, + 52.230130490283294, + 48.25827723287149, + 48.46470701351286 + ], + "moduleForcesY": [ + -46.363830867188376, + -46.493656674553, + -50.59451961970578, + -50.40662599053063 + ], + "timestamp": 5.70687163293778 + }, + { + "x": 2.59969508430954, + "y": 3.0569774334733504, + "heading": -0.7539096126665635, + "angularVelocity": 0.07451339282981055, + "velocityX": 0.3699221879694872, + "velocityY": -0.35906006781322475, + "moduleForcesX": [ + 52.772712714386586, + 52.64321061845116, + 48.708227880397644, + 48.88986651808356 + ], + "moduleForcesY": [ + -45.86087987735177, + -46.020702448082574, + -50.15667886453669, + -49.98996987240398 + ], + "timestamp": 5.7410400667408465 + }, + { + "x": 2.6155627967819672, + "y": 3.04171421798388, + "heading": -0.7507171090860787, + "angularVelocity": 0.09343429666355428, + "velocityX": 0.4643968337525495, + "velocityY": -0.4467051541619171, + "moduleForcesX": [ + 53.236210550351444, + 53.083202226496525, + 49.18735049330459, + 49.34416506015187 + ], + "moduleForcesY": [ + -45.316387265266094, + -45.50737260295631, + -49.68168811978987, + -49.536834291052045 + ], + "timestamp": 5.775208500543913 + }, + { + "x": 2.6346894331627193, + "y": 3.0234903647541915, + "heading": -0.7468736144075268, + "angularVelocity": 0.112486709244687, + "velocityX": 0.5597750394703556, + "velocityY": -0.5333534845267905, + "moduleForcesX": [ + 53.728915980215184, + 53.55239734196252, + 49.698559598807726, + 49.830259277194564 + ], + "moduleForcesY": [ + -44.72497839062071, + -44.94872585751261, + -49.16463196417819, + -49.04266367281856 + ], + "timestamp": 5.80937693434698 + }, + { + "x": 2.657107974686689, + "y": 3.0023430588739934, + "heading": -0.7423743506376039, + "angularVelocity": 0.1316789582997814, + "velocityX": 0.6561184997000761, + "velocityY": -0.618913527090018, + "moduleForcesX": [ + 54.253559302174644, + 54.053316928389904, + 50.245115943922, + 50.351117257974 + ], + "moduleForcesY": [ + -44.08037724005756, + -44.33900633935362, + -48.59973826119371, + -48.502125704520466 + ], + "timestamp": 5.843545368150046 + }, + { + "x": 2.6828537110181117, + "y": 2.9783130414007175, + "heading": -0.7372142314829354, + "angularVelocity": 0.151020066778869, + "velocityX": 0.753494774733042, + "velocityY": -0.7032812101302554, + "moduleForcesX": [ + 54.81313081747117, + 54.588726927051184, + 50.83066625382606, + 50.91005475928908 + ], + "moduleForcesY": [ + -43.375219185350794, + -43.671476543849764, + -47.98019276737953, + -47.908946283422 + ], + "timestamp": 5.877713801953113 + }, + { + "x": 2.711964461723663, + "y": 2.951445115583653, + "heading": -0.731387837137063, + "angularVelocity": 0.1705197955356491, + "velocityX": 0.851977906664805, + "velocityY": -0.7863376463761932, + "moduleForcesX": [ + 55.41088882433598, + 55.161649701453676, + 51.459283659928914, + 51.5107725906929 + ], + "moduleForcesY": [ + -42.60081822704514, + -42.9382099914992, + -47.29790597021043, + -47.25570260033681 + ], + "timestamp": 5.911882235756179 + }, + { + "x": 2.7444808199432176, + "y": 2.921788748256515, + "heading": -0.7248893879440267, + "angularVelocity": 0.19018867620596364, + "velocityX": 0.951649069049111, + "velocityY": -0.8679463477332875, + "moduleForcesX": [ + 56.050355580161536, + 55.7753667229935, + 52.13550565805577, + 52.157392785670766 + ], + "moduleForcesY": [ + -41.74687643129026, + -42.12983266512844, + -46.543218130019525, + -46.5335621914448 + ], + "timestamp": 5.946050669559246 + }, + { + "x": 2.7804464186239333, + "y": 2.889398788367351, + "heading": -0.7177127175692773, + "angularVelocity": 0.2100380256266015, + "velocityX": 1.052597227253886, + "velocityY": -0.9479497970508951, + "moduleForcesX": [ + 56.735292671765045, + 56.43340586636138, + 52.86436399025212, + 52.85448925951119 + ], + "moduleForcesY": [ + -40.80111985741291, + -41.235199196168956, + -45.70452403793014, + -45.73195192664766 + ], + "timestamp": 5.980219103362312 + }, + { + "x": 2.8199082182540893, + "y": 2.8543363304840415, + "heading": -0.7098512467719768, + "angularVelocity": 0.23007992823466705, + "velocityX": 1.1549197676896172, + "velocityY": -1.0261652051538297, + "moduleForcesX": [ + 57.469642313027, + 57.13950282342473, + 53.65139676410954, + 53.6071054839671 + ], + "moduleForcesY": [ + -39.74884107586763, + -40.24098585087374, + -44.76779313233833, + -44.838135784361164 + ], + "timestamp": 6.014387537165379 + }, + { + "x": 2.862916812551413, + "y": 2.8166697586754594, + "heading": -0.7012979595937695, + "angularVelocity": 0.25032716534521415, + "velocityX": 1.2587230232795505, + "velocityY": -1.102379231827753, + "moduleForcesX": [ + 58.25741341454022, + 57.897520106804286, + 54.50262639813848, + 54.42074648807602 + ], + "moduleForcesY": [ + -38.57232342865605, + -39.131177569485374, + -43.7159530145672, + -43.8366735603344 + ], + "timestamp": 6.0485559709684455 + }, + { + "x": 2.9095267443793853, + "y": 2.776476015881321, + "heading": -0.692045384896891, + "angularVelocity": 0.2707930585933991, + "velocityX": 1.3641225727996096, + "velocityY": -1.1763413864913854, + "moduleForcesX": [ + 59.10247930569402, + 58.71129766491037, + 55.42447591176224, + 55.301323909049415 + ], + "moduleForcesY": [ + -37.25011682753379, + -37.88642073150134, + -42.528094840423755, + -42.708724055834644 + ], + "timestamp": 6.082724404771512 + }, + { + "x": 2.959796817248875, + "y": 2.733842156261503, + "heading": -0.6820855879126938, + "angularVelocity": 0.2914911769617992, + "velocityX": 1.4712431116751472, + "velocityY": -1.2477557462991284, + "moduleForcesX": [ + 60.00823538333521, + 59.584394348335685, + 56.42357787924733, + 56.255018706084925 + ], + "moduleForcesY": [ + -35.756130140837094, + -36.48320747554508, + -41.178447685827656, + -41.431145662010096 + ], + "timestamp": 6.116892838574579 + }, + { + "x": 3.0137903764593044, + "y": 2.688867253538867, + "heading": -0.6714101791264567, + "angularVelocity": 0.31243482940323736, + "velocityX": 1.580217563427883, + "velocityY": -1.3162705373577737, + "moduleForcesX": [ + 60.97703619791107, + 60.51965641112562, + 57.50640051445945, + 57.28800297750822 + ], + "moduleForcesY": [ + -34.05850355314508, + -34.89285274841904, + -39.63505697041632, + -39.97533508269442 + ], + "timestamp": 6.151061272377645 + }, + { + "x": 3.0715755156229743, + "y": 2.6416647572369745, + "heading": -0.6600103519159627, + "angularVelocity": 0.3336362233106194, + "velocityX": 1.6911848958814022, + "velocityY": -1.3814650262856296, + "moduleForcesX": [ + 62.00928756213586, + 61.51851352579118, + 58.67856664085614, + 58.40592437378586 + ], + "moduleForcesY": [ + -32.118231099628794, + -33.08022523572466, + -37.85809303871182, + -38.30573325949829 + ], + "timestamp": 6.185229706180712 + }, + { + "x": 3.1332251348953113, + "y": 2.592365410391571, + "heading": -0.6478769665956584, + "angularVelocity": 0.35510510637497567, + "velocityX": 1.8042857810709343, + "velocityY": -1.4428330876839475, + "moduleForcesX": [ + 63.10200371622007, + 62.57984830589853, + 59.94366269027511, + 59.61299487944232 + ], + "moduleForcesY": [ + -29.88753006966929, + -31.002205420592897, + -35.79771931366242, + -36.37792208188484 + ], + "timestamp": 6.219398139983778 + }, + { + "x": 3.19881673043804, + "y": 2.541120864270663, + "heading": -0.6350007078837432, + "angularVelocity": 0.3768466177328717, + "velocityX": 1.9196547292970214, + "velocityY": -1.4997628049404181, + "moduleForcesX": [ + 64.24654589972957, + 63.69820448478167, + 61.301210780825286, + 60.910426812800196 + ], + "moduleForcesY": [ + -27.308022270645733, + -28.605883659717094, + -33.391486365194496, + -34.13624998748405 + ], + "timestamp": 6.253566573786845 + }, + { + "x": 3.268431721358979, + "y": 2.488108141074567, + "heading": -0.6213723565216426, + "angularVelocity": 0.39885794709377376, + "velocityX": 2.0374065525558422, + "velocityY": -1.5515116525867114, + "moduleForcesX": [ + 65.42513572759495, + 64.86098519902234, + 62.743289285951334, + 62.29380489156187 + ], + "moduleForcesY": [ + -24.308943903487034, + -25.826608745132567, + -30.561334790912035, + -31.510990055016563 + ], + "timestamp": 6.287735007589911 + }, + { + "x": 3.342154008598091, + "y": 2.4335350888665777, + "heading": -0.6069832349323607, + "angularVelocity": 0.4211232411826373, + "velocityX": 2.1576138860803047, + "velocityY": -1.5971774569044388, + "moduleForcesX": [ + 66.60560432481131, + 66.04414965423646, + 64.2490274420948, + 63.74875697917061 + ], + "moduleForcesY": [ + -20.805909233710622, + -22.586209640320767, + -27.210579545297183, + -28.415216174574137 + ], + "timestamp": 6.321903441392978 + }, + { + "x": 3.420067297624659, + "y": 2.3776469114863374, + "heading": -0.5918259112812426, + "angularVelocity": 0.4436060411337268, + "velocityX": 2.2802710090731573, + "velocityY": -1.6356669346437573, + "moduleForcesX": [ + 67.73377497905216, + 67.2057813005179, + 65.77590803801338, + 65.24399288013711 + ], + "moduleForcesY": [ + -16.701332332285766, + -18.79213746299829, + -23.221886697576096, + -24.742011147904137 + ], + "timestamp": 6.3560718751960446 + }, + { + "x": 3.502250500747592, + "y": 2.3207336777932146, + "heading": -0.5758952720225582, + "angularVelocity": 0.4662384980974613, + "velocityX": 2.4052376411691534, + "velocityY": -1.6656670311887374, + "moduleForcesX": [ + 68.72310032781829, + 68.27690243996902, + 67.24668703937274, + 66.7205139647331 + ], + "moduleForcesY": [ + -11.888595120381519, + -14.33905498254572, + -18.458524951078495, + -20.363527713334292 + ], + "timestamp": 6.390240308999111 + }, + { + "x": 3.588770300148411, + "y": 2.2631383147034487, + "heading": -0.5591900865496179, + "angularVelocity": 0.4889069709551924, + "velocityX": 2.53215584593326, + "velocityY": -1.6856307614718984, + "moduleForcesX": [ + 69.44216838681157, + 69.14938252668055, + 68.53137507535627, + 68.07590489794727 + ], + "moduleForcesY": [ + -6.263462776035729, + -9.115675502702574, + -12.773397325428995, + -15.135149123776095 + ], + "timestamp": 6.424408742802178 + }, + { + "x": 3.679669831986611, + "y": 2.2052638276213377, + "heading": -0.5417151585197252, + "angularVelocity": 0.5114348562363528, + "velocityX": 2.6603365071430773, + "velocityY": -1.6937998216621983, + "moduleForcesX": [ + 69.70328866377196, + 69.6624249788706, + 69.42648709748474, + 69.14403522225213 + ], + "moduleForcesY": [ + 0.2524068885217795, + -3.021319013024658, + -6.033412219540055, + -8.910783227820744 + ], + "timestamp": 6.458577176605244 + }, + { + "x": 3.7749527682503836, + "y": 2.1475772842346603, + "heading": -0.5234840364106981, + "angularVelocity": 0.5335662212117743, + "velocityX": 2.788624635619692, + "velocityY": -1.6882993150684031, + "moduleForcesX": [ + 69.26036679399016, + 69.59296768807461, + 69.64081928338513, + 69.67510523910077 + ], + "moduleForcesY": [ + 7.671603169637777, + 4.002289439883698, + 1.8313895959265214, + -1.5784432881226038 + ], + "timestamp": 6.492745610408311 + }, + { + "x": 3.8745633770469943, + "y": 2.0906066861358146, + "heading": -0.5045219905887643, + "angularVelocity": 0.554958003964229, + "velocityX": 2.915281671109856, + "velocityY": -1.6673459025719994, + "moduleForcesX": [ + 67.8305883988781, + 68.66187474411034, + 68.80910715787444, + 69.33096295364174 + ], + "moduleForcesY": [ + 15.887025146936306, + 11.921034777253118, + 10.75038365579351, + 6.875185368807596 + ], + "timestamp": 6.526914044211377 + }, + { + "x": 3.978365891860758, + "y": 2.0349262711946334, + "heading": -0.4848685675910937, + "angularVelocity": 0.5751923869541453, + "velocityX": 3.0379652579933896, + "velocityY": -1.6295863972607165, + "moduleForcesX": [ + 65.15533939884588, + 66.57381889530069, + 66.56379476345103, + 67.72388622955428 + ], + "moduleForcesY": [ + 24.62260054435077, + 20.548772255335, + 20.427154417351495, + 16.27602920174046 + ], + "timestamp": 6.561082478014444 + }, + { + "x": 4.086130035224754, + "y": 1.9811279297178361, + "heading": -0.4645786636735655, + "angularVelocity": 0.5938201333567447, + "velocityX": 3.153909365149887, + "velocityY": -1.5745041691658956, + "moduleForcesX": [ + 61.09826288224113, + 63.10302916074845, + 62.675471232916664, + 64.52675127100943 + ], + "moduleForcesY": [ + 33.42809708173886, + 29.508928546665715, + 30.308221493835482, + 26.190454024877432 + ], + "timestamp": 6.59525091181751 + }, + { + "x": 4.197530917652326, + "y": 1.9297823597358752, + "heading": -0.4437210662503031, + "angularVelocity": 0.6104346937140096, + "velocityX": 3.2603450035094728, + "velocityY": -1.5027194479529378, + "moduleForcesX": [ + 55.7388417198492, + 58.205422501296546, + 57.204341093964885, + 59.63753994820108 + ], + "moduleForcesY": [ + 41.75616002979977, + 38.26574649152543, + 39.68062573115415, + 35.94945943821575 + ], + "timestamp": 6.629419345620577 + }, + { + "x": 4.312167306700382, + "y": 1.8814004643996105, + "heading": -0.4223741842177217, + "angularVelocity": 0.6247544782302967, + "velocityX": 3.355037860639863, + "velocityY": -1.4159822371466773, + "moduleForcesX": [ + 49.392365486347515, + 52.0915381191988, + 50.54255591262576, + 53.29762006559202 + ], + "moduleForcesY": [ + 49.109791930306656, + 46.24945503958258, + 47.89258810473513, + 44.821885733433 + ], + "timestamp": 6.6635877794236436 + }, + { + "x": 4.429593578239291, + "y": 1.8364070200040916, + "heading": -0.40062007149836965, + "angularVelocity": 0.6366728087314188, + "velocityX": 3.4366887348629156, + "velocityY": -1.3168131923998434, + "moduleForcesX": [ + 42.523585075944766, + 45.191492037946404, + 43.28437765299203, + 46.045478769897436 + ], + "moduleForcesY": [ + 55.18117244566633, + 53.024771526730866, + 54.562713205825034, + 52.261213636710586 + ], + "timestamp": 6.69775621322671 + }, + { + "x": 4.549354454673265, + "y": 1.7951323714385965, + "heading": -0.3785387282996815, + "angularVelocity": 0.6462497908436838, + "velocityX": 3.5050151003182846, + "velocityY": -1.2079760167933338, + "moduleForcesX": [ + 35.6040422363982, + 38.01882389662282, + 36.01344442303065, + 38.516871463895654 + ], + "moduleForcesY": [ + 59.899916276316794, + 58.399935819381504, + 59.637829980151885, + 58.05575589943177 + ], + "timestamp": 6.731924647029777 + }, + { + "x": 4.671012802519467, + "y": 1.7578193403447113, + "heading": -0.35620418267373377, + "angularVelocity": 0.6536602103179556, + "velocityX": 3.5605479767492914, + "velocityY": -1.0920322338724264, + "moduleForcesX": [ + 28.999492629906143, + 31.02140748167046, + 29.152634218283094, + 31.23931501668187 + ], + "moduleForcesY": [ + 63.38313071022713, + 62.41944882326231, + 63.30123874354049, + 62.29899322452282 + ], + "timestamp": 6.766093080832843 + }, + { + "x": 4.794166587294435, + "y": 1.7246382291991504, + "heading": -0.33368265529607405, + "angularVelocity": 0.6591325639174692, + "velocityX": 3.6043145988129734, + "velocityY": -0.9711042460068131, + "moduleForcesX": [ + 22.930478583379813, + 24.499979097098482, + 22.930465825208792, + 24.538962969825917 + ], + "moduleForcesY": [ + 65.84387419877342, + 65.2762329211252, + 65.83619480572648, + 65.25384313562176 + ], + "timestamp": 6.80026151463591 + }, + { + "x": 4.918456120801094, + "y": 1.6957035604333717, + "heading": -0.3110322832436323, + "angularVelocity": 0.662903432536285, + "velocityX": 3.6375543059133113, + "velocityY": -0.8468245554521687, + "moduleForcesX": [ + 17.490611097493122, + 18.60483454362221, + 17.42262001188406, + 18.556137965262714 + ], + "moduleForcesY": [ + 67.51343581836238, + 67.21469298581312, + 67.52623119541767, + 67.2233371296637 + ], + "timestamp": 6.834429948438976 + }, + { + "x": 5.043564748685862, + "y": 1.671088965540357, + "heading": -0.2883037018548584, + "angularVelocity": 0.6651923678964162, + "velocityX": 3.6615265600362172, + "velocityY": -0.7203899082668976, + "moduleForcesX": [ + 12.68710446013482, + 13.374644511721932, + 12.611491253266191, + 13.306192675039183 + ], + "moduleForcesY": [ + 68.59757981027002, + 68.46659082989441, + 68.60888092796368, + 68.47727346712918 + ], + "timestamp": 6.868598382242043 + }, + { + "x": 5.169215962021964, + "y": 1.6508389978996472, + "heading": -0.2655409583813488, + "angularVelocity": 0.6661921820796661, + "velocityX": 3.6774062885148684, + "velocityY": -0.5926513271700529, + "moduleForcesX": [ + 8.47893974500229, + 8.78161800791056, + 8.433845042784862, + 8.73787364759863 + ], + "moduleForcesY": [ + 69.2611212186712, + 69.22324893067494, + 69.2655706651322, + 69.22772556779559 + ], + "timestamp": 6.902766816045109 + }, + { + "x": 5.295168996031128, + "y": 1.6349779307764578, + "heading": -0.24278246290167624, + "angularVelocity": 0.6660678569829528, + "velocityX": 3.686239607443185, + "velocityY": -0.46420234578519154, + "moduleForcesX": [ + 4.803827737586382, + 4.766096380891718, + 4.810608762843148, + 4.772897837629256 + ], + "moduleForcesY": [ + 69.62837588707588, + 69.6309896321228, + 69.62802874719466, + 69.63064474474946 + ], + "timestamp": 6.936935249848176 + }, + { + "x": 5.4212141036987305, + "y": 1.623516082763672, + "heading": -0.22006184902110862, + "angularVelocity": 0.66495918459477, + "velocityX": 3.6889343068539855, + "velocityY": -0.33545137242307327, + "moduleForcesX": [ + 1.5942522219554287, + 1.2580049742054955, + 1.6626838710692602, + 1.3280199864810305 + ], + "moduleForcesY": [ + 69.78990251224585, + 69.7969719350377, + 69.78930629514267, + 69.79667244003888 + ], + "timestamp": 6.9711036836512426 + }, + { + "x": 5.536357785458245, + "y": 1.6167143979603533, + "heading": -0.19934896427865403, + "angularVelocity": 0.6631539859968727, + "velocityX": 3.686497195857454, + "velocityY": -0.21776611248987246, + "moduleForcesX": [ + -1.2146561524736412, + -1.8117141925487679, + -1.0811855550234346, + -1.6733625308609834 + ], + "moduleForcesY": [ + 69.79241376304972, + 69.7798691512506, + 69.79642505414063, + 69.78512998236425 + ], + "timestamp": 7.0023375828357866 + }, + { + "x": 5.651239422339737, + "y": 1.6135792207379007, + "heading": -0.1787216476227477, + "angularVelocity": 0.6604143957189293, + "velocityX": 3.6781074371380926, + "velocityY": -0.1003773881681756, + "moduleForcesX": [ + -4.64242159716927, + -5.54093969812048, + -4.414821973225449, + -5.302638187971505 + ], + "moduleForcesY": [ + 69.63531698740574, + 69.57032535393479, + 69.6530252963811, + 69.59177675226383 + ], + "timestamp": 7.033571482020331 + }, + { + "x": 5.765650955748667, + "y": 1.614088941937518, + "heading": -0.1582127955026744, + "angularVelocity": 0.6566215764127933, + "velocityX": 3.663056371314279, + "velocityY": 0.016319486613104308, + "moduleForcesX": [ + -8.495381910885518, + -9.720991746346044, + -8.139380629166084, + -9.345936752502817 + ], + "moduleForcesY": [ + 69.2566673401028, + 69.09654835377745, + 69.30366180089668, + 69.15247391039875 + ], + "timestamp": 7.064805381204875 + }, + { + "x": 5.879360442462263, + "y": 1.6182052122659747, + "heading": -0.13785937150128283, + "angularVelocity": 0.6516453127140659, + "velocityX": 3.6405792962880157, + "velocityY": 0.13178855141127085, + "moduleForcesX": [ + -12.815759963796953, + -14.38582840970941, + -12.287082896204227, + -13.82779132765308 + ], + "moduleForcesY": [ + 68.57337287263584, + 68.26329235357656, + 68.67597146618569, + 68.38430351315112 + ], + "timestamp": 7.096039280389419 + }, + { + "x": 5.992111138965502, + "y": 1.6258674711672139, + "heading": -0.1177026425185552, + "angularVelocity": 0.6453478274881025, + "velocityX": 3.6098821936082115, + "velocityY": 0.24531867942478447, + "moduleForcesX": [ + -17.633417522588225, + -19.54929006553443, + -16.877905000394545, + -18.754063029323415 + ], + "moduleForcesY": [ + 67.47888705157717, + 66.9521732214197, + 67.67970174145589, + 67.18694762231418 + ], + "timestamp": 7.127273179573963 + }, + { + "x": 6.103622094303421, + "y": 1.6369864826656304, + "heading": -0.09778817877787521, + "angularVelocity": 0.6375913433995722, + "velocityX": 3.570190025877452, + "velocityY": 0.35599178420602007, + "moduleForcesX": [ + -22.95270651706555, + -25.189384558789264, + -21.909323670365872, + -24.099891584902497 + ], + "moduleForcesY": [ + 65.8425483604852, + 65.02468494055434, + 66.2073102650262, + 65.44620011202704 + ], + "timestamp": 7.158507078758507 + }, + { + "x": 6.213591094688311, + "y": 1.6514373028633496, + "heading": -0.07816546619344794, + "angularVelocity": 0.6282504937500009, + "velocityX": 3.5208220317016474, + "velocityY": 0.46266462321394247, + "moduleForcesX": [ + -28.73432913364853, + -31.229222799354233, + -27.343129834412316, + -29.79604676401847 + ], + "moduleForcesY": [ + 63.515063622119015, + 62.33379580320614, + 64.1392749362458, + 63.0438292936246 + ], + "timestamp": 7.189740977943051 + }, + { + "x": 6.321700797472736, + "y": 1.6690526185831787, + "heading": -0.05888697487856026, + "angularVelocity": 0.6172297349422137, + "velocityX": 3.4612938380080243, + "velocityY": 0.563980680598025, + "moduleForcesX": [ + -34.87458167203667, + -37.5196633003651, + -33.091371158814944, + -35.71748564453722 + ], + "moduleForcesY": [ + 60.34477532824868, + 58.74798811422034, + 61.3568453809975, + 59.87586847814465 + ], + "timestamp": 7.220974877127595 + }, + { + "x": 6.427628513667544, + "y": 1.6896179792262178, + "heading": -0.04000658924248226, + "angularVelocity": 0.6044837861748985, + "velocityX": 3.391434273669794, + "velocityY": 0.6584307812972656, + "moduleForcesX": [ + -41.18913369217403, + -43.83350941131175, + -39.00628386706853, + -41.6805723640044 + ], + "moduleForcesY": [ + 56.208414687533576, + 54.187993451166136, + 57.763966849524245, + 55.8787962724648 + ], + "timestamp": 7.252208776312139 + }, + { + "x": 6.531059208850954, + "y": 1.7128707904510865, + "heading": -0.021577456321905813, + "angularVelocity": 0.5900362555340599, + "velocityX": 3.3114884111105116, + "velocityY": 0.7444735313859107, + "moduleForcesX": [ + -47.41368101992876, + -49.88314982436999, + -44.88166931460831, + -47.45607578015907 + ], + "moduleForcesY": [ + 51.05430582696234, + 48.667941232155606, + 53.316479334237805, + 51.05789478690704 + ], + "timestamp": 7.283442675496683 + }, + { + "x": 6.631700041051098, + "y": 1.7385046149678465, + "heading": -0.0036495170367904796, + "angularVelocity": 0.5739897916423812, + "velocityX": 3.222166774808133, + "velocityY": 0.8207052332884839, + "moduleForcesX": [ + -53.233856471220975, + -55.366920133259136, + -50.47268633446656, + -52.80079896953701 + ], + "moduleForcesY": [ + 44.94484889182346, + 42.3225552386226, + 48.05054044297984, + 45.50650337956311 + ], + "timestamp": 7.314676574681227 + }, + { + "x": 6.72929372228774, + "y": 1.7661790988703765, + "heading": 0.013732849804307366, + "angularVelocity": 0.5565224738158746, + "velocityX": 3.1246076789841535, + "velocityY": 0.8860399958076671, + "moduleForcesX": [ + -58.345154148617716, + -60.032892839175005, + -55.534549150010925, + -57.50122783414151 + ], + "moduleForcesY": [ + 38.07509978285241, + 35.40036370079169, + 42.096980565679324, + 39.40405614438595 + ], + "timestamp": 7.345910473865771 + }, + { + "x": 6.823627923724794, + "y": 1.7955340878015844, + "heading": 0.03053262068354859, + "angularVelocity": 0.5378697926884116, + "velocityX": 3.020250557885375, + "velocityY": 0.9398438778893922, + "moduleForcesX": [ + -62.52280949699515, + -63.733209112944245, + -59.86948697257805, + -61.41348858511489 + ], + "moduleForcesY": [ + 30.74833028275093, + 28.217735233831334, + 35.67005856779505, + 32.988696460620076 + ], + "timestamp": 7.377144373050315 + }, + { + "x": 6.914539095039677, + "y": 1.826205151562114, + "heading": 0.04672105244914021, + "angularVelocity": 0.5182968565641849, + "velocityX": 2.910657128581352, + "velocityY": 0.9819799820480816, + "moduleForcesX": [ + -65.66886185868087, + -66.44387693060419, + -63.36345877637226, + -64.48351550098701 + ], + "moduleForcesY": [ + 23.312424890902264, + 21.092079231055997, + 29.03045680610677, + 26.513454012510213 + ], + "timestamp": 7.408378272234859 + }, + { + "x": 7.00191083120258, + "y": 1.857837576619506, + "heading": 0.06227767543874758, + "angularVelocity": 0.49806855358314345, + "velocityX": 2.79733681813701, + "velocityY": 1.0127594019079642, + "moduleForcesX": [ + -67.81507590740986, + -68.24558015233966, + -65.99778416604235, + -66.74157428979274 + ], + "moduleForcesY": [ + 16.085982437977822, + 14.284102786197604, + 22.4364892472493, + 20.20336057619677 + ], + "timestamp": 7.439612171419403 + }, + { + "x": 7.08566831037846, + "y": 1.8900968604507642, + "heading": 0.07718952403877516, + "angularVelocity": 0.4774251370897311, + "velocityX": 2.6816209747302024, + "velocityY": 1.0328292231673046, + "moduleForcesX": [ + -69.08767711971997, + -69.28207477377534, + -67.83442411791442, + -68.27813228327408 + ], + "moduleForcesY": [ + 9.306535141937632, + 7.968982188459777, + 16.102873795798732, + 14.227975505543432 + ], + "timestamp": 7.470846070603947 + }, + { + "x": 7.1657707948107, + "y": 1.9226751165288511, + "heading": 0.09144990908697578, + "angularVelocity": 0.4565675570617681, + "velocityX": 2.564600851112415, + "velocityY": 1.043041596747184, + "moduleForcesX": [ + -69.65804252062547, + -69.7179283552588, + -68.98608228045565, + -69.21405657842858 + ], + "moduleForcesY": [ + 3.114399524195191, + 2.2368519856293423, + 10.179374408258008, + 8.693506152738143 + ], + "timestamp": 7.502079969788491 + }, + { + "x": 7.242203870360159, + "y": 1.9552938604539736, + "heading": 0.10505704283738766, + "angularVelocity": 0.4356527396728449, + "velocityX": 2.447119237270337, + "velocityY": 1.044337875729075, + "moduleForcesX": [ + -69.70124713709963, + -69.70873063061384, + -69.58522857590717, + -69.67557546274664 + ], + "moduleForcesY": [ + -2.4353583188896692, + -2.8892583286760494, + 4.749677317665599, + 3.6497615553449627 + ], + "timestamp": 7.533313868973035 + }, + { + "x": 7.3149724616768, + "y": 1.987704135802272, + "heading": 0.11801274372818554, + "angularVelocity": 0.41479614230198736, + "velocityX": 2.32979529346279, + "velocityY": 1.0376634424285054, + "moduleForcesX": [ + -69.37141122156042, + -69.38604200660654, + -69.7610306536193, + -69.77829870586658 + ], + "moduleForcesY": [ + -7.348497686293659, + -7.430752962744582, + -0.15686993449782277, + -0.8958848269824288 + ], + "timestamp": 7.564547768157579 + }, + { + "x": 7.3840950705541335, + "y": 2.01968496914902, + "heading": 0.13032134082026842, + "angularVelocity": 0.3940781462909334, + "velocityX": 2.2130637122482435, + "velocityY": 1.0239142144178408, + "moduleForcesX": [ + -68.79219077575826, + -68.85332870657157, + -69.62642212152763, + -69.6197347590349 + ], + "moduleForcesY": [ + -11.667068533835018, + -11.433757323364393, + -4.549064061804949, + -4.963793138808663 + ], + "timestamp": 7.595781667342123 + }, + { + "x": 7.449599293707183, + "y": 2.0510409472448057, + "heading": 0.14198881228607477, + "angularVelocity": 0.3735515504122556, + "velocityX": 2.0972156811425053, + "velocityY": 1.003908538941006, + "moduleForcesX": [ + -68.05680084331767, + -68.18801561271576, + -69.27335776520708, + -69.27768823908052 + ], + "moduleForcesY": [ + -15.450503678991277, + -14.954992971304073, + -8.458810783576647, + -8.589903002733429 + ], + "timestamp": 7.627015566526667 + }, + { + "x": 7.511518476753402, + "y": 2.0815994613089015, + "heading": 0.15302214212648052, + "angularVelocity": 0.35324855776782776, + "velocityX": 1.9824352598557686, + "velocityY": 0.978376535172337, + "moduleForcesX": [ + -67.23245647252043, + -67.44599597043188, + -68.77312382535915, + -68.81187577309025 + ], + "moduleForcesY": [ + -18.763253771827205, + -18.052948010263595, + -11.929621279344378, + -11.817044766226097 + ], + "timestamp": 7.658249465711211 + }, + { + "x": 7.569889291685235, + "y": 2.1112079507084967, + "heading": 0.1634288580592393, + "angularVelocity": 0.3331865762667458, + "velocityX": 1.8688289472586428, + "velocityY": 0.9479600745540926, + "moduleForcesX": [ + -66.36599817672449, + -66.66650495076355, + -68.1790661942923, + -68.26685299659269 + ], + "moduleForcesY": [ + -21.667717031661414, + -20.783010411658314, + -15.00888168089956, + -14.689373027682677 + ], + "timestamp": 7.689483364895755 + }, + { + "x": 7.624750025615848, + "y": 2.1397313253202217, + "heading": 0.17321670979706713, + "angularVelocity": 0.31337271340977585, + "velocityX": 1.7564484538568614, + "velocityY": 0.9132185015772918, + "moduleForcesX": [ + -65.48911817943964, + -65.8764163847384, + -67.53005004444259, + -67.67514873316857 + ], + "moduleForcesY": [ + -24.220769448656526, + -23.19519477875434, + -17.743193755479325, + -17.249152441259174 + ], + "timestamp": 7.720717264080299 + }, + { + "x": 7.676139398666215, + "y": 2.167049647381559, + "heading": 0.18239345143214958, + "angularVelocity": 0.29380710941218785, + "velocityX": 1.6453076430430722, + "velocityY": 0.8746369417384802, + "moduleForcesX": [ + -64.62262418422353, + -65.09367960500755, + -66.85377291643147, + -67.06008317369616 + ], + "moduleForcesY": [ + -26.472478084929353, + -25.333408368209028, + -20.175883511456462, + -19.53513291046512 + ], + "timestamp": 7.751951163264843 + }, + { + "x": 7.724095766413283, + "y": 2.1930560955088714, + "heading": 0.19096669877689867, + "angularVelocity": 0.2744853370402009, + "velocityX": 1.5353948433950122, + "velocityY": 0.8326353355261491, + "moduleForcesX": [ + -63.779684683796546, + -64.32992215357561, + -66.16957438762687, + -66.43809024204428 + ], + "moduleForcesY": [ + -28.46601496062642, + -27.235550523161542, + -22.345900161553452, + -21.581915136293887 + ], + "timestamp": 7.783185062449387 + }, + { + "x": 7.768656597241674, + "y": 2.217655202136618, + "heading": 0.19894383955374845, + "angularVelocity": 0.25540009365200633, + "velocityX": 1.426681650123334, + "velocityY": 0.7875771924089373, + "moduleForcesX": [ + -62.96820003508607, + -63.59235678392136, + -65.4906660749518, + -65.82053738343055 + ], + "moduleForcesY": [ + -30.238160149893314, + -28.934012760113923, + -24.28753872025629, + -23.41988900320413 + ], + "timestamp": 7.814418961633931 + }, + { + "x": 7.809858143739942, + "y": 2.240761340593307, + "heading": 0.2063319802459021, + "angularVelocity": 0.2365423749529722, + "velocityX": 1.319129137698469, + "velocityY": 0.7397775833291825, + "moduleForcesX": [ + -62.192491370699265, + -62.885150110640076, + -64.8258325077587, + -65.2151079105758 + ], + "moduleForcesY": [ + -31.820042199476994, + -30.456331807941545, + -26.030611192563033, + -25.075475226545603 + ], + "timestamp": 7.845652860818475 + }, + { + "x": 7.847735249580043, + "y": 2.2622974324312044, + "heading": 0.21313791801578313, + "angularVelocity": 0.217902277575673, + "velocityX": 1.2126921975481308, + "velocityY": 0.6895101924563837, + "moduleForcesX": [ + -61.454484090542756, + -62.21039188972919, + -64.18069629035503, + -64.62683047184072 + ], + "moduleForcesY": [ + -33.237927405482246, + -31.825863211028654, + -27.600834442333337, + -26.571506074994993 + ], + "timestamp": 7.876886760003019 + }, + { + "x": 7.882321249962839, + "y": 2.2821938451244197, + "heading": 0.21936812950882995, + "angularVelocity": 0.1994695396894249, + "velocityX": 1.1073225337139871, + "velocityY": 0.637013412115413, + "moduleForcesX": [ + -60.754528061162546, + -61.56877537888105, + -63.55864401483371, + -64.05883594980067 + ], + "moduleForcesY": [ + -34.513965623161624, + -33.0624108948651, + -29.020299370428145, + -27.927650442306465 + ], + "timestamp": 7.908120659187563 + }, + { + "x": 7.913647935863992, + "y": 2.300387452263222, + "heading": 0.22502877082562428, + "angularVelocity": 0.18123389857119004, + "velocityX": 1.002970705516502, + "velocityY": 0.5824955453466213, + "moduleForcesX": [ + -60.091961418068394, + -60.960071840288485, + -62.961496654810844, + -63.512909294644885 + ], + "moduleForcesY": [ + -35.666853845865, + -34.18278602027018, + -30.30794709351955, + -29.160831965852342 + ], + "timestamp": 7.939354558372107 + }, + { + "x": 7.941745561065733, + "y": 2.316820831436958, + "heading": 0.2301256846984274, + "angularVelocity": 0.1631853212654717, + "velocityX": 0.8995874974087535, + "velocityY": 0.5261392142121014, + "moduleForcesX": [ + -59.46549542470903, + -60.38345971520857, + -62.3899914052322, + -62.98988958374127 + ], + "moduleForcesY": [ + -36.71240702530568, + -35.20128858003332, + -31.48001463468641, + -30.285614918939583 + ], + "timestamp": 7.970588457556651 + }, + { + "x": 7.9666428772096785, + "y": 2.331441578323094, + "heading": 0.2346644121423072, + "angularVelocity": 0.14531414784503832, + "velocityX": 0.7971248161122004, + "velocityY": 0.4681050803087552, + "moduleForcesX": [ + -58.87347529996987, + -59.8377517665426, + -61.844126151672015, + -62.48995888715656 + ], + "moduleForcesY": [ + -37.66403944016118, + -36.13011512199216, + -32.55043391976653, + -31.314547593962313 + ], + "timestamp": 8.001822356741194 + }, + { + "x": 7.988367186546548, + "y": 2.344201718687528, + "heading": 0.23865020671437684, + "angularVelocity": 0.12761117491350757, + "velocityX": 0.6955362572092908, + "velocityY": 0.40853497954390167, + "moduleForcesX": [ + -58.31405544897825, + -59.32155082219064, + -61.323404651518366, + -62.01285017304729 + ], + "moduleForcesY": [ + -38.53316588525538, + -36.979700281918525, + -33.53117961919153, + -32.258461129657604 + ], + "timestamp": 8.033056255925738 + }, + { + "x": 8.006944405204333, + "y": 2.3550572028737315, + "heading": 0.24208805011618234, + "angularVelocity": 0.11006769860827156, + "velocityX": 0.5947774419076537, + "velocityY": 0.3475545631387403, + "moduleForcesX": [ + -57.78531580177261, + -58.83335565875275, + -60.82701030078735, + -61.55799648007071 + ], + "moduleForcesY": [ + -39.32953380525751, + -37.75900112867809, + -34.43256746210096, + -33.12672596412863 + ], + "timestamp": 8.064290155110282 + }, + { + "x": 8.022399132020638, + "y": 2.363967469857361, + "heading": 0.2449826682921487, + "angularVelocity": 0.09267553048255991, + "velocityX": 0.49480619518526986, + "velocityY": 0.2852755248707073, + "moduleForcesX": [ + -57.285337740479896, + -58.37163212315705, + -60.353928685994944, + -61.12463756696233 + ], + "moduleForcesY": [ + -40.06149732856369, + -38.4757331585573, + -35.263507483650535, + -33.927470016147225 + ], + "timestamp": 8.095524054294826 + }, + { + "x": 8.034754719555226, + "y": 2.3708950700715006, + "heading": 0.24733854746652198, + "angularVelocity": 0.07542699553628232, + "velocityX": 0.39558261559293284, + "velocityY": 0.22179748270327265, + "moduleForcesX": [ + -56.81225237983397, + -57.93486006066267, + -59.903033473759216, + -60.711895807367256 + ], + "moduleForcesY": [ + -40.73624310045663, + -39.13656594554345, + -36.031717696214486, + -34.667763336428486 + ], + "timestamp": 8.12675795347937 + }, + { + "x": 8.044033345005866, + "y": 2.3758053379970425, + "heading": 0.24915994976122946, + "angularVelocity": 0.05831491879850911, + "velocityX": 0.2970690721584117, + "velocityY": 0.15720957209121228, + "moduleForcesX": [ + -56.36427001125167, + -57.5215634457959, + -59.473146089415536, + -60.31882985370642 + ], + "moduleForcesY": [ + -41.359976459056796, + -39.74728539389969, + -36.74390375174633, + -35.35377393330024 + ], + "timestamp": 8.157991852663914 + }, + { + "x": 8.050256079529502, + "y": 2.3786661070048227, + "heading": 0.2504509281746412, + "angularVelocity": 0.04133260486576112, + "velocityX": 0.1992301533301652, + "velocityY": 0.09159179873372657, + "moduleForcesX": [ + -55.939696789825724, + -57.1303288947117, + -59.06307667969438, + -59.944472239120515 + ], + "moduleForcesY": [ + -41.9380751333949, + -40.312928466883, + -37.40590977404323, + -35.99089911235205 + ], + "timestamp": 8.189225751848458 + }, + { + "x": 8.05344295501709, + "y": 2.3794474601745605, + "heading": 0.2512153407952589, + "angularVelocity": 0.02447381340706803, + "velocityX": 0.10203258545331097, + "velocityY": 0.02501619042570311, + "moduleForcesX": [ + -55.536942858301344, + -56.75981618632852, + -58.671651732638004, + -59.58785538307145 + ], + "moduleForcesY": [ + -42.475216399919304, + -40.83789528114259, + -38.02284495821976, + -36.583876172772996 + ], + "timestamp": 8.220459651033002 + }, + { + "x": 8.053554456589268, + "y": 2.3780515330467744, + "heading": 0.2514509916470031, + "angularVelocity": 0.007395922560774328, + "velocityX": 0.003499486579928764, + "velocityY": -0.04381129480829212, + "moduleForcesX": [ + -55.155942723339066, + -56.410130778556855, + -58.299270340258424, + -59.249495938873906 + ], + "moduleForcesY": [ + -42.97659794260327, + -41.327019683328054, + -38.600234192193255, + -37.1377832489104 + ], + "timestamp": 8.25232191700561 + }, + { + "x": 8.050503676116843, + "y": 2.374495944778674, + "heading": 0.25113884834054667, + "angularVelocity": -0.009796644931806814, + "velocityX": -0.09574901154386109, + "velocityY": -0.11159244829469711, + "moduleForcesX": [ + -55.59846208009159, + -56.81482043080866, + -58.727470358931996, + -59.63757447538233 + ], + "moduleForcesY": [ + -42.39779477546787, + -40.76437641615547, + -37.940204764892066, + -36.50626823285514 + ], + "timestamp": 8.284184182978217 + }, + { + "x": 8.044266726896662, + "y": 2.368816459252477, + "heading": 0.2502751014217515, + "angularVelocity": -0.02710877247518084, + "velocityX": -0.1957471959321019, + "velocityY": -0.17825114921456037, + "moduleForcesX": [ + -56.06323763398831, + -57.24062461714162, + -59.174271034811625, + -60.04340776441032 + ], + "moduleForcesY": [ + -41.776147814794186, + -40.15942738553945, + -37.23368956145045, + -35.82938803499372 + ], + "timestamp": 8.316046448950825 + }, + { + "x": 8.034818569991312, + "y": 2.361051521762493, + "heading": 0.24885577752335578, + "angularVelocity": -0.04454560449705487, + "velocityX": -0.29653122955764694, + "velocityY": -0.24370324121516418, + "moduleForcesX": [ + -56.55168152063322, + -57.688723661216756, + -59.640647271005136, + -60.46779053111777 + ], + "moduleForcesY": [ + -41.106989124664864, + -39.50779873218757, + -36.475681088423705, + -35.10250725779455 + ], + "timestamp": 8.347908714923433 + }, + { + "x": 8.02213295415441, + "y": 2.351242549668039, + "heading": 0.24687673127300086, + "angularVelocity": -0.06211253939240583, + "velocityX": -0.39813916084336615, + "velocityY": -0.3078554457767266, + "moduleForcesX": [ + -57.06526215403646, + -58.160330207335605, + -60.127545301084076, + -60.911479640655365 + ], + "moduleForcesY": [ + -40.38499332803157, + -38.80452163499535, + -35.66049995910362, + -34.32038809756697 + ], + "timestamp": 8.37977098089604 + }, + { + "x": 8.00618235687956, + "y": 2.3394342631876905, + "heading": 0.2443336377254407, + "angularVelocity": -0.07981521307199141, + "velocityX": -0.500610888395779, + "velocityY": -0.37060410237302155, + "moduleForcesX": [ + -57.60548590811172, + -58.65667055972254, + -60.63584750323129, + -61.37516219034661 + ], + "moduleForcesY": [ + -39.60406793333535, + -38.043936016754444, + -34.781689948525035, + -33.47709850836389 + ], + "timestamp": 8.411633246868648 + }, + { + "x": 7.986937928616644, + "y": 2.325675062806478, + "heading": 0.24122198573830955, + "angularVelocity": -0.09765946934867298, + "velocityX": -0.6039880615979971, + "velocityY": -0.4318337055199071, + "moduleForcesX": [ + -58.173868533617096, + -59.17895682769587, + -61.166323423685455, + -61.859411780502434 + ], + "moduleForcesY": [ + -38.75722338336922, + -37.219577007130056, + -33.8318958041082, + -32.565905591557595 + ], + "timestamp": 8.443495512841256 + }, + { + "x": 7.964369443043094, + "y": 2.3100174608729738, + "heading": 0.237537072874333, + "angularVelocity": -0.11565131202986337, + "velocityX": -0.7083138905736533, + "velocityY": -0.4914152040211259, + "moduleForcesX": [ + -58.771892135272395, + -59.72834634110857, + -61.71956218457966, + -62.36462897822015 + ], + "moduleForcesY": [ + -37.83641912694608, + -36.32404111721714, + -32.80272145388071, + -31.579152188787862 + ], + "timestamp": 8.475357778813864 + }, + { + "x": 7.938445257428918, + "y": 2.292518576229884, + "heading": 0.23327400263538245, + "angularVelocity": -0.13379683173241844, + "velocityX": -0.8136328293933358, + "velocityY": -0.549204022655952, + "moduleForcesX": [ + -59.400941916783964, + -60.305883487526756, + -62.29587980716988, + -62.89096066811758 + ], + "moduleForcesY": [ + -36.8323815695949, + -35.3488287266875, + -31.684566356440335, + -30.50811469994054 + ], + "timestamp": 8.507220044786472 + }, + { + "x": 7.909132288701435, + "y": 2.2732407021467766, + "heading": 0.22842768513620898, + "angularVelocity": -0.15210209792799723, + "velocityX": -0.9199900833381958, + "velocityY": -0.6050377615854724, + "moduleForcesX": [ + -60.062214669067124, + -60.9124173278346, + -62.89519280456947, + -63.438191243373915 + ], + "moduleForcesY": [ + -35.7343894615374, + -34.28415924509893, + -30.46643819561915, + -29.34284045199572 + ], + "timestamp": 8.53908231075908 + }, + { + "x": 7.876396012944544, + "y": 2.2522519593808092, + "heading": 0.222992842736002, + "angularVelocity": -0.17057300334129924, + "velocityX": -1.0274308734047577, + "velocityY": -0.6587335246027822, + "moduleForcesX": [ + -60.75658790899585, + -61.54848590334146, + -63.51684654752578, + -64.00559631735058 + ], + "moduleForcesY": [ + -34.53002232366402, + -33.118755329123275, + -29.135741201635682, + -28.071963701150157 + ], + "timestamp": 8.570944576731687 + }, + { + "x": 7.840200498951033, + "y": 2.229627047813913, + "heading": 0.2169640227009756, + "angularVelocity": -0.18921504328064614, + "velocityX": -1.135999367547437, + "velocityY": -0.7100848253023461, + "moduleForcesX": [ + -61.48443439213766, + -62.21415484311441, + -64.15938323723294, + -64.59174671002124 + ], + "moduleForcesY": [ + -33.20486823491243, + -31.83959306917933, + -27.678041498772867, + -26.682500864449135 + ], + "timestamp": 8.602806842704295 + }, + { + "x": 7.8005084903360755, + "y": 2.205448111665637, + "heading": 0.21033561971861534, + "angularVelocity": -0.20803300644275413, + "velocityX": -1.2457371565814348, + "velocityY": -0.758858022497941, + "moduleForcesX": [ + -62.24536108740322, + -62.90879346089582, + -64.82022971982403, + -65.19424677998418 + ], + "moduleForcesY": [ + -31.74218928632124, + -30.43161652659153, + -26.076814692163644, + -25.159628323461547 + ], + "timestamp": 8.634669108676903 + }, + { + "x": 7.757281555934284, + "y": 2.1798057345060355, + "heading": 0.20310191208344186, + "angularVelocity": -0.22703054583099605, + "velocityX": -1.3566811110972, + "velocityY": -0.8047882464368966, + "moduleForcesX": [ + -63.037844258778556, + -63.630765722593274, + -65.49527985664463, + -65.80938669738626 + ], + "moduleForcesY": [ + -30.122547211728936, + -28.877418105303608, + -24.313187412643863, + -23.48645084722208 + ], + "timestamp": 8.66653137464951 + }, + { + "x": 7.710480335128053, + "y": 2.152800080750204, + "heading": 0.19525711669504744, + "angularVelocity": -0.24620958833055565, + "velocityX": -1.4688604020337492, + "velocityY": -0.8475748014610333, + "moduleForcesX": [ + -63.858722777905655, + -64.37700604141725, + -66.17834002138444, + -66.43168313046118 + ], + "moduleForcesY": [ + -28.323399698743053, + -27.15689210810165, + -22.365695219623007, + -21.643776425856053 + ], + "timestamp": 8.698393640622118 + }, + { + "x": 7.660064913825694, + "y": 2.1245421992659654, + "heading": 0.18679546972514044, + "angularVelocity": -0.2655695290843895, + "velocityX": -1.582292400223543, + "velocityY": -0.8868760780709051, + "moduleForcesX": [ + -64.70250024975486, + -65.14244079804038, + -66.86040043910882, + -67.05327758071519 + ], + "moduleForcesY": [ + -26.31869214055846, + -25.246879229454986, + -20.210096219032405, + -19.60992564426652 + ], + "timestamp": 8.730255906594726 + }, + { + "x": 7.605995378440203, + "y": 2.0951555009769316, + "heading": 0.17771134197961377, + "angularVelocity": -0.28510614258685696, + "velocityX": -1.6969770898270695, + "velocityY": -0.9223040920660796, + "moduleForcesX": [ + -65.56039388146615, + -65.91920630968728, + -67.52869160054091, + -67.66315754143089 + ], + "moduleForcesY": [ + -24.07849387211095, + -23.120837372643603, + -17.81930577270531, + -17.36062277518201 + ], + "timestamp": 8.762118172567334 + }, + { + "x": 7.548232609655312, + "y": 2.0647774140415374, + "heading": 0.16799940060618798, + "angularVelocity": -0.30481012812381947, + "velocityX": -1.8128895425877953, + "velocityY": -0.9534189113075265, + "moduleForcesX": [ + -66.41905704332382, + -66.69560440794528, + -68.16548807657564, + -68.2461654521247 + ], + "moduleForcesY": [ + -21.568767643175345, + -20.748602955852512, + -15.163556020718632, + -14.869044170074863 + ], + "timestamp": 8.793980438539942 + }, + { + "x": 7.486739394752166, + "y": 2.0335612045764715, + "heading": 0.1576548317430363, + "angularVelocity": -0.3246651971345981, + "velocityX": -1.9299699197794449, + "velocityY": -0.9797234600923485, + "moduleForcesX": [ + -67.25889966899966, + -67.45473195905362, + -68.7466394205906, + -68.7817691234393 + ], + "moduleForcesY": [ + -18.75142323536141, + -18.096352020337484, + -12.210937453724249, + -12.106140007644772 + ], + "timestamp": 8.82584270451255 + }, + { + "x": 7.421481955464313, + "y": 2.00167792410089, + "heading": 0.146673641554283, + "angularVelocity": -0.34464561303310726, + "velocityX": -2.0481104308135385, + "velocityY": -1.0006595420109778, + "moduleForcesX": [ + -68.05194930848488, + -68.17272913340136, + -69.23985238410089, + -69.242593650103 + ], + "moduleForcesY": [ + -15.584898132580264, + -15.126937981287806, + -8.928548506686878, + -9.041399564404534 + ], + "timestamp": 8.857704970485157 + }, + { + "x": 7.352432004290334, + "y": 1.9693184019592849, + "heading": 0.13505305493463604, + "angularVelocity": -0.36471312585355, + "velocityX": -2.167138747549916, + "velocityY": -1.0156064282880854, + "moduleForcesX": [ + -68.75926013725697, + -68.81662900385922, + -69.60283971893979, + -69.59277259758998 + ], + "moduleForcesY": [ + -12.025633528562048, + -11.800877294533851, + -5.284555242845572, + -5.644295267059884 + ], + "timestamp": 8.889567236457765 + }, + { + "x": 7.2795694488826355, + "y": 1.9366951366174912, + "heading": 0.12279203026765104, + "angularVelocity": -0.384813329897061, + "velocityX": -2.286797664370093, + "velocityY": -1.0238840316580133, + "moduleForcesX": [ + -69.32802707356645, + -69.34188503849983, + -69.78161252555464, + -69.78628447519435 + ], + "moduleForcesY": [ + -8.030961796508763, + -8.078372707664565, + -1.2515216495305865, + -1.8867042250580757 + ], + "timestamp": 8.921429502430373 + }, + { + "x": 7.2028858490976635, + "y": 1.9040438503848256, + "heading": 0.10989190221914645, + "angularVelocity": -0.40487164533730713, + "velocityX": -2.4067214758327977, + "velocityY": -1.0247634697650227, + "moduleForcesX": [ + -69.68885065138771, + -69.68984244468864, + -69.70944468694478, + -69.76561961798723 + ], + "moduleForcesY": [ + -3.5640453862085724, + -3.922882942163212, + 3.1886436635102147, + 2.25336449804837 + ], + "timestamp": 8.95329176840298 + }, + { + "x": 7.122388675485475, + "y": 1.8716243607382543, + "heading": 0.09635714894183342, + "angularVelocity": -0.42478941356364897, + "velocityX": -2.5264108234296327, + "velocityY": -1.0174885136682612, + "moduleForcesX": [ + -69.75407213911326, + -69.78574765293385, + -69.30736777430482, + -69.46138094201778 + ], + "moduleForcesY": [ + 1.3985082704886809, + 0.6931980154340661, + 8.037964379859298, + 6.786476492701418 + ], + "timestamp": 8.985154034375588 + }, + { + "x": 7.038106297573928, + "y": 1.839720305418933, + "heading": 0.0821962517664176, + "angularVelocity": -0.4444409944851408, + "velocityX": -2.6452097909170735, + "velocityY": -1.001311562295961, + "moduleForcesX": [ + -69.41873489476157, + -69.53837348398156, + -68.48737136681783, + -68.79372562148293 + ], + "moduleForcesY": [ + 6.856101124136169, + 5.780335403290546, + 13.274225415126049, + 11.704917636171876 + ], + "timestamp": 9.017016300348196 + }, + { + "x": 6.950093425676927, + "y": 1.8086371795514506, + "heading": 0.06742257400265232, + "angularVelocity": -0.4636731667630397, + "velocityX": -2.762291670425017, + "velocityY": -0.9755466197603421, + "moduleForcesX": [ + -68.56630992900028, + -68.84288908373507, + -67.1595557017082, + -67.67677873006109 + ], + "moduleForcesY": [ + 12.77142847001483, + 11.321268739371908, + 18.842571431102375, + 16.974860529419566 + ], + "timestamp": 9.048878566320804 + }, + { + "x": 6.858436446358618, + "y": 1.778698171875461, + "heading": 0.05205513775127689, + "angularVelocity": -0.482308328748086, + "velocityX": -2.876662300073326, + "velocityY": -0.9396383704074417, + "moduleForcesX": [ + -67.08129334308633, + -67.5889167156388, + -65.24393294119024, + -66.02703602664178 + ], + "moduleForcesY": [ + 19.058188665083183, + 17.259397166138246, + 24.64928439705406, + 22.529060493227927 + ], + "timestamp": 9.080740832293412 + }, + { + "x": 6.763257788803866, + "y": 1.750237508019536, + "heading": 0.036119140815217256, + "angularVelocity": -0.5001526554878413, + "velocityX": -2.98719047906314, + "velocityY": -0.8932404205147519, + "moduleForcesX": [ + -64.8692825372033, + -65.67518981311005, + -62.68604977079485, + -63.77596920097708 + ], + "moduleForcesY": [ + 25.574083741943742, + 23.48930797221283, + 30.561131557544318, + 28.26266364700371 + ], + "timestamp": 9.11260309826602 + }, + { + "x": 6.664718269641598, + "y": 1.723591468587136, + "heading": 0.019646053669972845, + "angularVelocity": -0.5170092786058117, + "velocityX": -3.092671414110467, + "velocityY": -0.8362882745159307, + "moduleForcesX": [ + -61.88161057544811, + -63.0301647992314, + -59.47323037560655, + -60.88534309337532 + ], + "moduleForcesY": [ + 32.12523200020213, + 29.85438048831274, + 36.41348006292414, + 34.03531937208608 + ], + "timestamp": 9.144465364238627 + }, + { + "x": 6.563016459695792, + "y": 1.699087881602493, + "heading": 0.0026731863520187828, + "angularVelocity": -0.5326949229708206, + "velocityX": -3.191920186506502, + "velocityY": -0.7690472173482268, + "moduleForcesX": [ + -58.137045034275594, + -59.63430359480836, + -55.646092317191496, + -57.361524152568215 + ], + "moduleForcesY": [ + 38.48613916191405, + 36.15651587891575, + 42.0281047879362, + 39.682021275606665 + ], + "timestamp": 9.176327630211235 + }, + { + "x": 6.458384601642263, + "y": 1.677035470124936, + "heading": -0.014757286946715591, + "angularVelocity": -0.5470569266391636, + "velocityX": -3.2838800022409687, + "velocityY": -0.6921168600034845, + "moduleForcesX": [ + -53.730662127693826, + -55.53615199985499, + -51.299894713738475, + -53.263554178959374 + ], + "moduleForcesY": [ + 44.433145058743726, + 42.17981406324676, + 47.23754469037861, + 45.032396440140325 + ], + "timestamp": 9.208189896183843 + }, + { + "x": 6.351081388535306, + "y": 1.6577146683011743, + "heading": -0.032599740394290776, + "angularVelocity": -0.5599869595876987, + "velocityX": -3.3677207138753307, + "velocityY": -0.6063850524746727, + "moduleForcesX": [ + -48.82332886065438, + -50.85394452342238, + -46.5733908438592, + -48.700590049761075 + ], + "moduleForcesY": [ + 49.78150026950302, + 47.72364342786967, + 51.90910448383027, + 49.93429125063565 + ], + "timestamp": 9.24005216215645 + }, + { + "x": 6.2413826826973215, + "y": 1.6413712268764853, + "heading": -0.050806745243930196, + "angularVelocity": -0.5714284371768209, + "velocityX": -3.442903462430879, + "velocityY": -0.5129403363445508, + "moduleForcesX": [ + -43.613902206817116, + -45.759403362312135, + -41.62800075333897, + -43.81795326193903 + ], + "moduleForcesY": [ + 54.41276674158155, + 52.634604612735096, + 55.96093888579725, + 54.27472875217863 + ], + "timestamp": 9.271914428129058 + }, + { + "x": 6.129571667351389, + "y": 1.62821321651678, + "heading": -0.06933071522458183, + "angularVelocity": -0.5813764154933881, + "velocityX": -3.509198480800383, + "velocityY": -0.41296530419454264, + "moduleForcesX": [ + -38.30456932688041, + -40.44857465703879, + -36.62410362739982, + -38.7757495610089 + ], + "moduleForcesY": [ + 58.28365138227556, + 56.826224029341006, + 59.36598701453037, + 57.99184370564566 + ], + "timestamp": 9.303776694101666 + }, + { + "x": 6.015929832274464, + "y": 1.618411233506336, + "heading": -0.08812533991101343, + "angularVelocity": -0.5898709370698717, + "velocityX": -3.566658917938336, + "velocityY": -0.30763609276473625, + "moduleForcesX": [ + -33.071613201919334, + -35.11032280570003, + -31.70154782669377, + -33.72683593780012 + ], + "moduleForcesY": [ + 61.41659551746967, + 60.28104668659328, + 62.14468942164123, + 61.07522071894561 + ], + "timestamp": 9.335638960074274 + }, + { + "x": 5.90072972722706, + "y": 1.6121010418767716, + "heading": -0.10714667898184034, + "angularVelocity": -0.5969863878225026, + "velocityX": -3.6155653570415596, + "velocityY": -0.19804591534668362, + "moduleForcesX": [ + -28.048905593814567, + -29.90254338149525, + -26.968434607851435, + -28.800187007480794 + ], + "moduleForcesY": [ + 63.879659102920506, + 63.03790759516178, + 64.35113863792533, + 63.556690676118386 + ], + "timestamp": 9.367501226046882 + }, + { + "x": 5.784229841749146, + "y": 1.6093876812886168, + "heading": -0.12635388390817304, + "angularVelocity": -0.6028198039287378, + "velocityX": -3.6563590793595777, + "velocityY": -0.08515905901003872, + "moduleForcesX": [ + -23.32443314220732, + -24.940691709753096, + -22.49833666783056, + -24.09245248099522 + ], + "moduleForcesY": [ + 65.76464705413574, + 65.17204461261959, + 66.05798366239593, + 65.49634848600743 + ], + "timestamp": 9.39936349201949 + }, + { + "x": 5.6666715090374655, + "y": 1.6103501646337832, + "heading": -0.14570958534477702, + "angularVelocity": -0.6074803798714206, + "velocityX": -3.689578538222811, + "velocityY": 0.03020762383924362, + "moduleForcesX": [ + -18.945730486511177, + -20.297419949634005, + -18.33356708742474, + -19.667082601325525 + ], + "moduleForcesY": [ + 67.16942965387467, + 66.77554428954697, + 67.34378685006313, + 66.96849853668374 + ], + "timestamp": 9.431225757992097 + }, + { + "x": 5.548277472212234, + "y": 1.6150461315311258, + "heading": -0.16518002122604175, + "angularVelocity": -0.6110813304365624, + "velocityX": -3.7158071848065024, + "velocityY": 0.14738333115980162, + "moduleForcesX": [ + -14.929271128360394, + -16.009118767543267, + -14.49148104463666, + -15.558489604355715 + ], + "moduleForcesY": [ + 68.1864773332497, + 67.94245344747473, + 68.28431543980496, + 68.05046106099095 + ], + "timestamp": 9.463088023964705 + }, + { + "x": 5.429251670837402, + "y": 1.623516082763672, + "heading": -0.18473498772682212, + "angularVelocity": -0.6137343313119025, + "velocityX": -3.7356351703660797, + "velocityY": 0.2658301590925125, + "moduleForcesX": [ + -11.270190208871119, + -12.085091549684629, + -10.971415071134748, + -11.778477843651748 + ], + "moduleForcesY": [ + 68.89698257046604, + 68.75960296279779, + 68.94761698227846, + 68.81518766569093 + ], + "timestamp": 9.494950289937313 + }, + { + "x": 5.282004916153968, + "y": 1.6397127699591316, + "heading": -0.20890280222534363, + "angularVelocity": -0.6159657654294863, + "velocityX": -3.7528821632232336, + "velocityY": 0.4128054204646195, + "moduleForcesX": [ + -7.9562699415162434, + -8.521676520710562, + -7.763894343312731, + -8.325351331688259 + ], + "moduleForcesY": [ + 69.4040147095233, + 69.33728987507355, + 69.42707879106572, + 69.36240800164377 + ], + "timestamp": 9.534185935576922 + }, + { + "x": 5.134274022827432, + "y": 1.661694557200844, + "heading": -0.23311910712289566, + "angularVelocity": -0.6172016415885259, + "velocityX": -3.765221418388025, + "velocityY": 0.5602504274715377, + "moduleForcesX": [ + -5.720209319157245, + -6.03490445450174, + -5.615719636680334, + -5.9291642826123905 + ], + "moduleForcesY": [ + 69.61283706461302, + 69.58650687264662, + 69.62210542945645, + 69.59635440000946 + ], + "timestamp": 9.57342158121653 + }, + { + "x": 4.986282225836536, + "y": 1.6894747322410733, + "heading": -0.25734085246164684, + "angularVelocity": -0.6173403022658371, + "velocityX": -3.7718710773933957, + "velocityY": 0.7080340997927944, + "moduleForcesX": [ + -3.127013349871348, + -3.1625137035552573, + -3.115711331500387, + -3.1511953231743526 + ], + "moduleForcesY": [ + 69.76481035554984, + 69.76323825833272, + 69.76540826223969, + 69.76384262493916 + ], + "timestamp": 9.61265722685614 + }, + { + "x": 4.838289991579301, + "y": 1.7230579102362122, + "heading": -0.28152121054847273, + "angularVelocity": -0.616285464216136, + "velocityX": -3.7718822220128496, + "velocityY": 0.8559353987343824, + "moduleForcesX": [ + -0.10080750277873628, + 0.17072692716911367, + -0.18174401949255473, + 0.09078040693159432 + ], + "moduleForcesY": [ + 69.82041443295189, + 69.82006331575957, + 69.81948711797912, + 69.8194469049861 + ], + "timestamp": 9.651892872495749 + }, + { + "x": 4.690602926619398, + "y": 1.7624345930750287, + "heading": -0.30561052035609654, + "angularVelocity": -0.6139649141724732, + "velocityX": -3.764104363579332, + "velocityY": 1.003594619048795, + "moduleForcesX": [ + 3.451355615397646, + 4.051364010493661, + 3.2895197761904598, + 3.8945533691842145 + ], + "moduleForcesY": [ + 69.71868600011885, + 69.68593196145633, + 69.72466597613085, + 69.69301503588242 + ], + "timestamp": 9.691128518135358 + }, + { + "x": 4.543580980383167, + "y": 1.807572841508932, + "heading": -0.32955856309289416, + "angularVelocity": -0.6103644363793018, + "velocityX": -3.7471524640290994, + "velocityY": 1.1504398028392895, + "moduleForcesX": [ + 7.640996749455507, + 8.573559011361908, + 7.425094452945457, + 8.370322441523202 + ], + "moduleForcesY": [ + 69.36568328827549, + 69.25593606152904, + 69.38595746863503, + 69.27759135787154 + ], + "timestamp": 9.730364163774967 + }, + { + "x": 4.3976484856872196, + "y": 1.8584056861180858, + "heading": -0.35331878240151826, + "angularVelocity": -0.6055773754016716, + "velocityX": -3.7193855820898922, + "velocityY": 1.2955781351495828, + "moduleForcesX": [ + 12.596434796205346, + 13.831571863740269, + 12.372684189217882, + 13.631022125703714 + ], + "moduleForcesY": [ + 68.6171822426943, + 68.37816061418692, + 68.65316289156726, + 68.41364491021022 + ], + "timestamp": 9.769599809414576 + }, + { + "x": 4.2533040307330126, + "y": 1.9148124127162343, + "heading": -0.37685369830254906, + "angularVelocity": -0.5998350611381872, + "velocityX": -3.6789111686871667, + "velocityY": 1.437639821611747, + "moduleForcesX": [ + 18.45253857678641, + 19.913211641736343, + 18.28347404620761, + 19.77789603649953 + ], + "moduleForcesY": [ + 67.2540564403096, + 66.83551987504791, + 67.29380436124504, + 66.86919394151975 + ], + "timestamp": 9.808835455054185 + }, + { + "x": 4.1111285385438014, + "y": 1.976591138110253, + "heading": -0.4001357692707538, + "angularVelocity": -0.5933907952492427, + "velocityX": -3.6236307539102786, + "velocityY": 1.5745561054729562, + "moduleForcesX": [ + 25.318154078477736, + 26.904262300677498, + 25.267809375046117, + 26.89480555969558 + ], + "moduleForcesY": [ + 64.95286144875357, + 64.31195261944565, + 64.96421851734725, + 64.30756913709315 + ], + "timestamp": 9.848071100693794 + }, + { + "x": 3.9717870049636006, + "y": 2.0434199231356556, + "heading": -0.4231339348218591, + "angularVelocity": -0.5861548899271496, + "velocityX": -3.551401571420431, + "velocityY": 1.7032671168265077, + "moduleForcesX": [ + 33.18996384014008, + 34.85670349431968, + 33.31533220864405, + 35.0270906330446 + ], + "moduleForcesY": [ + 61.27361866433201, + 60.34193256478347, + 61.194814408840315, + 60.23236486270143 + ], + "timestamp": 9.887306746333403 + }, + { + "x": 3.8360093396065436, + "y": 2.1148100108492702, + "heading": -0.44579213538275786, + "angularVelocity": -0.5774901926941988, + "velocityX": -3.460569162139369, + "velocityY": 1.819521166271989, + "moduleForcesX": [ + 41.798461635648394, + 43.564390721084465, + 42.171134771793916, + 43.98324777985427 + ], + "moduleForcesY": [ + 55.72575382876732, + 54.35949549135577, + 55.42920019196059, + 54.00601973025938 + ], + "timestamp": 9.926542391973012 + }, + { + "x": 3.7045318112727834, + "y": 2.1900719989769737, + "heading": -0.4680231365839806, + "angularVelocity": -0.566602150641825, + "velocityX": -3.3509714493147835, + "velocityY": 1.9182044006363004, + "moduleForcesX": [ + 50.48322513754993, + 52.286207287927716, + 51.17427642172647, + 53.00771746352633 + ], + "moduleForcesY": [ + 47.97134042740949, + 46.00762411199697, + 47.210917612098406, + 45.151927164693085 + ], + "timestamp": 9.96577803761262 + }, + { + "x": 3.578004390003908, + "y": 2.2683279656739623, + "heading": -0.489721889190992, + "angularVelocity": -0.553036715804837, + "velocityX": -3.224807931824784, + "velocityY": 1.9945120163382564, + "moduleForcesX": [ + 58.26795647580332, + 59.88981216151858, + 59.23821952460391, + 60.83635464912876 + ], + "moduleForcesY": [ + 38.124427202913225, + 35.54091142317926, + 36.56417307116691, + 33.86081191347489 + ], + "timestamp": 10.00501368325223 + }, + { + "x": 3.456904167212323, + "y": 2.3485863569708254, + "heading": -0.5107859181293829, + "angularVelocity": -0.536859495874505, + "velocityX": -3.086484772136231, + "velocityY": 2.045547868233416, + "moduleForcesX": [ + 64.22175367303383, + 65.41246326791402, + 65.23779317379322, + 66.32117039597011 + ], + "moduleForcesY": [ + 26.922119439195097, + 23.924630755505696, + 24.302487904066567, + 21.22086005821814 + ], + "timestamp": 10.044249328891839 + }, + { + "x": 3.341501156228977, + "y": 2.429852159265464, + "heading": -0.5311309038951663, + "angularVelocity": -0.5185332223829922, + "velocityX": -2.9412797751146593, + "velocityY": 2.071223780566531, + "moduleForcesX": [ + 67.90607774929535, + 68.55322032956057, + 68.62642283945783, + 69.10231153776672 + ], + "moduleForcesY": [ + 15.498644700226322, + 12.42359147128196, + 11.806220918241268, + 8.754914891489593 + ], + "timestamp": 10.083484974531448 + }, + { + "x": 3.231884403891318, + "y": 2.5112193292469573, + "heading": -0.550696423578611, + "angularVelocity": -0.49866694849780363, + "velocityX": -2.7938052388514896, + "velocityY": 2.073807341642243, + "moduleForcesX": [ + 69.50457450947509, + 69.66606772980774, + 69.65997404544898, + 69.64294705526974 + ], + "moduleForcesY": [ + 4.880819924137277, + 2.0193581070127946, + 0.3390395514668374, + -2.3607248130164185 + ], + "timestamp": 10.122720620171057 + }, + { + "x": 3.1280178116049857, + "y": 2.591916055277671, + "heading": -0.5694439277085109, + "angularVelocity": -0.4778181631596325, + "velocityX": -2.6472507484744763, + "velocityY": 2.056719717879459, + "moduleForcesX": [ + 69.5664529884934, + 69.38596965788871, + 69.04962017687987, + 68.73421411221496 + ], + "moduleForcesY": [ + -4.351553954786704, + -6.842745490901919, + -9.430845709494417, + -11.641113134615345 + ], + "timestamp": 10.161956265810666 + }, + { + "x": 3.0297938291017803, + "y": 2.6713093646314494, + "heading": -0.587351477757221, + "angularVelocity": -0.4564102299525365, + "velocityX": -2.5034373947971407, + "velocityY": 2.0234995005060017, + "moduleForcesX": [ + 68.67844481390058, + 68.30003898352149, + 67.51348767467297, + 67.06824542485609 + ], + "moduleForcesY": [ + -12.059309957564174, + -14.142309008297968, + -17.402608329334218, + -19.124922708081787 + ], + "timestamp": 10.201191911450275 + }, + { + "x": 2.937071738470876, + "y": 2.74888871924267, + "heading": -0.6044084254504786, + "angularVelocity": -0.4347309038809006, + "velocityX": -2.3632105224566873, + "velocityY": 1.9772671851461499, + "moduleForcesX": [ + 67.2930620056548, + 66.82411992389879, + 65.56788024867049, + 65.1028653253109 + ], + "moduleForcesY": [ + -18.365399907633943, + -20.069478774771078, + -23.78209141872774, + -25.082694816897252 + ], + "timestamp": 10.240427557089884 + }, + { + "x": 2.8497007610312877, + "y": 2.824243594666069, + "heading": -0.6206112771454525, + "angularVelocity": -0.4129625352365075, + "velocityX": -2.2268265505840747, + "velocityY": 1.9205718217448704, + "moduleForcesX": [ + 65.70337318898908, + 65.21204905116011, + 63.520444297620365, + 63.09557985413157 + ], + "moduleForcesY": [ + -23.49160747089517, + -24.871801577389842, + -28.866583152264337, + -29.826861621567442 + ], + "timestamp": 10.279663202729493 + }, + { + "x": 2.7675324959856002, + "y": 2.897042340985707, + "heading": -0.6359608530628466, + "angularVelocity": -0.39121507158018054, + "velocityX": -2.094224873994124, + "velocityY": 1.8554236876415218, + "moduleForcesX": [ + 64.07907619800967, + 63.60398482485612, + 61.53194031437886, + 61.17440364428484 + ], + "moduleForcesY": [ + -27.666633539104943, + -28.781121737991672, + -32.937989811532645, + -33.63232642669451 + ], + "timestamp": 10.318898848369102 + }, + { + "x": 2.69042690684893, + "y": 2.967014703794722, + "heading": -0.6504604577736467, + "angularVelocity": -0.369551831617185, + "velocityX": -1.9651923112189673, + "velocityY": 1.7833875718965568, + "moduleForcesX": [ + 62.509783681444084, + 62.07042707463779, + 59.67567360423862, + 59.39402601314928 + ], + "moduleForcesY": [ + -31.089187104720065, + -31.98983874511308, + -36.22814447448392, + -36.71735532583091 + ], + "timestamp": 10.358134494008711 + }, + { + "x": 2.618254718426181, + "y": 3.0339381645438475, + "heading": -0.6641147424098486, + "angularVelocity": -0.34800713518571263, + "velocityX": -1.8394545889641494, + "velocityY": 1.7056801196503342, + "moduleForcesX": [ + 61.03771978344021, + 60.64226174478103, + 57.977551598481135, + 57.770788058662305 + ], + "moduleForcesY": [ + -33.919649115722756, + -34.64939142537486, + -38.916588143969165, + -39.24798155977403 + ], + "timestamp": 10.39737013964832 + }, + { + "x": 2.5508979331700266, + "y": 3.097627513998535, + "heading": -0.6769290115879192, + "angularVelocity": -0.3265976376627928, + "velocityX": -1.716724273504942, + "velocityY": 1.62325223445267, + "moduleForcesX": [ + 59.67866653680671, + 59.32897631920496, + 56.439546391966516, + 56.302298777389 + ], + "moduleForcesY": [ + -36.28323619089457, + -36.87633394355796, + -41.138998099805335, + -41.348552219217844 + ], + "timestamp": 10.436605785287929 + }, + { + "x": 2.488249423527035, + "y": 3.1579269499893177, + "heading": -0.6889088079469348, + "angularVelocity": -0.30532940553734683, + "velocityX": -1.5967243210023245, + "velocityY": 1.536853414995417, + "moduleForcesX": [ + 58.434370162851714, + 58.12907413569491, + 55.05250259787777, + 54.977844959290884 + ], + "moduleForcesY": [ + -38.27642505927525, + -38.75974244655446, + -42.99718903447841, + -43.112008973477096 + ], + "timestamp": 10.475841430927538 + }, + { + "x": 2.4302121156109835, + "y": 3.2147040792930905, + "heading": -0.7000596677035822, + "angularVelocity": -0.2842022751217482, + "velocityX": -1.4791984933583653, + "velocityY": 1.4470802857505853, + "moduleForcesX": [ + 57.29957934881899, + 57.03583072349723, + 53.802827725312426, + 53.78370776518406 + ], + "moduleForcesY": [ + -39.97335396351011, + -40.36777060820265, + -44.56772292269054, + -44.6081676218809 + ], + "timestamp": 10.515077076567147 + }, + { + "x": 2.3766980331656016, + "y": 3.2678453371041845, + "heading": -0.7103869809633866, + "angularVelocity": -0.2632125224767273, + "velocityX": -1.3639149190235145, + "velocityY": 1.3544127271209676, + "moduleForcesX": [ + 56.26592417989728, + 56.0403948368725, + 52.67585049934157, + 52.705768707399926 + ], + "moduleForcesY": [ + -41.43117548735834, + -41.752852888132324, + -45.908564958490956, + -45.88992169192114 + ], + "timestamp": 10.554312722206756 + }, + { + "x": 2.327627336743151, + "y": 3.317252459517004, + "heading": -0.7198959160037642, + "angularVelocity": -0.24235449386305924, + "velocityX": -1.2506662149306924, + "velocityY": 1.2592407135755719, + "moduleForcesX": [ + 55.323996057065756, + 55.13341096546665, + 51.65741605852093, + 51.73070558762422 + ], + "moduleForcesY": [ + -42.69422687811337, + -42.95564666268285, + -47.06400466515368, + -46.99775482427474 + ], + "timestamp": 10.593548367846365 + }, + { + "x": 2.2829274213521695, + "y": 3.362839741023064, + "heading": -0.7285913824694656, + "angularVelocity": -0.22162159750274052, + "velocityX": -1.1392679962900025, + "velocityY": 1.161884321333549, + "moduleForcesX": [ + 54.46442208625441, + 54.30583012889813, + 50.734568002205684, + 50.846469440155815 + ], + "moduleForcesY": [ + -43.79717786313908, + -44.007959736236224, + -48.06822977012528, + -47.96298939098342 + ], + "timestamp": 10.632784013485974 + }, + { + "x": 2.242532098167923, + "y": 3.4045318811902456, + "heading": -0.7364780180532563, + "angularVelocity": -0.20100690214790462, + "velocityX": -1.029556734080285, + "velocityY": 1.0626087448677908, + "moduleForcesX": [ + 53.678385073729196, + 53.54928061113336, + 49.89576908543828, + 50.04240483979626 + ], + "moduleForcesY": [ + -44.76737534187731, + -44.93490962676545, + -48.947909301931084, + -48.81012417869793 + ], + "timestamp": 10.672019659125583 + }, + { + "x": 2.206380866620649, + "y": 3.442262277265571, + "heading": -0.7435601891364074, + "angularVelocity": -0.1805034928748971, + "velocityX": -0.9213874515876248, + "velocityY": 0.9616356621703374, + "moduleForcesX": [ + 52.95784248144665, + 52.85620421475691, + 49.13089798809376, + 49.309201847879855 + ], + "moduleForcesY": [ + -45.62658357381347, + -45.756516691584324, + -49.724064642561366, + -49.55852459118997 + ], + "timestamp": 10.711255304765192 + }, + { + "x": 2.1744182737600815, + "y": 3.4759716573759465, + "heading": -0.7498419994947588, + "angularVelocity": -0.16010467665173053, + "velocityX": -0.8146314999924769, + "velocityY": 0.8591519155822318, + "moduleForcesX": [ + 52.295585677575474, + 52.219871224622835, + 48.43114555042892, + 48.63877629643647 + ], + "moduleForcesY": [ + -46.392278005310985, + -46.48888455357906, + -50.41343290999502, + -50.2236539860267 + ], + "timestamp": 10.750490950404801 + }, + { + "x": 2.146593353615838, + "y": 3.505606976334104, + "heading": -0.7553273034234013, + "angularVelocity": -0.13980409495555912, + "velocityX": -0.7091745195127888, + "velocityY": 0.7553162048196497, + "moduleForcesX": [ + 51.685217879860026, + 51.63433604703579, + 47.788873521114894, + 48.02412707550416 + ], + "moduleForcesY": [ + -47.078611888281834, + -47.14508041844737, + -51.02946838813396, + -50.81797884340958 + ], + "timestamp": 10.78972659604441 + }, + { + "x": 2.1228591378262855, + "y": 3.5311205158162435, + "heading": -0.7600197210323122, + "angularVelocity": -0.11959577910383509, + "velocityX": -0.6049146229823469, + "velocityY": 0.6502642958010434, + "moduleForcesX": [ + 51.12109391768532, + 51.0943670962465, + 47.1974670478797, + 47.45919397342084 + ], + "moduleForcesY": [ + -47.69714319658899, + -47.73579663926801, + -51.58308476290898, + -51.35164063583827 + ], + "timestamp": 10.82896224168402 + }, + { + "x": 2.103172228738649, + "y": 3.5524691450465413, + "heading": -0.7639226543411958, + "angularVelocity": -0.09947417062365312, + "velocityX": -0.5017608036443868, + "velocityY": 0.5441131114902891, + "moduleForcesX": [ + 50.598245185167, + 50.59536875864486, + 46.65119546985961, + 46.93872658546109 + ], + "moduleForcesY": [ + -48.25738539490232, + -48.2698520116438, + -52.08321047759322, + -51.832959478243616 + ], + "timestamp": 10.868197887323628 + }, + { + "x": 2.08749242676235, + "y": 3.569613708649635, + "heading": -0.7670393033521364, + "angularVelocity": -0.07943412068627369, + "velocityX": -0.3996315523981209, + "velocityY": 0.4369639730303379, + "moduleForcesX": [ + 50.112302109939414, + 50.13330455474297, + 46.14508734512011, + 46.458168149302516 + ], + "moduleForcesY": [ + -48.76722807122546, + -48.75457485942355, + -52.53720824087119, + -52.26881539310968 + ], + "timestamp": 10.907433532963237 + }, + { + "x": 2.0757824045995883, + "y": 3.58251851610603, + "heading": -0.7693726816249532, + "angularVelocity": -0.059470877432464715, + "velocityX": -0.29845366303697823, + "velocityY": 0.328905189299791, + "moduleForcesX": [ + 49.65942030969909, + 49.704625829148746, + 45.67482129401601, + 46.01355487371417 + ], + "moduleForcesY": [ + -49.233260788048526, + -49.19609827287923, + -52.95119490901263, + -52.664939700461204 + ], + "timestamp": 10.946669178602846 + }, + { + "x": 2.068007421882397, + "y": 3.591150913035611, + "heading": -0.7709256310975927, + "angularVelocity": -0.03958006673074539, + "velocityX": -0.19816120240779567, + "velocityY": 0.2200141424681118, + "moduleForcesX": [ + 49.2362132148721, + 49.306207700378565, + 45.2366321472445, + 45.601429800702924 + ], + "moduleForcesY": [ + -49.661024429931615, + -49.599589541130314, + -53.33028763865073, + -53.026139781951954 + ], + "timestamp": 10.985904824242455 + }, + { + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "angularVelocity": -0.019757669825311273, + "velocityX": -0.09869462331490479, + "velocityY": 0.11035898041384858, + "moduleForcesX": [ + 48.839692098741054, + 48.93529262948927, + 44.827230980151526, + 45.218769629782855 + ], + "moduleForcesY": [ + -50.05520781841816, + -49.96942988931665, + -53.678794976745614, + -53.3564739924534 + ], + "timestamp": 11.025140469882064 + }, + { + "x": 2.0641350746154785, + "y": 3.5954809188842773, + "heading": -0.771700836029523, + "angularVelocity": -6.053538185867415e-24, + "velocityX": -2.9084748636196847e-24, + "velocityY": -8.183602971756971e-24, + "moduleForcesX": [ + 48.46721349618117, + 48.58944127653395, + 44.44373731536623, + 44.86292278246395 + ], + "moduleForcesY": [ + -50.41980268814413, + -50.30935638313135, + -54.00036645895573, + -53.65938893004021 + ], + "timestamp": 11.064376115521673 + }, + { + "x": 2.063291063879915, + "y": 3.596624507232765, + "heading": -0.7716023938040096, + "angularVelocity": 0.005070854530597703, + "velocityX": -0.043475811725988835, + "velocityY": 0.05890734517457243, + "moduleForcesX": [ + -40.602823395342234, + -40.20918869084971, + -42.706333277003736, + -42.40028894465274 + ], + "moduleForcesY": [ + 56.859351367273085, + 57.13174076486137, + 55.295767030026134, + 55.52380851822029 + ], + "timestamp": 11.083789455998966 + }, + { + "x": 2.0616102104692997, + "y": 3.5989167438477243, + "heading": -0.771403529062637, + "angularVelocity": 0.01024371573790692, + "velocityX": -0.08658238970163287, + "velocityY": 0.11807533163293742, + "moduleForcesX": [ + -40.23738527715029, + -39.81936340738055, + -42.38967071313312, + -42.06309206312429 + ], + "moduleForcesY": [ + 57.10996898738801, + 57.39513474967195, + 55.529953067439116, + 55.770307562022204 + ], + "timestamp": 11.103202796476259 + }, + { + "x": 2.059100460355995, + "y": 3.602363160729981, + "heading": -0.7711020616823895, + "angularVelocity": 0.01552887719659019, + "velocityX": -0.1292796629328244, + "velocityY": 0.17752827682013697, + "moduleForcesX": [ + -39.83286938785652, + -39.38692725346365, + -42.03892392455064, + -41.68874336735662 + ], + "moduleForcesY": [ + 57.383446119679846, + 57.682891181529506, + 55.78614874017144, + 56.0403787361809 + ], + "timestamp": 11.122616136953551 + }, + { + "x": 2.055770669666509, + "y": 3.6069698294308403, + "heading": -0.7706955802677001, + "angularVelocity": 0.020938251980112843, + "velocityX": -0.17152074849666904, + "velocityY": 0.23729397350484902, + "moduleForcesX": [ + -39.382713355301085, + -38.90461877021222, + -41.64831571274666, + -41.27084722631647 + ], + "moduleForcesY": [ + 57.68298097517582, + 57.9984198757853, + 56.067559666957266, + 56.33747142457774 + ], + "timestamp": 11.142029477430844 + }, + { + "x": 2.0516307682828856, + "y": 3.6127434415080173, + "heading": -0.7701814038614015, + "angularVelocity": 0.026485725468008856, + "velocityX": -0.21325033620388828, + "velocityY": 0.29740435881861815, + "moduleForcesX": [ + -38.878821621842945, + -38.36345199919345, + -41.21070215455073, + -40.80146773541368 + ], + "moduleForcesY": [ + 58.01236951674466, + 58.34576553334942, + 56.37802617083991, + 56.66572095294688 + ], + "timestamp": 11.161442817908137 + }, + { + "x": 2.0466919645432444, + "y": 3.6196914050570004, + "heading": -0.769556534873447, + "angularVelocity": 0.032187607727035265, + "velocityX": -0.2544025715418649, + "velocityY": 0.35789634231726236, + "moduleForcesX": [ + -38.31109710510367, + -37.75218128490594, + -40.71714824827335, + -40.27064187369805 + ], + "moduleForcesY": [ + 58.376141683349154, + 58.72974945865532, + 56.722181637410195, + 57.03011917167929 + ], + "timestamp": 11.18085615838543 + }, + { + "x": 2.040967004590246, + "y": 3.6278219612284515, + "heading": -0.7688176006186518, + "angularVelocity": 0.03806322027162254, + "velocityX": -0.29489824070690884, + "velocityY": 0.41881283548088916, + "moduleForcesX": [ + -37.66679312064409, + -37.056557584724324, + -40.15633724605906, + -39.66569847157228 + ], + "moduleForcesY": [ + 58.779731370199116, + 59.15614390788848, + 57.10565734803557, + 57.436734053150964 + ], + "timestamp": 11.200269498862722 + }, + { + "x": 2.0344705055492645, + "y": 3.6371443256641944, + "heading": -0.7679607798970632, + "angularVelocity": 0.04413566653254177, + "velocityX": -0.3346409675645684, + "velocityY": 0.4802040352945231, + "moduleForcesX": [ + -36.92960128907233, + -36.258277199430665, + -39.51373356088872, + -38.970287844105776 + ], + "moduleForcesY": [ + 59.2296866765058, + 59.63188294539416, + 57.5353482790216, + 57.89299244730674 + ], + "timestamp": 11.219682839340015 + }, + { + "x": 2.027219390223364, + "y": 3.647668860994583, + "heading": -0.7669817096758487, + "angularVelocity": 0.05043285684706021, + "velocityX": -0.3735119844202865, + "velocityY": 0.5421290242500124, + "moduleForcesX": [ + -36.078343901109285, + -35.33346767280096, + -38.770372633788455, + -38.16297082945934 + ], + "moduleForcesY": [ + 59.73392476277649, + 60.16530841856197, + 58.01975781046607, + 58.40804211293954 + ], + "timestamp": 11.239096179817308 + }, + { + "x": 2.019233464127259, + "y": 3.6594072878240635, + "heading": -0.7658753649344333, + "angularVelocity": 0.05698889084592769, + "velocityX": -0.4113628000006165, + "velocityY": 0.6046577529101955, + "moduleForcesX": [ + -35.08506089064344, + -34.25046226319691, + -37.901072627457744, + -37.2151206836631 + ], + "moduleForcesY": [ + 60.30202757311062, + 60.76643496296282, + 58.56944128573651, + 58.99320741979744 + ], + "timestamp": 11.2585095202946 + }, + { + "x": 2.0105361964691277, + "y": 3.672372942594943, + "heading": -0.7646359018050912, + "angularVelocity": 0.0638459481402387, + "velocityX": -0.44800469390130027, + "velocityY": 0.6678734546506742, + "moduleForcesX": [ + -33.912148677480715, + -32.9664558091714, + -36.87172651535803, + -36.087724990405334 + ], + "moduleForcesY": [ + 60.94555192240552, + 61.44718081627147, + 59.19756409317997, + 59.66253970397261 + ], + "timestamp": 11.277922860771893 + }, + { + "x": 2.001155800459354, + "y": 3.6865810902424863, + "heading": -0.76325644982448, + "angularVelocity": 0.0710569096660428, + "velocityX": -0.4831932979666945, + "velocityY": 0.731875468014455, + "moduleForcesX": [ + -32.507977360184356, + -31.422359712793405, + -35.63508948003746, + -34.72637612860624 + ], + "moduleForcesY": [ + 61.67826878847402, + 62.221420518172394, + 59.92056588129605, + 60.43341665145688 + ], + "timestamp": 11.297336201249186 + }, + { + "x": 1.9911267647234503, + "y": 3.7020492946499766, + "heading": -0.7617288327927848, + "angularVelocity": 0.07868903517568326, + "velocityX": -0.5166053594760848, + "velocityY": 0.7967822140441202, + "moduleForcesX": [ + -30.800003176803294, + -29.53468826107361, + -34.124027454539174, + -33.05318703788708 + ], + "moduleForcesY": [ + 62.51609946515333, + 63.10449486939348, + 60.7588411511737, + 61.32700704105159 + ], + "timestamp": 11.316749541726479 + }, + { + "x": 1.9804920844336347, + "y": 3.718797832701683, + "heading": -0.7600431887809308, + "angularVelocity": 0.08682915821858032, + "velocityX": -0.547802697956812, + "velocityY": 0.8627334420521742, + "moduleForcesX": [ + -28.683654372064414, + -27.18244520906737, + -32.24033977557545, + -30.953322595195168 + ], + "moduleForcesY": [ + 63.47614641042527, + 64.11126953469874, + 61.73710239934388, + 62.3680262591476 + ], + "timestamp": 11.336162882203771 + }, + { + "x": 1.9693066112337394, + "y": 3.736850087182896, + "heading": -0.7581874483541441, + "angularVelocity": 0.09559098955469619, + "velocityX": -0.5761745750546187, + "velocityY": 0.929889140013156, + "moduleForcesX": [ + -26.00393306094652, + -24.185470258216412, + -29.83560776287756, + -28.251819503372385 + ], + "moduleForcesY": [ + 64.57327117456323, + 65.25046261735072, + 62.88338052932985, + 63.58210143630377 + ], + "timestamp": 11.355576222681064 + }, + { + "x": 1.9576422454728677, + "y": 3.7562327123292563, + "heading": -0.7561466200856488, + "angularVelocity": 0.10512504382655279, + "velocityX": -0.6008427954228075, + "velocityY": 0.9984178235080415, + "moduleForcesX": [ + -22.524345405851697, + -20.268285098450278, + -26.677252950047443, + -24.672520604509963 + ], + "moduleForcesY": [ + 65.81019247964247, + 66.5094191328966, + 64.22352353966645, + 64.98586511231055 + ], + "timestamp": 11.374989563158357 + }, + { + "x": 1.9455962290968358, + "y": 3.7769749716683765, + "heading": -0.7539018430429526, + "angularVelocity": 0.11563064302724045, + "velocityX": -0.6205019888319242, + "velocityY": 1.0684538996975426, + "moduleForcesX": [ + -17.87430204727145, + -15.000837635366615, + -22.38678974406999, + -19.764306830651165 + ], + "moduleForcesY": [ + 67.15041594147246, + 67.8142174770323, + 65.76172198042546, + 66.55537327540978 + ], + "timestamp": 11.39440290363565 + }, + { + "x": 1.9333046316742337, + "y": 3.7991055422792397, + "heading": -0.7514292692633723, + "angularVelocity": 0.12736467391957912, + "velocityX": -0.6331521067679473, + "velocityY": 1.1399671600437673, + "moduleForcesX": [ + -11.46441533203664, + -7.7116120379852795, + -16.32777624201954, + -12.773392567909713 + ], + "moduleForcesY": [ + 68.4453419158152, + 68.92621107979555, + 67.41790857052277, + 68.12970935884171 + ], + "timestamp": 11.413816244112942 + }, + { + "x": 1.9209637452674597, + "y": 3.822642051446584, + "heading": -0.7486992733536658, + "angularVelocity": 0.14062473755609267, + "velocityX": -0.6356910301556985, + "velocityY": 1.2123884189263257, + "moduleForcesX": [ + -2.380032918411333, + 2.583336096355642, + -7.423091783866675, + -2.469615326612163 + ], + "moduleForcesY": [ + 69.24190677224236, + 69.18473741226738, + 68.8324229172443, + 69.12533819426791 + ], + "timestamp": 11.433229584590235 + }, + { + "x": 1.9088585047936426, + "y": 3.8475616073152192, + "heading": -0.7456779206273736, + "angularVelocity": 0.15563280981066036, + "velocityX": -0.623552679559492, + "velocityY": 1.2836304961416556, + "moduleForcesX": [ + 10.591859256794436, + 16.95653829081823, + 5.985092984817861, + 12.790625653501785 + ], + "moduleForcesY": [ + 68.32331611036247, + 66.97532486057348, + 68.7951854838602, + 67.79041647368874 + ], + "timestamp": 11.452642925067527 + }, + { + "x": 1.897373536975051, + "y": 3.873735345554567, + "heading": -0.7423364027497029, + "angularVelocity": 0.17212482733608056, + "velocityX": -0.5916018333900218, + "velocityY": 1.3482346466833663, + "moduleForcesX": [ + 28.098109068504147, + 35.17491264960864, + 25.30147397389004, + 33.36091047891173 + ], + "moduleForcesY": [ + 63.00944503236396, + 59.312295207853445, + 64.04389740473846, + 60.18599653860359 + ], + "timestamp": 11.47205626554482 + }, + { + "x": 1.8869151397673376, + "y": 3.9008576828288146, + "heading": -0.7386752337145183, + "angularVelocity": 0.1885903685389393, + "velocityX": -0.538722185393388, + "velocityY": 1.3970979031646167, + "moduleForcesX": [ + 47.45366432564693, + 53.06778096330309, + 47.494210782541465, + 53.791248272895835 + ], + "moduleForcesY": [ + 49.96035054678647, + 43.96760977093699, + 49.70963633861263, + 42.84137777433118 + ], + "timestamp": 11.491469606022113 + }, + { + "x": 1.8777548530008725, + "y": 3.9285046657236244, + "heading": -0.7347358213073358, + "angularVelocity": 0.20292295454200832, + "velocityX": -0.4718552573257226, + "velocityY": 1.4241229080150726, + "moduleForcesX": [ + 61.88542946636817, + 64.55301339413991, + 63.091468013813895, + 65.65725975914002 + ], + "moduleForcesY": [ + 30.401639377276158, + 24.35558392893809, + 27.516854316179977, + 20.8626257291439 + ], + "timestamp": 11.510882946499406 + }, + { + "x": 1.8699917304445708, + "y": 3.956292718574739, + "heading": -0.7305746148685935, + "angularVelocity": 0.214347780260146, + "velocityX": -0.39988597353359845, + "velocityY": 1.43138955830999, + "moduleForcesX": [ + 68.17350507810156, + 68.80060614741706, + 68.65481730732454, + 69.03058453531935 + ], + "moduleForcesY": [ + 11.198823397609834, + 6.80702985490626, + 7.096162995608971, + 2.6300178430217747 + ], + "timestamp": 11.530296286976698 + }, + { + "x": 1.8636300192842972, + "y": 3.983943937963699, + "heading": -0.7262421188661539, + "angularVelocity": 0.22317107184655025, + "velocityX": -0.32769791307757956, + "velocityY": 1.4243411339383634, + "moduleForcesX": [ + 69.15153313305028, + 68.99751168763625, + 68.81743753609643, + 68.52795762477763 + ], + "moduleForcesY": [ + -3.4376816859740824, + -6.205142071474585, + -7.29952742442652, + -9.956857811234014 + ], + "timestamp": 11.549709627453991 + }, + { + "x": 1.8586410304513583, + "y": 4.011268693479653, + "heading": -0.7217777485271456, + "angularVelocity": 0.22996404684860525, + "velocityX": -0.2569876543799337, + "velocityY": 1.4075246631517708, + "moduleForcesX": [ + 68.00755364977871, + 67.67631302264084, + 67.27547593706154, + 66.89529814136311 + ], + "moduleForcesY": [ + -13.644063041227575, + -15.328928741205358, + -16.81858806255964, + -18.38585022519496 + ], + "timestamp": 11.569122967931284 + }, + { + "x": 1.8549891682362407, + "y": 4.038136077943053, + "heading": -0.717211213233882, + "angularVelocity": 0.23522666274795387, + "velocityX": -0.18811096520915757, + "velocityY": 1.3839650365595153, + "moduleForcesX": [ + 66.2940367415492, + 65.98313558985876, + 65.45062558085554, + 65.12931157397512 + ], + "moduleForcesY": [ + -20.734221686880456, + -21.76543802698407, + -23.233694776367557, + -24.17827484579287 + ], + "timestamp": 11.588536308408576 + }, + { + "x": 1.8526405320723487, + "y": 4.0644527252644, + "heading": -0.7125650203703617, + "angularVelocity": 0.23932990146413785, + "velocityX": -0.12098052710913958, + "velocityY": 1.355596032126881, + "moduleForcesX": [ + 64.57741101382622, + 64.33280379597771, + 63.76194658183983, + 63.520654058064906 + ], + "moduleForcesY": [ + -25.789311043043956, + -26.42923541985152, + -27.732378939756952, + -28.31494210551599 + ], + "timestamp": 11.607949648885869 + }, + { + "x": 1.8515651676700786, + "y": 4.090149676474314, + "heading": -0.7078565360194697, + "angularVelocity": 0.24253859640483524, + "velocityX": -0.05539306352391964, + "velocityY": 1.3236748842874495, + "moduleForcesX": [ + 63.0284786479002, + 62.84952282438234, + 62.29925518934182, + 62.12703792778096 + ], + "moduleForcesY": [ + -29.512028474211878, + -29.91332103604826, + -31.015870368857055, + -31.380847261066457 + ], + "timestamp": 11.627362989363162 + }, + { + "x": 1.851737229293389, + "y": 4.115174360071379, + "heading": -0.7030994448048052, + "angularVelocity": 0.2450423831091049, + "velocityX": 0.008863061126008018, + "velocityY": 1.2890457274127403, + "moduleForcesX": [ + 61.67853400536588, + 61.5531320400509, + 61.05540121569605, + 60.93638054993286 + ], + "moduleForcesY": [ + -32.3393804496482, + -32.59168324981953, + -33.4978666542829, + -33.72782964181684 + ], + "timestamp": 11.646776329840455 + }, + { + "x": 1.8531345323504183, + "y": 4.139485588244426, + "heading": -0.698304750084788, + "angularVelocity": 0.24697937614730656, + "velocityX": 0.07197643592888199, + "velocityY": 1.2522949464304298, + "moduleForcesX": [ + 60.51396658342827, + 60.42924324277002, + 59.99946227192702, + 59.91964968786428 + ], + "moduleForcesY": [ + -34.54584513519722, + -34.7032296487274, + -35.43024227080809, + -35.57428945094621 + ], + "timestamp": 11.666189670317747 + }, + { + "x": 1.8557379914904524, + "y": 4.1630503346393555, + "heading": -0.6934814614875531, + "angularVelocity": 0.24845227450043436, + "velocityX": 0.13410670580259407, + "velocityY": 1.2138429459109081, + "moduleForcesX": [ + 59.509612253624326, + 59.45468179724434, + 59.09887040802473, + 59.0472911571001 + ], + "moduleForcesY": [ + -36.308420210702714, + -36.40451858116458, + -36.9723238219478, + -37.06078212512554 + ], + "timestamp": 11.68560301079504 + }, + { + "x": 1.8595310996278773, + "y": 4.185841590699631, + "heading": -0.688637075129362, + "angularVelocity": 0.2495390406332783, + "velocityX": 0.19538667968355838, + "velocityY": 1.173999708444483, + "moduleForcesX": [ + 58.64002448823177, + 58.60632939296109, + 58.325360877184394, + 58.29371921746113 + ], + "moduleForcesY": [ + -37.7447322740269, + -37.80109079564338, + -38.22870315840949, + -38.280956680380875 + ], + "timestamp": 11.705016351272333 + }, + { + "x": 1.8644994866965217, + "y": 4.207836895374668, + "heading": -0.6837779157555899, + "angularVelocity": 0.2503000129965071, + "velocityX": 0.2559264375162739, + "velocityY": 1.1329994804738897, + "moduleForcesX": [ + 57.882851709415604, + 57.86384127416289, + 57.65586616544789, + 57.63795607446646 + ], + "moduleForcesY": [ + -38.93528208773494, + -38.96607799171289, + -39.270391227190174, + -39.29920486701738 + ], + "timestamp": 11.724429691749625 + }, + { + "x": 1.870630558303109, + "y": 4.229017298464473, + "heading": -0.6789093855015307, + "angularVelocity": 0.2507827161303632, + "velocityX": 0.3158174459340805, + "velocityY": 1.0910231093190053, + "moduleForcesX": [ + 57.21943999253799, + 57.21014195866552, + 57.071953082729515, + 57.06312953476081 + ], + "moduleForcesY": [ + -39.93667613126504, + -39.95145912877808, + -40.147060171738694, + -40.16105850163185 + ], + "timestamp": 11.743843032226918 + }, + { + "x": 1.8779132032779835, + "y": 4.24936661148856, + "heading": -0.6740361482940231, + "angularVelocity": 0.25102517586849293, + "velocityX": 0.37513610722443425, + "velocityY": 1.0482128538304925, + "moduleForcesX": [ + 56.6345259775404, + 56.63116801147316, + 56.55896436214915, + 56.55573294080623 + ], + "moduleForcesY": [ + -40.78970462715683, + -40.79503859962258, + -40.894380251711155, + -40.89951956540919 + ], + "timestamp": 11.76325637270421 + }, + { + "x": 1.8863375574439454, + "y": 4.268870854358429, + "heading": -0.6691622690183583, + "angularVelocity": 0.25105824942211524, + "velocityX": 0.4339466551784482, + "velocityY": 1.0046824704218733, + "moduleForcesX": [ + 56.11569712600201, + 56.115408410893174, + 56.10521847232125, + 56.10493222138901 + ], + "moduleForcesY": [ + -41.52441115473471, + -41.52488566429384, + -41.53856541491321, + -41.53903636373698 + ], + "timestamp": 11.782669713181503 + }, + { + "x": 1.8958948122554808, + "y": 4.287517838651164, + "heading": -0.6642913202833717, + "angularVelocity": 0.25090729442899234, + "velocityX": 0.49230346640826617, + "velocityY": 0.9605242495254703, + "moduleForcesX": [ + 55.652855282704536, + 55.65344120512149, + 55.701352637553356, + 55.701991877696884 + ], + "moduleForcesY": [ + -42.16336061152959, + -42.16223081931641, + -42.09927671848439, + -42.098074004633915 + ], + "timestamp": 11.802083053658796 + }, + { + "x": 1.9065770589809687, + "y": 4.3052968482771306, + "heading": -0.6594264655594324, + "angularVelocity": 0.250593386008424, + "velocityX": 0.5502528912003736, + "velocityY": 0.9158140324567956, + "moduleForcesX": [ + 55.23775487372007, + 55.23752967802466, + 55.33980847988511, + 55.33982136147598 + ], + "moduleForcesY": [ + -42.72379936659345, + -42.72340075525379, + -42.59152885556614, + -42.590820216431425 + ], + "timestamp": 11.821496394136089 + }, + { + "x": 1.918377161026001, + "y": 4.322198390960693, + "heading": -0.6545705248006215, + "angularVelocity": 0.25013421901761407, + "velocityX": 0.6078347030916116, + "velocityY": 0.870614859062085, + "moduleForcesX": [ + 54.86362710083431, + 54.8612901358657, + 55.01443670059011, + 55.012623327220155 + ], + "moduleForcesY": [ + -43.21911660315328, + -43.22113970024562, + -43.02697370998198, + -43.02834450883221 + ], + "timestamp": 11.840909734613382 + }, + { + "x": 1.92949101022194, + "y": 4.336240054669241, + "heading": -0.6503521079983314, + "angularVelocity": 0.24962112703624756, + "velocityX": 0.6576523117618639, + "velocityY": 0.8309031763975517, + "moduleForcesX": [ + 54.50609958933593, + 54.50068318190435, + 54.701347529318234, + 54.696813473214824 + ], + "moduleForcesY": [ + -43.6449408780058, + -43.650398789827186, + -43.39995061629887, + -43.40435140919503 + ], + "timestamp": 11.857809012540596 + }, + { + "x": 1.9414398764858016, + "y": 4.349602350166723, + "heading": -0.6461449178799247, + "angularVelocity": 0.2489567978304854, + "velocityX": 0.7070637168833745, + "velocityY": 0.7907021563307972, + "moduleForcesX": [ + 54.03327194566706, + 54.02240218111822, + 54.28889337860404, + 54.27954283234234 + ], + "moduleForcesY": [ + -44.21306763661465, + -44.224589512989375, + -43.89874793713713, + -43.90853644476067 + ], + "timestamp": 11.87470829046781 + }, + { + "x": 1.9542159992135733, + "y": 4.362276127300997, + "heading": -0.6419518063271455, + "angularVelocity": 0.24812371101528058, + "velocityX": 0.7560158950458375, + "velocityY": 0.7499596840089624, + "moduleForcesX": [ + 53.49939750736049, + 53.48039303468656, + 53.82378826237624, + 53.807238626495455 + ], + "moduleForcesY": [ + -44.84017303633507, + -44.860539594007484, + -44.450147047889075, + -44.46785796343512 + ], + "timestamp": 11.891607568395024 + }, + { + "x": 1.9678105400995975, + "y": 4.374251212145572, + "heading": -0.637775974473225, + "angularVelocity": 0.24710119993918378, + "velocityX": 0.8044450741964254, + "velocityY": 0.7086151784799669, + "moduleForcesX": [ + 52.8922636364938, + 52.861546092175665, + 53.29552428980751, + 53.268608004904166 + ], + "moduleForcesY": [ + -45.535563283720116, + -45.568275987265146, + -45.0627061046215, + -45.09154079998919 + ], + "timestamp": 11.908506846322238 + }, + { + "x": 1.9822133505382364, + "y": 4.38551623292512, + "heading": -0.6336210389994424, + "angularVelocity": 0.2458646749096575, + "velocityX": 0.8522737184790887, + "velocityY": 0.6665977580856509, + "moduleForcesX": [ + 52.19629238447616, + 52.14902987293808, + 52.690683542979166, + 52.64913654503848 + ], + "moduleForcesY": [ + -46.31048058142593, + -46.35997590012653, + -45.7468582943555, + -45.790891593085306 + ], + "timestamp": 11.925406124249452 + }, + { + "x": 1.9974126695150844, + "y": 4.396058406840472, + "heading": -0.6294911157005773, + "angularVelocity": 0.24438460132159248, + "velocityX": 0.8994064150143928, + "velocityY": 0.6238239267238552, + "moduleForcesX": [ + 51.39134319986762, + 51.32092386232151, + 51.9918883228816, + 51.92988850965913 + ], + "moduleForcesY": [ + -47.17857637406724, + -47.25050992705384, + -46.51541707778997, + -46.57987771688901 + ], + "timestamp": 11.942305402176666 + }, + { + "x": 2.013394725020626, + "y": 4.40586327749225, + "heading": -0.6253909260378425, + "angularVelocity": 0.2426251393931875, + "velocityX": 0.9457241649244735, + "velocityY": 0.5801946505647506, + "moduleForcesX": [ + 50.45098913661692, + 50.34822916450028, + 51.17627794671154, + 51.08574725339689 + ], + "moduleForcesY": [ + -48.156495641748066, + -48.258117220223525, + -47.38423191793656, + -47.47588439250302 + ], + "timestamp": 11.95920468010388 + }, + { + "x": 2.030143199019127, + "y": 4.414914390062327, + "heading": -0.621325934651704, + "angularVelocity": 0.24054231214176175, + "velocityX": 0.9910763093332637, + "velocityY": 0.5355916749260439, + "moduleForcesX": [ + 49.339990472108006, + 49.1919186958684, + 50.21325327356883, + 50.08277840131826 + ], + "moduleForcesY": [ + -49.26457409098901, + -49.40521501241419, + -48.37303189591521, + -48.50069557119244 + ], + "timestamp": 11.976103958031095 + }, + { + "x": 2.047638495498651, + "y": 4.4231928889788845, + "heading": -0.6173025290254516, + "angularVelocity": 0.2380815111498428, + "velocityX": 1.0352688768642184, + "velocityY": 0.48987293730617476, + "moduleForcesX": [ + 48.010523473980065, + 47.79847710386321, + 49.06106340776075, + 48.87418597837039 + ], + "moduleForcesY": [ + -50.52760909752887, + -50.719292141228394, + -49.5064856264647, + -49.68173207772905 + ], + "timestamp": 11.993003235958309 + }, + { + "x": 2.0658567181308984, + "y": 4.430677021860469, + "heading": -0.6133282570210099, + "angularVelocity": 0.23517407202597101, + "velocityX": 1.0780474000553897, + "velocityY": 0.4428670215271044, + "moduleForcesX": [ + 46.396447575676866, + 46.09302595299126, + 47.661519942870946, + 47.393957032515864 + ], + "moduleForcesY": [ + -51.97555652008002, + -52.23369267538677, + -50.815459167372566, + -51.053517123984044 + ], + "timestamp": 12.009902513885523 + }, + { + "x": 2.0847682100441074, + "y": 4.437341537983441, + "heading": -0.6094121441125747, + "angularVelocity": 0.23173255835556264, + "velocityX": 1.1190710037825848, + "velocityY": 0.3943669162479081, + "moduleForcesX": [ + 44.40444505484776, + 43.96854171822575, + 45.93161606484857, + 45.54662054658651 + ], + "moduleForcesY": [ + -53.643732861588404, + -53.9877263196962, + -52.33830120690189, + -52.65912825716858 + ], + "timestamp": 12.026801791812737 + }, + { + "x": 2.1043354188112007, + "y": 4.443156989608688, + "heading": -0.6055651194174421, + "angularVelocity": 0.22764432372211033, + "velocityX": 1.157872475461341, + "velocityY": 0.34412426674646285, + "moduleForcesX": [ + 41.90016272268252, + 41.268746860765695, + 43.74993390713509, + 43.190350156817765 + ], + "moduleForcesY": [ + -55.57143381654411, + -56.02461262649197, + -54.12154482728592, + -54.550770305231 + ], + "timestamp": 12.043701069739951 + }, + { + "x": 2.124509702662004, + "y": 4.448089006938382, + "heading": -0.6018005850656859, + "angularVelocity": 0.22276302975606474, + "velocityX": 1.1937956129069005, + "velocityY": 0.29184781450047914, + "moduleForcesX": [ + 38.68651900699023, + 37.761016139639786, + 40.93419544484739, + 40.10858304254363 + ], + "moduleForcesY": [ + -57.79625936892281, + -58.38345388529488, + -56.21819740484658, + -56.78682779455254 + ], + "timestamp": 12.060600347667165 + }, + { + "x": 2.145226463104995, + "y": 4.452097790817057, + "heading": -0.5981351555699459, + "angularVelocity": 0.216898586527011, + "velocityX": 1.2258961910809663, + "velocityY": 0.23721628201755715, + "moduleForcesX": [ + 34.47060640024352, + 33.09498145302169, + 37.20398474259022, + 35.9622922678011 + ], + "moduleForcesY": [ + -60.33756994854637, + -61.075800672167986, + -58.678472416185144, + -59.417782147749314 + ], + "timestamp": 12.07749962559438 + }, + { + "x": 2.166397685702493, + "y": 4.455138521510558, + "heading": -0.5945895365770223, + "angularVelocity": 0.20980890474697245, + "velocityX": 1.2527885918370314, + "velocityY": 0.17993258094204928, + "moduleForcesX": [ + 28.817790907872606, + 26.74710430554785, + 32.12058915868509, + 30.213255287338697 + ], + "moduleForcesY": [ + -63.15372163985154, + -64.02452910015843, + -61.51893737804095, + -62.439786267085964 + ], + "timestamp": 12.094398903521594 + }, + { + "x": 2.1879008405021447, + "y": 4.457164490991264, + "heading": -0.5911893111208631, + "angularVelocity": 0.20120536929470692, + "velocityX": 1.2724303897637337, + "velocityY": 0.11988497315871872, + "moduleForcesX": [ + 21.107180389630262, + 17.979436226523696, + 25.001831123087328, + 22.02298727949427 + ], + "moduleForcesY": [ + -66.04065481441144, + -66.91917458919546, + -64.63368990175655, + -65.66067437694193 + ], + "timestamp": 12.111298181448808 + }, + { + "x": 2.2095643291934977, + "y": 4.458137038510174, + "heading": -0.5879648827426647, + "angularVelocity": 0.1908027308673283, + "velocityX": 1.2819180076603152, + "velocityY": 0.05754964934590115, + "moduleForcesX": [ + 10.563349599114456, + 5.9431020803346035, + 14.859638801717251, + 10.228492409506318 + ], + "moduleForcesY": [ + -68.42238117043242, + -68.93142377706826, + -67.56626958656321, + -68.36367504478591 + ], + "timestamp": 12.128197459376022 + }, + { + "x": 2.2311558382345025, + "y": 4.458048724355527, + "heading": -0.5849489168243499, + "angularVelocity": 0.1784671470168458, + "velocityX": 1.2776586747670418, + "velocityY": -0.005225912907505727, + "moduleForcesX": [ + -3.4065036622505853, + -9.727399450140839, + 0.6146384591459884, + -6.154039543802912 + ], + "moduleForcesY": [ + -69.04961017690735, + -68.4014909821104, + -69.04682092261058, + -68.71587300583637 + ], + "timestamp": 12.145096737303236 + }, + { + "x": 2.2523938607564395, + "y": 4.456959391400087, + "heading": -0.5821689475868451, + "angularVelocity": 0.16450224971020536, + "velocityX": 1.2567414189771662, + "velocityY": -0.06446032547261737, + "moduleForcesX": [ + -20.25465057286389, + -27.616685387992277, + -17.74816658427065, + -26.083656169862635 + ], + "moduleForcesY": [ + -66.02381038495457, + -63.27102243502757, + -66.61739157563655, + -63.776847221358366 + ], + "timestamp": 12.16199601523045 + }, + { + "x": 2.2730018436094053, + "y": 4.4550159241436935, + "heading": -0.5796360271578783, + "angularVelocity": 0.14988335240571307, + "velocityX": 1.2194593722716707, + "velocityY": -0.11500297614865834, + "moduleForcesX": [ + -37.32051055092115, + -44.098138175122536, + -37.175571556110235, + -44.85367558899315 + ], + "moduleForcesY": [ + -58.09290209858474, + -53.139433564825524, + -58.02374052905129, + -52.32751791669901 + ], + "timestamp": 12.178895293157664 + }, + { + "x": 2.2927713717115594, + "y": 4.4524194842892, + "heading": -0.5773413251596294, + "angularVelocity": 0.1357869849902553, + "velocityX": 1.1698445452700192, + "velocityY": -0.15364205889011393, + "moduleForcesX": [ + -51.095437825197784, + -56.01661565437589, + -52.60551102714432, + -57.79836592194909 + ], + "moduleForcesY": [ + -46.52248001757658, + -40.51747760103842, + -44.620650849814645, + -37.73665725494407 + ], + "timestamp": 12.195794571084878 + }, + { + "x": 2.31157767337301, + "y": 4.449369106042973, + "heading": -0.5752653653006934, + "angularVelocity": 0.12284311009483324, + "velocityX": 1.1128464625796242, + "velocityY": -0.18050346644186008, + "moduleForcesX": [ + -60.10429149510086, + -63.10967738037021, + -61.926565254948855, + -64.744263183066 + ], + "moduleForcesY": [ + -34.28573488259858, + -28.481385134369937, + -30.66968594313058, + -24.326056662544207 + ], + "timestamp": 12.212693849012092 + }, + { + "x": 2.3293566103225256, + "y": 4.446030878136759, + "heading": -0.5733868247426258, + "angularVelocity": 0.11116099552646169, + "velocityX": 1.0520530537511565, + "velocityY": -0.19753671846759996, + "moduleForcesX": [ + -65.18774386603658, + -66.83185271970557, + -66.59076765483135, + -67.91348930051325 + ], + "moduleForcesY": [ + -23.507264138622386, + -18.481364136294967, + -18.948283356975356, + -13.738420048321832 + ], + "timestamp": 12.229593126939307 + }, + { + "x": 2.3460786436924534, + "y": 4.4425341883089216, + "heading": -0.5716862955514761, + "angularVelocity": 0.10062732848550442, + "velocityX": 0.9895117082487012, + "velocityY": -0.20691356417105713, + "moduleForcesX": [ + -67.79266688215901, + -68.61034511878412, + -68.63234219919543, + -69.15161327179342 + ], + "moduleForcesY": [ + -14.794144578801722, + -10.61925261923264, + -9.918509838563343, + -5.777040448105858 + ], + "timestamp": 12.24649240486652 + }, + { + "x": 2.3617321548318846, + "y": 4.438978248522893, + "heading": -0.5701472466641888, + "angularVelocity": 0.09107187265135988, + "velocityX": 0.926282839234376, + "velocityY": -0.21041962865777147, + "moduleForcesX": [ + -69.0082298040482, + -69.3523695322926, + -69.36609311406146, + -69.47444085487885 + ], + "moduleForcesY": [ + -7.954943328652353, + -4.513695246461878, + -3.101470690231107, + 0.19920252117402037 + ], + "timestamp": 12.263391682793735 + }, + { + "x": 2.3763144862051493, + "y": 4.435439678045831, + "heading": -0.568755917083735, + "angularVelocity": 0.08233071178817626, + "velocityX": 0.8628967128696934, + "velocityY": -0.20939181498184378, + "moduleForcesX": [ + -69.48020396671491, + -69.55718579769201, + -69.47600764658827, + -69.37716647274252 + ], + "moduleForcesY": [ + -2.596397637250716, + 0.2599107981516438, + 2.085800031498784, + 4.756715781948582 + ], + "timestamp": 12.280290960720949 + }, + { + "x": 2.3898273698821835, + "y": 4.431978577963891, + "heading": -0.5675008982352386, + "angularVelocity": 0.07426464337125495, + "velocityX": 0.7996130802294479, + "velocityY": -0.20480757206592765, + "moduleForcesX": [ + -69.56136958741054, + -69.48797712472773, + -69.29674115165308, + -69.09513417636217 + ], + "moduleForcesY": [ + 1.644410532056864, + 4.0449689163109195, + 6.103355596273612, + 8.305004349538747 + ], + "timestamp": 12.297190238648163 + }, + { + "x": 2.4022746080155293, + "y": 4.428642934303255, + "heading": -0.566372689897359, + "angularVelocity": 0.0667607422482067, + "velocityX": 0.7365544366425708, + "velocityY": -0.1973837979943286, + "moduleForcesX": [ + -69.44050658018318, + -69.28288294375687, + -68.99083415529013, + -68.74062581390056 + ], + "moduleForcesY": [ + 5.048984540721862, + 7.094726611074952, + 9.277350069749245, + 11.12544195223972 + ], + "timestamp": 12.314089516575377 + }, + { + "x": 2.413660886989307, + "y": 4.425471726889298, + "heading": -0.5653633171976891, + "angularVelocity": 0.059728747229160085, + "velocityX": 0.6737731057397033, + "velocityY": -0.18765342682777003, + "moduleForcesX": [ + -69.21888915632945, + -69.01498093983149, + -68.63774414819501, + -68.36747112890812 + ], + "moduleForcesY": [ + 7.823946444890907, + 9.591105511292442, + 11.833250031562018, + 13.410533397084546 + ], + "timestamp": 12.330988794502591 + }, + { + "x": 2.423991167797027, + "y": 4.422497126306251, + "heading": -0.5644660232207238, + "angularVelocity": 0.053096586779028135, + "velocityX": 0.6112853372914824, + "velocityY": -0.17601938945906928, + "moduleForcesX": [ + -68.95130590451717, + -68.72321284424079, + -68.2763622243668, + -68.0011998025162 + ], + "moduleForcesY": [ + 10.11888468036067, + 11.664670863093715, + 13.92747860675396, + 15.29364763192488 + ], + "timestamp": 12.347888072429805 + }, + { + "x": 2.433270374692251, + "y": 4.419746064626124, + "heading": -0.5636750287564173, + "angularVelocity": 0.046806406031862674, + "velocityX": 0.5490889572436001, + "velocityY": -0.16279167026991967, + "moduleForcesX": [ + -68.6675538198197, + -68.42830601532881, + -67.92538197418004, + -67.65336562122417 + ], + "moduleForcesY": [ + 12.042456853083085, + 13.41003178565977, + 15.670134446187609, + 16.868905269713295 + ], + "timestamp": 12.36478735035702 + }, + { + "x": 2.441503241016658, + "y": 4.41724137616694, + "heading": -0.5629853458745747, + "angularVelocity": 0.040811381694116466, + "velocityX": 0.48717266855226443, + "velocityY": -0.14821275027084765, + "moduleForcesX": [ + -68.3837677091056, + -68.14109785421863, + -67.59326490170413, + -67.32853089161736 + ], + "moduleForcesY": [ + 13.674429888313005, + 14.89669491036882, + 17.140127101241422, + 18.20406414335748 + ], + "timestamp": 12.381686628284234 + }, + { + "x": 2.448694238924008, + "y": 4.415002639984029, + "heading": -0.5623926330018707, + "angularVelocity": 0.035073266163017404, + "velocityX": 0.4255210156505601, + "velocityY": -0.1324752567863117, + "moduleForcesX": [ + -68.10849378834256, + -67.86698005078715, + -67.28323982523308, + -67.02776023452024 + ], + "moduleForcesY": [ + 15.074156858680315, + 16.176503129018716, + 18.395084629541017, + 19.348863341183208 + ], + "timestamp": 12.398585906211448 + }, + { + "x": 2.4548475540752275, + "y": 4.413046812430891, + "heading": -0.5618930815635623, + "angularVelocity": 0.02956051971332602, + "velocityX": 0.36411704557568414, + "velocityY": -0.11573438590463961, + "moduleForcesX": [ + -67.84601198356005, + -67.60832225626525, + -66.99587003822965, + -66.7504054994641 + ], + "moduleForcesY": [ + 16.28643802352499, + 17.288713890440796, + 19.477864129041183, + 20.34049001299271 + ], + "timestamp": 12.415485184138662 + }, + { + "x": 2.4599670842255215, + "y": 4.411388709591404, + "heading": -0.5614833265837947, + "angularVelocity": 0.024246892768575896, + "velocityX": 0.30294372175805695, + "velocityY": -0.09811678620993573, + "moduleForcesX": [ + -67.59818948619956, + -67.36581934897681, + -66.73039615380225, + -66.49503054331515 + ], + "moduleForcesY": [ + 17.345571000413525, + 18.26348895969543, + 20.420884380353108, + 21.20722085988748 + ], + "timestamp": 12.432384462065876 + }, + { + "x": 2.4640564501207205, + "y": 4.4100413806177245, + "heading": -0.5611603755409807, + "angularVelocity": 0.01911034567304776, + "velocityX": 0.24198465241012473, + "velocityY": -0.07972701434239542, + "moduleForcesX": [ + -67.3655330868273, + -67.13925210288296, + -66.48544672391564, + -66.25989246632558 + ], + "moduleForcesY": [ + 18.278170485082168, + 19.12431986388855, + 21.24905601044498, + 21.97089213071172 + ], + "timestamp": 12.44928373999309 + }, + { + "x": 2.4671190122847557, + "y": 4.40901640055844, + "heading": -0.5609215512268385, + "angularVelocity": 0.014132220037500282, + "velocityX": 0.18122443912845296, + "velocityY": -0.06065229909224309, + "moduleForcesX": [ + -67.14779507444372, + -66.92792139056203, + -66.25941512106093, + -66.043189647769 + ], + "moduleForcesY": [ + 19.105153308133264, + 19.88973623588373, + 21.981797505846483, + 22.64860575143298 + ], + "timestamp": 12.466183017920304 + }, + { + "x": 2.4691578901413758, + "y": 4.4083241028977636, + "heading": -0.5607644454359351, + "angularVelocity": 0.009296597853473296, + "velocityX": 0.1206488150204778, + "velocityY": -0.04096610894609547, + "moduleForcesX": [ + -66.9443254941844, + -66.7308973018787, + -66.05065714903044, + -65.8431855019118 + ], + "moduleForcesY": [ + 19.843153738551198, + 20.57452597344013, + 22.63444617148174, + 23.253928677443323 + ], + "timestamp": 12.483082295847518 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": 0.004589801470616027, + "velocityX": 0.06024466753050299, + "velocityY": -0.020730860357953493, + "moduleForcesX": [ + -66.75427781459665, + -66.54716169925689, + -65.85759120185365, + -65.65826558555733 + ], + "moduleForcesY": [ + 20.505545912235668, + 21.1906188817808, + 23.219261991520145, + 23.797750103270644 + ], + "timestamp": 12.499981573774733 + }, + { + "x": 2.4701759815216064, + "y": 4.407973766326904, + "heading": -0.5606868811052523, + "angularVelocity": -3.239932620489562e-27, + "velocityX": -4.217146509044396e-28, + "velocityY": 4.052244323363519e-26, + "moduleForcesX": [ + -66.57672865678684, + -66.37568868221064, + -65.67874517756027, + -65.486959085013 + ], + "moduleForcesY": [ + 21.10319211877351, + 21.747735247073603, + 23.74615304005815, + 24.28890372131809 + ], + "timestamp": 12.516880851701947 + } + ], + "eventMarkers": [] } \ No newline at end of file diff --git a/src/main/deploy/choreo/test.1.traj b/src/main/deploy/choreo/test.1.traj index 43454f70..ff9b8214 100644 --- a/src/main/deploy/choreo/test.1.traj +++ b/src/main/deploy/choreo/test.1.traj @@ -3,11 +3,10 @@ { "x": 2.1199185848236084, "y": 5.957952976226807, - "heading": 9.721358924197938e-33, - "angularVelocity": 0, - "velocityX": 7.529723953218568e-33, - "velocityY": 4.103114367587547e-33, - "timestamp": 0, + "heading": -1.5178284843215764e-20, + "angularVelocity": -2.7117318720620675e-19, + "velocityX": -9.796115109371808e-19, + "velocityY": 3.980511574488688e-18, "moduleForcesX": [ 0, 0, @@ -19,2527 +18,2528 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 2.12408359184855, - "y": 5.959490957092025, - "heading": 0.0006587462568403469, - "angularVelocity": 0.020752025490549227, - "velocityX": 0.13120732156333928, - "velocityY": 0.04844994227681366, - "timestamp": 0.031743708928096186, + "x": 2.1240905424532652, + "y": 5.959489503565915, + "heading": 0.0006594208409320807, + "angularVelocity": 0.01920785114076541, + "velocityX": 0.12152230585064276, + "velocityY": 0.044756529626173124, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.20743364262925, + 65.03025590810928, + 66.22989088519049, + 66.78504846630928 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.697955490952328, + 25.723347795310406, + 22.42759771725216, + 20.738449547838435 + ], + "timestamp": 0.034330797135998826 }, { - "x": 2.132419910947834, - "y": 5.962549984290152, - "heading": 0.0019689340924026384, - "angularVelocity": 0.04127393678319714, - "velocityX": 0.26261326671585045, - "velocityY": 0.0963664077520038, - "timestamp": 0.06348741785619237, + "x": 2.1324405283773884, + "y": 5.962545453819303, + "heading": 0.00197092779877055, + "angularVelocity": 0.03820205376073952, + "velocityX": 0.2432214402434645, + "velocityY": 0.08901483531776912, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.33645627762745, + 65.13067571771013, + 66.31633449281948, + 66.85076931107669 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.38610907258916, + 25.457062843473647, + 22.1571358903912, + 20.511844774368296 + ], + "timestamp": 0.06866159427199765 }, { - "x": 2.144934423626495, - "y": 5.967111326975421, - "heading": 0.003922497731913535, - "angularVelocity": 0.06154175757899709, - "velocityX": 0.3942359951387039, - "velocityY": 0.1436928084112908, - "timestamp": 0.09523112678428855, + "x": 2.1449751643647583, + "y": 5.967101909476203, + "heading": 0.003926422727990329, + "angularVelocity": 0.05696037063961074, + "velocityX": 0.36511345593616634, + "velocityY": 0.13272210484512442, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.47745668748246, + 65.2398780190929, + 66.41092272094684, + 66.92222810961387 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.04037081830145, + 25.163635290415616, + 21.856862967226835, + 20.262113486413284 + ], + "timestamp": 0.10299239140799649 }, { - "x": 2.161634668441711, - "y": 5.9731541575830684, - "heading": 0.006510477776343394, - "angularVelocity": 0.0815273366540852, - "velocityX": 0.5260962054889244, - "velocityY": 0.19036309277324892, - "timestamp": 0.12697483571238474, + "x": 2.161701699519593, + "y": 5.973137837062834, + "heading": 0.006516911132900143, + "angularVelocity": 0.07545669256230182, + "velocityX": 0.48721662618477074, + "velocityY": 0.17581670366456492, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.63201884681433, + 65.3593084299052, + 66.51455530679625, + 67.00028750472005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.655203730462077, + 24.83798716533927, + 21.52241562538904, + 19.985194877162865 + ], + "timestamp": 0.1373231885439953 }, { - "x": 2.182528936666272, - "y": 5.980655180863507, - "heading": 0.00972285754365477, - "angularVelocity": 0.10119736715669446, - "velocityX": 0.6582176100432996, - "velocityY": 0.2362995230780409, - "timestamp": 0.15871854464048094, + "x": 2.18262810052247, + "y": 5.9806297132178345, + "heading": 0.00973233803752894, + "angularVelocity": 0.0936601294718305, + "velocityX": 0.6095518528153934, + "velocityY": 0.21822610542143736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.80201408708052, + 65.49068753942412, + 66.62829031488457, + 67.08597012747774 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.223772873681284, + 24.47383311589942, + 21.148422498380796, + 19.67607540118368 + ], + "timestamp": 0.17165398567999413 }, { - "x": 2.2076263864352867, - "y": 5.98958817047729, - "heading": 0.013548358655846408, - "angularVelocity": 0.12051210275577494, - "velocityX": 0.7906275169629459, - "velocityY": 0.2814097632390032, - "timestamp": 0.19046225356857713, + "x": 2.2077631589588185, + "y": 5.98955105772412, + "heading": 0.01356138301057283, + "angularVelocity": 0.11153382072299174, + "velocityX": 0.7321431639579529, + "velocityY": 0.25986418174164866, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.98966187496976, + 65.63607487564173, + 66.75337651863275, + 67.18049496615569 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.737546831877253, + 24.06330093523448, + 20.728197036288822, + 19.328491234701964 + ], + "timestamp": 0.20598478281599295 }, { - "x": 2.2369371796137325, - "y": 5.999923382651596, - "heading": 0.017974182463991455, - "angularVelocity": 0.139423651412969, - "velocityX": 0.9233575460523492, - "velocityY": 0.32558300599701506, - "timestamp": 0.22220596249667332, + "x": 2.237116619497471, + "y": 5.999871842849606, + "heading": 0.0179912009102765, + "angularVelocity": 0.12903335399278043, + "velocityX": 0.8550183213739508, + "velocityY": 0.3006275993127318, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.19760321976479, + 65.79794899696836, + 66.89129155023659, + 67.28532222803032 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.18574333334941, + 23.596400087689826, + 20.25331199636359, + 18.93451310998173 + ], + "timestamp": 0.24031557995199176 }, { - "x": 2.270472646569135, - "y": 6.0116268035707865, - "heading": 0.022985678275806047, - "angularVelocity": 0.15787366949359927, - "velocityX": 1.0564445078350972, - "velocityY": 0.36868473516117956, - "timestamp": 0.2539496714247695, + "x": 2.2706993334227707, + "y": 6.011557735483579, + "heading": 0.023007089276588077, + "angularVelocity": 0.14610462863537718, + "velocityX": 0.9782095589643559, + "velocityY": 0.3403909494929491, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.42898697522055, + 65.97930665286111, + 67.04378510633943, + 67.40220776596189 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.554543859317832, + 23.060262717881237, + 19.712999126732903, + 18.483955731362663 + ], + "timestamp": 0.2746463770879906 }, { - "x": 2.3082454850008034, - "y": 6.024659167637654, - "heading": 0.02856591078801465, - "angularVelocity": 0.17579018648543426, - "velocityX": 1.1899314764141191, - "velocityY": 0.41054950750668673, - "timestamp": 0.2856933803528657, + "x": 2.3085234426752606, + "y": 6.02456910897665, + "heading": 0.028592054721350235, + "angularVelocity": 0.16268091366005127, + "velocityX": 1.1017544714342642, + "velocityY": 0.37900004015424, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.68756567934437, + 66.18378238431038, + 67.21292387559689, + 67.53326675814299 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.8259581135559, + 22.43803591196146, + 19.093284904828803, + 17.963519293256997 + ], + "timestamp": 0.30897717422398946 }, { - "x": 2.350269999641707, - "y": 6.03897465321323, - "heading": 0.034695085760854436, - "angularVelocity": 0.1930831392993197, - "velocityX": 1.323869077053848, - "velocityY": 0.4509707926064986, - "timestamp": 0.31743708928096187, + "x": 2.350602599723297, + "y": 6.038859731023892, + "heading": 0.03472623728144673, + "angularVelocity": 0.17867871042424094, + "velocityX": 1.2256970579898063, + "velocityY": 0.4162624593489693, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.97778841539856, + 66.41578447634723, + 67.40112868630143, + 67.68104231611154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 22.97614463453766, + 21.70722497684217, + 18.37571774881763, + 17.35551080489583 + ], + "timestamp": 0.3433079713599883 }, { - "x": 2.3965623891443495, - "y": 6.054519113336024, - "heading": 0.0413497715036912, - "angularVelocity": 0.20963793984853818, - "velocityX": 1.458316972585085, - "velocityY": 0.48968632361146647, - "timestamp": 0.34918079820905806, + "x": 2.396952227277539, + "y": 6.054374984810341, + "heading": 0.041386130200759666, + "angularVelocity": 0.19399179380922285, + "velocityX": 1.3500888828951425, + "velocityY": 0.4519339800059657, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.30485597807213, + 66.68062771547972, + 67.61118008520802, + 67.84856417359302 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 21.97286334642089, + 20.83714634837422, + 17.535445138663125, + 16.63588619487533 + ], + "timestamp": 0.37763876849598715 }, { - "x": 2.4471410825572004, - "y": 6.071227617313664, - "heading": 0.04850181812451799, - "angularVelocity": 0.2253059539144659, - "velocityX": 1.5933454256218078, - "velocityY": 0.5263563881424058, - "timestamp": 0.38092450713715426, + "x": 2.447589816608065, + "y": 6.071049399108999, + "heading": 0.0485434969460075, + "angularVelocity": 0.2084823931379885, + "velocityX": 1.4749901999050463, + "velocityY": 0.4856984308462963, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.67465015497625, + 66.98460218466148, + 67.84613521509056, + 68.03935577377268 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 20.77150005596315, + 19.784887016527513, + 16.538223449549154, + 15.771156254967684 + ], + "timestamp": 0.411969565631986 }, { - "x": 2.5020271147547666, - "y": 6.089020938374403, - "heading": 0.05611681521560166, - "angularVelocity": 0.23988996082133435, - "velocityX": 1.7290365256905385, - "velocityY": 0.5605306267468754, - "timestamp": 0.41266821606525045, + "x": 2.50253524784926, + "y": 6.088803122663224, + "heading": 0.05616382591906999, + "angularVelocity": 0.22196772602963857, + "velocityX": 1.6004705927314447, + "velocityY": 0.5171369451136703, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.09331812869632, + 67.33480822071097, + 68.10901917588943, + 68.25727912011503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.30866165081074, + 18.488661702072754, + 15.335612705867268, + 14.713316180181062 + ], + "timestamp": 0.44630036276798485 }, { - "x": 2.561244492876039, - "y": 6.107800369655392, - "heading": 0.06415181877617589, - "angularVelocity": 0.2531211327187972, - "velocityX": 1.8654839059735924, - "velocityY": 0.5915953716537398, - "timestamp": 0.44441192499334664, + "x": 2.5618110741834017, + "y": 6.107536726372186, + "heading": 0.06420405338304129, + "angularVelocity": 0.23419868266153474, + "velocityX": 1.7266079228899, + "velocityY": 0.5456792522103749, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.56596297749746, + 67.73829243273512, + 68.40195642845269, + 68.50592407504001 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.49148414755277, + 16.856436842101136, + 13.856958992617065, + 13.391178606722999 + ], + "timestamp": 0.4806311599039837 }, { - "x": 2.6248204026171256, - "y": 6.127439774433694, - "heading": 0.07255187184184077, - "angularVelocity": 0.26462103356269817, - "velocityX": 2.0027876983466375, - "velocityY": 0.6186865190448766, - "timestamp": 0.47615563392144283, + "x": 2.625442600780978, + "y": 6.1271232436368805, + "heading": 0.07260907875106769, + "angularVelocity": 0.24482464927133912, + "velocityX": 1.8534823512982852, + "velocityY": 0.5705232298308672, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.09302114437389, + 68.19918557322396, + 68.72389254013876, + 68.7867401276707 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.179071821072112, + 14.745521126614777, + 11.995430241008034, + 11.694812357383569 + ], + "timestamp": 0.5149619570399825 }, { - "x": 2.6927848123865834, - "y": 6.14777283178745, - "heading": 0.08124443551167423, - "angularVelocity": 0.2738357918264941, - "velocityX": 2.141035564665967, - "velocityY": 0.6405381740302919, - "timestamp": 0.507899342849539, + "x": 2.693457283500248, + "y": 6.147395423899793, + "heading": 0.08130618884791904, + "angularVelocity": 0.2533325999509542, + "velocityX": 1.9811565239757667, + "velocityY": 0.5904954721151802, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.6604826409098, + 68.71003684438185, + 69.0646253843257, + 69.09359195948814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.148914870609879, + 11.92398818556269, + 9.582479506138572, + 9.445947744661394 + ], + "timestamp": 0.5492927541759813 }, { - "x": 2.7651681706057807, - "y": 6.1685714629691, - "heading": 0.09012999755945103, - "angularVelocity": 0.27991568559003044, - "velocityX": 2.280242626441548, - "velocityY": 0.655204822749479, - "timestamp": 0.5396430517776352, + "x": 2.765882080335776, + "y": 6.168124227133716, + "heading": 0.09019565983991693, + "angularVelocity": 0.2589357583741191, + "velocityX": 2.1096159389664138, + "velocityY": 0.6037961528189344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21289716514161, + 69.22539395541027, + 69.38856916211596, + 69.39647787507012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 8.033719938362479, + 7.993604033373698, + 6.338557531651389, + 6.337807554619031 + ], + "timestamp": 0.5836235513119802 }, { - "x": 2.8419931281714104, - "y": 6.189507110191248, - "heading": 0.09906528191141717, - "angularVelocity": 0.28148205278115124, - "velocityX": 2.420163243672891, - "velocityY": 0.65952114384502, - "timestamp": 0.5713867607057314, + "x": 2.842734572762996, + "y": 6.18898036656024, + "heading": 0.0991339695263516, + "angularVelocity": 0.260358349706424, + "velocityX": 2.238587473596208, + "velocityY": 0.6075052479528107, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.5751655066476, + 69.57666717920691, + 69.58754264011381, + 69.58914858955033 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.2001106034362548, + 2.2283062594531042, + 1.7726560083554228, + 1.8033831247027776 + ], + "timestamp": 0.617954348447979 }, { - "x": 2.923246509702383, - "y": 6.21007727563667, - "heading": 0.10783160033295475, - "angularVelocity": 0.27615923650876134, - "velocityX": 2.559668806030865, - "velocityY": 0.6480076254481864, - "timestamp": 0.6031304696338275, + "x": 2.9239939219493367, + "y": 6.209461767209831, + "heading": 0.1079022087222234, + "angularVelocity": 0.2554044743306453, + "velocityX": 2.366952007098431, + "velocityY": 0.5965897199665499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21283527814761, + 69.17471396563033, + 69.3305046871984, + 69.30052412449801 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.471430667899699, + -6.762359522411538, + -5.029873168991403, + -5.292719069542716 + ], + "timestamp": 0.6522851455839779 }, { - "x": 3.0087812329232086, - "y": 6.229466168623038, - "heading": 0.11607630855981195, - "angularVelocity": 0.2597273130727852, - "velocityX": 2.694540937688452, - "velocityY": 0.6107948201729568, - "timestamp": 0.6348741785619237, + "x": 3.00950166718468, + "y": 6.228757364222435, + "heading": 0.11614785910525105, + "angularVelocity": 0.240182316488695, + "velocityX": 2.4907008391506746, + "velocityY": 0.5620491984548348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.48791647903086, + 65.91504118497275, + 67.53713079444167, + 67.1175212709934 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -19.82646048179456, + -21.533827649507987, + -15.82367260713622, + -17.356614398727814 + ], + "timestamp": 0.6866159427199767 }, { - "x": 3.0979818735027176, - "y": 6.246361893248638, - "heading": 0.12324903142117805, - "angularVelocity": 0.22595730314988358, - "velocityX": 2.810025784370449, - "velocityY": 0.5322542700937218, - "timestamp": 0.6666178874900199, + "x": 3.0986312119022137, + "y": 6.245573129269948, + "heading": 0.1233217976756876, + "angularVelocity": 0.20896510331576448, + "velocityX": 2.5961979375093764, + "velocityY": 0.4898157470942687, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.858871717522625, + 53.01788966332176, + 60.52118849594493, + 57.2712931684477 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.47512135804582, + -44.38236754593689, + -33.451856205947344, + -38.574896728542356 + ], + "timestamp": 0.7209467398559756 }, { - "x": 3.1891159324545155, - "y": 6.259285555621032, - "heading": 0.12873166157260418, - "angularVelocity": 0.1727154871488241, - "velocityX": 2.8709329195972866, - "velocityY": 0.40712515357501006, - "timestamp": 0.6983615964181161, + "x": 3.189664879324751, + "y": 6.25846120684219, + "heading": 0.12880930102232513, + "angularVelocity": 0.15984200206302293, + "velocityX": 2.651661919235826, + "velocityY": 0.3754086315323676, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.750552382924674, + 22.042924384307877, + 38.74366324858003, + 25.15755237279677 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.32625068839681, + -65.46419116757232, + -57.02192372103007, + -64.08524397055733 + ], + "timestamp": 0.7552775369919744 }, { - "x": 3.2799147655356333, - "y": 6.267810501767619, - "heading": 0.13233373871668666, - "angularVelocity": 0.1134737327714805, - "velocityX": 2.860372531980369, - "velocityY": 0.26855545348842214, - "timestamp": 0.7301053053462123, + "x": 3.280369797053239, + "y": 6.266994731755817, + "heading": 0.1324204673237153, + "angularVelocity": 0.10518737118409427, + "velocityX": 2.642085978055375, + "velocityY": 0.2485676309764849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.638611020582371, + -10.67286361619108, + 2.083456482695454, + -15.714675392154005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.11687929447591, + -68.41523453228433, + -68.95914043408075, + -67.23944575775617 + ], + "timestamp": 0.7896083341279733 }, { - "x": 3.368930673043237, - "y": 6.2722939827484225, - "heading": 0.13423316054281098, - "angularVelocity": 0.05983616566124247, - "velocityX": 2.8042062667984893, - "velocityY": 0.14123998525071657, - "timestamp": 0.7618490142743085, + "x": 3.369310233708164, + "y": 6.2715126653214925, + "heading": 0.13432942745872825, + "angularVelocity": 0.05560488815481697, + "velocityX": 2.5906895287806986, + "velocityY": 0.1316000192997998, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -18.500935019032195, + -29.834192417264337, + -25.22168757098834, + -37.3598915526662 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -66.86252845012577, + -62.695053907961785, + -64.4679013116996, + -58.397834369685086 + ], + "timestamp": 0.8239391312639721 }, { - "x": 3.455418033445333, - "y": 6.273149165824332, - "heading": 0.13460089895534874, - "angularVelocity": 0.011584607626349263, - "velocityX": 2.7245512047125473, - "velocityY": 0.026940238075252306, - "timestamp": 0.7935927232024047, + "x": 3.4557394322415638, + "y": 6.27241599737361, + "heading": 0.13470596757598882, + "angularVelocity": 0.010967998085478445, + "velocityX": 2.517541267422858, + "velocityY": 0.026312586000806198, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -31.47635480411271, + -39.907639493456955, + -39.29540262490187, + -47.179061295883066 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.975002419306286, + -56.97802935875674, + -57.22696827675744, + -51.03677286394395 + ], + "timestamp": 0.858269928399971 }, { - "x": 3.53897038421859, - "y": 6.270691577134489, - "heading": 0.1335628529939654, - "angularVelocity": -0.03270084046371159, - "velocityX": 2.6320916362516953, - "velocityY": -0.07741970843436734, - "timestamp": 0.8253364321305009, + "x": 3.539247415691431, + "y": 6.270013676781026, + "heading": 0.1336754911276736, + "angularVelocity": -0.03001609441904524, + "velocityX": 2.4324510473513503, + "velocityY": -0.06997567178729008, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.10385159893205, + -45.624069903582665, + -46.66688446671502, + -52.23513547583587 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.58450666694686, + -52.629300140832484, + -51.566691422584576, + -46.01549906070549 + ], + "timestamp": 0.8926007255359698 }, { - "x": 3.619343411211179, - "y": 6.2651515676417615, - "heading": 0.13121159908477192, - "angularVelocity": -0.07406991774402583, - "velocityX": 2.531935608867881, - "velocityY": -0.17452306865816167, - "timestamp": 0.8570801410585971, + "x": 3.6195865664722082, + "y": 6.2645323793939465, + "heading": 0.1313302657325232, + "angularVelocity": -0.06831258201957759, + "velocityX": 2.340148131793142, + "velocityY": -0.1596612326059745, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -43.88358387792639, + -49.18246595525607, + -50.93271740300171, + -55.19661579277835 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.11892878690326, + -49.40635033209185, + -47.484620004209376, + -42.53707099583864 + ], + "timestamp": 0.9269315226719687 }, { - "x": 3.696377587829814, - "y": 6.256700197632999, - "heading": 0.12761684069301102, - "angularVelocity": -0.11324317520377067, - "velocityX": 2.42675412608914, - "velocityY": -0.26623763555482466, - "timestamp": 0.8888238499866933, + "x": 3.6965946477149063, + "y": 6.256140969068639, + "heading": 0.12773977617540969, + "angularVelocity": -0.10458509142360081, + "velocityX": 2.243119521449984, + "velocityY": -0.244428065333415, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.080455993219424, + -51.572573618965784, + -53.63373111051735, + -57.10696303117783 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -51.429858960765856, + -46.97149199102845, + -44.50606262348179, + -40.02463804173147 + ], + "timestamp": 0.9612623198079675 }, { - "x": 3.7699618707808793, - "y": 6.245468037234803, - "heading": 0.1228324760673318, - "angularVelocity": -0.15071851359642613, - "velocityX": 2.318074523608403, - "velocityY": -0.35383894250147446, - "timestamp": 0.9205675589147895, + "x": 3.7701584426756636, + "y": 6.24496861884857, + "heading": 0.12295775748724648, + "angularVelocity": -0.13929238721779807, + "velocityX": 2.14279309243359, + "velocityY": -0.32543229846403215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.33823974888955, + -53.27578449390745, + -55.46697398416175, + -58.42962156214053 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.32139265056159, + -45.08175035493465, + -42.27256901544603, + -38.136417670075964 + ], + "timestamp": 0.9955931169439663 }, { - "x": 3.8400150685867502, - "y": 6.2315574365397515, - "heading": 0.11690123481863413, - "angularVelocity": -0.18684777075463518, - "velocityX": 2.2068372024374066, - "velocityY": -0.438215985616424, - "timestamp": 0.9523112678428857, + "x": 3.8401950083753045, + "y": 6.231116742846834, + "heading": 0.11702681298174897, + "angularVelocity": -0.17275871812712484, + "velocityX": 2.0400506700207837, + "velocityY": -0.4034825042617307, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.00386455946747, + -54.54690428043461, + -56.7784289761054, + -59.39528468894767 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.63986400837724, + -43.57632953848604, + -40.552122696833955, + -36.66884032214732 + ], + "timestamp": 1.0299239140799652 }, { - "x": 3.906475492488988, - "y": 6.215050519883858, - "heading": 0.10985775018096655, - "angularVelocity": -0.22188600121123825, - "velocityX": 2.0936565431839025, - "velocityY": -0.5200059228516231, - "timestamp": 0.9840549767709819, + "x": 3.906641226892983, + "y": 6.214666811137069, + "heading": 0.1099814752334787, + "angularVelocity": -0.20521917158989028, + "velocityX": 1.9354697257525264, + "velocityY": -0.47915961999367995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.27623291017308, + -55.53109686215956, + -57.75504162693947, + -60.129754630147566 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.27531799168469, + -42.34876910772125, + -39.1958269556462, + -35.49596782785945 + ], + "timestamp": 1.064254711215964 }, { - "x": 3.9692948172312557, - "y": 6.196014512598508, - "heading": 0.10173064016138685, - "angularVelocity": -0.2560226984814519, - "velocityX": 1.9789535269668237, - "velocityY": -0.5996781071948685, - "timestamp": 1.015798685699078, + "x": 3.9694475904635653, + "y": 6.195685575453716, + "heading": 0.10185027997838428, + "angularVelocity": -0.2368484257118565, + "velocityX": 1.829446701216422, + "velocityY": -0.5528923668203768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.275936354759445, + -56.31627560654493, + -58.5052374724595, + -60.706774730098815 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.15016125318441, + -41.327082864385225, + -38.10594705484294, + -34.53662272619875 + ], + "timestamp": 1.0985855083519627 }, { - "x": 4.028434236538794, - "y": 6.174505389403469, - "heading": 0.09254395303933619, - "angularVelocity": -0.2894018195183511, - "velocityX": 1.8630280236469257, - "velocityY": -0.6775869588445468, - "timestamp": 1.047542394627174, + "x": 4.028574301177489, + "y": 6.174228657566913, + "heading": 0.09265720676792004, + "angularVelocity": -0.26777919469934186, + "velocityX": 1.7222644286323032, + "velocityY": -0.6250049424079317, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.07969746069281, + -56.95844245124601, + -59.095666058104136, + -61.17214695886769 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.20913664099934, + -40.46133220435036, + -37.21643876710898, + -33.73647685484354 + ], + "timestamp": 1.1329163054879614 }, { - "x": 4.083861945125214, - "y": 6.150570441683336, - "heading": 0.08231819631194325, - "angularVelocity": -0.3221349071262287, - "velocityX": 1.7461005804951526, - "velocityY": -0.7540060228735362, - "timestamp": 1.07928610355527, + "x": 4.083988711914462, + "y": 6.150343079254084, + "heading": 0.08242270455962232, + "angularVelocity": -0.29811431898171525, + "velocityX": 1.6141311988024838, + "velocityY": -0.6957478504855763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.73837734990431, + -57.494804008162475, + -59.569307733660494, + -61.555688207951505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.41223899656707, + -39.71598709098088, + -36.48137430480536, + -33.05795713699173 + ], + "timestamp": 1.1672471026239601 }, { - "x": 4.135551426431915, - "y": 6.124250129459578, - "heading": 0.07107108601922003, - "angularVelocity": -0.35430989863852635, - "velocityX": 1.6283378046271129, - "velocityY": -0.8291505029665418, - "timestamp": 1.1110298124833662, + "x": 4.13566358355021, + "y": 6.124069090163556, + "heading": 0.07116443864272094, + "angularVelocity": -0.327934882266282, + "velocityX": 1.5052045378101826, + "velocityY": -0.7653183521036747, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.28689926110773, + -57.95096913439125, + -59.95500629579599, + -61.87757597875207 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.72996657264737, + -39.06517064196295, + -35.867963324196104, + -32.47433156207773 + ], + "timestamp": 1.2015778997599589 }, { - "x": 4.183480250707313, - "y": 6.0955794475298, - "heading": 0.05881810384556654, - "angularVelocity": -0.38599718140717787, - "velocityX": 1.50986843988397, - "velocityY": -0.9031925662724984, - "timestamp": 1.1427735214114623, + "x": 4.183575860038958, + "y": 6.095441517842054, + "heading": 0.05889784597076922, + "angularVelocity": -0.35730579232863585, + "velocityX": 1.3956062918943792, + "velocityY": -0.8338743842182675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.74997950779216, + -58.345101168137255, + -60.272778347579354, + -62.15191332033851 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.14016156901713, + -38.489633599544064, + -35.35223697758305, + -31.966112215561353 + ], + "timestamp": 1.2359086968959576 }, { - "x": 4.227629208104442, - "y": 6.064588953496888, - "heading": 0.04557291906848408, - "angularVelocity": -0.4172538504270615, - "velocityX": 1.3907939206829834, - "velocityY": -0.9762719946527232, - "timestamp": 1.1745172303395583, + "x": 4.227705783945927, + "y": 6.064490784678283, + "heading": 0.04563655576919846, + "angularVelocity": -0.3862797053338778, + "velocityX": 1.285432544200825, + "velocityY": -0.9015442618812103, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.14557633180338, + -58.69041842812603, + -60.53691602694078, + -62.38882987790957 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.625889953509926, + -37.974782671311466, + -34.91630425629124, + -31.51879153502562 + ], + "timestamp": 1.2702394940319564 }, { - "x": 4.267981668593037, - "y": 6.031305555215571, - "heading": 0.031347713474676034, - "angularVelocity": -0.44812676508695654, - "velocityX": 1.2711955171966314, - "velocityY": -1.0485037635868417, - "timestamp": 1.2062609392676544, + "x": 4.268036242757101, + "y": 6.031243687525352, + "heading": 0.03139271340686883, + "angularVelocity": -0.41489984359826365, + "velocityX": 1.1747603369478106, + "velocityY": -0.9684335910181919, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.487041762358004, + -58.996756948597486, + -60.75787662850635, + -62.595771788874416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.173997866050605, + -37.509364997001356, + -34.54656040170151, + -31.121373304951614 + ], + "timestamp": 1.304570291167955 }, { - "x": 4.3045230996015675, - "y": 5.99575312358408, - "heading": 0.016153435256918744, - "angularVelocity": -0.47865478643897924, - "velocityX": 1.1511393042098552, - "velocityY": -1.1199835442045625, - "timestamp": 1.2380046481957505, + "x": 4.304552275849609, + "y": 5.995724004844339, + "heading": 0.016177233457616628, + "angularVelocity": -0.44320205816885766, + "velocityX": 1.06365235120676, + "velocityY": -1.0346302924545403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.78450756551545, + -59.27157918537438, + -60.94347529855445, + -62.77832192549877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.774112313649084, + -37.08457069981131, + -34.23248730148395, + -30.76539297044608 + ], + "timestamp": 1.3389010883039538 }, { "x": 4.337240695953369, "y": 5.957952976226807, - "heading": 0, - "angularVelocity": -0.5088704440149149, - "velocityX": 1.030679698642281, - "velocityY": -1.1907917705171907, - "timestamp": 1.2697483571238466, + "heading": -3.748903775736303e-19, + "angularVelocity": -0.4712163656885612, + "velocityX": 0.952160241845464, + "velocityY": -1.100208319308874, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.04580327156505, + -59.52064378970076, + -61.09966170200846, + -62.94073766862328 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.417937718287426, + -36.6934079772902, + -33.96583153475084, + -30.444248160560935 + ], + "timestamp": 1.3732318854399526 }, { - "x": 4.3631357670929365, - "y": 5.922844781507193, - "heading": -0.015001401099503393, - "angularVelocity": -0.5352972829698707, - "velocityX": 0.924017772165235, - "velocityY": -1.252771065764447, - "timestamp": 1.2977727868692683, + "x": 4.363104361732285, + "y": 5.922872680704654, + "heading": -0.015022415029525421, + "angularVelocity": -0.495716055309433, + "velocityX": 0.8534602692421129, + "velocityY": -1.1575945466260031, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.26791598336375, + -59.73292648961242, + -61.22565539935248, + -63.073877443826795 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.09005684153832, + -36.333966587385966, + -33.72210673134822, + -30.15095224369312 + ], + "timestamp": 1.4035363608924336 }, { - "x": 4.386013063556468, - "y": 5.886050856639685, - "heading": -0.030770580548153122, - "angularVelocity": -0.5626940348795785, - "velocityX": 0.8163340582253283, - "velocityY": -1.3129232316856283, - "timestamp": 1.32579721661469, + "x": 4.385948525307591, + "y": 5.8861045884428, + "heading": -0.030814295296223627, + "angularVelocity": -0.5211071972343064, + "velocityX": 0.7538214482915965, + "velocityY": -1.2132891829626955, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.81383778815615, + -60.3100636372535, + -61.81743453658069, + -63.65432325911988 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.291028830775076, + -35.360641520618536, + -32.614062392640484, + -28.895770614725272 + ], + "timestamp": 1.4338408363449147 }, { - "x": 4.40584258476598, - "y": 5.847627176742848, - "heading": -0.04733672158353509, - "angularVelocity": -0.5911321367061623, - "velocityX": 0.707579829086438, - "velocityY": -1.3710780289155786, - "timestamp": 1.3538216463601118, + "x": 4.405743381265775, + "y": 5.847704735957725, + "heading": -0.047404649636477454, + "angularVelocity": -0.5474555851088192, + "velocityX": 0.6531990955997038, + "velocityY": -1.2671347024397894, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.39371246513965, + -60.91584405408609, + -62.43734153909295, + -64.25328643336266 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.415504201475386, + -34.298739192283854, + -31.39913911182419, + -27.52742464166201 + ], + "timestamp": 1.4641453117973957 }, { - "x": 4.422592955723098, - "y": 5.807635111111906, - "heading": -0.06473120794982032, - "angularVelocity": -0.6206901094616508, - "velocityX": 0.5977060410962763, - "velocityY": -1.427042976225914, - "timestamp": 1.3818460761055336, + "x": 4.42245776233494, + "y": 5.807734556740447, + "heading": -0.06482467897363368, + "angularVelocity": -0.5748335543531102, + "velocityX": 0.5515482719829186, + "velocityY": -1.3189530133909995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.009798468639964, + -61.55075696892052, + -63.08540732234857, + -64.86861371823856 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.452918939980485, + -33.1372205284305, + -30.062478174750023, + -26.032097164466748 + ], + "timestamp": 1.4944497872498768 }, { - "x": 4.436231449424729, - "y": 5.766142144918943, - "heading": -0.08298784256354313, - "angularVelocity": -0.6514542768423776, - "velocityX": 0.48666445046428625, - "velocityY": -1.480599839850087, - "timestamp": 1.4098705058509553, + "x": 4.436059162988412, + "y": 5.76626160283, + "heading": -0.08310799473610317, + "angularVelocity": -0.6033206478408999, + "velocityX": 0.4488248171396337, + "velocityY": -1.3685422133595488, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.664281305808544, + -62.214805841958906, + -63.76086309564527, + -65.49698073700391 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.39086879623743, + -31.86339456023416, + -28.586691972862113, + -24.394058707869736 + ], + "timestamp": 1.5247542627023578 }, { - "x": 4.446724054726656, - "y": 5.723222715334596, - "heading": -0.10214308677500623, - "angularVelocity": -0.683519500145881, - "velocityX": 0.37440923498684786, - "velocityY": -1.5315005505636412, - "timestamp": 1.437894935596377, + "x": 4.446513808578709, + "y": 5.723360380748847, + "heading": -0.10229085791511323, + "angularVelocity": -0.6330042969755345, + "velocityX": 0.34498685208034635, + "velocityY": -1.415672815338117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.35913717840848, + -62.90728803297598, + -64.46175570107262, + -66.13348976465464 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.21474227070206, + -30.462664547799665, + -26.951411211699874, + -22.59544846487109 + ], + "timestamp": 1.5550587381548389 }, { - "x": 4.454035609213429, - "y": 5.678959179772936, - "heading": -0.12223631960196876, - "angularVelocity": -0.7169898909449176, - "velocityX": 0.2608993136770921, - "velocityY": -1.579462489112408, - "timestamp": 1.4659193653417988, + "x": 4.453786789549847, + "y": 5.67911331948614, + "heading": -0.12241243814646971, + "angularVelocity": -0.6639804824507911, + "velocityX": 0.2399969266104433, + "velocityY": -1.4600833903919712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.09592575370184, + -63.62649437747121, + -65.18440459312416, + -66.7711433853174 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.907280233850635, + -28.91824949026929, + -25.132775891636832, + -20.61607536778386 + ], + "timestamp": 1.58536321360732 }, { - "x": 4.458130023896409, - "y": 5.633442934952869, - "heading": -0.1433101145106275, - "angularVelocity": -0.7519794372302038, - "velocityX": 0.14610162348255104, - "velocityY": -1.624163104603462, - "timestamp": 1.4939437950872205, + "x": 4.457842287529481, + "y": 5.633611889204529, + "heading": -0.1435150903920659, + "angularVelocity": -0.6963543150148322, + "velocityX": 0.1338250512203607, + "velocityY": -1.5014755940242648, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.87547977436543, + -64.36930207135494, + -65.92263938528598, + -67.4001622637148 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.44805304153677, + -27.210890523556728, + -23.102888284700203, + -18.433274979405503 + ], + "timestamp": 1.615667689059801 }, { - "x": 4.458970636242968, - "y": 5.586775705010787, - "heading": -0.1654105284090244, - "angularVelocity": -0.7886124391882843, - "velocityX": 0.029995698545707234, - "velocityY": -1.6652338822239472, - "timestamp": 1.5219682248326423, + "x": 4.458643929769201, + "y": 5.586957888884517, + "heading": -0.16564464387269923, + "angularVelocity": -0.730240439744078, + "velocityX": 0.02645293237217455, + "velocityY": -1.5395085915004407, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.69744533366038, + -65.13062709790954, + -66.66673727277285, + -68.00711297277151 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.812850546923396, + -25.318561877535362, + -20.829271792851436, + -16.02188024885303 + ], + "timestamp": 1.645972164512282 }, { - "x": 4.4565207406871075, - "y": 5.539071013689049, - "heading": -0.18858739291328477, - "angularVelocity": -0.8270235903032963, - "velocityX": -0.08741999669990082, - "velocityY": -1.7022537748348157, - "timestamp": 1.549992654578064, + "x": 4.456155321028103, + "y": 5.539264917908058, + "heading": -0.18885069327347853, + "angularVelocity": -0.7657631110351215, + "velocityX": -0.08212017215081417, + "velocityY": -1.573792988142953, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.559607597390375, + -65.90269496186892, + -67.40195857263407, + -68.57381528909082 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.97299121242391, + -23.216222608279796, + -18.274424762591465, + -13.354396610823242 + ], + "timestamp": 1.676276639964763 }, { - "x": 4.450744361777594, - "y": 5.490455847567595, - "heading": -0.2128945907543178, - "angularVelocity": -0.8673574471218202, - "velocityX": -0.2061194094576707, - "velocityY": -1.7347423859497373, - "timestamp": 1.5780170843234858, + "x": 4.450340817972535, + "y": 5.490660038523048, + "heading": -0.21318687500928324, + "angularVelocity": -0.8030556996099505, + "velocityX": -0.1918694505926968, + "velocityY": -1.6038845305612601, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.45691169683313, + -66.6740825632039, + -68.10656254778002, + -69.07601390744352 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.894578756189855, + -20.8756712989269, + -15.395634422841082, + -10.401516685970867 + ], + "timestamp": 1.706581115417244 }, { - "x": 4.441607354345094, - "y": 5.441072501173689, - "heading": -0.2383902890539677, - "angularVelocity": -0.9097668902189089, - "velocityX": -0.3260372294994741, - "velocityY": -1.7621534797499967, - "timestamp": 1.6060415140689075, + "x": 4.441166630352014, + "y": 5.441285619994825, + "heading": -0.23871110014032842, + "angularVelocity": -0.8422592620376664, + "velocityX": -0.3027337541250857, + "velocityY": -1.6292781112691481, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.38005796156037, + -67.42848358684213, + -68.74919007886871, + -69.48183754299764 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.53777702078174, + -18.265605142334053, + -12.145337937076542, + -7.1331669947431 + ], + "timestamp": 1.7368855908697252 }, { - "x": 4.429078936103224, - "y": 5.39108056591739, - "heading": -0.26513708408252107, - "angularVelocity": -0.9544099655738234, - "velocityX": -0.44705345856029166, - "velocityY": -1.7838698489293998, - "timestamp": 1.6340659438143292, + "x": 4.428602354194388, + "y": 5.3913013263571505, + "heading": -0.2654856983400201, + "angularVelocity": -0.8835196056000261, + "velocityX": -0.41460134089194794, + "velocityY": -1.6494030301252949, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.31351892920739, + -68.14316236986195, + -69.28555696474102, + -69.75014436365909 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.8562495758431, + -15.352041107263801, + -8.472499656177916, + -3.5203426003455593 + ], + "timestamp": 1.7671900663222062 }, { - "x": 4.413133776945269, - "y": 5.340658976983783, - "heading": -0.29320198612106874, - "angularVelocity": -1.0014441790071809, - "velocityX": -0.5689735456815054, - "velocityY": -1.7992012466138827, - "timestamp": 1.662090373559751, + "x": 4.412623061045016, + "y": 5.340886161846482, + "heading": -0.2935774012714263, + "angularVelocity": -0.9269819890285007, + "velocityX": -0.5272915274322398, + "velocityY": -1.6636210908753837, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.23280585483087, + -68.78710007469651, + -69.65457155383382, + -69.82898608798288 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.79703949175229, + -12.099331905194738, + -4.325717312047185, + 0.4619636069144381 + ], + "timestamp": 1.7974945417746873 }, { - "x": 4.3937547772479375, - "y": 5.290007958751612, - "heading": -0.3226561346138084, - "angularVelocity": -1.0510168720757636, - "velocityX": -0.691503801268173, - "velocityY": -1.8073880072598505, - "timestamp": 1.6901148033051727, + "x": 4.3932120752419, + "y": 5.290240414516373, + "heading": -0.3230570553098914, + "angularVelocity": -0.972782191352918, + "velocityX": -0.6405319845761376, + "velocityY": -1.6712299610508299, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.10083625498451, + -69.31892297535352, + -69.77436806886332, + -69.65463049739164 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.301370269861964, + -8.47209764787623, + 0.3409691839448121, + 4.830434511895782 + ], + "timestamp": 1.8277990172271683 }, { - "x": 4.370936649023499, - "y": 5.23935060545745, - "heading": -0.3535740801853513, - "angularVelocity": -1.10324976645044, - "velocityX": -0.8142227489273355, - "velocityY": -1.8076140622428558, - "timestamp": 1.7181392330505945, + "x": 4.370364552645313, + "y": 5.239587234630158, + "heading": -0.3539989001569719, + "angularVelocity": -1.0210321869982177, + "velocityX": -0.7539322907078025, + "velocityY": -1.6714752237052024, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.86338616137459, + -69.68486370619684, + -69.53944605248209, + -69.15185854775216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.307147202790317, + -4.43847286845076, + 5.558467597685853, + 9.5875376105506 + ], + "timestamp": 1.8581034926796494 }, { - "x": 4.344690344443845, - "y": 5.188933704037928, - "heading": -0.3860324046425531, - "angularVelocity": -1.1582153411169682, - "velocityX": -0.9365508885668746, - "velocityY": -1.7990339813340146, - "timestamp": 1.7461636627960162, + "x": 4.3440919047915045, + "y": 5.189173454569071, + "heading": -0.38647918502127104, + "angularVelocity": -1.0717982865346063, + "velocityX": -0.8669560341014817, + "velocityY": -1.663575406218277, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.44396592891219, + -69.81726926502458, + -68.82116900719657, + -68.23653471218579 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.754304190650378, + 0.024916850219476157, + 11.328483153200837, + 14.714272511908566 + ], + "timestamp": 1.8884079681321304 }, { - "x": 4.315048226527169, - "y": 5.139027274908771, - "heading": -0.42010739431834127, - "angularVelocity": -1.2159030526341073, - "velocityX": -1.0577242136931926, - "velocityY": -1.7808187207559585, - "timestamp": 1.774188092541438, + "x": 4.314426962538789, + "y": 5.139269125737534, + "heading": -0.4205738393591102, + "angularVelocity": -1.1250699386399656, + "velocityX": -0.9788964108364497, + "velocityY": -1.6467643173626294, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73919848647414, + -69.63453451154618, + -67.4750374277156, + -66.82156814396812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.5944315567117942, + 4.92598745560294, + 17.605508751624225, + 20.162460945536377 + ], + "timestamp": 1.9187124435846115 }, { - "x": 4.2820696265426665, - "y": 5.089922231340629, - "heading": -0.45587149477143696, - "angularVelocity": -1.2761758500701854, - "velocityX": -1.1767804120934704, - "velocityY": -1.7522227575803986, - "timestamp": 1.8022125222868597, + "x": 4.281429522836343, + "y": 5.090165172855874, + "heading": -0.45635492923152976, + "angularVelocity": -1.1807196573498258, + "velocityX": -1.0888635823506692, + "velocityY": -1.6203531705624303, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.61703089920785, + -69.04372711201606, + -65.35847370206588, + -64.8270410762154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.194048979596526, + 10.24844827876243, + 24.278642981479297, + 25.848478852455102 + ], + "timestamp": 1.9490169190370925 }, { - "x": 4.245846101927616, - "y": 5.041925630666271, - "heading": -0.4933884602431478, - "angularVelocity": -1.3387235998206146, - "velocityX": -1.292569552498, - "velocityY": -1.7126700207770804, - "timestamp": 1.8302369520322814, + "x": 4.245191591327067, + "y": 5.0421686389155855, + "heading": -0.4938858166581078, + "angularVelocity": -1.2384602229934154, + "velocityX": -1.1957947124377506, + "velocityY": -1.5838100882343618, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.92169795397096, + -67.94734606326305, + -62.360600403862385, + -62.19415482033618 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.585247507814431, + 15.942408911472732, + 31.161098834629765, + 31.651284549424254 + ], + "timestamp": 1.9793213944895736 }, { - "x": 4.20650539300032, - "y": 4.995353304015392, - "heading": -0.5327075685418524, - "angularVelocity": -1.4030297371216962, - "velocityX": -1.4038005156455622, - "velocityY": -1.6618474336123745, - "timestamp": 1.8582613817777032, + "x": 4.205841318155371, + "y": 4.9955953084469344, + "heading": -0.5332153956059982, + "angularVelocity": -1.2978142126090002, + "velocityX": -1.298497089428239, + "velocityY": -1.5368466133551768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.49029418388638, + -66.25520256699261, + -58.4392111978375, + -58.900692178585466 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.483157501375835, + 21.916805528664433, + 37.99793758600645, + 37.41777577770135 + ], + "timestamp": 2.0096258699420546 }, { - "x": 4.164212950532524, - "y": 4.950520223954836, - "heading": -0.5738579425633289, - "angularVelocity": -1.4683750711537225, - "velocityX": -1.50912767367571, - "velocityY": -1.5997856323152906, - "timestamp": 1.886285811523125, + "x": 4.163544499193305, + "y": 4.950760070997066, + "heading": -0.5743724446020404, + "angularVelocity": -1.3581178483217295, + "velocityX": -1.3957284635528378, + "velocityY": -1.4794922789595681, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.18394202348796, + -63.9008833052263, + -53.65154738388261, + -54.97359264938544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.705699321967696, + 28.037338789203258, + 44.499014215187216, + 42.97705868886386 + ], + "timestamp": 2.0399303453945357 }, { - "x": 4.119170145989121, - "y": 4.907729664930321, - "heading": -0.6168445330043962, - "angularVelocity": -1.5338970616552692, - "velocityX": -1.6072692630172125, - "velocityY": -1.5269020427259838, - "timestamp": 1.9143102412685467, + "x": 4.118502757100692, + "y": 4.907966083689794, + "heading": -0.6173616429518156, + "angularVelocity": -1.4185758937548556, + "velocityX": -1.4863066071953779, + "velocityY": -1.4121342365544984, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.929609305353566, + -60.85966473539266, + -48.1615221305643, + -50.49344013279837 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 31.988356289119768, + 34.133673883317655, + 50.39204117227895, + 48.16197145646412 + ], + "timestamp": 2.0702348208470167 }, { - "x": 4.071608923365433, - "y": 4.867262744975817, - "heading": -0.6616471382328869, - "angularVelocity": -1.598698194235669, - "velocityX": -1.6971343594050328, - "velocityY": -1.4439872754632914, - "timestamp": 1.9423346710139684, + "x": 4.070948167085431, + "y": 4.867494324967954, + "heading": -0.6621626147993365, + "angularVelocity": -1.4783615680057265, + "velocityX": -1.5692266341923364, + "velocityY": -1.3355043477094137, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.75794158895834, + -57.16217368780631, + -42.21413044519476, + -45.58752924753544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.01735843400395, + 40.017419804054924, + 55.47644638105998, + 52.8325045738354 + ], + "timestamp": 2.1005392962994978 }, { - "x": 4.021783518702593, - "y": 4.829370015961046, - "heading": -0.708222820088443, - "angularVelocity": -1.6619671578924535, - "velocityX": -1.7779275123691076, - "velocityY": -1.3521320276271316, - "timestamp": 1.9703591007593901, + "x": 4.021134961350593, + "y": 4.829595207071862, + "heading": -0.7087323509031371, + "angularVelocity": -1.5367280049715561, + "velocityX": -1.6437573985713323, + "velocityY": -1.2506112490056172, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.81627800853847, + -52.8975977304853, + -36.08548897808752, + -40.41245300573412 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.48838281477228, + 45.50796619939891, + 59.65513903619869, + 56.89402628629821 + ], + "timestamp": 2.130843771751979 }, { - "x": 3.969960602751049, - "y": 4.79426629105861, - "heading": -0.7565108155122148, - "angularVelocity": -1.7230679040546606, - "velocityX": -1.8492050122807404, - "velocityY": -1.2526115685965424, - "timestamp": 1.9983835305048119, + "x": 3.9693296736756256, + "y": 4.794483431185774, + "heading": -0.7570101082391528, + "angularVelocity": -1.5930900177341047, + "velocityX": -1.7094929676707535, + "velocityY": -1.1586333490954897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.344364290054116, + -48.20335127892987, + -30.030237564272067, + -35.131488591278405 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.168823950630504, + 50.45884772418691, + 62.9336328994707, + 60.305037165223 + ], + "timestamp": 2.16114824720446 }, { - "x": 3.9164094697061533, - "y": 4.762129052357968, - "heading": -0.8064383857566846, - "angularVelocity": -1.7815731023973904, - "velocityX": -1.9108732463554607, - "velocityY": -1.1467579891038302, - "timestamp": 2.0264079602502334, + "x": 3.9158013473423825, + "y": 4.762336420314302, + "heading": -0.8069232375978245, + "angularVelocity": -1.6470547209087352, + "velocityX": -1.766350531860491, + "velocityY": -1.0608007692421602, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -41.621196258223755, + -43.24374077066979, + -24.245979143518756, + -29.893697675679906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.9361925246211, + 54.77617054468866, + 65.39384257304336, + 63.07357945876916 + ], + "timestamp": 2.191452722656941 }, { - "x": 3.8613936225255663, - "y": 4.733099950552934, - "heading": -0.8579262476213516, - "angularVelocity": -1.8372492262069025, - "velocityX": -1.9631388642109393, - "velocityY": -1.0358498663037214, - "timestamp": 2.054432389995655, + "x": 3.8608131512700585, + "y": 4.73329583514425, + "heading": -0.8583925932626195, + "angularVelocity": -1.698407739988823, + "velocityX": -1.8145239358638072, + "velocityY": -0.9582936096548171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.90770147734899, + -38.184814186203475, + -18.8613253333801, + -24.81985396620306 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.779466879149396, + 58.42404744842871, + 67.15902253906324, + 65.24559835972163 + ], + "timestamp": 2.221757198109422 }, { - "x": 3.805164500168681, - "y": 4.7072884154222505, - "heading": -0.910892878375897, - "angularVelocity": -1.8900163619991934, - "velocityX": -2.006432347336878, - "velocityY": -0.9210369440220643, - "timestamp": 2.082456819741077, + "x": 3.8046161414913247, + "y": 4.70747118918373, + "heading": -0.9113368216152766, + "angularVelocity": -1.7470762176918868, + "velocityX": -1.854412885874036, + "velocityY": -0.8521726766401756, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -30.407823709993494, + -33.17321274565878, + -13.94219336183619, + -19.99674262583503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.77152169568986, + 61.41769098217021, + 68.3635416145066, + 66.89028596298766 + ], + "timestamp": 2.252061673561903 }, { - "x": 3.747957470865572, - "y": 4.684776320796834, - "heading": -0.9652575650457059, - "angularVelocity": -1.9399034044105279, - "velocityX": -2.041327150018244, - "velocityY": -0.8033025053469364, - "timestamp": 2.1104812494864986, + "x": 3.7474452852035127, + "y": 4.6849445085653505, + "heading": -0.9656753997008748, + "angularVelocity": -1.793087564600941, + "velocityX": -1.8865482881384597, + "velocityY": -0.7433450103337247, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -25.25534237697502, + -28.323661426303413, + -9.506844609286137, + -15.47835401638123 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.03146062366021, + 63.80907423816297, + 69.13326000282754, + 68.08663080598738 + ], + "timestamp": 2.282366149014384 }, { - "x": 3.689989792880342, - "y": 4.665622858433567, - "heading": -1.0209423751702893, - "angularVelocity": -1.987009570950461, - "velocityX": -2.0684694929322522, - "velocityY": -0.683455918184957, - "timestamp": 2.1385056792319204, + "x": 3.689517445191862, + "y": 4.665775194643614, + "heading": -1.0213305990608283, + "angularVelocity": -1.8365339946973787, + "velocityX": -1.9115275597653718, + "velocityY": -0.6325571928077397, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -20.52027432488392, + -23.71547092383873, + -5.542064341249565, + -11.291180195070945 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.69221502409354, + 65.67095740963241, + 69.576003330713, + 68.91340143850817 + ], + "timestamp": 2.312670624466865 }, { - "x": 3.631460063326017, - "y": 4.6498690821793875, - "heading": -1.077873311902558, - "angularVelocity": -2.0314752967120566, - "velocityX": -2.088525264778511, - "velocityY": -0.562144400342476, - "timestamp": 2.166530108977342, + "x": 3.6310308444594965, + "y": 4.650004554459755, + "heading": -1.0782286359675521, + "angularVelocity": -1.877545677896419, + "velocityX": -1.9299657842312918, + "velocityY": -0.5204063079261506, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -16.22437756930785, + -19.395581790065012, + -2.01656775939531, + -7.440997894029679 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.87961890293475, + 67.08336985048967, + 69.77902896562671, + 69.44296835710057 + ], + "timestamp": 2.342975099919346 }, { - "x": 3.572548670883797, - "y": 4.637541856462143, - "heading": -1.1359808949883092, - "angularVelocity": -2.073461747968023, - "velocityX": -2.1021441998063306, - "velocityY": -0.4398742750245512, - "timestamp": 2.194554538722764, + "x": 3.572165527955165, + "y": 4.6376597357571, + "heading": -1.1363002486527993, + "angularVelocity": -1.9162718317400524, + "velocityX": -1.9424628087239388, + "velocityY": -0.4073595902364167, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -12.35766741885866, + -15.384937499120923, + 1.1094323046796777, + -3.9193860234638658 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.70223699522583, + 68.12422379904672, + 69.81033231727669, + 69.73831305404357 + ], + "timestamp": 2.373279575371827 }, { - "x": 3.5134188516985927, - "y": 4.628657132170972, - "heading": -1.1952003568393965, - "angularVelocity": -2.1131370874998674, - "velocityX": -2.1099383545837274, - "velocityY": -0.3170349716972457, - "timestamp": 2.2225789684681856, + "x": 3.5130844223598245, + "y": 4.628756991075184, + "heading": -1.1954808904059036, + "angularVelocity": -1.9528680457083845, + "velocityX": -1.9495835091414855, + "velocityY": -0.29377656431884014, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -8.891950852657674, + -11.68561824769648, + 3.878096464136991, + -0.7091206789300771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.2485262194632, + 68.86394449445618, + 69.72155930422437, + 69.8522353428386 + ], + "timestamp": 2.4035840508243083 }, { - "x": 3.45421805464654, - "y": 4.623222581268303, - "heading": -1.2554715918974453, - "angularVelocity": -2.1506676712268407, - "velocityX": -2.112471068629758, - "velocityY": -0.19392190856467523, - "timestamp": 2.2506033982136073, + "x": 3.453934701789817, + "y": 4.623304302825694, + "heading": -1.255710676665069, + "angularVelocity": -1.9874881633773434, + "velocityX": -1.9518476953266353, + "velocityY": -0.17993013137739372, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -5.790394363231538, + -8.287234339567451, + 6.33039890878487, + 2.2117776368195634 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.58797765413004, + 69.3631638193374, + 69.55124354514618, + 69.82785431768211 + ], + "timestamp": 2.4338885262767893 }, { - "x": 3.3950794189302482, - "y": 4.621239671353537, - "heading": -1.3167389565753878, - "angularVelocity": -2.186212716351497, - "velocityX": -2.1102529562069527, - "velocityY": -0.07075647685889055, - "timestamp": 2.278627827959029, + "x": 3.3948492637171523, + "y": 4.621303450579673, + "heading": -1.3169341833604236, + "angularVelocity": -2.020279373960996, + "velocityX": -1.9497264740752158, + "velocityY": -0.06602497539234502, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.013610996313895, + -5.171975621412837, + 8.504290959389824, + 4.867229054216356 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.77391746428104, + 69.67238796966257, + 69.32776114441377, + 69.69973807094894 + ], + "timestamp": 2.4641930017292704 }, { - "x": 3.3361232418560975, - "y": 4.622705275847479, - "heading": -1.3789509864906324, - "angularVelocity": -2.219921350064421, - "velocityX": -2.103742256656607, - "velocityY": 0.052297388644645955, - "timestamp": 2.306652257704451, + "x": 3.3359481939323627, + "y": 4.62275161597086, + "heading": -1.379100163161671, + "angularVelocity": -2.051379503292404, + "velocityX": -1.9436426107143645, + "velocityY": 0.04778717894192236, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.5231846416291386, + -2.3182661215447586, + 10.43393394205146, + 7.281264742464254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.84665771675773, + 69.8327496150092, + 69.07178821257445, + 69.49523991076322 + ], + "timestamp": 2.4944974771817514 }, { - "x": 3.2774583674363726, - "y": 4.627612911455795, - "heading": -1.442060075578285, - "angularVelocity": -2.251931249304374, - "velocityX": -2.0933476596185394, - "velocityY": 0.1751199097679249, - "timestamp": 2.3346766874498726, + "x": 3.277340151838969, + "y": 4.627642616513755, + "heading": -1.4421612241229065, + "angularVelocity": -2.0809157729893286, + "velocityX": -1.9339731580338415, + "velocityY": 0.1613953209837451, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.7165067279962736, + 0.29676930692387493, + 12.149550830487673, + 9.476921954875154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.83638420083122, + 69.87723716277021, + 68.79824202871414, + 69.2358055339082 + ], + "timestamp": 2.5248019526342325 }, { - "x": 3.219183461263326, - "y": 4.635953682667193, - "heading": -1.5060221459927505, - "angularVelocity": -2.2823683120585914, - "velocityX": -2.0794323632067755, - "velocityY": 0.2976250110052724, - "timestamp": 2.3627011171952943, + "x": 3.219123641927064, + "y": 4.635967847732618, + "heading": -1.5060734995230403, + "angularVelocity": -2.109004509923015, + "velocityX": -1.921053212196053, + "velocityY": 0.27471952886691403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.7375157002122097, + 2.695746454542657, + 13.677608238283165, + 11.475640702071427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.76556519212383, + 69.83203783416857, + 68.51776822401943, + 68.93813923552855 + ], + "timestamp": 2.5551064280867135 }, { "x": 3.1613881587982178, "y": 4.647716999053955, "heading": -1.5707963267948966, - "angularVelocity": -2.3113469708594327, - "velocityX": -2.0623185909625006, - "velocityY": 0.41975221239546007, - "timestamp": 2.390725546940716, + "angularVelocity": -2.135751446130294, + "velocityX": -1.9051800853434553, + "velocityY": 0.38770350405035975, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 5.568154204795038, + 4.9001096559571735, + 15.041154000832051, + 13.29699075177293 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.65086022000047, + 69.71780400675597, + 68.23785940414461, + 68.61519049296885 + ], + "timestamp": 2.5854109035391946 }, { - "x": 3.10814561374089, - "y": 4.661599970136062, - "heading": -1.6316805279181992, - "angularVelocity": -2.337024785845805, - "velocityX": -2.0437017348473057, - "velocityY": 0.532894362108114, - "timestamp": 2.4167775603776476, + "x": 3.108185221527127, + "y": 4.661593272885322, + "heading": -1.6316515247604821, + "angularVelocity": -2.1594633414292974, + "velocityX": -1.8879207780780738, + "velocityY": 0.4924033715479536, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.2538904655756165, + 6.910932898821231, + 16.274290554004168, + 14.936159324507924 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.49236508875862, + 69.54372106966952, + 67.9502598998558, + 68.27296899712108 + ], + "timestamp": 2.6135916078827592 }, { - "x": 3.055428663680876, - "y": 4.678424323710771, - "heading": -1.6931889627653025, - "angularVelocity": -2.3609858407297932, - "velocityX": -2.0235269027336233, - "velocityY": 0.6457985911698438, - "timestamp": 2.442829573814579, + "x": 3.0555092479169175, + "y": 4.67841350425895, + "heading": -1.6931302518214228, + "angularVelocity": -2.1815894418898742, + "velocityX": -1.8692213284668544, + "velocityY": 0.5968705099973275, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.295627172110974, + 8.322194061749228, + 16.7007063366619, + 15.842926163080705 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.3682965804274, + 69.38128745936949, + 67.83813253770288, + 68.05974633388993 + ], + "timestamp": 2.641772312226324 }, { - "x": 3.0032829116143174, - "y": 4.698182352912261, - "heading": -1.7552708867676743, - "angularVelocity": -2.3829990780811756, - "velocityX": -2.001601611053657, - "velocityY": 0.7584069941204404, - "timestamp": 2.4688815872515106, + "x": 3.0034058243619723, + "y": 4.698169583105865, + "heading": -1.7551818150553982, + "angularVelocity": -2.201916690139263, + "velocityX": -1.8489042331847503, + "velocityY": 0.7010498604314854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.537082555093805, + 9.863564199601926, + 17.22139240410499, + 16.79225700920491 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.20020626888221, + 69.17017244797493, + 67.69837160037534, + 67.82210865718163 + ], + "timestamp": 2.6699530165698886 }, { - "x": 2.951759926605772, - "y": 4.720864384158654, - "heading": -1.817868495309071, - "angularVelocity": -2.4027934997397216, - "velocityX": -1.9776968537679434, - "velocityY": 0.8706440790575167, - "timestamp": 2.494933600688442, + "x": 2.9519264854749574, + "y": 4.720851382327109, + "heading": -1.817748480216974, + "angularVelocity": -2.2201952229012933, + "velocityX": -1.826758418079426, + "velocityY": 0.8048698479895433, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 11.009188452793946, + 11.556522352812538, + 17.861499115534304, + 17.79484940835413 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.97188813115714, + 68.89736654807294, + 67.5218480239717, + 67.5549797256842 + ], + "timestamp": 2.6981337209134533 }, { - "x": 2.900918437449139, - "y": 4.746458145818845, - "heading": -1.8809155732314475, - "angularVelocity": -2.4200462691683855, - "velocityX": -1.951537806461976, - "velocityY": 0.9824101205132756, - "timestamp": 2.5209856141253737, + "x": 2.901129900040144, + "y": 4.7464461177808515, + "heading": -1.8807641258873575, + "angularVelocity": -2.2361274190356895, + "velocityX": -1.8025307251205933, + "velocityY": 0.9082361867789278, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 12.749856576175906, + 13.429010261309632, + 18.651524927902805, + 18.864991319735932 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.6606684832061, + 68.5451357378985, + 67.29626315310382, + 67.25135786871068 + ], + "timestamp": 2.726314425257018 }, { - "x": 2.850825842782793, - "y": 4.774947883106229, - "heading": -1.944335714599795, - "angularVelocity": -2.4343662159500172, - "velocityX": -1.9227916793305875, - "velocityY": 1.0935714184376848, - "timestamp": 2.5470376275623052, + "x": 2.8510833700745755, + "y": 4.774937452909107, + "heading": -1.9441524699460973, + "angularVelocity": -2.2493527232655888, + "velocityX": -1.7759148016822406, + "velocityY": 1.0110228183406351, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 14.805969879633219, + 15.517837709199926, + 19.628494636963328, + 20.021815510087507 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.2344487041549, + 68.0886681035604, + 67.00479309380141, + 66.90144641718224 + ], + "timestamp": 2.7544951296005826 }, { - "x": 2.801560136398716, - "y": 4.806313093575505, - "heading": -2.0080399486258997, - "angularVelocity": -2.4452710413465035, - "velocityX": -1.8910517800605635, - "velocityY": 1.2039457351427163, - "timestamp": 2.5730896409992368, + "x": 2.80186474009233, + "y": 4.80630422235369, + "heading": -2.0078247052989973, + "angularVelocity": -2.259426683472514, + "velocityX": -1.7465365443743757, + "velocityY": 1.1130583913792398, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 17.235794533196103, + 17.872109919198298, + 20.837411970553607, + 21.291065793774326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.64716284171081, + 67.4922617815083, + 66.62405840316912, + 66.49131630788537 + ], + "timestamp": 2.7826758339441473 }, { - "x": 2.753212376704843, - "y": 4.84052668356083, - "heading": -2.0719235447338953, - "angularVelocity": -2.4521558098625915, - "velocityX": -1.855816626646186, - "velocityY": 1.313280068281472, - "timestamp": 2.5991416544361683, + "x": 2.7535648429892494, + "y": 4.8405185752793445, + "heading": -2.0716763193116954, + "angularVelocity": -2.2657919842688092, + "velocityX": -1.7139350569181273, + "velocityY": 1.2141056699126636, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 20.111627853535712, + 20.558116854188764, + 22.33299068583468, + 22.70762242709875 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.83172232939705, + 66.70296779857262, + 66.1210590988091, + 66.00079210515909 + ], + "timestamp": 2.810856538287712 }, { - "x": 2.7058898612562734, - "y": 4.877552222226872, - "heading": -2.1358616797226424, - "angularVelocity": -2.454249271117854, - "velocityX": -1.816462883497472, - "velocityY": 1.421216012945561, - "timestamp": 2.6251936678731, + "x": 2.7062906395325994, + "y": 4.877543216440918, + "heading": -2.1355827820611224, + "angularVelocity": -2.267738306690716, + "velocityX": -1.6775380373856947, + "velocityY": 1.313829516472996, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.521994787868092, + 23.66621323946093, + 24.18155903333317, + 24.319166516887993 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.689010872087, + 65.63965628026335, + 65.44852232641247, + 65.40000668166525 + ], + "timestamp": 2.8390372426312767 }, { - "x": 2.659720184999156, - "y": 4.917339761356798, - "heading": -2.1997035219581984, - "angularVelocity": -2.450553097943996, - "velocityX": -1.7722114403511053, - "velocityY": 1.5272347078372241, - "timestamp": 2.6512456813100314, + "x": 2.6601692241125128, + "y": 4.917327216758852, + "heading": -2.1993936617514307, + "angularVelocity": -2.264346515699484, + "velocityX": -1.6366310386638336, + "velocityY": 1.4117461307179084, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.571466866010503, + 27.32003045986246, + 26.46275515475543, + 26.191561265608005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 64.07087598772038, + 64.1736181133508, + 64.53783758175037, + 64.64359266439178 + ], + "timestamp": 2.8672179469748413 }, { - "x": 2.6148563151123536, - "y": 4.959819338743969, - "heading": -2.263264109416659, - "angularVelocity": -2.4397572038847217, - "velocityX": -1.7220883904196647, - "velocityY": 1.6305679209787758, - "timestamp": 2.677297694746963, + "x": 2.615352820989959, + "y": 4.9597995200202645, + "heading": -2.262924550289382, + "angularVelocity": -2.2544109530909897, + "velocityX": -1.5903223204138341, + "velocityY": 1.507141295817621, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.37332655834013, + 31.68700454712973, + 29.269985430400947, + 28.416791376004312 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.754805181959455, + 62.09319582630642, + 63.28843199085655, + 63.66052054571002 + ], + "timestamp": 2.895398651318406 }, { - "x": 2.57148256826981, - "y": 5.004890715522668, - "heading": -2.326313161086277, - "angularVelocity": -2.4201220309611453, - "velocityX": -1.664890391199128, - "velocityY": 1.7300534904071132, - "timestamp": 2.7033497081838944, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "x": 2.5720246462173453, + "y": 5.004858715971104, + "heading": -2.3259459521622383, + "angularVelocity": -2.2363316794545516, + "velocityX": -1.5375121304414001, + "velocityY": 1.598937890320315, + "moduleForcesX": [ + 38.02433969549961, + 36.98361675189609, + 32.707210392358036, + 31.12451908527445 + ], + "moduleForcesY": [ + 58.40992978870107, + 59.038392442219845, + 61.55226752078608, + 62.335606092199306 + ], + "timestamp": 2.9235793556619707 }, { - "x": 2.5298205674140557, - "y": 5.052407085126601, - "heading": -2.3885596943982783, - "angularVelocity": -2.3893175651351455, - "velocityX": -1.5991854509290115, - "velocityY": 1.8239039266181656, - "timestamp": 2.729401721620826, + "x": 2.5304047063947626, + "y": 5.052356860521208, + "heading": -2.3881680453282987, + "angularVelocity": -2.2079679914128647, + "velocityX": -1.4768949461012062, + "velocityY": 1.685484648326409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 44.54075705762021, + 43.44908931822235, + 36.87679664506169, + 34.49788189076758 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 53.56383095971628, + 54.38302129883973, + 59.1128565398128, + 60.474498248939376 + ], + "timestamp": 2.9517600600055354 }, { - "x": 2.490132038202787, - "y": 5.102149807083195, - "heading": -2.4496314755140496, - "angularVelocity": -2.3442249967978706, - "velocityX": -1.5234342369484943, - "velocityY": 1.9093619031408002, - "timestamp": 2.7554537350577575, + "x": 2.490752422014333, + "y": 5.102074479046572, + "heading": -2.449220434793151, + "angularVelocity": -2.1664607357053005, + "velocityX": -1.4070721546562297, + "velocityY": 1.764243289281663, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.72659874963324, + 51.20097116851405, + 41.84830397766024, + 38.790487817518716 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.609873515707804, + 47.05209251223105, + 55.66189899396466, + 57.73513211136444 + ], + "timestamp": 2.9799407643491 }, { - "x": 2.452710284842023, - "y": 5.153792814807895, - "heading": -2.5090526704829195, - "angularVelocity": -2.2808676616384806, - "velocityX": -1.4364246146023367, - "velocityY": 1.9823038956169858, - "timestamp": 2.781505748494689, + "x": 2.4533580640078463, + "y": 5.153685506769632, + "heading": -2.5086303887940833, + "angularVelocity": -2.1081784641233994, + "velocityX": -1.3269490198184202, + "velocityY": 1.83143143243845, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.974550078066045, + 59.75470602296251, + 47.59257395468554, + 44.32446532812842 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.95470539980517, + 35.404780398835946, + 50.78805454197, + 53.492246386976475 + ], + "timestamp": 3.0081214686926647 }, { - "x": 2.417845697613634, - "y": 5.206866100215564, - "heading": -2.5662496521434983, - "angularVelocity": -2.195491791797435, - "velocityX": -1.3382684341380409, - "velocityY": 2.037204745658009, - "timestamp": 2.8075577619316205, + "x": 2.418508728890223, + "y": 5.206721463548811, + "heading": -2.565828862173778, + "angularVelocity": -2.0297034695215745, + "velocityX": -1.2366381866385763, + "velocityY": 1.8819954296596613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.14399837468471, + 67.03403181914928, + 53.86951906944724, + 51.382532333890374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.429310784692767, + 17.89948116098355, + 44.01725077746314, + 46.58833030167728 + ], + "timestamp": 3.0363021730362294 }, { - "x": 2.3857600871145697, - "y": 5.260751237983873, - "heading": -2.6206772315252245, - "angularVelocity": -2.08918898009516, - "velocityX": -1.231598109556386, - "velocityY": 2.0683674948483968, - "timestamp": 2.833609775368552, + "x": 2.3864237470638274, + "y": 5.2605671024352745, + "heading": -2.6202731855088235, + "angularVelocity": -1.9319717020301566, + "velocityX": -1.1385443541520843, + "velocityY": 1.9107272206544537, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.87046162554932, + 69.2198742680153, + 60.100146347974146, + 59.70135455578984 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.831500691570918, + -4.305411202173186, + 34.97228693710161, + 35.038425085913005 + ], + "timestamp": 3.064482877379794 }, { - "x": 2.356544218134567, - "y": 5.314735552674231, - "heading": -2.6720662793567067, - "angularVelocity": -1.9725557088280796, - "velocityX": -1.1214438012912034, - "velocityY": 2.0721743761203633, - "timestamp": 2.8596617888054836, + "x": 2.3571929374847502, + "y": 5.314514017031777, + "heading": -2.671687682481483, + "angularVelocity": -1.8244574850166917, + "velocityX": -1.0372632714467167, + "velocityY": 1.9143210169202782, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.39824574980199, + 64.4391178393077, + 65.35574586567506, + 67.07811055597607 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.067887956676885, + -25.737498280666653, + 23.68454844486218, + 16.569043623327147 + ], + "timestamp": 3.0926635817233588 }, { - "x": 2.330129430188581, - "y": 5.368102945953001, - "heading": -2.7204400842018184, - "angularVelocity": -1.8568163632426362, - "velocityX": -1.0139250085193388, - "velocityY": 2.04849400250616, - "timestamp": 2.885713802242415, + "x": 2.3307490507149717, + "y": 5.367850936178513, + "heading": -2.7200847175276457, + "angularVelocity": -1.717382023392003, + "velocityX": -0.9383685534395148, + "velocityY": 1.892675161574316, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.12480288777331, + 55.610858089518615, + 68.65406955464766, + 68.60766002717858 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.44333630535355, + -41.62457545812811, + 10.889827283559294, + -7.729564581380426 + ], + "timestamp": 3.1208442860669234 }, { - "x": 2.306309859520889, - "y": 5.420242360939423, - "heading": -2.7658578652974755, - "angularVelocity": -1.7433501332096546, - "velocityX": -0.9143082443649937, - "velocityY": 2.0013583638224843, - "timestamp": 2.9117658156793467, + "x": 2.306890270566454, + "y": 5.419969954627309, + "heading": -2.765520834943455, + "angularVelocity": -1.6123130515786614, + "velocityX": -0.8466353380541353, + "velocityY": 1.8494576222577463, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.16791391283515, + 46.474413003611815, + 69.4970202961764, + 62.030222895856205 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.339310042053, + -51.7333325665575, + -2.08108191483473, + -30.466574670653106 + ], + "timestamp": 3.149024990410488 }, { - "x": 2.2848243549194245, - "y": 5.470705057059815, - "heading": -2.808343758268873, - "angularVelocity": -1.6308103430948317, - "velocityX": -0.8247157039696784, - "velocityY": 1.9369979307953407, - "timestamp": 2.937817829116278, + "x": 2.2853597733484414, + "y": 5.470422594202238, + "heading": -2.8080233202365656, + "angularVelocity": -1.5082123134660639, + "velocityX": -0.7640155815668817, + "velocityY": 1.790325712226186, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.594067950252395, + 38.66541006347669, + 68.15306624996389, + 51.79744963862425 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.72114684659206, + -57.88542583205651, + -13.90970247067551, + -45.94341589163301 + ], + "timestamp": 3.177205694754053 }, { - "x": 2.2654228000679097, - "y": 5.519181079523684, - "heading": -2.8479456215051604, - "angularVelocity": -1.5201075852411496, - "velocityX": -0.7447238156269963, - "velocityY": 1.8607399608947834, - "timestamp": 2.9638698425532097, + "x": 2.2659105609853487, + "y": 5.518897618264718, + "heading": -2.8476426689182115, + "angularVelocity": -1.405903422378187, + "velocityX": -0.6901606193364819, + "velocityY": 1.7201494849631138, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.07175677894405, + 32.39135727315273, + 65.38123639795018, + 42.322717788600436 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.01319288342034, + -61.67830423942064, + -23.84893134181381, + -54.95512736830392 + ], + "timestamp": 3.2053863990976175 }, { - "x": 2.247888448425393, - "y": 5.565455623210483, - "heading": -2.8847464453032123, - "angularVelocity": -1.412590389112856, - "velocityX": -0.6730516888826009, - "velocityY": 1.7762367503310765, - "timestamp": 2.9899218559901413, + "x": 2.248327893009022, + "y": 5.5651785685370765, + "heading": -2.884462867797081, + "angularVelocity": -1.3065748261639112, + "velocityX": -0.623925781341993, + "velocityY": 1.6422921765234857, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.91347891198986, + 27.4094503812168, + 61.95675993348544, + 34.85382760500512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.721146785626026, + -64.09546382358559, + -31.78339541593253, + -60.089358969916326 + ], + "timestamp": 3.233567103441182 }, { - "x": 2.232039117701984, - "y": 5.609376329385158, - "heading": -2.9188471410259273, - "angularVelocity": -1.308946650333392, - "velocityX": -0.6083725836308177, - "velocityY": 1.6858852879451771, - "timestamp": 3.015973869427073, + "x": 2.232430872400275, + "y": 5.609111506058861, + "heading": -2.918584848083935, + "angularVelocity": -1.2108278015643743, + "velocityX": -0.5641101235419373, + "velocityY": 1.55897230197574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 46.21911007131184, + 23.426590005778245, + 58.41818446145035, + 29.193401350672563 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -52.27335132688548, + -65.69295170278593, + -37.96298521796956, + -63.12133852647417 + ], + "timestamp": 3.261747807784747 }, { - "x": 2.2177225834921717, - "y": 5.650832312921057, - "heading": -2.9503511401259157, - "angularVelocity": -1.209273101914099, - "velocityX": -0.5495365739954405, - "velocityY": 1.591277527791001, - "timestamp": 3.0420258828640043, + "x": 2.2180681177387984, + "y": 5.650584152122666, + "heading": -2.950111648710374, + "angularVelocity": -1.1187371416299583, + "velocityX": -0.5096662768386963, + "velocityY": 1.471668186791612, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 42.9863092819125, + 20.201251650989143, + 55.05655078723537, + 24.890510230172367 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.99057572018311, + -66.78478942206799, + -42.74560011109294, + -65.00435814454416 + ], + "timestamp": 3.2899285121283115 }, { - "x": 2.2048112517628295, - "y": 5.689740878391115, - "heading": -2.9793561711588477, - "angularVelocity": -1.1133508395866407, - "velocityX": -0.4955982293115555, - "velocityY": 1.4934955244149806, - "timestamp": 3.068077896300936, + "x": 2.205112602186797, + "y": 5.689512611939707, + "heading": -2.9791404772237278, + "angularVelocity": -1.0300959180952132, + "velocityX": -0.4597300122117168, + "velocityY": 1.3813870420854406, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 40.172279719523914, + 17.552562030739384, + 51.99473710283351, + 21.56446501604868 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.10166953554667, + -67.55315142279363, + -46.464360767677796, + -66.23284792014884 + ], + "timestamp": 3.318109216471876 }, { - "x": 2.1931974509149272, - "y": 5.726038957702259, - "heading": -3.0059510066505495, - "angularVelocity": -1.0208360883923002, - "velocityX": -0.4457928319444466, - "velocityY": 1.3932926681086102, - "timestamp": 3.0941299097378674, + "x": 2.193457044307204, + "y": 5.725832790798517, + "heading": -3.0057595771158634, + "angularVelocity": -0.94458603900063, + "velocityX": -0.4136006587164834, + "velocityY": 1.2888314790153153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 37.723281863991836, + 15.348433071250627, + 49.26292618756846, + 18.94091108682691 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -58.767484044576854, + -68.10746039755159, + -49.38629182480442, + -67.0703123220427 + ], + "timestamp": 3.346289920815441 }, { - "x": 2.1827895833104405, - "y": 5.7596774671860915, - "heading": -3.0302147916610416, - "angularVelocity": -0.931359300471352, - "velocityX": -0.399503386933393, - "velocityY": 1.2912057475045753, - "timestamp": 3.120181923174799, + "x": 2.1830101197834697, + "y": 5.759494724590329, + "heading": -3.030047601212392, + "angularVelocity": -0.8618671769314669, + "velocityX": -0.3707119735678196, + "velocityY": 1.1945029258823405, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 35.58713624102764, + 13.492422731933559, + 46.84724143667396, + 16.82893061284596 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.10123040364695, + -68.51579291842802, + -51.712311373508115, + -67.66346172459087 + ], + "timestamp": 3.3744706251590055 }, { - "x": 2.1735090671525814, - "y": 5.7906175048600845, - "heading": -3.0522175233133915, - "angularVelocity": -0.8445693345589079, - "velocityX": -0.3562302844779268, - "velocityY": 1.1876255840606498, - "timestamp": 3.1462339366117305, + "x": 2.1736934411421127, + "y": 5.790458752510241, + "heading": -3.052074103924761, + "angularVelocity": -0.7816164721730671, + "velocityX": -0.3306048893517168, + "velocityY": 1.09876699824154, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.71769182056099, + 11.91343550850929, + 44.71625749111484, + 15.095427993762556 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.18333649852329, + -68.82191868740836, + -53.589813873431474, + -68.09776015272955 + ], + "timestamp": 3.40265132950257 }, { - "x": 2.165287928866771, - "y": 5.818827731905624, - "heading": -3.0720209570909076, - "angularVelocity": -0.7601498373804071, - "velocityX": -0.31556633062986994, - "velocityY": 1.082842487926418, - "timestamp": 3.172285950048662, + "x": 2.1654391745998707, + "y": 5.818692877697493, + "heading": -3.071900447493023, + "angularVelocity": -0.7035432232831756, + "velocityX": -0.29290490548461096, + "velocityY": 1.0018956532468513, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.07578511965468, + 10.558357642544498, + 42.83404796011619, + 13.646277947836888 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.07169018968533, + -69.05483078093086, + -55.126231261293604, + -68.42512567798003 + ], + "timestamp": 3.430832033846135 }, { - "x": 2.15806690849839, - "y": 5.844282532149564, - "heading": -3.0896796043938592, - "angularVelocity": -0.6778227466257346, - "velocityX": -0.27717705527303127, - "velocityY": 0.9770761214123779, - "timestamp": 3.1983379634855935, + "x": 2.15818816166946, + "y": 5.844170909601824, + "heading": -3.0895807949250123, + "angularVelocity": -0.6273919635378775, + "velocityX": -0.25730417671648464, + "velocityY": 0.9040949294139726, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 30.62880563161759, + 9.386935405470256, + 41.166024528876676, + 12.41369401198484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.808564676677285, + -69.23425260988475, + -56.400129260647965, + -68.67829818387514 + ], + "timestamp": 3.4590127381896996 }, { - "x": 2.151793962845926, - "y": 5.866960693109083, - "heading": -3.1052416789306485, - "angularVelocity": -0.5973463269724832, - "velocityX": -0.2407854451499951, - "velocityY": 0.8704955190668501, - "timestamp": 3.224389976922525, + "x": 2.151888433260581, + "y": 5.866871131139792, + "heading": -3.1051630505899435, + "angularVelocity": -0.5529406034341869, + "velocityX": -0.22354758532913763, + "velocityY": 0.8055235689362858, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.349807334417473, + 8.368227513091785, + 39.681184866987934, + 11.347943447861788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.425289328266246, + -69.37392279998289, + -57.46945049573408, + -68.87861060242322 + ], + "timestamp": 3.4871934425332642 }, { - "x": 2.1464230753720366, - "y": 5.8868444435667495, - "heading": -3.1187499404873535, - "angularVelocity": -0.5185112309805378, - "velocityX": -0.2061601682684892, - "velocityY": 0.7632327729986262, - "timestamp": 3.2504419903594566, + "x": 2.1464940271533135, + "y": 5.8867753250317225, + "heading": -3.1186896983318513, + "angularVelocity": -0.4799967941538346, + "velocityX": -0.19142197588470167, + "velocityY": 0.7063057633077613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.216560242576453, + 7.478132509099609, + 38.352672537528875, + 10.411893951176781 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.94541915460509, + -69.48361388883292, + -58.377401044734846, + -69.0403642063486 + ], + "timestamp": 3.515374146876829 }, { - "x": 2.1419133029864885, - "y": 5.90391873943064, - "heading": -3.1302424255201187, - "angularVelocity": -0.4411361548153143, - "velocityX": -0.17310648163399853, - "velocityY": 0.6553925632360712, - "timestamp": 3.276494003796388, + "x": 2.141964040082967, + "y": 5.903868050552187, + "heading": -3.130198527000848, + "angularVelocity": -0.4083939325535254, + "velocityX": -0.16074782997329776, + "velocityY": 0.6065400393148409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.210690879211114, + 6.697646659432581, + 37.15760037283036, + 9.577377073395729 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.38690789889434, + -69.57040744268548, + -59.15659339980533, + -69.17338453459683 + ], + "timestamp": 3.5435548512203936 }, { - "x": 2.1382280065351003, - "y": 5.918170725554471, - "heading": -3.139753071131935, - "angularVelocity": -0.36506374583446893, - "velocityX": -0.1414591797409874, - "velocityY": 0.5470589119083662, - "timestamp": 3.3025460172333196, + "x": 2.138261862002224, + "y": 5.918136097934882, + "heading": -3.139723250061058, + "angularVelocity": -0.33798740244707204, + "velocityX": -0.13137280160238285, + "velocityY": 0.5063055631522426, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 26.31695439065903, + 6.0116207757680575, + 36.07659553611826, + 8.822722535208243 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.76361658395057, + -69.63951995235462, + -59.831955987589986, + -69.28456526447967 + ], + "timestamp": 3.5717355555639583 }, { - "x": 2.135334224654641, - "y": 5.9295893243238895, - "heading": -3.1473122451070203, - "angularVelocity": -0.2901569966323474, - "velocityX": -0.11107709150637847, - "velocityY": 0.43830004913290593, - "timestamp": 3.328598030670251, + "x": 2.1353545526578306, + "y": 5.929568070890122, + "heading": -3.1472940319086296, + "angularVelocity": -0.2686512641867228, + "velocityX": -0.10316666712614439, + "velocityY": 0.4056666865336309, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.52263775319678, + 5.407861093607301, + 35.093277843299205, + 8.13105694871171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.08637470272, + -69.69485011745009, + -60.42278541586264, + -69.37882934226079 + ], + "timestamp": 3.599916259907523 }, { - "x": 2.133202160318781, - "y": 5.9381649169747, - "heading": -3.1529471958838693, - "angularVelocity": -0.2162961719058987, - "velocityX": -0.08183875465217869, - "velocityY": 0.32917197250689534, - "timestamp": 3.3546500441071827, + "x": 2.1332123301241612, + "y": 5.938154062926258, + "heading": -3.1529379346967326, + "angularVelocity": -0.200275433832152, + "velocityX": -0.07601735242501921, + "velocityY": 0.304676275350026, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.81707808029761, + 4.876470188059885, + 34.19376252487267, + 7.489109707274255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.36373679874626, + -69.73934909563606, + -60.94420545213015, + -69.4597438959309 + ], + "timestamp": 3.6280969642510876 }, { - "x": 2.131804756638863, - "y": 5.943889093714475, - "heading": -3.156682435526014, - "angularVelocity": -0.14337623658866083, - "velocityX": -0.053638989681216866, - "velocityY": 0.2197210881082821, - "timestamp": 3.3807020575441142, + "x": 2.1318081480719493, + "y": 5.943885403331479, + "heading": -3.156679298636291, + "angularVelocity": -0.13276332251832323, + "velocityX": -0.04982778411400237, + "velocityY": 0.20337818158650567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.191276467507578, + 4.40935744551698, + 33.36622128195192, + 6.886361214804645 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.60252905303796, + -69.77527572342512, + -61.40821429307362, + -69.52992355957504 + ], + "timestamp": 3.6562776685946523 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -0.07130472670475889, - "velocityX": -0.026386165427844832, - "velocityY": 0.10998619584120908, - "timestamp": 3.4067540709810458, + "angularVelocity": -0.06602988219409292, + "velocityX": -0.024513374858901666, + "velocityY": 0.10180910313487344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.637588935488733, + 3.999870801396503, + 32.60050919882265, + 6.314426202245476 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.80824926694498, + -69.80437544536804, + -61.82444420571596, + -69.59130116130751 + ], + "timestamp": 3.684458372938217 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -1.1257235159322888e-32, - "velocityX": -4.497825258620012e-34, - "velocityY": 8.02311483706782e-33, - "timestamp": 3.4328060844179773, + "angularVelocity": -4.96572927581281e-19, + "velocityX": 1.5959442979672463e-18, + "velocityY": 8.845539849416068e-19, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.149478697989796, + 3.6425162589989872, + 31.88785383771478, + 5.766601183017061 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.98536321352, + -69.82800767416529, + -62.200718440966405, + -69.6453133535377 + ], + "timestamp": 3.7126390772817817 } ], "eventMarkers": [] diff --git a/src/main/deploy/choreo/test.traj b/src/main/deploy/choreo/test.traj index 43454f70..ff9b8214 100644 --- a/src/main/deploy/choreo/test.traj +++ b/src/main/deploy/choreo/test.traj @@ -3,11 +3,10 @@ { "x": 2.1199185848236084, "y": 5.957952976226807, - "heading": 9.721358924197938e-33, - "angularVelocity": 0, - "velocityX": 7.529723953218568e-33, - "velocityY": 4.103114367587547e-33, - "timestamp": 0, + "heading": -1.5178284843215764e-20, + "angularVelocity": -2.7117318720620675e-19, + "velocityX": -9.796115109371808e-19, + "velocityY": 3.980511574488688e-18, "moduleForcesX": [ 0, 0, @@ -19,2527 +18,2528 @@ 0, 0, 0 - ] + ], + "timestamp": 0 }, { - "x": 2.12408359184855, - "y": 5.959490957092025, - "heading": 0.0006587462568403469, - "angularVelocity": 0.020752025490549227, - "velocityX": 0.13120732156333928, - "velocityY": 0.04844994227681366, - "timestamp": 0.031743708928096186, + "x": 2.1240905424532652, + "y": 5.959489503565915, + "heading": 0.0006594208409320807, + "angularVelocity": 0.01920785114076541, + "velocityX": 0.12152230585064276, + "velocityY": 0.044756529626173124, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.20743364262925, + 65.03025590810928, + 66.22989088519049, + 66.78504846630928 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.697955490952328, + 25.723347795310406, + 22.42759771725216, + 20.738449547838435 + ], + "timestamp": 0.034330797135998826 }, { - "x": 2.132419910947834, - "y": 5.962549984290152, - "heading": 0.0019689340924026384, - "angularVelocity": 0.04127393678319714, - "velocityX": 0.26261326671585045, - "velocityY": 0.0963664077520038, - "timestamp": 0.06348741785619237, + "x": 2.1324405283773884, + "y": 5.962545453819303, + "heading": 0.00197092779877055, + "angularVelocity": 0.03820205376073952, + "velocityX": 0.2432214402434645, + "velocityY": 0.08901483531776912, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.33645627762745, + 65.13067571771013, + 66.31633449281948, + 66.85076931107669 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.38610907258916, + 25.457062843473647, + 22.1571358903912, + 20.511844774368296 + ], + "timestamp": 0.06866159427199765 }, { - "x": 2.144934423626495, - "y": 5.967111326975421, - "heading": 0.003922497731913535, - "angularVelocity": 0.06154175757899709, - "velocityX": 0.3942359951387039, - "velocityY": 0.1436928084112908, - "timestamp": 0.09523112678428855, + "x": 2.1449751643647583, + "y": 5.967101909476203, + "heading": 0.003926422727990329, + "angularVelocity": 0.05696037063961074, + "velocityX": 0.36511345593616634, + "velocityY": 0.13272210484512442, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.47745668748246, + 65.2398780190929, + 66.41092272094684, + 66.92222810961387 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 27.04037081830145, + 25.163635290415616, + 21.856862967226835, + 20.262113486413284 + ], + "timestamp": 0.10299239140799649 }, { - "x": 2.161634668441711, - "y": 5.9731541575830684, - "heading": 0.006510477776343394, - "angularVelocity": 0.0815273366540852, - "velocityX": 0.5260962054889244, - "velocityY": 0.19036309277324892, - "timestamp": 0.12697483571238474, + "x": 2.161701699519593, + "y": 5.973137837062834, + "heading": 0.006516911132900143, + "angularVelocity": 0.07545669256230182, + "velocityX": 0.48721662618477074, + "velocityY": 0.17581670366456492, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.63201884681433, + 65.3593084299052, + 66.51455530679625, + 67.00028750472005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.655203730462077, + 24.83798716533927, + 21.52241562538904, + 19.985194877162865 + ], + "timestamp": 0.1373231885439953 }, { - "x": 2.182528936666272, - "y": 5.980655180863507, - "heading": 0.00972285754365477, - "angularVelocity": 0.10119736715669446, - "velocityX": 0.6582176100432996, - "velocityY": 0.2362995230780409, - "timestamp": 0.15871854464048094, + "x": 2.18262810052247, + "y": 5.9806297132178345, + "heading": 0.00973233803752894, + "angularVelocity": 0.0936601294718305, + "velocityX": 0.6095518528153934, + "velocityY": 0.21822610542143736, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.80201408708052, + 65.49068753942412, + 66.62829031488457, + 67.08597012747774 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 26.223772873681284, + 24.47383311589942, + 21.148422498380796, + 19.67607540118368 + ], + "timestamp": 0.17165398567999413 }, { - "x": 2.2076263864352867, - "y": 5.98958817047729, - "heading": 0.013548358655846408, - "angularVelocity": 0.12051210275577494, - "velocityX": 0.7906275169629459, - "velocityY": 0.2814097632390032, - "timestamp": 0.19046225356857713, + "x": 2.2077631589588185, + "y": 5.98955105772412, + "heading": 0.01356138301057283, + "angularVelocity": 0.11153382072299174, + "velocityX": 0.7321431639579529, + "velocityY": 0.25986418174164866, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 64.98966187496976, + 65.63607487564173, + 66.75337651863275, + 67.18049496615569 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.737546831877253, + 24.06330093523448, + 20.728197036288822, + 19.328491234701964 + ], + "timestamp": 0.20598478281599295 }, { - "x": 2.2369371796137325, - "y": 5.999923382651596, - "heading": 0.017974182463991455, - "angularVelocity": 0.139423651412969, - "velocityX": 0.9233575460523492, - "velocityY": 0.32558300599701506, - "timestamp": 0.22220596249667332, + "x": 2.237116619497471, + "y": 5.999871842849606, + "heading": 0.0179912009102765, + "angularVelocity": 0.12903335399278043, + "velocityX": 0.8550183213739508, + "velocityY": 0.3006275993127318, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.19760321976479, + 65.79794899696836, + 66.89129155023659, + 67.28532222803032 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 25.18574333334941, + 23.596400087689826, + 20.25331199636359, + 18.93451310998173 + ], + "timestamp": 0.24031557995199176 }, { - "x": 2.270472646569135, - "y": 6.0116268035707865, - "heading": 0.022985678275806047, - "angularVelocity": 0.15787366949359927, - "velocityX": 1.0564445078350972, - "velocityY": 0.36868473516117956, - "timestamp": 0.2539496714247695, + "x": 2.2706993334227707, + "y": 6.011557735483579, + "heading": 0.023007089276588077, + "angularVelocity": 0.14610462863537718, + "velocityX": 0.9782095589643559, + "velocityY": 0.3403909494929491, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.42898697522055, + 65.97930665286111, + 67.04378510633943, + 67.40220776596189 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.554543859317832, + 23.060262717881237, + 19.712999126732903, + 18.483955731362663 + ], + "timestamp": 0.2746463770879906 }, { - "x": 2.3082454850008034, - "y": 6.024659167637654, - "heading": 0.02856591078801465, - "angularVelocity": 0.17579018648543426, - "velocityX": 1.1899314764141191, - "velocityY": 0.41054950750668673, - "timestamp": 0.2856933803528657, + "x": 2.3085234426752606, + "y": 6.02456910897665, + "heading": 0.028592054721350235, + "angularVelocity": 0.16268091366005127, + "velocityX": 1.1017544714342642, + "velocityY": 0.37900004015424, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.68756567934437, + 66.18378238431038, + 67.21292387559689, + 67.53326675814299 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 23.8259581135559, + 22.43803591196146, + 19.093284904828803, + 17.963519293256997 + ], + "timestamp": 0.30897717422398946 }, { - "x": 2.350269999641707, - "y": 6.03897465321323, - "heading": 0.034695085760854436, - "angularVelocity": 0.1930831392993197, - "velocityX": 1.323869077053848, - "velocityY": 0.4509707926064986, - "timestamp": 0.31743708928096187, + "x": 2.350602599723297, + "y": 6.038859731023892, + "heading": 0.03472623728144673, + "angularVelocity": 0.17867871042424094, + "velocityX": 1.2256970579898063, + "velocityY": 0.4162624593489693, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.97778841539856, + 66.41578447634723, + 67.40112868630143, + 67.68104231611154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 22.97614463453766, + 21.70722497684217, + 18.37571774881763, + 17.35551080489583 + ], + "timestamp": 0.3433079713599883 }, { - "x": 2.3965623891443495, - "y": 6.054519113336024, - "heading": 0.0413497715036912, - "angularVelocity": 0.20963793984853818, - "velocityX": 1.458316972585085, - "velocityY": 0.48968632361146647, - "timestamp": 0.34918079820905806, + "x": 2.396952227277539, + "y": 6.054374984810341, + "heading": 0.041386130200759666, + "angularVelocity": 0.19399179380922285, + "velocityX": 1.3500888828951425, + "velocityY": 0.4519339800059657, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.30485597807213, + 66.68062771547972, + 67.61118008520802, + 67.84856417359302 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 21.97286334642089, + 20.83714634837422, + 17.535445138663125, + 16.63588619487533 + ], + "timestamp": 0.37763876849598715 }, { - "x": 2.4471410825572004, - "y": 6.071227617313664, - "heading": 0.04850181812451799, - "angularVelocity": 0.2253059539144659, - "velocityX": 1.5933454256218078, - "velocityY": 0.5263563881424058, - "timestamp": 0.38092450713715426, + "x": 2.447589816608065, + "y": 6.071049399108999, + "heading": 0.0485434969460075, + "angularVelocity": 0.2084823931379885, + "velocityX": 1.4749901999050463, + "velocityY": 0.4856984308462963, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.67465015497625, + 66.98460218466148, + 67.84613521509056, + 68.03935577377268 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 20.77150005596315, + 19.784887016527513, + 16.538223449549154, + 15.771156254967684 + ], + "timestamp": 0.411969565631986 }, { - "x": 2.5020271147547666, - "y": 6.089020938374403, - "heading": 0.05611681521560166, - "angularVelocity": 0.23988996082133435, - "velocityX": 1.7290365256905385, - "velocityY": 0.5605306267468754, - "timestamp": 0.41266821606525045, + "x": 2.50253524784926, + "y": 6.088803122663224, + "heading": 0.05616382591906999, + "angularVelocity": 0.22196772602963857, + "velocityX": 1.6004705927314447, + "velocityY": 0.5171369451136703, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.09331812869632, + 67.33480822071097, + 68.10901917588943, + 68.25727912011503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 19.30866165081074, + 18.488661702072754, + 15.335612705867268, + 14.713316180181062 + ], + "timestamp": 0.44630036276798485 }, { - "x": 2.561244492876039, - "y": 6.107800369655392, - "heading": 0.06415181877617589, - "angularVelocity": 0.2531211327187972, - "velocityX": 1.8654839059735924, - "velocityY": 0.5915953716537398, - "timestamp": 0.44441192499334664, + "x": 2.5618110741834017, + "y": 6.107536726372186, + "heading": 0.06420405338304129, + "angularVelocity": 0.23419868266153474, + "velocityX": 1.7266079228899, + "velocityY": 0.5456792522103749, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.56596297749746, + 67.73829243273512, + 68.40195642845269, + 68.50592407504001 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.49148414755277, + 16.856436842101136, + 13.856958992617065, + 13.391178606722999 + ], + "timestamp": 0.4806311599039837 }, { - "x": 2.6248204026171256, - "y": 6.127439774433694, - "heading": 0.07255187184184077, - "angularVelocity": 0.26462103356269817, - "velocityX": 2.0027876983466375, - "velocityY": 0.6186865190448766, - "timestamp": 0.47615563392144283, + "x": 2.625442600780978, + "y": 6.1271232436368805, + "heading": 0.07260907875106769, + "angularVelocity": 0.24482464927133912, + "velocityX": 1.8534823512982852, + "velocityY": 0.5705232298308672, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.09302114437389, + 68.19918557322396, + 68.72389254013876, + 68.7867401276707 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 15.179071821072112, + 14.745521126614777, + 11.995430241008034, + 11.694812357383569 + ], + "timestamp": 0.5149619570399825 }, { - "x": 2.6927848123865834, - "y": 6.14777283178745, - "heading": 0.08124443551167423, - "angularVelocity": 0.2738357918264941, - "velocityX": 2.141035564665967, - "velocityY": 0.6405381740302919, - "timestamp": 0.507899342849539, + "x": 2.693457283500248, + "y": 6.147395423899793, + "heading": 0.08130618884791904, + "angularVelocity": 0.2533325999509542, + "velocityX": 1.9811565239757667, + "velocityY": 0.5904954721151802, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.6604826409098, + 68.71003684438185, + 69.0646253843257, + 69.09359195948814 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 12.148914870609879, + 11.92398818556269, + 9.582479506138572, + 9.445947744661394 + ], + "timestamp": 0.5492927541759813 }, { - "x": 2.7651681706057807, - "y": 6.1685714629691, - "heading": 0.09012999755945103, - "angularVelocity": 0.27991568559003044, - "velocityX": 2.280242626441548, - "velocityY": 0.655204822749479, - "timestamp": 0.5396430517776352, + "x": 2.765882080335776, + "y": 6.168124227133716, + "heading": 0.09019565983991693, + "angularVelocity": 0.2589357583741191, + "velocityX": 2.1096159389664138, + "velocityY": 0.6037961528189344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21289716514161, + 69.22539395541027, + 69.38856916211596, + 69.39647787507012 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 8.033719938362479, + 7.993604033373698, + 6.338557531651389, + 6.337807554619031 + ], + "timestamp": 0.5836235513119802 }, { - "x": 2.8419931281714104, - "y": 6.189507110191248, - "heading": 0.09906528191141717, - "angularVelocity": 0.28148205278115124, - "velocityX": 2.420163243672891, - "velocityY": 0.65952114384502, - "timestamp": 0.5713867607057314, + "x": 2.842734572762996, + "y": 6.18898036656024, + "heading": 0.0991339695263516, + "angularVelocity": 0.260358349706424, + "velocityX": 2.238587473596208, + "velocityY": 0.6075052479528107, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.5751655066476, + 69.57666717920691, + 69.58754264011381, + 69.58914858955033 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 2.2001106034362548, + 2.2283062594531042, + 1.7726560083554228, + 1.8033831247027776 + ], + "timestamp": 0.617954348447979 }, { - "x": 2.923246509702383, - "y": 6.21007727563667, - "heading": 0.10783160033295475, - "angularVelocity": 0.27615923650876134, - "velocityX": 2.559668806030865, - "velocityY": 0.6480076254481864, - "timestamp": 0.6031304696338275, + "x": 2.9239939219493367, + "y": 6.209461767209831, + "heading": 0.1079022087222234, + "angularVelocity": 0.2554044743306453, + "velocityX": 2.366952007098431, + "velocityY": 0.5965897199665499, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.21283527814761, + 69.17471396563033, + 69.3305046871984, + 69.30052412449801 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.471430667899699, + -6.762359522411538, + -5.029873168991403, + -5.292719069542716 + ], + "timestamp": 0.6522851455839779 }, { - "x": 3.0087812329232086, - "y": 6.229466168623038, - "heading": 0.11607630855981195, - "angularVelocity": 0.2597273130727852, - "velocityX": 2.694540937688452, - "velocityY": 0.6107948201729568, - "timestamp": 0.6348741785619237, + "x": 3.00950166718468, + "y": 6.228757364222435, + "heading": 0.11614785910525105, + "angularVelocity": 0.240182316488695, + "velocityX": 2.4907008391506746, + "velocityY": 0.5620491984548348, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 66.48791647903086, + 65.91504118497275, + 67.53713079444167, + 67.1175212709934 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -19.82646048179456, + -21.533827649507987, + -15.82367260713622, + -17.356614398727814 + ], + "timestamp": 0.6866159427199767 }, { - "x": 3.0979818735027176, - "y": 6.246361893248638, - "heading": 0.12324903142117805, - "angularVelocity": 0.22595730314988358, - "velocityX": 2.810025784370449, - "velocityY": 0.5322542700937218, - "timestamp": 0.6666178874900199, + "x": 3.0986312119022137, + "y": 6.245573129269948, + "heading": 0.1233217976756876, + "angularVelocity": 0.20896510331576448, + "velocityX": 2.5961979375093764, + "velocityY": 0.4898157470942687, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 56.858871717522625, + 53.01788966332176, + 60.52118849594493, + 57.2712931684477 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.47512135804582, + -44.38236754593689, + -33.451856205947344, + -38.574896728542356 + ], + "timestamp": 0.7209467398559756 }, { - "x": 3.1891159324545155, - "y": 6.259285555621032, - "heading": 0.12873166157260418, - "angularVelocity": 0.1727154871488241, - "velocityX": 2.8709329195972866, - "velocityY": 0.40712515357501006, - "timestamp": 0.6983615964181161, + "x": 3.189664879324751, + "y": 6.25846120684219, + "heading": 0.12880930102232513, + "angularVelocity": 0.15984200206302293, + "velocityX": 2.651661919235826, + "velocityY": 0.3754086315323676, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.750552382924674, + 22.042924384307877, + 38.74366324858003, + 25.15755237279677 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.32625068839681, + -65.46419116757232, + -57.02192372103007, + -64.08524397055733 + ], + "timestamp": 0.7552775369919744 }, { - "x": 3.2799147655356333, - "y": 6.267810501767619, - "heading": 0.13233373871668666, - "angularVelocity": 0.1134737327714805, - "velocityX": 2.860372531980369, - "velocityY": 0.26855545348842214, - "timestamp": 0.7301053053462123, + "x": 3.280369797053239, + "y": 6.266994731755817, + "heading": 0.1324204673237153, + "angularVelocity": 0.10518737118409427, + "velocityX": 2.642085978055375, + "velocityY": 0.2485676309764849, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.638611020582371, + -10.67286361619108, + 2.083456482695454, + -15.714675392154005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -69.11687929447591, + -68.41523453228433, + -68.95914043408075, + -67.23944575775617 + ], + "timestamp": 0.7896083341279733 }, { - "x": 3.368930673043237, - "y": 6.2722939827484225, - "heading": 0.13423316054281098, - "angularVelocity": 0.05983616566124247, - "velocityX": 2.8042062667984893, - "velocityY": 0.14123998525071657, - "timestamp": 0.7618490142743085, + "x": 3.369310233708164, + "y": 6.2715126653214925, + "heading": 0.13432942745872825, + "angularVelocity": 0.05560488815481697, + "velocityX": 2.5906895287806986, + "velocityY": 0.1316000192997998, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -18.500935019032195, + -29.834192417264337, + -25.22168757098834, + -37.3598915526662 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -66.86252845012577, + -62.695053907961785, + -64.4679013116996, + -58.397834369685086 + ], + "timestamp": 0.8239391312639721 }, { - "x": 3.455418033445333, - "y": 6.273149165824332, - "heading": 0.13460089895534874, - "angularVelocity": 0.011584607626349263, - "velocityX": 2.7245512047125473, - "velocityY": 0.026940238075252306, - "timestamp": 0.7935927232024047, + "x": 3.4557394322415638, + "y": 6.27241599737361, + "heading": 0.13470596757598882, + "angularVelocity": 0.010967998085478445, + "velocityX": 2.517541267422858, + "velocityY": 0.026312586000806198, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -31.47635480411271, + -39.907639493456955, + -39.29540262490187, + -47.179061295883066 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.975002419306286, + -56.97802935875674, + -57.22696827675744, + -51.03677286394395 + ], + "timestamp": 0.858269928399971 }, { - "x": 3.53897038421859, - "y": 6.270691577134489, - "heading": 0.1335628529939654, - "angularVelocity": -0.03270084046371159, - "velocityX": 2.6320916362516953, - "velocityY": -0.07741970843436734, - "timestamp": 0.8253364321305009, + "x": 3.539247415691431, + "y": 6.270013676781026, + "heading": 0.1336754911276736, + "angularVelocity": -0.03001609441904524, + "velocityX": 2.4324510473513503, + "velocityY": -0.06997567178729008, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -39.10385159893205, + -45.624069903582665, + -46.66688446671502, + -52.23513547583587 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.58450666694686, + -52.629300140832484, + -51.566691422584576, + -46.01549906070549 + ], + "timestamp": 0.8926007255359698 }, { - "x": 3.619343411211179, - "y": 6.2651515676417615, - "heading": 0.13121159908477192, - "angularVelocity": -0.07406991774402583, - "velocityX": 2.531935608867881, - "velocityY": -0.17452306865816167, - "timestamp": 0.8570801410585971, + "x": 3.6195865664722082, + "y": 6.2645323793939465, + "heading": 0.1313302657325232, + "angularVelocity": -0.06831258201957759, + "velocityX": 2.340148131793142, + "velocityY": -0.1596612326059745, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -43.88358387792639, + -49.18246595525607, + -50.93271740300171, + -55.19661579277835 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.11892878690326, + -49.40635033209185, + -47.484620004209376, + -42.53707099583864 + ], + "timestamp": 0.9269315226719687 }, { - "x": 3.696377587829814, - "y": 6.256700197632999, - "heading": 0.12761684069301102, - "angularVelocity": -0.11324317520377067, - "velocityX": 2.42675412608914, - "velocityY": -0.26623763555482466, - "timestamp": 0.8888238499866933, + "x": 3.6965946477149063, + "y": 6.256140969068639, + "heading": 0.12773977617540969, + "angularVelocity": -0.10458509142360081, + "velocityX": 2.243119521449984, + "velocityY": -0.244428065333415, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.080455993219424, + -51.572573618965784, + -53.63373111051735, + -57.10696303117783 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -51.429858960765856, + -46.97149199102845, + -44.50606262348179, + -40.02463804173147 + ], + "timestamp": 0.9612623198079675 }, { - "x": 3.7699618707808793, - "y": 6.245468037234803, - "heading": 0.1228324760673318, - "angularVelocity": -0.15071851359642613, - "velocityX": 2.318074523608403, - "velocityY": -0.35383894250147446, - "timestamp": 0.9205675589147895, + "x": 3.7701584426756636, + "y": 6.24496861884857, + "heading": 0.12295775748724648, + "angularVelocity": -0.13929238721779807, + "velocityX": 2.14279309243359, + "velocityY": -0.32543229846403215, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -49.33823974888955, + -53.27578449390745, + -55.46697398416175, + -58.42962156214053 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -49.32139265056159, + -45.08175035493465, + -42.27256901544603, + -38.136417670075964 + ], + "timestamp": 0.9955931169439663 }, { - "x": 3.8400150685867502, - "y": 6.2315574365397515, - "heading": 0.11690123481863413, - "angularVelocity": -0.18684777075463518, - "velocityX": 2.2068372024374066, - "velocityY": -0.438215985616424, - "timestamp": 0.9523112678428857, + "x": 3.8401950083753045, + "y": 6.231116742846834, + "heading": 0.11702681298174897, + "angularVelocity": -0.17275871812712484, + "velocityX": 2.0400506700207837, + "velocityY": -0.4034825042617307, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -51.00386455946747, + -54.54690428043461, + -56.7784289761054, + -59.39528468894767 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -47.63986400837724, + -43.57632953848604, + -40.552122696833955, + -36.66884032214732 + ], + "timestamp": 1.0299239140799652 }, { - "x": 3.906475492488988, - "y": 6.215050519883858, - "heading": 0.10985775018096655, - "angularVelocity": -0.22188600121123825, - "velocityX": 2.0936565431839025, - "velocityY": -0.5200059228516231, - "timestamp": 0.9840549767709819, + "x": 3.906641226892983, + "y": 6.214666811137069, + "heading": 0.1099814752334787, + "angularVelocity": -0.20521917158989028, + "velocityX": 1.9354697257525264, + "velocityY": -0.47915961999367995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.27623291017308, + -55.53109686215956, + -57.75504162693947, + -60.129754630147566 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -46.27531799168469, + -42.34876910772125, + -39.1958269556462, + -35.49596782785945 + ], + "timestamp": 1.064254711215964 }, { - "x": 3.9692948172312557, - "y": 6.196014512598508, - "heading": 0.10173064016138685, - "angularVelocity": -0.2560226984814519, - "velocityX": 1.9789535269668237, - "velocityY": -0.5996781071948685, - "timestamp": 1.015798685699078, + "x": 3.9694475904635653, + "y": 6.195685575453716, + "heading": 0.10185027997838428, + "angularVelocity": -0.2368484257118565, + "velocityX": 1.829446701216422, + "velocityY": -0.5528923668203768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -53.275936354759445, + -56.31627560654493, + -58.5052374724595, + -60.706774730098815 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -45.15016125318441, + -41.327082864385225, + -38.10594705484294, + -34.53662272619875 + ], + "timestamp": 1.0985855083519627 }, { - "x": 4.028434236538794, - "y": 6.174505389403469, - "heading": 0.09254395303933619, - "angularVelocity": -0.2894018195183511, - "velocityX": 1.8630280236469257, - "velocityY": -0.6775869588445468, - "timestamp": 1.047542394627174, + "x": 4.028574301177489, + "y": 6.174228657566913, + "heading": 0.09265720676792004, + "angularVelocity": -0.26777919469934186, + "velocityX": 1.7222644286323032, + "velocityY": -0.6250049424079317, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.07969746069281, + -56.95844245124601, + -59.095666058104136, + -61.17214695886769 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.20913664099934, + -40.46133220435036, + -37.21643876710898, + -33.73647685484354 + ], + "timestamp": 1.1329163054879614 }, { - "x": 4.083861945125214, - "y": 6.150570441683336, - "heading": 0.08231819631194325, - "angularVelocity": -0.3221349071262287, - "velocityX": 1.7461005804951526, - "velocityY": -0.7540060228735362, - "timestamp": 1.07928610355527, + "x": 4.083988711914462, + "y": 6.150343079254084, + "heading": 0.08242270455962232, + "angularVelocity": -0.29811431898171525, + "velocityX": 1.6141311988024838, + "velocityY": -0.6957478504855763, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -54.73837734990431, + -57.494804008162475, + -59.569307733660494, + -61.555688207951505 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -43.41223899656707, + -39.71598709098088, + -36.48137430480536, + -33.05795713699173 + ], + "timestamp": 1.1672471026239601 }, { - "x": 4.135551426431915, - "y": 6.124250129459578, - "heading": 0.07107108601922003, - "angularVelocity": -0.35430989863852635, - "velocityX": 1.6283378046271129, - "velocityY": -0.8291505029665418, - "timestamp": 1.1110298124833662, + "x": 4.13566358355021, + "y": 6.124069090163556, + "heading": 0.07116443864272094, + "angularVelocity": -0.327934882266282, + "velocityX": 1.5052045378101826, + "velocityY": -0.7653183521036747, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.28689926110773, + -57.95096913439125, + -59.95500629579599, + -61.87757597875207 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.72996657264737, + -39.06517064196295, + -35.867963324196104, + -32.47433156207773 + ], + "timestamp": 1.2015778997599589 }, { - "x": 4.183480250707313, - "y": 6.0955794475298, - "heading": 0.05881810384556654, - "angularVelocity": -0.38599718140717787, - "velocityX": 1.50986843988397, - "velocityY": -0.9031925662724984, - "timestamp": 1.1427735214114623, + "x": 4.183575860038958, + "y": 6.095441517842054, + "heading": 0.05889784597076922, + "angularVelocity": -0.35730579232863585, + "velocityX": 1.3956062918943792, + "velocityY": -0.8338743842182675, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -55.74997950779216, + -58.345101168137255, + -60.272778347579354, + -62.15191332033851 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -42.14016156901713, + -38.489633599544064, + -35.35223697758305, + -31.966112215561353 + ], + "timestamp": 1.2359086968959576 }, { - "x": 4.227629208104442, - "y": 6.064588953496888, - "heading": 0.04557291906848408, - "angularVelocity": -0.4172538504270615, - "velocityX": 1.3907939206829834, - "velocityY": -0.9762719946527232, - "timestamp": 1.1745172303395583, + "x": 4.227705783945927, + "y": 6.064490784678283, + "heading": 0.04563655576919846, + "angularVelocity": -0.3862797053338778, + "velocityX": 1.285432544200825, + "velocityY": -0.9015442618812103, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.14557633180338, + -58.69041842812603, + -60.53691602694078, + -62.38882987790957 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.625889953509926, + -37.974782671311466, + -34.91630425629124, + -31.51879153502562 + ], + "timestamp": 1.2702394940319564 }, { - "x": 4.267981668593037, - "y": 6.031305555215571, - "heading": 0.031347713474676034, - "angularVelocity": -0.44812676508695654, - "velocityX": 1.2711955171966314, - "velocityY": -1.0485037635868417, - "timestamp": 1.2062609392676544, + "x": 4.268036242757101, + "y": 6.031243687525352, + "heading": 0.03139271340686883, + "angularVelocity": -0.41489984359826365, + "velocityX": 1.1747603369478106, + "velocityY": -0.9684335910181919, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.487041762358004, + -58.996756948597486, + -60.75787662850635, + -62.595771788874416 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -41.173997866050605, + -37.509364997001356, + -34.54656040170151, + -31.121373304951614 + ], + "timestamp": 1.304570291167955 }, { - "x": 4.3045230996015675, - "y": 5.99575312358408, - "heading": 0.016153435256918744, - "angularVelocity": -0.47865478643897924, - "velocityX": 1.1511393042098552, - "velocityY": -1.1199835442045625, - "timestamp": 1.2380046481957505, + "x": 4.304552275849609, + "y": 5.995724004844339, + "heading": 0.016177233457616628, + "angularVelocity": -0.44320205816885766, + "velocityX": 1.06365235120676, + "velocityY": -1.0346302924545403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -56.78450756551545, + -59.27157918537438, + -60.94347529855445, + -62.77832192549877 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.774112313649084, + -37.08457069981131, + -34.23248730148395, + -30.76539297044608 + ], + "timestamp": 1.3389010883039538 }, { "x": 4.337240695953369, "y": 5.957952976226807, - "heading": 0, - "angularVelocity": -0.5088704440149149, - "velocityX": 1.030679698642281, - "velocityY": -1.1907917705171907, - "timestamp": 1.2697483571238466, + "heading": -3.748903775736303e-19, + "angularVelocity": -0.4712163656885612, + "velocityX": 0.952160241845464, + "velocityY": -1.100208319308874, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.04580327156505, + -59.52064378970076, + -61.09966170200846, + -62.94073766862328 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.417937718287426, + -36.6934079772902, + -33.96583153475084, + -30.444248160560935 + ], + "timestamp": 1.3732318854399526 }, { - "x": 4.3631357670929365, - "y": 5.922844781507193, - "heading": -0.015001401099503393, - "angularVelocity": -0.5352972829698707, - "velocityX": 0.924017772165235, - "velocityY": -1.252771065764447, - "timestamp": 1.2977727868692683, + "x": 4.363104361732285, + "y": 5.922872680704654, + "heading": -0.015022415029525421, + "angularVelocity": -0.495716055309433, + "velocityX": 0.8534602692421129, + "velocityY": -1.1575945466260031, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.26791598336375, + -59.73292648961242, + -61.22565539935248, + -63.073877443826795 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -40.09005684153832, + -36.333966587385966, + -33.72210673134822, + -30.15095224369312 + ], + "timestamp": 1.4035363608924336 }, { - "x": 4.386013063556468, - "y": 5.886050856639685, - "heading": -0.030770580548153122, - "angularVelocity": -0.5626940348795785, - "velocityX": 0.8163340582253283, - "velocityY": -1.3129232316856283, - "timestamp": 1.32579721661469, + "x": 4.385948525307591, + "y": 5.8861045884428, + "heading": -0.030814295296223627, + "angularVelocity": -0.5211071972343064, + "velocityX": 0.7538214482915965, + "velocityY": -1.2132891829626955, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.81383778815615, + -60.3100636372535, + -61.81743453658069, + -63.65432325911988 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -39.291028830775076, + -35.360641520618536, + -32.614062392640484, + -28.895770614725272 + ], + "timestamp": 1.4338408363449147 }, { - "x": 4.40584258476598, - "y": 5.847627176742848, - "heading": -0.04733672158353509, - "angularVelocity": -0.5911321367061623, - "velocityX": 0.707579829086438, - "velocityY": -1.3710780289155786, - "timestamp": 1.3538216463601118, + "x": 4.405743381265775, + "y": 5.847704735957725, + "heading": -0.047404649636477454, + "angularVelocity": -0.5474555851088192, + "velocityX": 0.6531990955997038, + "velocityY": -1.2671347024397894, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -58.39371246513965, + -60.91584405408609, + -62.43734153909295, + -64.25328643336266 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -38.415504201475386, + -34.298739192283854, + -31.39913911182419, + -27.52742464166201 + ], + "timestamp": 1.4641453117973957 }, { - "x": 4.422592955723098, - "y": 5.807635111111906, - "heading": -0.06473120794982032, - "angularVelocity": -0.6206901094616508, - "velocityX": 0.5977060410962763, - "velocityY": -1.427042976225914, - "timestamp": 1.3818460761055336, + "x": 4.42245776233494, + "y": 5.807734556740447, + "heading": -0.06482467897363368, + "angularVelocity": -0.5748335543531102, + "velocityX": 0.5515482719829186, + "velocityY": -1.3189530133909995, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.009798468639964, + -61.55075696892052, + -63.08540732234857, + -64.86861371823856 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.452918939980485, + -33.1372205284305, + -30.062478174750023, + -26.032097164466748 + ], + "timestamp": 1.4944497872498768 }, { - "x": 4.436231449424729, - "y": 5.766142144918943, - "heading": -0.08298784256354313, - "angularVelocity": -0.6514542768423776, - "velocityX": 0.48666445046428625, - "velocityY": -1.480599839850087, - "timestamp": 1.4098705058509553, + "x": 4.436059162988412, + "y": 5.76626160283, + "heading": -0.08310799473610317, + "angularVelocity": -0.6033206478408999, + "velocityX": 0.4488248171396337, + "velocityY": -1.3685422133595488, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -59.664281305808544, + -62.214805841958906, + -63.76086309564527, + -65.49698073700391 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -36.39086879623743, + -31.86339456023416, + -28.586691972862113, + -24.394058707869736 + ], + "timestamp": 1.5247542627023578 }, { - "x": 4.446724054726656, - "y": 5.723222715334596, - "heading": -0.10214308677500623, - "angularVelocity": -0.683519500145881, - "velocityX": 0.37440923498684786, - "velocityY": -1.5315005505636412, - "timestamp": 1.437894935596377, + "x": 4.446513808578709, + "y": 5.723360380748847, + "heading": -0.10229085791511323, + "angularVelocity": -0.6330042969755345, + "velocityX": 0.34498685208034635, + "velocityY": -1.415672815338117, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -60.35913717840848, + -62.90728803297598, + -64.46175570107262, + -66.13348976465464 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -35.21474227070206, + -30.462664547799665, + -26.951411211699874, + -22.59544846487109 + ], + "timestamp": 1.5550587381548389 }, { - "x": 4.454035609213429, - "y": 5.678959179772936, - "heading": -0.12223631960196876, - "angularVelocity": -0.7169898909449176, - "velocityX": 0.2608993136770921, - "velocityY": -1.579462489112408, - "timestamp": 1.4659193653417988, + "x": 4.453786789549847, + "y": 5.67911331948614, + "heading": -0.12241243814646971, + "angularVelocity": -0.6639804824507911, + "velocityX": 0.2399969266104433, + "velocityY": -1.4600833903919712, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.09592575370184, + -63.62649437747121, + -65.18440459312416, + -66.7711433853174 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -33.907280233850635, + -28.91824949026929, + -25.132775891636832, + -20.61607536778386 + ], + "timestamp": 1.58536321360732 }, { - "x": 4.458130023896409, - "y": 5.633442934952869, - "heading": -0.1433101145106275, - "angularVelocity": -0.7519794372302038, - "velocityX": 0.14610162348255104, - "velocityY": -1.624163104603462, - "timestamp": 1.4939437950872205, + "x": 4.457842287529481, + "y": 5.633611889204529, + "heading": -0.1435150903920659, + "angularVelocity": -0.6963543150148322, + "velocityX": 0.1338250512203607, + "velocityY": -1.5014755940242648, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.87547977436543, + -64.36930207135494, + -65.92263938528598, + -67.4001622637148 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -32.44805304153677, + -27.210890523556728, + -23.102888284700203, + -18.433274979405503 + ], + "timestamp": 1.615667689059801 }, { - "x": 4.458970636242968, - "y": 5.586775705010787, - "heading": -0.1654105284090244, - "angularVelocity": -0.7886124391882843, - "velocityX": 0.029995698545707234, - "velocityY": -1.6652338822239472, - "timestamp": 1.5219682248326423, + "x": 4.458643929769201, + "y": 5.586957888884517, + "heading": -0.16564464387269923, + "angularVelocity": -0.730240439744078, + "velocityX": 0.02645293237217455, + "velocityY": -1.5395085915004407, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -62.69744533366038, + -65.13062709790954, + -66.66673727277285, + -68.00711297277151 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -30.812850546923396, + -25.318561877535362, + -20.829271792851436, + -16.02188024885303 + ], + "timestamp": 1.645972164512282 }, { - "x": 4.4565207406871075, - "y": 5.539071013689049, - "heading": -0.18858739291328477, - "angularVelocity": -0.8270235903032963, - "velocityX": -0.08741999669990082, - "velocityY": -1.7022537748348157, - "timestamp": 1.549992654578064, + "x": 4.456155321028103, + "y": 5.539264917908058, + "heading": -0.18885069327347853, + "angularVelocity": -0.7657631110351215, + "velocityX": -0.08212017215081417, + "velocityY": -1.573792988142953, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -63.559607597390375, + -65.90269496186892, + -67.40195857263407, + -68.57381528909082 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -28.97299121242391, + -23.216222608279796, + -18.274424762591465, + -13.354396610823242 + ], + "timestamp": 1.676276639964763 }, { - "x": 4.450744361777594, - "y": 5.490455847567595, - "heading": -0.2128945907543178, - "angularVelocity": -0.8673574471218202, - "velocityX": -0.2061194094576707, - "velocityY": -1.7347423859497373, - "timestamp": 1.5780170843234858, + "x": 4.450340817972535, + "y": 5.490660038523048, + "heading": -0.21318687500928324, + "angularVelocity": -0.8030556996099505, + "velocityX": -0.1918694505926968, + "velocityY": -1.6038845305612601, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -64.45691169683313, + -66.6740825632039, + -68.10656254778002, + -69.07601390744352 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -26.894578756189855, + -20.8756712989269, + -15.395634422841082, + -10.401516685970867 + ], + "timestamp": 1.706581115417244 }, { - "x": 4.441607354345094, - "y": 5.441072501173689, - "heading": -0.2383902890539677, - "angularVelocity": -0.9097668902189089, - "velocityX": -0.3260372294994741, - "velocityY": -1.7621534797499967, - "timestamp": 1.6060415140689075, + "x": 4.441166630352014, + "y": 5.441285619994825, + "heading": -0.23871110014032842, + "angularVelocity": -0.8422592620376664, + "velocityX": -0.3027337541250857, + "velocityY": -1.6292781112691481, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.38005796156037, + -67.42848358684213, + -68.74919007886871, + -69.48183754299764 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -24.53777702078174, + -18.265605142334053, + -12.145337937076542, + -7.1331669947431 + ], + "timestamp": 1.7368855908697252 }, { - "x": 4.429078936103224, - "y": 5.39108056591739, - "heading": -0.26513708408252107, - "angularVelocity": -0.9544099655738234, - "velocityX": -0.44705345856029166, - "velocityY": -1.7838698489293998, - "timestamp": 1.6340659438143292, + "x": 4.428602354194388, + "y": 5.3913013263571505, + "heading": -0.2654856983400201, + "angularVelocity": -0.8835196056000261, + "velocityX": -0.41460134089194794, + "velocityY": -1.6494030301252949, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -66.31351892920739, + -68.14316236986195, + -69.28555696474102, + -69.75014436365909 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -21.8562495758431, + -15.352041107263801, + -8.472499656177916, + -3.5203426003455593 + ], + "timestamp": 1.7671900663222062 }, { - "x": 4.413133776945269, - "y": 5.340658976983783, - "heading": -0.29320198612106874, - "angularVelocity": -1.0014441790071809, - "velocityX": -0.5689735456815054, - "velocityY": -1.7992012466138827, - "timestamp": 1.662090373559751, + "x": 4.412623061045016, + "y": 5.340886161846482, + "heading": -0.2935774012714263, + "angularVelocity": -0.9269819890285007, + "velocityX": -0.5272915274322398, + "velocityY": -1.6636210908753837, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.23280585483087, + -68.78710007469651, + -69.65457155383382, + -69.82898608798288 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.79703949175229, + -12.099331905194738, + -4.325717312047185, + 0.4619636069144381 + ], + "timestamp": 1.7974945417746873 }, { - "x": 4.3937547772479375, - "y": 5.290007958751612, - "heading": -0.3226561346138084, - "angularVelocity": -1.0510168720757636, - "velocityX": -0.691503801268173, - "velocityY": -1.8073880072598505, - "timestamp": 1.6901148033051727, + "x": 4.3932120752419, + "y": 5.290240414516373, + "heading": -0.3230570553098914, + "angularVelocity": -0.972782191352918, + "velocityX": -0.6405319845761376, + "velocityY": -1.6712299610508299, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.10083625498451, + -69.31892297535352, + -69.77436806886332, + -69.65463049739164 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -15.301370269861964, + -8.47209764787623, + 0.3409691839448121, + 4.830434511895782 + ], + "timestamp": 1.8277990172271683 }, { - "x": 4.370936649023499, - "y": 5.23935060545745, - "heading": -0.3535740801853513, - "angularVelocity": -1.10324976645044, - "velocityX": -0.8142227489273355, - "velocityY": -1.8076140622428558, - "timestamp": 1.7181392330505945, + "x": 4.370364552645313, + "y": 5.239587234630158, + "heading": -0.3539989001569719, + "angularVelocity": -1.0210321869982177, + "velocityX": -0.7539322907078025, + "velocityY": -1.6714752237052024, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.86338616137459, + -69.68486370619684, + -69.53944605248209, + -69.15185854775216 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -11.307147202790317, + -4.43847286845076, + 5.558467597685853, + 9.5875376105506 + ], + "timestamp": 1.8581034926796494 }, { - "x": 4.344690344443845, - "y": 5.188933704037928, - "heading": -0.3860324046425531, - "angularVelocity": -1.1582153411169682, - "velocityX": -0.9365508885668746, - "velocityY": -1.7990339813340146, - "timestamp": 1.7461636627960162, + "x": 4.3440919047915045, + "y": 5.189173454569071, + "heading": -0.38647918502127104, + "angularVelocity": -1.0717982865346063, + "velocityX": -0.8669560341014817, + "velocityY": -1.663575406218277, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.44396592891219, + -69.81726926502458, + -68.82116900719657, + -68.23653471218579 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -6.754304190650378, + 0.024916850219476157, + 11.328483153200837, + 14.714272511908566 + ], + "timestamp": 1.8884079681321304 }, { - "x": 4.315048226527169, - "y": 5.139027274908771, - "heading": -0.42010739431834127, - "angularVelocity": -1.2159030526341073, - "velocityX": -1.0577242136931926, - "velocityY": -1.7808187207559585, - "timestamp": 1.774188092541438, + "x": 4.314426962538789, + "y": 5.139269125737534, + "heading": -0.4205738393591102, + "angularVelocity": -1.1250699386399656, + "velocityX": -0.9788964108364497, + "velocityY": -1.6467643173626294, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.73919848647414, + -69.63453451154618, + -67.4750374277156, + -66.82156814396812 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -1.5944315567117942, + 4.92598745560294, + 17.605508751624225, + 20.162460945536377 + ], + "timestamp": 1.9187124435846115 }, { - "x": 4.2820696265426665, - "y": 5.089922231340629, - "heading": -0.45587149477143696, - "angularVelocity": -1.2761758500701854, - "velocityX": -1.1767804120934704, - "velocityY": -1.7522227575803986, - "timestamp": 1.8022125222868597, + "x": 4.281429522836343, + "y": 5.090165172855874, + "heading": -0.45635492923152976, + "angularVelocity": -1.1807196573498258, + "velocityX": -1.0888635823506692, + "velocityY": -1.6203531705624303, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -69.61703089920785, + -69.04372711201606, + -65.35847370206588, + -64.8270410762154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 4.194048979596526, + 10.24844827876243, + 24.278642981479297, + 25.848478852455102 + ], + "timestamp": 1.9490169190370925 }, { - "x": 4.245846101927616, - "y": 5.041925630666271, - "heading": -0.4933884602431478, - "angularVelocity": -1.3387235998206146, - "velocityX": -1.292569552498, - "velocityY": -1.7126700207770804, - "timestamp": 1.8302369520322814, + "x": 4.245191591327067, + "y": 5.0421686389155855, + "heading": -0.4938858166581078, + "angularVelocity": -1.2384602229934154, + "velocityX": -1.1957947124377506, + "velocityY": -1.5838100882343618, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -68.92169795397096, + -67.94734606326305, + -62.360600403862385, + -62.19415482033618 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 10.585247507814431, + 15.942408911472732, + 31.161098834629765, + 31.651284549424254 + ], + "timestamp": 1.9793213944895736 }, { - "x": 4.20650539300032, - "y": 4.995353304015392, - "heading": -0.5327075685418524, - "angularVelocity": -1.4030297371216962, - "velocityX": -1.4038005156455622, - "velocityY": -1.6618474336123745, - "timestamp": 1.8582613817777032, + "x": 4.205841318155371, + "y": 4.9955953084469344, + "heading": -0.5332153956059982, + "angularVelocity": -1.2978142126090002, + "velocityX": -1.298497089428239, + "velocityY": -1.5368466133551768, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -67.49029418388638, + -66.25520256699261, + -58.4392111978375, + -58.900692178585466 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 17.483157501375835, + 21.916805528664433, + 37.99793758600645, + 37.41777577770135 + ], + "timestamp": 2.0096258699420546 }, { - "x": 4.164212950532524, - "y": 4.950520223954836, - "heading": -0.5738579425633289, - "angularVelocity": -1.4683750711537225, - "velocityX": -1.50912767367571, - "velocityY": -1.5997856323152906, - "timestamp": 1.886285811523125, + "x": 4.163544499193305, + "y": 4.950760070997066, + "heading": -0.5743724446020404, + "angularVelocity": -1.3581178483217295, + "velocityX": -1.3957284635528378, + "velocityY": -1.4794922789595681, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -65.18394202348796, + -63.9008833052263, + -53.65154738388261, + -54.97359264938544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.705699321967696, + 28.037338789203258, + 44.499014215187216, + 42.97705868886386 + ], + "timestamp": 2.0399303453945357 }, { - "x": 4.119170145989121, - "y": 4.907729664930321, - "heading": -0.6168445330043962, - "angularVelocity": -1.5338970616552692, - "velocityX": -1.6072692630172125, - "velocityY": -1.5269020427259838, - "timestamp": 1.9143102412685467, + "x": 4.118502757100692, + "y": 4.907966083689794, + "heading": -0.6173616429518156, + "angularVelocity": -1.4185758937548556, + "velocityX": -1.4863066071953779, + "velocityY": -1.4121342365544984, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -61.929609305353566, + -60.85966473539266, + -48.1615221305643, + -50.49344013279837 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 31.988356289119768, + 34.133673883317655, + 50.39204117227895, + 48.16197145646412 + ], + "timestamp": 2.0702348208470167 }, { - "x": 4.071608923365433, - "y": 4.867262744975817, - "heading": -0.6616471382328869, - "angularVelocity": -1.598698194235669, - "velocityX": -1.6971343594050328, - "velocityY": -1.4439872754632914, - "timestamp": 1.9423346710139684, + "x": 4.070948167085431, + "y": 4.867494324967954, + "heading": -0.6621626147993365, + "angularVelocity": -1.4783615680057265, + "velocityX": -1.5692266341923364, + "velocityY": -1.3355043477094137, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -57.75794158895834, + -57.16217368780631, + -42.21413044519476, + -45.58752924753544 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 39.01735843400395, + 40.017419804054924, + 55.47644638105998, + 52.8325045738354 + ], + "timestamp": 2.1005392962994978 }, { - "x": 4.021783518702593, - "y": 4.829370015961046, - "heading": -0.708222820088443, - "angularVelocity": -1.6619671578924535, - "velocityX": -1.7779275123691076, - "velocityY": -1.3521320276271316, - "timestamp": 1.9703591007593901, + "x": 4.021134961350593, + "y": 4.829595207071862, + "heading": -0.7087323509031371, + "angularVelocity": -1.5367280049715561, + "velocityX": -1.6437573985713323, + "velocityY": -1.2506112490056172, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -52.81627800853847, + -52.8975977304853, + -36.08548897808752, + -40.41245300573412 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 45.48838281477228, + 45.50796619939891, + 59.65513903619869, + 56.89402628629821 + ], + "timestamp": 2.130843771751979 }, { - "x": 3.969960602751049, - "y": 4.79426629105861, - "heading": -0.7565108155122148, - "angularVelocity": -1.7230679040546606, - "velocityX": -1.8492050122807404, - "velocityY": -1.2526115685965424, - "timestamp": 1.9983835305048119, + "x": 3.9693296736756256, + "y": 4.794483431185774, + "heading": -0.7570101082391528, + "angularVelocity": -1.5930900177341047, + "velocityX": -1.7094929676707535, + "velocityY": -1.1586333490954897, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -47.344364290054116, + -48.20335127892987, + -30.030237564272067, + -35.131488591278405 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 51.168823950630504, + 50.45884772418691, + 62.9336328994707, + 60.305037165223 + ], + "timestamp": 2.16114824720446 }, { - "x": 3.9164094697061533, - "y": 4.762129052357968, - "heading": -0.8064383857566846, - "angularVelocity": -1.7815731023973904, - "velocityX": -1.9108732463554607, - "velocityY": -1.1467579891038302, - "timestamp": 2.0264079602502334, + "x": 3.9158013473423825, + "y": 4.762336420314302, + "heading": -0.8069232375978245, + "angularVelocity": -1.6470547209087352, + "velocityX": -1.766350531860491, + "velocityY": -1.0608007692421602, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -41.621196258223755, + -43.24374077066979, + -24.245979143518756, + -29.893697675679906 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 55.9361925246211, + 54.77617054468866, + 65.39384257304336, + 63.07357945876916 + ], + "timestamp": 2.191452722656941 }, { - "x": 3.8613936225255663, - "y": 4.733099950552934, - "heading": -0.8579262476213516, - "angularVelocity": -1.8372492262069025, - "velocityX": -1.9631388642109393, - "velocityY": -1.0358498663037214, - "timestamp": 2.054432389995655, + "x": 3.8608131512700585, + "y": 4.73329583514425, + "heading": -0.8583925932626195, + "angularVelocity": -1.698407739988823, + "velocityX": -1.8145239358638072, + "velocityY": -0.9582936096548171, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -35.90770147734899, + -38.184814186203475, + -18.8613253333801, + -24.81985396620306 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 59.779466879149396, + 58.42404744842871, + 67.15902253906324, + 65.24559835972163 + ], + "timestamp": 2.221757198109422 }, { - "x": 3.805164500168681, - "y": 4.7072884154222505, - "heading": -0.910892878375897, - "angularVelocity": -1.8900163619991934, - "velocityX": -2.006432347336878, - "velocityY": -0.9210369440220643, - "timestamp": 2.082456819741077, + "x": 3.8046161414913247, + "y": 4.70747118918373, + "heading": -0.9113368216152766, + "angularVelocity": -1.7470762176918868, + "velocityX": -1.854412885874036, + "velocityY": -0.8521726766401756, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -30.407823709993494, + -33.17321274565878, + -13.94219336183619, + -19.99674262583503 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 62.77152169568986, + 61.41769098217021, + 68.3635416145066, + 66.89028596298766 + ], + "timestamp": 2.252061673561903 }, { - "x": 3.747957470865572, - "y": 4.684776320796834, - "heading": -0.9652575650457059, - "angularVelocity": -1.9399034044105279, - "velocityX": -2.041327150018244, - "velocityY": -0.8033025053469364, - "timestamp": 2.1104812494864986, + "x": 3.7474452852035127, + "y": 4.6849445085653505, + "heading": -0.9656753997008748, + "angularVelocity": -1.793087564600941, + "velocityX": -1.8865482881384597, + "velocityY": -0.7433450103337247, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -25.25534237697502, + -28.323661426303413, + -9.506844609286137, + -15.47835401638123 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.03146062366021, + 63.80907423816297, + 69.13326000282754, + 68.08663080598738 + ], + "timestamp": 2.282366149014384 }, { - "x": 3.689989792880342, - "y": 4.665622858433567, - "heading": -1.0209423751702893, - "angularVelocity": -1.987009570950461, - "velocityX": -2.0684694929322522, - "velocityY": -0.683455918184957, - "timestamp": 2.1385056792319204, + "x": 3.689517445191862, + "y": 4.665775194643614, + "heading": -1.0213305990608283, + "angularVelocity": -1.8365339946973787, + "velocityX": -1.9115275597653718, + "velocityY": -0.6325571928077397, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -20.52027432488392, + -23.71547092383873, + -5.542064341249565, + -11.291180195070945 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.69221502409354, + 65.67095740963241, + 69.576003330713, + 68.91340143850817 + ], + "timestamp": 2.312670624466865 }, { - "x": 3.631460063326017, - "y": 4.6498690821793875, - "heading": -1.077873311902558, - "angularVelocity": -2.0314752967120566, - "velocityX": -2.088525264778511, - "velocityY": -0.562144400342476, - "timestamp": 2.166530108977342, + "x": 3.6310308444594965, + "y": 4.650004554459755, + "heading": -1.0782286359675521, + "angularVelocity": -1.877545677896419, + "velocityX": -1.9299657842312918, + "velocityY": -0.5204063079261506, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -16.22437756930785, + -19.395581790065012, + -2.01656775939531, + -7.440997894029679 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.87961890293475, + 67.08336985048967, + 69.77902896562671, + 69.44296835710057 + ], + "timestamp": 2.342975099919346 }, { - "x": 3.572548670883797, - "y": 4.637541856462143, - "heading": -1.1359808949883092, - "angularVelocity": -2.073461747968023, - "velocityX": -2.1021441998063306, - "velocityY": -0.4398742750245512, - "timestamp": 2.194554538722764, + "x": 3.572165527955165, + "y": 4.6376597357571, + "heading": -1.1363002486527993, + "angularVelocity": -1.9162718317400524, + "velocityX": -1.9424628087239388, + "velocityY": -0.4073595902364167, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -12.35766741885866, + -15.384937499120923, + 1.1094323046796777, + -3.9193860234638658 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.70223699522583, + 68.12422379904672, + 69.81033231727669, + 69.73831305404357 + ], + "timestamp": 2.373279575371827 }, { - "x": 3.5134188516985927, - "y": 4.628657132170972, - "heading": -1.1952003568393965, - "angularVelocity": -2.1131370874998674, - "velocityX": -2.1099383545837274, - "velocityY": -0.3170349716972457, - "timestamp": 2.2225789684681856, + "x": 3.5130844223598245, + "y": 4.628756991075184, + "heading": -1.1954808904059036, + "angularVelocity": -1.9528680457083845, + "velocityX": -1.9495835091414855, + "velocityY": -0.29377656431884014, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -8.891950852657674, + -11.68561824769648, + 3.878096464136991, + -0.7091206789300771 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.2485262194632, + 68.86394449445618, + 69.72155930422437, + 69.8522353428386 + ], + "timestamp": 2.4035840508243083 }, { - "x": 3.45421805464654, - "y": 4.623222581268303, - "heading": -1.2554715918974453, - "angularVelocity": -2.1506676712268407, - "velocityX": -2.112471068629758, - "velocityY": -0.19392190856467523, - "timestamp": 2.2506033982136073, + "x": 3.453934701789817, + "y": 4.623304302825694, + "heading": -1.255710676665069, + "angularVelocity": -1.9874881633773434, + "velocityX": -1.9518476953266353, + "velocityY": -0.17993013137739372, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -5.790394363231538, + -8.287234339567451, + 6.33039890878487, + 2.2117776368195634 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.58797765413004, + 69.3631638193374, + 69.55124354514618, + 69.82785431768211 + ], + "timestamp": 2.4338885262767893 }, { - "x": 3.3950794189302482, - "y": 4.621239671353537, - "heading": -1.3167389565753878, - "angularVelocity": -2.186212716351497, - "velocityX": -2.1102529562069527, - "velocityY": -0.07075647685889055, - "timestamp": 2.278627827959029, + "x": 3.3948492637171523, + "y": 4.621303450579673, + "heading": -1.3169341833604236, + "angularVelocity": -2.020279373960996, + "velocityX": -1.9497264740752158, + "velocityY": -0.06602497539234502, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -3.013610996313895, + -5.171975621412837, + 8.504290959389824, + 4.867229054216356 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.77391746428104, + 69.67238796966257, + 69.32776114441377, + 69.69973807094894 + ], + "timestamp": 2.4641930017292704 }, { - "x": 3.3361232418560975, - "y": 4.622705275847479, - "heading": -1.3789509864906324, - "angularVelocity": -2.219921350064421, - "velocityX": -2.103742256656607, - "velocityY": 0.052297388644645955, - "timestamp": 2.306652257704451, + "x": 3.3359481939323627, + "y": 4.62275161597086, + "heading": -1.379100163161671, + "angularVelocity": -2.051379503292404, + "velocityX": -1.9436426107143645, + "velocityY": 0.04778717894192236, "moduleForcesX": [ - 0, - 0, - 0, - 0 + -0.5231846416291386, + -2.3182661215447586, + 10.43393394205146, + 7.281264742464254 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.84665771675773, + 69.8327496150092, + 69.07178821257445, + 69.49523991076322 + ], + "timestamp": 2.4944974771817514 }, { - "x": 3.2774583674363726, - "y": 4.627612911455795, - "heading": -1.442060075578285, - "angularVelocity": -2.251931249304374, - "velocityX": -2.0933476596185394, - "velocityY": 0.1751199097679249, - "timestamp": 2.3346766874498726, + "x": 3.277340151838969, + "y": 4.627642616513755, + "heading": -1.4421612241229065, + "angularVelocity": -2.0809157729893286, + "velocityX": -1.9339731580338415, + "velocityY": 0.1613953209837451, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 1.7165067279962736, + 0.29676930692387493, + 12.149550830487673, + 9.476921954875154 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.83638420083122, + 69.87723716277021, + 68.79824202871414, + 69.2358055339082 + ], + "timestamp": 2.5248019526342325 }, { - "x": 3.219183461263326, - "y": 4.635953682667193, - "heading": -1.5060221459927505, - "angularVelocity": -2.2823683120585914, - "velocityX": -2.0794323632067755, - "velocityY": 0.2976250110052724, - "timestamp": 2.3627011171952943, + "x": 3.219123641927064, + "y": 4.635967847732618, + "heading": -1.5060734995230403, + "angularVelocity": -2.109004509923015, + "velocityX": -1.921053212196053, + "velocityY": 0.27471952886691403, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 3.7375157002122097, + 2.695746454542657, + 13.677608238283165, + 11.475640702071427 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.76556519212383, + 69.83203783416857, + 68.51776822401943, + 68.93813923552855 + ], + "timestamp": 2.5551064280867135 }, { "x": 3.1613881587982178, "y": 4.647716999053955, "heading": -1.5707963267948966, - "angularVelocity": -2.3113469708594327, - "velocityX": -2.0623185909625006, - "velocityY": 0.41975221239546007, - "timestamp": 2.390725546940716, + "angularVelocity": -2.135751446130294, + "velocityX": -1.9051800853434553, + "velocityY": 0.38770350405035975, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 5.568154204795038, + 4.9001096559571735, + 15.041154000832051, + 13.29699075177293 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.65086022000047, + 69.71780400675597, + 68.23785940414461, + 68.61519049296885 + ], + "timestamp": 2.5854109035391946 }, { - "x": 3.10814561374089, - "y": 4.661599970136062, - "heading": -1.6316805279181992, - "angularVelocity": -2.337024785845805, - "velocityX": -2.0437017348473057, - "velocityY": 0.532894362108114, - "timestamp": 2.4167775603776476, + "x": 3.108185221527127, + "y": 4.661593272885322, + "heading": -1.6316515247604821, + "angularVelocity": -2.1594633414292974, + "velocityX": -1.8879207780780738, + "velocityY": 0.4924033715479536, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 7.2538904655756165, + 6.910932898821231, + 16.274290554004168, + 14.936159324507924 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.49236508875862, + 69.54372106966952, + 67.9502598998558, + 68.27296899712108 + ], + "timestamp": 2.6135916078827592 }, { - "x": 3.055428663680876, - "y": 4.678424323710771, - "heading": -1.6931889627653025, - "angularVelocity": -2.3609858407297932, - "velocityX": -2.0235269027336233, - "velocityY": 0.6457985911698438, - "timestamp": 2.442829573814579, + "x": 3.0555092479169175, + "y": 4.67841350425895, + "heading": -1.6931302518214228, + "angularVelocity": -2.1815894418898742, + "velocityX": -1.8692213284668544, + "velocityY": 0.5968705099973275, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 8.295627172110974, + 8.322194061749228, + 16.7007063366619, + 15.842926163080705 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.3682965804274, + 69.38128745936949, + 67.83813253770288, + 68.05974633388993 + ], + "timestamp": 2.641772312226324 }, { - "x": 3.0032829116143174, - "y": 4.698182352912261, - "heading": -1.7552708867676743, - "angularVelocity": -2.3829990780811756, - "velocityX": -2.001601611053657, - "velocityY": 0.7584069941204404, - "timestamp": 2.4688815872515106, + "x": 3.0034058243619723, + "y": 4.698169583105865, + "heading": -1.7551818150553982, + "angularVelocity": -2.201916690139263, + "velocityX": -1.8489042331847503, + "velocityY": 0.7010498604314854, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 9.537082555093805, + 9.863564199601926, + 17.22139240410499, + 16.79225700920491 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 69.20020626888221, + 69.17017244797493, + 67.69837160037534, + 67.82210865718163 + ], + "timestamp": 2.6699530165698886 }, { - "x": 2.951759926605772, - "y": 4.720864384158654, - "heading": -1.817868495309071, - "angularVelocity": -2.4027934997397216, - "velocityX": -1.9776968537679434, - "velocityY": 0.8706440790575167, - "timestamp": 2.494933600688442, + "x": 2.9519264854749574, + "y": 4.720851382327109, + "heading": -1.817748480216974, + "angularVelocity": -2.2201952229012933, + "velocityX": -1.826758418079426, + "velocityY": 0.8048698479895433, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 11.009188452793946, + 11.556522352812538, + 17.861499115534304, + 17.79484940835413 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.97188813115714, + 68.89736654807294, + 67.5218480239717, + 67.5549797256842 + ], + "timestamp": 2.6981337209134533 }, { - "x": 2.900918437449139, - "y": 4.746458145818845, - "heading": -1.8809155732314475, - "angularVelocity": -2.4200462691683855, - "velocityX": -1.951537806461976, - "velocityY": 0.9824101205132756, - "timestamp": 2.5209856141253737, + "x": 2.901129900040144, + "y": 4.7464461177808515, + "heading": -1.8807641258873575, + "angularVelocity": -2.2361274190356895, + "velocityX": -1.8025307251205933, + "velocityY": 0.9082361867789278, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 12.749856576175906, + 13.429010261309632, + 18.651524927902805, + 18.864991319735932 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.6606684832061, + 68.5451357378985, + 67.29626315310382, + 67.25135786871068 + ], + "timestamp": 2.726314425257018 }, { - "x": 2.850825842782793, - "y": 4.774947883106229, - "heading": -1.944335714599795, - "angularVelocity": -2.4343662159500172, - "velocityX": -1.9227916793305875, - "velocityY": 1.0935714184376848, - "timestamp": 2.5470376275623052, + "x": 2.8510833700745755, + "y": 4.774937452909107, + "heading": -1.9441524699460973, + "angularVelocity": -2.2493527232655888, + "velocityX": -1.7759148016822406, + "velocityY": 1.0110228183406351, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 14.805969879633219, + 15.517837709199926, + 19.628494636963328, + 20.021815510087507 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 68.2344487041549, + 68.0886681035604, + 67.00479309380141, + 66.90144641718224 + ], + "timestamp": 2.7544951296005826 }, { - "x": 2.801560136398716, - "y": 4.806313093575505, - "heading": -2.0080399486258997, - "angularVelocity": -2.4452710413465035, - "velocityX": -1.8910517800605635, - "velocityY": 1.2039457351427163, - "timestamp": 2.5730896409992368, + "x": 2.80186474009233, + "y": 4.80630422235369, + "heading": -2.0078247052989973, + "angularVelocity": -2.259426683472514, + "velocityX": -1.7465365443743757, + "velocityY": 1.1130583913792398, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 17.235794533196103, + 17.872109919198298, + 20.837411970553607, + 21.291065793774326 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 67.64716284171081, + 67.4922617815083, + 66.62405840316912, + 66.49131630788537 + ], + "timestamp": 2.7826758339441473 }, { - "x": 2.753212376704843, - "y": 4.84052668356083, - "heading": -2.0719235447338953, - "angularVelocity": -2.4521558098625915, - "velocityX": -1.855816626646186, - "velocityY": 1.313280068281472, - "timestamp": 2.5991416544361683, + "x": 2.7535648429892494, + "y": 4.8405185752793445, + "heading": -2.0716763193116954, + "angularVelocity": -2.2657919842688092, + "velocityX": -1.7139350569181273, + "velocityY": 1.2141056699126636, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 20.111627853535712, + 20.558116854188764, + 22.33299068583468, + 22.70762242709875 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 66.83172232939705, + 66.70296779857262, + 66.1210590988091, + 66.00079210515909 + ], + "timestamp": 2.810856538287712 }, { - "x": 2.7058898612562734, - "y": 4.877552222226872, - "heading": -2.1358616797226424, - "angularVelocity": -2.454249271117854, - "velocityX": -1.816462883497472, - "velocityY": 1.421216012945561, - "timestamp": 2.6251936678731, + "x": 2.7062906395325994, + "y": 4.877543216440918, + "heading": -2.1355827820611224, + "angularVelocity": -2.267738306690716, + "velocityX": -1.6775380373856947, + "velocityY": 1.313829516472996, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.521994787868092, + 23.66621323946093, + 24.18155903333317, + 24.319166516887993 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 65.689010872087, + 65.63965628026335, + 65.44852232641247, + 65.40000668166525 + ], + "timestamp": 2.8390372426312767 }, { - "x": 2.659720184999156, - "y": 4.917339761356798, - "heading": -2.1997035219581984, - "angularVelocity": -2.450553097943996, - "velocityX": -1.7722114403511053, - "velocityY": 1.5272347078372241, - "timestamp": 2.6512456813100314, + "x": 2.6601692241125128, + "y": 4.917327216758852, + "heading": -2.1993936617514307, + "angularVelocity": -2.264346515699484, + "velocityX": -1.6366310386638336, + "velocityY": 1.4117461307179084, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.571466866010503, + 27.32003045986246, + 26.46275515475543, + 26.191561265608005 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 64.07087598772038, + 64.1736181133508, + 64.53783758175037, + 64.64359266439178 + ], + "timestamp": 2.8672179469748413 }, { - "x": 2.6148563151123536, - "y": 4.959819338743969, - "heading": -2.263264109416659, - "angularVelocity": -2.4397572038847217, - "velocityX": -1.7220883904196647, - "velocityY": 1.6305679209787758, - "timestamp": 2.677297694746963, + "x": 2.615352820989959, + "y": 4.9597995200202645, + "heading": -2.262924550289382, + "angularVelocity": -2.2544109530909897, + "velocityX": -1.5903223204138341, + "velocityY": 1.507141295817621, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.37332655834013, + 31.68700454712973, + 29.269985430400947, + 28.416791376004312 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 61.754805181959455, + 62.09319582630642, + 63.28843199085655, + 63.66052054571002 + ], + "timestamp": 2.895398651318406 }, { - "x": 2.57148256826981, - "y": 5.004890715522668, - "heading": -2.326313161086277, - "angularVelocity": -2.4201220309611453, - "velocityX": -1.664890391199128, - "velocityY": 1.7300534904071132, - "timestamp": 2.7033497081838944, - "moduleForcesX": [ - 0, - 0, - 0, - 0 - ], - "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + "x": 2.5720246462173453, + "y": 5.004858715971104, + "heading": -2.3259459521622383, + "angularVelocity": -2.2363316794545516, + "velocityX": -1.5375121304414001, + "velocityY": 1.598937890320315, + "moduleForcesX": [ + 38.02433969549961, + 36.98361675189609, + 32.707210392358036, + 31.12451908527445 + ], + "moduleForcesY": [ + 58.40992978870107, + 59.038392442219845, + 61.55226752078608, + 62.335606092199306 + ], + "timestamp": 2.9235793556619707 }, { - "x": 2.5298205674140557, - "y": 5.052407085126601, - "heading": -2.3885596943982783, - "angularVelocity": -2.3893175651351455, - "velocityX": -1.5991854509290115, - "velocityY": 1.8239039266181656, - "timestamp": 2.729401721620826, + "x": 2.5304047063947626, + "y": 5.052356860521208, + "heading": -2.3881680453282987, + "angularVelocity": -2.2079679914128647, + "velocityX": -1.4768949461012062, + "velocityY": 1.685484648326409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 44.54075705762021, + 43.44908931822235, + 36.87679664506169, + 34.49788189076758 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 53.56383095971628, + 54.38302129883973, + 59.1128565398128, + 60.474498248939376 + ], + "timestamp": 2.9517600600055354 }, { - "x": 2.490132038202787, - "y": 5.102149807083195, - "heading": -2.4496314755140496, - "angularVelocity": -2.3442249967978706, - "velocityX": -1.5234342369484943, - "velocityY": 1.9093619031408002, - "timestamp": 2.7554537350577575, + "x": 2.490752422014333, + "y": 5.102074479046572, + "heading": -2.449220434793151, + "angularVelocity": -2.1664607357053005, + "velocityX": -1.4070721546562297, + "velocityY": 1.764243289281663, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 51.72659874963324, + 51.20097116851405, + 41.84830397766024, + 38.790487817518716 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 46.609873515707804, + 47.05209251223105, + 55.66189899396466, + 57.73513211136444 + ], + "timestamp": 2.9799407643491 }, { - "x": 2.452710284842023, - "y": 5.153792814807895, - "heading": -2.5090526704829195, - "angularVelocity": -2.2808676616384806, - "velocityX": -1.4364246146023367, - "velocityY": 1.9823038956169858, - "timestamp": 2.781505748494689, + "x": 2.4533580640078463, + "y": 5.153685506769632, + "heading": -2.5086303887940833, + "angularVelocity": -2.1081784641233994, + "velocityX": -1.3269490198184202, + "velocityY": 1.83143143243845, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.974550078066045, + 59.75470602296251, + 47.59257395468554, + 44.32446532812842 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 36.95470539980517, + 35.404780398835946, + 50.78805454197, + 53.492246386976475 + ], + "timestamp": 3.0081214686926647 }, { - "x": 2.417845697613634, - "y": 5.206866100215564, - "heading": -2.5662496521434983, - "angularVelocity": -2.195491791797435, - "velocityX": -1.3382684341380409, - "velocityY": 2.037204745658009, - "timestamp": 2.8075577619316205, + "x": 2.418508728890223, + "y": 5.206721463548811, + "heading": -2.565828862173778, + "angularVelocity": -2.0297034695215745, + "velocityX": -1.2366381866385763, + "velocityY": 1.8819954296596613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 65.14399837468471, + 67.03403181914928, + 53.86951906944724, + 51.382532333890374 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 24.429310784692767, + 17.89948116098355, + 44.01725077746314, + 46.58833030167728 + ], + "timestamp": 3.0363021730362294 }, { - "x": 2.3857600871145697, - "y": 5.260751237983873, - "heading": -2.6206772315252245, - "angularVelocity": -2.08918898009516, - "velocityX": -1.231598109556386, - "velocityY": 2.0683674948483968, - "timestamp": 2.833609775368552, + "x": 2.3864237470638274, + "y": 5.2605671024352745, + "heading": -2.6202731855088235, + "angularVelocity": -1.9319717020301566, + "velocityX": -1.1385443541520843, + "velocityY": 1.9107272206544537, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 68.87046162554932, + 69.2198742680153, + 60.100146347974146, + 59.70135455578984 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + 9.831500691570918, + -4.305411202173186, + 34.97228693710161, + 35.038425085913005 + ], + "timestamp": 3.064482877379794 }, { - "x": 2.356544218134567, - "y": 5.314735552674231, - "heading": -2.6720662793567067, - "angularVelocity": -1.9725557088280796, - "velocityX": -1.1214438012912034, - "velocityY": 2.0721743761203633, - "timestamp": 2.8596617888054836, + "x": 2.3571929374847502, + "y": 5.314514017031777, + "heading": -2.671687682481483, + "angularVelocity": -1.8244574850166917, + "velocityX": -1.0372632714467167, + "velocityY": 1.9143210169202782, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 69.39824574980199, + 64.4391178393077, + 65.35574586567506, + 67.07811055597607 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -5.067887956676885, + -25.737498280666653, + 23.68454844486218, + 16.569043623327147 + ], + "timestamp": 3.0926635817233588 }, { - "x": 2.330129430188581, - "y": 5.368102945953001, - "heading": -2.7204400842018184, - "angularVelocity": -1.8568163632426362, - "velocityX": -1.0139250085193388, - "velocityY": 2.04849400250616, - "timestamp": 2.885713802242415, + "x": 2.3307490507149717, + "y": 5.367850936178513, + "heading": -2.7200847175276457, + "angularVelocity": -1.717382023392003, + "velocityX": -0.9383685534395148, + "velocityY": 1.892675161574316, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 67.12480288777331, + 55.610858089518615, + 68.65406955464766, + 68.60766002717858 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -18.44333630535355, + -41.62457545812811, + 10.889827283559294, + -7.729564581380426 + ], + "timestamp": 3.1208442860669234 }, { - "x": 2.306309859520889, - "y": 5.420242360939423, - "heading": -2.7658578652974755, - "angularVelocity": -1.7433501332096546, - "velocityX": -0.9143082443649937, - "velocityY": 2.0013583638224843, - "timestamp": 2.9117658156793467, + "x": 2.306890270566454, + "y": 5.419969954627309, + "heading": -2.765520834943455, + "angularVelocity": -1.6123130515786614, + "velocityX": -0.8466353380541353, + "velocityY": 1.8494576222577463, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 63.16791391283515, + 46.474413003611815, + 69.4970202961764, + 62.030222895856205 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -29.339310042053, + -51.7333325665575, + -2.08108191483473, + -30.466574670653106 + ], + "timestamp": 3.149024990410488 }, { - "x": 2.2848243549194245, - "y": 5.470705057059815, - "heading": -2.808343758268873, - "angularVelocity": -1.6308103430948317, - "velocityX": -0.8247157039696784, - "velocityY": 1.9369979307953407, - "timestamp": 2.937817829116278, + "x": 2.2853597733484414, + "y": 5.470422594202238, + "heading": -2.8080233202365656, + "angularVelocity": -1.5082123134660639, + "velocityX": -0.7640155815668817, + "velocityY": 1.790325712226186, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 58.594067950252395, + 38.66541006347669, + 68.15306624996389, + 51.79744963862425 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -37.72114684659206, + -57.88542583205651, + -13.90970247067551, + -45.94341589163301 + ], + "timestamp": 3.177205694754053 }, { - "x": 2.2654228000679097, - "y": 5.519181079523684, - "heading": -2.8479456215051604, - "angularVelocity": -1.5201075852411496, - "velocityX": -0.7447238156269963, - "velocityY": 1.8607399608947834, - "timestamp": 2.9638698425532097, + "x": 2.2659105609853487, + "y": 5.518897618264718, + "heading": -2.8476426689182115, + "angularVelocity": -1.405903422378187, + "velocityX": -0.6901606193364819, + "velocityY": 1.7201494849631138, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 54.07175677894405, + 32.39135727315273, + 65.38123639795018, + 42.322717788600436 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -44.01319288342034, + -61.67830423942064, + -23.84893134181381, + -54.95512736830392 + ], + "timestamp": 3.2053863990976175 }, { - "x": 2.247888448425393, - "y": 5.565455623210483, - "heading": -2.8847464453032123, - "angularVelocity": -1.412590389112856, - "velocityX": -0.6730516888826009, - "velocityY": 1.7762367503310765, - "timestamp": 2.9899218559901413, + "x": 2.248327893009022, + "y": 5.5651785685370765, + "heading": -2.884462867797081, + "angularVelocity": -1.3065748261639112, + "velocityX": -0.623925781341993, + "velocityY": 1.6422921765234857, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 49.91347891198986, + 27.4094503812168, + 61.95675993348544, + 34.85382760500512 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -48.721146785626026, + -64.09546382358559, + -31.78339541593253, + -60.089358969916326 + ], + "timestamp": 3.233567103441182 }, { - "x": 2.232039117701984, - "y": 5.609376329385158, - "heading": -2.9188471410259273, - "angularVelocity": -1.308946650333392, - "velocityX": -0.6083725836308177, - "velocityY": 1.6858852879451771, - "timestamp": 3.015973869427073, + "x": 2.232430872400275, + "y": 5.609111506058861, + "heading": -2.918584848083935, + "angularVelocity": -1.2108278015643743, + "velocityX": -0.5641101235419373, + "velocityY": 1.55897230197574, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 46.21911007131184, + 23.426590005778245, + 58.41818446145035, + 29.193401350672563 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -52.27335132688548, + -65.69295170278593, + -37.96298521796956, + -63.12133852647417 + ], + "timestamp": 3.261747807784747 }, { - "x": 2.2177225834921717, - "y": 5.650832312921057, - "heading": -2.9503511401259157, - "angularVelocity": -1.209273101914099, - "velocityX": -0.5495365739954405, - "velocityY": 1.591277527791001, - "timestamp": 3.0420258828640043, + "x": 2.2180681177387984, + "y": 5.650584152122666, + "heading": -2.950111648710374, + "angularVelocity": -1.1187371416299583, + "velocityX": -0.5096662768386963, + "velocityY": 1.471668186791612, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 42.9863092819125, + 20.201251650989143, + 55.05655078723537, + 24.890510230172367 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -54.99057572018311, + -66.78478942206799, + -42.74560011109294, + -65.00435814454416 + ], + "timestamp": 3.2899285121283115 }, { - "x": 2.2048112517628295, - "y": 5.689740878391115, - "heading": -2.9793561711588477, - "angularVelocity": -1.1133508395866407, - "velocityX": -0.4955982293115555, - "velocityY": 1.4934955244149806, - "timestamp": 3.068077896300936, + "x": 2.205112602186797, + "y": 5.689512611939707, + "heading": -2.9791404772237278, + "angularVelocity": -1.0300959180952132, + "velocityX": -0.4597300122117168, + "velocityY": 1.3813870420854406, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 40.172279719523914, + 17.552562030739384, + 51.99473710283351, + 21.56446501604868 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -57.10166953554667, + -67.55315142279363, + -46.464360767677796, + -66.23284792014884 + ], + "timestamp": 3.318109216471876 }, { - "x": 2.1931974509149272, - "y": 5.726038957702259, - "heading": -3.0059510066505495, - "angularVelocity": -1.0208360883923002, - "velocityX": -0.4457928319444466, - "velocityY": 1.3932926681086102, - "timestamp": 3.0941299097378674, + "x": 2.193457044307204, + "y": 5.725832790798517, + "heading": -3.0057595771158634, + "angularVelocity": -0.94458603900063, + "velocityX": -0.4136006587164834, + "velocityY": 1.2888314790153153, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 37.723281863991836, + 15.348433071250627, + 49.26292618756846, + 18.94091108682691 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -58.767484044576854, + -68.10746039755159, + -49.38629182480442, + -67.0703123220427 + ], + "timestamp": 3.346289920815441 }, { - "x": 2.1827895833104405, - "y": 5.7596774671860915, - "heading": -3.0302147916610416, - "angularVelocity": -0.931359300471352, - "velocityX": -0.399503386933393, - "velocityY": 1.2912057475045753, - "timestamp": 3.120181923174799, + "x": 2.1830101197834697, + "y": 5.759494724590329, + "heading": -3.030047601212392, + "angularVelocity": -0.8618671769314669, + "velocityX": -0.3707119735678196, + "velocityY": 1.1945029258823405, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 35.58713624102764, + 13.492422731933559, + 46.84724143667396, + 16.82893061284596 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -60.10123040364695, + -68.51579291842802, + -51.712311373508115, + -67.66346172459087 + ], + "timestamp": 3.3744706251590055 }, { - "x": 2.1735090671525814, - "y": 5.7906175048600845, - "heading": -3.0522175233133915, - "angularVelocity": -0.8445693345589079, - "velocityX": -0.3562302844779268, - "velocityY": 1.1876255840606498, - "timestamp": 3.1462339366117305, + "x": 2.1736934411421127, + "y": 5.790458752510241, + "heading": -3.052074103924761, + "angularVelocity": -0.7816164721730671, + "velocityX": -0.3306048893517168, + "velocityY": 1.09876699824154, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 33.71769182056099, + 11.91343550850929, + 44.71625749111484, + 15.095427993762556 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -61.18333649852329, + -68.82191868740836, + -53.589813873431474, + -68.09776015272955 + ], + "timestamp": 3.40265132950257 }, { - "x": 2.165287928866771, - "y": 5.818827731905624, - "heading": -3.0720209570909076, - "angularVelocity": -0.7601498373804071, - "velocityX": -0.31556633062986994, - "velocityY": 1.082842487926418, - "timestamp": 3.172285950048662, + "x": 2.1654391745998707, + "y": 5.818692877697493, + "heading": -3.071900447493023, + "angularVelocity": -0.7035432232831756, + "velocityX": -0.29290490548461096, + "velocityY": 1.0018956532468513, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 32.07578511965468, + 10.558357642544498, + 42.83404796011619, + 13.646277947836888 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.07169018968533, + -69.05483078093086, + -55.126231261293604, + -68.42512567798003 + ], + "timestamp": 3.430832033846135 }, { - "x": 2.15806690849839, - "y": 5.844282532149564, - "heading": -3.0896796043938592, - "angularVelocity": -0.6778227466257346, - "velocityX": -0.27717705527303127, - "velocityY": 0.9770761214123779, - "timestamp": 3.1983379634855935, + "x": 2.15818816166946, + "y": 5.844170909601824, + "heading": -3.0895807949250123, + "angularVelocity": -0.6273919635378775, + "velocityX": -0.25730417671648464, + "velocityY": 0.9040949294139726, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 30.62880563161759, + 9.386935405470256, + 41.166024528876676, + 12.41369401198484 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -62.808564676677285, + -69.23425260988475, + -56.400129260647965, + -68.67829818387514 + ], + "timestamp": 3.4590127381896996 }, { - "x": 2.151793962845926, - "y": 5.866960693109083, - "heading": -3.1052416789306485, - "angularVelocity": -0.5973463269724832, - "velocityX": -0.2407854451499951, - "velocityY": 0.8704955190668501, - "timestamp": 3.224389976922525, + "x": 2.151888433260581, + "y": 5.866871131139792, + "heading": -3.1051630505899435, + "angularVelocity": -0.5529406034341869, + "velocityX": -0.22354758532913763, + "velocityY": 0.8055235689362858, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 29.349807334417473, + 8.368227513091785, + 39.681184866987934, + 11.347943447861788 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.425289328266246, + -69.37392279998289, + -57.46945049573408, + -68.87861060242322 + ], + "timestamp": 3.4871934425332642 }, { - "x": 2.1464230753720366, - "y": 5.8868444435667495, - "heading": -3.1187499404873535, - "angularVelocity": -0.5185112309805378, - "velocityX": -0.2061601682684892, - "velocityY": 0.7632327729986262, - "timestamp": 3.2504419903594566, + "x": 2.1464940271533135, + "y": 5.8867753250317225, + "heading": -3.1186896983318513, + "angularVelocity": -0.4799967941538346, + "velocityX": -0.19142197588470167, + "velocityY": 0.7063057633077613, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 28.216560242576453, + 7.478132509099609, + 38.352672537528875, + 10.411893951176781 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -63.94541915460509, + -69.48361388883292, + -58.377401044734846, + -69.0403642063486 + ], + "timestamp": 3.515374146876829 }, { - "x": 2.1419133029864885, - "y": 5.90391873943064, - "heading": -3.1302424255201187, - "angularVelocity": -0.4411361548153143, - "velocityX": -0.17310648163399853, - "velocityY": 0.6553925632360712, - "timestamp": 3.276494003796388, + "x": 2.141964040082967, + "y": 5.903868050552187, + "heading": -3.130198527000848, + "angularVelocity": -0.4083939325535254, + "velocityX": -0.16074782997329776, + "velocityY": 0.6065400393148409, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 27.210690879211114, + 6.697646659432581, + 37.15760037283036, + 9.577377073395729 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.38690789889434, + -69.57040744268548, + -59.15659339980533, + -69.17338453459683 + ], + "timestamp": 3.5435548512203936 }, { - "x": 2.1382280065351003, - "y": 5.918170725554471, - "heading": -3.139753071131935, - "angularVelocity": -0.36506374583446893, - "velocityX": -0.1414591797409874, - "velocityY": 0.5470589119083662, - "timestamp": 3.3025460172333196, + "x": 2.138261862002224, + "y": 5.918136097934882, + "heading": -3.139723250061058, + "angularVelocity": -0.33798740244707204, + "velocityX": -0.13137280160238285, + "velocityY": 0.5063055631522426, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 26.31695439065903, + 6.0116207757680575, + 36.07659553611826, + 8.822722535208243 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -64.76361658395057, + -69.63951995235462, + -59.831955987589986, + -69.28456526447967 + ], + "timestamp": 3.5717355555639583 }, { - "x": 2.135334224654641, - "y": 5.9295893243238895, - "heading": -3.1473122451070203, - "angularVelocity": -0.2901569966323474, - "velocityX": -0.11107709150637847, - "velocityY": 0.43830004913290593, - "timestamp": 3.328598030670251, + "x": 2.1353545526578306, + "y": 5.929568070890122, + "heading": -3.1472940319086296, + "angularVelocity": -0.2686512641867228, + "velocityX": -0.10316666712614439, + "velocityY": 0.4056666865336309, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 25.52263775319678, + 5.407861093607301, + 35.093277843299205, + 8.13105694871171 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.08637470272, + -69.69485011745009, + -60.42278541586264, + -69.37882934226079 + ], + "timestamp": 3.599916259907523 }, { - "x": 2.133202160318781, - "y": 5.9381649169747, - "heading": -3.1529471958838693, - "angularVelocity": -0.2162961719058987, - "velocityX": -0.08183875465217869, - "velocityY": 0.32917197250689534, - "timestamp": 3.3546500441071827, + "x": 2.1332123301241612, + "y": 5.938154062926258, + "heading": -3.1529379346967326, + "angularVelocity": -0.200275433832152, + "velocityX": -0.07601735242501921, + "velocityY": 0.304676275350026, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.81707808029761, + 4.876470188059885, + 34.19376252487267, + 7.489109707274255 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.36373679874626, + -69.73934909563606, + -60.94420545213015, + -69.4597438959309 + ], + "timestamp": 3.6280969642510876 }, { - "x": 2.131804756638863, - "y": 5.943889093714475, - "heading": -3.156682435526014, - "angularVelocity": -0.14337623658866083, - "velocityX": -0.053638989681216866, - "velocityY": 0.2197210881082821, - "timestamp": 3.3807020575441142, + "x": 2.1318081480719493, + "y": 5.943885403331479, + "heading": -3.156679298636291, + "angularVelocity": -0.13276332251832323, + "velocityX": -0.04982778411400237, + "velocityY": 0.20337818158650567, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 24.191276467507578, + 4.40935744551698, + 33.36622128195192, + 6.886361214804645 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.60252905303796, + -69.77527572342512, + -61.40821429307362, + -69.52992355957504 + ], + "timestamp": 3.6562776685946523 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -0.07130472670475889, - "velocityX": -0.026386165427844832, - "velocityY": 0.10998619584120908, - "timestamp": 3.4067540709810458, + "angularVelocity": -0.06602988219409292, + "velocityX": -0.024513374858901666, + "velocityY": 0.10180910313487344, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.637588935488733, + 3.999870801396503, + 32.60050919882265, + 6.314426202245476 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.80824926694498, + -69.80437544536804, + -61.82444420571596, + -69.59130116130751 + ], + "timestamp": 3.684458372938217 }, { "x": 2.131117343902588, "y": 5.946754455566406, "heading": -3.158540067224243, - "angularVelocity": -1.1257235159322888e-32, - "velocityX": -4.497825258620012e-34, - "velocityY": 8.02311483706782e-33, - "timestamp": 3.4328060844179773, + "angularVelocity": -4.96572927581281e-19, + "velocityX": 1.5959442979672463e-18, + "velocityY": 8.845539849416068e-19, "moduleForcesX": [ - 0, - 0, - 0, - 0 + 23.149478697989796, + 3.6425162589989872, + 31.88785383771478, + 5.766601183017061 ], "moduleForcesY": [ - 0, - 0, - 0, - 0 - ] + -65.98536321352, + -69.82800767416529, + -62.200718440966405, + -69.6453133535377 + ], + "timestamp": 3.7126390772817817 } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 614e401e..eba2748a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -4,7 +4,6 @@ package frc.robot; -import com.choreo.lib.Choreo; import com.choreo.lib.ChoreoTrajectory; import com.ctre.phoenix6.SignalLogger; import edu.wpi.first.hal.simulation.RoboRioDataJNI; @@ -18,7 +17,6 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile.State; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.Timer; @@ -29,6 +27,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.autonomous.Autos; import frc.robot.subsystems.carriage.CarriageIOReal; import frc.robot.subsystems.carriage.CarriageSubsystem; import frc.robot.subsystems.elevator.ElevatorIOReal; @@ -188,6 +187,9 @@ public void robotInit() { // be added. SignalLogger.setPath("/media/sda1/"); + // Initialize the Autos singleton + Autos.init(intake, shooter, feeder, swerve, carriage, this::staticAutoAim); + // Default Commands here swerve.setDefaultCommand( swerve.runVoltageTeleopFieldRelative( @@ -452,12 +454,12 @@ public void robotInit() { autoChooser.addOption("None", Commands.none()); autoChooser.addOption("Shoot Preload", teleopAutoAim()); - autoChooser.addDefaultOption("Amp 4 Wing", autoAmp4Wing()); - autoChooser.addOption("Source 3", autoSource3()); - autoChooser.addOption("Center 4", autoCenter4()); - autoChooser.addOption("Amp 5", autoAmp5()); - autoChooser.addOption("Source 4", autoSource4()); - autoChooser.addOption("Line Test Repeatedly", lineTest()); + autoChooser.addDefaultOption("Amp 4 Wing", Autos.getInstance().amp4()); + autoChooser.addOption("Source 3", Autos.getInstance().source3()); + autoChooser.addOption("Center 4", Autos.getInstance().center4()); + autoChooser.addOption("Amp 5", Autos.getInstance().amp5()); + autoChooser.addOption("Source 4", Autos.getInstance().source4()); + autoChooser.addOption("Line Test Repeatedly", Autos.getInstance().lineTest()); // Dashboard command buttons SmartDashboard.putData("Shooter shoot", shootWithDashboard()); @@ -697,266 +699,6 @@ private Command staticAutoAim(double tolerance) { return staticAutoAim(() -> tolerance); } - private Command autoStaticAutoAim() { - return feeder - .indexCmd() - .deadlineWith( - swerve.runVelocityCmd(() -> new ChassisSpeeds()), - Commands.repeatingSequence( - shooter - .runFlywheelsCmd(() -> 0.0, () -> 0.0) - .unless(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0) - .until(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0), - shooter.runStateCmd( - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(), - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(), - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS()))) - .until(() -> feeder.getFirstBeambreak()) - .unless(() -> feeder.getFirstBeambreak()) - .withTimeout(1.0) - .andThen( - staticAutoAim(6.0) - .deadlineWith( - intake.runVoltageCmd(0, 0).asProxy(), carriage.runVoltageCmd(0).asProxy()) - .withTimeout(2.0) - .unless(() -> !feeder.getFirstBeambreak())) - .asProxy() - .withTimeout(4.0); - } - - private Command autoFenderShot() { - return shooter - .runStateCmd( - AutoAim.FENDER_SHOT.getRotation(), - AutoAim.FENDER_SHOT.getLeftRPS(), - AutoAim.FENDER_SHOT.getRightRPS()) - .raceWith( - feeder - .runVelocityCmd(0.0) - .until(() -> shooter.isAtGoal()) - .andThen( - feeder - .runVelocityCmd(FeederSubsystem.INDEXING_VELOCITY) - .raceWith( - Commands.waitUntil(() -> !feeder.getFirstBeambreak()) - .andThen(Commands.waitSeconds(0.1))))) - .asProxy(); - } - - private Command autoIntake() { - return Commands.parallel( - intake - .runVelocityCmd(50.0, 30.0) - .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) - .asProxy(), - feeder.indexCmd().asProxy(), - carriage - .runVoltageCmd(CarriageSubsystem.INDEXING_VOLTAGE) - .until(() -> feeder.getFirstBeambreak()) - .asProxy(), - shooter - .runStateCmd( - () -> - Rotation2d.fromDegrees( - MathUtil.clamp( - AutoAim.shotMap - .get(swerve.getDistanceToSpeaker()) - .getRotation() - .getDegrees(), - 0, - 20)), - () -> 0.0, - () -> 0.0) - .until(() -> feeder.getFirstBeambreak()) - .unless(() -> feeder.getFirstBeambreak()) - .andThen( - shooter.runStateCmd( - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(), - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(), - () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS())) - .asProxy()); - } - - private Command autoAmp4Wing() { - return Commands.sequence( - autoFenderShot(), - swerve - .runChoreoTraj(Choreo.getTrajectory("amp 4 local.1"), true) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) - .withTimeout(1.0), - autoStaticAutoAim() - .andThen(Commands.print("Done with auto static auto aim")) - .beforeStarting(Commands.print("Before auto static auto aim!!!")), - swerve - .runChoreoTraj(Choreo.getTrajectory("amp 4 local.2")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) - .withTimeout(1.0), - autoStaticAutoAim(), - swerve - .runChoreoTraj(Choreo.getTrajectory("amp 4 local.3")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake().until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()), - autoStaticAutoAim()); - } - - private Command autoAmp5() { - return Commands.sequence( - autoFenderShot(), - swerve - .runChoreoTraj(Choreo.getTrajectory("amp 5.1"), true) - .asProxy() - .deadlineWith(autoIntake()), - autoStaticAutoAim(), - swerve - .runChoreoTraj(Choreo.getTrajectory("amp 5.2")) - .asProxy() - .deadlineWith(Commands.waitSeconds(1.0).andThen(autoIntake())), - autoStaticAutoAim(), - swerve.runChoreoTraj(Choreo.getTrajectory("amp 5.3")).asProxy().deadlineWith(autoIntake()), - autoIntake() - .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) - .withTimeout(1.0), - autoStaticAutoAim(), - swerve.runChoreoTraj(Choreo.getTrajectory("amp 5.4")).asProxy().deadlineWith(autoIntake()), - autoIntake() - .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) - .withTimeout(1.0), - autoStaticAutoAim()); - } - - private Command autoCenter4() { - return Commands.sequence( - autoFenderShot(), - swerve - .runChoreoTraj(Choreo.getTrajectory("center 4.1"), true) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), - swerve - .runChoreoTraj(Choreo.getTrajectory("center 4.2")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), - swerve - .runChoreoTraj(Choreo.getTrajectory("center 4.3")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim()); - } - - private Command autoSource3() { - return Commands.sequence( - autoFenderShot(), - swerve - .runChoreoTraj(Choreo.getTrajectory("source 3.1"), true) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), - swerve - .runChoreoTraj(Choreo.getTrajectory("source 3.2")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim()); - } - - private Command autoSource4() { - return Commands.sequence( - autoFenderShot(), - swerve - .runChoreoTraj(Choreo.getTrajectory("source 4.1"), true) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), - swerve - .runChoreoTraj(Choreo.getTrajectory("source 4.2")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), - swerve - .runChoreoTraj(Choreo.getTrajectory("source 4.3")) - .asProxy() - .deadlineWith(autoIntake()), - autoIntake() - .raceWith( - Commands.sequence( - Commands.waitSeconds(0.25), - Commands.waitUntil( - () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) - .withTimeout(1.0), - autoStaticAutoAim()); - } - - private Command lineTest() { - ChoreoTrajectory traj = Choreo.getTrajectory("line test"); - return Commands.sequence( - Commands.runOnce( - () -> { - if (DriverStation.getAlliance().isPresent() - && DriverStation.getAlliance().get().equals(Alliance.Red)) { - swerve.setPose(traj.flipped().getInitialPose()); - } else { - swerve.setPose(traj.getInitialPose()); - } - }), - swerve.runChoreoTraj(traj).repeatedly()); - } - private Command ampHeadingSnap(DoubleSupplier x, DoubleSupplier y) { var headingController = new ProfiledPIDController( diff --git a/src/main/java/frc/robot/autonomous/Autos.java b/src/main/java/frc/robot/autonomous/Autos.java new file mode 100644 index 00000000..29183d23 --- /dev/null +++ b/src/main/java/frc/robot/autonomous/Autos.java @@ -0,0 +1,305 @@ +package frc.robot.autonomous; + +import com.choreo.lib.Choreo; +import com.choreo.lib.ChoreoTrajectory; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.subsystems.carriage.CarriageSubsystem; +import frc.robot.subsystems.feeder.FeederSubsystem; +import frc.robot.subsystems.intake.IntakeSubsystem; +import frc.robot.subsystems.shooter.ShooterSubsystem; +import frc.robot.subsystems.swerve.SwerveSubsystem; +import frc.robot.utils.autoaim.AutoAim; +import java.util.function.Supplier; + +public class Autos { + + private IntakeSubsystem intake; + private ShooterSubsystem shooter; + private FeederSubsystem feeder; + private SwerveSubsystem swerve; + private CarriageSubsystem carriage; + + private Supplier staticAutoAim; + + private static Autos instance = null; + + private Autos( + IntakeSubsystem intake, + ShooterSubsystem shooter, + FeederSubsystem feeder, + SwerveSubsystem swerve, + CarriageSubsystem carriage, + Supplier staticAutoAim) { + this.intake = intake; + this.shooter = shooter; + this.feeder = feeder; + this.swerve = swerve; + this.carriage = carriage; + this.staticAutoAim = staticAutoAim; + } + + public static void init( + IntakeSubsystem intakeSubsystem, + ShooterSubsystem shooterSubsystem, + FeederSubsystem feederSubsystem, + SwerveSubsystem swerveSubsystem, + CarriageSubsystem carriageSubsystem, + Supplier staticAutoAim) { + instance = + new Autos( + intakeSubsystem, + shooterSubsystem, + feederSubsystem, + swerveSubsystem, + carriageSubsystem, + staticAutoAim); + } + + public static Autos getInstance() { + if (instance == null) { + throw new NullPointerException("Instance is not initialized!"); + } + return instance; + } + + // AUTOS ------------------------------------------------------------------- + + public Command amp4() { + return Commands.sequence( + // Shoot preload + autoFenderShot(), + runChoreoTrajWithIntake("amp 4 local.1", true), + autoIntake() + .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) + .withTimeout(1.0), + autoStaticAutoAim() + .andThen(Commands.print("Done with auto static auto aim")) + .beforeStarting(Commands.print("Before auto static auto aim!!!")), + runChoreoTrajWithIntake("amp 4 local.2", false), + autoIntake() + .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) + .withTimeout(1.0), + autoStaticAutoAim(), + runChoreoTrajWithIntake("amp 4 local.3", false), + autoIntake().until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()), + autoStaticAutoAim()); + } + + public Command source3() { + return Commands.sequence( + autoFenderShot(), + runChoreoTrajWithIntake("source 3.1", true), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + runChoreoTrajWithIntake("source 3.2", false), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim()); + } + + public Command source4() { + return Commands.sequence( + autoFenderShot(), + runChoreoTrajWithIntake("source 4.1", true), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + runChoreoTrajWithIntake("source 4.2", false), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + runChoreoTrajWithIntake("source 4.3", false), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim()); + } + + public Command amp5() { + return Commands.sequence( + autoFenderShot(), + runChoreoTrajWithIntake("amp 5.1", true), + autoStaticAutoAim(), + swerve + .runChoreoTraj(Choreo.getTrajectory("amp 5.2")) + .asProxy() + .deadlineWith(Commands.waitSeconds(1.0).andThen(autoIntake())), + autoStaticAutoAim(), + runChoreoTrajWithIntake("amp 5.3", false), + autoIntake() + .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) + .withTimeout(1.0), + autoStaticAutoAim(), + runChoreoTrajWithIntake("amp 5.4", false), + autoIntake() + .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) + .withTimeout(1.0), + autoStaticAutoAim()); + } + + public Command center4() { + return Commands.sequence( + autoFenderShot(), + runChoreoTrajWithIntake("center 4.1", true), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + runChoreoTrajWithIntake("center 4.2", false), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim().unless(() -> !feeder.getFirstBeambreak()), + runChoreoTrajWithIntake("center 4.3", false), + autoIntake() + .raceWith( + Commands.sequence( + Commands.waitSeconds(0.25), + Commands.waitUntil( + () -> carriage.getBeambreak() || feeder.getFirstBeambreak()))) + .withTimeout(1.0), + autoStaticAutoAim()); + } + + public Command lineTest() { + ChoreoTrajectory traj = Choreo.getTrajectory("line test"); + return Commands.sequence( + Commands.runOnce( + () -> { + if (DriverStation.getAlliance().isPresent() + && DriverStation.getAlliance().get().equals(DriverStation.Alliance.Red)) { + swerve.setPose(traj.flipped().getInitialPose()); + } else { + swerve.setPose(traj.getInitialPose()); + } + }), + swerve.runChoreoTraj(traj).repeatedly()); + } + + // UTIL COMMANDS --------------------------------------------------------------- + + private Command autoFenderShot() { + return shooter + .runStateCmd( + AutoAim.FENDER_SHOT.getRotation(), + AutoAim.FENDER_SHOT.getLeftRPS(), + AutoAim.FENDER_SHOT.getRightRPS()) + .raceWith( + feeder + .runVelocityCmd(0.0) + .until(shooter::isAtGoal) + .andThen( + feeder + .runVelocityCmd(FeederSubsystem.INDEXING_VELOCITY) + .raceWith( + Commands.waitUntil(() -> !feeder.getFirstBeambreak()) + .andThen(Commands.waitSeconds(0.1))))); + } + + private Command autoIntake() { + return Commands.parallel( + intake + .runVelocityCmd(50.0, 30.0) + .until(() -> carriage.getBeambreak() || feeder.getFirstBeambreak()) + .asProxy(), + feeder.indexCmd().asProxy(), + carriage + .runVoltageCmd(CarriageSubsystem.INDEXING_VOLTAGE) + .until(feeder::getFirstBeambreak) + .asProxy(), + shooter + .runStateCmd( + () -> + Rotation2d.fromDegrees( + MathUtil.clamp( + AutoAim.shotMap + .get(swerve.getDistanceToSpeaker()) + .getRotation() + .getDegrees(), + 0, + 20)), + () -> 0.0, + () -> 0.0) + .until(feeder::getFirstBeambreak) + .unless(feeder::getFirstBeambreak) + .andThen( + shooter.runStateCmd( + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(), + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(), + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS())) + .asProxy()); + } + + private Command autoStaticAutoAim() { + return feeder + .indexCmd() + .deadlineWith( + swerve.runVelocityCmd(() -> new ChassisSpeeds()), + Commands.repeatingSequence( + shooter + .runFlywheelsCmd(() -> 0.0, () -> 0.0) + .unless(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0) + .until(() -> feeder.getFirstBeambreak() && swerve.getDistanceToSpeaker() < 8.0), + shooter.runStateCmd( + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRotation(), + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getLeftRPS(), + () -> AutoAim.shotMap.get(swerve.getDistanceToSpeaker()).getRightRPS()))) + .until(() -> feeder.getFirstBeambreak()) + .unless(() -> feeder.getFirstBeambreak()) + .withTimeout(1.0) + .andThen( + staticAutoAim + .get() + .deadlineWith( + intake.runVoltageCmd(0, 0).asProxy(), carriage.runVoltageCmd(0).asProxy()) + .withTimeout(2.0) + .unless(() -> !feeder.getFirstBeambreak())) + .asProxy() + .withTimeout(4.0); + } + + private Command runChoreoTrajWithIntake(String trajName, boolean resetPose) { + return swerve + .runChoreoTraj(Choreo.getTrajectory(trajName), resetPose) + .asProxy() + .deadlineWith(autoIntake()); + } +}